Rebase Alka Improve startup low kv motors

ef2ec01
am32-firmware · Nov 19, 2024 · b40082d · b40082d
1 parent 2c03c52
commit b40082d
Show file tree

Hide file tree

Showing 5 changed files with 35 additions and 22 deletions.
diff --git a/Inc/targets.h b/Inc/targets.h
@@ -1316,6 +1316,7 @@
 #define USE_DRV8328_NFAULT
 #define NFAULT_PORT GPIOB
 #define NFAULT_PIN LL_GPIO_PIN_5
+#define TARGET_MIN_BEMF_COUNTS 4
 #endif
 
 #ifdef RHINO80A_F051
@@ -3331,7 +3332,9 @@
 #define APPLICATION_ADDRESS 0x08001000
 #define MAIN_COMP COMP1
 #define EXTI_LINE LL_EXTI_LINE_21
+#ifndef TARGET_MIN_BEMF_COUNTS
 #define TARGET_MIN_BEMF_COUNTS 2
+#endif
 #define COMPARATOR_IRQ ADC1_COMP_IRQn
 #define USE_ADC
 #ifndef CURRENT_ADC_PIN

diff --git a/Inc/version.h b/Inc/version.h
@@ -2,6 +2,6 @@
   update this file for new releases
  */
 #define VERSION_MAJOR 2
-#define VERSION_MINOR 16
+#define VERSION_MINOR 17
 
-#define EEPROM_VERSION 2
+#define EEPROM_VERSION 2
diff --git a/Mcu/f051/Inc/comparator.h b/Mcu/f051/Inc/comparator.h
@@ -9,9 +9,9 @@
 #define COMPARATOR_H_
 #endif /* COMPARATOR_H_ */
 
-#define COMP_PA0 0b1100001
-#define COMP_PA4 0b1000001
-#define COMP_PA5 0b1010001
+#define COMP_PA0 0b1100101
+#define COMP_PA4 0b1000101
+#define COMP_PA5 0b1010101
 
 #include "main.h"
 

diff --git a/Mcu/g071/Src/peripherals.c b/Mcu/g071/Src/peripherals.c
@@ -134,7 +134,7 @@ void MX_COMP1_Init(void)
     COMP_InitStruct.OutputPolarity = LL_COMP_OUTPUTPOL_NONINVERTED;
     COMP_InitStruct.OutputBlankingSource = LL_COMP_BLANKINGSRC_TIM1_OC5;
     LL_COMP_Init(COMP1, &COMP_InitStruct);
-    LL_COMP_SetPowerMode(COMP1, LL_COMP_POWERMODE_HIGHSPEED);
+    LL_COMP_SetPowerMode(COMP1, LL_COMP_POWERMODE_MEDIUMSPEED);
     LL_COMP_SetCommonWindowMode(__LL_COMP_COMMON_INSTANCE(COMP1),
         LL_COMP_WINDOWMODE_DISABLE);
     LL_COMP_SetCommonWindowOutput(__LL_COMP_COMMON_INSTANCE(COMP1),
@@ -202,7 +202,7 @@ void MX_COMP2_Init(void)
     COMP_InitStruct.OutputPolarity = LL_COMP_OUTPUTPOL_NONINVERTED;
     COMP_InitStruct.OutputBlankingSource = LL_COMP_BLANKINGSRC_TIM1_OC5;
     LL_COMP_Init(COMP2, &COMP_InitStruct);
-    LL_COMP_SetPowerMode(COMP2, LL_COMP_POWERMODE_HIGHSPEED);
+    LL_COMP_SetPowerMode(COMP2, LL_COMP_POWERMODE_MEDIUMSPEED);
     LL_COMP_SetCommonWindowMode(__LL_COMP_COMMON_INSTANCE(COMP2),
         LL_COMP_WINDOWMODE_DISABLE);
     LL_COMP_SetCommonWindowOutput(__LL_COMP_COMMON_INSTANCE(COMP2),
@@ -822,4 +822,7 @@ void enableCorePeripherals()
     NVIC_SetPriority(EXTI4_15_IRQn, 2);
     NVIC_EnableIRQ(EXTI4_15_IRQn);
     EXTI->IMR1 |= (1 << 15);
+		#ifdef USE_PULSE_OUT
+		 LL_GPIO_SetPinMode(RPM_PULSE_PORT, RPM_PULSE_PIN, LL_GPIO_MODE_OUTPUT);
+		#endif
 }
diff --git a/Src/main.c b/Src/main.c
@@ -835,9 +835,9 @@ void commutate()
     }
     __enable_irq();
     changeCompInput();
-	if (average_interval > 2500) {
-      old_routine = 1;
-   }
+//	if (average_interval > 2500) {
+//      old_routine = 1;
+//   }
     bemfcounter = 0;
     zcfound = 0;
    commutation_intervals[step - 1] = commutation_interval; // just used to calulate average
@@ -1540,7 +1540,7 @@ void zcfoundroutine()
             enableCompInterrupts(); // enable interrupt
         }
     } else {
-        if (commutation_interval < 1300) {
+       if (zero_crosses > 30) {
             old_routine = 0;
             enableCompInterrupts(); // enable interrupt
         }
@@ -1811,7 +1811,13 @@ int main(void)
             input_ready = 0;
         }
 #endif
-
+if(zero_crosses < 5){
+	  min_bemf_counts_up = TARGET_MIN_BEMF_COUNTS * 2;
+		min_bemf_counts_down = TARGET_MIN_BEMF_COUNTS * 2;
+}else{
+	 min_bemf_counts_up = TARGET_MIN_BEMF_COUNTS;
+	min_bemf_counts_down = TARGET_MIN_BEMF_COUNTS;
+}
         RELOAD_WATCHDOG_COUNTER();
         e_com_time = ((commutation_intervals[0] + commutation_intervals[1] + commutation_intervals[2] + commutation_intervals[3] + commutation_intervals[4] + commutation_intervals[5]) + 4) >> 1; // COMMUTATION INTERVAL IS 0.5US INCREMENTS
         if (eepromBuffer.variable_pwm) {
@@ -1913,16 +1919,17 @@ int main(void)
         average_interval = e_com_time / 3;
         if (desync_check && zero_crosses > 10) {
             if ((getAbsDif(last_average_interval, average_interval) > average_interval >> 1) && (average_interval < 2000)) { // throttle resitricted before zc 20.
-                zero_crosses = 0;
-                desync_happened++;
-                if ((!eepromBuffer.bi_direction && (input > 47)) || commutation_interval > 1000) {
-                    running = 0;
-                }
-                old_routine = 1;
-                if (zero_crosses > 100) {
-                    average_interval = 5000;
-                }
-                last_duty_cycle = min_startup_duty / 2;
+               zero_crosses = 0;
+               desync_happened++;
+               if ((!eepromBuffer.bi_direction && (input > 47)) || commutation_interval > 1000) {
+
+                   running = 0;
+               }
+               old_routine = 1;
+               if (zero_crosses > 100) {
+                   average_interval = 5000;
+               }
+               last_duty_cycle = min_startup_duty / 2;
             }
             desync_check = 0;
             //	}