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DRAFT: Lower ARK ramp speed #124

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DRAFT: Lower ARK ramp speed #124

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2 changes: 2 additions & 0 deletions Inc/targets.h
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Original file line number Diff line number Diff line change
Expand Up @@ -1317,6 +1317,8 @@
#define NFAULT_PORT GPIOB
#define NFAULT_PIN LL_GPIO_PIN_5
#define TARGET_MIN_BEMF_COUNTS 3
#define RAMP_SPEED_LOW_RPM 1
#define RAMP_SPEED_HIGH_RPM 8
#endif

#ifdef RHINO80A_F051
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31 changes: 9 additions & 22 deletions Src/main.c
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Expand Up @@ -379,13 +379,10 @@ float consumed_current = 0;
int32_t smoothed_raw_current = 0;
int16_t actual_current = 0;

char lowkv = 0;
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the PR includes changes to other code, I presume by accident. It is a good idea to review the changes files in your PRs :-)


uint16_t min_startup_duty = 120;
uint16_t sin_mode_min_s_d = 120;
char bemf_timeout = 10;

char startup_boost = 50;
char reversing_dead_band = 1;

uint16_t low_pin_count = 0;
Expand Down Expand Up @@ -629,9 +626,15 @@ void loadEEpromSettings()
}

if (eepromBuffer.startup_power < 151 && eepromBuffer.startup_power > 49) {
min_startup_duty = (eepromBuffer.startup_power);
minimum_duty_cycle = (eepromBuffer.startup_power / 3);
stall_protect_minimum_duty = minimum_duty_cycle + 10;
if (!eepromBuffer.comp_pwm) { // higher startup power for non-complementary pwm
min_startup_duty = (eepromBuffer.startup_power) *2 ;
minimum_duty_cycle = (eepromBuffer.startup_power / 2);
stall_protect_minimum_duty = minimum_duty_cycle + 10;
} else {
min_startup_duty = (eepromBuffer.startup_power);
minimum_duty_cycle = (eepromBuffer.startup_power / 3);
stall_protect_minimum_duty = minimum_duty_cycle + 10;
}
} else {
min_startup_duty = 150;
minimum_duty_cycle = (min_startup_duty / 2) + 10;
Expand Down Expand Up @@ -748,10 +751,6 @@ void loadEEpromSettings()
high_rpm_level = motor_kv / 12 / (32 / eepromBuffer.motor_poles);
}
reverse_speed_threshold = map(motor_kv, 300, 3000, 1000, 500);
// reverse_speed_threshold = 200;
// if (!eepromBuffer.comp_pwm) {
// eepromBuffer.bi_direction = 0;
// }
}

void saveEEpromSettings()
Expand Down Expand Up @@ -896,18 +895,6 @@ void interruptRoutine()
maskPhaseInterrupts();
thiszctime = INTERVAL_TIMER_COUNT;
SET_INTERVAL_TIMER_COUNT(0);
// if(thiszctime < (commutation_interval - (commutation_interval>>2))){
// send_LED_RGB(0, 0, 255);
// // waitTime = waitTime + commutation_interval - thiszctime;
// waitTime = waitTime + (commutation_interval>>2);
// // thiszctime = commutation_interval + (commutation_interval>>2);
// }else if(thiszctime > (commutation_interval + (commutation_interval>>2))){
// send_LED_RGB(255, 0, 0);
// // waitTime = waitTime - thiszctime - commutation_interval;
// waitTime = waitTime - (commutation_interval>>2);
// // thiszctime = commutation_interval - (commutation_interval>>2);
// }
// waitTime = waitTime >> fast_accel;
SET_AND_ENABLE_COM_INT(waitTime+1); // enable COM_TIMER interrupt
__enable_irq();
}
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