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Change references to BLDCDriver to FOCDriver in current sense base class

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change setPwm function in FOCDriver to accept 3 args, with a default value for the 3rd

Change stepper driver classes to use 3 arg setPwm, ignoring 3rd arg.

created InlineCurrentSenseSync class in lib/currentsense.

fixed timer bug in calibrate encoder, in main

defined a label for serialusb, to make it easier to swap out.
This commit is contained in:
copper280z
2023-11-10 21:49:39 -05:00
parent deea94b076
commit 5125602875
11 changed files with 390 additions and 38 deletions
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4
firmware/lib/Arduino-FOC/src/drivers/StepperDriver2PWM.cpp
View File

@@ -86,7 +86,7 @@ int StepperDriver2PWM::init() {
// Set voltage to the pwm pin
void StepperDriver2PWM::setPwm(float Ua, float Ub) {
void StepperDriver2PWM::setPwm(float Ua, float Ub, float Uc) {
float duty_cycle1(0.0f),duty_cycle2(0.0f);
// limit the voltage in driver
Ua = _constrain(Ua, -voltage_limit, voltage_limit);
@@ -104,4 +104,4 @@ void StepperDriver2PWM::setPwm(float Ua, float Ub) {
// write to hardware
_writeDutyCycle2PWM(duty_cycle1, duty_cycle2, params);
}
}

2
firmware/lib/Arduino-FOC/src/drivers/StepperDriver2PWM.h
View File

@@ -58,7 +58,7 @@ class StepperDriver2PWM: public StepperDriver
* @param Ua phase A voltage
* @param Ub phase B voltage
*/
void setPwm(float Ua, float Ub) override;
void setPwm(float Ua, float Ub, float NOT_USED=NOT_SET) override;
private:

5
firmware/lib/Arduino-FOC/src/drivers/StepperDriver4PWM.cpp
View File

@@ -60,8 +60,9 @@ int StepperDriver4PWM::init() {
}
// Set voltage to the pwm pin
void StepperDriver4PWM::setPwm(float Ualpha, float Ubeta) {
void StepperDriver4PWM::setPwm(float Ualpha, float Ubeta, float Uc) {
float duty_cycle1A(0.0f),duty_cycle1B(0.0f),duty_cycle2A(0.0f),duty_cycle2B(0.0f);
// limit the voltage in driver
Ualpha = _constrain(Ualpha, -voltage_limit, voltage_limit);
@@ -78,4 +79,4 @@ void StepperDriver4PWM::setPwm(float Ualpha, float Ubeta) {
duty_cycle2A = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f);
// write to hardware
_writeDutyCycle4PWM(duty_cycle1A, duty_cycle1B, duty_cycle2A, duty_cycle2B, params);
}
}

3
firmware/lib/Arduino-FOC/src/drivers/StepperDriver4PWM.h
View File

@@ -45,7 +45,8 @@ class StepperDriver4PWM: public StepperDriver
* @param Ua phase A voltage
* @param Ub phase B voltage
*/
void setPwm(float Ua, float Ub) override;
void setPwm(float Ua, float Ub, float NOT_USED = NOT_SET) override;
// void setPwm(float Ua, float Ub) override;
private: