5125602875
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.
76 lines
2.5 KiB
C++
76 lines
2.5 KiB
C++
#ifndef INLINE_CS_SYNC_LIB_H
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#define INLINE_CS_SYNC_LIB_H
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#include "Arduino.h"
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#include "SimpleFOC.h"
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#include "common/foc_utils.h"
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#include "common/time_utils.h"
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#include "common/defaults.h"
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#include "common/base_classes/CurrentSense.h"
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#include "common/lowpass_filter.h"
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// #include "current_sense/hardware_api.h"
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#include "utils.h"
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class InlineCurrentSenseSync: public CurrentSense{
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public:
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/**
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InlineCurrentSense class constructor
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@param shunt_resistor shunt resistor value
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@param gain current-sense op-amp gain
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@param phA A phase adc pin
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@param phB B phase adc pin
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@param phC C phase adc pin (optional)
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*/
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InlineCurrentSenseSync(float shunt_resistor, float gain, int pinA, int pinB, int pinC = NOT_SET);
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/**
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InlineCurrentSense class constructor
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@param mVpA mV per Amp ratio
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@param phA A phase adc pin
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@param phB B phase adc pin
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@param phC C phase adc pin (optional)
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*/
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InlineCurrentSenseSync(float mVpA, int pinA, int pinB, int pinC = NOT_SET);
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// CurrentSense interface implementing functions
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int init() override;
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PhaseCurrent_s getPhaseCurrents() override;
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int driverAlign(float align_voltage) override;
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// ADC measuremnet gain for each phase
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// support for different gains for different phases of more commonly - inverted phase currents
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// this should be automated later
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float gain_a; //!< phase A gain
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float gain_b; //!< phase B gain
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float gain_c; //!< phase C gain
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// // per phase low pass fileters
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// LowPassFilter lpf_a{DEF_LPF_PER_PHASE_CURRENT_SENSE_Tf}; //!< current A low pass filter
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// LowPassFilter lpf_b{DEF_LPF_PER_PHASE_CURRENT_SENSE_Tf}; //!< current B low pass filter
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// LowPassFilter lpf_c{DEF_LPF_PER_PHASE_CURRENT_SENSE_Tf}; //!< current C low pass filter
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float offset_ia; //!< zero current A voltage value (center of the adc reading)
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float offset_ib; //!< zero current B voltage value (center of the adc reading)
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float offset_ic; //!< zero current C voltage value (center of the adc reading)
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private:
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// hardware variables
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int pinA; //!< pin A analog pin for current measurement
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int pinB; //!< pin B analog pin for current measurement
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int pinC; //!< pin C analog pin for current measurement
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// gain variables
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float shunt_resistor; //!< Shunt resistor value
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float amp_gain; //!< amp gain value
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float volts_to_amps_ratio; //!< Volts to amps ratio
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/**
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* Function finding zero offsets of the ADC
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*/
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void calibrateOffsets();
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};
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#endif
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