Support precharge during bootloader

Remove heatcurrent code Do not disable PWM in neutral gear
jsphuebner · Sep 24, 2021 · 9527823 · 9527823
1 parent 521c898
commit 9527823
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Showing 6 changed files with 14 additions and 39 deletions.
diff --git a/include/hwinit.h b/include/hwinit.h
@@ -35,7 +35,7 @@ void rtc_setup(void);
 void tim_setup(void);
 void spi_setup(void);
 HWREV detect_hw(void);
-void write_bootloader_pininit();
+void write_bootloader_pininit(bool bootprec);
 HWREV io_setup();
 uint16_t pwmio_setup(bool activeLow);
 

diff --git a/include/param_prj.h b/include/param_prj.h
@@ -42,7 +42,7 @@
 #define MOTOR_PARAMETERS_SINE \
     PARAM_ENTRY(CAT_MOTOR,   boost,       "dig",     0,      37813,  1700,   1   ) \
     PARAM_ENTRY(CAT_MOTOR,   fweak,       "Hz",      0,      1000,   90,     2   ) \
-    PARAM_ENTRY(CAT_MOTOR,   fweakstrt,   "Hz",      0,      1000,   400,    129 ) \
+    PARAM_ENTRY(CAT_MOTOR,   fweakstrt,   "Hz",      0,      1000,   400,    134 ) \
     PARAM_ENTRY(CAT_MOTOR,   fconst,      "Hz",      0,      1000,   180,    99  ) \
     PARAM_ENTRY(CAT_MOTOR,   udcnom,      "V",       0,      1000,   0,      78  ) \
     PARAM_ENTRY(CAT_MOTOR,   fslipmin,    "Hz",      0.3,    10,     1,      37  ) \
@@ -135,12 +135,13 @@
     PARAM_ENTRY(CAT_CONTACT, udcsw,       "V",       0,      1000,   330,    20  ) \
     PARAM_ENTRY(CAT_CONTACT, udcswbuck,   "V",       0,      1000,   540,    80  ) \
     PARAM_ENTRY(CAT_CONTACT, tripmode,    TRIPMODES, 0,      3,      0,      86  ) \
+    PARAM_ENTRY(CAT_CONTACT, bootprec,    ONOFF,     0,      1,      0,      135 ) \
     PARAM_ENTRY(CAT_PWM,     pwmfunc,     PWMFUNCS,  0,      3,      0,      58  ) \
     PARAM_ENTRY(CAT_PWM,     pwmgain,     "",        -100000,100000, 100,    40  ) \
     PARAM_ENTRY(CAT_PWM,     pwmofs,      "dig",     -65535, 65535,  0,      41  ) \
     PARAM_ENTRY(CAT_COMM,    canspeed,    CANSPEEDS, 0,      3,      1,      83  ) \
     PARAM_ENTRY(CAT_COMM,    canperiod,   CANPERIODS,0,      1,      0,      88  ) \
-    PARAM_ENTRY(CAT_COMM,    nodeid,      "",        1,      63,     1,      134 ) \
+    PARAM_ENTRY(CAT_COMM,    nodeid,      "",        1,      63,     1,      129 ) \
 
 #define VALUE_BLOCK1 \
     VALUE_ENTRY(version,     VERSTR,  2039 ) \
@@ -195,7 +196,6 @@
     VALUE_ENTRY(ifw,     "A",     2048 ) \
     VALUE_ENTRY(ud,      "dig",   2046 ) \
     VALUE_ENTRY(uq,      "dig",   2047 ) \
-    VALUE_ENTRY(heatcur, "A",     2043 ) \
 
 #if CONTROL == CTRL_SINE
 #define PARAM_LIST \

diff --git a/libopeninv b/libopeninv
diff --git a/src/hwinit.cpp b/src/hwinit.cpp
@@ -181,7 +181,7 @@ uint16_t pwmio_setup(bool activeLow)
    return actualPattern;
 }
 
-void write_bootloader_pininit()
+void write_bootloader_pininit(bool bootprec)
 {
    uint32_t flashSize = desig_get_flash_size();
    uint32_t pindefAddr = FLASH_BASE + flashSize * 1024 - PINDEF_BLKNUM * PINDEF_BLKSIZE;
@@ -196,7 +196,7 @@ void write_bootloader_pininit()
    commands.pindef[0].level = 0;
    commands.pindef[1].port = GPIOB;
    commands.pindef[1].inout = PIN_OUT;
-   commands.pindef[1].level = 0;
+   commands.pindef[1].level = bootprec;
 
    if (hwRev == HW_BLUEPILL)
    {

diff --git a/src/pwmgeneration-foc.cpp b/src/pwmgeneration-foc.cpp
@@ -96,8 +96,8 @@ void PwmGeneration::Run()
       Param::SetInt(Param::uq, uq);
       Param::SetInt(Param::ud, ud);
 
-      /* Shut down PWM on stopped motor, neutral gear or init phase */
-      if ((0 == frq && 0 == idref && 0 == qController.GetRef()) || 0 == dir || initwait > 0)
+      /* Shut down PWM on stopped motor or init phase */
+      if ((0 == frq && 0 == idref && 0 == qController.GetRef()) || initwait > 0)
       {
          timer_disable_break_main_output(PWM_TIMER);
          dController.ResetIntegrator();
@@ -129,12 +129,8 @@ void PwmGeneration::Run()
 
 void PwmGeneration::SetTorquePercent(s32fp torquePercent)
 {
-   static int32_t heatCurRamped = 0;
    s32fp brkrampstr = Param::Get(Param::brkrampstr);
    int direction = Param::GetInt(Param::dir);
-   int heatCur = Param::GetInt(Param::heatcur);
-
-   heatCur = MIN(400, heatCur);
 
    if (frq < brkrampstr && torquePercent < 0)
    {
@@ -149,31 +145,7 @@ void PwmGeneration::SetTorquePercent(s32fp torquePercent)
    int32_t is = FP_TOINT(FP_MUL(Param::Get(Param::throtcur), direction * torquePercent));
    int32_t id, iq;
 
-   if (heatCur > 0 && torquePercent < FP_FROMINT(30))
-   {
-      int speed = Param::GetInt(Param::speed);
-
-      if (speed == 0 && torquePercent <= 0)
-      {
-         iq = 0;
-         heatCurRamped = RAMPUP(heatCurRamped, heatCur, 10);
-         id = heatCurRamped;
-      }
-      /*else if (torquePercent > 0)
-      {
-         id = FP_TOINT((-heatCur * torquePercent) / 30);
-      }*/
-      else
-      {
-         FOC::Mtpa(is, id, iq);
-         heatCurRamped = 0;
-      }
-   }
-   else
-   {
-      FOC::Mtpa(is, id, iq);
-      heatCurRamped = 0;
-   }
+   FOC::Mtpa(is, id, iq);
 
    qController.SetRef(FP_FROMINT(iq));
    fwController.SetRef(FP_FROMINT(iq));

diff --git a/src/stm32_sine.cpp b/src/stm32_sine.cpp
@@ -264,6 +264,9 @@ extern void parm_Change(Param::PARAM_NUM paramNum)
          PwmGeneration::SetAmpnom(Param::Get(Param::ampnom));
          break;
    #endif
+      case Param::bootprec:
+         write_bootloader_pininit(Param::GetBool(Param::bootprec));
+         break;
       case Param::canspeed:
          can->SetBaudrate((Can::baudrates)Param::GetInt(Param::canspeed));
          break;
@@ -362,7 +365,6 @@ extern "C" int main(void)
    clock_setup();
    rtc_setup();
    hwRev = io_setup();
-   write_bootloader_pininit();
    tim_setup();
    nvic_setup();
    parm_load();
@@ -393,6 +395,7 @@ extern "C" int main(void)
    UpgradeParameters();
    parm_Change(Param::PARAM_LAST);
    parm_Change(Param::nodeid);
+   parm_Change(Param::bootprec); //rewrite pininit structure if necessary
 
    while(1)
       t.Run();