Correct DC current calculation

jsphuebner · Feb 17, 2021 · ad0ee5d · ad0ee5d
1 parent 1f7c469
commit ad0ee5d
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Showing 4 changed files with 8 additions and 6 deletions.
diff --git a/include/param_prj.h b/include/param_prj.h
@@ -17,7 +17,7 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#define VER 4.99.R
+#define VER 5.00.R
 
 /* Entries must be ordered as follows:
    1. Saveable parameters (id != 0)

diff --git a/libopeninv b/libopeninv
diff --git a/src/pwmgeneration-foc.cpp b/src/pwmgeneration-foc.cpp
@@ -38,6 +38,7 @@ static int initwait = 0;
 static int fwBaseGain = 0;
 static s32fp idref = 0;
 static int curki = 0;
+static const s32fp dcCurFac = FP_FROMFLT(0.81649658092772603273 * 1.05); //sqrt(2/3)*1.05 (inverter losses)
 static tim_oc_id ocChannels[3];
 static PiController qController;
 static PiController dController;
@@ -83,8 +84,8 @@ void PwmGeneration::Run()
       int32_t uq = qController.Run(iq);
       FOC::InvParkClarke(ud, uq, angle);
 
-      //This is probably not correct for IPM motors
-      s32fp idc = (iq * uq) / FOC::GetMaximumModulationIndex();
+      s32fp idc = (iq * uq + id * ud) / FOC::GetMaximumModulationIndex();
+      idc = FP_MUL(idc, dcCurFac);
 
       Param::SetFlt(Param::fstat, frq);
       Param::SetFlt(Param::angle, DIGIT_TO_DEGREE(angle));

diff --git a/src/stm32_sine.cpp b/src/stm32_sine.cpp
@@ -259,11 +259,13 @@ extern void parm_Change(Param::PARAM_NUM paramNum)
       case Param::throtmin:
       case Param::idcmin:
       case Param::idcmax:
+      case Param::brkmax:
          //These are candidates to be frequently set by CAN, so we handle them separately
          Throttle::throtmax = Param::Get(Param::throtmax);
          Throttle::throtmin = Param::Get(Param::throtmin);
          Throttle::idcmin = Param::Get(Param::idcmin);
          Throttle::idcmax = Param::Get(Param::idcmax);
+         Throttle::brkmax = Param::Get(Param::brkmax);
          break;
       default:
          can->SetNodeId(Param::GetInt(Param::nodeid));
@@ -366,19 +368,18 @@ extern "C" int main(void)
    s.AddTask(Ms100Task, 100);
 
    DigIo::prec_out.Set();
-   UpgradeParameters();
 
    Terminal t(USART3, TermCmds);
    terminal = &t;
 
    if (hwRev == HW_REV1)
       t.DisableTxDMA();
 
+   UpgradeParameters();
    parm_Change(Param::PARAM_LAST);
 
    while(1)
       t.Run();
-   //term_Run();
 
    return 0;
 }
+1 −1		include/terminal.h
+3 −4		src/foc.cpp
+13 −0		src/terminal.cpp