csa add bus_voltage and nominal_voltage

dukelec · Jul 18, 2024 · 7578911 · 7578911
1 parent 98079b7
commit 7578911
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Showing 3 changed files with 11 additions and 16 deletions.
diff --git a/mdrv_fw/usr/app_main.h b/mdrv_fw/usr/app_main.h
@@ -111,7 +111,8 @@ typedef struct {
     bool            anticogging_en;
     float           anticogging_max_val[2];
 
-    uint8_t         _reserved[28];
+    float           nominal_voltage;
+    uint8_t         _reserved[24];
 
     // end of flash
     #define         _end_save state
@@ -157,6 +158,7 @@ typedef struct {
     uint8_t         _reserved2[8];
     float           sen_speed_avg;
     float           sen_rpm_avg;
+    float           bus_voltage;
 
 } csa_t; // config status area
 

diff --git a/mdrv_fw/usr/app_motor.c b/mdrv_fw/usr/app_motor.c
@@ -88,6 +88,7 @@ void app_motor_init(void)
     pid_f_init(&csa.pid_speed, true);
     pid_i_init(&csa.pid_pos, true);
     cdn_sock_bind(&sock_raw_dbg);
+    csa.bus_voltage = csa.nominal_voltage;
 }
 
 void app_motor_routine(void)
@@ -584,27 +585,15 @@ void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc)
     raw_dbg(0);
     csa.loop_cnt++;
 
-#if 1
     if (!LL_ADC_REG_IsConversionOngoing(hadc1.Instance)) {
-
-        //HAL_ADC_PollForConversion(&hadc1, HAL_MAX_DELAY);
         int32_t adc_temperature = HAL_ADC_GetValue(&hadc1);
+        uint32_t adc_dc = HAL_ADC_GetValue(&hadc2);
 
-        //HAL_ADC_PollForConversion(&hadc2, HAL_MAX_DELAY);
-        int32_t adc_dc = HAL_ADC_GetValue(&hadc2);
-
-#if 0
-        static uint32_t t_last = 0;
-        if (get_systick() - t_last > 1000) {
-            t_last = get_systick();
-            d_info("temperature: %d, dc: %d\n", adc_temperature, adc_dc);
-        }
-#endif
+        float v_dc = (adc_dc / 4095.0f * 3.3f) / 4.7f * (4.7f + 75);
+        csa.bus_voltage += (v_dc - csa.bus_voltage) * 0.001f;
 
         LL_ADC_REG_StartConversion(hadc1.Instance);
-        //delay_systick(10);
     }
-#endif
 
     uint16_t enc_check = encoder_read();
     if (enc_check != csa.ori_encoder)

diff --git a/mdrv_fw/usr/config.c b/mdrv_fw/usr/config.c
@@ -126,6 +126,8 @@ const csa_t csa_dft = {
         .cali_current = 200,
         //.cali_angle_step = 0.003179136f // @ ic-MU3 25KHz spi
         //.cali_angle_step = 0
+
+        .nominal_voltage = 12.0f
 };
 
 csa_t csa;
@@ -327,6 +329,7 @@ void csa_list_show(void)
     CSA_SHOW(0, cali_encoder_en, "");
     CSA_SHOW(0, anticogging_en, "");
     CSA_SHOW(0, anticogging_max_val, "");
+    CSA_SHOW(0, nominal_voltage, "");
     d_info("\n"); debug_flush(true);
 
     CSA_SHOW(0, state, "0: stop, 1: calibrate, 2: cur loop, 3: speed loop, 4: pos loop, 5: t_curve");
@@ -374,6 +377,7 @@ void csa_list_show(void)
     CSA_SHOW(0, cal_v_sq_avg, "");
     CSA_SHOW(0, sen_speed_avg, "");
     CSA_SHOW(0, sen_rpm_avg, "");
+    CSA_SHOW(0, bus_voltage, "");
     d_info("\n"); debug_flush(true);
 
     d_info("\x1b[92mColor Test...\x1b[0m\n");