FOC control experimenting, EXPERIMENTAL COMMIT!

Author: Bjoern Schmidt

ACAcontrollerState.c

@@ -69,7 +69,7 @@ uint32_t ui32_erps_filtered = 0; //filtered value of erps
 uint16_t ui16_virtual_erps_speed = 0;
 uint16_t ui16_BatteryCurrent = 0; //Battery Current read from ADC8
 uint8_t ui8_position_correction_value = 127; // in 360/256 degrees
-uint8_t ui8_ADC_iq_current_target = 127; // advance angle testing
+uint8_t ui8_correction_at_angle = 127; // advance angle testing
 uint16_t ui16_ADC_iq_current = 0;
 uint16_t ui16_ADC_iq_current_filtered = 0;
 uint8_t ui8_control_state = 0;
@@ -171,8 +171,8 @@ void controllerstate_init(void) {
     if (eepromVal > 0) ui16_s_ramp_start = eepromVal << 6;
     eepromVal = eeprom_read(OFFSET_MOTOR_ANGLE);
     if (eepromVal > 0) ui8_s_motor_angle = eepromVal;
-	eepromVal = eeprom_read(OFFSET_CORRECTION_ADC_CURRENT_TARGET);
-    if (eepromVal > 0) ui8_ADC_iq_current_target = eepromVal;
+	eepromVal = eeprom_read(OFFSET_CORRECTION_AT_ANGLE);
+    if (eepromVal > 0) ui8_correction_at_angle = eepromVal;
 
     for (di = 0; di < 6; di++) {
         uint8_t_hall_order[di] = 0;

ACAcontrollerState.h

@@ -52,7 +52,7 @@ extern uint16_t ui16_virtual_erps_speed;
 extern uint32_t ui32_erps_filtered; //filtered value of erps
 extern uint16_t ui16_BatteryCurrent;
 extern uint8_t ui8_position_correction_value;
-extern uint8_t ui8_ADC_iq_current_target;
+extern uint8_t ui8_correction_at_angle;
 extern uint16_t ui16_ADC_iq_current;
 extern uint16_t ui16_ADC_iq_current_filtered;
 extern uint8_t ui8_speedlimit_kph;

ACAeeprom.h

@@ -50,7 +50,7 @@ typedef enum {
 	OFFSET_ACA_FLAGS = ((uint8_t) 0x13),
 
 	OFFSET_TQ_CALIB = ((uint8_t) 0x14),
-	OFFSET_CORRECTION_ADC_CURRENT_TARGET = ((uint8_t) 0x15)
+	OFFSET_CORRECTION_AT_ANGLE = ((uint8_t) 0x15)
 
 } BO_EEPROM_OFFSETS;
 

BOdisplay.c

@@ -135,7 +135,7 @@ void addConfigStateInfos(void) {
 	addPayload(CODE_RAMP_START, ui16_s_ramp_start >> 6);
 	addPayload(CODE_MAX_BAT_CURRENT_HIGH_BYTE, ui16_battery_current_max_value >> 8);
 	addPayload(CODE_MAX_BAT_CURRENT, ui16_battery_current_max_value);
-	addPayload(CODE_CORRECTION_ADC_CURRENT_TARGET, ui8_ADC_iq_current_target);
+	addPayload(CODE_CORRECTION_AT_ANGLE, ui8_correction_at_angle);
 	// 1 more elements left/avail (max24)
 
 }
@@ -308,12 +308,12 @@ void digestConfigRequest(uint8_t configAddress, uint8_t requestedCodeLowByte, ui
 			}
 			addPayload(requestedCodeLowByte, ui8_s_motor_angle);
 			break;
-		case CODE_CORRECTION_ADC_CURRENT_TARGET:
-			ui8_ADC_iq_current_target = requestedValue;
+		case CODE_CORRECTION_AT_ANGLE:
+			ui8_correction_at_angle = requestedValue;
 			if (configAddress == EEPROM_ADDRESS) {
-				eeprom_write(OFFSET_CORRECTION_ADC_CURRENT_TARGET, requestedValue);
+				eeprom_write(OFFSET_CORRECTION_AT_ANGLE, requestedValue);
 			}
-			addPayload(requestedCodeLowByte, ui8_ADC_iq_current_target);
+			addPayload(requestedCodeLowByte, ui8_correction_at_angle);
 			break;
 
 		case CODE_PAS_TRESHOLD:

BOdisplay.h

@@ -117,7 +117,7 @@ typedef enum {
 	CODE_ACA_FLAGS_HIGH_BYTE = ((uint8_t) 0x97),
 	CODE_ACA_FLAGS = ((uint8_t) 0x98),
 
-	CODE_CORRECTION_ADC_CURRENT_TARGET = ((uint8_t) 0x99),
+	CODE_CORRECTION_AT_ANGLE = ((uint8_t) 0x99),
 
 	CODE_HALL_ORDER_BASE = ((uint8_t) 0x10),
 	CODE_CURRENT_AT_HALL_POSITION_BASE = ((uint8_t) 0x00)

config.h

@@ -45,6 +45,6 @@
 #define TQS_CALIB 0.0
 #define ACA 670
 #define EEPROM_NOINIT // eeprom will not be cleared
-#define EEPROM_INIT_MAGIC_BYTE 249 // makes sure (chance of fail 1/255) eeprom is invalidated after flashing new config
+#define EEPROM_INIT_MAGIC_BYTE 7 // makes sure (chance of fail 1/255) eeprom is invalidated after flashing new config
 
 #endif /* CONFIG_H_ */