Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Diff: main.cpp
- Revision:
- 75:c7fbacd92b8f
- Parent:
- 74:fcc5f8e7f0ef
- Child:
- 76:4fd876d4cf2b
diff -r fcc5f8e7f0ef -r c7fbacd92b8f main.cpp --- a/main.cpp Mon Aug 29 18:09:36 2022 +0000 +++ b/main.cpp Mon Aug 29 18:57:14 2022 +0000 @@ -156,8 +156,8 @@ wait_us(10); printf(" %-4s %-31s %-5s %-6s %f\n\r", "e", "Q-axis inductance (H)", "0", "0.1", L_Q); wait_us(10); - printf(" %-4s %-31s %-5s %-6s %d\n\r", "n", "Number of Pole Pairs (NPP)", "0", "40", NPP); - wait_us(10); + //printf(" %-4s %-31s %-5s %-6s %d\n\r", "n", "Number of Pole Pairs (NPP)", "0", "40", NPP); + //wait_us(10); //ACTUATOR PARAMS printf("ACTUATOR PARAMS\n\r"); wait_us(10); @@ -457,9 +457,9 @@ case 'e': L_Q = fmaxf(fminf(atof(cmd_val), 0.1f), 0.0f); break; - case 'n': - NPP = atoi(cmd_val); - break; + //case 'n': + //NPP = atoi(cmd_val); + //break; case 'p': KT = fmaxf(fminf(atof(cmd_val), 1.0f), 0.0f); break; @@ -590,7 +590,7 @@ if(isnan(R_PHASE) || R_PHASE==-1){R_PHASE = 0.158f;} if(isnan(L_D) || L_D==-1){L_D = 0.000084f;} if(isnan(L_Q) || L_Q==-1){L_Q = 0.000084f;} - if(isnan(NPP) || NPP==-1){NPP = 21;} + //if(isnan(NPP) || NPP==-1){NPP = 21;} //ACTUATOR PARAMS if(isnan(KT) || KT==-1){KT = 0.1916f;} if(isnan(GR) || GR==-1){GR = 6.0f;} @@ -623,6 +623,7 @@ printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET); printf(" Output Zero Position: %.4f\n\r", M_OFFSET); printf(" CAN ID: %d\n\r", CAN_ID); + printf(" POLE PAIRS: %d\n\r", NPP); TIM1->CR1 ^= TIM_CR1_UDIS;