Alvee Ahmed
/
Hobbyking_Cheetah_Compact_DRV8323_14bit
customizing code for Aliexpress 14 bit version with MA702
Diff: FOC/foc.cpp
- Revision:
- 24:58c2d7571207
- Parent:
- 23:2adf23ee0305
- Child:
- 25:f5741040c4bb
diff -r 2adf23ee0305 -r 58c2d7571207 FOC/foc.cpp --- a/FOC/foc.cpp Wed Apr 05 20:54:16 2017 +0000 +++ b/FOC/foc.cpp Fri Apr 07 16:23:39 2017 +0000 @@ -1,4 +1,4 @@ - +#include "user_config.h" #include "foc.h" //#include "FastMath.h" @@ -55,7 +55,7 @@ void commutate(ControllerStruct *controller, GPIOStruct *gpio, float theta){ controller->loop_count ++; - if(gpio->phasing){ + if(PHASE_ORDER){ controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); //Calculate phase currents from ADC readings controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset); } @@ -103,7 +103,7 @@ //gpio->pwm_v->write(1.0f-controller->dtc_v); //gpio->pwm_w->write(1.0f-controller->dtc_w); - if(gpio->phasing){ + if(PHASE_ORDER){ TIM1->CCR3 = 0x708*(1.0f-controller->dtc_u); TIM1->CCR2 = 0x708*(1.0f-controller->dtc_v); TIM1->CCR1 = 0x708*(1.0f-controller->dtc_w);