threads_doc.txt

Vesc 6 threads

1- Main 10ms

2- DMA - ADC regular interrupt
    period ?
    * New ADC samples ready. Do commutation!
    switching_frequency_now
    
    
    mcpwm_adc_int_handler()
    	// Set the next timer settings if an update is far enough away
		  // Calculate the virtual ground, depending on the state.
      commutate()
      -> mc_interface_mc_timer_isr() // sample gathering, sends signal to thread SampleSender when done
      set_duty_cycle_ll(dutycycle_now);


3- ADC injected interrupt
period ?
  read (3) Shunt currents, populating mcpwm_detect_voltages
  if detection:
    sets duty cycle to 0.2
    mcpwm_detect_voltages // back-emf detection

"Main periodic" main.c 10ms
- status LEDs
- sends rotor pos in detecting state
- sends rotor pos in FOC Observer modes

"msec_timer" main.c 1ms
  packet_timerfunc()
  
"Timeout" timeout.c 10ms
- sets brake current on a timeout 
		i.e. if (timeout_msec != 0 && chVTTimeElapsedSinceX(last_update_time) > MS2ST(timeout_msec)) 

    
"mcpwm timer" mcpwm.c 1ms
		if (state == MC_STATE_OFF) {
			// Track the motor back-emf and follow it with dutycycle_now. Also track
			// the direction of the motor.
    }
    // Fill KV filter vector at 100Hz


"rpm timer" mcpwm.c 1ms
  run_pid_control_speed: asservissement PID current or speed (see macro BLDC_SPEED_CONTROL_CURRENT)
  
  
"mcif timer" mcinterface.c loop 1ms
  		// Decrease fault iterations
      update_override_limits()
      
"SampleSender" mcinterface.c chEvtWaitAny
    sends COMM_SAMPLE_PRINT message (current, voltage samples etc.) to vesc-tool
  
  
"Detect" commands.c chEvtWaitAny  
    conf_general_detect_motor_param
    sends COMM_DETECT_MOTOR_PARAM message
  
"USD-serial read" comm_usb.c chEvtWaitAny

"USD-serial write" comm_usb.c chEvtWaitAny

+ 3 CAN related threads in comm_can.c (read status process)

"LEDs External" led_external.c 1ms
  
  
****************  
bugs potentiels:
   - Not plotting actual 3rd shunt current data: it's available on chip but not serialized and not sent to vesc tool, which synthesizes it from the other two currents.
   - TIM12 used and reset by both adc interrupts (reg and inj) so could give wrong interrupt duration for nested interrupts
   
**************** 
 Questions :
 where do the old values come from and why?
 // Correction factor for computations that depend on the old resistor division factor
#define VDIV_CORR					((VIN_R2 / (VIN_R2 + VIN_R1)) / (2.2 / (2.2 + 33.0)))