mOhms and uHenries

dzid26 · Dec 1, 2023 · 6014ca4 · 6014ca4
1 parent d14105d
commit 6014ca4
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Showing 3 changed files with 8 additions and 7 deletions.
diff --git a/firmware/src/BSP/actuator_config.c b/firmware/src/BSP/actuator_config.c
@@ -34,10 +34,9 @@ float volatile current_to_actuatorTq;
 const uint16_t rated_current = 1300; //mA
 const uint16_t rated_torque = 45;   //cNm
 
-const uint16_t phase_R = 3; //ohm
-const uint16_t phase_L = 3; //Henry
-const uint16_t motor_k_bemf = 1765; // mV/(rev/s)
-
+const uint16_t phase_R = 3000;         // mOhm
+const uint16_t phase_L = 3000;         // uH
+const uint16_t motor_k_bemf = 2965; // mV/(rev/s)
 
 // specify gearing parameters here:
 const float motor_gearbox_ratio = 5.0F+(2.0F/11.0F); // gearbox ratio - enter planetary gearbox tooth calculation for best accuracy

diff --git a/firmware/src/BSP/actuator_config.h b/firmware/src/BSP/actuator_config.h
@@ -30,10 +30,12 @@
 
 extern const uint16_t rated_current; //mA
 extern const uint16_t rated_torque; //cNm
-extern const uint16_t phase_R; //ohm
-extern const uint16_t phase_L; //Henry
+extern const uint16_t phase_R; //mOhm
+extern const uint16_t phase_L; //uH
 extern const uint16_t motor_k_bemf; // mV/(rev/s)
 
+#define Ohm_to_mOhm 1000U
+
 //calculate actuator parameters to be used by control_api 
 extern volatile float gearing_ratio;
 extern volatile float actuatorTq_to_current;

diff --git a/firmware/src/BSP/stepper_controller.c b/firmware/src/BSP/stepper_controller.c
@@ -546,7 +546,7 @@ static void StepperCtrl_desired_current_vector(int16_t loadAngle, int16_t curren
 
 	if(volt_control){
 		int16_t i_q = current_target;
-		int32_t v_q = ((int32_t)i_q * (int32_t) phase_R) + ((int32_t)motor_k_bemf * speed_slow / (int32_t)ANGLE_STEPS);//todo  vq?
+		int32_t v_q = ((int32_t)i_q * (int32_t)phase_R / (int32_t)Ohm_to_mOhm) + ((int32_t)motor_k_bemf * speed_slow / (int32_t)ANGLE_STEPS);//todo  vq?
 		apply_volt_command(absoluteMicrosteps, v_q, magnitude);
 	}else{
 		apply_current_command(absoluteMicrosteps, magnitude);