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Motor goes alone fixes #106

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merged 4 commits into from
Aug 9, 2024
Merged

Motor goes alone fixes #106

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775f637
Typo: debug launch task name
dzid26 Jul 5, 2024
50fbd65
fix: motor goes alone - reset timer when motor is reenergized.
dzid26 Jul 7, 2024
e36a0ac
Don't increase duty cycle if current is equal to the target.
dzid26 Jul 7, 2024
b1cc802
Merge branch 'master' into goes_alone
emmebrusa Aug 9, 2024
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2 changes: 1 addition & 1 deletion .vscode/launch.json
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,7 @@
"version": "0.2.0",
"configurations": [
{
"preLaunchTask": "STM8 Build & Flash",
"preLaunchTask": "Build & Flash",
"postDebugTask": "OpenOCD reset target",
"name": "STM8-gdb",
"request": "launch",
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7 changes: 4 additions & 3 deletions src/motor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -795,8 +795,8 @@ void TIM1_CAP_COM_IRQHandler(void) __interrupt(TIM1_CAP_COM_IRQHANDLER)
// - ramp up/down PWM duty_cycle and/or field weakening angle value

// check if to decrease, increase or maintain duty cycle
if ((ui8_g_duty_cycle > ui8_controller_duty_cycle_target)
|| (ui8_adc_battery_current_filtered > ui8_controller_adc_battery_current_target)
if ( (ui8_controller_duty_cycle_target < ui8_g_duty_cycle)
|| (ui8_controller_adc_battery_current_target < ui8_adc_battery_current_filtered)
|| (ui8_adc_motor_phase_current > ui8_adc_motor_phase_current_max)
|| (ui16_hall_counter_total < (HALL_COUNTER_FREQ / MOTOR_OVER_SPEED_ERPS))
|| (ui16_adc_voltage < ui16_adc_voltage_cut_off)
Expand All @@ -817,7 +817,8 @@ void TIM1_CAP_COM_IRQHandler(void) __interrupt(TIM1_CAP_COM_IRQHANDLER)
}
}
}
else if (ui8_g_duty_cycle < ui8_controller_duty_cycle_target) {
else if ((ui8_controller_duty_cycle_target > ui8_g_duty_cycle)
&& (ui8_controller_adc_battery_current_target > ui8_adc_battery_current_filtered)) {
// reset duty cycle ramp down counter (filter)
ui8_counter_duty_cycle_ramp_down = 0;

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