stancecoke, how I see Throttle/PAS/Torque sensor, all of them working as "speed+torque" and for instance: at 50% of "speed+torque", the motor would run at 50% of max current and 50% of max speed.casainho said:
casainho said:
I don't believe, that the arduino community is interested, as the STM8 processors are not supported by arduino. It would be much more interesting, if we would merge to the Lishui controllers as the STM32 processors are supported, see stm32duino. The arduino-specific UART communication with the well known China-Displays is published already.casainho said:
Not officially but there is: Sduino: Porting the most important features of the Arduino API to the STM8S.stancecoke said:
casainho said:
Yes, thanks!! But I want to have it isolated in one module and also being calling on the slow loop. Throttle/PAS/Torque Sensor module will then be able just to define the motor speed as now happens to motor current. I will reuse your code much as possible.stancecoke said:
casainho said:
/***************************************************************************************/
// Motor interface
void hall_sensor_init (void); // must be called before using the motor
void motor_init (void); // must be called before using the motor
void motor_set_mode_coast (void); // disable PWM output
void motor_set_mode_run (void); // enable PWM output
void motor_set_pwm_duty_cycle_target (uint8_t value);
void motor_set_current_max (uint8_t value); // steps of 0.5A each step
void motor_set_regen_current_max (uint8_t value); // steps of 0.5A each step
void motor_set_pwm_duty_cycle_ramp_inverse_step (uint8_t value); // each step = 64us
uint16_t motor_get_motor_speed_erps (void);
/***************************************************************************************/stancecoke said:
uint8_t ui8_adc_read_motor_total_current (void)
{
// 0x53E0 + 2*8 = 0x53F0
return *(uint8_t*)(0x53F0);
}Yes, go ahead!stancecoke said:
Seems that PAS pin (PD0) also can be used as TIM1 BREAK interrupt but that would fire instead TIM1_UPD_OVF_TRG_BRK_IRQHandler that is already used as PWM/motor fast loop. I think using instead the PortD pin change interrupt may be better.casainho said:
stancecoke said:
void EXTI_PORTD_IRQHandler(void) __interrupt(EXTI_PORTD_IRQHANDLER)
{
uint8_t uint8_PortD_value;
uint8_PortD_value = *(uint8_t*)(0x5010); //input register adress of port D
if(!uint8_PortD_value & 0x01){ //Mask Bit 0 for PAS Pin
ui8_PAS_Flag = 1; //just setting flag in interrupt handler
}
if(!uint8_PortD_value>>7){ //Mask Bit 7 for OC Pin
motor_set_mode_coast ();
while (1) ; // infinite loop, user will need to reset the system
}
}Take the example of Brake signal: brake_is_set ():stancecoke said:
// Brake signal
void EXTI_PORTA_IRQHandler(void) __interrupt(EXTI_PORTA_IRQHANDLER)
{
if (brake_is_set())
{
(...)
BitStatus brake_is_set (void)
{
if (GPIO_ReadInputPin(BRAKE__PORT, BRAKE__PIN) == 0)
return 1;
else
return 0;
}Can't see your video, like if is not public or do not exist.stancecoke said:
if (ui16_motor_speed_erps > 250)
{
ui8_motor_interpolation_state = INTERPOLATION_360_DEGREES;
ui8_motor_state = MOTOR_STATE_RUNNING;
}
else if (ui16_motor_speed_erps > 150)
{
if (ui8_motor_interpolation_state == NO_INTERPOLATION_60_DEGREES)
{
pwm_init_bipolar_4q ();
}
ui8_motor_interpolation_state = INTERPOLATION_60_DEGREES;
ui8_motor_state = MOTOR_STATE_RUNNING;
}
else
{
if (ui8_motor_interpolation_state != NO_INTERPOLATION_60_DEGREES)
{
pwm_init_6_steps ();
}
ui8_motor_interpolation_state = NO_INTERPOLATION_60_DEGREES;
}That is strange because on my hardware the value of 79 equals to about zero: #define ADC_MOTOR_CURRENT_MAX_ZERO_VALUE 79stancecoke said:
void motor_set_current_max (uint8_t value)
{
ui8_ADC_motor_current_max = value;
} // verify motor max current limit
ui8_temp = ui8_adc_read_motor_total_current ();
if (ui8_temp > (ADC_MOTOR_CURRENT_MAX_ZERO_VALUE + ui8_ADC_motor_current_max)) // motor max current, reduce duty_cycle
{
if (ui8_duty_cycle > 0)
{
ui8_duty_cycle--;
}
}
// verify motor max regen current limit
else if (ui8_temp < (ADC_MOTOR_CURRENT_MAX_ZERO_VALUE - ui8_ADC_motor_regen_current_max)) // motor max current, increase duty_cycle
{
if (ui8_duty_cycle < 255)
{
ui8_duty_cycle++;
}
}
I have produced quite lot of magic smoke.
Video is ok now. I can't understand what happens with your motor. You would need to enable only 6 steps to see if that mode works ok, since it is the first mode and used for startup.stancecoke said:The video should run now.
the "72" was a typing error, "79" was ment.
I've just grilled my controller with setting ADC_MOTOR_CURRENT_MAX_ZERO_VALUE to 200 and using an unfused battery
I don't know, if it's just a burned mosfet or if there is more damage.... The shunt on the board was red glowing, before I was able to cut the voltage....
At which part of your code do you set the ui8_ADC_motor_current_max value?! I only found values = 0?!
I just updated my recent code to the TORQUESENSOR EXPERIMENTING branch, perhaps you can take a look, what went wrong....
enableInterrupts();
motor_init ();
motor_set_current_max (8); // 1 --> 0.5A
motor_set_regen_current_max (2); // 1 --> 0.5A
motor_set_pwm_duty_cycle_ramp_inverse_step (2); // each step = 64us
hall_sensors_read_and_action (); // needed to start the motorThat also means that OC Over Current code did not work/protect :-(stancecoke said:I've just grilled my controller with setting ADC_MOTOR_CURRENT_MAX_ZERO_VALUE to 200 and using an unfused battery
I don't know, if it's just a burned mosfet or if there is more damage.... The shunt on the board was red glowing, before I was able to cut the voltage....
