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2FOC current filter implemented. #524

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merged 4 commits into from
Nov 8, 2024
Merged

2FOC current filter implemented. #524

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63788e3
2FOC current filter implemented.
ale-git Oct 8, 2024
26c4bf6
2FOC firmware version 3.3.36 -> 3.3.37
ale-git Oct 9, 2024
9e85b9e
Some fixes about current scale and feedback (it wasn't sending the fi…
ale-git Oct 11, 2024
866dd2c
Added some comments to filtering algorithm
ale-git Nov 7, 2024
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82 changes: 35 additions & 47 deletions emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/2FOC-V3.X/nbproject/Makefile-default.mk
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8 changes: 4 additions & 4 deletions ...eBcode/arch-dspic/board/2foc/appl/2FOC-V3/2FOC-V3.X/nbproject/Makefile-genesis.properties
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@@ -1,13 +1,13 @@
#
#Tue Jul 09 10:08:33 CEST 2024
#Tue Oct 08 13:11:26 CEST 2024
default.languagetoolchain.version=1.24
default.Pack.dfplocation=C\:\\Program Files\\Microchip\\MPLABX\\v6.15\\packs\\Microchip\\dsPIC33F-GP-MC_DFP\\1.3.64
conf.ids=default
default.languagetoolchain.dir=C\:\\Program Files (x86)\\Microchip\\xc16\\v1.24\\bin
host.id=jxni-i95q-5
host.id=28y3-ir0s-s0
default.platformTool.md5=null
configurations-xml=686f227af389f0381a28d871fb823d8b
configurations-xml=a12254ccc674a1f41ee2e934cd1ea72a
com-microchip-mplab-nbide-embedded-makeproject-MakeProject.md5=e62346c0c0ecee2637e613b49cb7b7fa
proj.dir=C\:\\Users\\jlosi\\Workspace\\ICUB-FIRM\\icub-firmware\\emBODY\\eBcode\\arch-dspic\\board\\2foc\\appl\\2FOC-V3\\2FOC-V3.X
proj.dir=C\:\\Users\\ascalzo\\Documents\\Work\\Repos\\2FOC-FILTERED\\icub-firmware\\emBODY\\eBcode\\arch-dspic\\board\\2foc\\appl\\2FOC-V3\\2FOC-V3.X
host.platform=windows
default.com-microchip-mplab-nbide-toolchain-xc16-XC16LanguageToolchain.md5=07f7da95e66d00aa4668de5175f752c5
4 changes: 0 additions & 4 deletions emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/2FOC-V3.X/nbproject/configurations.xml
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@@ -1,10 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<configurationDescriptor version="65">
<logicalFolder name="root" displayName="root" projectFiles="true">
<logicalFolder name="f1" displayName="Assembler" projectFiles="true">
<itemPath>../asm/MeasCurr.inc</itemPath>
<itemPath>../asm/MeasCurr.s</itemPath>
</logicalFolder>
<logicalFolder name="HeaderFiles"
displayName="Header Files"
projectFiles="true">
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32 changes: 1 addition & 31 deletions emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/2FOC-V3.X/nbproject/private/private.xml
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Expand Up @@ -3,37 +3,7 @@
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/traps.c</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/iCubCanProto_classes.h</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/System.c</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/can_icubProto.h</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/can_icubProto_trasmitter.c</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/UserTypes.h</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/ADC.c</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/System.h</file>
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<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/ecan.h</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/2FOC.h</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/iCubCanProto_bootloaderMessages.h</file>
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<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/can_icubProto_parser.c</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/2FOC.c</file>
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<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/UserParms.h</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/can_icubProto_parser.h</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/iCubCanProto_analogSensorMessages.h</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/qep.c</file>
<file>file:/C:/Users/jlosi/Workspace/ICUB-FIRM/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/qep.h</file>
<file>file:/C:/Users/ascalzo/Documents/Work/Repos/2FOC-FILTERED/icub-firmware/emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/2FOC.c</file>
</group>
</open-files>
</project-private>
45 changes: 0 additions & 45 deletions emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/asm/MeasCurr.inc
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163 changes: 0 additions & 163 deletions emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/asm/MeasCurr.s
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77 changes: 0 additions & 77 deletions emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/asm/park.inc
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7 changes: 2 additions & 5 deletions emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/ADC.h
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Expand Up @@ -9,11 +9,7 @@

#include "MeasCurr.h"

// number of samples taken to calculate zero calibration
#define ADC_CAL_N_SAMPLES 200

// Timeout for polling loops during zero calibration
#define ADC_CAL_TIMEOUT 1000
extern SFRAC16 ADCBuffer[4];

extern volatile tMeasCurrParm MeasCurrParm;

Expand All @@ -22,6 +18,7 @@ int ADCGetVDCLink();
unsigned int ADCVDCLinkTo100mV(int vdc);
// pewrform offset calibration
void ADCDoOffsetCalibration();
void ADCDoGainCalibration();
// setup ADC for PWM sync and DMA
void ADCConfigPWMandDMAMode();
void ADCInterruptAndDMAEnable();
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8 changes: 4 additions & 4 deletions emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/MeasCurr.h
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Expand Up @@ -41,13 +41,13 @@ typedef struct {
SFRAC16 Offseta;

SFRAC16 qKb; // Q15
SFRAC16 Offsetbc;
SFRAC16 Offsetc;

SFRAC16 qKc; // Q15
} tMeasCurrParm;
} tMeasCurrParm;

void MeasAndCompIaIcCalculateIb();
void MeasAndCompIaIb();
//void MeasAndCompIaIcCalculateIb();
//void MeasAndCompIaIb();

#endif

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