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| author | Tero Kontkanen <tero.kontkanen@granitedevices.fi> | 2017-01-31 23:13:57 +0200 |
|---|---|---|
| committer | Tero Kontkanen <tero.kontkanen@granitedevices.fi> | 2017-01-31 23:13:57 +0200 |
| commit | 991845467391138bbb1200d76fc7a97f5a2f4cd5 (patch) | |
| tree | a5609e3e3e9bc1ac97e5d374ce12eb945092efd8 | |
| parent | fdec7c0e027b3e9f4c7fd977ee846291bb86617d (diff) | |
| download | SimpleMotionV2-991845467391138bbb1200d76fc7a97f5a2f4cd5.tar.gz SimpleMotionV2-991845467391138bbb1200d76fc7a97f5a2f4cd5.zip | |
Reverse some changes: keep original halls sensor flags intact, and instead use SMP_COMMUTATION_SENSOR_CONFIG for new FW and ignore hall sensor flags (these flags becoming obsolete)
| -rw-r--r-- | simplemotion_defs.h | 17 |
1 files changed, 13 insertions, 4 deletions
diff --git a/simplemotion_defs.h b/simplemotion_defs.h index 026e538..51e4123 100644 --- a/simplemotion_defs.h +++ b/simplemotion_defs.h @@ -431,8 +431,8 @@ #define FLAG_ALLOW_VOLTAGE_CLIPPING BV(10)
#define FLAG_USE_INPUT_LP_FILTER BV(11)
#define FLAG_USE_PID_CONTROLLER BV(12)//PIV is the default if bit is 0/*obsolete*/
- #define FLAG_INVERT_COMMUTATION_SENSOR_DIRECTION BV(13) /*inverts direction of commutation sensor instead, used together with SMP_COMMUTATION_SENSOR_OFFSET*//*originally was: invert hall sensors digital states*/
- #define FLAG_USE_HALLS BV(14)
+ //#define FLAG_INVERTED_HALLS BV(13) /*becoming obsolete, no effect on device where param SMP_COMMUTATION_SENSOR_CONFIG is present */
+ //#define FLAG_USE_HALLS BV(14) /*becoming obsolete, no effect on device where param SMP_COMMUTATION_SENSOR_CONFIG is present */
#define FLAG_MECH_BRAKE_DURING_PHASING BV(15)
#define FLAG_LIMIT_SWITCHES_NORMALLY_OPEN_TYPE BV(16)
#define SMP_MOTION_FAULT_THRESHOLD 568
@@ -541,8 +541,17 @@ #define SMP_PHASESEARCH_VOLTAGE_SLOPE 480
//by default this is calculated from other motor params:
#define SMP_PHASESEARCH_CURRENT 481
-//commutation angle calibration, i.e. for hall sensors or absolute encoder. can be set with SMP_SYSTEM_CONTROL_START_COMMUTATION_SENSOR_AUTOSET
-#define SMP_COMMUTATION_SENSOR_OFFSET 482
+/* Commutation angle congiuration, i.e. for hall sensors or absolute encoder. can be automatically set with SMP_SYSTEM_CONTROL_START_COMMUTATION_SENSOR_AUTOSET.
+ * Format:
+ * bits 0-15 LSB: commutation sensor offset 0-65535 represents commutation angle offset 0-360 electical degrees
+ * bit 16: invert sensor count direction
+ * bit 17: enable commutation sensor
+ * bits 18-31: reserved, always 0
+ */
+#define SMP_COMMUTATION_SENSOR_CONFIG 482
+ #define SMP_COMMUTATION_SENSOR_CONFIG_ANGLE_MASK 0xFFFF
+ #define SMP_COMMUTATION_SENSOR_CONFIG_INVERT_MASK 0x10000
+ #define SMP_COMMUTATION_SENSOR_CONFIG_ENABLE_MASK 0x20000
//low pass filter selector, value 0=100Hz, 9=3300Hz, 10=4700Hz, 11=unlimited (see Granity for all options):
#define SMP_TORQUE_LPF_BANDWIDTH 490
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