New commutation sensor parameters

1 files changed, 6 insertions, 2 deletions

diff --git a/simplemotion_defs.h b/simplemotion_defs.h
index ec3e2f7..026e538 100644
--- a/simplemotion_defs.h
+++ b/simplemotion_defs.h
@@ -352,6 +352,8 @@
 	#define SMP_SYSTEM_CONTROL_GET_SPECIAL_DATA 1024

 	//stores encoder index position in SMP_DEBUGPARAM_1. while busy (index not found) SMP_DEBUGPARAM_2 will be 100, after found it is 200.

 	#define SMP_SYSTEM_CONTROL_CAPTURE_INDEX_POSITION 2048

+	//start a procedure to automatically configure hall sensors direction & offset, or other absolute sensor capable of commutation

+	#define SMP_SYSTEM_CONTROL_START_COMMUTATION_SENSOR_AUTOSETUP 4096

 	//write SM bus SM_CRCINIT constant modifier. special purposes only, don't use if unsure because

 	//it is one time programmable variable (permanently irreversible operation, can't be ever reset to default by provided methods)

 	#define SMP_SYSTEM_CONTROL_MODIFY_CRCINIT 262144

@@ -429,7 +431,7 @@
     #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_INVERTED_HALLS BV(13)

+    #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_MECH_BRAKE_DURING_PHASING BV(15)

 	#define FLAG_LIMIT_SWITCHES_NORMALLY_OPEN_TYPE BV(16)

@@ -539,7 +541,9 @@
 #define SMP_PHASESEARCH_VOLTAGE_SLOPE 480

 //by default this is calculated from other motor params:

 #define SMP_PHASESEARCH_CURRENT 481

-//selector value 0-9 = 100 - 3300Hz (see Granity):

+//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

+//low pass filter selector, value 0=100Hz, 9=3300Hz, 10=4700Hz, 11=unlimited (see Granity for all options):

 #define SMP_TORQUE_LPF_BANDWIDTH 490

 

 //motor rev to rotary/linear unit scale. like 5mm/rev or 0.1rev/rev. 30bit parameter & scale 100000=1.0