Set new tachometer value interface added.

Author: ddosoff

mc_interface.c

@@ -982,6 +982,27 @@ float mc_interface_get_abs_motor_current_unbalance(void) {
 	return ret;
 }
 
+int mc_interface_set_tachometer_value(int steps)
+{
+	int ret = 0;
+	switch (m_conf.motor_type)
+	{
+	case MOTOR_TYPE_BLDC:
+	case MOTOR_TYPE_DC:
+		ret = mcpwm_set_tachometer_value(DIR_MULT * steps);
+		break;
+
+	case MOTOR_TYPE_FOC:
+		ret = mcpwm_foc_set_tachometer_value(DIR_MULT * steps);
+		break;
+
+	default:
+		break;
+	}
+
+	return DIR_MULT * ret;
+}
+
 int mc_interface_get_tachometer_value(bool reset) {
 	int ret = 0;
 

mc_interface.h

@@ -44,6 +44,7 @@ void mc_interface_set_current_rel(float val);
 void mc_interface_set_brake_current_rel(float val);
 void mc_interface_set_handbrake(float current);
 void mc_interface_set_handbrake_rel(float val);
+int mc_interface_set_tachometer_value(int steps);
 void mc_interface_brake_now(void);
 void mc_interface_release_motor(void);
 float mc_interface_get_duty_cycle_set(void);

mcpwm.c

@@ -832,6 +832,26 @@ float mcpwm_get_tot_current_in_filtered(void) {
 	return mcpwm_get_tot_current_filtered() * fabsf(dutycycle_now);
 }
 
+/**
+ * Set the number of steps the motor has rotated. This number is signed and
+ * becomes a negative when the motor is rotating backwards.
+ *
+ * @param steps
+ * New number of motor steps will be set after this call.
+ *
+ * @return
+ * The previous tachometer value in motor steps. The number of motor revolutions will
+ * be this number divided by (3 * MOTOR_POLE_NUMBER).
+ */
+int mcpwm_set_tachometer_value(int steps)
+{
+	int val = tachometer;
+
+	tachometer = steps;
+
+	return val;
+}
+
 /**
  * Read the number of steps the motor has rotated. This number is signed and
  * will return a negative number when the motor is rotating backwards.

mcpwm.h

@@ -34,6 +34,7 @@ void mcpwm_set_pid_speed(float rpm);
 void mcpwm_set_pid_pos(float pos);
 void mcpwm_set_current(float current);
 void mcpwm_set_brake_current(float current);
+int mcpwm_set_tachometer_value(int steps);
 void mcpwm_brake_now(void);
 void mcpwm_release_motor(void);
 int mcpwm_get_comm_step(void);

mcpwm_foc.c

@@ -958,6 +958,26 @@ float mcpwm_foc_get_tot_current_in_filtered(void) {
 	return m_motor_state.i_bus; // TODO: Calculate filtered current?
 }
 
+/**
+ * Set the number of steps the motor has rotated. This number is signed and
+ * becomes a negative when the motor is rotating backwards.
+ *
+ * @param steps
+ * New number of steps will be set after this call.
+ *
+ * @return
+ * The previous tachometer value in motor steps. The number of motor revolutions will
+ * be this number divided by (3 * MOTOR_POLE_NUMBER).
+ */
+int mcpwm_foc_set_tachometer_value(int steps)
+{
+	int val = m_tachometer;
+
+	m_tachometer = steps;
+
+	return val;
+}
+
 /**
  * Read the number of steps the motor has rotated. This number is signed and
  * will return a negative number when the motor is rotating backwards.

mcpwm_foc.h

@@ -43,6 +43,7 @@ void mcpwm_foc_set_openloop(float current, float rpm);
 void mcpwm_foc_set_openloop_phase(float current, float phase);
 void mcpwm_foc_set_openloop_duty(float dutyCycle, float rpm);
 void mcpwm_foc_set_openloop_duty_phase(float dutyCycle, float phase);
+int mcpwm_foc_set_tachometer_value(int steps);
 float mcpwm_foc_get_duty_cycle_set(void);
 float mcpwm_foc_get_duty_cycle_now(void);
 float mcpwm_foc_get_pid_pos_set(void);