Some updates to MTPA PR

Author: vedderb

CHANGELOG

@@ -5,6 +5,7 @@
 * Fixed motor temperature reading on hw with ADC mux.
 * Added speed PID input ramping option.
 * Added LSM6DS3 IMU support.
+* Added MTPA support. See See: https://github.com/vedderb/bldc/pull/179
 
 === FW 5.01 ===
 * Fixed PPM bug in previous release.

conf_general.h

@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			5
 #define FW_VERSION_MINOR			02
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		3
+#define FW_TEST_VERSION_NUMBER		4
 
 #include "datatypes.h"
 

confgenerator.h

@@ -8,8 +8,8 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		2013508732
-#define APPCONF_SIGNATURE		2460147246
+#define MCCONF_SIGNATURE		1358025204
+#define APPCONF_SIGNATURE		2662993821
 
 // Functions
 int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);

mcpwm_foc.c

@@ -195,7 +195,6 @@ static void terminal_plot_hfi(int argc, const char **argv);
 static void timer_update(volatile motor_all_state_t *motor, float dt);
 static void input_current_offset_measurement( void );
 static void hfi_update(volatile motor_all_state_t *motor);
-static void apply_mtpa(float *id, float *iq, volatile motor_all_state_t *motor);
 
 // Threads
 static THD_WORKING_AREA(timer_thread_wa, 1024);
@@ -2547,7 +2546,14 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
 			motor_now->m_motor_state.phase = motor_now->m_phase_now_override;
 		}
 
-		apply_mtpa(&id_set_tmp, &iq_set_tmp, motor_now);
+		// Apply MTPA. See: https://github.com/vedderb/bldc/pull/179
+		float ld_lq_diff = conf_now->foc_motor_ld_lq_diff;
+		if (ld_lq_diff != 0.0) {
+			float lambda = conf_now->foc_motor_flux_linkage;
+
+			id_set_tmp = (lambda - sqrtf(SQ(lambda) + 8.0 * SQ(ld_lq_diff) * SQ(iq_set_tmp))) / (4.0 * ld_lq_diff);
+			iq_set_tmp = SIGN(iq_set_tmp) * sqrtf(SQ(iq_set_tmp) - SQ(id_set_tmp));
+		}
 
 		// Apply current limits
 		// TODO: Consider D axis current for the input current as well.
@@ -3989,14 +3995,3 @@ static void terminal_plot_hfi(int argc, const char **argv) {
 		commands_printf("This command requires one argument.\n");
 	}
 }
-
-static void apply_mtpa(float *id, float *iq, volatile motor_all_state_t *motor) {
-	float ld_lq_diff = motor->m_conf->foc_motor_ld_lq_diff;
-
-	if(ld_lq_diff != 0.0){
-		float lambda = motor->m_conf->foc_motor_flux_linkage;
-
-		*id = (lambda - sqrtf(SQ(lambda) + 8.0 * SQ(ld_lq_diff) * SQ(*iq))) / (4.0 * ld_lq_diff);
-		*iq = SIGN(*iq) * sqrtf(SQ(*iq) - SQ(*id));
-	}
-}