Merge pull request #365 from runger1101001/dev

Add currentsense.enable/disable

Author: runger1101001

src/BLDCMotor.cpp

@@ -111,6 +111,8 @@ void BLDCMotor::init() {
 // disable motor driver
 void BLDCMotor::disable()
 {
+  // disable the current sense
+  if(current_sense) current_sense->disable();
   // set zero to PWM
   driver->setPwm(0, 0, 0);
   // disable the driver
@@ -125,6 +127,13 @@ void BLDCMotor::enable()
   driver->enable();
   // set zero to PWM
   driver->setPwm(0, 0, 0);
+  // enable the current sense
+  if(current_sense) current_sense->enable();
+  // reset the pids
+  PID_velocity.reset();
+  P_angle.reset();
+  PID_current_q.reset();
+  PID_current_d.reset();
   // motor status update
   enabled = 1;
 }

src/common/base_classes/CurrentSense.cpp

@@ -100,3 +100,12 @@ DQCurrent_s CurrentSense::getDQCurrents(ABCurrent_s current, float angle_el){
 void CurrentSense::linkDriver(BLDCDriver* _driver) {
   driver = _driver;
 }
+
+
+void CurrentSense::enable(){
+    // nothing is done here, but you can override this function
+};
+
+void CurrentSense::disable(){
+    // nothing is done here, but you can override this function
+};

src/common/base_classes/CurrentSense.h

@@ -87,7 +87,17 @@ class CurrentSense{
      */
     DQCurrent_s getDQCurrents(ABCurrent_s current,float angle_el);
 
+    /**
+     * enable the current sense. default implementation does nothing, but you can
+     * override it to do something useful.
+     */
+    virtual void enable();
 
+    /**
+     * disable the current sense. default implementation does nothing, but you can
+     * override it to do something useful.
+     */
+    virtual void disable();
 };
 
 #endif

src/drivers/hardware_specific/atmega/atmega2560_mcu.cpp

@@ -57,7 +57,8 @@ void* _configure1PWM(long pwm_frequency,const int pinA) {
   _pinHighFrequency(pinA, pwm_frequency);
   GenericDriverParams* params = new GenericDriverParams {
     .pins = { pinA },
-    .pwm_frequency = pwm_frequency
+    .pwm_frequency = pwm_frequency,
+    .dead_zone = 0.0f
   };
   return params;
 }
@@ -75,7 +76,8 @@ void* _configure2PWM(long pwm_frequency,const int pinA, const int pinB) {
   _pinHighFrequency(pinB, pwm_frequency);
   GenericDriverParams* params = new GenericDriverParams {
     .pins = { pinA, pinB },
-    .pwm_frequency = pwm_frequency
+    .pwm_frequency = pwm_frequency,
+    .dead_zone = 0.0f
   };
   return params;
 }
@@ -94,7 +96,8 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
   _pinHighFrequency(pinC, pwm_frequency);
   GenericDriverParams* params = new GenericDriverParams {
     .pins = { pinA, pinB, pinC },
-    .pwm_frequency = pwm_frequency
+    .pwm_frequency = pwm_frequency,
+    .dead_zone = 0.0f
   };
   // _syncAllTimers();
   return params;
@@ -141,7 +144,8 @@ void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const
   _pinHighFrequency(pin2B,pwm_frequency);
   GenericDriverParams* params = new GenericDriverParams {
     .pins = { pin1A, pin1B, pin2A, pin2B },
-    .pwm_frequency = pwm_frequency
+    .pwm_frequency = pwm_frequency,
+    .dead_zone = 0.0f
   };
   return params;
 }

src/drivers/hardware_specific/atmega/atmega328_mcu.cpp

@@ -53,7 +53,8 @@ void* _configure1PWM(long pwm_frequency,const int pinA) {
   _pinHighFrequency(pinA, pwm_frequency);
   GenericDriverParams* params = new GenericDriverParams {
     .pins = { pinA },
-    .pwm_frequency = pwm_frequency
+    .pwm_frequency = pwm_frequency,
+    .dead_zone = 0.0f
   };
   return params;
 }
@@ -70,7 +71,8 @@ void* _configure2PWM(long pwm_frequency,const int pinA, const int pinB) {
   _pinHighFrequency(pinB, pwm_frequency);
   GenericDriverParams* params = new GenericDriverParams {
     .pins = { pinA, pinB },
-    .pwm_frequency = pwm_frequency
+    .pwm_frequency = pwm_frequency,
+    .dead_zone = 0.0f
   };
   return params;
 }
@@ -89,7 +91,8 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
   _pinHighFrequency(pinC, pwm_frequency);
   GenericDriverParams* params = new GenericDriverParams {
     .pins = { pinA, pinB, pinC },
-    .pwm_frequency = pwm_frequency
+    .pwm_frequency = pwm_frequency,
+    .dead_zone = 0.0f
   };
   _syncAllTimers();
   return params;
@@ -141,7 +144,8 @@ void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const
   _pinHighFrequency(pin2B,pwm_frequency);
   GenericDriverParams* params = new GenericDriverParams {
     .pins = { pin1A, pin1B, pin2A, pin2B },
-    .pwm_frequency = pwm_frequency
+    .pwm_frequency = pwm_frequency,
+    .dead_zone = 0.0f
   };
   return params;
 }

src/drivers/hardware_specific/atmega/atmega32u4_mcu.cpp

@@ -41,7 +41,8 @@ void* _configure1PWM(long pwm_frequency,const int pinA) {
   _pinHighFrequency(pinA);
   GenericDriverParams* params = new GenericDriverParams {
     .pins = { pinA },
-    .pwm_frequency = pwm_frequency
+    .pwm_frequency = pwm_frequency,
+    .dead_zone = 0.0f
   };
   return params;
 }
@@ -56,7 +57,8 @@ void* _configure2PWM(long pwm_frequency,const int pinA, const int pinB) {
   _pinHighFrequency(pinB);
   GenericDriverParams* params = new GenericDriverParams {
     .pins = { pinA, pinB },
-    .pwm_frequency = pwm_frequency
+    .pwm_frequency = pwm_frequency,
+    .dead_zone = 0.0f
   };
   return params;
 }
@@ -72,7 +74,8 @@ void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const in
   _pinHighFrequency(pinC);
   GenericDriverParams* params = new GenericDriverParams {
     .pins = { pinA, pinB, pinC },
-    .pwm_frequency = pwm_frequency
+    .pwm_frequency = pwm_frequency,
+    .dead_zone = 0.0f
   };
   return params;
 }
@@ -119,7 +122,8 @@ void* _configure4PWM(long pwm_frequency,const int pin1A, const int pin1B, const
   _pinHighFrequency(pin2B);
   GenericDriverParams* params = new GenericDriverParams {
     .pins = { pin1A, pin1B, pin2A, pin2B },
-    .pwm_frequency = pwm_frequency
+    .pwm_frequency = pwm_frequency,
+    .dead_zone = 0.0f
   };
   return params;
 }