DC Link converted to fixed-point

Inc/config.h

@@ -7,6 +7,7 @@
 #define DEAD_TIME              32     // PWM deadtime
 #define DELAY_IN_MAIN_LOOP      5     // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
 #define TIMEOUT                 5     // number of wrong / missing input commands before emergency off
+#define A2BIT_CONV             50     // bits per A on ADC. Example: 50 = 1 A, 100 = 2 A, etc
 
 // ADC conversion time definitions
 #define ADC_CONV_TIME_1C5       (14)  //Total ADC clock cycles / conversion = (  1.5+12.5)
@@ -93,13 +94,13 @@
 
 
 // ############################### MOTOR CONTROL (overwrite) #########################
-#define CTRL_TYP_SEL    1               // [-] Control type selection: 0 = Commutation , 1 = FOC Field Oriented Control (default)
+#define CTRL_TYP_SEL    1                       // [-] Control type selection: 0 = Commutation , 1 = FOC Field Oriented Control (default)
-#define CTRL_MOD_REQ    1               // [-] Control mode request: 0 = Open mode, 1 = Voltage mode (default), 2 = Speed mode, 3 = Torque mode
+#define CTRL_MOD_REQ    1                       // [-] Control mode request: 0 = Open mode, 1 = Voltage mode (default), 2 = Speed mode, 3 = Torque mode
-#define DIAG_ENA        1               // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
+#define DIAG_ENA        1                       // [-] Motor Diagnostics enable flag: 0 = Disabled, 1 = Enabled (default)
-#define FIELD_WEAK_ENA  0               // [-] Field Weakening enable flag: 0 = Disabled (default), 1 = Enabled
+#define FIELD_WEAK_ENA  0                       // [-] Field Weakening enable flag: 0 = Disabled (default), 1 = Enabled
-#define I_MOT_MAX       (15 * 50) << 4  // [A] Maximum motor current (change only the first number, the rest is needed for fixed-point conversion)
+#define I_MOT_MAX       (15 * A2BIT_CONV) << 4  // [A] Maximum motor current limit (Change only the first number, the rest is needed for fixed-point conversion)
-#define DC_CUR_LIMIT    17              // [A] DC current limit in amps per motor. (Final current protection. Above this value, current chopping is applied. To avoid this make sure that DC_CUR_LIMIT = I_MOT_MAX + 2A )
+#define I_DC_MAX        (17 * A2BIT_CONV)       // [A] Maximum DC Link current limit (This is the final current protection. Above this value, current chopping is applied. To avoid this make sure that I_DC_MAX = I_MOT_MAX + 2A )
-#define N_MOT_MAX       800 << 4        // [rpm] Maximum motor speed (change only the first number, the rest is needed for fixed-point conversion)
+#define N_MOT_MAX       800 << 4                // [rpm] Maximum motor speed (change only the first number, the rest is needed for fixed-point conversion)
 
 
 // GENERAL NOTES:

Inc/defines.h

@@ -123,15 +123,13 @@
 
 #define DELAY_TIM_FREQUENCY_US 1000000
 
-#define MOTOR_AMP_CONV_DC_AMP 0.02f // A per bit (12) on ADC.
-
 #define MILLI_R (R * 1000)
 #define MILLI_PSI (PSI * 1000)
 #define MILLI_V (V * 1000)
 
 #define NO 0
 #define YES 1
-#define ABS(a) (((a) < 0.0f) ? -(a) : (a))
+#define ABS(a) (((a) < 0) ? -(a) : (a))
 #define LIMIT(x, lowhigh) (((x) > (lowhigh)) ? (lowhigh) : (((x) < (-lowhigh)) ? (-lowhigh) : (x)))
 #define SAT(x, lowhigh) (((x) > (lowhigh)) ? (1.0f) : (((x) < (-lowhigh)) ? (-1.0f) : (0.0f)))
 #define SAT2(x, low, high) (((x) > (high)) ? (1.0f) : (((x) < (low)) ? (-1.0f) : (0.0f)))

Src/bldc.c

@@ -1,5 +1,5 @@
 /*
-* This file has been re-implemented FOC motor control.
+* This file implements FOC motor control.
 * This control method offers superior performanace
 * compared to previous cummutation method. The new method features:
 * ► reduced noise and vibrations
@@ -66,7 +66,7 @@ static uint32_t buzzerTimer = 0;
 uint8_t        enable       = 0;
 static uint8_t enableFin    = 0;
 
-static const uint16_t pwm_res       = 64000000 / 2 / PWM_FREQ; // = 2000
+static const uint16_t pwm_res  = 64000000 / 2 / PWM_FREQ; // = 2000
 
 static uint16_t offsetcount = 0;
 static int16_t offsetrl1    = 2000;
@@ -113,7 +113,7 @@ void DMA1_Channel1_IRQHandler(void) {
   curR_DC   = (int16_t)(adc_buffer.dcr - offsetdcr);
 
   // Disable PWM when current limit is reached (current chopping)
-  if(ABS(curL_DC * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) {
+  if(ABS(curL_DC) > I_DC_MAX || timeout > TIMEOUT || enable == 0) {
     LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
     //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
   } else {
@@ -121,7 +121,7 @@ void DMA1_Channel1_IRQHandler(void) {
     //HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
   }
 
-  if(ABS(curR_DC * MOTOR_AMP_CONV_DC_AMP)  > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) {
+  if(ABS(curR_DC)  > I_DC_MAX || timeout > TIMEOUT || enable == 0) {
     RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
   } else {
     RIGHT_TIM->BDTR |= TIM_BDTR_MOE;