remove ADC_MEDIAN

3x8 · Jan 5, 2021 · e8844c4 · e8844c4
1 parent 384b978
commit e8844c4
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Showing 12 changed files with 6 additions and 41 deletions.
diff --git a/src/main/drivers/input.c b/src/main/drivers/input.c
@@ -125,11 +125,6 @@ void inputDshotCommandRun(void) {
       #else
         uartPrint("# ");
       #endif
-      #if (!defined(USE_ADC_MEDIAN))
-        uartPrint("KALMAN ");
-      #else
-        uartPrint("MEDIAN ");
-      #endif
       #if (!defined(USE_PWM_FREQUENCY_48kHz))
         uartPrint("24kHz ");
       #else

diff --git a/src/main/main.c b/src/main/main.c
@@ -3,11 +3,7 @@
 medianStructure motorCommutationIntervalFilterState;
 
 #if (defined(USE_ADC))
-  #if (defined(USE_ADC_MEDIAN))
-    medianStructure adcVoltageFilterState, adcCurrentFilterState;
-  #else
-    kalmanStructure adcVoltageFilterState, adcCurrentFilterState;
-  #endif
+  kalmanStructure adcVoltageFilterState, adcCurrentFilterState;
 #endif
 
 int main(void) {
@@ -34,24 +30,15 @@ int main(void) {
   medianInit(&motorCommutationIntervalFilterState, MOTOR_BLDC_MEDIAN);
 
   #if (defined(USE_ADC))
-    #if (defined(USE_ADC_MEDIAN))
-      medianInit(&adcVoltageFilterState, 113);
-      medianInit(&adcCurrentFilterState, 113);
-    #else
-      kalmanInit(&adcVoltageFilterState, 25000.0f, 7);
-      kalmanInit(&adcCurrentFilterState, 25000.0f, 7);
-    #endif
+    kalmanInit(&adcVoltageFilterState, 25000.0f, 7);
+    kalmanInit(&adcCurrentFilterState, 25000.0f, 7);
   #endif
 
   // start with motor off
   motor.Step = 1;
   motor.Direction = escConfig()->motorDirection;
   motor.ComplementaryPWM = escConfig()->motorComplementaryPWM;
-  #if (defined(USE_ADC_MEDIAN))
-    motor.BemfZeroCounterTimeoutThreshold = 71;
-  #else
-    motor.BemfZeroCounterTimeoutThreshold = 13;
-  #endif
+  motor.BemfZeroCounterTimeoutThreshold = 13;
   #if defined(SUCCEXMINI40A)
     motor.BemfZeroCounterTimeoutThreshold = 313;
   #endif
@@ -155,15 +142,8 @@ int main(void) {
 
     // adc filtering
     #if (defined(USE_ADC))
-      #if (defined(USE_ADC_MEDIAN))
-        medianPush(&adcCurrentFilterState, adcRaw.current);
-        adcScaled.current = medianCalculate(&adcCurrentFilterState) * ADC_CURRENT_FACTOR + escConfig()->adcCurrentOffset;
-        medianPush(&adcVoltageFilterState, adcRaw.voltage);
-        adcScaled.voltage = medianCalculate(&adcVoltageFilterState) * ADC_VOLTAGE_FACTOR + ADC_VOLTAGE_OFFSET;
-      #else
-        adcScaled.current = ((kalmanUpdate(&adcCurrentFilterState, (float)adcRaw.current) * ADC_CURRENT_FACTOR + escConfig()->adcCurrentOffset));
-        adcScaled.voltage = ((kalmanUpdate(&adcVoltageFilterState, (float)adcRaw.voltage) * ADC_VOLTAGE_FACTOR + ADC_VOLTAGE_OFFSET));
-      #endif
+      adcScaled.current = ((kalmanUpdate(&adcCurrentFilterState, (float)adcRaw.current) * ADC_CURRENT_FACTOR + escConfig()->adcCurrentOffset));
+      adcScaled.voltage = ((kalmanUpdate(&adcVoltageFilterState, (float)adcRaw.voltage) * ADC_VOLTAGE_FACTOR + ADC_VOLTAGE_OFFSET));
 
       if ((escConfig()->limitCurrent > 0) && (ABS(adcScaled.current) > escConfig()->limitCurrent)) {
         inputDisarm();

diff --git a/src/main/target/DYS35ARIA/target.h b/src/main/target/DYS35ARIA/target.h
@@ -12,7 +12,6 @@
 
 // CYCLETIME_MAINLOOP kalman->400us (+-10%), median->150us (+-10%)
 #define USE_PWM_FREQUENCY_48kHz
-#define USE_ADC_MEDIAN
 
 // hw constants
 #define HBRIDGE_DEAD_TIME       11    // with 0 FD6288 builtin 200ns H_Bridge gets warm ??? (why)

diff --git a/src/main/target/FURLING45MINI/target.h b/src/main/target/FURLING45MINI/target.h
@@ -14,7 +14,6 @@
 
 // CYCLETIME_MAINLOOP kalman->400us (+-10%), median->150us (+-10%)
 #define USE_PWM_FREQUENCY_48kHz
-//#define USE_ADC_MEDIAN
 
 // hw constants
 #define HBRIDGE_DEAD_TIME       0     // (in 20.833ns cycles at 48MHz) (FD6288 has a builtin 200ns deadtime)

diff --git a/src/main/target/KISS24A/target.h b/src/main/target/KISS24A/target.h
@@ -16,7 +16,6 @@
 
 // CYCLETIME_MAINLOOP kalman->400us (+-10%), median->150us (+-10%)
 #define USE_PWM_FREQUENCY_48kHz
-#define USE_ADC_MEDIAN
 
 // hw constants
 #define HBRIDGE_DEAD_TIME       11    // (in 20.833ns cycles at 48MHz)

diff --git a/src/main/target/RAZOR32V2/target.h b/src/main/target/RAZOR32V2/target.h
@@ -12,7 +12,6 @@
 
 // CYCLETIME_MAINLOOP kalman->500us, median->100us
 #define USE_PWM_FREQUENCY_48kHz
-//#define USE_ADC_MEDIAN
 
 // hw constants
 #define HBRIDGE_DEAD_TIME       0     // (in 20.833ns cycles at 48MHz) (FD6288 has a builtin 200ns deadtime)

diff --git a/src/main/target/SUCCEX50AV2/target.h b/src/main/target/SUCCEX50AV2/target.h
@@ -12,7 +12,6 @@
 
 // CYCLETIME_MAINLOOP kalman->400us (+-10%), median->150us (+-10%)
 #define USE_PWM_FREQUENCY_48kHz
-#define USE_ADC_MEDIAN
 
 // hw constants
 #define HBRIDGE_DEAD_TIME       11    // (in 20.833ns cycles at 48MHz) (FD6288 has a builtin 200ns deadtime)

diff --git a/src/main/target/SUCCEXMINI40A/target.h b/src/main/target/SUCCEXMINI40A/target.h
@@ -12,7 +12,6 @@
 
 // CYCLETIME_MAINLOOP kalman->500us, median->100us
 #define USE_PWM_FREQUENCY_48kHz
-//#define USE_ADC_MEDIAN
 
 // hw constants
 #define HBRIDGE_DEAD_TIME       9     // (in 20.833ns cycles at 48MHz) (FD6288 has a builtin 200ns deadtime)

diff --git a/src/main/target/TYPHOON32V2/target.h b/src/main/target/TYPHOON32V2/target.h
@@ -13,7 +13,6 @@
 
 // CYCLETIME_MAINLOOP kalman->500us, median->100us
 #define USE_PWM_FREQUENCY_48kHz
-//#define USE_ADC_MEDIAN
 
 // hw constants
 #define HBRIDGE_DEAD_TIME       0     // (in 20.833ns cycles at 48MHz) (FD6288 has a builtin 200ns deadtime)

diff --git a/src/main/target/WRAITH32/target.h b/src/main/target/WRAITH32/target.h
@@ -12,7 +12,6 @@
 
 // CYCLETIME_MAINLOOP kalman->400us (+-10%), median->150us (+-10%)
 #define USE_PWM_FREQUENCY_48kHz
-#define USE_ADC_MEDIAN
 
 // hw constants
 #define HBRIDGE_DEAD_TIME       0     // (in 20.833ns cycles at 48MHz) (FD6288 has a builtin 200ns deadtime)

diff --git a/src/main/target/WRAITH32MINI/target.h b/src/main/target/WRAITH32MINI/target.h
@@ -12,7 +12,6 @@
 
 // CYCLETIME_MAINLOOP kalman->400us (+-10%), median->150us (+-10%)
 #define USE_PWM_FREQUENCY_48kHz
-#define USE_ADC_MEDIAN
 
 // hw constants
 #define HBRIDGE_DEAD_TIME       7     // (in 20.833ns cycles at 48MHz) (FD6288 has a builtin 200ns deadtime)

diff --git a/src/main/target/WRAITH32V2/target.h b/src/main/target/WRAITH32V2/target.h
@@ -12,7 +12,6 @@
 
 // CYCLETIME_MAINLOOP kalman->500us, median->100us
 #define USE_PWM_FREQUENCY_48kHz
-//#define USE_ADC_MEDIAN
 
 // hw constants
 #define HBRIDGE_DEAD_TIME       0     // (in 20.833ns cycles at 48MHz) (FD6288 has a builtin 200ns deadtime)