releaseなら10kHz自体はいけそう

chama1176 · Sep 9, 2024 · 8450284 · 8450284
1 parent 87661b2
commit 8450284
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Showing 3 changed files with 5 additions and 7 deletions.
diff --git a/src/app.rs b/src/app.rs
@@ -185,8 +185,8 @@ where
                 self.control_err_integral.i_d += err_current.i_d;
                 self.control_err_integral.i_q += err_current.i_q;
 
-                self.control_err_integral.i_d = self.control_err_integral.i_d.clamp(-1.0, 1.0);
-                self.control_err_integral.i_q = self.control_err_integral.i_q.clamp(-1.0, 1.0);
+                // self.control_err_integral.i_d = self.control_err_integral.i_d.clamp(-1.0, 1.0);
+                // self.control_err_integral.i_q = self.control_err_integral.i_q.clamp(-1.0, 1.0);
 
                 tpe = ThreePhaseValue { u: OutputStatus::Enable, v: OutputStatus::Enable, w: OutputStatus::Enable };
                 let tpv = DQVoltage{

diff --git a/src/bldc_motor_driver_stm32g4.rs b/src/bldc_motor_driver_stm32g4.rs
@@ -88,7 +88,7 @@ pub fn clock_init(perip: &Peripherals, core_perip: &mut CorePeripherals) {
     // For ADC
     let tim6 = &perip.TIM6;
     tim6.psc.modify(|_, w| unsafe { w.bits(1400 - 1) });
-    tim6.arr.modify(|_, w| unsafe { w.bits(20 - 1) }); // 5kHz
+    tim6.arr.modify(|_, w| unsafe { w.bits(10 - 1) }); // 10kHz
     tim6.dier.modify(|_, w| w.uie().set_bit());
     tim6.cr2.modify(|_, w| unsafe { w.mms().bits(0b010) });
 }

diff --git a/src/main.rs b/src/main.rs
@@ -245,7 +245,7 @@ fn main() -> ! {
                 free(|cs| match G_APP.borrow(cs).borrow_mut().deref_mut() {
                     None => (),
                     Some(app) => {
-                        rad = app.read_encoder_data();
+                        // rad = app.read_encoder_data();
                         calib_count = app.calib_count();
                         adcd =  free(|cs| bldc_motor_driver_stm32g4::G_ADC_DATA.borrow(cs).borrow().clone());
                         electrical_angle = app.last_electrical_angle;
@@ -256,8 +256,6 @@ fn main() -> ! {
 
                     }
                 });
-                let deg = rad.rad2deg();
-                defmt::info!("deg: {}, rad: {}", deg, rad);
                 // write!(uart, "{}, {:4}, {:4}", calib_count, deg, rad).unwrap();
                 // write!(uart, "\"tv\": {:4}\r\n", tv,).unwrap();
 
@@ -274,7 +272,7 @@ fn main() -> ! {
                 // )
                 // .unwrap();
 
-                // defmt::info!("diff: {}", diff_count);
+                defmt::info!("diff: {}", diff_count);
 
                 // // floatのまま送るとFLASHをバカほど食うのでcastする
                 // write!(