1. 支持鲨湾V形新电机，encoder_off4.h

2. 示波器输出可以设置

Signed-off-by: huhui <huhui@sharkgulf.com>

Applications/app/nv_storage.c

@@ -45,7 +45,7 @@ static void nv_default_foc_params(void) {
 	foc_params.s_maxiDC = 30;
 	//foc_params.s_maxIdq = 200;
 	//foc_params.s_minIdq = -200;
-	foc_params.s_PhaseCurrLim = 150;
+	foc_params.s_PhaseCurrLim = 180;
 	foc_params.s_maxRPM = 8000;
 	foc_params.s_maxEpmRPM = 200;
 	foc_params.s_maxEpmPhaseCurrLim = 10;

Applications/foc/core/PMSM_FOC_Core.c

@@ -222,6 +222,8 @@ void PMSM_FOC_CoreInit(void) {
 	FOC_DqRamp_init(&gFoc_Ctrl.vdq_ctl[0], (CONFIG_IDQ_CTRL_TS/CONFIG_FOC_VDQ_RAMP_TS));
 	FOC_DqRamp_init(&gFoc_Ctrl.vdq_ctl[1], (CONFIG_IDQ_CTRL_TS/CONFIG_FOC_VDQ_RAMP_TS));	
 	PMSM_FOC_Reset_PID();
+
+	gFoc_Ctrl.plot_type = Plot_Phase_curr;
 }
 
 //#define PHASE_LFP_FIR

Applications/foc/motor/encoder.c

@@ -11,6 +11,7 @@
 #elif defined MOTOR_BLUESHARK_NEW1
 #include "encoder_off3.h"
 #elif defined MOTOR_BLUESHARK_NEW2
+#include "encoder_off4.h"
 #endif
 static void encoder_do_offset_calibrate(void) ;
 static void _detect_off_finished(void);
@@ -198,7 +199,7 @@ void _encoder_caliberate_deinit(void) {
 	g_encoder.encoder_off_count = NULL;
 }
 
-#define MIN_OFF_COUNT 10
+#define MIN_OFF_COUNT 5
 void encoder_detect_offset(float angle){
 #if 1
 	_encoder_caliberate_init();
@@ -254,7 +255,7 @@ static void _detect_off_finished(void) {
 	for (int i = 0; i < 1024; i++) {
 		float angle_off = g_encoder.encoder_off_map[i] / (((g_encoder.encoder_off_count[i] >> 4)&0xF) + (g_encoder.encoder_off_count[i]&0xF));
 		plot_1data16((s16)angle_off);
-		delay_ms(2);
+		delay_ms(5);
 		wdog_reload();
 	}	
 }

Applications/foc/motor/encoder_off4.h

@@ -0,0 +1,113 @@
+#include "math/fix_math.h" 
+
+/* Auto gen by my tools, and use matlab to desing a FIR filter-(MC100/Simulink/Fir_angle.m) */
+/* Matlib Command: Fir=Fir_angle; angle_off=filter(Fir.Numerator, 1, angle_in); */
+/* angle_in is the data, by plot MC_tools */
+/* Use angle_out=single(angle_off) convert double to float */
+
+#define FIR_PHASE_SHIFT 277
+const static s16q10_t _encoder_off_map[] = {
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+};

Applications/foc/motor/motor.c

@@ -308,6 +308,7 @@ void mc_encoder_off_calibrate(s16 vd) {
 		return;
 	}
 	motor.b_calibrate = true;
+	pwm_up_enable(false);
 	pwm_turn_on_low_side();
 	task_udelay(500);
 	PMSM_FOC_Start(CTRL_MODE_OPEN);
@@ -319,7 +320,7 @@ void mc_encoder_off_calibrate(s16 vd) {
 	PMSM_FOC_SetOpenVdq(vd, 0);
 	delay_ms(2000);
 	motor_encoder_set_direction(POSITIVE);
-	for (int i = 0; i < 3000; i++) {
+	for (int i = 0; i < 5000; i++) {
 		for (float angle = 0; angle < 360; angle++) {
 			PMSM_FOC_Set_Angle(angle);
 			delay_ms(1);
@@ -334,7 +335,7 @@ void mc_encoder_off_calibrate(s16 vd) {
 	}
 	motor_encoder_set_direction(NEGATIVE);
 	delay_ms(100);
-	for (int i = 0; i < 3000; i++) {
+	for (int i = 0; i < 5000; i++) {
 		for (float angle = 360; angle > 0; angle--) {
 			PMSM_FOC_Set_Angle(angle);
 			delay_ms(1);
@@ -354,6 +355,7 @@ void mc_encoder_off_calibrate(s16 vd) {
 	adc_stop_convert();
 	pwm_stop();
 	PMSM_FOC_Stop();
+	pwm_up_enable(true);
 	motor.b_calibrate = false;
 }
 

Applications/foc/motor/motor_param.h

@@ -10,9 +10,9 @@
 #define MOTOR_ENC_OFFSET 0.0F
 
 #elif defined MOTOR_BLUESHARK_NEW2
-#define MOTOR_R   0.010f
-#define MOTOR_Ld (0.000120f*0.5f)
-#define MOTOR_Lq (0.000200f*0.5f)
+#define MOTOR_R   0.013f
+#define MOTOR_Ld (0.000140f*0.5f)
+#define MOTOR_Lq (0.000320f*0.5f)
 #define MOTOR_POLES  4
 #define MOTOR_ENC_OFFSET 0.0F
 

Simulink/angle4.csv

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Simulink/myfilter2.m

@@ -1,5 +1,5 @@
 Fir=Fir_angle2;
-in=csvread('angle2.csv');
+in=csvread('angle4.csv');
 in=in';
 angle_off=filter(Fir.Numerator, 1, in);
 out=single(angle_off);