加入新电机的偏心校准参数

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

Applications/foc/motor/encoder.c

@@ -12,6 +12,8 @@
 #include "encoder_off3.h"
 #elif defined MOTOR_BLUESHARK_NEW2
 #include "encoder_off4.h"
+#elif defined MOTOR_BLUESHARK_ZD_100
+#include "encoder_off5.h"
 #endif
 static void encoder_do_offset_calibrate(void) ;
 static void _detect_off_finished(void);
@@ -245,18 +247,20 @@ bool encoder_detect_finish(void) {
 	}
 	if (g_encoder.direction == NEGATIVE) {
 		g_encoder.cali_angle = INVALID_ANGLE;
-		_detect_off_finished();//output data to PC tools, and use Matlab do FIR filter
-		_encoder_caliberate_deinit();
 	}
 	return true;
 }
 
+void encoder_detect_upload(void) {
+	_detect_off_finished();//output data to PC tools, and use Matlab do FIR filter
+	_encoder_caliberate_deinit();
+}
 
 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(5);
+		delay_ms(30);
 		wdog_reload();
 	}	
 }

Applications/foc/motor/encoder.h

@@ -43,6 +43,7 @@ float encoder_zero_phase_detect(void);
 bool ENC_Check_error(void);
 float encoder_get_abi_angle(void);
 float encoder_get_position(void);
+void encoder_detect_upload(void);
 
 #endif /* _Encoder_H__ */
 

Applications/foc/motor/encoder_off5.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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