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AMDBLDC: add thermal model running at 10ms and reusable functions from codegen (icub-fw-models@2e2670b) #391

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merged 5 commits into from
Jul 4, 2023
Merged

AMDBLDC: add thermal model running at 10ms and reusable functions from codegen (icub-fw-models@2e2670b) #391

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42a408d
AMDBLDC: align with latest codegen
mfussi66 Jun 27, 2023
dfbf18b
EMS: add case to include strain2c in discovery
mfussi66 Jun 28, 2023
10d1418
Update version and build date for eth boards
mfussi66 Jul 3, 2023
8332b36
Increase amcbldc version after thermal model
mfussi66 Jul 3, 2023
d938748
AMC2C: update application with thermal model running at 10ms in tick
mfussi66 Jul 3, 2023
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62 changes: 47 additions & 15 deletions emBODY/eBcode/arch-arm/board/amcbldc/application/proj/amcbldc-application2.uvoptx
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Original file line number Diff line number Diff line change
Expand Up @@ -334,7 +334,7 @@
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Expand All @@ -345,7 +345,7 @@
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Expand Down Expand Up @@ -381,7 +381,7 @@
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Expand Down Expand Up @@ -453,7 +453,7 @@
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Expand All @@ -480,7 +480,7 @@

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Expand Down Expand Up @@ -592,7 +592,7 @@

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Expand Down Expand Up @@ -1508,7 +1508,7 @@

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Expand All @@ -1574,7 +1586,7 @@
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Expand All @@ -1586,7 +1598,7 @@
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Expand Down
44 changes: 38 additions & 6 deletions emBODY/eBcode/arch-arm/board/amcbldc/application/proj/amcbldc-application2.uvprojx
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Original file line number Diff line number Diff line change
Expand Up @@ -16,8 +16,8 @@
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Expand Down Expand Up @@ -186,6 +186,7 @@
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Expand Down Expand Up @@ -1066,6 +1067,11 @@
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Expand Down Expand Up @@ -1138,6 +1144,16 @@
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Expand Down Expand Up @@ -1216,14 +1232,14 @@
<TargetName>amcbldc-app-motorhal2</TargetName>
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Expand Down Expand Up @@ -1392,6 +1408,7 @@
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Expand Down Expand Up @@ -1545,7 +1562,7 @@
<MiscControls>-Wno-pragma-pack -Wno-deprecated-register -DEMBOT_USE_rtos_osal -DEMBOT_AMCBLDC_APP05</MiscControls>
<Define>USE_STM32HAL STM32HAL_BOARD_AMCBLDC STM32HAL_DRIVER_V122</Define>
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Expand Down Expand Up @@ -2323,6 +2340,11 @@
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Expand Down Expand Up @@ -2464,6 +2486,16 @@
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Expand Down
16 changes: 15 additions & 1 deletion ...ch-arm/board/amcbldc/application/src/app-board-amcbldc/embot_app_board_amcbldc_theMBD.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -451,8 +451,22 @@ bool embot::app::board::amcbldc::theMBD::Impl::tick(const std::vector<embot::pro
// Model Step Function (1 ms)
// -----------------------------------------------------------------------------

AMC_BLDC_step_Time();
AMC_BLDC_step_Time_1ms();


// -----------------------------------------------------------------------------
// Thermal Model Step Function (10 ms)
// -----------------------------------------------------------------------------

static uint8_t thermal_model_counter = 0;

if(thermal_model_counter % 10 == 0)
{
AMC_BLDC_step_Time_10ms();
thermal_model_counter = 0;
}
thermal_model_counter++;


// get any out can frame

Expand Down
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