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Fix stepper motor low side current sensing #472

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Fix stepper motor low side current sensing #472

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c1e5b97
Current sign restored using the commanded voltage
AntonEvmenenko May 20, 2025
850637f
Limit changes to stepper motors only
AntonEvmenenko May 21, 2025
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2 changes: 2 additions & 0 deletions src/common/base_classes/StepperDriver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@

class StepperDriver: public FOCDriver{
public:
float Ua; //!< currently set phase A voltage
float Ub; //!< currently set phase B voltage

/**
* Set phase voltages to the hardware
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7 changes: 7 additions & 0 deletions src/current_sense/LowsideCurrentSense.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,5 +91,12 @@ PhaseCurrent_s LowsideCurrentSense::getPhaseCurrents(){
current.a = (!_isset(pinA)) ? 0 : (_readADCVoltageLowSide(pinA, params) - offset_ia)*gain_a;// amps
current.b = (!_isset(pinB)) ? 0 : (_readADCVoltageLowSide(pinB, params) - offset_ib)*gain_b;// amps
current.c = (!_isset(pinC)) ? 0 : (_readADCVoltageLowSide(pinC, params) - offset_ic)*gain_c; // amps

if (driver_type == DriverType::Stepper){
static StepperDriver* stepper_driver = static_cast<StepperDriver*>(driver);
current.a *= _sign(stepper_driver->Ua);
current.b *= _sign(stepper_driver->Ub);
}

return current;
}
4 changes: 3 additions & 1 deletion src/drivers/StepperDriver2PWM.cpp
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Expand Up @@ -94,7 +94,9 @@ void StepperDriver2PWM::setPhaseState(PhaseState sa, PhaseState sb) {
}

// Set voltage to the pwm pin
void StepperDriver2PWM::setPwm(float Ua, float Ub) {
void StepperDriver2PWM::setPwm(float Ua_, float Ub_) {
Ua = Ua_;
Ub = Ub_;
float duty_cycle1(0.0f),duty_cycle2(0.0f);
// limit the voltage in driver
Ua = _constrain(Ua, -voltage_limit, voltage_limit);
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20 changes: 11 additions & 9 deletions src/drivers/StepperDriver4PWM.cpp
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Expand Up @@ -70,21 +70,23 @@ void StepperDriver4PWM::setPhaseState(PhaseState sa, PhaseState sb) {


// Set voltage to the pwm pin
void StepperDriver4PWM::setPwm(float Ualpha, float Ubeta) {
void StepperDriver4PWM::setPwm(float Ua_, float Ub_) {
Ua = Ua_;
Ub = Ub_;
float duty_cycle1A(0.0f),duty_cycle1B(0.0f),duty_cycle2A(0.0f),duty_cycle2B(0.0f);
// limit the voltage in driver
Ualpha = _constrain(Ualpha, -voltage_limit, voltage_limit);
Ubeta = _constrain(Ubeta, -voltage_limit, voltage_limit);
Ua = _constrain(Ua, -voltage_limit, voltage_limit);
Ub = _constrain(Ub, -voltage_limit, voltage_limit);
// hardware specific writing
if( Ualpha > 0 )
duty_cycle1B = _constrain(abs(Ualpha)/voltage_power_supply,0.0f,1.0f);
if( Ua > 0 )
duty_cycle1B = _constrain(abs(Ua)/voltage_power_supply,0.0f,1.0f);
else
duty_cycle1A = _constrain(abs(Ualpha)/voltage_power_supply,0.0f,1.0f);
duty_cycle1A = _constrain(abs(Ua)/voltage_power_supply,0.0f,1.0f);

if( Ubeta > 0 )
duty_cycle2B = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f);
if( Ub > 0 )
duty_cycle2B = _constrain(abs(Ub)/voltage_power_supply,0.0f,1.0f);
else
duty_cycle2A = _constrain(abs(Ubeta)/voltage_power_supply,0.0f,1.0f);
duty_cycle2A = _constrain(abs(Ub)/voltage_power_supply,0.0f,1.0f);
// write to hardware
_writeDutyCycle4PWM(duty_cycle1A, duty_cycle1B, duty_cycle2A, duty_cycle2B, params);
}