question about HAL_updateAdcBias in lab02a

mao mao

Hello:

The following code is copied from lab02a during motor identification process in Main Run Forerver Loop. Why does it call HAL_updateAdcBias() here?

I know HAL_updateAdcBias() is used for Current Feedback Polarity, and ADC bias value is calculated in the controller offline state. After the bias calculation is completed, the state changes to CTRL_State_OnLine.

Why does it modify the ADC bias value at the beginning of CTRL_State_OnLine? Does it mean the bias value calculated in the previous offline state is not correct?

Thank you in advance.

if(flag_ctrlStateChanged)
{
   .
   .
   .
   else if(ctrlState == CTRL_State_OnLine)
   {
       if((estState < EST_State_LockRotor) || (estState > EST_State_MotorIdentified))
          // update the ADC bias values
          HAL_updateAdcBias(halHandle);
       .
       .
       .
   }
   .
   .
   .
}

over 12 years ago

0 ChrisClearman over 12 years ago

TI__Guru** 119680 points

HAL_updateAdcBias(halHandle);

is NOT running the offset calibration, it is simply using that calculated

// update the current bias
for(cnt=0;cnt<HAL_getNumCurrentSensors(handle);cnt++)
    {
      bias = HAL_getBias(handle,HAL_SensorType_Current,cnt);

      bias += OFFSET_getOffset(obj->offsetHandle_I[cnt]);

HAL_setBias(handle,HAL_SensorType_Current,cnt,bias);
}

// update the voltage bias
for(cnt=0;cnt<HAL_getNumVoltageSensors(handle);cnt++)
{
bias = HAL_getBias(handle,HAL_SensorType_Voltage,cnt);

bias += OFFSET_getOffset(obj->offsetHandle_V[cnt]);

HAL_setBias(handle,HAL_SensorType_Voltage,cnt,bias);
}

return;
} // end of HAL_updateAdcBias() function

static inline void HAL_setBias(HAL_Handle handle,
                               const HAL_SensorType_e sensorType,
                               uint_least8_t sensorNumber,
                               const _iq bias)
{
HAL_Obj *obj = (HAL_Obj *)handle;

if(sensorType == HAL_SensorType_Current)
    {
      obj->adcBias.I.value[sensorNumber] = bias;
    }
else if(sensorType == HAL_SensorType_Voltage)
    {
      obj->adcBias.V.value[sensorNumber] = bias;
    }

return;
} // end of HAL_setBias() function

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question about HAL_updateAdcBias in lab02a