Hi Team!
I want to improve speed response of acceleration and deceleration.
But, [CONST_SPEED] register of [CLOSED_LOOP_MODE = Speed Loop] not works.
There is no speed response change even if the values of Kp and Ki are changed.
My environment is like this,
Device: PMCT8316A0X, TI 148, AH2G G4
Dev board: MCT8316AEVM, MDO0381A1-002
Also, this is my register, setting:
typedef struct reg_info_s
{
uint32_t address;
union
{
uint32_t value;
uint8_t byte[4];
};
} reg_info_t;
static const mct8316_reg_map_t MCT8316_REG_MAP_DEFAULTS =
{
// Algorithm configuration registers
.ISD_CONFIG = { 0x80, .value = 0x4F400040 },
.MOTOR_STARTUP1 = { 0x82, .value = 0x36C91198 },
.MOTOR_STARTUP2 = { 0x84, .value = 0x2B52379C },
.CLOSED_LOOP1 = { 0x86, .value = 0x19E61200 },
.CLOSED_LOOP2 = { 0x88, .value = 0x02202CD5 },
.CLOSED_LOOP3 = { 0x8A, .value = 0x2EE00421 },
.CLOSED_LOOP4 = { 0x8C, .value = 0x000014D0 },
.CONST_SPEED = { 0x8E, .value = 0x00A00505 },
.CONST_PWR = { 0x90, .value = 0x36DB6DA6 },
._150_DEG_TWO_PH_PROFILE = { 0x96, .value = 0x591A44A6 },
._150_DEG_THREE_PH_PROFILE = { 0x98, .value = 0x392ED000 },
.TRAP_CONFIG1 = { 0x9A, .value = 0x010A2106 },
.TRAP_CONFIG2 = { 0x9C, .value = 0x3A95564C },
// Fault configuration registers
.FAULT_CONFIG1 = { 0x92, .value = 0x30525025 },
.FAULT_CONFIG2 = { 0x94, .value = 0x7E858000 },
// Hardware configuration registers
.PIN_CONFIG1 = { 0xA4, .value = 0x00000004 },
.PIN_CONFIG2 = { 0xA6, .value = 0x08000000 },
.DEVICE_CONFIG = { 0xA8, .value = 0x09600000 },
.PERIPH_CONFIG = { 0xAA, .value = 0x00000000 },
// Gate dirver configuration registers
.GD_CONFIG1 = { 0xAC, .value = 0x1C400000 },
.GD_CONFIG2 = { 0xAE, .value = 0x14000000 },
// Fault status registers
.GATE_DRIVER_FAULT_STATUS = { 0xE0, .value = 0x00000000 },
.CONTROLLER_FAULT_STATUS = { 0xE2, .value = 0x00000000 },
// System status registers
.SYS_STATUS1 = { 0xE4, .value = 0x00000000 },
.SYS_STATUS2 = { 0xEA, .value = 0x00000000 },
.SYS_STATUS3 = { 0xEC, .value = 0x00000000 },
// Algorith control registers
.ALGO_CTRL1 = { 0xE6, .value = 0x00000000 },
// Device control registers
.DEVICE_CTRL = { 0xE8, .value = 0x00000000 },
};
Question:
My device is possible to test CLOSED_LOOP_MODE?
Do I need to set RESEVED filed register of some registers?
