Firmware/hpsg5-controller_v2-stm32g4
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Added setpoint offset 004002, pending of bench tests

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LucianoDev
2026-04-18 14:38:45 +02:00
parent 0c90da4cfb
commit 122459b6db
5 changed files with 20 additions and 12 deletions
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2
Core/Advance_Control/FBKW.c
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@@ -134,8 +134,6 @@ void FBKW_init(void) {
fbkw_getters.ctx = NULL; fbkw_getters.ctx = NULL;
pwm_init(&fbkw_rt, &pwm_cal_rom, &pwm_flash_rom, &fbkw_getters); pwm_init(&fbkw_rt, &pwm_cal_rom, &pwm_flash_rom, &fbkw_getters);
fbkw_rt.setpoint_offset = (int16_t)0xFD66;
} }
void FBKW_service(void) { void FBKW_service(void) {

11
Core/Advance_Control/cal_tables_rom.c
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@@ -3,13 +3,13 @@
* @brief ROM-extracted calibration data for the VP44 PWM controller (compact). * @brief ROM-extracted calibration data for the VP44 PWM controller (compact).
* *
* AUTO-GENERATED by tools/extract_calibration.py * AUTO-GENERATED by tools/extract_calibration.py
* Source ROM: rom_eeprom_dump_004002_0x0000-40960.bin * Source ROM: rom_eeprom_dump_0000-9FFF_004002.bin
* Calibration base (RWA4): 0x9C28 * Calibration base (RWA4): 0x9C28
* Flash anchor: 0x9618 * Flash anchor: 0x9618
* Generated: 2026-04-17 22:03:12 * Generated: 2026-04-18 13:52:55
* *
* DO NOT EDIT — regenerate with: * DO NOT EDIT — regenerate with:
* python tools/extract_calibration.py rom_eeprom_dump_004002_0x0000-40960.bin --target compact * python tools/extract_calibration.py rom_eeprom_dump_0000-9FFF_004002.bin --target compact
*/ */
#include "cal_tables_rom.h" #include "cal_tables_rom.h"
@@ -119,6 +119,11 @@ const pwm_calibration_t pwm_cal_rom = {
.closed_loop_gain_const = 4, /* CAL+0x0156 */ .closed_loop_gain_const = 4, /* CAL+0x0156 */
.error_persist_init_count = 100, /* CAL+0x0108 */ .error_persist_init_count = 100, /* CAL+0x0108 */
.recovery_rpm_threshold = 4194, /* CAL+0x011A */ .recovery_rpm_threshold = 4194, /* CAL+0x011A */
/* Setpoint offset latched at init by FUN_8643 (0x867d):
* CAL[0x52]=2167 - CAL[0x54]=2833 = -666
* (RAM[0x0430] always 0, so omitted). */
.setpoint_offset = (int16_t)0xFD66, /* CAL+0x0052 - CAL+0x0054 */
}; };
/* ── ROM-extracted flash tables (rebased from FLASH:xxxx) ───────────── */ /* ── ROM-extracted flash tables (rebased from FLASH:xxxx) ───────────── */

4
Core/Advance_Control/cal_tables_rom.h
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@@ -3,11 +3,11 @@
* @brief Extern declarations for ROM-extracted calibration data (compact). * @brief Extern declarations for ROM-extracted calibration data (compact).
* *
* AUTO-GENERATED by tools/extract_calibration.py * AUTO-GENERATED by tools/extract_calibration.py
* Source ROM: rom_dump_0000-9FFF.bin * Source ROM: rom_eeprom_dump_0000-9FFF_004002.bin
* Calibration base (RWA4): 0x9C28 * Calibration base (RWA4): 0x9C28
* *
* DO NOT EDIT — regenerate with: * DO NOT EDIT — regenerate with:
* python tools/extract_calibration.py rom_dump_0000-9FFF.bin --target compact * python tools/extract_calibration.py rom_eeprom_dump_0000-9FFF_004002.bin --target compact
*/ */
#ifndef CAL_TABLES_ROM_H #ifndef CAL_TABLES_ROM_H
#define CAL_TABLES_ROM_H #define CAL_TABLES_ROM_H

9
Core/Advance_Control/pwm.c
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@@ -63,6 +63,7 @@ static void apply_calibration(pwm_runtime_t *rt, const pwm_calibration_t *c)
rt->upper_integrator_gain = c->pi_upper_integrator_gain; rt->upper_integrator_gain = c->pi_upper_integrator_gain;
rt->center_integrator_gain = c->pi_center_integrator_gain; rt->center_integrator_gain = c->pi_center_integrator_gain;
rt->lower_integrator_gain = c->pi_lower_integrator_gain; rt->lower_integrator_gain = c->pi_lower_integrator_gain;
rt->setpoint_offset = c->setpoint_offset;
} }
void pwm_init(pwm_runtime_t *rt, void pwm_init(pwm_runtime_t *rt,
@@ -139,14 +140,11 @@ static void setpoint_compute(pwm_runtime_t *rt, const pwm_calibration_t *cal)
rt->compensation_angle = (int16_t)(rt->compensation_angle + rt->compensation_angle = (int16_t)(rt->compensation_angle +
s_combine(cal->y_pair[2], &rt->setpoint_slot_x, &rt->setpoint_slot_y)); s_combine(cal->y_pair[2], &rt->setpoint_slot_x, &rt->setpoint_slot_y));
//comp angle is 02b6
int16_t sum = (int16_t)(rt->inputs.b_fb_kw + rt->compensation_angle); int16_t sum = (int16_t)(rt->inputs.b_fb_kw + rt->compensation_angle);
int16_t half = shra16(sum, 1); /* SHRA — signed halve */ int16_t half = shra16(sum, 1); /* SHRA — signed halve */
rt->pre_offset_target = half; //this is 012a rt->pre_offset_target = half;
int16_t t = (int16_t)(half + rt->setpoint_offset); // offset is 0150 int16_t t = (int16_t)(half + rt->setpoint_offset);
if (t < cal->target_minimum) t = cal->target_minimum; if (t < cal->target_minimum) t = cal->target_minimum;
rt->target = t; rt->target = t;
} }
@@ -518,6 +516,7 @@ const pwm_calibration_t pwm_cal_default = {
.pi_upper_integrator_gain = 1024, .pi_upper_integrator_gain = 1024,
.pi_center_integrator_gain = 1024, .pi_center_integrator_gain = 1024,
.pi_lower_integrator_gain = 2048, .pi_lower_integrator_gain = 2048,
.setpoint_offset = 0, /* CAL+0x52 - CAL+0x54 — populated from ROM */
}; };
const pwm_flash_t pwm_flash_default = { const pwm_flash_t pwm_flash_default = {

6
Core/Advance_Control/pwm.h
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@@ -202,6 +202,12 @@ struct pwm_calibration {
/* fast_recovery tuning */ /* fast_recovery tuning */
int16_t error_persist_init_count; /* CAL+0x0108 */ int16_t error_persist_init_count; /* CAL+0x0108 */
int16_t recovery_rpm_threshold; /* CAL+0x011A */ int16_t recovery_rpm_threshold; /* CAL+0x011A */
/* Setpoint offset latched once at init by FUN_8643 (0x867d):
* RAM[0x0150] = CAL[0x52] - (CAL[0x54] + RAM[0x0430])
* RAM[0x0430] is observed as always 0 at runtime, so the effective
* constant is CAL[0x52] - CAL[0x54]. */
int16_t setpoint_offset; /* CAL+0x0052 - CAL+0x0054 (RAM 0x0150) */
}; };
/* ── Flash-resident tables ──────────────────────────────────────────── */ /* ── Flash-resident tables ──────────────────────────────────────────── */