Increased PWM freq to 40kHz and improved logging

Increased PWM freq to 40kHz:
- set PWMFREQUENCY define.
- re-scale Vq, Vd with respect to the PWM resolution and fullscale.
- fixed PTPER computation.
- set P1SECMPbits instead of SEVTCMPbits.
Improved logging:
- added a counter incremented at every CAN periodic essage transmission.
- turn off PWM for specific `loggedVarSelector` values (set through SKp).

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/UserParms.h

@@ -76,7 +76,7 @@
 // I2T parameters for FILTER implementation
 #define UDEF_I2T_LIMIT 90 // %
 
-#define PWMFREQUENCY  20000
+#define PWMFREQUENCY  40000
 
 // Deadtime in seconds (range 1.6 us to 25 ns)
 // DHES accept a greater zero cross distortion in order to keep lower temperature

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/can_icubProto.h

@@ -29,7 +29,7 @@
 /************ FIRMWARE AND CAN PROTOCOL VERSION DEFINITION *******************************************/
 #define FW_VERSION_MAJOR          3
 #define FW_VERSION_MINOR          2
-#define FW_VERSION_BUILD          8
+#define FW_VERSION_BUILD          6
 
 #define CAN_PROTOCOL_VERSION_MAJOR      1
 #define CAN_PROTOCOL_VERSION_MINOR      6

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/2FOC.c

@@ -136,7 +136,8 @@ _FICD(ICS_PGD3 & JTAGEN_OFF); // & COE_ON ); //BKBUG_OFF
 //#define CALIBRATION
 
 #define BOARD_CAN_ADDR_DEFAULT 0xE
-#define VOLT_REF_SHIFT 5
+#define VOLT_REF_SHIFT 5 // for a PWM resolution of 1000
+#define PWM_50_DUTY_CYC (LOOPINTCY/2)
 
 #define isDriveEnabled() bDriveEnabled
 
@@ -191,7 +192,7 @@ volatile int iQerror_old = 0;
 volatile int iDerror_old = 0;
 volatile char limit = 0;
 
-static const int PWM_MAX = (8*LOOPINTCY)/20; // = 80%
+static const int PWM_MAX = 8*PWM_50_DUTY_CYC/10; // = 80%
 
 volatile int gMaxCurrent = 0;
 volatile long sI2Tlimit = 0;
@@ -952,6 +953,11 @@ void __attribute__((__interrupt__, no_auto_psv)) _DMA0Interrupt(void)
             FaultConditionsHandler();
         }
     }
+
+    // Re-scale Vq, Vd with respect to the PWM resolution and fullscale.
+    Vq = Vq/(1000/PWM_50_DUTY_CYC);
+    Vd = Vd/(1000/PWM_50_DUTY_CYC);
+
     //
     ////////////////////////////////////////////////////////////////////////////
 
@@ -977,7 +983,18 @@ void __attribute__((__interrupt__, no_auto_psv)) _DMA0Interrupt(void)
     ParkParm.qIbOffset = IKd;
     ParkParm.qIcOffset = IKi;
 
-    pwmOut(Va+ParkParm.qIaOffset,Vb+ParkParm.qIbOffset,Vc+ParkParm.qIcOffset);
+    if (loggedVarSelector > 20)
+    {
+        // Pin override register
+        PWM1CON2bits.OSYNC = 1;
+        P1OVDCON = 0x0000;
+    }
+    else
+    {
+        P1OVDCON = 0xFFFF;
+        pwmOut(Va+ParkParm.qIaOffset,Vb+ParkParm.qIbOffset,Vc+ParkParm.qIcOffset);
+    }
+
     //
     ////////////////////////////////////////////////////////////////////////////
 
@@ -1030,7 +1047,7 @@ void DisableAuxServiceTimer()
 void DriveInit()
 // Perform drive SW/HW init
 {
-    pwmInit(LOOPINTCY/2, DDEADTIME, (8*LOOPINTCY)/20 /*pwm max = 80%*/);
+    pwmInit(PWM_50_DUTY_CYC, DDEADTIME, PWM_MAX /*pwm max = 80%*/);
 
     // setup and perform ADC offset calibration in MeasCurrParm.Offseta and Offsetb
     ADCDoOffsetCalibration();

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/PWM.c

@@ -31,7 +31,7 @@ void pwmInit(short pwm_50_duty_cycle, short pwm_deadtime, short pwm_max)
     // Note: The PWM period setting register is set to LoopInTcy/2 but since it counts up and
     // then down => the interrupt flag is set to 1 at zero => actual
     // interrupt period is LoopInTcy
-    PTPER = PWM_50_DUTY_CYCLE; // Setup PWM period to Loop Time defined in parms.h
+    PTPER = PWM_50_DUTY_CYCLE-1; // Setup PWM period to Loop Time defined in parms.h
     PWMCON1 = 0x0077; // Enable PWM 1,2,3 pairs (L+H) for complementary mode
     DTCON1 = (0x00 | (PWM_DEADTIME)); // Dead time. Prescaler 0
     DTCON2 = 0;
@@ -45,8 +45,10 @@ void pwmInit(short pwm_50_duty_cycle, short pwm_deadtime, short pwm_max)
     // SEVTCMP: Special Event Compare Count Register
     // Phase of ADC capture set relative to PWM cycle: when arrive to PTPER offset and counting down
     // to avoid ripple on the current measurement
-    SEVTCMP = 0;
-    SEVTCMPbits.SEVTDIR = 1;
+    P1SECMP = 0;
+    P1SECMPbits.SEVTDIR = 1; // when PWM time base is counting down
+    P1SECMPbits.SEVTCMP = 0;
+    PWM1CON2bits.SEVOPS = 0b0000; // Output Postscale value to 1:1    
 }
 
 volatile unsigned char PWM_ovcurr_fault = 0;

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/src/can_icubProto_trasmitter.c

@@ -64,23 +64,30 @@ extern void CanIcubProtoTrasmitterSendPeriodicData(void)
 {
     static tCanData payload; // = {{0}};
     unsigned long msgid;
-
+    static int counter = 0;
     int loggedVar;
+
+    counter = (counter+1)%1000;
     switch (loggedVarSelector)
     {
         case 1:
+        case 21:
             loggedVar = (int)ParkParm.qIa;
             break;
         case 2:
+        case 22:
             loggedVar = (int)ParkParm.qIb;
             break;
         case 3:
+        case 23:
             loggedVar = (int)ParkParm.qIc;
             break;
         case 4:
+        case 24:
             loggedVar = I2Tdata.IQMeasured;
             break;
         case 5:
+        case 25:
             loggedVar = I2Tdata.IDMeasured;
             break;
         case 6:
@@ -117,10 +124,10 @@ extern void CanIcubProtoTrasmitterSendPeriodicData(void)
             loggedVar = (int)ParkParm.qIcOffset;
             break;
         default:
-            loggedVar = (int)0x8000;
+            loggedVar = (int)counter;
     }
 
-    payload.w[0] = loggedVar;
+    payload.w[0] = loggedVar*10;
     payload.w[1] = motorElecPhase;
     payload.w[2] = gQEPosition & 0xFFFF;
     payload.w[3] = gQEPosition >> 16;