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Measured Current A/B not swapped in alignBLDCDriver() #556
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I investigated this and I believe the issue is caused by the cached phase current not being updated after the A/B mapping is swapped.
During alignment, the code swaps:
- pinA <-> pinB
- offset_ia <-> offset_ib
- gain_a <-> gain_b
However, the cached current is updated using:
_swap(c_a.b, c_a.b);
which is a no-op.
Since c_a was captured before the remapping, I believe this should instead be:
_swap(c_a.a, c_a.b);
to keep the cached measurements consistent before the subsequent polarity check.
If this reasoning is correct, I'd be happy to prepare a PR
Good find, thank you! I will definitely fix this for the next release.
heads up @runger1101001, the same error exists in line 300 of the same file, where A and B are being switched due to _NC on phase B:
else{ //phase A is not measured so put the _NC to the phase A if(_isset(pinA) && !_isset(pinB)){ SIMPLEFOC_DEBUG("CS: Switch A-(B)NC"); _swap(pinA, pinB); _swap(offset_ia, offset_ib); _swap(gain_a, gain_b); _swap(c_a.b, c_a.b); phases_switched = true; // signal that pins have been switched
Arduino-FOC/src/common/base_classes/CurrentSense.cpp
Line 270 in 7f9c45f
I found a typo where the measured current from phase B is swapped with itself instead of the current for phase A