Add cascaded speed ADRC + MPC current demo (new path) - #42
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New Control.SpeedAdrcMpcCurrent and speed_adrc_mpc_current_demo leave Control.AdrcMpcc / hybrid_adrc_mpcc_demo unchanged. CascadeMode 1 runs LADRC on rpm into Mode-3 deadbeat current; mode 0 stays FOC-like Iq in A. Co-authored-by: Cursor <cursoragent@cursor.com>
SpeedAdrcMpc lacked the required position key, which made the graph JSON invalid for the loader. Co-authored-by: Cursor <cursoragent@cursor.com>
The extra Control.Slew on Spd_Ref cost ~16 B of DTCM. Rpm slewing now lives in the controller's .dma_buffers state instead. Co-authored-by: Cursor <cursoragent@cursor.com>
HybridADRCMPC-9 showed cascade on but ~0 rpm: SpdVar shared IqVar's position so the speed setpoint was not usable, and CascadeMode was a hidden node parameter. Wire Cascade_Mode from a visible Values.Var and separate SpdVar/log positions. Co-authored-by: Cursor <cursoragent@cursor.com>
This demo is always cascaded (SpdVar in rpm). Mode switching via an extra Values.Var blew DTCM; use hybrid_adrc_mpcc_demo for Iq-in-amps. Co-authored-by: Cursor <cursoragent@cursor.com>
Previous commit left CascadeVar wired in the example JSON; remove it and hard-code cascade so DTCM is free again. Co-authored-by: Cursor <cursoragent@cursor.com>
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Summary
Control.SpeedAdrcMpcCurrent: outer LADRC speed (rpm) →Iq*, inner Mode-3 deadbeat/MPC current → SVPWMspeed_adrc_mpc_current_demo.json+ bring-up docControl.AdrcMpccorhybrid_adrc_mpcc_demo.jsonHow to test
feature/gen6-speed-adrc-mpc-currentAssets/Examples/speed_adrc_mpc_current_demo.jsonCascadeMode=1;SpdVar=400(rpm); enablesam_rpm,sam_iq_cmd_a, phase currents,hz_tim_isrCascadeMode=0, rampIqVarin ampsTest plan
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