tidied up and added motor instances. commit before merging DMA ADC and additional Commutation
This commit is contained in:
Nicolas Trimborn
parent
1ad8039ab6
commit
1d03af6dd3
Binary file not shown.
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@ -46,47 +46,51 @@ void select_active_phase(volatile BLDCMotor_t *Motor, volatile uint8_t hall_stat
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Motor->Iphase_pu.Bus = phase_current;
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}
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void BLDC_init(BLDCMotor_t *motor)
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void BldcInitStruct(BLDCMotor_t *motor)
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{
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// ----------------------------------------------------------------------
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// Initialize all voltage and current objects, variables and helpers:
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motor->actualDirection = 0;
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motor->desiredDirection = 0;
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motor->duty_cycle = 0;
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motor->calc_rpm = 0;
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motor->Num_Steps = 0;
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motor->cur_comm_step = 0;
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motor->currentHallPattern = 1;
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motor->nextHallPattern = 3;
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motor->directionOffset = 0;
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motor->motor_status.actualDirection = 0;
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motor->motor_setpoints.desiredDirection = 0;
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motor->motor_status.duty_cycle = 0;
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motor->motor_status.calc_rpm = 0;
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motor->motor_status.Num_Steps = 0;
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motor->motor_status.cur_comm_step = 0;
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motor->motor_status.currentHallPattern = 1;
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motor->motor_status.nextHallPattern = 3;
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motor->motor_setpoints.directionOffset = 0;
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//motor->hall_state = 1;
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motor->dir_hall_code = 1;
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//motor->dir_hall_code = 1;
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motor->Iphase_pu.A = 0;
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motor->Iphase_pu.B = 0;
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motor->Iphase_pu.C = 0;
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motor->Iphase_pu.Bus = 0;
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motor->Voffset_lsb.A = 0;
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motor->Voffset_lsb.B = 0;
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motor->timerflags.pwm_cycle_tic = false;
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motor->timerflags.control_loop_tic = false;
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motor->timerflags.motor_telemetry_flag = false;
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motor->timerflags.control_loop_tic = false;
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motor->regulation_loop_count = 0;
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motor->Iphase_pu.A = 0;
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motor->Iphase_pu.B = 0;
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motor->Iphase_pu.C = 0;
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motor->Iphase_pu.Bus = 0;
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motor->Voffset_lsb.A = 0;
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motor->Voffset_lsb.B = 0;
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motor->timerflags.pwm_cycle_tic = false;
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motor->timerflags.control_loop_tic = false;
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motor->timerflags.motor_telemetry_flag = false;
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motor->timerflags.control_loop_tic = false;
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motor->regulation_loop_count = 0;
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motor->VdcBus_pu = DEVICE_DC_VOLTAGE_V;
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motor->VoneByDcBus_pu = 1.0f/DEVICE_DC_VOLTAGE_V;
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motor->motor_commutation_Pattern = COMMUTATION_PATTERN_M1;
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motor->desired_torque = 0.0;
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motor->desired_speed = 0;
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motor->desired_position = 0;
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motor->max_current = 0.0;
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motor->max_torque = 0.0;
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motor->max_velocity = 0;
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motor->motor_setpoints.desired_torque = 0.0;
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motor->motor_setpoints.desired_speed = 0;
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motor->motor_setpoints.desired_position = 0;
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motor->motor_setpoints.max_current = 0.0;
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motor->motor_setpoints.max_torque = 0.0;
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motor->motor_setpoints.max_velocity = 0;
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// ------------------------------------------------------------------------------
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// Function
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// ------------------------------------------------------------------------------
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//motor->ReadHall = HallFunc;
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//// ------------------------------------------------------------------------------
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//// pi current control init
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@ -131,6 +135,16 @@ void BLDC_init(BLDCMotor_t *motor)
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motor->controllers.Pi_Pos.OutMin_pu = -MOTOR_MAX_SPD_RPM;
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}
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void BldcInitFunctions()
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{
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Motor1.ReadHall = readM1Hall;
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Motor2.ReadHall = readM2Hall;
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Motor3.ReadHall = readM3Hall;
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Motor1.DisableMotor = DisableM1GateDrivers;
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Motor2.DisableMotor = DisableM2GateDrivers;
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Motor3.DisableMotor = DisableM3GateDrivers;
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}
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// ----------------------------------------------------------------------
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// Before Power up, Measure and average offset voltage for Current Sensor
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// This voltage is subtracted from all reading for Bi-Directional Current
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@ -166,55 +180,102 @@ void read_zero_current_offset_value(void)
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phase_B_zero_current_offset_temp += zero_current_offset_temp[1];
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samples--;
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}
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//Motor1.Iphase_pu
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Motor1.Voffset_lsb.A = phase_A_zero_current_offset_temp/samples;
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Motor1.Voffset_lsb.B = phase_B_zero_current_offset_temp/samples;
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adc_async_disable_channel(&ADC_0, 0);
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adc_async_disable_channel(&ADC_1, 0);
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}
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uint8_t get_dir_hall_code(void)
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//uint8_t get_dir_hall_code(void)
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//{
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//return ((Motor1.desiredDirection << 3) |
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//(_gpio_get_level(HALL_A_PIN) << 2) |
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//(_gpio_get_level(HALL_B_PIN) << 1) |
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//(_gpio_get_level(HALL_C_PIN) << 0));
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//}
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//
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//uint8_t HALLPatternGet(void)
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//{
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//
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//
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//volatile uint8_t motor_read = 0;
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//motor_read = (motor_read & HALL_A_MASK) | (uint8_t)((PORT->Group[HALL_A_GROUP].IN.reg & HALL_A_PORT)>>(HALL_A_LSR));
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//motor_read = (motor_read & HALL_B_MASK) | (uint8_t)((PORT->Group[HALL_B_GROUP].IN.reg & HALL_B_PORT)>>(HALL_B_LSR));
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//motor_read = (motor_read & HALL_C_MASK) | (uint8_t)((PORT->Group[HALL_C_GROUP].IN.reg & HALL_C_PORT)>>(HALL_C_LSR));
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//
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//return motor_read;
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//
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////return ((gpio_get_pin_level(HALL_A_PIN) << 2)|
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////(gpio_get_pin_level(HALL_B_PIN) << 1)|
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////(gpio_get_pin_level(HALL_C_PIN) << 0));
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//}
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// ----------------------------------------------------------------------
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// Hall Reading Functions
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// ----------------------------------------------------------------------
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uint8_t readM1Hall(void)
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{
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return ((Motor1.desiredDirection << 3) |
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(_gpio_get_level(HALL_A_PIN) << 2) |
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(_gpio_get_level(HALL_B_PIN) << 1) |
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(_gpio_get_level(HALL_C_PIN) << 0));
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volatile uint8_t a = gpio_get_pin_level(HALL_A_PIN);
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volatile uint8_t b = gpio_get_pin_level(HALL_B_PIN);
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volatile uint8_t c = gpio_get_pin_level(HALL_C_PIN);
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return ((a << 2) |
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(b << 1) |
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(c << 0));
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}
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uint8_t HALLPatternGet(void)
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uint8_t readM2Hall(void)
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{
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volatile uint8_t a = gpio_get_pin_level(HALL_A_PIN);
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volatile uint8_t b = gpio_get_pin_level(HALL_B_PIN);
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volatile uint8_t c = gpio_get_pin_level(HALL_C_PIN);
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volatile uint8_t motor_read = 0;
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motor_read = (motor_read & HALL_A_MASK) | (uint8_t)((PORT->Group[HALL_A_GROUP].IN.reg & HALL_A_PORT)>>(HALL_A_LSR));
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motor_read = (motor_read & HALL_B_MASK) | (uint8_t)((PORT->Group[HALL_B_GROUP].IN.reg & HALL_B_PORT)>>(HALL_B_LSR));
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motor_read = (motor_read & HALL_C_MASK) | (uint8_t)((PORT->Group[HALL_C_GROUP].IN.reg & HALL_C_PORT)>>(HALL_C_LSR));
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return motor_read;
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//return ((gpio_get_pin_level(HALL_A_PIN) << 2)|
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//(gpio_get_pin_level(HALL_B_PIN) << 1)|
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//(gpio_get_pin_level(HALL_C_PIN) << 0));
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return ((a << 2) |
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(b << 1) |
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(c << 0));
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}
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uint8_t PDEC_HALLPatternGet(void)
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uint8_t readM3Hall(void)
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{
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volatile uint8_t a = gpio_get_pin_level(HALL_A_PIN);
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volatile uint8_t b = gpio_get_pin_level(HALL_B_PIN);
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volatile uint8_t c = gpio_get_pin_level(HALL_C_PIN);
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return ((a << 2) |
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(b << 1) |
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(c << 0));
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}
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// ----------------------------------------------------------------------
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// Disable Functions
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// ----------------------------------------------------------------------
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void DisableM1GateDrivers(BLDCMotor_t *motor)
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{
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hri_tcc_write_PATTBUF_reg(motor->hw, motor->motor_commutation_Pattern[0]);
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}
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void DisableM2GateDrivers(BLDCMotor_t *motor)
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{
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hri_tcc_write_PATTBUF_reg(motor->hw, motor->motor_commutation_Pattern[0]);
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}
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void DisableM3GateDrivers(BLDCMotor_t *motor)
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{
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PDEC->CTRLBSET.reg = PDEC_CTRLBSET_CMD_READSYNC;
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while(PDEC->SYNCBUSY.reg)
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{
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/* Wait for read Synchronization */
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}
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while((PDEC->CTRLBSET.reg & PDEC_CTRLBSET_CMD_Msk) != PDEC_CTRLBSET_CMD_NONE)
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{
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/* Wait for CMD to become zero */
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}
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return (uint8_t)(PDEC->COUNT.reg & 0x07);
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}
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void exec_commutation(void)
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{
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//CRITICAL_SECTION_ENTER();
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Motor1.currentHallPattern = HALLPatternGet();
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//Motor1.currentHallPattern = HALLPatternGet();
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Motor1.motor_status.currentHallPattern = Motor1.ReadHall();
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Motor2.motor_status.currentHallPattern = Motor2.ReadHall();
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Motor3.motor_status.currentHallPattern = Motor3.ReadHall();
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//tic(DEBUG_3);
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////if ((Motor1.nextHallPattern == Motor1.currentHallPattern) &&
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@ -225,8 +286,10 @@ void exec_commutation(void)
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//}
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TCC1->PATTBUF.reg = COMMUTATION_PATTERN_M1[(Motor1.currentHallPattern + Motor1.directionOffset)];
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TCC1->CCBUF->reg = (uint16_t)Motor1.duty_cycle;
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TCC1->PATTBUF.reg = COMMUTATION_PATTERN_M1[(Motor1.motor_status.currentHallPattern +
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Motor1.motor_setpoints.directionOffset)];
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TCC1->CCBUF->reg = (uint16_t)Motor1.motor_status.duty_cycle;
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//hri_tcc_write_PATTBUF_reg(TCC1, (COMMUTATION_PATTERN[(Motor1.currentHallPattern + Motor1.directionOffset)]));
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//hri_tcc_write_CCBUF_CCBUF_bf(TCC1, 0, 150);
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@ -249,28 +312,28 @@ void exec_commutation(void)
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//volatile uint8_t curHallState = hallCode & 0x07; //ABC format
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//volatile uint8_t curHallState = get_hall_state(); //ABC format
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Motor1.cur_comm_step = MOTOR_COMMUTATION_STEPS[Motor1.currentHallPattern];
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volatile int8_t step_change = Motor1.cur_comm_step - Motor1.prev_comm_step;
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Motor1.motor_status.cur_comm_step = MOTOR_COMMUTATION_STEPS[Motor1.motor_status.currentHallPattern];
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volatile int8_t step_change = Motor1.motor_status.cur_comm_step - Motor1.motor_status.prev_comm_step;
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switch(step_change)
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{
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case 1:
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case -5:
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Motor1.Num_Steps = Motor1.Num_Steps+1;
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Motor1.actualDirection = CW;
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Motor1.motor_status.Num_Steps = Motor1.motor_status.Num_Steps+1;
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Motor1.motor_status.actualDirection = CW;
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//Motor1.directionOffset = DIRECTION_CW_OFFSET;
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break;
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case -1:
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case 5:
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Motor1.Num_Steps = Motor1.Num_Steps-1;
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Motor1.actualDirection = CCW;
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Motor1.motor_status.Num_Steps = Motor1.motor_status.Num_Steps-1;
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Motor1.motor_status.actualDirection = CCW;
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//Motor1.directionOffset = DIRECTION_CCW_OFFSET;
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break;
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default:
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// do nothing
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break;
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}
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Motor1.prev_comm_step = Motor1.cur_comm_step;
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Motor1.motor_status.prev_comm_step = Motor1.motor_status.cur_comm_step;
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//calculate_motor_speed();
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//toc(DEBUG_3);
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//toc(DEBUG_4);
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@ -283,7 +346,7 @@ void calculate_motor_speed(void)
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hri_tccount32_read_CC_reg(TC0, 0); /* Read CC0 but throw away)*/
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volatile uint32_t period_after_capture = hri_tccount32_read_CC_reg(TC0, 1);
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if((period_after_capture > UINT32_MAX)|| (period_after_capture > 10712046)) {
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Motor1.calc_rpm = 0;
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Motor1.motor_status.calc_rpm = 0;
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} else {
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//uint32_t test = (SPEEDFACTOR, period_after_capture);
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//temp_rpm = SPEEDFACTOR / period_after_capture;
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@ -297,26 +360,26 @@ void calculate_motor_speed(void)
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if(count >= n_SAMPLE)
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{
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count = 1;
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Motor1.calc_rpm = (speed_average >> 3); // divide by 32
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Motor1.motor_status.calc_rpm = (speed_average >> 3); // divide by 32
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speed_average = 0;
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//*Spare_byte1 = motorState.actualDirection;
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if(Motor1.actualDirection == CCW) /* Changed from CCW */
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if(Motor1.motor_status.actualDirection == CCW) /* Changed from CCW */
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{
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//*motor_speed = -1* Motor1.calc_rpm;
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Motor1.calc_rpm = -1* Motor1.calc_rpm;
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Motor1.motor_status.calc_rpm = -1* Motor1.motor_status.calc_rpm;
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} else {
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//*motor_speed = Motor1.calc_rpm;
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Motor1.calc_rpm = Motor1.calc_rpm;
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Motor1.motor_status.calc_rpm = Motor1.motor_status.calc_rpm;
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}
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return;
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}
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else count++;
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#else
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Motor1.calc_rpm = (int16_t)temp_rpm;
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Motor1.motor_status.calc_rpm = (int16_t)temp_rpm;
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#endif
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}
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void DisableGateDrivers(BLDCMotor_t *motor)
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void DisableMotor(BLDCMotor_t *motor)
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{
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hri_tcc_write_PATTBUF_reg(motor->hw, motor->motor_commutation_Pattern[0]);
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@ -338,16 +401,16 @@ void BLDC_runCurrentCntl(BLDCMotor_t *motor, volatile float curfbk, volatile flo
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PI_run_series(&motor->controllers.Pi_Idc);
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if(motor->controllers.Pi_Idc.Out_pu > 0) {
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motor->desiredDirection = 0;
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motor->directionOffset = 0;
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motor->motor_setpoints.desiredDirection = 0;
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motor->motor_setpoints.directionOffset = 0;
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} else {
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motor->desiredDirection = 1;
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motor->directionOffset = 8;
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motor->motor_setpoints.desiredDirection = 1;
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motor->motor_setpoints.directionOffset = 8;
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}
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volatile float duty_pu = f_abs((motor->controllers.Pi_Idc.Out_pu * motor->VoneByDcBus_pu));
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volatile duty_cycle = f_clamp(duty_pu * (float32_t)MAX_PWM, 0.0f, (float32_t)MAX_PWM);
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motor->duty_cycle = (uint16_t)duty_cycle;
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volatile uint32_t duty_cycle = f_clamp(duty_pu * (float32_t)MAX_PWM, 0.0f, (float32_t)MAX_PWM);
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motor->motor_status.duty_cycle = (uint16_t)duty_cycle;
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// Remove Low duty cycle values
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//if(duty_cycle < 80.0) motor->duty_cycle = (uint16_t)0;
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//else motor->duty_cycle = (uint16_t)duty_cycle;
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@ -371,16 +434,16 @@ void BLDC_runSpeedCntl(BLDCMotor_t *motor, volatile float speedfbk, volatile flo
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PID_run_parallel(&motor->controllers.Pid_Speed);
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if(motor->controllers.Pid_Speed.Out_pu > 0) {
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motor->desiredDirection = 0;
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motor->directionOffset = 0;
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motor->motor_setpoints.desiredDirection = 0;
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motor->motor_setpoints.directionOffset = 0;
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} else {
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motor->desiredDirection = 1;
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motor->directionOffset = 8;
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motor->motor_setpoints.desiredDirection = 1;
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motor->motor_setpoints.directionOffset = 8;
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}
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/* Process unit is Volts */
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volatile float32_t duty_pu = f_abs((motor->controllers.Pid_Speed.Out_pu * motor->VoneByDcBus_pu));
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volatile duty_cycle = f_clamp(duty_pu * (float32_t)MAX_PWM, 0.0f, (float32_t)MAX_PWM);
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motor->duty_cycle = (uint16_t)duty_cycle;
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motor->motor_status.duty_cycle = (uint16_t)duty_cycle;
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} else {
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/* Pu in Current (Amps) */
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motor->controllers.Pid_Speed.OutMax_pu = (MOTOR_MAX_CURRENT_IDC_A);
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@ -403,13 +466,3 @@ void BLDC_runPosCntl(BLDCMotor_t *motor, int16_t posfbk, int16_t posRef)
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PI_run_series(&motor->controllers.Pi_Pos);
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motor->controllers.Pid_Speed.Ref_pu = motor->controllers.Pi_Pos.Out_pu;
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}
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inline void tic(const uint8_t pin)
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{
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gpio_set_pin_level(pin, true);
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}
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inline void toc(const uint8_t pin)
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{
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gpio_set_pin_level(pin, false);
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}
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@ -35,9 +35,9 @@
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#define DEVICE_MCU_FREQUENCY_Hz (100000000U)
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#define DEVICE_SPEEDTC_DIV (4U)
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#define DEVICE_SPEEDTC_FREQUENCY_Hz (100000000U/DEVICE_SPEEDTC_DIV)
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#define DEVICE_PWM_FREQUENCY_kHz (25.0f)
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#define DEVICE_ISR_FREQUENCY_kHz DEVICE_PWM_FREQUENCY_kHz
|
||||
#define DEVICE_ISR_PERIOD_Sec (0.001f/DEVICE_ISR_FREQUENCY_kHz)
|
||||
#define DEVICE_PWM_FREQUENCY_kHz (25.0f)
|
||||
#define DEVICE_ISR_FREQUENCY_kHz DEVICE_PWM_FREQUENCY_kHz
|
||||
#define DEVICE_ISR_PERIOD_Sec (0.001f/DEVICE_ISR_FREQUENCY_kHz)
|
||||
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
|
|
@ -47,8 +47,9 @@
|
|||
#define DEVICE_SHUNT_CURRENT_A 2.5f // phase current(PEAK) [A]
|
||||
#define CURRENT_SENSOR_SENSITIVITY 0.4f //V/A
|
||||
#define ONEON_CURRENT_SENSOR_SENSITIVITY 2.5f //V/A
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
// global variables
|
||||
// Type Definitions
|
||||
// ----------------------------------------------------------------------
|
||||
volatile typedef struct
|
||||
{
|
||||
|
|
@ -74,31 +75,52 @@ volatile typedef struct timerflags
|
|||
|
||||
volatile typedef struct
|
||||
{
|
||||
volatile PI_t Pi_Idc;
|
||||
volatile PID_t Pid_Speed;
|
||||
volatile PI_t Pi_Pos;
|
||||
volatile PI_t Pi_Idc;
|
||||
volatile PID_t Pid_Speed;
|
||||
volatile PI_t Pi_Pos;
|
||||
} MOTOR_Control_Structs;
|
||||
|
||||
volatile typedef struct
|
||||
{
|
||||
volatile uint8_t desiredDirection; //! The desired direction of rotation.
|
||||
volatile uint8_t directionOffset;
|
||||
volatile float32_t desired_torque;
|
||||
volatile int16_t desired_speed;
|
||||
volatile int16_t desired_position;
|
||||
volatile float32_t max_torque;
|
||||
volatile float32_t max_current;
|
||||
volatile int16_t max_velocity;
|
||||
} MOTOR_Setpoints;
|
||||
|
||||
volatile typedef struct
|
||||
{
|
||||
volatile uint8_t actualDirection; //! The actual direction of rotation.
|
||||
volatile uint16_t duty_cycle;
|
||||
volatile float32_t calc_rpm;
|
||||
volatile int32_t Num_Steps;
|
||||
/* Hall States */
|
||||
volatile uint8_t prevHallPattern;
|
||||
volatile uint8_t currentHallPattern;
|
||||
volatile uint8_t nextHallPattern;
|
||||
/* Commutation State */
|
||||
volatile uint8_t cur_comm_step;
|
||||
volatile uint8_t prev_comm_step;
|
||||
} MOTOR_Status;
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
// Function Pointers
|
||||
// ----------------------------------------------------------------------
|
||||
typedef uint8_t (*ReadHallFunc)(void);
|
||||
typedef void (*DisableMotorFunc)(void);
|
||||
|
||||
|
||||
volatile typedef struct BLDCmotor
|
||||
{
|
||||
/* Hardware */
|
||||
const Tcc *hw;
|
||||
uint16_t *motor_commutation_Pattern;
|
||||
const uint16_t *motor_commutation_Pattern;
|
||||
/* Status */
|
||||
volatile uint8_t actualDirection; //! The actual direction of rotation.
|
||||
volatile uint8_t desiredDirection; //! The desired direction of rotation.
|
||||
volatile uint16_t duty_cycle;
|
||||
volatile float32_t calc_rpm;
|
||||
volatile int32_t Num_Steps; // Total Step Count
|
||||
/* Commutation State */
|
||||
volatile uint8_t cur_comm_step;
|
||||
volatile uint8_t prev_comm_step;
|
||||
/* Hall States */
|
||||
volatile uint8_t prevHallPattern;
|
||||
volatile uint8_t currentHallPattern;
|
||||
volatile uint8_t nextHallPattern;
|
||||
volatile uint8_t dir_hall_code; //DIR_ABC
|
||||
volatile uint8_t directionOffset;
|
||||
MOTOR_Status motor_status;
|
||||
/* Measured Values */
|
||||
volatile MOTOR_3PHASES_t Iphase_pu;
|
||||
volatile MOTOR_phase_offset_t Voffset_lsb;
|
||||
|
|
@ -110,13 +132,10 @@ volatile typedef struct BLDCmotor
|
|||
/* Controllers */
|
||||
volatile MOTOR_Control_Structs controllers;
|
||||
/* Setpoints */
|
||||
volatile float32_t desired_torque;
|
||||
volatile int16_t desired_speed;
|
||||
volatile int16_t desired_position;
|
||||
volatile float32_t max_current;
|
||||
volatile float32_t max_torque;
|
||||
volatile int16_t max_velocity;
|
||||
|
||||
volatile MOTOR_Setpoints motor_setpoints;
|
||||
/* Functions */
|
||||
ReadHallFunc ReadHall;
|
||||
DisableMotorFunc DisableMotor;
|
||||
} BLDCMotor_t;
|
||||
|
||||
|
||||
|
|
@ -124,21 +143,22 @@ volatile typedef struct BLDCmotor
|
|||
// global variables
|
||||
// ----------------------------------------------------------------------
|
||||
|
||||
static const uint8_t HALL_PATTERN_ARRAY[16] = {0, 5, 3, 1, 6, 4, 2, 0, 0, 3, 6, 2, 5, 1, 4, 0 };
|
||||
static const uint8_t MOTOR_COMMUTATION_STEPS[8] = {20,1,3,2,5,6,4,20};
|
||||
static const uint8_t HALL_PATTERN_ARRAY[16] = {0, 5, 3, 1, 6, 4, 2, 0, 0, 3, 6, 2, 5, 1, 4, 0 };
|
||||
static const uint8_t MOTOR_COMMUTATION_STEPS[8] = {9, 1, 3, 2, 5, 6, 4, 9};
|
||||
|
||||
volatile BLDCMotor_t Motor1;
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
// all controller objects, variables and helpers:
|
||||
// ----------------------------------------------------------------------
|
||||
|
||||
volatile BLDCMotor_t Motor2;
|
||||
volatile BLDCMotor_t Motor3;
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
// functions
|
||||
// ----------------------------------------------------------------------
|
||||
void BldcInitStruct(BLDCMotor_t *motor);
|
||||
void BldcInitFunctions(void);
|
||||
|
||||
|
||||
|
||||
void select_active_phase(BLDCMotor_t *Motor, uint8_t hall_state);
|
||||
void BLDC_init(BLDCMotor_t *motor);
|
||||
void read_zero_current_offset_value(void);
|
||||
int32_t adc_sync_read_channel(struct adc_async_descriptor *const descr, const uint8_t channel, uint8_t *const buffer, const uint16_t length);
|
||||
static uint16_t adc_read(struct adc_async_descriptor *const descr, const uint8_t channel);
|
||||
|
|
@ -149,9 +169,28 @@ uint8_t get_hall_state(void);
|
|||
uint8_t HALLPatternGet(void);
|
||||
uint8_t PDEC_HALLPatternGet(void);
|
||||
void calculate_motor_speed(void);
|
||||
void DisableGateDrivers(BLDCMotor_t *motor);
|
||||
void DisableMotor(BLDCMotor_t *motor);
|
||||
void BLDC_runSpeedCntl(BLDCMotor_t *motor, volatile float speedfbk, volatile float speedRef);
|
||||
void BLDC_runCurrentCntl(BLDCMotor_t *motor, volatile float curfbk, volatile float curRef);
|
||||
void BLDC_runPosCntl(BLDCMotor_t *motor, int16_t posfbk, int16_t posRef);
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
// Functions used with function pointers
|
||||
// ----------------------------------------------------------------------
|
||||
uint8_t readM1Hall(void);
|
||||
uint8_t readM2Hall(void);
|
||||
uint8_t readM3Hall(void);
|
||||
void DisableM1GateDrivers(BLDCMotor_t *motor);
|
||||
void DisableM2GateDrivers(BLDCMotor_t *motor);
|
||||
void DisableM3GateDrivers(BLDCMotor_t *motor);
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
// all controller objects, variables and helpers:
|
||||
// ----------------------------------------------------------------------
|
||||
|
||||
//Motor2.ReadHall = readM2Hall;
|
||||
//Motor3.ReadHall = readM3Hall;
|
||||
|
||||
|
||||
|
||||
#endif /* BLDC_H_ */
|
||||
|
|
@ -126,7 +126,7 @@ inline void PID_objectInit(volatile PID_t *pPiD_obj)
|
|||
static inline void PI_run_series(volatile PI_t *pPi_obj)
|
||||
{
|
||||
PI_t *obj = (PI_t *)pPi_obj;
|
||||
volatile float32_t Up, preOut;
|
||||
volatile float32_t Up;
|
||||
|
||||
// Compute the controller error
|
||||
obj->error = obj->Ref_pu - obj->Fbk_pu;
|
||||
|
|
@ -144,7 +144,7 @@ static inline void PI_run_series(volatile PI_t *pPi_obj)
|
|||
static inline void PI_run_parallel(volatile PI_t *pPi_obj)
|
||||
{
|
||||
PI_t *obj = (PI_t *)pPi_obj;
|
||||
volatile float32_t Up, preOut;
|
||||
volatile float32_t Up;
|
||||
|
||||
// Compute the controller error
|
||||
obj->error = obj->Ref_pu - obj->Fbk_pu;
|
||||
|
|
@ -165,7 +165,7 @@ static inline void PI_run_parallel(volatile PI_t *pPi_obj)
|
|||
static inline void PID_run_series(volatile PID_t *pPid_obj)
|
||||
{
|
||||
PID_t *obj = (PID_t *)pPid_obj;
|
||||
volatile float32_t Up, Ud_tmp, preOut;
|
||||
volatile float32_t Up, Ud_tmp;
|
||||
|
||||
// Compute the controller error
|
||||
obj->error = obj->Ref_pu - obj->Fbk_pu;
|
||||
|
|
@ -189,7 +189,7 @@ static inline void PID_run_series(volatile PID_t *pPid_obj)
|
|||
static inline void PID_run_parallel(volatile PID_t *pPid_obj)
|
||||
{
|
||||
PID_t *obj = (PID_t *)pPid_obj;
|
||||
volatile float32_t Up, Ud_tmp, preOut;
|
||||
volatile float32_t Up, Ud_tmp;
|
||||
|
||||
|
||||
// Compute the controller error
|
||||
|
|
|
|||
|
|
@ -22,27 +22,6 @@
|
|||
#define DEBUG_3_PORT PORT_PC02
|
||||
#define DEBUG_4_PORT PORT_PC30
|
||||
|
||||
inline void tic(const uint8_t pin)
|
||||
{
|
||||
gpio_set_pin_level(pin, true);
|
||||
}
|
||||
|
||||
inline void toc(const uint8_t pin)
|
||||
{
|
||||
gpio_set_pin_level(pin, false);
|
||||
}
|
||||
|
||||
inline void tic_port(const uint32_t port)
|
||||
{
|
||||
REG_PORT_OUTSET2 = port;
|
||||
}
|
||||
|
||||
inline void toc_port(const uint32_t port)
|
||||
{
|
||||
REG_PORT_OUTCLR2 = port;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void update_telemetry(void)
|
||||
|
|
@ -54,17 +33,17 @@ void update_telemetry(void)
|
|||
|
||||
*state = applicationStatus.currentstate;
|
||||
*status = applicationStatus.fault;
|
||||
*motor_rel_position = Motor1.Num_Steps;
|
||||
*motor_rel_position = Motor1.motor_status.Num_Steps;
|
||||
*motor_abs_position = 0;
|
||||
*motor_dutyCycle = Motor1.duty_cycle;
|
||||
*motor_speed = (int16_t)Motor1.calc_rpm;
|
||||
*motor_dutyCycle = Motor1.motor_status.duty_cycle;
|
||||
*motor_speed = (int16_t)Motor1.motor_status.calc_rpm;
|
||||
*motor_torque = 0;
|
||||
*motor_currentPHA = convert_to_mA(Motor1.Iphase_pu.A);
|
||||
*motor_currentPHB = convert_to_mA(Motor1.Iphase_pu.B);
|
||||
*motor_currentPHC = convert_to_mA(Motor1.Iphase_pu.C);
|
||||
*motor_currentBUS = convert_to_mA(Motor1.Iphase_pu.Bus);
|
||||
*hall_state = Motor1.currentHallPattern;
|
||||
*Spare_byte1 = Motor1.actualDirection;
|
||||
*hall_state = Motor1.motor_status.currentHallPattern;
|
||||
*Spare_byte1 = Motor1.motor_status.actualDirection;
|
||||
//*Spare_1 = 0;
|
||||
//*Spare_2 = 0;
|
||||
}
|
||||
|
|
@ -75,27 +54,27 @@ void update_setpoints(void)
|
|||
{
|
||||
return ((float32_t)input/1000.0);
|
||||
}
|
||||
//Motor1.des_mode = 0;
|
||||
//Motor1.set = 0;
|
||||
Motor1.desired_position = *desired_position;
|
||||
Motor1.desired_speed = *desired_speed;
|
||||
//Motor1.desired_speed = 1500;
|
||||
Motor1.desired_torque = convert_int_to_PU(*desired_torque);
|
||||
//Motor1.controllerParam.I_kp = 0;
|
||||
//Motor1.controllerParam.I_ki = 0;
|
||||
//Motor1.controllerParam.V_kp = 0;
|
||||
//Motor1.controllerParam.V_kd = 0;
|
||||
//Motor1.controllerParam.V_kd = 0;
|
||||
//Motor1.controllerParam.P_kp = 0;
|
||||
//Motor1.controllerParam.P_ki = 0;
|
||||
//Motor1.reductionRatio = 0;
|
||||
Motor1.max_velocity = *max_velocity;
|
||||
Motor1.max_current = convert_int_to_PU(*max_current);
|
||||
Motor1.max_torque = convert_int_to_PU(*max_torque);
|
||||
//Motor1.Spare1 = 0;
|
||||
//Motor1.Spare2 = 0;
|
||||
//Motor1.Spare3 = 0;
|
||||
//Motor1.Spare4 = 0;
|
||||
//Motor1.des_mode = 0;
|
||||
//Motor1.set = 0;
|
||||
Motor1.motor_setpoints.desired_position = *desired_position;
|
||||
Motor1.motor_setpoints.desired_speed = *desired_speed;
|
||||
//Motor1.desired_speed = 1500;
|
||||
Motor1.motor_setpoints.desired_torque = convert_int_to_PU(*desired_torque);
|
||||
//Motor1.controllerParam.I_kp = 0;
|
||||
//Motor1.controllerParam.I_ki = 0;
|
||||
//Motor1.controllerParam.V_kp = 0;
|
||||
//Motor1.controllerParam.V_kd = 0;
|
||||
//Motor1.controllerParam.V_kd = 0;
|
||||
//Motor1.controllerParam.P_kp = 0;
|
||||
//Motor1.controllerParam.P_ki = 0;
|
||||
//Motor1.reductionRatio = 0;
|
||||
Motor1.motor_setpoints.max_velocity = *max_velocity;
|
||||
Motor1.motor_setpoints.max_current = convert_int_to_PU(*max_current);
|
||||
Motor1.motor_setpoints.max_torque = convert_int_to_PU(*max_torque);
|
||||
//Motor1.Spare1 = 0;
|
||||
//Motor1.Spare2 = 0;
|
||||
//Motor1.Spare3 = 0;
|
||||
//Motor1.Spare4 = 0;
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -48,7 +48,7 @@ void TC0_Handler(void)
|
|||
/* Overflow Interrupt */
|
||||
if (TC0->COUNT32.INTFLAG.bit.OVF == 0x01) {
|
||||
TC0->COUNT32.INTFLAG.bit.OVF = 0x01;
|
||||
Motor1.calc_rpm = 0;
|
||||
Motor1.motor_status.calc_rpm = 0;
|
||||
//gpio_toggle_pin_level(DEBUG_2);
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -19,32 +19,6 @@
|
|||
// ----------------------------------------------------------------------
|
||||
//#define DBG_PIN1 GPIO(GPIO_PORTD, 0)
|
||||
|
||||
#define DEBUG_1_PORT PORT_PC01
|
||||
#define DEBUG_2_PORT PORT_PC03
|
||||
#define DEBUG_3_PORT PORT_PC02
|
||||
#define DEBUG_4_PORT PORT_PC30
|
||||
|
||||
inline void tic(const uint8_t pin)
|
||||
{
|
||||
gpio_set_pin_level(pin, true);
|
||||
}
|
||||
|
||||
inline void toc(const uint8_t pin)
|
||||
{
|
||||
gpio_set_pin_level(pin, false);
|
||||
}
|
||||
|
||||
inline void tic_port(const uint32_t port)
|
||||
{
|
||||
REG_PORT_OUTSET2 = port;
|
||||
}
|
||||
|
||||
inline void toc_port(const uint32_t port)
|
||||
{
|
||||
REG_PORT_OUTCLR2 = port;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
|
@ -76,7 +50,8 @@ inline void CONTROLLER_StateMachine(void)
|
|||
break;
|
||||
case MOTOR_IDLE:
|
||||
applicationStatus.previousstate = applicationStatus.currentstate;
|
||||
applicationStatus.currentstate = MOTOR_PVI_CTRL_STATE;
|
||||
//applicationStatus.currentstate = MOTOR_PVI_CTRL_STATE;
|
||||
applicationStatus.currentstate = MOTOR_V_CTRL_STATE;
|
||||
break;
|
||||
|
||||
case MOTOR_I_CTRL_STATE:
|
||||
|
|
@ -85,12 +60,14 @@ inline void CONTROLLER_StateMachine(void)
|
|||
case MOTOR_V_CTRL_STATE:
|
||||
switch (Motor1.regulation_loop_count) {
|
||||
case 0: /* PWM FREQ / 25 - 1kHz */
|
||||
Motor1.timerflags.motor_telemetry_flag = true;
|
||||
/* Blank */
|
||||
case 6: /* PWM FREQ / 6.25 - 4kHz */
|
||||
calculate_motor_speed();
|
||||
BLDC_runSpeedCntl(&Motor1, Motor1.calc_rpm, Motor1.desired_speed);
|
||||
//BLDC_runSpeedCntl(&Motor1, Motor1.motor_status.calc_rpm, Motor1.motor_setpoints.desired_speed);
|
||||
BLDC_runSpeedCntl(&Motor1, Motor1.motor_status.calc_rpm, 2000);
|
||||
default: /* PWM FREQ - 25kHz */
|
||||
select_active_phase(&Motor1, Motor1.currentHallPattern); /* Still measure current */
|
||||
select_active_phase(&Motor1, Motor1.motor_status.currentHallPattern); /* Still measure current */
|
||||
break;
|
||||
} // end switch(regulation_loop_count)
|
||||
|
||||
|
|
@ -104,12 +81,13 @@ inline void CONTROLLER_StateMachine(void)
|
|||
case MOTOR_VI_CTRL_STATE:
|
||||
switch (Motor1.regulation_loop_count) {
|
||||
case 0: /* PWM FREQ / 25 - 1kHz */
|
||||
Motor1.timerflags.motor_telemetry_flag = true;
|
||||
/* Blank */
|
||||
case 6: /* PWM FREQ / 6.25 - 4kHz */
|
||||
calculate_motor_speed();
|
||||
BLDC_runSpeedCntl(&Motor1, Motor1.calc_rpm, Motor1.desired_speed);
|
||||
BLDC_runSpeedCntl(&Motor1, Motor1.motor_status.calc_rpm, Motor1.motor_setpoints.desired_speed);
|
||||
default: /* PWM FREQ - 25kHz */
|
||||
select_active_phase(&Motor1, Motor1.currentHallPattern);
|
||||
select_active_phase(&Motor1, Motor1.motor_status.currentHallPattern);
|
||||
BLDC_runCurrentCntl(&Motor1, Motor1.Iphase_pu.Bus, Motor1.controllers.Pi_Idc.Ref_pu);
|
||||
break;
|
||||
} // end switch(regulation_loop_count)
|
||||
|
|
@ -123,7 +101,7 @@ inline void CONTROLLER_StateMachine(void)
|
|||
case 0: /* PWM FREQ / 25 - 1kHz */
|
||||
Motor1.timerflags.motor_telemetry_flag = true; // Update telemetry flag
|
||||
//tic(DEBUG_4);
|
||||
BLDC_runPosCntl(&Motor1, Motor1.Num_Steps, Motor1.desired_position);
|
||||
BLDC_runPosCntl(&Motor1, Motor1.motor_status.Num_Steps, Motor1.motor_setpoints.desired_position);
|
||||
//toc(DEBUG_4);
|
||||
case 5: case 10: case 15: case 20:/* PWM FREQ / 5 - 5kHz */
|
||||
//tic(DEBUG_3);
|
||||
|
|
@ -132,14 +110,14 @@ inline void CONTROLLER_StateMachine(void)
|
|||
calculate_motor_speed();
|
||||
//toc(DEBUG_2);
|
||||
//tic(DEBUG_3);
|
||||
BLDC_runSpeedCntl(&Motor1, Motor1.calc_rpm, Motor1.controllers.Pid_Speed.Ref_pu);
|
||||
BLDC_runSpeedCntl(&Motor1, Motor1.motor_status.calc_rpm, Motor1.controllers.Pid_Speed.Ref_pu);
|
||||
//toc(DEBUG_3);
|
||||
//toc(DEBUG_4);
|
||||
//toc(DEBUG_3);
|
||||
default: /* PWM FREQ - 25kHz */
|
||||
//tic(DEBUG_2);
|
||||
//tic(DEBUG_3);
|
||||
select_active_phase(&Motor1, Motor1.currentHallPattern);
|
||||
select_active_phase(&Motor1, Motor1.motor_status.currentHallPattern);
|
||||
////toc(DEBUG_2);
|
||||
////tic(DEBUG_3);
|
||||
BLDC_runCurrentCntl(&Motor1, Motor1.Iphase_pu.Bus, Motor1.controllers.Pi_Idc.Ref_pu);
|
||||
|
|
@ -203,7 +181,11 @@ int main(void)
|
|||
atmel_start_init();
|
||||
|
||||
|
||||
BLDC_init(&Motor1);
|
||||
BldcInitStruct(&Motor1);
|
||||
BldcInitStruct(&Motor2);
|
||||
BldcInitStruct(&Motor3);
|
||||
BldcInitFunctions();
|
||||
|
||||
read_zero_current_offset_value();
|
||||
configure_tcc_pwm();
|
||||
config_pins();
|
||||
|
|
@ -212,14 +194,9 @@ int main(void)
|
|||
ethercat_update();
|
||||
custom_logic_enable();
|
||||
configure_TC_CCL_SPEED();
|
||||
//ext_irq_register(PIN_PB05, button_on_PB05_pressed);
|
||||
|
||||
ext_irq_register(nDRV_RESET, HW_current_limit_detect_callback);
|
||||
enable_NVIC_IRQ(); // Enable TC_ECAT TC7 Timer
|
||||
//__enable_irq();
|
||||
//gpio_set_pin_level(DRV_RESET, true);
|
||||
//gpio_set_pin_level(DRV_RST, false);
|
||||
|
||||
|
||||
enable_NVIC_IRQ();
|
||||
|
||||
/* Replace with your application code */
|
||||
while (1) {
|
||||
|
|
|
|||
|
|
@ -64,63 +64,68 @@
|
|||
static uint32_t speed_average = 0;
|
||||
static uint8_t count = 1;
|
||||
|
||||
// ----------------------------------------------------------------------
|
||||
// Commutation Patterns
|
||||
// ----------------------------------------------------------------------
|
||||
|
||||
/**
|
||||
** ____|___TCC0_________ ||____TCC1_________|
|
||||
** W0 | M2_0 | CC0 || __M3_2__ | CC0 |
|
||||
** W1 | M2_1 | CC1 || - | CC1 |
|
||||
** W2 | M2_2 | CC2 || M1_0 | CC1 |
|
||||
** W3 | M2_3 | CC3 || M1_1 | CC1 |
|
||||
** W4 | __M3_0__ | CC4 || M1_2 | CC1 |
|
||||
** W5 | __M3_1__ | CC5 || M1_3 | CC1 |
|
||||
** W6 | M2_4 | CC0 || M1_4 | CC1 |
|
||||
** W7 | M2_5 | CC1 || M1_5 | CC1 |
|
||||
*/
|
||||
|
||||
static const uint16_t COMMUTATION_PATTERN_M1[] = {
|
||||
0x00FC, // invalid state (0)
|
||||
0x30F8, // CB_CW (1)
|
||||
0x50F4, // CA_CW (2)
|
||||
0x60F8, // BA_CW (3)
|
||||
0x607C, // AB_CW (4)
|
||||
0x507C, // BC_CW (5)
|
||||
0x30F4, // AC_CW (6)
|
||||
0x00FC, // invalid state
|
||||
0x00FC, // invalid state
|
||||
0x30F4, // BC_CCW (9)
|
||||
0x507C, // AB_CCW (10)
|
||||
0x607C, // AC_CCW (11)
|
||||
0x60F8, // CA_CCW (12)
|
||||
0x50F4, // BA_CCW (13)
|
||||
0x30F8, // CB_CCW (14)
|
||||
0x00FC
|
||||
0x00FF, // (0) invalid state
|
||||
0x30F8, // (1)
|
||||
0x50F5, // (2)
|
||||
0x60F8, // (3)
|
||||
0x607D, // (4)
|
||||
0x507D, // (5)
|
||||
0x30F5, // (6)
|
||||
0x00FF, // (7) invalid state
|
||||
0x00FF, // (8) invalid state
|
||||
0x30F5, // (9)
|
||||
0x507D, // (10)
|
||||
0x607D, // (11)
|
||||
0x60F8, // (12)
|
||||
0x50F5, // (13)
|
||||
0x30F8, // (14)
|
||||
0x00FF // (15) invalid state
|
||||
};
|
||||
|
||||
static const uint16_t COMMUTATION_PATTERN_M2[] = {
|
||||
0x00FC, // invalid state (0)
|
||||
0x30F8, // CB_CW (1)
|
||||
0x50F4, // CA_CW (2)
|
||||
0x60F8, // BA_CW (3)
|
||||
0x607C, // AB_CW (4)
|
||||
0x507C, // BC_CW (5)
|
||||
0x30F4, // AC_CW (6)
|
||||
0x00FC, // invalid state
|
||||
0x00FC, // invalid state
|
||||
0x30F4, // BC_CCW (9)
|
||||
0x507C, // AB_CCW (10)
|
||||
0x607C, // AC_CCW (11)
|
||||
0x60F8, // CA_CCW (12)
|
||||
0x50F4, // BA_CCW (13)
|
||||
0x30F8, // CB_CCW (14)
|
||||
0x00FC
|
||||
0x00FF, // (0) invalid state
|
||||
0xC0FB, // (1)
|
||||
0x48DD, // (2)
|
||||
0x88FB, // (3)
|
||||
0x88EE, // (4)
|
||||
0x48EE, // (5)
|
||||
0xC0DD, // (6)
|
||||
0x00FF, // (7) invalid state
|
||||
0x00FF, // (8) invalid state
|
||||
0xC0DD, // (9)
|
||||
0x48EE, // (10)
|
||||
0x88EE, // (11)
|
||||
0x88FB, // (12)
|
||||
0x48DD, // (13)
|
||||
0xC0FB, // (14)
|
||||
0x00FF // (15) invalid state
|
||||
};
|
||||
|
||||
static const uint16_t COMMUTATION_PATTERN_M3[] = {
|
||||
0x00FC, // invalid state (0)
|
||||
0x30F8, // CB_CW (1)
|
||||
0x50F4, // CA_CW (2)
|
||||
0x60F8, // BA_CW (3)
|
||||
0x607C, // AB_CW (4)
|
||||
0x507C, // BC_CW (5)
|
||||
0x30F4, // AC_CW (6)
|
||||
0x00FC, // invalid state
|
||||
0x00FC, // invalid state
|
||||
0x30F4, // BC_CCW (9)
|
||||
0x507C, // AB_CCW (10)
|
||||
0x607C, // AC_CCW (11)
|
||||
0x60F8, // CA_CCW (12)
|
||||
0x50F4, // BA_CCW (13)
|
||||
0x30F8, // CB_CCW (14)
|
||||
0x00FC
|
||||
};
|
||||
static const uint16_t m3_TCC0_mask = 0x0030;
|
||||
static const uint16_t m3_TCC0_inv_mask = ~(0x0030);
|
||||
static const uint16_t m3_TCC1_mask = 0x0001;
|
||||
static const uint16_t m3_TCC1_inv_mask = ~(0x0001);
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif /* MOTOR_PARAMS_H_ */
|
||||
|
|
@ -9,6 +9,37 @@
|
|||
#ifndef UTILITIES_H_
|
||||
#define UTILITIES_H_
|
||||
|
||||
|
||||
#define ENABLED(V...) DO(ENA,&&,V)
|
||||
#define DISABLED(V...) DO(DIS,&&,V)
|
||||
|
||||
|
||||
#define DEBUG_1_PORT PORT_PC01
|
||||
#define DEBUG_2_PORT PORT_PC03
|
||||
#define DEBUG_3_PORT PORT_PC02
|
||||
#define DEBUG_4_PORT PORT_PC30
|
||||
|
||||
inline void tic(const uint8_t pin)
|
||||
{
|
||||
gpio_set_pin_level(pin, true);
|
||||
}
|
||||
|
||||
inline void toc(const uint8_t pin)
|
||||
{
|
||||
gpio_set_pin_level(pin, false);
|
||||
}
|
||||
|
||||
inline void tic_port(const uint32_t port)
|
||||
{
|
||||
REG_PORT_OUTSET2 = port;
|
||||
}
|
||||
|
||||
inline void toc_port(const uint32_t port)
|
||||
{
|
||||
REG_PORT_OUTCLR2 = port;
|
||||
}
|
||||
|
||||
|
||||
//! \brief Saturates the input value between the minimum and maximum values
|
||||
//! \param[in] in The input value
|
||||
//! \param[in] max The maximum value allowed
|
||||
|
|
|
|||
Loading…
Reference in New Issue