m

2_Motor_Master/Motor_Master/Motor_Master/Motor_Master.cproj

@@ -1049,6 +1049,9 @@
     <Compile Include="main.c">
       <SubType>compile</SubType>
     </Compile>
+    <Compile Include="motorparameters.h">
+      <SubType>compile</SubType>
+    </Compile>
   </ItemGroup>
   <ItemGroup>
     <Folder Include="Config\" />

2_Motor_Master/Motor_Master/Motor_Master/bldc.h

@@ -14,6 +14,16 @@
 // ----------------------------------------------------------------------
 #include "atmel_start.h"
 #include "arm_math.h"
+#include "motorparameters.h"
+
+#define PWM_TOP					(1000)
+#define MAX_PWM					(600)
+//#define MAX_VEL					3800
+
+#define CW						(0) //CBA
+#define DIRECTION_CW_OFFSET		(0) //CBA
+#define CCW						(1) //ABC
+#define DIRECTION_CCW_OFFSET	(8) //CBA
 
 
 static uint32_t adc_seq_regs[5]		= {0x1800, 0x1806, 0x1807, 0x1808, 0x1809};
@@ -76,50 +86,6 @@ volatile typedef struct
 	volatile uint8_t prev_comm_step;
 }	MOTOR_Status;
 
-// ----------------------------------------------------------------------
-// 	M1 Hall Parameters
-// ----------------------------------------------------------------------
-
-#define M1_HALL_A_PIN					GPIO(GPIO_PORTA, 22)
-#define M1_HALL_A_PORT					PORT_PA22
-#define M1_HALL_A_MASK					~(1<<0)
-#define M1_HALL_A_LSR					M1_HALL_A_PIN	- M1_HALL_A_GROUP*32 -0
-#define M1_HALL_A_GROUP					M1_HALL_A_PIN/32
-
-#define M1_HALL_B_PIN					GPIO(GPIO_PORTA, 23)
-#define M1_HALL_B_PORT					PORT_PA23
-#define M1_HALL_B_MASK					~(1<<1)
-#define M1_HALL_B_LSR					M1_HALL_B_PIN	- M1_HALL_B_GROUP*32 -1
-#define M1_HALL_B_GROUP					M1_HALL_B_PIN/32
-
-#define M1_HALL_C_PIN					GPIO(GPIO_PORTA, 24)
-#define M1_HALL_C_PORT					PORT_PA24
-#define M1_HALL_C_MASK					~(1<<2)
-#define M1_HALL_C_LSR					M1_HALL_C_PIN	- M1_HALL_C_GROUP*32 -2
-#define M1_HALL_C_GROUP					M1_HALL_C_PIN/32
-
-// ----------------------------------------------------------------------
-// 	M2 Hall Parameters
-// ----------------------------------------------------------------------
-
-#define M2_HALL_A_PIN					GPIO(GPIO_PORTA, 4)
-#define M2_HALL_A_PORT					PORT_PA04
-#define M2_HALL_A_MASK					~(1<<0)
-#define M2_HALL_A_LSR					M2_HALL_A_PIN	- M2_HALL_A_GROUP*32 -0
-#define M2_HALL_A_GROUP					M2_HALL_A_PIN/32
-
-#define M2_HALL_B_PIN					GPIO(GPIO_PORTA, 5)
-#define M2_HALL_B_PORT					PORT_PA05
-#define M2_HALL_B_MASK					~(1<<1)
-#define M2_HALL_B_LSR					M2_HALL_B_PIN	- M2_HALL_B_GROUP*32 -1
-#define M2_HALL_B_GROUP					M2_HALL_B_PIN/32
-
-#define M2_HALL_C_PIN					GPIO(GPIO_PORTA, 6)
-#define M2_HALL_C_PORT					PORT_PA06
-#define M2_HALL_C_MASK					~(1<<2)
-#define M2_HALL_C_LSR					M2_HALL_C_PIN	- M2_HALL_C_GROUP*32 -2
-#define M2_HALL_C_GROUP					M2_HALL_C_PIN/32
-
 
 static inline uint8_t readM1Hall(void)
 {

2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h

@@ -0,0 +1,120 @@
+/*
+ * motorparameters.h
+ *
+ * Created: 04/08/2021 21:23:43
+ *  Author: Nick-XMG
+ */ 
+
+
+#ifndef MOTORPARAMETERS_H_
+#define MOTORPARAMETERS_H_
+#include "atmel_start.h"
+
+
+// ----------------------------------------------------------------------
+// 	M1 Hall Parameters
+// ----------------------------------------------------------------------
+
+#define M1_HALL_A_PIN					GPIO(GPIO_PORTA, 22)
+#define M1_HALL_A_PORT					PORT_PA22
+#define M1_HALL_A_MASK					~(1<<0)
+#define M1_HALL_A_LSR					M1_HALL_A_PIN	- M1_HALL_A_GROUP*32 -0
+#define M1_HALL_A_GROUP					M1_HALL_A_PIN/32
+
+#define M1_HALL_B_PIN					GPIO(GPIO_PORTA, 23)
+#define M1_HALL_B_PORT					PORT_PA23
+#define M1_HALL_B_MASK					~(1<<1)
+#define M1_HALL_B_LSR					M1_HALL_B_PIN	- M1_HALL_B_GROUP*32 -1
+#define M1_HALL_B_GROUP					M1_HALL_B_PIN/32
+
+#define M1_HALL_C_PIN					GPIO(GPIO_PORTA, 24)
+#define M1_HALL_C_PORT					PORT_PA24
+#define M1_HALL_C_MASK					~(1<<2)
+#define M1_HALL_C_LSR					M1_HALL_C_PIN	- M1_HALL_C_GROUP*32 -2
+#define M1_HALL_C_GROUP					M1_HALL_C_PIN/32
+
+// ----------------------------------------------------------------------
+// 	M2 Hall Parameters
+// ----------------------------------------------------------------------
+
+#define M2_HALL_A_PIN					GPIO(GPIO_PORTA, 4)
+#define M2_HALL_A_PORT					PORT_PA04
+#define M2_HALL_A_MASK					~(1<<0)
+#define M2_HALL_A_LSR					M2_HALL_A_PIN	- M2_HALL_A_GROUP*32 -0
+#define M2_HALL_A_GROUP					M2_HALL_A_PIN/32
+
+#define M2_HALL_B_PIN					GPIO(GPIO_PORTA, 5)
+#define M2_HALL_B_PORT					PORT_PA05
+#define M2_HALL_B_MASK					~(1<<1)
+#define M2_HALL_B_LSR					M2_HALL_B_PIN	- M2_HALL_B_GROUP*32 -1
+#define M2_HALL_B_GROUP					M2_HALL_B_PIN/32
+
+#define M2_HALL_C_PIN					GPIO(GPIO_PORTA, 6)
+#define M2_HALL_C_PORT					PORT_PA06
+#define M2_HALL_C_MASK					~(1<<2)
+#define M2_HALL_C_LSR					M2_HALL_C_PIN	- M2_HALL_C_GROUP*32 -2
+#define M2_HALL_C_GROUP					M2_HALL_C_PIN/32
+
+// ----------------------------------------------------------------------
+// 	Motor Physical Parameters
+// ----------------------------------------------------------------------
+
+const typedef struct
+{
+	const uint16_t Poles;          
+	const uint16_t polePairs;
+	const uint16_t commutationStates;
+	const float32_t motor_RS_Ohm;
+	const float32_t motor_LD_H;
+	const float32_t motor_Flux_WB;
+	const float32_t motor_Max_Spd_RPM;
+	const float32_t motor_Max_Spd_ELEC;
+	const float32_t motor_MeasureRange_RPM;	// give 20% headroom
+	const float32_t motor_Max_Current_IDC_A;
+} BLDCMotor_param_t;
+ 
+const BLDCMotor_param_t FH_32mm24BXTR = {
+	.Poles = 14,
+	.polePairs = 7,
+	.commutationStates = 42,	//polePairs * 6
+	
+};
+const BLDCMotor_param_t FH_22mm24BXTR;
+
+
+
+/* ----------------------------------------------------------------------
+// Commutation Patterns
+// ----------------------------------------------------------------------
+/**
+**	____|___TCC0_____OTMX ||____TCC1____ OTMX|
+**	W0	|	M1_0	| CC0 ||    M2_0   | CC0 |
+**	W1	|	M1_0	| CC0 ||	M2_0   | CC0 |
+**	W2	|	M1_0	| CC0 ||	M2_0   | CC0 |
+**	W3	|	M1_0	| CC0 ||	M2_0   | CC0 |
+**	W4	|   M1_0	| CC0 ||	M2_0   | CC0 |
+**	W5	|   M1_0	| CC0 ||	M2_0   | CC0 |
+**	W6	|	M1_0	| CC0 ||	M2_0   | CC0 |
+**	W7  |	M1_0	| CC0 ||	M2_0   | CC0 |
+*/
+
+static const uint16_t COMMUTATION_PATTERN[] = {
+	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
+};
+
+#endif /* MOTORPARAMETERS_H_ */