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commutation in one direction works ok

This commit is contained in:
Nicolas Trimborn 2021-08-07 17:23:02 +02:00
parent 639b562d2b
commit 9be08d33f1
5 changed files with 95 additions and 105 deletions
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2
2_Motor_Master/Motor_Master/Motor_Master/Motor_Master.cproj
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@ -36,7 +36,7 @@
<documentation help="" /> <documentation help="" />
<offline-documentation help="" /> <offline-documentation help="" />
<dependencies> <dependencies>
<content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.42.0" /> <content-extension eid="atmel.asf" uuidref="Atmel.ASF" version="3.43.0" />
</dependencies> </dependencies>
</framework-data> </framework-data>
</AsfFrameworkConfig> </AsfFrameworkConfig>

28
2_Motor_Master/Motor_Master/Motor_Master/bldc.c
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@ -18,7 +18,7 @@ void BldcInitStruct(BLDCMotor_t *motor, BLDCMotor_param_t *motor_param)
motor->motor_param = motor_param; motor->motor_param = motor_param;
motor->motor_status.actualDirection = 0; motor->motor_status.actualDirection = 0;
motor->motor_setpoints.desiredDirection = 0; motor->motor_setpoints.desiredDirection = 0;
motor->motor_status.duty_cycle = 150; motor->motor_status.duty_cycle = 100;
motor->motor_status.calc_rpm = 0; motor->motor_status.calc_rpm = 0;
motor->motor_status.Num_Steps = 0; motor->motor_status.Num_Steps = 0;
motor->motor_status.cur_comm_step = 0; motor->motor_status.cur_comm_step = 0;
@ -103,6 +103,12 @@ void exec_commutation(BLDCMotor_t *motor)
//tic_port(DEBUG_2_PORT); //tic_port(DEBUG_2_PORT);
//motor->motor_status.currentHallPattern = readM1Hall(); //motor->motor_status.currentHallPattern = readM1Hall();
motor->motor_status.currentHallPattern = motor->readHall(); motor->motor_status.currentHallPattern = motor->readHall();
if(motor->motor_status.currentHallPattern == INVALID_HALL_0 ||
motor->motor_status.currentHallPattern == INVALID_HALL_7 ) {
applicationStatus.fault = HALLSENSORINVALID;
applicationStatus.currentstate = FAULT;
}
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// Multi Motor Register Masking // Multi Motor Register Masking
@ -110,12 +116,14 @@ void exec_commutation(BLDCMotor_t *motor)
//tic_port(DEBUG_2_PORT); //tic_port(DEBUG_2_PORT);
//volatile uint16_t temp_M1 = COMMUTATION_PATTERN_M1[Motor1.motor_status.currentHallPattern + Motor1.motor_setpoints.directionOffset]; //volatile uint16_t temp_M1 = COMMUTATION_PATTERN_M1[Motor1.motor_status.currentHallPattern + Motor1.motor_setpoints.directionOffset];
//volatile uint16_t temp_M2 = COMMUTATION_PATTERN_M2[Motor2.motor_status.currentHallPattern + oh ]; //volatile uint16_t temp_M2 = COMMUTATION_PATTERN_M2[Motor2.motor_status.currentHallPattern + oh ];
volatile uint16_t temp_M1 = COMMUTATION_PATTERN[motor->motor_status.currentHallPattern + //volatile uint16_t temp_M1 = COMMUTATION_PATTERN[motor->motor_status.currentHallPattern +
motor->motor_setpoints.directionOffset]; //motor->motor_setpoints.directionOffset];
volatile uint16_t temp_M1 = COMMUTATION_PATTERN[motor->motor_status.currentHallPattern + motor->motor_setpoints.directionOffset];
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// Set Pattern Buffers // Set Pattern Buffers
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw, (hri_tcc_pattbuf_reg_t)temp_M1); hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw, temp_M1);
//(Tcc *)(motor->motor_param.pwm_desc->device.hw)->PATTBUF.reg = temp_M1; //(Tcc *)(motor->motor_param.pwm_desc->device.hw)->PATTBUF.reg = temp_M1;
//TCC0->PATTBUF.reg = (uint16_t)temp_M2; //TCC0->PATTBUF.reg = (uint16_t)temp_M2;
//TCC1->PATTBUF.reg = (uint16_t)temp_M1; //TCC1->PATTBUF.reg = (uint16_t)temp_M1;
@ -132,12 +140,12 @@ void exec_commutation(BLDCMotor_t *motor)
switch(step_change1) switch(step_change1)
{ {
case 1: case -5: case -1: case 5:
motor->motor_status.Num_Steps = motor->motor_status.Num_Steps+1; motor->motor_status.Num_Steps = motor->motor_status.Num_Steps+1;
motor->motor_status.actualDirection = CW; motor->motor_status.actualDirection = CW;
//Motor1.motor_setpoints.directionOffset = DIRECTION_CW_OFFSET; //Motor1.motor_setpoints.directionOffset = DIRECTION_CW_OFFSET;
break; break;
case -1: case 5: case 1: case -5:
motor->motor_status.Num_Steps = motor->motor_status.Num_Steps-1; motor->motor_status.Num_Steps = motor->motor_status.Num_Steps-1;
motor->motor_status.actualDirection = CCW; motor->motor_status.actualDirection = CCW;
//Motor1.motor_setpoints.directionOffset = DIRECTION_CCW_OFFSET; //Motor1.motor_setpoints.directionOffset = DIRECTION_CCW_OFFSET;
@ -327,9 +335,9 @@ uint8_t readHallSensorM1(void)
volatile uint8_t b = gpio_get_pin_level(M1_HALL_B_PIN); volatile uint8_t b = gpio_get_pin_level(M1_HALL_B_PIN);
volatile uint8_t c = gpio_get_pin_level(M1_HALL_C_PIN); volatile uint8_t c = gpio_get_pin_level(M1_HALL_C_PIN);
return ((a << 2) | return ((c << 2) |
(b << 1) | (b << 1) |
(c << 0)); (a << 0));
} }
@ -339,7 +347,7 @@ uint8_t readHallSensorM2(void)
volatile uint8_t b = gpio_get_pin_level(M2_HALL_B_PIN); volatile uint8_t b = gpio_get_pin_level(M2_HALL_B_PIN);
volatile uint8_t c = gpio_get_pin_level(M2_HALL_C_PIN); volatile uint8_t c = gpio_get_pin_level(M2_HALL_C_PIN);
return ((a << 2) | return ((c << 2) |
(b << 1) | (b << 1) |
(c << 0)); (a << 0));
} }

66
2_Motor_Master/Motor_Master/Motor_Master/bldc.h
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@ -62,8 +62,9 @@
// global variables // 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 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}; static const uint8_t MOTOR_COMMUTATION_STEPS[8] = {9, 1, 3, 2, 5, 6, 4, 9};
//static const uint8_t MOTOR_COMMUTATION_STEPS[8] = {9, 1, 3, 2, 6, 4, 5, 9};
volatile BLDCMotor_t Motor1; volatile BLDCMotor_t Motor1;
volatile BLDCMotor_t Motor2; volatile BLDCMotor_t Motor2;
@ -90,67 +91,4 @@ static void SetDutyCycle(const uint16_t duty);
uint8_t readHallSensorM1(void); uint8_t readHallSensorM1(void);
uint8_t readHallSensorM2(void); uint8_t readHallSensorM2(void);
// ----------------------------------------------------------------------
// Inline Functions, hoping for in lining and faster execution
// ----------------------------------------------------------------------
static inline uint8_t readM1Hall(void)
{
//volatile uint8_t motor_read = 0;
//motor_read = (motor_read & M1_HALL_A_MASK) | (uint8_t)((PORT->Group[M1_HALL_A_GROUP].IN.reg & M1_HALL_A_PORT)>>(M1_HALL_A_LSR));
//motor_read = (motor_read & M1_HALL_B_MASK) | (uint8_t)((PORT->Group[M1_HALL_B_GROUP].IN.reg & M1_HALL_B_PORT)>>(M1_HALL_B_LSR));
//motor_read = (motor_read & M1_HALL_C_MASK) | (uint8_t)((PORT->Group[M1_HALL_C_GROUP].IN.reg & M1_HALL_C_PORT)>>(M1_HALL_C_LSR));
//
//return motor_read;
volatile uint8_t a = gpio_get_pin_level(M1_HALL_A_PIN);
volatile uint8_t b = gpio_get_pin_level(M1_HALL_B_PIN);
volatile uint8_t c = gpio_get_pin_level(M1_HALL_C_PIN);
return ((a << 2) |
(b << 1) |
(c << 0));
}
static inline uint8_t readM2Hall(void)
{
//volatile uint8_t motor_read = 0;
//motor_read = (motor_read & M2_HALL_A_MASK) | (uint8_t)((PORT->Group[M2_HALL_A_GROUP].IN.reg & M2_HALL_A_PORT)>>(M2_HALL_A_LSR));
//motor_read = (motor_read & M2_HALL_B_MASK) | (uint8_t)((PORT->Group[M2_HALL_B_GROUP].IN.reg & M2_HALL_B_PORT)>>(M2_HALL_B_LSR));
//motor_read = (motor_read & M2_HALL_C_MASK) | (uint8_t)((PORT->Group[M2_HALL_C_GROUP].IN.reg & M2_HALL_C_PORT)>>(M2_HALL_C_LSR));
//
//return motor_read;
volatile uint8_t a = gpio_get_pin_level(M2_HALL_A_PIN);
volatile uint8_t b = gpio_get_pin_level(M2_HALL_B_PIN);
volatile uint8_t c = gpio_get_pin_level(M2_HALL_C_PIN);
return ((a << 2) |
(b << 1) |
(c << 0));
}
//static inline uint8_t read_hall_pattern(BLDCMotor_t *motor)
//{
////volatile uint8_t motor_read = 0;
////motor_read = (motor_read & M2_HALL_A_MASK) | (uint8_t)((PORT->Group[M2_HALL_A_GROUP].IN.reg & M2_HALL_A_PORT)>>(M2_HALL_A_LSR));
////motor_read = (motor_read & M2_HALL_B_MASK) | (uint8_t)((PORT->Group[M2_HALL_B_GROUP].IN.reg & M2_HALL_B_PORT)>>(M2_HALL_B_LSR));
////motor_read = (motor_read & M2_HALL_C_MASK) | (uint8_t)((PORT->Group[M2_HALL_C_GROUP].IN.reg & M2_HALL_C_PORT)>>(M2_HALL_C_LSR));
////
////return motor_read;
//
//Motor1.
//
//volatile uint8_t a = gpio_get_pin_level(motor->motor_param->hallPins.hallA);
////volatile uint8_t b = gpio_get_pin_level(motor->motor_param->hallsensors[1]);
////volatile uint8_t c = gpio_get_pin_level(motor->motor_param->hallsensors[2]);
////
////return ((a << 2) |
////(b << 1) |
////(c << 0));
//}
#endif /* BLDC_H_ */ #endif /* BLDC_H_ */

2
2_Motor_Master/Motor_Master/Motor_Master/bldc_types.h
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@ -68,7 +68,7 @@ volatile typedef struct
volatile uint8_t actualDirection; //! The actual direction of rotation. volatile uint8_t actualDirection; //! The actual direction of rotation.
volatile uint16_t duty_cycle; volatile uint16_t duty_cycle;
volatile float32_t calc_rpm; volatile float32_t calc_rpm;
volatile int32_t* Num_Steps; volatile int32_t Num_Steps;
/* Hall States */ /* Hall States */
volatile uint8_t prevHallPattern; volatile uint8_t prevHallPattern;
volatile uint8_t currentHallPattern; volatile uint8_t currentHallPattern;

102
2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
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@ -14,20 +14,20 @@
// M1 Hall Parameters // M1 Hall Parameters
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
#define M1_HALL_A_PIN GPIO(GPIO_PORTA, 22) #define M1_HALL_A_PIN GPIO(GPIO_PORTA, 4)
#define M1_HALL_A_PORT PORT_PA22 #define M1_HALL_A_PORT PORT_PA04
#define M1_HALL_A_MASK ~(1<<0) #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_LSR M1_HALL_A_PIN - M1_HALL_A_GROUP*32 -0
#define M1_HALL_A_GROUP M1_HALL_A_PIN/32 #define M1_HALL_A_GROUP M1_HALL_A_PIN/32
#define M1_HALL_B_PIN GPIO(GPIO_PORTA, 23) #define M1_HALL_B_PIN GPIO(GPIO_PORTA, 5)
#define M1_HALL_B_PORT PORT_PA23 #define M1_HALL_B_PORT PORT_PA05
#define M1_HALL_B_MASK ~(1<<1) #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_LSR M1_HALL_B_PIN - M1_HALL_B_GROUP*32 -1
#define M1_HALL_B_GROUP M1_HALL_B_PIN/32 #define M1_HALL_B_GROUP M1_HALL_B_PIN/32
#define M1_HALL_C_PIN GPIO(GPIO_PORTA, 24) #define M1_HALL_C_PIN GPIO(GPIO_PORTA, 6)
#define M1_HALL_C_PORT PORT_PA24 #define M1_HALL_C_PORT PORT_PA06
#define M1_HALL_C_MASK ~(1<<2) #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_LSR M1_HALL_C_PIN - M1_HALL_C_GROUP*32 -2
#define M1_HALL_C_GROUP M1_HALL_C_PIN/32 #define M1_HALL_C_GROUP M1_HALL_C_PIN/32
@ -36,24 +36,26 @@
// M2 Hall Parameters // M2 Hall Parameters
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
#define M2_HALL_A_PIN GPIO(GPIO_PORTA, 4) #define M2_HALL_A_PIN GPIO(GPIO_PORTA, 22)
#define M2_HALL_A_PORT PORT_PA04 #define M2_HALL_A_PORT PORT_PA22
#define M2_HALL_A_MASK ~(1<<0) #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_LSR M2_HALL_A_PIN - M2_HALL_A_GROUP*32 -0
#define M2_HALL_A_GROUP M2_HALL_A_PIN/32 #define M2_HALL_A_GROUP M2_HALL_A_PIN/32
#define M2_HALL_B_PIN GPIO(GPIO_PORTA, 5) #define M2_HALL_B_PIN GPIO(GPIO_PORTA, 23)
#define M2_HALL_B_PORT PORT_PA05 #define M2_HALL_B_PORT PORT_PA23
#define M2_HALL_B_MASK ~(1<<1) #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_LSR M2_HALL_B_PIN - M2_HALL_B_GROUP*32 -1
#define M2_HALL_B_GROUP M2_HALL_B_PIN/32 #define M2_HALL_B_GROUP M2_HALL_B_PIN/32
#define M2_HALL_C_PIN GPIO(GPIO_PORTA, 6) #define M2_HALL_C_PIN GPIO(GPIO_PORTA, 24)
#define M2_HALL_C_PORT PORT_PA06 #define M2_HALL_C_PORT PORT_PA24
#define M2_HALL_C_MASK ~(1<<2) #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_LSR M2_HALL_C_PIN - M2_HALL_C_GROUP*32 -2
#define M2_HALL_C_GROUP M2_HALL_C_PIN/32 #define M2_HALL_C_GROUP M2_HALL_C_PIN/32
/* ---------------------------------------------------------------------- /* ----------------------------------------------------------------------
// Commutation Patterns // Commutation Patterns
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
@ -69,25 +71,67 @@
** W7 | M1_0 | CC0 || M2_0 | CC0 | ** W7 | M1_0 | CC0 || M2_0 | CC0 |
*/ */
static const uint16_t COMMUTATION_PATTERN[16] = { /* CCW from Back - works best in forward diraction*/
0x00FF, // (0) invalid state static const uint16_t COMMUTATION_PATTERN[] = {
0x303B, // (1) 0x003F, // (0) invalid state
0x183D, // (2) 0x053D, // (1)
0x283B, // (3) 0x1437, // (2)
0x283E, // (4) 0x113D, // (3)
0x183E, // (5) 0x111F, // (4)
0x303D, // (6) 0x141F, // (5)
0x00FF, // (7) invalid state 0x0537, // (6)
0x00FF, // (8) invalid state 0x003F, // (7) invalid state
0x303D, // (9) 0x003F, // (8) invalid state
0x183E, // (10) 0x0537, // (9)
0x283E, // (11) 0x141F, // (10)
0x283B, // (12) 0x111F, // (11)
0x183D, // (13) 0x113D, // (12)
0x303B, // (14) 0x1437, // (13)
0x00FF // (15) invalid state 0x053D, // (14)
0x003F // (15) invalid state
}; };
////* CW From Back */
//static const uint16_t COMMUTATION_PATTERN[16] = {
//0x003F, // (0) invalid state
//0x0537, // (1)
//0x141F, // (2)
//0x111F, // (3)
//0x113D, // (4)
//0x1437, // (5)
//0x053D, // (6)
//0x003F, // (7) invalid state
//0x003F, // (8) invalid state
//0x053D, // (9)
//0x1437, // (10)
//0x113D, // (11)
//0x111F, // (12)
//0x141F, // (13)
//0x0537, // (14)
//0x003F // (15) invalid state
//};
////* CW From Back */
//static const uint16_t COMMUTATION_PATTERN[16] = {
//0x003F, // (0) invalid state
//0x0537, // (1)
//0x141F, // (2)
//0x111F, // (3)
//0x113D, // (4)
//0x1437, // (5)
//0x053D, // (6)
//0x003F, // (7) invalid state
//0x003F, // (8) invalid state
//0x0537, // (9)
//0x053D, // (10)
//0x1437, // (11)
//0x113D, // (12)
//0x111F, // (13)
//0x141F, // (14)
//0x003F // (15) invalid state
//};
typedef struct typedef struct
{ {
uint8_t hallA; uint8_t hallA;