From a12432df36fda4daf4ca0be590ef3f9bd57df22e Mon Sep 17 00:00:00 2001
From: Nicolas Trimborn <nicolas.trimborn@tum.de>
Date: Sun, 8 Aug 2021 12:04:57 +0200
Subject: [PATCH] fixed commutation pattern

---
 .../Motor_Master/Motor_Master/bldc.c          |  8 +--
 .../Motor_Master/motorparameters.h            | 59 ++++++++++++-------
 2 files changed, 42 insertions(+), 25 deletions(-)

diff --git a/2_Motor_Master/Motor_Master/Motor_Master/bldc.c b/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
index d77d15b..b029f46 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
+++ b/2_Motor_Master/Motor_Master/Motor_Master/bldc.c
@@ -335,9 +335,9 @@ uint8_t readHallSensorM1(void)
 	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 ((c << 2)	|
+	return ((a << 2)	|
 			(b << 1)	|
-			(a << 0));
+			(c << 0));
 	
 }
 
@@ -347,7 +347,7 @@ uint8_t readHallSensorM2(void)
 	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 ((c << 2)	|
+	return ((a << 2)	|
 			(b << 1)	|
-			(a << 0));
+			(c << 0));
 }
\ No newline at end of file
diff --git a/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h b/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
index c2bbc8f..369d212 100644
--- a/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
+++ b/2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
@@ -72,24 +72,24 @@
 */
 
 /* CCW from Back - works best in forward diraction*/
-static const uint16_t COMMUTATION_PATTERN[] = {
-	0x003F,		// (0) invalid state
-	0x053D,		// (1)
-	0x1437,		// (2)
-	0x113D,		// (3)
-	0x111F,		// (4)
-	0x141F,		// (5)
-	0x0537,		// (6)
-	0x003F,		// (7) invalid state
-	0x003F,		// (8) invalid state
-	0x0537,		// (9)
-	0x141F,		// (10)
-	0x111F,		// (11)
-	0x113D,		// (12)
-	0x1437,		// (13)
-	0x053D,		// (14)
-	0x003F		// (15) invalid state
-};
+//static const uint16_t COMMUTATION_PATTERN[] = {
+	//0x003F,		// (0) invalid state
+	//0x053D,		// (1)
+	//0x1437,		// (2)
+	//0x113D,		// (3)
+	//0x111F,		// (4)
+	//0x141F,		// (5)
+	//0x0537,		// (6)
+	//0x003F,		// (7) invalid state
+	//0x003F,		// (8) invalid state
+	//0x0537,		// (9)
+	//0x141F,		// (10)
+	//0x111F,		// (11)
+	//0x113D,		// (12)
+	//0x1437,		// (13)
+	//0x053D,		// (14)
+	//0x003F		// (15) invalid state
+//};
 
 ////* CW From Back */
 //static const uint16_t COMMUTATION_PATTERN[16] = {
@@ -131,6 +131,26 @@ static const uint16_t COMMUTATION_PATTERN[] = {
 	//0x003F		// (15) invalid state
 //};
 
+////* A&C phase swapped */
+static const uint16_t COMMUTATION_PATTERN[16] = {
+	0x003F,		// (0) invalid state
+	0x1437,		// (1)
+	0x053D,		// (2)
+	0x113D,		// (3)
+	0x111F,		// (4)
+	0x0537,		// (5)
+	0x141F,		// (6)
+	0x003F,		// (7) invalid state
+	0x003F,		// (8) invalid state
+	0x141F,		// (9)
+	0x0537,		// (10)
+	0x111F,		// (11)
+	0x113D,		// (12)
+	0x053D,		// (13)
+	0x1437,		// (14)
+	0x003F		// (15) invalid state
+};
+
 
 typedef struct
 {
@@ -156,7 +176,6 @@ typedef struct
 	const float32_t motor_MeasureRange_RPM;	// give 20% headroom
 	const float32_t motor_Max_Spd_ELEC;
 	const float32_t motor_Max_Current_IDC_A;
-	const Hall_pins_t hallPins;
 } BLDCMotor_param_t;
 
 //static BLDCMotor_param_t FH_22mm24BXTR;
@@ -176,8 +195,6 @@ const static BLDCMotor_param_t FH_22mm24BXTR = {
 	.motor_MeasureRange_RPM	 = 3000 * 1.2,	//(1.2f * MOTOR_MAX_SPD_RPM)f   // give 20% headroom
 	.motor_Max_Spd_ELEC		 = (3000/60)*7.0,		//(MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS
 	.motor_Max_Current_IDC_A = 0.368,
-	.hallPins				 = {M1_HALL_A_PIN, M1_HALL_B_PIN, M1_HALL_C_PIN}
-
 };
 
 /* Big Motor - 3216W024BXTR */