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fixed commutation pattern

This commit is contained in:
Nicolas Trimborn 2021-08-08 12:04:57 +02:00
parent 9be08d33f1
commit a12432df36
2 changed files with 42 additions and 25 deletions
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8
2_Motor_Master/Motor_Master/Motor_Master/bldc.c
View File

@ -335,9 +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 ((c << 2) | return ((a << 2) |
(b << 1) | (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 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 ((c << 2) | return ((a << 2) |
(b << 1) | (b << 1) |
(a << 0)); (c << 0));
} }

59
2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
View File

@ -72,24 +72,24 @@
*/ */
/* CCW from Back - works best in forward diraction*/ /* CCW from Back - works best in forward diraction*/
static const uint16_t COMMUTATION_PATTERN[] = { //static const uint16_t COMMUTATION_PATTERN[] = {
0x003F, // (0) invalid state //0x003F, // (0) invalid state
0x053D, // (1) //0x053D, // (1)
0x1437, // (2) //0x1437, // (2)
0x113D, // (3) //0x113D, // (3)
0x111F, // (4) //0x111F, // (4)
0x141F, // (5) //0x141F, // (5)
0x0537, // (6) //0x0537, // (6)
0x003F, // (7) invalid state //0x003F, // (7) invalid state
0x003F, // (8) invalid state //0x003F, // (8) invalid state
0x0537, // (9) //0x0537, // (9)
0x141F, // (10) //0x141F, // (10)
0x111F, // (11) //0x111F, // (11)
0x113D, // (12) //0x113D, // (12)
0x1437, // (13) //0x1437, // (13)
0x053D, // (14) //0x053D, // (14)
0x003F // (15) invalid state //0x003F // (15) invalid state
}; //};
////* CW From Back */ ////* CW From Back */
//static const uint16_t COMMUTATION_PATTERN[16] = { //static const uint16_t COMMUTATION_PATTERN[16] = {
@ -131,6 +131,26 @@ static const uint16_t COMMUTATION_PATTERN[] = {
//0x003F // (15) invalid state //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 typedef struct
{ {
@ -156,7 +176,6 @@ typedef struct
const float32_t motor_MeasureRange_RPM; // give 20% headroom const float32_t motor_MeasureRange_RPM; // give 20% headroom
const float32_t motor_Max_Spd_ELEC; const float32_t motor_Max_Spd_ELEC;
const float32_t motor_Max_Current_IDC_A; const float32_t motor_Max_Current_IDC_A;
const Hall_pins_t hallPins;
} BLDCMotor_param_t; } BLDCMotor_param_t;
//static BLDCMotor_param_t FH_22mm24BXTR; //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_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_Spd_ELEC = (3000/60)*7.0, //(MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS
.motor_Max_Current_IDC_A = 0.368, .motor_Max_Current_IDC_A = 0.368,
.hallPins = {M1_HALL_A_PIN, M1_HALL_B_PIN, M1_HALL_C_PIN}
}; };
/* Big Motor - 3216W024BXTR */ /* Big Motor - 3216W024BXTR */