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fixed the hall sensor calc

This commit is contained in:
Nicolas Trimborn 2021-08-11 08:19:29 +02:00
parent f03dd7c465
commit afe33303ad
4 changed files with 95 additions and 47 deletions
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93
2_Motor_Master/Motor_Master/Motor_Master/bldc.c
View File

@ -23,7 +23,13 @@ void motor_StateMachine(BLDCMotor_t *motor)
switch (motor->motor_state.currentstate) switch (motor->motor_state.currentstate)
{ {
case MOTOR_INIT: case MOTOR_INIT: ;
volatile uint8_t currentHall = motor->readHall();
if((currentHall > 6) || (currentHall < 1) ) {
motor->motor_state.fault = MOTOR_HALLSENSORINVALID;
motor->motor_state.currentstate = MOTOR_FAULT;
break;
}
motor->motor_state.previousstate = motor->motor_state.currentstate; motor->motor_state.previousstate = motor->motor_state.currentstate;
motor->motor_state.currentstate = MOTOR_IDLE; motor->motor_state.currentstate = MOTOR_IDLE;
break; break;
@ -175,19 +181,21 @@ void BldcInitStruct(BLDCMotor_t *motor, BLDCMotor_param_t *motor_param)
void exec_commutation(BLDCMotor_t *motor) void exec_commutation(BLDCMotor_t *motor)
{ {
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// Read Motor Hall Sensors // Read Motor Hall Sensors
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
//tic_port(DEBUG_2_PORT); //tic_port(DEBUG_2_PORT);
//motor->motor_status.currentHallPattern = readM1Hall(); //motor->motor_status.currentHallPattern = readM1Hall();
volatile uint8_t currentHall = motor->readHall(); volatile uint8_t currentHall = 1;
currentHall = motor->readHall();
motor->motor_status.currentHallPattern = currentHall; motor->motor_status.currentHallPattern = currentHall;
if(((currentHall == INVALID_HALL_0) || (currentHall == INVALID_HALL_7))) {
//motor->motor_state.fault = MOTOR_HALLSENSORINVALID;
//motor->motor_state.currentstate = MOTOR_FAULT; volatile uint8_t currentHallv2 = readHallSensorM1v2();
//applicationStatus.currentstate = APP_FAULT;
}
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// Set Pattern Buffers // Set Pattern Buffers
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
@ -406,27 +414,66 @@ void BLDC_runOpenLoop(BLDCMotor_t *motor, int16_t duty)
motor->motor_status.duty_cycle = u_clamp(abs(duty), 0, MAX_PWM); motor->motor_status.duty_cycle = u_clamp(abs(duty), 0, MAX_PWM);
} }
uint8_t readHallSensorM1(void) volatile uint8_t readHallSensorM1(void)
{ {
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));
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));
//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);
//volatile uint8_t motor_read2 = ((a << 2)|(b << 1)|(c << 0));
//return ((a << 2) |
//(b << 1) |
//(c << 0));
return motor_read;
} }
uint8_t readHallSensorM2(void) volatile uint8_t readHallSensorM1v2(void)
{ {
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) | volatile uint8_t motor_read = 0;
(b << 1) | 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));
(c << 0)); 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));
//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);
//volatile uint8_t motor_read2 = ((a << 2)|(b << 1)|(c << 0));
//return ((a << 2) |
//(b << 1) |
//(c << 0));
return motor_read;
}
volatile uint8_t readHallSensorM2(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));
if(((motor_read == INVALID_HALL_0) || (motor_read == INVALID_HALL_7))) {
Motor2.motor_state.fault = MOTOR_HALLSENSORINVALID;
Motor2.motor_state.currentstate = MOTOR_FAULT;
//applicationStatus.currentstate = APP_FAULT;
}
//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);
//volatile uint8_t motor_read2 = ((a << 2)|(b << 1)|(c << 0));
//return ((a << 2) |
//(b << 1) |
//(c << 0));
return motor_read;
} }
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------

9
2_Motor_Master/Motor_Master/Motor_Master/bldc.h
View File

@ -26,8 +26,8 @@
#define DIRECTION_CCW_OFFSET (8) //CBA #define DIRECTION_CCW_OFFSET (8) //CBA
/* if the Hall sensor reads 0x0 or 0x7 that means either one of the hall sensor is damaged or disconnected*/ /* if the Hall sensor reads 0x0 or 0x7 that means either one of the hall sensor is damaged or disconnected*/
#define INVALID_HALL_0 (0U) #define INVALID_HALL_0 (0)
#define INVALID_HALL_7 (7U) #define INVALID_HALL_7 (7)
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// ADC Parameters // ADC Parameters
@ -88,7 +88,8 @@ static void BLDC_runSpeedCntl(BLDCMotor_t *motor, const float32_t speedfbk, cons
static void BLDC_runCurrentCntl(BLDCMotor_t *motor, const float32_t curfbk, const float32_t curRef); static void BLDC_runCurrentCntl(BLDCMotor_t *motor, const float32_t curfbk, const float32_t curRef);
static void BLDC_runPosCntl(BLDCMotor_t *motor, int16_t posfbk, int16_t posRef); static void BLDC_runPosCntl(BLDCMotor_t *motor, int16_t posfbk, int16_t posRef);
static void BLDC_runOpenLoop(BLDCMotor_t *motor, int16_t duty); static void BLDC_runOpenLoop(BLDCMotor_t *motor, int16_t duty);
uint8_t readHallSensorM1(void); volatile uint8_t readHallSensorM1(void);
uint8_t readHallSensorM2(void); volatile uint8_t readHallSensorM2(void);
volatile uint8_t readHallSensorM1v2(void);
#endif /* BLDC_H_ */ #endif /* BLDC_H_ */

24
2_Motor_Master/Motor_Master/Motor_Master/configuration.h
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@ -45,24 +45,24 @@ inline static void configure_tcc_pwm(void)
hri_tcc_set_WAVE_POL3_bit(TCC0); hri_tcc_set_WAVE_POL3_bit(TCC0);
hri_tcc_set_WAVE_POL4_bit(TCC0); hri_tcc_set_WAVE_POL4_bit(TCC0);
hri_tcc_set_WAVE_POL5_bit(TCC0); hri_tcc_set_WAVE_POL5_bit(TCC0);
hri_tcc_write_CC_CC_bf(TCC0, 0, 150); hri_tcc_write_CC_CC_bf(TCC0, 0, 0);
hri_tcc_write_CC_CC_bf(TCC0, 1, 150); hri_tcc_write_CC_CC_bf(TCC0, 1, 0);
hri_tcc_write_CC_CC_bf(TCC0, 2, 150); hri_tcc_write_CC_CC_bf(TCC0, 2, 0);
hri_tcc_write_CC_CC_bf(TCC0, 3, 150); hri_tcc_write_CC_CC_bf(TCC0, 3, 0);
hri_tcc_write_CC_CC_bf(TCC0, 4, 150); hri_tcc_write_CC_CC_bf(TCC0, 4, 0);
hri_tcc_write_CC_CC_bf(TCC0, 5, 150); hri_tcc_write_CC_CC_bf(TCC0, 5, 0);
hri_tcc_write_PER_reg(TCC0,1200); hri_tcc_write_PER_reg(TCC0,1200);
//hri_tcc_write_CCBUF_CCBUF_bf(TCC0, 0,250); //hri_tcc_write_CCBUF_CCBUF_bf(TCC0, 0,250);
hri_tcc_write_CTRLA_ENABLE_bit(TCC0, 1 << TCC_CTRLA_ENABLE_Pos); hri_tcc_write_CTRLA_ENABLE_bit(TCC0, 1 << TCC_CTRLA_ENABLE_Pos);
/* TCC1 */ /* TCC1 */
hri_tcc_set_WEXCTRL_OTMX_bf(TCC1, 0x02); hri_tcc_set_WEXCTRL_OTMX_bf(TCC1, 0x02);
hri_tcc_write_CC_CC_bf(TCC1, 0, 150); hri_tcc_write_CC_CC_bf(TCC1, 0, 0);
hri_tcc_write_CC_CC_bf(TCC1, 1, 150); hri_tcc_write_CC_CC_bf(TCC1, 1, 0);
hri_tcc_write_CC_CC_bf(TCC1, 2, 150); hri_tcc_write_CC_CC_bf(TCC1, 2, 0);
hri_tcc_write_CC_CC_bf(TCC1, 3, 150); hri_tcc_write_CC_CC_bf(TCC1, 3, 0);
hri_tcc_write_CC_CC_bf(TCC0, 4, 150); hri_tcc_write_CC_CC_bf(TCC0, 4, 0);
hri_tcc_write_CC_CC_bf(TCC0, 5, 150); hri_tcc_write_CC_CC_bf(TCC0, 5, 0);
// //
////pwm_set_parameters(&TCC_PWM, 1000, 250); ////pwm_set_parameters(&TCC_PWM, 1000, 250);
hri_tcc_set_WAVE_POL0_bit(TCC1); hri_tcc_set_WAVE_POL0_bit(TCC1);

16
2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h
View File

@ -16,8 +16,8 @@
#define M1_HALL_A_PIN GPIO(GPIO_PORTA, 4) #define M1_HALL_A_PIN GPIO(GPIO_PORTA, 4)
#define M1_HALL_A_PORT PORT_PA04 #define M1_HALL_A_PORT PORT_PA04
#define M1_HALL_A_MASK ~(1<<0) #define M1_HALL_A_MASK ~(1<<2)
#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 -2
#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, 5) #define M1_HALL_B_PIN GPIO(GPIO_PORTA, 5)
@ -28,8 +28,8 @@
#define M1_HALL_C_PIN GPIO(GPIO_PORTA, 6) #define M1_HALL_C_PIN GPIO(GPIO_PORTA, 6)
#define M1_HALL_C_PORT PORT_PA06 #define M1_HALL_C_PORT PORT_PA06
#define M1_HALL_C_MASK ~(1<<2) #define M1_HALL_C_MASK ~(1<<0)
#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 -0
#define M1_HALL_C_GROUP M1_HALL_C_PIN/32 #define M1_HALL_C_GROUP M1_HALL_C_PIN/32
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
@ -38,8 +38,8 @@
#define M2_HALL_A_PIN GPIO(GPIO_PORTA, 22) #define M2_HALL_A_PIN GPIO(GPIO_PORTA, 22)
#define M2_HALL_A_PORT PORT_PA22 #define M2_HALL_A_PORT PORT_PA22
#define M2_HALL_A_MASK ~(1<<0) #define M2_HALL_A_MASK ~(1<<2)
#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 -2
#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, 23) #define M2_HALL_B_PIN GPIO(GPIO_PORTA, 23)
@ -50,8 +50,8 @@
#define M2_HALL_C_PIN GPIO(GPIO_PORTA, 24) #define M2_HALL_C_PIN GPIO(GPIO_PORTA, 24)
#define M2_HALL_C_PORT PORT_PA24 #define M2_HALL_C_PORT PORT_PA24
#define M2_HALL_C_MASK ~(1<<2) #define M2_HALL_C_MASK ~(1<<0)
#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 -0
#define M2_HALL_C_GROUP M2_HALL_C_PIN/32 #define M2_HALL_C_GROUP M2_HALL_C_PIN/32