nick
/
thesis_bldc_controller
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

updated slave to match master bldc and type def

This commit is contained in:
Nicolas Trimborn 2021-08-30 12:34:01 +02:00
parent 02162af995
commit bb7413ec60
13 changed files with 115 additions and 240 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
2_Motor_Master/Motor_Master/Motor_Master/hpl/tc/tc_lite.c
View File

@ -78,7 +78,7 @@ int8_t TIMER_0_init()
hri_tccount8_write_CC_reg(TC0, 0, 0x75); /* Compare/Capture Value: 0x75 */ hri_tccount8_write_CC_reg(TC0, 0, 0x75); /* Compare/Capture Value: 0x75 */
hri_tccount8_write_CC_reg(TC0, 1, 0xb4); /* Compare/Capture Value: 0xb4 */ hri_tccount8_write_CC_reg(TC0, 1, 0xc4); /* Compare/Capture Value: 0xb4 */
// hri_tccount8_write_COUNT_reg(TC0,0x0); /* Counter Value: 0x0 */ // hri_tccount8_write_COUNT_reg(TC0,0x0); /* Counter Value: 0x0 */

6
2_Motor_Master/Motor_Master/Motor_Master/main.c
View File

@ -91,11 +91,11 @@ void APPLICATION_StateMachine(void)
case SYSTEM_INIT: case SYSTEM_INIT:
/* Toggle driver reset Latch */ /* Toggle driver reset Latch */
gpio_set_pin_level(M1_RST, true); gpio_set_pin_level(M1_RST, true);
delay_us(100); delay_ms(1);
gpio_set_pin_level(M1_RST, false); gpio_set_pin_level(M1_RST, false);
delay_us(100); delay_ms(1);
gpio_set_pin_level(M2_RST, true); gpio_set_pin_level(M2_RST, true);
delay_us(100); delay_ms(1);
gpio_set_pin_level(M2_RST, false); gpio_set_pin_level(M2_RST, false);
/* Update State Variables */ /* Update State Variables */
applicationStatus.previousstate = applicationStatus.currentstate; applicationStatus.previousstate = applicationStatus.currentstate;

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

@ -156,7 +156,7 @@ const static BLDCMotor_param_t FH_22mm24BXTR = {
//.controller_param.Pid_Speed.Ki = 0.0000001f, //.controller_param.Pid_Speed.Ki = 0.0000001f,
.controller_param.Pi_Pos.Kp = 50.0f, .controller_param.Pi_Pos.Kp = 50.0f,
.controller_param.Pi_Pos.Ki = 0.0f, .controller_param.Pi_Pos.Ki = 0.0f,
.motor_MaxPWM = 800.0, .motor_MaxPWM = 600.0,
}; };

16
2_Motor_Slave/Motor_Slave/Motor_Slave/.atmelstart/atmel_start_config.atstart
View File

@ -1410,11 +1410,11 @@ drivers:
functionality: System functionality: System
api: HAL:HPL:GCLK api: HAL:HPL:GCLK
configuration: configuration:
$input: 100000000 $input: 120000000
$input_id: Digital Phase Locked Loop (DPLL1) $input_id: Digital Phase Locked Loop (DPLL1)
RESERVED_InputFreq: 100000000 RESERVED_InputFreq: 120000000
RESERVED_InputFreq_id: Digital Phase Locked Loop (DPLL1) RESERVED_InputFreq_id: Digital Phase Locked Loop (DPLL1)
_$freq_output_Generic clock generator 0: 100000000 _$freq_output_Generic clock generator 0: 120000000
_$freq_output_Generic clock generator 1: 2000000 _$freq_output_Generic clock generator 1: 2000000
_$freq_output_Generic clock generator 10: 12000000 _$freq_output_Generic clock generator 10: 12000000
_$freq_output_Generic clock generator 11: 12000000 _$freq_output_Generic clock generator 11: 12000000
@ -1556,11 +1556,11 @@ drivers:
functionality: System functionality: System
api: HAL:HPL:MCLK api: HAL:HPL:MCLK
configuration: configuration:
$input: 100000000 $input: 120000000
$input_id: Generic clock generator 0 $input_id: Generic clock generator 0
RESERVED_InputFreq: 100000000 RESERVED_InputFreq: 120000000
RESERVED_InputFreq_id: Generic clock generator 0 RESERVED_InputFreq_id: Generic clock generator 0
_$freq_output_CPU: 100000000 _$freq_output_CPU: 120000000
cpu_clock_source: Generic clock generator 0 cpu_clock_source: Generic clock generator 0
cpu_div: '1' cpu_div: '1'
enable_cpu_clock: true enable_cpu_clock: true
@ -1623,7 +1623,7 @@ drivers:
RESERVED_InputFreq_id: Generic clock generator 1 RESERVED_InputFreq_id: Generic clock generator 1
_$freq_output_Digital Frequency Locked Loop (DFLL48M): 48000000 _$freq_output_Digital Frequency Locked Loop (DFLL48M): 48000000
_$freq_output_Digital Phase Locked Loop (DPLL0): 47985664 _$freq_output_Digital Phase Locked Loop (DPLL0): 47985664
_$freq_output_Digital Phase Locked Loop (DPLL1): 100000000 _$freq_output_Digital Phase Locked Loop (DPLL1): 120000000
_$freq_output_External Crystal Oscillator 8-48MHz (XOSC0): 12000000 _$freq_output_External Crystal Oscillator 8-48MHz (XOSC0): 12000000
_$freq_output_External Crystal Oscillator 8-48MHz (XOSC1): 12000000 _$freq_output_External Crystal Oscillator 8-48MHz (XOSC1): 12000000
dfll_arch_bplckc: false dfll_arch_bplckc: false
@ -1674,7 +1674,7 @@ drivers:
fdpll1_arch_wuf: false fdpll1_arch_wuf: false
fdpll1_clock_dcofilter: 0 fdpll1_clock_dcofilter: 0
fdpll1_clock_div: 0 fdpll1_clock_div: 0
fdpll1_ldr: 49 fdpll1_ldr: 59
fdpll1_ldrfrac: 0 fdpll1_ldrfrac: 0
fdpll1_ref_clock: Generic clock generator 1 fdpll1_ref_clock: Generic clock generator 1
xosc0_arch_cfden: false xosc0_arch_cfden: false

2
2_Motor_Slave/Motor_Slave/Motor_Slave/Config/hpl_oscctrl_config.h
View File

@ -568,7 +568,7 @@
// <i> Value of LDR is calculated using Fclk_dpll=Fckr*(LDR+1+LDRFRAC/32) formula as given in datasheet. This value is directly written in to DPLLRATIO register // <i> Value of LDR is calculated using Fclk_dpll=Fckr*(LDR+1+LDRFRAC/32) formula as given in datasheet. This value is directly written in to DPLLRATIO register
// <id> fdpll1_ldr // <id> fdpll1_ldr
#ifndef CONF_FDPLL1_LDR #ifndef CONF_FDPLL1_LDR
#define CONF_FDPLL1_LDR 0x31 #define CONF_FDPLL1_LDR 0x3b
#endif #endif
// <o> Clock Divider <0x0-0x7FF> // <o> Clock Divider <0x0-0x7FF>

52
2_Motor_Slave/Motor_Slave/Motor_Slave/Config/peripheral_clk_config.h
View File

@ -41,7 +41,7 @@
* \brief ADC0's Clock frequency * \brief ADC0's Clock frequency
*/ */
#ifndef CONF_GCLK_ADC0_FREQUENCY #ifndef CONF_GCLK_ADC0_FREQUENCY
#define CONF_GCLK_ADC0_FREQUENCY 100000000 #define CONF_GCLK_ADC0_FREQUENCY 120000000
#endif #endif
// <y> ADC Clock Source // <y> ADC Clock Source
@ -81,7 +81,7 @@
* \brief ADC1's Clock frequency * \brief ADC1's Clock frequency
*/ */
#ifndef CONF_GCLK_ADC1_FREQUENCY #ifndef CONF_GCLK_ADC1_FREQUENCY
#define CONF_GCLK_ADC1_FREQUENCY 100000000 #define CONF_GCLK_ADC1_FREQUENCY 120000000
#endif #endif
// <y> CCL Clock Source // <y> CCL Clock Source
@ -121,7 +121,7 @@
* \brief CCL's Clock frequency * \brief CCL's Clock frequency
*/ */
#ifndef CONF_GCLK_CCL_FREQUENCY #ifndef CONF_GCLK_CCL_FREQUENCY
#define CONF_GCLK_CCL_FREQUENCY 100000000 #define CONF_GCLK_CCL_FREQUENCY 120000000
#endif #endif
// <y> EIC Clock Source // <y> EIC Clock Source
@ -161,7 +161,7 @@
* \brief EIC's Clock frequency * \brief EIC's Clock frequency
*/ */
#ifndef CONF_GCLK_EIC_FREQUENCY #ifndef CONF_GCLK_EIC_FREQUENCY
#define CONF_GCLK_EIC_FREQUENCY 100000000 #define CONF_GCLK_EIC_FREQUENCY 120000000
#endif #endif
// <y> EVSYS Channel 0 Clock Source // <y> EVSYS Channel 0 Clock Source
@ -202,7 +202,7 @@
*/ */
#ifndef CONF_GCLK_EVSYS_CHANNEL_0_FREQUENCY #ifndef CONF_GCLK_EVSYS_CHANNEL_0_FREQUENCY
#define CONF_GCLK_EVSYS_CHANNEL_0_FREQUENCY 100000000 #define CONF_GCLK_EVSYS_CHANNEL_0_FREQUENCY 120000000
#endif #endif
// <y> EVSYS Channel 1 Clock Source // <y> EVSYS Channel 1 Clock Source
@ -243,7 +243,7 @@
*/ */
#ifndef CONF_GCLK_EVSYS_CHANNEL_1_FREQUENCY #ifndef CONF_GCLK_EVSYS_CHANNEL_1_FREQUENCY
#define CONF_GCLK_EVSYS_CHANNEL_1_FREQUENCY 100000000 #define CONF_GCLK_EVSYS_CHANNEL_1_FREQUENCY 120000000
#endif #endif
// <y> EVSYS Channel 2 Clock Source // <y> EVSYS Channel 2 Clock Source
@ -284,7 +284,7 @@
*/ */
#ifndef CONF_GCLK_EVSYS_CHANNEL_2_FREQUENCY #ifndef CONF_GCLK_EVSYS_CHANNEL_2_FREQUENCY
#define CONF_GCLK_EVSYS_CHANNEL_2_FREQUENCY 100000000 #define CONF_GCLK_EVSYS_CHANNEL_2_FREQUENCY 120000000
#endif #endif
// <y> EVSYS Channel 3 Clock Source // <y> EVSYS Channel 3 Clock Source
@ -325,7 +325,7 @@
*/ */
#ifndef CONF_GCLK_EVSYS_CHANNEL_3_FREQUENCY #ifndef CONF_GCLK_EVSYS_CHANNEL_3_FREQUENCY
#define CONF_GCLK_EVSYS_CHANNEL_3_FREQUENCY 100000000 #define CONF_GCLK_EVSYS_CHANNEL_3_FREQUENCY 120000000
#endif #endif
// <y> EVSYS Channel 4 Clock Source // <y> EVSYS Channel 4 Clock Source
@ -366,7 +366,7 @@
*/ */
#ifndef CONF_GCLK_EVSYS_CHANNEL_4_FREQUENCY #ifndef CONF_GCLK_EVSYS_CHANNEL_4_FREQUENCY
#define CONF_GCLK_EVSYS_CHANNEL_4_FREQUENCY 100000000 #define CONF_GCLK_EVSYS_CHANNEL_4_FREQUENCY 120000000
#endif #endif
// <y> EVSYS Channel 5 Clock Source // <y> EVSYS Channel 5 Clock Source
@ -407,7 +407,7 @@
*/ */
#ifndef CONF_GCLK_EVSYS_CHANNEL_5_FREQUENCY #ifndef CONF_GCLK_EVSYS_CHANNEL_5_FREQUENCY
#define CONF_GCLK_EVSYS_CHANNEL_5_FREQUENCY 100000000 #define CONF_GCLK_EVSYS_CHANNEL_5_FREQUENCY 120000000
#endif #endif
// <y> EVSYS Channel 6 Clock Source // <y> EVSYS Channel 6 Clock Source
@ -448,7 +448,7 @@
*/ */
#ifndef CONF_GCLK_EVSYS_CHANNEL_6_FREQUENCY #ifndef CONF_GCLK_EVSYS_CHANNEL_6_FREQUENCY
#define CONF_GCLK_EVSYS_CHANNEL_6_FREQUENCY 100000000 #define CONF_GCLK_EVSYS_CHANNEL_6_FREQUENCY 120000000
#endif #endif
// <y> EVSYS Channel 7 Clock Source // <y> EVSYS Channel 7 Clock Source
@ -489,7 +489,7 @@
*/ */
#ifndef CONF_GCLK_EVSYS_CHANNEL_7_FREQUENCY #ifndef CONF_GCLK_EVSYS_CHANNEL_7_FREQUENCY
#define CONF_GCLK_EVSYS_CHANNEL_7_FREQUENCY 100000000 #define CONF_GCLK_EVSYS_CHANNEL_7_FREQUENCY 120000000
#endif #endif
// <y> EVSYS Channel 8 Clock Source // <y> EVSYS Channel 8 Clock Source
@ -530,7 +530,7 @@
*/ */
#ifndef CONF_GCLK_EVSYS_CHANNEL_8_FREQUENCY #ifndef CONF_GCLK_EVSYS_CHANNEL_8_FREQUENCY
#define CONF_GCLK_EVSYS_CHANNEL_8_FREQUENCY 100000000 #define CONF_GCLK_EVSYS_CHANNEL_8_FREQUENCY 120000000
#endif #endif
// <y> EVSYS Channel 9 Clock Source // <y> EVSYS Channel 9 Clock Source
@ -571,7 +571,7 @@
*/ */
#ifndef CONF_GCLK_EVSYS_CHANNEL_9_FREQUENCY #ifndef CONF_GCLK_EVSYS_CHANNEL_9_FREQUENCY
#define CONF_GCLK_EVSYS_CHANNEL_9_FREQUENCY 100000000 #define CONF_GCLK_EVSYS_CHANNEL_9_FREQUENCY 120000000
#endif #endif
// <y> EVSYS Channel 10 Clock Source // <y> EVSYS Channel 10 Clock Source
@ -612,7 +612,7 @@
*/ */
#ifndef CONF_GCLK_EVSYS_CHANNEL_10_FREQUENCY #ifndef CONF_GCLK_EVSYS_CHANNEL_10_FREQUENCY
#define CONF_GCLK_EVSYS_CHANNEL_10_FREQUENCY 100000000 #define CONF_GCLK_EVSYS_CHANNEL_10_FREQUENCY 120000000
#endif #endif
// <y> EVSYS Channel 11 Clock Source // <y> EVSYS Channel 11 Clock Source
@ -653,7 +653,7 @@
*/ */
#ifndef CONF_GCLK_EVSYS_CHANNEL_11_FREQUENCY #ifndef CONF_GCLK_EVSYS_CHANNEL_11_FREQUENCY
#define CONF_GCLK_EVSYS_CHANNEL_11_FREQUENCY 100000000 #define CONF_GCLK_EVSYS_CHANNEL_11_FREQUENCY 120000000
#endif #endif
/** /**
@ -661,7 +661,7 @@
* \brief CPU's Clock frequency * \brief CPU's Clock frequency
*/ */
#ifndef CONF_CPU_FREQUENCY #ifndef CONF_CPU_FREQUENCY
#define CONF_CPU_FREQUENCY 100000000 #define CONF_CPU_FREQUENCY 120000000
#endif #endif
// <y> Core Clock Source // <y> Core Clock Source
@ -733,7 +733,7 @@
* \brief SERCOM0's Core Clock frequency * \brief SERCOM0's Core Clock frequency
*/ */
#ifndef CONF_GCLK_SERCOM0_CORE_FREQUENCY #ifndef CONF_GCLK_SERCOM0_CORE_FREQUENCY
#define CONF_GCLK_SERCOM0_CORE_FREQUENCY 100000000 #define CONF_GCLK_SERCOM0_CORE_FREQUENCY 120000000
#endif #endif
/** /**
@ -813,7 +813,7 @@
* \brief SERCOM1's Core Clock frequency * \brief SERCOM1's Core Clock frequency
*/ */
#ifndef CONF_GCLK_SERCOM1_CORE_FREQUENCY #ifndef CONF_GCLK_SERCOM1_CORE_FREQUENCY
#define CONF_GCLK_SERCOM1_CORE_FREQUENCY 100000000 #define CONF_GCLK_SERCOM1_CORE_FREQUENCY 120000000
#endif #endif
/** /**
@ -893,7 +893,7 @@
* \brief SERCOM2's Core Clock frequency * \brief SERCOM2's Core Clock frequency
*/ */
#ifndef CONF_GCLK_SERCOM2_CORE_FREQUENCY #ifndef CONF_GCLK_SERCOM2_CORE_FREQUENCY
#define CONF_GCLK_SERCOM2_CORE_FREQUENCY 100000000 #define CONF_GCLK_SERCOM2_CORE_FREQUENCY 120000000
#endif #endif
/** /**
@ -973,7 +973,7 @@
* \brief SERCOM5's Core Clock frequency * \brief SERCOM5's Core Clock frequency
*/ */
#ifndef CONF_GCLK_SERCOM5_CORE_FREQUENCY #ifndef CONF_GCLK_SERCOM5_CORE_FREQUENCY
#define CONF_GCLK_SERCOM5_CORE_FREQUENCY 100000000 #define CONF_GCLK_SERCOM5_CORE_FREQUENCY 120000000
#endif #endif
/** /**
@ -1021,7 +1021,7 @@
* \brief TC0's Clock frequency * \brief TC0's Clock frequency
*/ */
#ifndef CONF_GCLK_TC0_FREQUENCY #ifndef CONF_GCLK_TC0_FREQUENCY
#define CONF_GCLK_TC0_FREQUENCY 100000000 #define CONF_GCLK_TC0_FREQUENCY 120000000
#endif #endif
// <y> TC Clock Source // <y> TC Clock Source
@ -1061,7 +1061,7 @@
* \brief TC2's Clock frequency * \brief TC2's Clock frequency
*/ */
#ifndef CONF_GCLK_TC2_FREQUENCY #ifndef CONF_GCLK_TC2_FREQUENCY
#define CONF_GCLK_TC2_FREQUENCY 100000000 #define CONF_GCLK_TC2_FREQUENCY 120000000
#endif #endif
// <y> TC Clock Source // <y> TC Clock Source
@ -1101,7 +1101,7 @@
* \brief TC4's Clock frequency * \brief TC4's Clock frequency
*/ */
#ifndef CONF_GCLK_TC4_FREQUENCY #ifndef CONF_GCLK_TC4_FREQUENCY
#define CONF_GCLK_TC4_FREQUENCY 100000000 #define CONF_GCLK_TC4_FREQUENCY 120000000
#endif #endif
// <y> TCC Clock Source // <y> TCC Clock Source
@ -1141,7 +1141,7 @@
* \brief TCC0's Clock frequency * \brief TCC0's Clock frequency
*/ */
#ifndef CONF_GCLK_TCC0_FREQUENCY #ifndef CONF_GCLK_TCC0_FREQUENCY
#define CONF_GCLK_TCC0_FREQUENCY 100000000 #define CONF_GCLK_TCC0_FREQUENCY 120000000
#endif #endif
// <y> TCC Clock Source // <y> TCC Clock Source
@ -1181,7 +1181,7 @@
* \brief TCC1's Clock frequency * \brief TCC1's Clock frequency
*/ */
#ifndef CONF_GCLK_TCC1_FREQUENCY #ifndef CONF_GCLK_TCC1_FREQUENCY
#define CONF_GCLK_TCC1_FREQUENCY 100000000 #define CONF_GCLK_TCC1_FREQUENCY 120000000
#endif #endif
// <<< end of configuration section >>> // <<< end of configuration section >>>

4
2_Motor_Slave/Motor_Slave/Motor_Slave/Motor_Slave.cproj
View File

@ -218,12 +218,12 @@
<AcmeProjectActionInfo Action="File" Source="config/hpl_gclk_config.h" IsConfig="true" Hash="fvc5nhPTGTNHCTNlzs6nhA" /> <AcmeProjectActionInfo Action="File" Source="config/hpl_gclk_config.h" IsConfig="true" Hash="fvc5nhPTGTNHCTNlzs6nhA" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_mclk_config.h" IsConfig="true" Hash="pxBzoQXTG66x4dbzVzxteg" /> <AcmeProjectActionInfo Action="File" Source="config/hpl_mclk_config.h" IsConfig="true" Hash="pxBzoQXTG66x4dbzVzxteg" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_osc32kctrl_config.h" IsConfig="true" Hash="HgvzEqDUH4jq/syjj/+G+Q" /> <AcmeProjectActionInfo Action="File" Source="config/hpl_osc32kctrl_config.h" IsConfig="true" Hash="HgvzEqDUH4jq/syjj/+G+Q" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_oscctrl_config.h" IsConfig="true" Hash="Xe5v62bijwZLOPLD+rPcrA" /> <AcmeProjectActionInfo Action="File" Source="config/hpl_oscctrl_config.h" IsConfig="true" Hash="Uje5LXAS+nQpGryt9t0fYA" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_port_config.h" IsConfig="true" Hash="rMTNR+5FXtu+wfT1NbfRRA" /> <AcmeProjectActionInfo Action="File" Source="config/hpl_port_config.h" IsConfig="true" Hash="rMTNR+5FXtu+wfT1NbfRRA" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_sercom_config.h" IsConfig="true" Hash="Vm7v7a4F40Wzv368v+pLEw" /> <AcmeProjectActionInfo Action="File" Source="config/hpl_sercom_config.h" IsConfig="true" Hash="Vm7v7a4F40Wzv368v+pLEw" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_tc_config.h" IsConfig="true" Hash="T93Kr6C+WDuufZob89oPeg" /> <AcmeProjectActionInfo Action="File" Source="config/hpl_tc_config.h" IsConfig="true" Hash="T93Kr6C+WDuufZob89oPeg" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_tcc_config.h" IsConfig="true" Hash="2LU7afZ/3Yx7FE2KzF9dSQ" /> <AcmeProjectActionInfo Action="File" Source="config/hpl_tcc_config.h" IsConfig="true" Hash="2LU7afZ/3Yx7FE2KzF9dSQ" />
<AcmeProjectActionInfo Action="File" Source="config/peripheral_clk_config.h" IsConfig="true" Hash="GuMSQybrrAFfKR9u1GzqsQ" /> <AcmeProjectActionInfo Action="File" Source="config/peripheral_clk_config.h" IsConfig="true" Hash="6eU7+fZNEY4RDC37iHjvJQ" />
<AcmeProjectActionInfo Action="File" Source="config/bno055_config.h" IsConfig="true" Hash="2hRq4Yx9B3nZuMEdrYIG8Q" /> <AcmeProjectActionInfo Action="File" Source="config/bno055_config.h" IsConfig="true" Hash="2hRq4Yx9B3nZuMEdrYIG8Q" />
</AcmeActionInfos> </AcmeActionInfos>
<NonsecureFilesInfo /> <NonsecureFilesInfo />

169
2_Motor_Slave/Motor_Slave/Motor_Slave/bldc.c
View File

@ -7,10 +7,8 @@
#include "bldc.h" #include "bldc.h"
#include "statemachine.h"
#include "utilities.h" #include "utilities.h"
void motor_StateMachine(BLDCMotor_t* const motor) void motor_StateMachine(BLDCMotor_t* const motor)
{ {
@ -38,7 +36,7 @@ void motor_StateMachine(BLDCMotor_t* const motor)
motor->motor_state.currentstate = MOTOR_PVI_CTRL_STATE; motor->motor_state.currentstate = MOTOR_PVI_CTRL_STATE;
break; break;
case MOTOR_OPEN_LOOP_STATE: case MOTOR_OPEN_LOOP_STATE:
BLDC_runOpenLoop(motor, 350); BLDC_runOpenLoop(motor, 100);
calculate_motor_speed(motor); calculate_motor_speed(motor);
motor->motor_state.previousstate = motor->motor_state.currentstate; motor->motor_state.previousstate = motor->motor_state.currentstate;
break; break;
@ -107,7 +105,7 @@ void BldcInitStruct(BLDCMotor_t* const motor, BLDCMotor_param_t * const motor_pa
motor->motor_status.actualDirection = 0; motor->motor_status.actualDirection = 0;
motor->motor_status.duty_cycle = 0; motor->motor_status.duty_cycle = 0;
motor->motor_status.calc_rpm = 0; motor->motor_status.calc_rpm = 0;
//motor->motor_status.abs_position = 0; motor->motor_status.abs_position = 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;
motor->motor_status.currentHallPattern = 1; motor->motor_status.currentHallPattern = 1;
@ -217,13 +215,12 @@ void exec_commutation(BLDCMotor_t* const motor)
volatile uint8_t currentHall = motor->readHall(); volatile uint8_t currentHall = motor->readHall();
motor->motor_status.currentHallPattern = currentHall; motor->motor_status.currentHallPattern = currentHall;
//if ((currentHall == INVALID_HALL_0)||(currentHall == INVALID_HALL_7)) if (currentHall == INVALID_HALL_7)
//{ {
//hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw, DISABLE_PATTERN); motor->motor_state.currentstate == MOTOR_FAULT;
//motor->motor_state.currentstate == MOTOR_FAULT; motor->motor_state.fault == MOTOR_HALLSENSORINVALID;
//motor->motor_state.fault == MOTOR_HALLSENSORINVALID; return;
//return; }
//}
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// Set Pattern Buffers // Set Pattern Buffers
@ -232,7 +229,7 @@ void exec_commutation(BLDCMotor_t* const motor)
motor->motor_setpoints.directionOffset]; motor->motor_setpoints.directionOffset];
//TCC0->PATTBUF.reg = temp_M1; //TCC0->PATTBUF.reg = temp_M1;
Tcc * tmp = (Tcc *)motor->motor_param->pwm_desc->device.hw; Tcc * tmp = (Tcc *)motor->pwm_desc->device.hw;
tmp->PATTBUF.reg = (uint16_t)temp_M1; tmp->PATTBUF.reg = (uint16_t)temp_M1;
//motor->motor_param->pwm_desc->device.hw->PATTBUF.reg = temp_M1; //motor->motor_param->pwm_desc->device.hw->PATTBUF.reg = temp_M1;
//hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw, temp_M1); //hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw, temp_M1);
@ -303,8 +300,8 @@ void calculate_motor_speed(BLDCMotor_t* const motor)
{ {
//tic_port(DEBUG_2_PORT); //tic_port(DEBUG_2_PORT);
volatile uint32_t temp_rpm = 0; volatile uint32_t temp_rpm = 0;
hri_tccount32_read_CC_reg(motor->motor_param->speedtimer_hw, 0); /* Read CC0 but throw away)*/ hri_tccount32_read_CC_reg(motor->speedtimer_hw, 0); /* Read CC0 but throw away)*/
volatile uint32_t period_after_capture = hri_tccount32_read_CC_reg(motor->motor_param->speedtimer_hw, 1); volatile uint32_t period_after_capture = hri_tccount32_read_CC_reg(motor->speedtimer_hw, 1);
if((period_after_capture >= UINT32_MAX)||(period_after_capture == 0)||(period_after_capture > 600000)) { if((period_after_capture >= UINT32_MAX)||(period_after_capture == 0)||(period_after_capture > 600000)) {
motor->motor_status.calc_rpm = 0; motor->motor_status.calc_rpm = 0;
} else { } else {
@ -362,7 +359,7 @@ void calculate_motor_speed(BLDCMotor_t* const motor)
void disable_phases(BLDCMotor_t* const motor) void disable_phases(BLDCMotor_t* const motor)
{ {
Tcc * tmp = (Tcc *)motor->motor_param->pwm_desc->device.hw; Tcc * tmp = (Tcc *)motor->pwm_desc->device.hw;
tmp->PATTBUF.reg = DISABLE_PATTERN; tmp->PATTBUF.reg = DISABLE_PATTERN;
} }
@ -371,14 +368,6 @@ void disable_phases(BLDCMotor_t* const motor)
//------------------------------------------------------------------------------ //------------------------------------------------------------------------------
void BLDC_runCurrentCntl(BLDCMotor_t *motor, const float32_t curfbk, const float32_t curRef) void BLDC_runCurrentCntl(BLDCMotor_t *motor, const float32_t curfbk, const float32_t curRef)
{ {
if (curfbk > DEVICE_SHUNT_CURRENT_A)
{
motor->motor_state.currentstate = MOTOR_FAULT;
motor->motor_state.fault = MOTOR_CURRENT_OVERSCALE;
}
motor->controllers.Pi_Idc.Fbk_pu = f_clamp(curfbk, -DEVICE_SHUNT_CURRENT_A, DEVICE_SHUNT_CURRENT_A); // Clamped to max current sensor readingspeedfbk; motor->controllers.Pi_Idc.Fbk_pu = f_clamp(curfbk, -DEVICE_SHUNT_CURRENT_A, DEVICE_SHUNT_CURRENT_A); // Clamped to max current sensor readingspeedfbk;
motor->controllers.Pi_Idc.Ref_pu = f_clamp(curRef, -motor->motor_param->motor_Max_Current_IDC_A, motor->controllers.Pi_Idc.Ref_pu = f_clamp(curRef, -motor->motor_param->motor_Max_Current_IDC_A,
motor->motor_param->motor_Max_Current_IDC_A); // Clamp desired to Motor Max Current i_ref_clamped; motor->motor_param->motor_Max_Current_IDC_A); // Clamp desired to Motor Max Current i_ref_clamped;
@ -477,16 +466,6 @@ volatile uint8_t readHallSensorM1(void)
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_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_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)); 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));
//if(motor_read == INVALID_HALL_7) {
//Motor1.motor_state.currentstate = MOTOR_FAULT;
//Motor1.motor_state.fault = MOTOR_HALLSENSORINVALID;
////applicationStatus.currentstate = APP_FAULT;
//}
return motor_read; return motor_read;
//volatile uint8_t a = gpio_get_pin_level(M1_HALL_A_PIN); //volatile uint8_t a = gpio_get_pin_level(M1_HALL_A_PIN);
@ -506,14 +485,13 @@ volatile uint8_t readHallSensorM2(void)
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_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)); 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;
//if(motor_read == INVALID_HALL_7) { //if(((motor_read == INVALID_HALL_0) || (motor_read == INVALID_HALL_7))) {
//Motor2.motor_state.currentstate = MOTOR_FAULT;
//Motor2.motor_state.fault = MOTOR_HALLSENSORINVALID; //Motor2.motor_state.fault = MOTOR_HALLSENSORINVALID;
//Motor2.motor_state.currentstate = MOTOR_FAULT;
////applicationStatus.currentstate = APP_FAULT; ////applicationStatus.currentstate = APP_FAULT;
//} //}
return motor_read;
//volatile uint8_t a = gpio_get_pin_level(M2_HALL_A_PIN); //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 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);
@ -531,126 +509,43 @@ volatile uint8_t readHallSensorM2(void)
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
void read_zero_current_offset_value(BLDCMotor_t *motor1, BLDCMotor_t *motor2) void read_zero_current_offset_value(BLDCMotor_t *motor1, BLDCMotor_t *motor2)
{ {
volatile int32_t phase_A_zero_current_offset_temp = 0; volatile int32_t phase_zero_current_offset [NUM_CUR_SENSORS] = {0};
volatile int32_t phase_B_zero_current_offset_temp = 0; volatile int16_t zero_current_offset_temp = 0;
volatile int16_t zero_current_offset_temp[2] = {0,0}; const uint8_t samples = 32;
const uint8_t samples = 16;
uint8_t i;
// ------------------------------------------------------------------
// Motor 1
// -------------------------------------------------------------------
adc_sync_enable_channel(&ADC_1, 9); adc_sync_enable_channel(&ADC_1, 9);
for (int n=0; n<NUM_CUR_SENSORS; n++)
/* Single ended */ {
//ADC1->INPUTCTRL.reg = 0x1809; ADC1->INPUTCTRL.reg = adc1_seq_regs[n];
/* Differential */ for (int i=0; i<samples; i++)
ADC1->INPUTCTRL.reg = 0x0089;
while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */
for (i=0; i<samples; i++)
{ {
while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */ while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */
ADC1->SWTRIG.bit.START = true; /* Start the ADC using a software trigger. */ ADC1->SWTRIG.bit.START = true; /* Start the ADC using a software trigger. */
while (ADC1->INTFLAG.bit.RESRDY == 0){}; /* Wait for the result ready flag to be set. */ while (ADC1->INTFLAG.bit.RESRDY == 0); /* Wait for the result ready flag to be set. */
zero_current_offset_temp[0] = (int16_t)ADC1->RESULT.reg; /* Read the value. */
ADC1->INTFLAG.reg = ADC_INTFLAG_RESRDY; /* Clear the flag. */ ADC1->INTFLAG.reg = ADC_INTFLAG_RESRDY; /* Clear the flag. */
phase_A_zero_current_offset_temp += (int32_t)zero_current_offset_temp[0]; zero_current_offset_temp = (int16_t)ADC1->RESULT.reg; /* Read the value. */
phase_zero_current_offset[n] += zero_current_offset_temp;
}
phase_zero_current_offset[n] = phase_zero_current_offset[n]/samples;
} }
/* Set Motor Variables */
motor1->Voffset_lsb.A = phase_A_zero_current_offset_temp/samples;
adc_sync_disable_channel(&ADC_1, 9); adc_sync_disable_channel(&ADC_1, 9);
adc_sync_enable_channel(&ADC_1, 8); motor1->Voffset_lsb.A = phase_zero_current_offset[0];
/* Single ended */ motor1->Voffset_lsb.B = phase_zero_current_offset[1];
//ADC1->INPUTCTRL.reg = 0x1808; motor2->Voffset_lsb.A = phase_zero_current_offset[2];
/* Differential */ motor2->Voffset_lsb.B = phase_zero_current_offset[3];
ADC1->INPUTCTRL.reg = 0x0088;
while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */
for (i=0; i<samples; i++) /* Check for Defective current sensor based on offset from nominal 1.5V (O current voltage) */
{
while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */
ADC1->SWTRIG.bit.START = true; /* Start the ADC using a software trigger. */
while (ADC1->INTFLAG.bit.RESRDY == 0){}; /* Wait for the result ready flag to be set. */
zero_current_offset_temp[1] = (int16_t)ADC1->RESULT.reg; /* Read the value. */
ADC1->INTFLAG.reg = ADC_INTFLAG_RESRDY; /* Clear the flag. */
phase_B_zero_current_offset_temp += (int32_t)zero_current_offset_temp[1];
}
/* Set Motor Variables */
motor1->Voffset_lsb.B = phase_B_zero_current_offset_temp/samples;
adc_sync_disable_channel(&ADC_1, 8);
//adc_sync_enable_channel(&ADC_1, 0);
if ((abs(motor1->Voffset_lsb.A) > MAX_CUR_SENSE_OFFSET) || (abs(motor1->Voffset_lsb.B) > MAX_CUR_SENSE_OFFSET)) if ((abs(motor1->Voffset_lsb.A) > MAX_CUR_SENSE_OFFSET) || (abs(motor1->Voffset_lsb.B) > MAX_CUR_SENSE_OFFSET))
{ {
motor1->motor_state.currentstate = MOTOR_FAULT; motor1->motor_state.currentstate = MOTOR_FAULT;
motor1->motor_state.fault = MOTOR_CURRENT_SENSOR; motor1->motor_state.fault = MOTOR_CURRENT_SENSOR;
} }
// ------------------------------------------------------------------
// Motor 2
// -------------------------------------------------------------------
phase_A_zero_current_offset_temp = 0;
phase_B_zero_current_offset_temp = 0;
adc_sync_enable_channel(&ADC_1, 7);
/* Single ended */
//ADC1->INPUTCTRL.reg = 0x1807;
/* Differential */
ADC1->INPUTCTRL.reg = 0x0087;
while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */
for (i=0; i<samples; i++)
{
while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */
ADC1->SWTRIG.bit.START = true; /* Start the ADC using a software trigger. */
while (ADC1->INTFLAG.bit.RESRDY == 0); /* Wait for the result ready flag to be set. */
ADC1->INTFLAG.reg = ADC_INTFLAG_RESRDY; /* Clear the flag. */
zero_current_offset_temp[0] = (int16_t)ADC1->RESULT.reg; /* Read the value. */
phase_A_zero_current_offset_temp += (int32_t)zero_current_offset_temp[0];
}
/* Set Motor Variables */
motor2->Voffset_lsb.A = phase_A_zero_current_offset_temp/samples;
adc_sync_disable_channel(&ADC_1, 7);
adc_sync_enable_channel(&ADC_1, 6);
/* Single ended */
//ADC1->INPUTCTRL.reg = 0x1806;
/* Differential */
ADC1->INPUTCTRL.reg = 0x0086;
while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */
for (i=0; i<samples; i++)
{
while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */
ADC1->SWTRIG.bit.START = true; /* Start the ADC using a software trigger. */
while (ADC1->INTFLAG.bit.RESRDY == 0); /* Wait for the result ready flag to be set. */
ADC1->INTFLAG.reg = ADC_INTFLAG_RESRDY; /* Clear the flag. */
zero_current_offset_temp[1] = (int16_t)ADC1->RESULT.reg; /* Read the value. */
phase_B_zero_current_offset_temp += (int32_t)zero_current_offset_temp[1];
}
/* Set Motor Variables */
motor2->Voffset_lsb.B = phase_B_zero_current_offset_temp/samples;
adc_sync_disable_channel(&ADC_1, 6);
//adc_sync_disable_channel(&ADC_1, 0);
if ((abs(motor2->Voffset_lsb.A) > MAX_CUR_SENSE_OFFSET) || (abs(motor2->Voffset_lsb.B) > MAX_CUR_SENSE_OFFSET)) if ((abs(motor2->Voffset_lsb.A) > MAX_CUR_SENSE_OFFSET) || (abs(motor2->Voffset_lsb.B) > MAX_CUR_SENSE_OFFSET))
{ {
motor2->motor_state.currentstate = MOTOR_FAULT; motor2->motor_state.currentstate = MOTOR_FAULT;
motor2->motor_state.fault = MOTOR_CURRENT_SENSOR; motor2->motor_state.fault = MOTOR_CURRENT_SENSOR;
} }
} }

27
2_Motor_Slave/Motor_Slave/Motor_Slave/bldc.h
View File

@ -41,10 +41,16 @@
#define ADC_LSB_SIZE (ADC_VOLTAGE_REFERENCE/ADC_MAX_COUNTS) #define ADC_LSB_SIZE (ADC_VOLTAGE_REFERENCE/ADC_MAX_COUNTS)
#define LSB_TO_PU (ADC_LSB_SIZE * ONEON_CURRENT_SENSOR_SENSITIVITY) #define LSB_TO_PU (ADC_LSB_SIZE * ONEON_CURRENT_SENSOR_SENSITIVITY)
//static const uint32_t adc1_seq_regs[4] = {0x0089, 0x0088, 0x0087, 0x0086};
//static volatile int16_t adc0_res[4] = {0};
//static volatile int16_t adc1_res[4] = {0};
extern const uint32_t adc0_seq_regs[4];
extern const uint32_t adc1_seq_regs[4];
extern volatile int16_t adc1_res[4];
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// Define the control and PWM frequencies: // Define the control and PWM frequencies:
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// 16kHz is the maximum frequency according to the calculation duration in the mode run and spin.
#define DEVICE_MCU_FREQUENCY_Hz (120000000U) #define DEVICE_MCU_FREQUENCY_Hz (120000000U)
#define DEVICE_SPEEDTC_DIV (4U) #define DEVICE_SPEEDTC_DIV (4U)
#define DEVICE_SPEEDTC_FREQUENCY_Hz (DEVICE_MCU_FREQUENCY_Hz/DEVICE_SPEEDTC_DIV) #define DEVICE_SPEEDTC_FREQUENCY_Hz (DEVICE_MCU_FREQUENCY_Hz/DEVICE_SPEEDTC_DIV)
@ -61,8 +67,8 @@
#define DEVICE_SHUNT_CURRENT_A 2.5f // phase current(PEAK) [A] #define DEVICE_SHUNT_CURRENT_A 2.5f // phase current(PEAK) [A]
#define CURRENT_SENSOR_SENSITIVITY 0.4f //V/A #define CURRENT_SENSOR_SENSITIVITY 0.4f //V/A
#define ONEON_CURRENT_SENSOR_SENSITIVITY 2.5f //V/A #define ONEON_CURRENT_SENSOR_SENSITIVITY 2.5f //V/A
#define MAX_CUR_SENSE_OFFSET 150 #define MAX_CUR_SENSE_OFFSET 100
#define NUM_CUR_SENSORS 4
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// global variables // global variables
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
@ -70,12 +76,17 @@
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};
volatile BLDCMotor_t Motor1; static volatile BLDCMotor_t Motor1 = {
volatile BLDCMotor_t Motor2; .pwm_desc = &PWM_0,
.speedtimer_hw = TC2,
volatile MOTOR_STATE_t Motor1_Status; };
volatile MOTOR_STATE_t Motor2_Status; static volatile BLDCMotor_t Motor2 = {
.pwm_desc = &PWM_1,
.speedtimer_hw = TC4,
};
static volatile MOTOR_STATE_t Motor1_Status;
static volatile MOTOR_STATE_t Motor2_Status;
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// functions // functions

5
2_Motor_Slave/Motor_Slave/Motor_Slave/bldc_types.h
View File

@ -62,6 +62,7 @@ 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 int16_t calc_rpm; volatile int16_t calc_rpm;
volatile int16_t abs_position;
volatile int16_t Num_Steps; volatile int16_t Num_Steps;
/* Hall States */ /* Hall States */
//volatile uint8_t prevHallPattern; //volatile uint8_t prevHallPattern;
@ -81,8 +82,10 @@ volatile typedef struct BLDCmotor
{ {
/* Hardware */ /* Hardware */
volatile BLDCMotor_param_t *motor_param; volatile BLDCMotor_param_t *motor_param;
volatile MOTOR_STATE_t motor_state; struct pwm_descriptor const *pwm_desc;
void *const speedtimer_hw;
/* Status */ /* Status */
volatile MOTOR_STATE_t motor_state;
volatile MOTOR_Status motor_status; volatile MOTOR_Status motor_status;
/* Measured Values */ /* Measured Values */
volatile MOTOR_PHASES_t Iphase_pu; volatile MOTOR_PHASES_t Iphase_pu;

16
2_Motor_Slave/Motor_Slave/Motor_Slave/configuration.h
View File

@ -25,12 +25,12 @@
#define DMAC_CHANNEL_ADC_SEQ 2U #define DMAC_CHANNEL_ADC_SEQ 2U
#define DMAC_CHANNEL_ADC_SRAM 1U #define DMAC_CHANNEL_ADC_SRAM 1U
/* Single Ended */ const uint32_t adc0_seq_regs[4] = {0};
//const uint32_t adc_seq_regs[4] = {0x1807, 0x1806, 0x1809, 0x1808}; const uint32_t adc1_seq_regs[4] = {0x0089, 0x0088, 0x0087, 0x0086}; /* Differential */
/* Differential */ //const uint32_t adc1_seq_regs[4] = {0x1807, 0x1806, 0x1809, 0x1808}; /* Single Ended */
const uint32_t adc_seq_regs[4] = {0x0089, 0x0088, 0x0087, 0x0086}; volatile int16_t adc0_res[4] = {0};
volatile int16_t adc1_res[4] = {0};
volatile int16_t adc_res[4] = {0};
struct _dma_resource *adc_sram_dma_resource; struct _dma_resource *adc_sram_dma_resource;
struct _dma_resource *adc_dmac_sequence_resource; struct _dma_resource *adc_dmac_sequence_resource;
@ -132,7 +132,7 @@ inline void adc_dmac_sequence_init()
/* Configure the DMAC source address, destination address, /* Configure the DMAC source address, destination address,
* next descriptor address, data count and Enable the DMAC Channel * next descriptor address, data count and Enable the DMAC Channel
*/ */
_dma_set_source_address(DMAC_CHANNEL_ADC_SEQ, (const void *)adc_seq_regs); _dma_set_source_address(DMAC_CHANNEL_ADC_SEQ, (const void *)adc1_seq_regs);
_dma_set_destination_address(DMAC_CHANNEL_ADC_SEQ, (const void *)&ADC1->DSEQDATA.reg); _dma_set_destination_address(DMAC_CHANNEL_ADC_SEQ, (const void *)&ADC1->DSEQDATA.reg);
_dma_set_data_amount(DMAC_CHANNEL_ADC_SEQ, 4); _dma_set_data_amount(DMAC_CHANNEL_ADC_SEQ, 4);
_dma_set_next_descriptor(DMAC_CHANNEL_ADC_SEQ, DMAC_CHANNEL_ADC_SEQ); _dma_set_next_descriptor(DMAC_CHANNEL_ADC_SEQ, DMAC_CHANNEL_ADC_SEQ);
@ -149,15 +149,13 @@ inline void adc_sram_dmac_init()
/* Configure the DMAC source address, destination address, /* Configure the DMAC source address, destination address,
* next descriptor address, data count and Enable the DMAC Channel */ * next descriptor address, data count and Enable the DMAC Channel */
_dma_set_source_address(DMAC_CHANNEL_ADC_SRAM, (const void *)&ADC1->RESULT.reg); _dma_set_source_address(DMAC_CHANNEL_ADC_SRAM, (const void *)&ADC1->RESULT.reg);
_dma_set_destination_address(DMAC_CHANNEL_ADC_SRAM, (const void *)adc_res); _dma_set_destination_address(DMAC_CHANNEL_ADC_SRAM, (const void *)adc1_res);
_dma_set_data_amount(DMAC_CHANNEL_ADC_SRAM, 4); _dma_set_data_amount(DMAC_CHANNEL_ADC_SRAM, 4);
_dma_set_irq_state(DMAC_CHANNEL_ADC_SRAM, DMA_TRANSFER_COMPLETE_CB, true); _dma_set_irq_state(DMAC_CHANNEL_ADC_SRAM, DMA_TRANSFER_COMPLETE_CB, true);
_dma_get_channel_resource(&adc_sram_dma_resource, DMAC_CHANNEL_ADC_SRAM); _dma_get_channel_resource(&adc_sram_dma_resource, DMAC_CHANNEL_ADC_SRAM);
adc_sram_dma_resource[0].dma_cb.transfer_done = adc_sram_dma_callback; adc_sram_dma_resource[0].dma_cb.transfer_done = adc_sram_dma_callback;
_dma_set_next_descriptor(DMAC_CHANNEL_ADC_SRAM, DMAC_CHANNEL_ADC_SRAM); _dma_set_next_descriptor(DMAC_CHANNEL_ADC_SRAM, DMAC_CHANNEL_ADC_SRAM);
_dma_enable_transaction(DMAC_CHANNEL_ADC_SRAM, false); _dma_enable_transaction(DMAC_CHANNEL_ADC_SRAM, false);
//hri_dmacchannel_set_CHCTRLB_CMD_bf(&DMAC->Channel[DMAC_CHANNEL_ADC_SRAM], 0x01); //Suspend //hri_dmacchannel_set_CHCTRLB_CMD_bf(&DMAC->Channel[DMAC_CHANNEL_ADC_SRAM], 0x01); //Suspend
} }

10
2_Motor_Slave/Motor_Slave/Motor_Slave/main.c
View File

@ -23,8 +23,8 @@ void process_currents()
volatile int16_t phase_A_current_raw, phase_B_current_raw; volatile int16_t phase_A_current_raw, phase_B_current_raw;
/* Motor 1 */ /* Motor 1 */
phase_A_current_raw = (adc_res[0] - Motor1.Voffset_lsb.A); phase_A_current_raw = (adc1_res[0] - Motor1.Voffset_lsb.A);
phase_B_current_raw = (adc_res[1] - Motor1.Voffset_lsb.B)*-1; phase_B_current_raw = (adc1_res[1] - Motor1.Voffset_lsb.B)*-1;
// Covert from LSB to PU (A) and filter out small readings // Covert from LSB to PU (A) and filter out small readings
Motor1.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU; Motor1.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU;
Motor1.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU; Motor1.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU;
@ -32,8 +32,8 @@ void process_currents()
Motor1.Iphase_pu.C = -Motor1.Iphase_pu.A - Motor1.Iphase_pu.B; Motor1.Iphase_pu.C = -Motor1.Iphase_pu.A - Motor1.Iphase_pu.B;
/* Motor 2 negative is A instead of B*/ /* Motor 2 negative is A instead of B*/
phase_A_current_raw = (adc_res[2] - Motor2.Voffset_lsb.A); phase_A_current_raw = (adc1_res[2] - Motor2.Voffset_lsb.A);
phase_B_current_raw = (adc_res[3] - Motor2.Voffset_lsb.B)*-1; phase_B_current_raw = (adc1_res[3] - Motor2.Voffset_lsb.B)*-1;
// Covert from LSB to PU (A) and filter out small readings // Covert from LSB to PU (A) and filter out small readings
Motor2.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU; Motor2.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU;
Motor2.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU; Motor2.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU;
@ -218,7 +218,7 @@ int main(void)
atmel_start_init(); atmel_start_init();
__disable_irq(); __disable_irq();
BldcInitStruct(&Motor1, &FH_22mm24BXTR); BldcInitStruct(&Motor1, &FH_22mm24BXTR);
BldcInitStruct(&Motor2, &FH_22mm24BXTR_temp); BldcInitStruct(&Motor2, &FH_22mm24BXTR);
Motor1.readHall = &readHallSensorM1; Motor1.readHall = &readHallSensorM1;
Motor2.readHall = &readHallSensorM2; Motor2.readHall = &readHallSensorM2;
read_zero_current_offset_value(&Motor1, &Motor2); read_zero_current_offset_value(&Motor1, &Motor2);

38
2_Motor_Slave/Motor_Slave/Motor_Slave/motorparameters.h
View File

@ -119,8 +119,6 @@ static const uint16_t COMMUTATION_PATTERN[16] = {
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
typedef struct typedef struct
{ {
struct pwm_descriptor const *pwm_desc;
void *const speedtimer_hw;
const uint16_t motor_Poles; const uint16_t motor_Poles;
const uint16_t motor_polePairs; const uint16_t motor_polePairs;
const uint16_t motor_commutationStates; const uint16_t motor_commutationStates;
@ -141,8 +139,6 @@ typedef struct
/* Small Motor - 2214S024BXTR*/ /* Small Motor - 2214S024BXTR*/
const static BLDCMotor_param_t FH_22mm24BXTR = { const static BLDCMotor_param_t FH_22mm24BXTR = {
.pwm_desc = &PWM_0,
.speedtimer_hw = TC2,
.motor_Poles = 14, .motor_Poles = 14,
.motor_polePairs = 7, .motor_polePairs = 7,
.motor_commutationStates = 42, //polePairs * 6 .motor_commutationStates = 42, //polePairs * 6
@ -150,48 +146,22 @@ const static BLDCMotor_param_t FH_22mm24BXTR = {
.motor_LD_H = 0.003150, .motor_LD_H = 0.003150,
.motor_LQ_H = 0.003150, .motor_LQ_H = 0.003150,
.motor_Flux_WB = 0.001575, .motor_Flux_WB = 0.001575,
.motor_Max_Spd_RPM = 3000, .motor_Max_Spd_RPM = 2000,
.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,
.motor_Max_Current_IDC_A = 0.180, .motor_Max_Current_IDC_A = 0.180,
.controller_param.Pid_Speed.Kp = 0.00008f, .controller_param.Pid_Speed.Kp = 0.00004f,
.controller_param.Pid_Speed.Ki = 0.0000001f, .controller_param.Pid_Speed.Ki = 0.0000001f,
//.controller_param.Pid_Speed.Ki = 0.0000001f, //.controller_param.Pid_Speed.Ki = 0.0000001f,
.controller_param.Pi_Pos.Kp = 50.0f, .controller_param.Pi_Pos.Kp = 50.0f,
.controller_param.Pi_Pos.Ki = 0.0f, .controller_param.Pi_Pos.Ki = 0.0f,
.motor_MaxPWM = 800.0, .motor_MaxPWM = 600.0,
};
/* Small Motor - 2214S024BXTR*/
const static BLDCMotor_param_t FH_22mm24BXTR_temp = {
.pwm_desc = &PWM_1,
.speedtimer_hw = TC4,
.motor_Poles = 14,
.motor_polePairs = 7,
.motor_commutationStates = 42, //polePairs * 6
.motor_RS_Ohm = 25.9,
.motor_LD_H = 0.003150,
.motor_LQ_H = 0.003150,
.motor_Flux_WB = 0.001575,
.motor_Max_Spd_RPM = 3000,
.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,
.motor_Max_Current_IDC_A = 0.180,
.controller_param.Pid_Speed.Kp = 0.00008f,
.controller_param.Pid_Speed.Ki = 0.0000001f,
//.controller_param.Pid_Speed.Ki = 0.0000001f,
.controller_param.Pi_Pos.Kp = 50.0f,
.controller_param.Pi_Pos.Ki = 0.0f,
.motor_MaxPWM = 800.0,
}; };
/* Big Motor - 3216W012BXTR */ /* Big Motor - 3216W012BXTR */
const static BLDCMotor_param_t FH_32mm12BXTR = { const static BLDCMotor_param_t FH_32mm12BXTR = {
.pwm_desc = &PWM_1,
.speedtimer_hw = TC4,
.motor_Poles = 14, .motor_Poles = 14,
.motor_polePairs = 7, .motor_polePairs = 7,
.motor_commutationStates = 42, //polePairs * 6 .motor_commutationStates = 42, //polePairs * 6
@ -216,8 +186,6 @@ const static BLDCMotor_param_t FH_32mm12BXTR = {
/* Big Motor - 3216W024BXTR */ /* Big Motor - 3216W024BXTR */
const static BLDCMotor_param_t FH_32mm24BXTR = { const static BLDCMotor_param_t FH_32mm24BXTR = {
.pwm_desc = &PWM_1,
.speedtimer_hw = TC4,
.motor_Poles = 14, .motor_Poles = 14,
.motor_polePairs = 7, .motor_polePairs = 7,
.motor_commutationStates = 42, //polePairs * 6 .motor_commutationStates = 42, //polePairs * 6