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added all loops to the calculation

This commit is contained in:
Nicolas Trimborn 2021-05-06 11:38:14 +02:00
parent afde807033
commit cf4f67c45d
6 changed files with 41 additions and 32 deletions
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BLDC_E54/.vs/BLDC_E54/v14/.atsuo
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48
BLDC_E54/BLDC_E54/Debug/Makefile
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@ -76,7 +76,7 @@ C_SRCS += \
../driver_init.c \
../ethercat/ethercat_e54.c \
../examples/driver_examples.c \
../hal/src/hal_adc_async.c \
../hal/src/hal_adc_sync.c \
../hal/src/hal_atomic.c \
../hal/src/hal_cache.c \
../hal/src/hal_delay.c \
@ -86,12 +86,12 @@ C_SRCS += \
../hal/src/hal_init.c \
../hal/src/hal_io.c \
../hal/src/hal_pdec_async.c \
../hal/src/hal_pwm.c \
../hal/src/hal_sleep.c \
../hal/src/hal_spi_m_dma.c \
../hal/utils/src/utils_assert.c \
../hal/utils/src/utils_event.c \
../hal/utils/src/utils_list.c \
../hal/utils/src/utils_ringbuffer.c \
../hal/utils/src/utils_syscalls.c \
../hpl/adc/hpl_adc.c \
../hpl/ccl/hpl_ccl.c \
@ -109,7 +109,7 @@ C_SRCS += \
../hpl/pm/hpl_pm.c \
../hpl/ramecc/hpl_ramecc.c \
../hpl/sercom/hpl_sercom.c \
../hpl/tcc/tcc_lite.c \
../hpl/tcc/hpl_tcc.c \
../hpl/tc/tc_lite.c \
../main.c
@ -128,7 +128,7 @@ Device_Startup/system_same54.o \
driver_init.o \
ethercat/ethercat_e54.o \
examples/driver_examples.o \
hal/src/hal_adc_async.o \
hal/src/hal_adc_sync.o \
hal/src/hal_atomic.o \
hal/src/hal_cache.o \
hal/src/hal_delay.o \
@ -138,12 +138,12 @@ hal/src/hal_gpio.o \
hal/src/hal_init.o \
hal/src/hal_io.o \
hal/src/hal_pdec_async.o \
hal/src/hal_pwm.o \
hal/src/hal_sleep.o \
hal/src/hal_spi_m_dma.o \
hal/utils/src/utils_assert.o \
hal/utils/src/utils_event.o \
hal/utils/src/utils_list.o \
hal/utils/src/utils_ringbuffer.o \
hal/utils/src/utils_syscalls.o \
hpl/adc/hpl_adc.o \
hpl/ccl/hpl_ccl.o \
@ -161,7 +161,7 @@ hpl/pdec/hpl_pdec.o \
hpl/pm/hpl_pm.o \
hpl/ramecc/hpl_ramecc.o \
hpl/sercom/hpl_sercom.o \
hpl/tcc/tcc_lite.o \
hpl/tcc/hpl_tcc.o \
hpl/tc/tc_lite.o \
main.o
@ -173,7 +173,7 @@ Device_Startup/system_same54.o \
driver_init.o \
ethercat/ethercat_e54.o \
examples/driver_examples.o \
hal/src/hal_adc_async.o \
hal/src/hal_adc_sync.o \
hal/src/hal_atomic.o \
hal/src/hal_cache.o \
hal/src/hal_delay.o \
@ -183,12 +183,12 @@ hal/src/hal_gpio.o \
hal/src/hal_init.o \
hal/src/hal_io.o \
hal/src/hal_pdec_async.o \
hal/src/hal_pwm.o \
hal/src/hal_sleep.o \
hal/src/hal_spi_m_dma.o \
hal/utils/src/utils_assert.o \
hal/utils/src/utils_event.o \
hal/utils/src/utils_list.o \
hal/utils/src/utils_ringbuffer.o \
hal/utils/src/utils_syscalls.o \
hpl/adc/hpl_adc.o \
hpl/ccl/hpl_ccl.o \
@ -206,7 +206,7 @@ hpl/pdec/hpl_pdec.o \
hpl/pm/hpl_pm.o \
hpl/ramecc/hpl_ramecc.o \
hpl/sercom/hpl_sercom.o \
hpl/tcc/tcc_lite.o \
hpl/tcc/hpl_tcc.o \
hpl/tc/tc_lite.o \
main.o
@ -218,7 +218,7 @@ Device_Startup/system_same54.d \
driver_init.d \
ethercat/ethercat_e54.d \
examples/driver_examples.d \
hal/src/hal_adc_async.d \
hal/src/hal_adc_sync.d \
hal/src/hal_atomic.d \
hal/src/hal_cache.d \
hal/src/hal_delay.d \
@ -228,12 +228,12 @@ hal/src/hal_gpio.d \
hal/src/hal_init.d \
hal/src/hal_io.d \
hal/src/hal_pdec_async.d \
hal/src/hal_pwm.d \
hal/src/hal_sleep.d \
hal/src/hal_spi_m_dma.d \
hal/utils/src/utils_assert.d \
hal/utils/src/utils_event.d \
hal/utils/src/utils_list.d \
hal/utils/src/utils_ringbuffer.d \
hal/utils/src/utils_syscalls.d \
hpl/adc/hpl_adc.d \
hpl/ccl/hpl_ccl.d \
@ -251,7 +251,7 @@ hpl/pdec/hpl_pdec.d \
hpl/pm/hpl_pm.d \
hpl/ramecc/hpl_ramecc.d \
hpl/sercom/hpl_sercom.d \
hpl/tcc/tcc_lite.d \
hpl/tcc/hpl_tcc.d \
hpl/tc/tc_lite.d \
main.d
@ -263,7 +263,7 @@ Device_Startup/system_same54.d \
driver_init.d \
ethercat/ethercat_e54.d \
examples/driver_examples.d \
hal/src/hal_adc_async.d \
hal/src/hal_adc_sync.d \
hal/src/hal_atomic.d \
hal/src/hal_cache.d \
hal/src/hal_delay.d \
@ -273,12 +273,12 @@ hal/src/hal_gpio.d \
hal/src/hal_init.d \
hal/src/hal_io.d \
hal/src/hal_pdec_async.d \
hal/src/hal_pwm.d \
hal/src/hal_sleep.d \
hal/src/hal_spi_m_dma.d \
hal/utils/src/utils_assert.d \
hal/utils/src/utils_event.d \
hal/utils/src/utils_list.d \
hal/utils/src/utils_ringbuffer.d \
hal/utils/src/utils_syscalls.d \
hpl/adc/hpl_adc.d \
hpl/ccl/hpl_ccl.d \
@ -296,7 +296,7 @@ hpl/pdec/hpl_pdec.d \
hpl/pm/hpl_pm.d \
hpl/ramecc/hpl_ramecc.d \
hpl/sercom/hpl_sercom.d \
hpl/tcc/tcc_lite.d \
hpl/tcc/hpl_tcc.d \
hpl/tc/tc_lite.d \
main.d
@ -366,7 +366,7 @@ examples/driver_examples.o: ../examples/driver_examples.c
@echo Finished building: $<
hal/src/hal_adc_async.o: ../hal/src/hal_adc_async.c
hal/src/hal_adc_sync.o: ../hal/src/hal_adc_sync.c
@echo Building file: $<
@echo Invoking: ARM/GNU C Compiler : 6.3.1
$(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-gcc.exe$(QUOTE) -x c -mthumb -D__SAME54P20A__ -DDEBUG -DARM_MATH_CM4 -D__FPU_PRESENT=1 -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\5.4.0\CMSIS\Core\Include" -I"../Config" -I".." -I"../examples" -I"../hal/include" -I"../hal/utils/include" -I"../hpl/adc" -I"../hpl/ccl" -I"../hpl/cmcc" -I"../hpl/core" -I"../hpl/dmac" -I"../hpl/eic" -I"../hpl/evsys" -I"../hpl/gclk" -I"../hpl/mclk" -I"../hpl/osc32kctrl" -I"../hpl/oscctrl" -I"../hpl/pdec" -I"../hpl/pm" -I"../hpl/port" -I"../hpl/ramecc" -I"../hpl/sercom" -I"../hpl/tc" -I"../hpl/tcc" -I"../hri" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAME54_DFP\1.1.134\include" -Og -ffunction-sections -mlong-calls -g3 -Wall -pedantic -mcpu=cortex-m4 -c -std=gnu99 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -o "$@" "$<"
@ -436,6 +436,13 @@ hal/src/hal_pdec_async.o: ../hal/src/hal_pdec_async.c
@echo Finished building: $<
hal/src/hal_pwm.o: ../hal/src/hal_pwm.c
@echo Building file: $<
@echo Invoking: ARM/GNU C Compiler : 6.3.1
$(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-gcc.exe$(QUOTE) -x c -mthumb -D__SAME54P20A__ -DDEBUG -DARM_MATH_CM4 -D__FPU_PRESENT=1 -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\5.4.0\CMSIS\Core\Include" -I"../Config" -I".." -I"../examples" -I"../hal/include" -I"../hal/utils/include" -I"../hpl/adc" -I"../hpl/ccl" -I"../hpl/cmcc" -I"../hpl/core" -I"../hpl/dmac" -I"../hpl/eic" -I"../hpl/evsys" -I"../hpl/gclk" -I"../hpl/mclk" -I"../hpl/osc32kctrl" -I"../hpl/oscctrl" -I"../hpl/pdec" -I"../hpl/pm" -I"../hpl/port" -I"../hpl/ramecc" -I"../hpl/sercom" -I"../hpl/tc" -I"../hpl/tcc" -I"../hri" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAME54_DFP\1.1.134\include" -Og -ffunction-sections -mlong-calls -g3 -Wall -pedantic -mcpu=cortex-m4 -c -std=gnu99 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -o "$@" "$<"
@echo Finished building: $<
hal/src/hal_sleep.o: ../hal/src/hal_sleep.c
@echo Building file: $<
@echo Invoking: ARM/GNU C Compiler : 6.3.1
@ -471,13 +478,6 @@ hal/utils/src/utils_list.o: ../hal/utils/src/utils_list.c
@echo Finished building: $<
hal/utils/src/utils_ringbuffer.o: ../hal/utils/src/utils_ringbuffer.c
@echo Building file: $<
@echo Invoking: ARM/GNU C Compiler : 6.3.1
$(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-gcc.exe$(QUOTE) -x c -mthumb -D__SAME54P20A__ -DDEBUG -DARM_MATH_CM4 -D__FPU_PRESENT=1 -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\5.4.0\CMSIS\Core\Include" -I"../Config" -I".." -I"../examples" -I"../hal/include" -I"../hal/utils/include" -I"../hpl/adc" -I"../hpl/ccl" -I"../hpl/cmcc" -I"../hpl/core" -I"../hpl/dmac" -I"../hpl/eic" -I"../hpl/evsys" -I"../hpl/gclk" -I"../hpl/mclk" -I"../hpl/osc32kctrl" -I"../hpl/oscctrl" -I"../hpl/pdec" -I"../hpl/pm" -I"../hpl/port" -I"../hpl/ramecc" -I"../hpl/sercom" -I"../hpl/tc" -I"../hpl/tcc" -I"../hri" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAME54_DFP\1.1.134\include" -Og -ffunction-sections -mlong-calls -g3 -Wall -pedantic -mcpu=cortex-m4 -c -std=gnu99 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -o "$@" "$<"
@echo Finished building: $<
hal/utils/src/utils_syscalls.o: ../hal/utils/src/utils_syscalls.c
@echo Building file: $<
@echo Invoking: ARM/GNU C Compiler : 6.3.1
@ -597,7 +597,7 @@ hpl/sercom/hpl_sercom.o: ../hpl/sercom/hpl_sercom.c
@echo Finished building: $<
hpl/tcc/tcc_lite.o: ../hpl/tcc/tcc_lite.c
hpl/tcc/hpl_tcc.o: ../hpl/tcc/hpl_tcc.c
@echo Building file: $<
@echo Invoking: ARM/GNU C Compiler : 6.3.1
$(QUOTE)C:\Program Files (x86)\Atmel\Studio\7.0\toolchain\arm\arm-gnu-toolchain\bin\arm-none-eabi-gcc.exe$(QUOTE) -x c -mthumb -D__SAME54P20A__ -DDEBUG -DARM_MATH_CM4 -D__FPU_PRESENT=1 -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\arm\CMSIS\5.4.0\CMSIS\Core\Include" -I"../Config" -I".." -I"../examples" -I"../hal/include" -I"../hal/utils/include" -I"../hpl/adc" -I"../hpl/ccl" -I"../hpl/cmcc" -I"../hpl/core" -I"../hpl/dmac" -I"../hpl/eic" -I"../hpl/evsys" -I"../hpl/gclk" -I"../hpl/mclk" -I"../hpl/osc32kctrl" -I"../hpl/oscctrl" -I"../hpl/pdec" -I"../hpl/pm" -I"../hpl/port" -I"../hpl/ramecc" -I"../hpl/sercom" -I"../hpl/tc" -I"../hpl/tcc" -I"../hri" -I"C:\Program Files (x86)\Atmel\Studio\7.0\Packs\atmel\SAME54_DFP\1.1.134\include" -Og -ffunction-sections -mlong-calls -g3 -Wall -pedantic -mcpu=cortex-m4 -c -std=gnu99 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -MD -MP -MF "$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -MT"$(@:%.o=%.o)" -o "$@" "$<"

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BLDC_E54/BLDC_E54/Debug/bldc.o
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BLDC_E54/BLDC_E54/Debug/main.o
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BLDC_E54/BLDC_E54/bldc.c
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@ -117,7 +117,6 @@ void BldcInitStruct(BLDCMotor_t *motor)
motor->controllers.Pid_Speed.Ki = 0.0f;
motor->controllers.Pid_Speed.Kd = 0.0001f;
//motor->controllers.Pid_Speed.Ki = 0.0001f;
motor->controllers.Pid_Speed.OutMax_pu = (MOTOR_MAX_CURRENT_IDC_A);
motor->controllers.Pid_Speed.OutMin_pu = -(MOTOR_MAX_CURRENT_IDC_A);
@ -147,8 +146,6 @@ void BldcInitFunctions()
Motor1.SetDutyCycle = SetM1DutyCycle;
Motor2.SetDutyCycle = SetM2DutyCycle;
Motor3.SetDutyCycle = SetM3DutyCycle;
}
// ----------------------------------------------------------------------
@ -383,8 +380,8 @@ void exec_commutation(void)
// Set Calculated Duty Cycles
// ----------------------------------------------------------------------
Motor1.SetDutyCycle((uint16_t)Motor1.motor_status.duty_cycle);
//Motor2.SetDutyCycle((uint16_t)Motor1.motor_status.duty_cycle);
//Motor3.SetDutyCycle((uint16_t)Motor1.motor_status.duty_cycle);
Motor2.SetDutyCycle((uint16_t)Motor1.motor_status.duty_cycle);
Motor3.SetDutyCycle((uint16_t)Motor1.motor_status.duty_cycle);
Motor1.motor_status.cur_comm_step = MOTOR_COMMUTATION_STEPS[Motor1.motor_status.currentHallPattern];
@ -462,7 +459,7 @@ void DisableMotor(BLDCMotor_t *motor)
//------------------------------------------------------------------------------
// pi current control
// Current Feedback
//------------------------------------------------------------------------------
void BLDC_runCurrentCntl(BLDCMotor_t *motor, volatile float curfbk, volatile float curRef)
{
@ -494,6 +491,7 @@ void BLDC_runCurrentCntl(BLDCMotor_t *motor, volatile float curfbk, volatile flo
//// ------------------------------------------------------------------------------
// Speed Control: Input in RPM units (int16_t)
//------------------------------------------------------------------------------
void BLDC_runSpeedCntl(BLDCMotor_t *motor, volatile float speedfbk, volatile float speedRef)
{
@ -531,6 +529,7 @@ void BLDC_runSpeedCntl(BLDCMotor_t *motor, volatile float speedfbk, volatile flo
//// ------------------------------------------------------------------------------
// Position Control:Input in Hall step units (int16_t)
//------------------------------------------------------------------------------
void BLDC_runPosCntl(BLDCMotor_t *motor, int16_t posfbk, int16_t posRef)
{
/* Output Pu in RPM */

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BLDC_E54/BLDC_E54/main.c
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@ -102,15 +102,21 @@ inline void CONTROLLER_StateMachine(void)
Motor1.timerflags.motor_telemetry_flag = true; // Update telemetry flag
//tic(DEBUG_4);
BLDC_runPosCntl(&Motor1, Motor1.motor_status.Num_Steps, Motor1.motor_setpoints.desired_position);
BLDC_runPosCntl(&Motor2, Motor1.motor_status.Num_Steps, Motor1.motor_setpoints.desired_position);
BLDC_runPosCntl(&Motor3, Motor1.motor_status.Num_Steps, Motor1.motor_setpoints.desired_position);
//toc(DEBUG_4);
case 5: case 10: case 15: case 20:/* PWM FREQ / 5 - 5kHz */
//tic(DEBUG_3);
//tic(DEBUG_4);
//tic(DEBUG_2);
calculate_motor_speed();
calculate_motor_speed();
calculate_motor_speed();
//toc(DEBUG_2);
//tic(DEBUG_3);
BLDC_runSpeedCntl(&Motor1, Motor1.motor_status.calc_rpm, Motor1.controllers.Pid_Speed.Ref_pu);
BLDC_runSpeedCntl(&Motor2, Motor1.motor_status.calc_rpm, Motor1.controllers.Pid_Speed.Ref_pu);
BLDC_runSpeedCntl(&Motor3, Motor1.motor_status.calc_rpm, Motor1.controllers.Pid_Speed.Ref_pu);
//toc(DEBUG_3);
//toc(DEBUG_4);
//toc(DEBUG_3);
@ -118,9 +124,13 @@ inline void CONTROLLER_StateMachine(void)
//tic(DEBUG_2);
//tic(DEBUG_3);
select_active_phase(&Motor1, Motor1.motor_status.currentHallPattern);
select_active_phase(&Motor2, Motor2.motor_status.currentHallPattern);
select_active_phase(&Motor3, Motor3.motor_status.currentHallPattern);
////toc(DEBUG_2);
////tic(DEBUG_3);
BLDC_runCurrentCntl(&Motor1, Motor1.Iphase_pu.Bus, Motor1.controllers.Pi_Idc.Ref_pu);
BLDC_runCurrentCntl(&Motor2, Motor1.Iphase_pu.Bus, Motor1.controllers.Pi_Idc.Ref_pu);
BLDC_runCurrentCntl(&Motor3, Motor1.Iphase_pu.Bus, Motor1.controllers.Pi_Idc.Ref_pu);
//toc(DEBUG_3);
//toc(DEBUG_2);
break;
@ -220,9 +230,9 @@ int main(void)
if(Motor1.timerflags.current_loop_tic) {
Motor1.timerflags.current_loop_tic = false;
//tic_port(DEBUG_1_PORT);
tic_port(DEBUG_1_PORT);
CONTROLLER_StateMachine();
//toc_port(DEBUG_1_PORT);
toc_port(DEBUG_1_PORT);
}
//do {