From db49ec9cf394fd6841ee729decb9585a0d757e4c Mon Sep 17 00:00:00 2001
From: Nicolas Trimborn <nicolas.trimborn@tum.de>
Date: Wed, 28 Apr 2021 09:26:14 +0200
Subject: [PATCH] initial branch commit

---
 BLDC_E54/.gitignore              |  23 ++
 BLDC_E54/.vs/BLDC_E54/v14/.atsuo | Bin 203776 -> 203776 bytes
 BLDC_E54/BLDC_E54/BLDC_E54.cproj |   3 +
 BLDC_E54/BLDC_E54/bldc.c         |   4 +-
 BLDC_E54/BLDC_E54/bldc.h         | 385 +++++++++++++------------------
 BLDC_E54/BLDC_E54/motor_params.h | 126 ++++++++++
 6 files changed, 308 insertions(+), 233 deletions(-)
 create mode 100644 BLDC_E54/.gitignore
 create mode 100644 BLDC_E54/BLDC_E54/motor_params.h

diff --git a/BLDC_E54/.gitignore b/BLDC_E54/.gitignore
new file mode 100644
index 0000000..fe57f80
--- /dev/null
+++ b/BLDC_E54/.gitignore
@@ -0,0 +1,23 @@
+  
+## Ignore Atmel Studio temporary files and build results
+# https://www.microchip.com/mplab/avr-support/atmel-studio-7
+
+# Atmel Studio is powered by an older version of Visual Studio,
+# so most of the project and solution files are the same as VS files,
+# only prefixed by an `at`.
+
+#Build Directories
+[Dd]ebug/
+[Rr]elease/
+
+#Build Results
+*.o
+*.d
+*.eep
+*.elf
+*.hex
+*.map
+*.srec
+
+#User Specific Files
+*.atsuo
diff --git a/BLDC_E54/.vs/BLDC_E54/v14/.atsuo b/BLDC_E54/.vs/BLDC_E54/v14/.atsuo
index b13348b64f523e5bb11cbe42447ec27751361642..260493293680280005a4919b17e3dbe6c459c442 100644
GIT binary patch
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diff --git a/BLDC_E54/BLDC_E54/BLDC_E54.cproj b/BLDC_E54/BLDC_E54/BLDC_E54.cproj
index ea25ccf..0f61d09 100644
--- a/BLDC_E54/BLDC_E54/BLDC_E54.cproj
+++ b/BLDC_E54/BLDC_E54/BLDC_E54.cproj
@@ -1011,6 +1011,9 @@
     <Compile Include="main.c">
       <SubType>compile</SubType>
     </Compile>
+    <Compile Include="motor_params.h">
+      <SubType>compile</SubType>
+    </Compile>
     <Compile Include="pins.h">
       <SubType>compile</SubType>
     </Compile>
diff --git a/BLDC_E54/BLDC_E54/bldc.c b/BLDC_E54/BLDC_E54/bldc.c
index aac6c4f..fb7b0eb 100644
--- a/BLDC_E54/BLDC_E54/bldc.c
+++ b/BLDC_E54/BLDC_E54/bldc.c
@@ -79,7 +79,7 @@ void BLDC_init(BLDCMotor_t *motor)
 	
 	motor->VdcBus_pu = DEVICE_DC_VOLTAGE_V;
 	motor->VoneByDcBus_pu = 1.0f/DEVICE_DC_VOLTAGE_V;
-	motor->motor_commutation_Pattern = COMMUTATION_PATTERN;
+	motor->motor_commutation_Pattern = COMMUTATION_PATTERN_M1;
 	
 	motor->desired_torque	= 0.0;
 	motor->desired_speed	= 0;
@@ -225,7 +225,7 @@ void exec_commutation(void)
 	//}
 	
 	
-	TCC1->PATTBUF.reg = COMMUTATION_PATTERN[(Motor1.currentHallPattern + Motor1.directionOffset)];
+	TCC1->PATTBUF.reg = COMMUTATION_PATTERN_M1[(Motor1.currentHallPattern + Motor1.directionOffset)];
 	TCC1->CCBUF->reg = (uint16_t)Motor1.duty_cycle;
 	//hri_tcc_write_PATTBUF_reg(TCC1, (COMMUTATION_PATTERN[(Motor1.currentHallPattern + Motor1.directionOffset)]));
 	
diff --git a/BLDC_E54/BLDC_E54/bldc.h b/BLDC_E54/BLDC_E54/bldc.h
index a96e409..3d91c2d 100644
--- a/BLDC_E54/BLDC_E54/bldc.h
+++ b/BLDC_E54/BLDC_E54/bldc.h
@@ -1,234 +1,157 @@
-/*
- * bldc.h
- *
- * Created: 10/03/2021 14:38:14
- *  Author: Nick-XMG
- */ 
-
-#ifndef BLDC_H_
-#define BLDC_H_
-
-// ----------------------------------------------------------------------
-// 	header files
-// ----------------------------------------------------------------------
-#include "arm_math.h"
-#include "atmel_start.h"
-#include "control.h"
-
-
-// ----------------------------------------------------------------------
-// Current Sensor
-// ----------------------------------------------------------------------
-
-#define DRV_ISEN_A_CH				ADC_INPUTCTRL_MUXPOS_AIN2_Val
-#define DRV_ISEN_B_CH				ADC_INPUTCTRL_MUXPOS_AIN1_Val
-
-// ----------------------------------------------------------------------
-// 	Hall Parameters
-// ----------------------------------------------------------------------
-
-#define HALL_A_PIN					GPIO(GPIO_PORTA, 6)
#define HALL_A_PORT					PORT_PA06
#define HALL_A_MASK					~(1<<2)
#define HALL_A_LSR					HALL_A_PIN	- HALL_A_GROUP*32 -2
-#define HALL_A_GROUP				HALL_A_PIN/32

#define HALL_B_PIN					GPIO(GPIO_PORTA, 5)
-#define HALL_B_PORT					PORT_PA05
-#define HALL_B_MASK					~(1<<1)
-#define HALL_B_LSR					HALL_B_PIN	- HALL_B_GROUP*32 -1
-#define HALL_B_GROUP				HALL_B_PIN/32
-
-#define HALL_C_PIN					GPIO(GPIO_PORTA, 4)
-#define HALL_C_PORT					PORT_PA04
-#define HALL_C_MASK					~(1<<0)
-#define HALL_C_LSR					HALL_C_PIN	- HALL_C_GROUP*32 -0
-#define HALL_C_GROUP				HALL_C_PIN/32
-
-/* 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_7              (7U)
-	
-// ----------------------------------------------------------------------
-// 	ADC Parameters
-// ----------------------------------------------------------------------
-#define ADC_VOLTAGE_REFERENCE		(3.3f)
-#define ADC_RESOLUTION				(12)
-#define ADC_MAX_COUNTS				(1<<ADC_RESOLUTION)
-#define ADC_LSB_SIZE				(ADC_VOLTAGE_REFERENCE/ADC_MAX_COUNTS)
-// ----------------------------------------------------------------------
-// Motor Parameters
-// ----------------------------------------------------------------------
-//  these values fit for an Faulhaber 3216W024BXTR motor
-#define MOTOR_POLES                 (14U)
-#define MOTOR_POLEPAIRS             (MOTOR_POLES/2)
-#define MOTOR_COMUTATION_STATES     (MOTOR_POLEPAIRS*6)
-#define MOTOR_RS_OHM                (3.37f)
-#define MOTOR_LD_H                  (0.001290f)
-#define MOTOR_LQ_H                  (0.001290f)
-#define MOTOR_FLUX_WB               (0.0063879968f)
-#define MOTOR_MAX_SPD_RPM           (4200.0f)
-#define MOTOR_MAX_SPD_ELEC          ((MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS)
-#define MOTOR_MEASURINGRANGE_RPM    (1.2f * MOTOR_MAX_SPD_RPM)f   // give 20% headroom
-#define MOTOR_MAX_CURRENT_IDC_A     (1.2f)
-
-#define PWM_TOP					1000
-#define MAX_PWM					700
-#define MAX_VEL					3800
-
-#define CW						0 //CBA
-#define DIRECTION_CW_OFFSET		0 //CBA
-#define CCW						1 //ABC
-#define DIRECTION_CCW_OFFSET	8 //CBA
-
-#define AVERAGE_SPEED_MEASURE
-#define COUNTEQUIVTO25RPM 892857142
-#define n_SAMPLE 8
-static uint32_t speed_average = 0;
-static uint8_t count = 1;
-
-
-// ----------------------------------------------------------------------
-// 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        (100000000U)
-#define DEVICE_SPEEDTC_DIV			   (4U)
-#define DEVICE_SPEEDTC_FREQUENCY_Hz    (100000000U/DEVICE_SPEEDTC_DIV)
-#define DEVICE_PWM_FREQUENCY_kHz        (25.0f)
-#define DEVICE_ISR_FREQUENCY_kHz        DEVICE_PWM_FREQUENCY_kHz
-#define DEVICE_ISR_PERIOD_Sec         (0.001f/DEVICE_ISR_FREQUENCY_kHz)
-
-
-// ----------------------------------------------------------------------
-// Define the device quantities (voltage, current, speed)
-// ----------------------------------------------------------------------
-#define DEVICE_DC_VOLTAGE_V					24.0f   // max. ADC bus voltage(PEAK) [V]
-#define DEVICE_SHUNT_CURRENT_A				2.5f    // phase current(PEAK) [A]
-#define CURRENT_SENSOR_SENSITIVITY			0.4f    //V/A
-#define ONEON_CURRENT_SENSOR_SENSITIVITY	2.5f    //V/A
-// ----------------------------------------------------------------------
-// 	global variables
-// ----------------------------------------------------------------------
-volatile typedef struct
-{
-	volatile float32_t A;          // Phase A
-	volatile float32_t B;          // Phase B
-	volatile float32_t C;          // Phase C
-	volatile float32_t Bus;        // Currently Active Phase Current
-} MOTOR_3PHASES_t;
-
-volatile typedef struct
-{
-	volatile int16_t A;          // Phase A measured offset
-	volatile int16_t B;          // Phase B measured offset
-} MOTOR_phase_offset_t;
-
-volatile typedef struct timerflags
-{
-	volatile bool pwm_cycle_tic;
-	volatile bool current_loop_tic;
-	volatile bool control_loop_tic; //! Is motor synchronized? Does not have any meaning when motorStopped is TRUE.
-	volatile bool motor_telemetry_flag;
-}	TIMERflags_t;
-
-volatile typedef struct
-{
-	volatile PI_t Pi_Idc;
-	volatile PID_t Pid_Speed;
-	volatile PI_t Pi_Pos;
-}	MOTOR_Control_Structs;
-
-volatile typedef struct BLDCmotor
-{
-	/* Hardware */
-	const Tcc * hw;
-	uint16_t  * motor_commutation_Pattern;
-	/* Status */
-	volatile uint8_t actualDirection;	//! The actual direction of rotation.
-	volatile uint8_t desiredDirection;	//! The desired direction of rotation.
-	volatile uint16_t duty_cycle;
-	volatile float32_t calc_rpm;
-	volatile int32_t Num_Steps;			// Total Step Count
-	/* Commutation State */
-	volatile uint8_t cur_comm_step;
-	volatile uint8_t prev_comm_step;
-	/* Hall States */
-	volatile uint8_t prevHallPattern;
-	volatile uint8_t currentHallPattern;
-	volatile uint8_t nextHallPattern;
-	volatile uint8_t dir_hall_code;			//DIR_ABC
-	volatile uint8_t directionOffset;
-	/* Measured Values */
-	volatile MOTOR_3PHASES_t Iphase_pu;
-	volatile MOTOR_phase_offset_t Voffset_lsb;
-	volatile float32_t VdcBus_pu;
-	volatile float32_t VoneByDcBus_pu;
-	/* Motor Flags */
-	volatile TIMERflags_t timerflags;	
-	volatile uint8_t regulation_loop_count;
-	/* Controllers */
-	volatile MOTOR_Control_Structs controllers;
-	/* Setpoints */
-	volatile float32_t desired_torque;
-	volatile int16_t desired_speed;
-	volatile int16_t desired_position;
-	volatile float32_t max_current;
-	volatile float32_t max_torque;
-	volatile int16_t max_velocity;
-	
-} BLDCMotor_t;
-
-
-// ----------------------------------------------------------------------
-// 	global variables
-// ----------------------------------------------------------------------
-
-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] = {20,1,3,2,5,6,4,20};
-	
-static const uint16_t COMMUTATION_PATTERN[] = {
-	0x00FC,		// invalid state (0)
-	0x30F8,		// CB_CW (1)
-	0x50F4,		// CA_CW (2)
-	0x60F8,		// BA_CW (3)
-	0x607C,		// AB_CW (4)
-	0x507C,		// BC_CW (5)
-	0x30F4,		// AC_CW (6)
-	0x00FC,		// invalid state
-	0x00FC,		// invalid state
-	0x30F4,		// BC_CCW (9)
-	0x507C,		// AB_CCW (10)
-	0x607C,		// AC_CCW (11)
-	0x60F8,		// CA_CCW (12)
-	0x50F4,		// BA_CCW (13)
-	0x30F8,		// CB_CCW (14)
-	0x00FC
-};//Based on Hall State Dir_A_B_C
-
-
-volatile BLDCMotor_t Motor1;
-
-// ----------------------------------------------------------------------
-//  all controller objects, variables and helpers:
-// ----------------------------------------------------------------------
-
-//volatile PI_t Pi_Idc;
-//volatile PI_t Pi_Speed;
-
-// ----------------------------------------------------------------------
-// 	functions
-// ----------------------------------------------------------------------
-void select_active_phase(BLDCMotor_t *Motor, uint8_t hall_state);
-void BLDC_init(BLDCMotor_t *motor);
-void read_zero_current_offset_value(void);
-int32_t adc_sync_read_channel(struct adc_async_descriptor *const descr, const uint8_t channel, uint8_t *const buffer, const uint16_t length);
-static uint16_t adc_read(struct adc_async_descriptor *const descr, const uint8_t channel);
-void exec_commutation(void);
-uint8_t get_dir_hall_code(void);
-uint8_t get_hall_state(void);
-
-uint8_t HALLPatternGet(void);
-uint8_t PDEC_HALLPatternGet(void);
-void calculate_motor_speed(void);
+/*
+ * bldc.h
+ *
+ * Created: 10/03/2021 14:38:14
+ *  Author: Nick-XMG
+ */ 
+
+#ifndef BLDC_H_
+#define BLDC_H_
+
+// ----------------------------------------------------------------------
+// 	header files
+// ----------------------------------------------------------------------
+#include "arm_math.h"
+#include "atmel_start.h"
+#include "control.h"
+#include "motor_params.h"
+
+/* 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_7              (7U)
+	
+// ----------------------------------------------------------------------
+// 	ADC Parameters
+// ----------------------------------------------------------------------
+#define ADC_VOLTAGE_REFERENCE		(3.3f)
+#define ADC_RESOLUTION				(12)
+#define ADC_MAX_COUNTS				(1<<ADC_RESOLUTION)
+#define ADC_LSB_SIZE				(ADC_VOLTAGE_REFERENCE/ADC_MAX_COUNTS)
+
+// ----------------------------------------------------------------------
+// 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        (100000000U)
+#define DEVICE_SPEEDTC_DIV			   (4U)
+#define DEVICE_SPEEDTC_FREQUENCY_Hz    (100000000U/DEVICE_SPEEDTC_DIV)
+#define DEVICE_PWM_FREQUENCY_kHz        (25.0f)
+#define DEVICE_ISR_FREQUENCY_kHz        DEVICE_PWM_FREQUENCY_kHz
+#define DEVICE_ISR_PERIOD_Sec         (0.001f/DEVICE_ISR_FREQUENCY_kHz)
+
+
+// ----------------------------------------------------------------------
+// Define the device quantities (voltage, current, speed)
+// ----------------------------------------------------------------------
+#define DEVICE_DC_VOLTAGE_V					24.0f   // max. ADC bus voltage(PEAK) [V]
+#define DEVICE_SHUNT_CURRENT_A				2.5f    // phase current(PEAK) [A]
+#define CURRENT_SENSOR_SENSITIVITY			0.4f    //V/A
+#define ONEON_CURRENT_SENSOR_SENSITIVITY	2.5f    //V/A
+// ----------------------------------------------------------------------
+// 	global variables
+// ----------------------------------------------------------------------
+volatile typedef struct
+{
+	volatile float32_t A;          // Phase A
+	volatile float32_t B;          // Phase B
+	volatile float32_t C;          // Phase C
+	volatile float32_t Bus;        // Currently Active Phase Current
+} MOTOR_3PHASES_t;
+
+volatile typedef struct
+{
+	volatile int16_t A;          // Phase A measured offset
+	volatile int16_t B;          // Phase B measured offset
+} MOTOR_phase_offset_t;
+
+volatile typedef struct timerflags
+{
+	volatile bool pwm_cycle_tic;
+	volatile bool current_loop_tic;
+	volatile bool control_loop_tic; //! Is motor synchronized? Does not have any meaning when motorStopped is TRUE.
+	volatile bool motor_telemetry_flag;
+}	TIMERflags_t;
+
+volatile typedef struct
+{
+	volatile PI_t Pi_Idc;
+	volatile PID_t Pid_Speed;
+	volatile PI_t Pi_Pos;
+}	MOTOR_Control_Structs;
+
+volatile typedef struct BLDCmotor
+{
+	/* Hardware */
+	const Tcc *hw;
+	uint16_t  *motor_commutation_Pattern;
+	/* Status */
+	volatile uint8_t actualDirection;	//! The actual direction of rotation.
+	volatile uint8_t desiredDirection;	//! The desired direction of rotation.
+	volatile uint16_t duty_cycle;
+	volatile float32_t calc_rpm;
+	volatile int32_t Num_Steps;			// Total Step Count
+	/* Commutation State */
+	volatile uint8_t cur_comm_step;
+	volatile uint8_t prev_comm_step;
+	/* Hall States */
+	volatile uint8_t prevHallPattern;
+	volatile uint8_t currentHallPattern;
+	volatile uint8_t nextHallPattern;
+	volatile uint8_t dir_hall_code;			//DIR_ABC
+	volatile uint8_t directionOffset;
+	/* Measured Values */
+	volatile MOTOR_3PHASES_t Iphase_pu;
+	volatile MOTOR_phase_offset_t Voffset_lsb;
+	volatile float32_t VdcBus_pu;
+	volatile float32_t VoneByDcBus_pu;
+	/* Motor Flags */
+	volatile TIMERflags_t timerflags;	
+	volatile uint8_t regulation_loop_count;
+	/* Controllers */
+	volatile MOTOR_Control_Structs controllers;
+	/* Setpoints */
+	volatile float32_t desired_torque;
+	volatile int16_t desired_speed;
+	volatile int16_t desired_position;
+	volatile float32_t max_current;
+	volatile float32_t max_torque;
+	volatile int16_t max_velocity;
+	
+} BLDCMotor_t;
+
+
+// ----------------------------------------------------------------------
+// 	global variables
+// ----------------------------------------------------------------------
+
+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] = {20,1,3,2,5,6,4,20};
+	
+volatile BLDCMotor_t Motor1;
+
+// ----------------------------------------------------------------------
+//  all controller objects, variables and helpers:
+// ----------------------------------------------------------------------
+
+
+// ----------------------------------------------------------------------
+// 	functions
+// ----------------------------------------------------------------------
+void select_active_phase(BLDCMotor_t *Motor, uint8_t hall_state);
+void BLDC_init(BLDCMotor_t *motor);
+void read_zero_current_offset_value(void);
+int32_t adc_sync_read_channel(struct adc_async_descriptor *const descr, const uint8_t channel, uint8_t *const buffer, const uint16_t length);
+static uint16_t adc_read(struct adc_async_descriptor *const descr, const uint8_t channel);
+void exec_commutation(void);
+uint8_t get_dir_hall_code(void);
+uint8_t get_hall_state(void);
+
+uint8_t HALLPatternGet(void);
+uint8_t PDEC_HALLPatternGet(void);
+void calculate_motor_speed(void);
 void DisableGateDrivers(BLDCMotor_t *motor);
-void BLDC_runSpeedCntl(BLDCMotor_t *motor, volatile float speedfbk, volatile float speedRef);
+void BLDC_runSpeedCntl(BLDCMotor_t *motor, volatile float speedfbk, volatile float speedRef);
 void BLDC_runCurrentCntl(BLDCMotor_t *motor, volatile float curfbk, volatile float curRef);
-void BLDC_runPosCntl(BLDCMotor_t *motor, int16_t posfbk, int16_t posRef);
-
+void BLDC_runPosCntl(BLDCMotor_t *motor, int16_t posfbk, int16_t posRef);
+
 #endif /* BLDC_H_ */
\ No newline at end of file
diff --git a/BLDC_E54/BLDC_E54/motor_params.h b/BLDC_E54/BLDC_E54/motor_params.h
new file mode 100644
index 0000000..6855cc7
--- /dev/null
+++ b/BLDC_E54/BLDC_E54/motor_params.h
@@ -0,0 +1,126 @@
+/*
+ * motor_params.h
+ *
+ * Created: 28/04/2021 09:13:40
+ *  Author: Nick-XMG
+ */ 
+
+
+#ifndef MOTOR_PARAMS_H_
+#define MOTOR_PARAMS_H_
+
+// ----------------------------------------------------------------------
+// Current Sensor
+// ----------------------------------------------------------------------
+
+#define DRV_ISEN_A_CH				ADC_INPUTCTRL_MUXPOS_AIN2_Val
+#define DRV_ISEN_B_CH				ADC_INPUTCTRL_MUXPOS_AIN1_Val
+
+// ----------------------------------------------------------------------
+// 	Hall Parameters
+// ----------------------------------------------------------------------
+
+#define HALL_A_PIN					GPIO(GPIO_PORTA, 6)
#define HALL_A_PORT					PORT_PA06
#define HALL_A_MASK					~(1<<2)
#define HALL_A_LSR					HALL_A_PIN	- HALL_A_GROUP*32 -2
+#define HALL_A_GROUP				HALL_A_PIN/32

#define HALL_B_PIN					GPIO(GPIO_PORTA, 5)
+#define HALL_B_PORT					PORT_PA05
+#define HALL_B_MASK					~(1<<1)
+#define HALL_B_LSR					HALL_B_PIN	- HALL_B_GROUP*32 -1
+#define HALL_B_GROUP				HALL_B_PIN/32
+
+#define HALL_C_PIN					GPIO(GPIO_PORTA, 4)
+#define HALL_C_PORT					PORT_PA04
+#define HALL_C_MASK					~(1<<0)
+#define HALL_C_LSR					HALL_C_PIN	- HALL_C_GROUP*32 -0
+#define HALL_C_GROUP				HALL_C_PIN/32
+
+// ----------------------------------------------------------------------
+// Motor Parameters
+// ----------------------------------------------------------------------
+//  these values fit for an Faulhaber 3216W024BXTR motor
+#define MOTOR_POLES                 (14U)
+#define MOTOR_POLEPAIRS             (MOTOR_POLES/2)
+#define MOTOR_COMUTATION_STATES     (MOTOR_POLEPAIRS*6)
+#define MOTOR_RS_OHM                (3.37f)
+#define MOTOR_LD_H                  (0.001290f)
+#define MOTOR_LQ_H                  (0.001290f)
+#define MOTOR_FLUX_WB               (0.0063879968f)
+#define MOTOR_MAX_SPD_RPM           (4200.0f)
+#define MOTOR_MAX_SPD_ELEC          ((MOTOR_MAX_SPD_RPM/60)*MOTOR_POLEPAIRS)
+#define MOTOR_MEASURINGRANGE_RPM    (1.2f * MOTOR_MAX_SPD_RPM)f   // give 20% headroom
+#define MOTOR_MAX_CURRENT_IDC_A     (1.2f)
+
+#define PWM_TOP					1000
+#define MAX_PWM					700
+#define MAX_VEL					3800
+
+#define CW						0 //CBA
+#define DIRECTION_CW_OFFSET		0 //CBA
+#define CCW						1 //ABC
+#define DIRECTION_CCW_OFFSET	8 //CBA
+
+#define AVERAGE_SPEED_MEASURE
+#define COUNTEQUIVTO25RPM 892857142
+#define n_SAMPLE 8
+static uint32_t speed_average = 0;
+static uint8_t count = 1;
+
+
+
+static const uint16_t COMMUTATION_PATTERN_M1[] = {
+	0x00FC,		// invalid state (0)
+	0x30F8,		// CB_CW (1)
+	0x50F4,		// CA_CW (2)
+	0x60F8,		// BA_CW (3)
+	0x607C,		// AB_CW (4)
+	0x507C,		// BC_CW (5)
+	0x30F4,		// AC_CW (6)
+	0x00FC,		// invalid state
+	0x00FC,		// invalid state
+	0x30F4,		// BC_CCW (9)
+	0x507C,		// AB_CCW (10)
+	0x607C,		// AC_CCW (11)
+	0x60F8,		// CA_CCW (12)
+	0x50F4,		// BA_CCW (13)
+	0x30F8,		// CB_CCW (14)
+	0x00FC
+};
+
+static const uint16_t COMMUTATION_PATTERN_M2[] = {
+	0x00FC,		// invalid state (0)
+	0x30F8,		// CB_CW (1)
+	0x50F4,		// CA_CW (2)
+	0x60F8,		// BA_CW (3)
+	0x607C,		// AB_CW (4)
+	0x507C,		// BC_CW (5)
+	0x30F4,		// AC_CW (6)
+	0x00FC,		// invalid state
+	0x00FC,		// invalid state
+	0x30F4,		// BC_CCW (9)
+	0x507C,		// AB_CCW (10)
+	0x607C,		// AC_CCW (11)
+	0x60F8,		// CA_CCW (12)
+	0x50F4,		// BA_CCW (13)
+	0x30F8,		// CB_CCW (14)
+	0x00FC
+};
+
+static const uint16_t COMMUTATION_PATTERN_M3[] = {
+	0x00FC,		// invalid state (0)
+	0x30F8,		// CB_CW (1)
+	0x50F4,		// CA_CW (2)
+	0x60F8,		// BA_CW (3)
+	0x607C,		// AB_CW (4)
+	0x507C,		// BC_CW (5)
+	0x30F4,		// AC_CW (6)
+	0x00FC,		// invalid state
+	0x00FC,		// invalid state
+	0x30F4,		// BC_CCW (9)
+	0x507C,		// AB_CCW (10)
+	0x607C,		// AC_CCW (11)
+	0x60F8,		// CA_CCW (12)
+	0x50F4,		// BA_CCW (13)
+	0x30F8,		// CB_CCW (14)
+	0x00FC
+};
+
+#endif /* MOTOR_PARAMS_H_ */
\ No newline at end of file