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initial branch commit

This commit is contained in:
Nicolas Trimborn 2021-04-28 09:26:14 +02:00
parent e533db6ce8
commit db49ec9cf3
6 changed files with 308 additions and 233 deletions
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23
BLDC_E54/.gitignore vendored Normal file
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@ -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

BIN
BLDC_E54/.vs/BLDC_E54/v14/.atsuo
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3
BLDC_E54/BLDC_E54/BLDC_E54.cproj
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@ -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>

4
BLDC_E54/BLDC_E54/bldc.c
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@ -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)]));

83
BLDC_E54/BLDC_E54/bldc.h
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@ -14,31 +14,7 @@
#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
#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)
@ -51,37 +27,6 @@
#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:
@ -137,8 +82,8 @@ volatile typedef struct
volatile typedef struct BLDCmotor
{
/* Hardware */
const Tcc * hw;
uint16_t * motor_commutation_Pattern;
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.
@ -182,34 +127,12 @@ volatile typedef struct BLDCmotor
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

126
BLDC_E54/BLDC_E54/motor_params.h Normal file
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@ -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_ */