bldc/mcpwm.h

/*
	Copyright 2012-2014 Benjamin Vedder	benjamin@vedder.se

	This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
    */

/*
 * mc_pwm.h
 *
 *  Created on: 13 okt 2012
 *      Author: benjamin
 */

#ifndef MCPWM_H_
#define MCPWM_H_

#include "conf_general.h"

// Data types
typedef enum {
   MC_STATE_OFF = 0,
   MC_STATE_DETECTING,
   MC_STATE_RUNNING,
   MC_STATE_FULL_BRAKE,
} mc_state;

typedef enum {
	PWM_MODE_NONSYNCHRONOUS_HISW, // This mode is not recommended
	PWM_MODE_SYNCHRONOUS, // The recommended and most tested mode
	PWM_MODE_BIPOLAR // Some glitches occasionally, can kill MOSFETs
} mc_pwm_mode;

typedef enum {
	COMM_MODE_INTEGRATE = 0,
	COMM_MODE_DELAY
} mc_comm_mode;

typedef enum {
	FAULT_CODE_NONE = 0,
	FAULT_CODE_OVER_VOLTAGE,
	FAULT_CODE_UNDER_VOLTAGE,
	FAULT_CODE_DRV8302,
	FAULT_CODE_ABS_OVER_CURRENT
} mc_fault_code;

typedef enum {
	CONTROL_MODE_DUTY = 0,
	CONTROL_MODE_SPEED,
	CONTROL_MODE_CURRENT,
	CONTROL_MODE_CURRENT_BRAKE,
	CONTROL_MODE_NONE
} mc_control_mode;

typedef struct {
	volatile float cycle_int_limit;
	volatile float cycle_int_limit_running;
	volatile float cycle_int_limit_max;
	volatile float comm_time_sum;
	volatile float comm_time_sum_min_rpm;
	volatile uint32_t comms;
	volatile uint32_t time_at_comm;
} mc_rpm_dep_struct;

// Functions
void mcpwm_init(void);
void mcpwm_init_hall_table(int dir, int fwd_add, int rev_add);
void mcpwm_set_duty(float dutyCycle);
void mcpwm_set_pid_speed(float rpm);
void mcpwm_set_current(float current);
void mcpwm_set_brake_current(float current);
void mcpwm_brake_now(void);
void mcpwm_release_motor(void);
int mcpwm_get_comm_step(void);
float mcpwm_get_duty_cycle_set(void);
float mcpwm_get_duty_cycle_now(void);
float mcpwm_get_switching_frequency_now(void);
float mcpwm_get_rpm(void);
mc_state mcpwm_get_state(void);
mc_fault_code mcpwm_get_fault(void);
float mcpwm_get_kv(void);
float mcpwm_get_kv_filtered(void);
int mcpwm_get_tachometer_value(int reset);
float mcpwm_get_tot_current(void);
float mcpwm_get_tot_current_filtered(void);
float mcpwm_get_tot_current_in(void);
float mcpwm_get_tot_current_in_filtered(void);
void mcpwm_set_detect(void);
float mcpwm_get_detect_pos(void);
signed int mcpwm_read_hall_phase(void);
float mcpwm_read_reset_avg_motor_current(void);
float mcpwm_read_reset_avg_input_current(void);
float mcpwm_read_reset_avg_cycle_integrator(void);
void mcpwm_set_min_rpm(float rpm);
void mcpwm_set_comm_mode(mc_comm_mode mode);
mc_comm_mode mcpwm_get_comm_mode(void);
float mcpwm_get_last_adc_isr_duration(void);
float mcpwm_get_last_inj_adc_isr_duration(void);
mc_rpm_dep_struct mcpwm_get_rpm_dep(void);

// Interrupt handlers
void mcpwm_adc_inj_int_handler(void);
void mcpwm_adc_int_handler(void *p, uint32_t flags);

// External variables
extern volatile uint16_t ADC_Value[];
extern volatile int ADC_curr_norm_value[];
extern volatile float mcpwm_detect_currents[];
extern volatile float mcpwm_detect_currents_diff[];
extern volatile int mcpwm_vzero;

#ifdef MCCONF_OUTRUNNER1
#include "mcconf_outrunner1.h"
#elif defined MCCONF_OUTRUNNER2
#include "mcconf_outrunner2.h"
#elif defined MCCONF_OUTRUNNER_OR
#include "mcconf_outrunner_or.h"
#elif defined MCCONF_OUTRUNNER_BL
#include "mcconf_outrunner_bl.h"
#elif defined MCCONF_RCCAR1
#include "mcconf_rccar1.h"
#elif defined MCCONF_RCCAR2
#include "mcconf_rccar2.h"
#elif defined MCCONF_STEN
#include "mcconf_sten.h"
#elif defined MCCONF_GURGALOF
#include "mcconf_gurgalof.h"
#elif defined MCCONF_HDD
#include "mcconf_hdd.h"
#endif

/*
 * Parameters
 */
#define MCPWM_SWITCH_FREQUENCY_MIN		3000	// The lowest switching frequency in Hz
#define MCPWM_SWITCH_FREQUENCY_MAX		35000	// The highest switching frequency in Hz
#define MCPWM_DEAD_TIME_CYCLES			80		// Dead time
#define MCPWM_RPM_TIMER_FREQ			1000000.0	// Frequency of the RPM measurement timer
#define MCPWM_MIN_DUTY_CYCLE			0.005	// Minimum duty cycle
#define MCPWM_MAX_DUTY_CYCLE			0.95	// Maximum duty cycle
#define MCPWM_RAMP_STEP					0.01	// Ramping step (1000 times/sec) at maximum duty cycle
#define MCPWM_RAMP_STEP_CURRENT_MAX		0.04	// Maximum ramping step (1000 times/sec) for the current control
#define MCPWM_RAMP_STEP_RPM_LIMIT		0.0005	// Ramping step when limiting the RPM
#define MCPWM_CURRENT_LIMIT_GAIN		1.0		// The error gain of the current limiting algorithm
#define MCPWM_FAULT_STOP_TIME			3000	// Ignore commands for this duration in msec when faults occur
#define MCPWM_CMD_STOP_TIME				0		// Ignore commands for this duration in msec after a stop has been sent
#define MCPWM_DETECT_STOP_TIME			500		// Ignore commands for this duration in msec after a detect command

// Speed PID parameters
#define MCPWM_PID_TIME_K				0.001	// Pid controller sample time in seconds

// Parameters that can be overridden
#ifndef MCPWM_PWM_MODE
#define MCPWM_PWM_MODE					PWM_MODE_SYNCHRONOUS // Default PWM mode
#endif
#ifndef MCPWM_HALL_DIR
#define MCPWM_HALL_DIR					0		// Hall sensor direction [0 or 1]
#endif
#ifndef MCPWM_HALL_FWD_ADD
#define MCPWM_HALL_FWD_ADD				0		// Hall sensor offset fwd [0 to 5]
#endif
#ifndef MCPWM_HALL_REV_ADD
#define MCPWM_HALL_REV_ADD				0		// Hall sensor offset rev [0 to 5]
#endif
#ifndef MCPWM_MIN_VOLTAGE
#define MCPWM_MIN_VOLTAGE				8.0		// Minimum input voltage
#endif
#ifndef MCPWM_MAX_VOLTAGE
#define MCPWM_MAX_VOLTAGE				50.0	// Maximum input voltage
#endif
#ifndef MCPWM_RPM_MAX
#define MCPWM_RPM_MAX					100000.0	// The motor speed limit (Upper)
#endif
#ifndef MCPWM_RPM_MIN
#define MCPWM_RPM_MIN					-100000.0	// The motor speed limit (Lower)
#endif
#ifndef MCPWM_CURRENT_STARTUP_BOOST
#define MCPWM_CURRENT_STARTUP_BOOST		0.01	// The lowest duty cycle to use in current control mode (has to be > MCPWM_MIN_DUTY_CYCLE)
#endif
#ifndef MCPWM_RPM_LIMIT_NEG_TORQUE
#define MCPWM_RPM_LIMIT_NEG_TORQUE		1		// Use negative torque to limit the RPM
#endif
#ifndef MCPWM_CURR_MIN_RPM_FBRAKE
#define MCPWM_CURR_MIN_RPM_FBRAKE		1500	// Minimum electrical RPM to use full brake at
#endif
#ifndef MCPWM_SLOW_ABS_OVERCURRENT
#define MCPWM_SLOW_ABS_OVERCURRENT		0		// Use the filtered (and hence slower) current for the overcurrent fault detection
#endif
#ifndef MCPWM_COMM_MODE
#define MCPWM_COMM_MODE					COMM_MODE_INTEGRATE	// The commutation mode to use
#endif
#ifndef MCPWM_CYCLE_INT_LIMIT_HIGH_FAC
#define MCPWM_CYCLE_INT_LIMIT_HIGH_FAC	0.8		// Flux integrator limit percentage at MCPWM_CYCLE_INT_START_RPM_BR ERPM
#endif
#ifndef MCPWM_CYCLE_INT_START_RPM_BR
#define MCPWM_CYCLE_INT_START_RPM_BR	80000.0	// RPM border between the START and LOW interval
#endif

#endif /* MC_PWM_H_ */