/* 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 . */ /* * mc_pwm.h * * Created on: 13 okt 2012 * Author: benjamin */ #ifndef MCPWM_H_ #define MCPWM_H_ typedef enum { MC_STATE_OFF = 0, MC_STATE_DETECTING, MC_STATE_STARTING, MC_STATE_RUNNING, MC_STATE_FULL_BRAKE, MC_STATE_STATIC_VECTOR } mc_state; typedef enum { PWM_MODE_NONSYNCHRONOUS_LOSW = 0, // Note: Does not work! PWM_MODE_NONSYNCHRONOUS_HISW, PWM_MODE_SYNCHRONOUS, PWM_MODE_BIPOLAR } mc_pwm_mode; // Functions void mcpwm_init(void); void mcpwm_set_duty(float dutyCycle); int mcpwm_get_comm_step(void); float mcpwm_get_duty_cycle(void); float mcpwm_get_rpm(void); void mcpwm_use_pid(int use_pid); void mcpwm_set_pid_speed(float rpm); float mcpwm_get_kv(void); float mcpwm_get_kv_filtered(void); int mcpwm_get_tachometer_value(int reset); float mcpwm_get_tot_current_filtered(void); float mcpwm_get_tot_current(void); float mcpwm_get_tot_current_in(void); void mcpwm_set_detect(void); int mcpwm_get_detect_top(void); mc_state mcpwm_get_state(void); signed int mcpwm_read_hall_phase(void); void mcpwm_full_brake(void); float mcpwm_read_reset_avg_motor_current(void); float mcpwm_read_reset_avg_input_current(void); float mcpwm_get_dutycycle_now(void); float mcpwm_get_last_adc_isr_duration(void); float mcpwm_get_last_inj_adc_isr_duration(void); // Interrupt handlers void mcpwm_time_int_handler(void); void mcpwm_comm_int_handler(void); 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[]; // Macros #define READ_HALL1() palReadPad(GPIOB, 6) #define READ_HALL2() palReadPad(GPIOB, 7) #define READ_HALL3() palReadPad(GPIOB, 8) /* * Parameters */ #define MCPWM_SWITCH_FREQUENCY 40000 // Switching frequency in HZ #define MCPWM_DEAD_TIME_CYCLES 80 // Dead time #define MCPWM_PWM_MODE PWM_MODE_BIPOLAR // Default PWM mode #define MCPWM_MIN_DUTY_CYCLE 0.01 // Minimum duty cycle #define MCPWM_MAX_DUTY_CYCLE 0.95 // Maximum duty cycle #define MCPWM_AVG_COM_RPM 6 // Number of commutations to average RPM over #define MCPWM_NUM_POLES 2 // Motor pole number (for RPM calculation) #define MCPWM_HALL_SENSOR_ORDER 5 // Order in which hall sensors are connected #define MCPWM_RAMP_STEP 0.005 // Ramping step (1000 times/sec) #define MCPWM_CURRENT_MAX 40.0 // Current limit in Amperes #define MCPWM_CURRENT_MIN -20.0 // Current limit in Amperes #define MCPWM_IN_CURRENT_LIMIT 40.0 // Input current limit in Amperes #define MCPWM_FULL_BRAKE_AT_STOP 0 // Brake the motor when the power is set to stopped // Sensorless settings #define MCPWM_IS_SENSORLESS 1 // Use sensorless commutation #define MCPWM_MAX_COMM_START_DIFF 2 // The lower the number, the more picky the the closed loop detector #define MCPWM_MIN_CLOSED_RPM 300 // Switch to open loop below this RPM #define MCPWM_START_COMM_TIME_MS_L 7 // Commutation time during startup in msecs LOW #define MCPWM_START_COMM_TIME_MS_H 20 // Commutation time during startup in msecs HIGH #define MCPWM_START_DUTY_CYCLE_L 0.06 // Startup duty cycle LOW @ 20V #define MCPWM_START_DUTY_CYCLE_H 0.2 // Startup duty cycle HIGH @ 20V #define MCPWM_START_DUTY_CYCLE_REV_L 0.06 // Startup duty cycle LOW @ 20V #define MCPWM_START_DUTY_CYCLE_REV_H 0.2 // Startup duty cycle HIGH @ 20V #define MCPWM_MIN_START_STEPS 1 // Minimum steps to run in open loop #define MCPWM_CLOSED_STARTPWM_COMMS 1 // Run at least this many commutations in closed loop with start duty cycle #define MCPWM_CYCLE_INT_LIMIT 50.0 // Flux integrator limit #define MCPWM_VZERO_FACT 1.0 // Virtual zero adjustment #define MCPWM_COMM_RPM_FACTOR 0.4 // at least run one commutation for the expected times times this factor // PID parameters #define MCPWM_PID_TIME_K 0.001 // Pid controller sample time in seconds #define MCPWM_PID_KP 0.0001 // Proportional gain #define MCPWM_PID_KI 0.002 // Integral gain #define MCPWM_PID_KD 0.0 // Derivative gain #define MCPWM_PID_MIN_RPM 2000.0 // Minimum allowed RPM // Misc settings #define MCPWM_ADC_CHANNELS 12 /* * Turnigy big * MCPWM_USE_BIPOLAR_PWM: 0 * MCPWM_MAX_COMM_START_DIFF: 20 * MCPWM_START_DUTY_CYCLE_L: 0.05 * MCPWM_START_DUTY_CYCLE_H: 0.12 * MCPWM_START_DUTY_CYCLE_REV_L: 0.05 * MCPWM_START_DUTY_CYCLE_REV_H. 0.12 * MCPWM_CYCLE_INT_LIMIT: 150 * MCPWM_PID_KP: 0.0001 * MCPWM_PID_KI: 0.002 * MCPWM_VZERO_FACT: 1.0 * MCPWM_COMM_RPM_FACTOR: ?? */ /* * Gurgalof * MCPWM_USE_BIPOLAR_PWM: 0 * MCPWM_MAX_COMM_START_DIFF: 20 * MCPWM_START_DUTY_CYCLE_L: 0.2 * MCPWM_START_DUTY_CYCLE_H: 0.5 * MCPWM_START_DUTY_CYCLE_REV_L: 0.2 * MCPWM_START_DUTY_CYCLE_REV_H. 0.5 * MCPWM_CYCLE_INT_LIMIT: 350 * MCPWM_PID_KP: 0.0001 * MCPWM_PID_KI: 0.002 * MCPWM_VZERO_FACT: 1.0 * MCPWM_COMM_RPM_FACTOR: ?? */ /* * The black motor from my box: * MCPWM_USE_BIPOLAR_PWM: 0 * MCPWM_MAX_COMM_START_DIFF: 20 * MCPWM_START_DUTY_CYCLE_L: 0.1 * MCPWM_START_DUTY_CYCLE_H: 0.3 * MCPWM_START_DUTY_CYCLE_REV_L: 0.1 * MCPWM_START_DUTY_CYCLE_REV_H. 0.18 * MCPWM_CYCLE_INT_LIMIT: 110 * MCPWM_PID_KP: 0.0001 * MCPWM_PID_KI: 0.002 * MCPWM_VZERO_FACT: 1.0 * MCPWM_COMM_RPM_FACTOR: ?? */ /* * The orange motor from my box: * MCPWM_USE_BIPOLAR_PWM: 0 * MCPWM_MAX_COMM_START_DIFF: 10 * MCPWM_START_DUTY_CYCLE_L: 0.15 * MCPWM_START_DUTY_CYCLE_H: 0.4 * MCPWM_START_DUTY_CYCLE_REV_L: 0.15 * MCPWM_START_DUTY_CYCLE_REV_H. 0.2 * MCPWM_CYCLE_INT_LIMIT: 110 * MCPWM_PID_KP: 0.0001 * MCPWM_PID_KI: 0.002 * MCPWM_VZERO_FACT: 1.0 * MCPWM_COMM_RPM_FACTOR: 0.4 */ #endif /* MC_PWM_H_ */