mirror of https://github.com/rusefi/bldc.git
167 lines
5.5 KiB
C
167 lines
5.5 KiB
C
/*
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Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* mc_pwm.h
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*
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* Created on: 13 okt 2012
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* Author: benjamin
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*/
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#ifndef MCPWM_H_
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#define MCPWM_H_
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typedef enum {
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MC_STATE_OFF = 0,
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MC_STATE_DETECTING,
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MC_STATE_RUNNING,
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MC_STATE_FULL_BRAKE,
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} mc_state;
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typedef enum {
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PWM_MODE_NONSYNCHRONOUS_HISW, // This mode is not recommended
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PWM_MODE_SYNCHRONOUS, // The recommended mode
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PWM_MODE_BIPOLAR
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} mc_pwm_mode;
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typedef enum {
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FAULT_CODE_NONE = 0,
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FAULT_CODE_OVER_VOLTAGE,
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FAULT_CODE_UNDER_VOLTAGE,
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FAULT_CODE_DRV8302
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} mc_fault_code;
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typedef enum {
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CONTROL_MODE_DUTY = 0,
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CONTROL_MODE_SPEED,
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CONTROL_MODE_CURRENT
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} mc_control_mode;
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// Functions
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void mcpwm_init(void);
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void mcpwm_set_duty(float dutyCycle);
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void mcpwm_set_pid_speed(float rpm);
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void mcpwm_set_current(float current);
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int mcpwm_get_comm_step(void);
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float mcpwm_get_duty_cycle_set(void);
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float mcpwm_get_duty_cycle_now(void);
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float mcpwm_get_rpm(void);
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mc_state mcpwm_get_state(void);
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mc_fault_code mcpwm_get_fault(void);
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float mcpwm_get_kv(void);
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float mcpwm_get_kv_filtered(void);
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int mcpwm_get_tachometer_value(int reset);
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float mcpwm_get_tot_current(void);
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float mcpwm_get_tot_current_filtered(void);
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float mcpwm_get_tot_current_in(void);
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float mcpwm_get_tot_current_in_filtered(void);
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void mcpwm_set_detect(void);
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float mcpwm_get_detect_pos(void);
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signed int mcpwm_read_hall_phase(void);
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void mcpwm_full_brake(void);
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float mcpwm_read_reset_avg_motor_current(void);
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float mcpwm_read_reset_avg_input_current(void);
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float mcpwm_get_last_adc_isr_duration(void);
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float mcpwm_get_last_inj_adc_isr_duration(void);
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// Interrupt handlers
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void mcpwm_time_int_handler(void);
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void mcpwm_update_int_handler(void);
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void mcpwm_adc_inj_int_handler(void);
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void mcpwm_adc_int_handler(void *p, uint32_t flags);
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// External variables
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extern volatile uint16_t ADC_Value[];
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extern volatile int ADC_curr_norm_value[];
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extern volatile float mcpwm_detect_currents[];
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extern volatile int mcpwm_vzero;
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// Macros
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#define READ_HALL1() palReadPad(GPIOB, 6)
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#define READ_HALL2() palReadPad(GPIOB, 7)
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#define READ_HALL3() palReadPad(GPIOB, 8)
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/*
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* Parameters
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*/
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#define MCPWM_SWITCH_FREQUENCY_MIN 8000 // The lowest switching frequency in Hz
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#define MCPWM_SWITCH_FREQUENCY_MAX 40000 // The highest switching frequency in Hz
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#define MCPWM_DEAD_TIME_CYCLES 80 // Dead time
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#define MCPWM_PWM_MODE PWM_MODE_SYNCHRONOUS // Default PWM mode
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#define MCPWM_MIN_DUTY_CYCLE 0.01 // Minimum duty cycle
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#define MCPWM_MAX_DUTY_CYCLE 0.95 // Maximum duty cycle
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#define MCPWM_AVG_COM_RPM 6 // Number of commutations to average RPM over
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#define MCPWM_HALL_SENSOR_ORDER 5 // Order in which hall sensors are connected
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#define MCPWM_RAMP_STEP 0.02 // Ramping step (1000 times/sec) at maximum duty cycle
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#define MCPWM_CURRENT_MAX 60.0 // Current limit in Amperes
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#define MCPWM_CURRENT_MIN -20.0 // Current limit in Amperes
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#define MCPWM_IN_CURRENT_LIMIT 40.0 // Input current limit in Amperes
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#define MCPWM_MIN_VOLTAGE 8.0 // Minimum input voltage
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#define MCPWM_MAX_VOLTAGE 50.0 // Maximum input voltage
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#define MCPWM_MAX_WRONG_VOLTAGE_ITR 3 // PWM cycles with wrong voltage before shutdown
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#define MCPWM_FULL_BRAKE_AT_STOP 0 // Brake the motor when the power is set to stopped
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#define MCPWM_FAULT_STOP_TIME 3000 // Ignore commands for this duration in msec when faults occur
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#define MCPWM_MAX_RPM 100000.0 // The motor speed limit
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// Sensorless settings
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#define MCPWM_IS_SENSORLESS 1 // Use sensorless commutation
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#define MCPWM_MIN_RPM 300 // Auto-commutate below this RPM
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#define MCPWM_CYCLE_INT_LIMIT_LOW 150.0 // Flux integrator limit 0 ERPM
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#define MCPWM_CYCLE_INT_LIMIT_HIGH 20.0 // Flux integrator limit 50K ERPM
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#define MCPWM_VZERO_FACT 1.0 // Virtual zero adjustment
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// Speed PID parameters
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#define MCPWM_PID_TIME_K 0.001 // Pid controller sample time in seconds
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#define MCPWM_PID_KP 0.0001 // Proportional gain
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#define MCPWM_PID_KI 0.002 // Integral gain
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#define MCPWM_PID_KD 0.0 // Derivative gain
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#define MCPWM_PID_MIN_RPM 1200.0 // Minimum allowed RPM
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// Current control parameters
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#define MCPWM_CURRENT_CONTROL_GAIN 0.0002 // Current controller error gain
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#define MCPWM_CURRENT_CONTROL_MIN 1.0 // Minimum allowed current
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// Misc settings
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#define MCPWM_ADC_CHANNELS 12
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/*
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* ==== Parameter guidelines ====
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*
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* Most hobby inrunners and small motors:
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* MCPWM_CYCLE_INT_LIMIT_LOW 15
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* MCPWM_CYCLE_INT_LIMIT_HIGH 2
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*
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* Most hobby outrunners (1kw - 5kw):
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* MCPWM_CYCLE_INT_LIMIT_LOW 150
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* MCPWM_CYCLE_INT_LIMIT_HIGH 20
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*
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* Large 12V high-inductance motor
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* MCPWM_CYCLE_INT_LIMIT_LOW 250
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* MCPWM_CYCLE_INT_LIMIT_HIGH 30
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*
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*
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* ==== Some notes ====
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*
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* - Decreasing the MCPWM_MIN_RPM parameter gives a bit more
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* startup torque, but will make the start more rough.
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*
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* - Starting at a low MCPWM_CYCLE_INT_LIMIT and then increasing
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* it usually works well.
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*/
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#endif /* MC_PWM_H_ */
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