mirror of https://github.com/rusefi/bldc.git
189 lines
6.2 KiB
C
189 lines
6.2 KiB
C
/*
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Copyright 2012 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_STARTING,
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MC_STATE_RUNNING,
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MC_STATE_FULL_BRAKE,
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MC_STATE_STATIC_VECTOR
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} mc_state;
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typedef enum {
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PWM_MODE_NONSYNCHRONOUS_LOSW = 0, // Note: Does not work!
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PWM_MODE_NONSYNCHRONOUS_HISW,
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PWM_MODE_SYNCHRONOUS,
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PWM_MODE_BIPOLAR
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} mc_pwm_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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int mcpwm_get_comm_step(void);
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float mcpwm_get_duty_cycle(void);
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float mcpwm_get_rpm(void);
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void mcpwm_use_pid(int use_pid);
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void mcpwm_set_pid_speed(float rpm);
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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_filtered(void);
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float mcpwm_get_tot_current(void);
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float mcpwm_get_tot_current_in(void);
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void mcpwm_set_detect(void);
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int mcpwm_get_detect_top(void);
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mc_state mcpwm_get_state(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_dutycycle_now(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_comm_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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// 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 40000 // 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_BIPOLAR // 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_NUM_POLES 2 // Motor pole number (for RPM calculation)
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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 0.005 // Ramping step (1000 times/sec)
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#define MCPWM_CURRENT_MAX 30.0 // Current limit in Amperes
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#define MCPWM_CURRENT_MIN -10.0 // Current limit in Amperes
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#define MCPWM_IN_CURRENT_LIMIT 20.0 // Input current limit in Amperes
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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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// Sensorless settings
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#define MCPWM_IS_SENSORLESS 1 // Use sensorless commutation
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#define MCPWM_MAX_COMM_START_DIFF 2 // The lower the number, the more picky the the closed loop detector
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#define MCPWM_MIN_CLOSED_RPM 300 // Switch to open loop below this RPM
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#define MCPWM_START_COMM_TIME_MS_L 7 // Commutation time during startup in msecs LOW
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#define MCPWM_START_COMM_TIME_MS_H 20 // Commutation time during startup in msecs HIGH
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#define MCPWM_START_DUTY_CYCLE_L 0.06 // Startup duty cycle LOW @ 20V
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#define MCPWM_START_DUTY_CYCLE_H 0.2 // Startup duty cycle HIGH @ 20V
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#define MCPWM_START_DUTY_CYCLE_REV_L 0.06 // Startup duty cycle LOW @ 20V
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#define MCPWM_START_DUTY_CYCLE_REV_H 0.2 // Startup duty cycle HIGH @ 20V
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#define MCPWM_MIN_START_STEPS 1 // Minimum steps to run in open loop
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#define MCPWM_CLOSED_STARTPWM_COMMS 1 // Run at least this many commutations in closed loop with start duty cycle
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#define MCPWM_CYCLE_INT_LIMIT 150.0 // Flux integrator limit
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#define MCPWM_VZERO_FACT 1.0 // Virtual zero adjustment
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#define MCPWM_COMM_RPM_FACTOR 0.4 // at least run one commutation for the expected times times this factor
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// 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 2000.0 // Minimum allowed RPM
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// Misc settings
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#define MCPWM_ADC_CHANNELS 12
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/*
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* Turnigy big
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* MCPWM_USE_BIPOLAR_PWM: 0
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* MCPWM_MAX_COMM_START_DIFF: 20
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* MCPWM_START_DUTY_CYCLE_L: 0.05
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* MCPWM_START_DUTY_CYCLE_H: 0.12
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* MCPWM_START_DUTY_CYCLE_REV_L: 0.05
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* MCPWM_START_DUTY_CYCLE_REV_H. 0.12
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* MCPWM_CYCLE_INT_LIMIT: 150
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* MCPWM_PID_KP: 0.0001
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* MCPWM_PID_KI: 0.002
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* MCPWM_VZERO_FACT: 1.0
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* MCPWM_COMM_RPM_FACTOR: ??
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*/
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/*
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* Gurgalof
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* MCPWM_USE_BIPOLAR_PWM: 0
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* MCPWM_MAX_COMM_START_DIFF: 20
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* MCPWM_START_DUTY_CYCLE_L: 0.2
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* MCPWM_START_DUTY_CYCLE_H: 0.5
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* MCPWM_START_DUTY_CYCLE_REV_L: 0.2
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* MCPWM_START_DUTY_CYCLE_REV_H. 0.5
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* MCPWM_CYCLE_INT_LIMIT: 350
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* MCPWM_PID_KP: 0.0001
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* MCPWM_PID_KI: 0.002
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* MCPWM_VZERO_FACT: 1.0
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* MCPWM_COMM_RPM_FACTOR: ??
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*/
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/*
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* Selden parameters (black motor):
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* MCPWM_USE_BIPOLAR_PWM: 0
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* MCPWM_MAX_COMM_START_DIFF: 20
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* MCPWM_START_DUTY_CYCLE_L: 0.1
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* MCPWM_START_DUTY_CYCLE_H: 0.3
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* MCPWM_START_DUTY_CYCLE_REV_L: 0.1
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* MCPWM_START_DUTY_CYCLE_REV_H. 0.18
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* MCPWM_CYCLE_INT_LIMIT: 110
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* MCPWM_PID_KP: 0.0001
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* MCPWM_PID_KI: 0.002
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* MCPWM_VZERO_FACT: 1.0
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* MCPWM_COMM_RPM_FACTOR: ??
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*/
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/*
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* Selden parameters (orange motor):
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* MCPWM_USE_BIPOLAR_PWM: 0
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* MCPWM_MAX_COMM_START_DIFF: 10
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* MCPWM_START_DUTY_CYCLE_L: 0.15
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* MCPWM_START_DUTY_CYCLE_H: 0.4
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* MCPWM_START_DUTY_CYCLE_REV_L: 0.15
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* MCPWM_START_DUTY_CYCLE_REV_H. 0.2
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* MCPWM_CYCLE_INT_LIMIT: 110
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* MCPWM_PID_KP: 0.0001
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* MCPWM_PID_KI: 0.002
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* MCPWM_VZERO_FACT: 1.0
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* MCPWM_COMM_RPM_FACTOR: 0.4
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*/
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#endif /* MC_PWM_H_ */
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