mirror of https://github.com/rusefi/bldc.git
96 lines
3.4 KiB
C
96 lines
3.4 KiB
C
/*
|
|
Copyright 2016 Benjamin Vedder benjamin@vedder.se
|
|
|
|
This file is part of the VESC firmware.
|
|
|
|
The VESC firmware 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.
|
|
|
|
The VESC firmware 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/>.
|
|
*/
|
|
|
|
#ifndef MCPWM_H_
|
|
#define MCPWM_H_
|
|
|
|
#include "conf_general.h"
|
|
|
|
// Functions
|
|
void mcpwm_init(volatile mc_configuration *configuration);
|
|
void mcpwm_deinit(void);
|
|
bool mcpwm_init_done(void);
|
|
void mcpwm_set_configuration(volatile mc_configuration *configuration);
|
|
void mcpwm_init_hall_table(int8_t *table);
|
|
void mcpwm_set_duty(float dutyCycle);
|
|
void mcpwm_set_duty_noramp(float dutyCycle);
|
|
void mcpwm_set_pid_speed(float rpm);
|
|
void mcpwm_set_pid_pos(float pos);
|
|
void mcpwm_set_current(float current);
|
|
void mcpwm_release_motor(void);
|
|
void mcpwm_set_brake_current(float current);
|
|
int mcpwm_set_tachometer_value(int steps);
|
|
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);
|
|
float mcpwm_get_kv(void);
|
|
float mcpwm_get_kv_filtered(void);
|
|
int mcpwm_get_tachometer_value(bool reset);
|
|
int mcpwm_get_tachometer_abs_value(bool reset);
|
|
void mcpwm_stop_pwm(void);
|
|
float mcpwm_get_tot_current(void);
|
|
float mcpwm_get_tot_current_filtered(void);
|
|
float mcpwm_get_tot_current_directional(void);
|
|
float mcpwm_get_tot_current_directional_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);
|
|
void mcpwm_reset_hall_detect_table(void);
|
|
int mcpwm_get_hall_detect_result(int8_t *table);
|
|
int mcpwm_read_hall_phase(void);
|
|
float mcpwm_read_reset_avg_cycle_integrator(void);
|
|
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);
|
|
bool mcpwm_is_dccal_done(void);
|
|
void mcpwm_switch_comm_mode(mc_comm_mode next);
|
|
|
|
void drv8323s_dccal_on(void);
|
|
void drv8323s_dccal_off(void);
|
|
|
|
// Interrupt handlers
|
|
void mcpwm_adc_inj_int_handler(void);
|
|
void mcpwm_adc_int_handler(void *p, uint32_t flags);
|
|
|
|
// External variables
|
|
extern volatile float mcpwm_detect_currents[];
|
|
extern volatile float mcpwm_detect_voltages[];
|
|
extern volatile float mcpwm_detect_currents_diff[];
|
|
extern volatile int mcpwm_vzero;
|
|
|
|
/*
|
|
* Fixed parameters
|
|
*/
|
|
#define MCPWM_RPM_TIMER_FREQ 1000000.0 // Frequency of the RPM measurement timer
|
|
#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
|
|
|
|
#endif /* MC_PWM_H_ */
|