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bldc/mcpwm.c

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/*
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/>.
*/
/*
* mcpwm.c
*
* Created on: 13 okt 2012
* Author: benjamin
*/
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
#include <stdlib.h>
#include <math.h>
#include <stdio.h>
#include <string.h>
#include "main.h"
#include "mcpwm.h"
#include "digital_filter.h"
#include "utils.h"
#include "ledpwm.h"
#include "hw.h"
#include "terminal.h"
// Structs
typedef struct {
volatile bool updated;
volatile unsigned int top;
volatile unsigned int duty;
volatile unsigned int val_sample;
volatile unsigned int curr1_sample;
volatile unsigned int curr2_sample;
} mc_timer_struct;
// Private variables
static volatile int comm_step; // Range [1 6]
static volatile int detect_step; // Range [0 5]
static volatile int direction;
static volatile float dutycycle_set;
static volatile float dutycycle_now;
static volatile float rpm_now;
static volatile float speed_pid_set_rpm;
static volatile float current_set;
static volatile int tachometer;
static volatile int tachometer_abs;
static volatile int tachometer_for_direction;
static volatile int curr0_sum;
static volatile int curr1_sum;
static volatile int curr_start_samples;
static volatile int curr0_offset;
static volatile int curr1_offset;
static volatile mc_state state;
static volatile mc_fault_code fault_now;
static volatile mc_control_mode control_mode;
static volatile float last_current_sample;
static volatile float last_current_sample_filtered;
static volatile float motor_current_sum;
static volatile float input_current_sum;
static volatile float motor_current_iterations;
static volatile float input_current_iterations;
static volatile float mcpwm_detect_currents_avg[6];
static volatile float mcpwm_detect_currents_avg_samples[6];
static volatile float switching_frequency_now;
static volatile int ignore_iterations;
static volatile mc_timer_struct timer_struct;
static volatile int curr_samp_volt; // Use the voltage-synchronized samples for this current sample
static int hall_to_phase_table[16];
static volatile unsigned int cycles_running;
static volatile unsigned int slow_ramping_cycles;
static volatile int has_commutated;
static volatile mc_rpm_dep_struct rpm_dep;
static volatile float cycle_integrator_sum;
static volatile float cycle_integrator_iterations;
static volatile mc_configuration conf;
static volatile float pwm_cycles_sum;
static volatile float last_pwm_cycles_sum;
static volatile float last_pwm_cycles_sums[6];
static volatile float amp_seconds;
static volatile float amp_seconds_charged;
static volatile float watt_seconds;
static volatile float watt_seconds_charged;
static volatile bool dccal_done;
// KV FIR filter
#define KV_FIR_TAPS_BITS 7
#define KV_FIR_LEN (1 << KV_FIR_TAPS_BITS)
#define KV_FIR_FCUT 0.02
static volatile float kv_fir_coeffs[KV_FIR_LEN];
static volatile float kv_fir_samples[KV_FIR_LEN];
static volatile int kv_fir_index = 0;
// Amplitude FIR filter
#define AMP_FIR_TAPS_BITS 7
#define AMP_FIR_LEN (1 << AMP_FIR_TAPS_BITS)
#define AMP_FIR_FCUT 0.02
static volatile float amp_fir_coeffs[AMP_FIR_LEN];
static volatile float amp_fir_samples[AMP_FIR_LEN];
static volatile int amp_fir_index = 0;
// Current FIR filter
#define CURR_FIR_TAPS_BITS 4
#define CURR_FIR_LEN (1 << CURR_FIR_TAPS_BITS)
#define CURR_FIR_FCUT 0.15
static volatile float current_fir_coeffs[CURR_FIR_LEN];
static volatile float current_fir_samples[CURR_FIR_LEN];
static volatile int current_fir_index = 0;
static volatile float last_adc_isr_duration;
static volatile float last_inj_adc_isr_duration;
// Global variables
volatile uint16_t ADC_Value[HW_ADC_CHANNELS];
volatile int ADC_curr_norm_value[3];
volatile float mcpwm_detect_currents[6];
volatile float mcpwm_detect_currents_diff[6];
volatile int mcpwm_vzero;
// Private functions
static void set_duty_cycle_hl(float dutyCycle);
static void set_duty_cycle_ll(float dutyCycle);
static void set_duty_cycle_hw(float dutyCycle);
static void stop_pwm_ll(void);
static void stop_pwm_hw(void);
static void full_brake_ll(void);
static void full_brake_hw(void);
static void fault_stop(mc_fault_code fault);
static void run_pid_controller(void);
static void set_next_comm_step(int next_step);
static void update_rpm_tacho(void);
static void update_adc_sample_pos(mc_timer_struct *timer_tmp);
static void commutate(int steps);
static void set_next_timer_settings(mc_timer_struct *settings);
static void update_timer_attempt(void);
static void set_switching_frequency(float frequency);
static int try_input(void);
static void do_dc_cal(void);
static void update_override_limits(volatile mc_configuration *conf);
// Defines
#define IS_DETECTING() (state == MC_STATE_DETECTING)
// Threads
static WORKING_AREA(timer_thread_wa, 2048);
static msg_t timer_thread(void *arg);
static WORKING_AREA(rpm_thread_wa, 1024);
static msg_t rpm_thread(void *arg);
void mcpwm_init(mc_configuration *configuration) {
utils_sys_lock_cnt();
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
conf = *configuration;
// Initialize variables
comm_step = 1;
detect_step = 0;
direction = 1;
rpm_now = 0;
dutycycle_set = 0.0;
dutycycle_now = 0.0;
speed_pid_set_rpm = 0.0;
current_set = 0.0;
tachometer = 0;
tachometer_abs = 0;
tachometer_for_direction = 0;
state = MC_STATE_OFF;
fault_now = FAULT_CODE_NONE;
control_mode = CONTROL_MODE_NONE;
last_current_sample = 0.0;
last_current_sample_filtered = 0.0;
motor_current_sum = 0.0;
input_current_sum = 0.0;
motor_current_iterations = 0.0;
input_current_iterations = 0.0;
switching_frequency_now = MCPWM_SWITCH_FREQUENCY_MAX;
ignore_iterations = 0;
curr_samp_volt = 0;
cycles_running = 0;
slow_ramping_cycles = 0;
has_commutated = 0;
memset((void*)&rpm_dep, 0, sizeof(rpm_dep));
cycle_integrator_sum = 0.0;
cycle_integrator_iterations = 0.0;
pwm_cycles_sum = 0.0;
last_pwm_cycles_sum = 0.0;
memset((float*)last_pwm_cycles_sums, 0, sizeof(last_pwm_cycles_sums));
amp_seconds = 0.0;
amp_seconds_charged = 0.0;
watt_seconds = 0.0;
watt_seconds_charged = 0.0;
dccal_done = false;
mcpwm_init_hall_table(conf.hall_dir, conf.hall_fwd_add, conf.hall_rev_add);
// Create KV FIR filter
filter_create_fir_lowpass((float*)kv_fir_coeffs, KV_FIR_FCUT, KV_FIR_TAPS_BITS, 1);
// Create amplitude FIR filter
filter_create_fir_lowpass((float*)amp_fir_coeffs, AMP_FIR_FCUT, AMP_FIR_TAPS_BITS, 1);
// Create current FIR filter
filter_create_fir_lowpass((float*)current_fir_coeffs, CURR_FIR_FCUT, CURR_FIR_TAPS_BITS, 1);
TIM_DeInit(TIM1);
TIM_DeInit(TIM8);
TIM1->CNT = 0;
TIM8->CNT = 0;
// TIM1 clock enable
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
// Time Base configuration
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = SYSTEM_CORE_CLOCK / (int)switching_frequency_now;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
// Channel 1, 2 and 3 Configuration in PWM mode
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = TIM1->ARR / 2;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
// Automatic Output enable, Break, dead time and lock configuration
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = MCPWM_DEAD_TIME_CYCLES;
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
TIM_CCPreloadControl(TIM1, ENABLE);
TIM_ARRPreloadConfig(TIM1, ENABLE);
/*
* ADC!
*/
ADC_CommonInitTypeDef ADC_CommonInitStructure;
DMA_InitTypeDef DMA_InitStructure;
ADC_InitTypeDef ADC_InitStructure;
// Clock
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2 | RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2 | RCC_APB2Periph_ADC3, ENABLE);
dmaStreamAllocate(STM32_DMA_STREAM(STM32_DMA_STREAM_ID(2, 4)),
3,
(stm32_dmaisr_t)mcpwm_adc_int_handler,
(void *)0);
// DMA for the ADC
DMA_InitStructure.DMA_Channel = DMA_Channel_0;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ADC_Value;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC->CDR;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = HW_ADC_CHANNELS;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA2_Stream4, &DMA_InitStructure);
// DMA2_Stream0 enable
DMA_Cmd(DMA2_Stream4, ENABLE);
// Enable transfer complete interrupt
DMA_ITConfig(DMA2_Stream4, DMA_IT_TC, ENABLE);
// ADC Common Init
// Note that the ADC is running at 42MHz, which is higher than the
// specified 36MHz in the data sheet, but it works.
ADC_CommonInitStructure.ADC_Mode = ADC_TripleMode_RegSimult;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_1;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
// Channel-specific settings
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_Falling;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T8_CC1;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = HW_ADC_NBR_CONV;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_ExternalTrigConv = 0;
ADC_Init(ADC2, &ADC_InitStructure);
ADC_Init(ADC3, &ADC_InitStructure);
hw_setup_adc_channels();
// Enable DMA request after last transfer (Multi-ADC mode)
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
// Injected channels for current measurement at end of cycle
ADC_ExternalTrigInjectedConvConfig(ADC1, ADC_ExternalTrigInjecConv_T1_CC4);
ADC_ExternalTrigInjectedConvConfig(ADC2, ADC_ExternalTrigInjecConv_T8_CC2);
ADC_ExternalTrigInjectedConvEdgeConfig(ADC1, ADC_ExternalTrigInjecConvEdge_Falling);
ADC_ExternalTrigInjectedConvEdgeConfig(ADC2, ADC_ExternalTrigInjecConvEdge_Falling);
ADC_InjectedSequencerLengthConfig(ADC1, 1);
ADC_InjectedSequencerLengthConfig(ADC2, 1);
// Interrupt
ADC_ITConfig(ADC1, ADC_IT_JEOC, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = ADC_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 3;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
// Enable ADC1
ADC_Cmd(ADC1, ENABLE);
// Enable ADC2
ADC_Cmd(ADC2, ENABLE);
// Enable ADC3
ADC_Cmd(ADC3, ENABLE);
// ------------- Timer8 for ADC sampling ------------- //
// Time Base configuration
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 500;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OC1Init(TIM8, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_OC2Init(TIM8, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM8, ENABLE);
TIM_CCPreloadControl(TIM8, ENABLE);
// PWM outputs have to be enabled in order to trigger ADC on CCx
TIM_CtrlPWMOutputs(TIM8, ENABLE);
// TIM1 Master and TIM8 slave
TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update);
TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);
TIM_SelectInputTrigger(TIM8, TIM_TS_ITR0);
TIM_SelectSlaveMode(TIM8, TIM_SlaveMode_Reset);
// Enable TIM1 and TIM8
TIM_Cmd(TIM1, ENABLE);
TIM_Cmd(TIM8, ENABLE);
// Main Output Enable
TIM_CtrlPWMOutputs(TIM1, ENABLE);
// 32-bit timer for RPM measurement
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
uint16_t PrescalerValue = (uint16_t) ((SYSTEM_CORE_CLOCK / 2) / MCPWM_RPM_TIMER_FREQ) - 1;
// Time base configuration
TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
// TIM2 enable counter
TIM_Cmd(TIM2, ENABLE);
// ADC sampling locations
stop_pwm_hw();
mc_timer_struct timer_tmp;
timer_tmp.top = TIM1->ARR;
timer_tmp.duty = TIM1->ARR / 2;
update_adc_sample_pos(&timer_tmp);
set_next_timer_settings(&timer_tmp);
utils_sys_unlock_cnt();
// Calibrate current offset
ENABLE_GATE();
DCCAL_OFF();
do_dc_cal();
// Various time measurements
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12, ENABLE);
PrescalerValue = (uint16_t) ((SYSTEM_CORE_CLOCK / 2) / 10000000) - 1;
// Time base configuration
TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = PrescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM12, &TIM_TimeBaseStructure);
// TIM3 enable counter
TIM_Cmd(TIM12, ENABLE);
// Start threads
chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
chThdCreateStatic(rpm_thread_wa, sizeof(rpm_thread_wa), NORMALPRIO, rpm_thread, NULL);
// WWDG configuration
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
WWDG_SetPrescaler(WWDG_Prescaler_1);
WWDG_SetWindowValue(255);
WWDG_Enable(100);
// Reset tachometers again
tachometer = 0;
tachometer_abs = 0;
}
const volatile mc_configuration* mcpwm_get_configuration(void) {
return &conf;
}
void mcpwm_set_configuration(mc_configuration *configuration) {
// Stop everything first to be safe
control_mode = CONTROL_MODE_NONE;
stop_pwm_ll();
utils_sys_lock_cnt();
conf = *configuration;
update_override_limits(&conf);
mcpwm_init_hall_table(conf.hall_dir, conf.hall_fwd_add, conf.hall_rev_add);
utils_sys_unlock_cnt();
}
/**
* Initialize the hall sensor lookup table
*
* @param dir
* Invert the direction
*
* @param fwd_add
* Offset to add when the motor is spinning forwards
*
* @param rev_add
* Offset to add when the motor is spinning reverse
*/
void mcpwm_init_hall_table(int dir, int fwd_add, int rev_add) {
const int comms1[8] = {-1,1,3,2,5,6,4,-1};
const int comms2[8] = {-1,1,5,6,3,2,4,-1};
memcpy(hall_to_phase_table, dir ? comms1 : comms2, sizeof(int[8]));
memcpy(hall_to_phase_table + 8, dir ? comms2 : comms1, sizeof(int[8]));
for (int i = 1;i < 7;i++) {
hall_to_phase_table[i ] = ((hall_to_phase_table[i ] + rev_add) % 6) + 1;
hall_to_phase_table[8 + i] = ((hall_to_phase_table[8 + i] + fwd_add) % 6) + 1;
}
}
static void do_dc_cal(void) {
DCCAL_ON();
while(IS_DRV_FAULT()){};
chThdSleepMilliseconds(1000);
curr0_sum = 0;
curr1_sum = 0;
curr_start_samples = 0;
while(curr_start_samples < 4000) {};
curr0_offset = curr0_sum / curr_start_samples;
curr1_offset = curr1_sum / curr_start_samples;
DCCAL_OFF();
dccal_done = true;
}
/**
* Update the override limits for a configuration based on MOSFET temperature etc.
*
* @param conf
* The configaration to update.
*/
static void update_override_limits(volatile mc_configuration *conf) {
float temp = NTC_TEMP(ADC_IND_TEMP_MOS1);
if (temp < conf->l_temp_fet_start) {
conf->lo_current_min = conf->l_current_min;
conf->lo_current_max = conf->l_current_max;
} else if (temp > conf->l_temp_fet_end) {
conf->lo_current_min = 0.0;
conf->lo_current_max = 0.0;
fault_stop(FAULT_CODE_OVER_TEMP_FET);
} else {
float maxc = fabsf(conf->l_current_max);
if (fabsf(conf->l_current_min) > maxc) {
maxc = fabsf(conf->l_current_min);
}
maxc = utils_map(temp, conf->l_temp_fet_start, conf->l_temp_fet_end, maxc, 0.0);
if (fabsf(conf->l_current_max) > maxc) {
conf->lo_current_max = SIGN(conf->l_current_max) * maxc;
}
if (fabsf(conf->l_current_min) > maxc) {
conf->lo_current_min = SIGN(conf->l_current_min) * maxc;
}
}
conf->lo_in_current_max = conf->l_in_current_max;
conf->lo_in_current_min = conf->l_in_current_min;
}
/**
* Use duty cycle control. Absolute values less than MCPWM_MIN_DUTY_CYCLE will
* stop the motor.
*
* @param dutyCycle
* The duty cycle to use.
*/
void mcpwm_set_duty(float dutyCycle) {
if (try_input()) {
return;
}
control_mode = CONTROL_MODE_DUTY;
set_duty_cycle_hl(dutyCycle);
}
/**
* Use PID rpm control. Note that this value has to be multiplied by half of
* the number of motor poles.
*
* @param rpm
* The electrical RPM goal value to use.
*/
void mcpwm_set_pid_speed(float rpm) {
if (try_input()) {
return;
}
control_mode = CONTROL_MODE_SPEED;
speed_pid_set_rpm = rpm;
}
/**
* Use current control and specify a goal current to use. The sign determines
* the direction of the torque. Absolute values less than
* conf.cc_min_current will release the motor.
*
* @param current
* The current to use.
*/
void mcpwm_set_current(float current) {
if (try_input()) {
return;
}
if (fabsf(current) < conf.cc_min_current) {
control_mode = CONTROL_MODE_NONE;
stop_pwm_ll();
return;
}
utils_truncate_number(&current, conf.lo_current_min, conf.lo_current_max);
control_mode = CONTROL_MODE_CURRENT;
current_set = current;
if (state != MC_STATE_RUNNING) {
set_duty_cycle_hl(SIGN(current) * MCPWM_MIN_DUTY_CYCLE);
}
}
/**
* Brake the motor with a desired current. Absolute values less than
* conf.cc_min_current will release the motor.
*
* @param current
* The current to use. Positive and negative values give the same effect.
*/
void mcpwm_set_brake_current(float current) {
if (try_input()) {
return;
}
if (fabsf(current) < conf.cc_min_current) {
control_mode = CONTROL_MODE_NONE;
stop_pwm_ll();
return;
}
utils_truncate_number(&current, -fabsf(conf.lo_current_min), fabsf(conf.lo_current_min));
control_mode = CONTROL_MODE_CURRENT_BRAKE;
current_set = current;
if (state != MC_STATE_RUNNING && state != MC_STATE_FULL_BRAKE) {
// In case the motor is already spinning, set the state to running
// so that it can be ramped down before the full brake is applied.
if (fabsf(rpm_now) > conf.l_max_erpm_fbrake) {
state = MC_STATE_RUNNING;
} else {
full_brake_ll();
}
}
}
/**
* Stop the motor and use braking.
*/
void mcpwm_brake_now(void) {
mcpwm_set_duty(0.0);
}
/**
* Disconnect the motor and let it turn freely.
*/
void mcpwm_release_motor(void) {
mcpwm_set_current(0.0);
}
/**
* Get the electrical position (or commutation step) of the motor.
*
* @return
* The current commutation step. Range [1 6]
*/
int mcpwm_get_comm_step(void) {
return comm_step;
}
float mcpwm_get_duty_cycle_set(void) {
return dutycycle_set;
}
float mcpwm_get_duty_cycle_now(void) {
return dutycycle_now;
}
/**
* Get the current switching frequency.
*
* @return
* The switching frequency in Hz.
*/
float mcpwm_get_switching_frequency_now(void) {
return switching_frequency_now;
}
/**
* Calculate the current RPM of the motor. This is a signed value and the sign
* depends on the direction the motor is rotating in. Note that this value has
* to be divided by half the number of motor poles.
*
* @return
* The RPM value.
*/
float mcpwm_get_rpm(void) {
return direction ? rpm_now : -rpm_now;
}
mc_state mcpwm_get_state(void) {
return state;
}
mc_fault_code mcpwm_get_fault(void) {
return fault_now;
}
const char* mcpwm_fault_to_string(mc_fault_code fault) {
switch (fault) {
case FAULT_CODE_NONE: return "FAULT_CODE_NONE"; break;
case FAULT_CODE_OVER_VOLTAGE: return "FAULT_CODE_OVER_VOLTAGE"; break;
case FAULT_CODE_UNDER_VOLTAGE: return "FAULT_CODE_UNDER_VOLTAGE"; break;
case FAULT_CODE_DRV8302: return "FAULT_CODE_DRV8302"; break;
case FAULT_CODE_ABS_OVER_CURRENT: return "FAULT_CODE_ABS_OVER_CURRENT"; break;
case FAULT_CODE_OVER_TEMP_FET: return "FAULT_CODE_OVER_TEMP_FET"; break;
case FAULT_CODE_OVER_TEMP_MOTOR: return "FAULT_CODE_OVER_TEMP_MOTOR"; break;
default: return "FAULT_UNKNOWN"; break;
}
}
/**
* Calculate the KV (RPM per volt) value for the motor. This function has to
* be used while the motor is moving. Note that the return value has to be
* divided by half the number of motor poles.
*
* @return
* The KV value.
*/
float mcpwm_get_kv(void) {
return rpm_now / (GET_INPUT_VOLTAGE() * fabsf(dutycycle_now));
}
/**
* Calculate the FIR-filtered KV (RPM per volt) value for the motor. This
* function has to be used while the motor is moving. Note that the return
* value has to be divided by half the number of motor poles.
*
* @return
* The filtered KV value.
*/
float mcpwm_get_kv_filtered(void) {
float value = filter_run_fir_iteration((float*)kv_fir_samples,
(float*)kv_fir_coeffs, KV_FIR_TAPS_BITS, kv_fir_index);
return value;
}
/**
* Get the motor current. The sign of this value will
* represent whether the motor is drawing (positive) or generating
* (negative) current.
*
* @return
* The motor current.
*/
float mcpwm_get_tot_current(void) {
return last_current_sample * (V_REG / 4095.0) / (CURRENT_SHUNT_RES * CURRENT_AMP_GAIN);
}
/**
* Get the FIR-filtered motor current. The sign of this value will
* represent whether the motor is drawing (positive) or generating
* (negative) current.
*
* @return
* The filtered motor current.
*/
float mcpwm_get_tot_current_filtered(void) {
return last_current_sample_filtered * (V_REG / 4095.0) / (CURRENT_SHUNT_RES * CURRENT_AMP_GAIN);
}
/**
* Get the motor current. The sign of this value represents the direction
* in which the motor generates torque.
*
* @return
* The motor current.
*/
float mcpwm_get_tot_current_directional(void) {
const float retval = mcpwm_get_tot_current();
return dutycycle_now > 0.0 ? retval : -retval;
}
/**
* Get the filtered motor current. The sign of this value represents the
* direction in which the motor generates torque.
*
* @return
* The filtered motor current.
*/
float mcpwm_get_tot_current_directional_filtered(void) {
const float retval = mcpwm_get_tot_current_filtered();
return dutycycle_now > 0.0 ? retval : -retval;
}
/**
* Get the input current to the motor controller.
*
* @return
* The input current.
*/
float mcpwm_get_tot_current_in(void) {
return mcpwm_get_tot_current() * fabsf(dutycycle_now);
}
/**
* Get the FIR-filtered input current to the motor controller.
*
* @return
* The filtered input current.
*/
float mcpwm_get_tot_current_in_filtered(void) {
return mcpwm_get_tot_current_filtered() * fabsf(dutycycle_now);
}
/**
* Read the number of steps the motor has rotated. This number is signed and
* will return a negative number when the motor is rotating backwards.
*
* @param reset
* If true, the tachometer counter will be reset after this call.
*
* @return
* The tachometer value in motor steps. The number of motor revolutions will
* be this number divided by (3 * MOTOR_POLE_NUMBER).
*/
int mcpwm_get_tachometer_value(bool reset) {
int val = tachometer;
if (reset) {
tachometer = 0;
}
return val;
}
/**
* Read the absolute number of steps the motor has rotated.
*
* @param reset
* If true, the tachometer counter will be reset after this call.
*
* @return
* The tachometer value in motor steps. The number of motor revolutions will
* be this number divided by (3 * MOTOR_POLE_NUMBER).
*/
int mcpwm_get_tachometer_abs_value(bool reset) {
int val = tachometer_abs;
if (reset) {
tachometer_abs = 0;
}
return val;
}
/**
* Get the amount of amp hours drawn from the input source.
*
* @param reset
* If true, the counter will be reset after this call.
*
* @return
* The amount of amp hours drawn.
*/
float mcpwm_get_amp_hours(bool reset) {
float val = amp_seconds / 3600;
if (reset) {
amp_seconds = 0.0;
}
return val;
}
/**
* Get the amount of amp hours fed back into the input source.
*
* @param reset
* If true, the counter will be reset after this call.
*
* @return
* The amount of amp hours fed back.
*/
float mcpwm_get_amp_hours_charged(bool reset) {
float val = amp_seconds_charged / 3600;
if (reset) {
amp_seconds_charged = 0.0;
}
return val;
}
/**
* Get the amount of watt hours drawn from the input source.
*
* @param reset
* If true, the counter will be reset after this call.
*
* @return
* The amount of watt hours drawn.
*/
float mcpwm_get_watt_hours(bool reset) {
float val = watt_seconds / 3600;
if (reset) {
amp_seconds = 0.0;
}
return val;
}
/**
* Get the amount of watt hours fed back into the input source.
*
* @param reset
* If true, the counter will be reset after this call.
*
* @return
* The amount of watt hours fed back.
*/
float mcpwm_get_watt_hours_charged(bool reset) {
float val = watt_seconds_charged / 3600;
if (reset) {
watt_seconds_charged = 0.0;
}
return val;
}
static void stop_pwm_ll(void) {
state = MC_STATE_OFF;
ignore_iterations = MCPWM_CMD_STOP_TIME;
stop_pwm_hw();
}
static void stop_pwm_hw(void) {
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_InActive);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_InActive);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_InActive);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
set_switching_frequency(MCPWM_SWITCH_FREQUENCY_MAX);
}
static void full_brake_ll(void) {
state = MC_STATE_FULL_BRAKE;
ignore_iterations = MCPWM_CMD_STOP_TIME;
full_brake_hw();
}
static void full_brake_hw(void) {
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_InActive);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_InActive);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_InActive);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
set_switching_frequency(MCPWM_SWITCH_FREQUENCY_MAX);
}
static void fault_stop(mc_fault_code fault) {
if (dccal_done && fault_now == FAULT_CODE_NONE) {
// Sent to terminal fault logger so that all faults and their conditions
// can be printed for debugging.
chSysLock();
volatile int t1_cnt = TIM1->CNT;
volatile int t8_cnt = TIM8->CNT;
chSysUnlock();
fault_data fdata;
fdata.fault = fault;
fdata.current = mcpwm_get_tot_current();
fdata.current_filtered = mcpwm_get_tot_current_filtered();
fdata.voltage = GET_INPUT_VOLTAGE();
fdata.duty = dutycycle_now;
fdata.rpm = mcpwm_get_rpm();
fdata.tacho = mcpwm_get_tachometer_value(false);
fdata.tim_pwm_cnt = t1_cnt;
fdata.tim_samp_cnt = t8_cnt;
fdata.comm_step = comm_step;
fdata.temperature = NTC_TEMP(ADC_IND_TEMP_MOS1);
terminal_add_fault_data(&fdata);
}
ignore_iterations = conf.m_fault_stop_time_ms;
control_mode = CONTROL_MODE_NONE;
state = MC_STATE_OFF;
stop_pwm_hw();
fault_now = fault;
}
/**
* A helper function that should be called before sending commands to control
* the motor. If the state is detecting, the detection will be stopped.
*
* @return
* The amount if milliseconds left until user commands are allowed again.
*
*/
static int try_input(void) {
if (state == MC_STATE_DETECTING) {
state = MC_STATE_OFF;
stop_pwm_hw();
ignore_iterations = MCPWM_DETECT_STOP_TIME;
}
return ignore_iterations;
}
/**
* High-level duty cycle setter. Will set the ramping goal of the duty cycle.
* If motor is not running, it will be started in different ways depending on
* whether it is moving or not.
*
* @param dutyCycle
* The duty cycle in the range [-MCPWM_MAX_DUTY_CYCLE MCPWM_MAX_DUTY_CYCLE]
* If the absolute value of the duty cycle is less than MCPWM_MIN_DUTY_CYCLE,
* the motor phases will be shorted to brake the motor.
*/
static void set_duty_cycle_hl(float dutyCycle) {
utils_truncate_number(&dutyCycle, -MCPWM_MAX_DUTY_CYCLE, MCPWM_MAX_DUTY_CYCLE);
if (state == MC_STATE_DETECTING) {
stop_pwm_ll();
return;
}
dutycycle_set = dutyCycle;
if (state != MC_STATE_RUNNING) {
if (fabsf(dutyCycle) >= MCPWM_MIN_DUTY_CYCLE) {
// dutycycle_now is updated by the back-emf detection. If the motor already
// is spinning, it will be non-zero.
if (fabsf(dutycycle_now) < MCPWM_MIN_DUTY_CYCLE) {
dutycycle_now = SIGN(dutyCycle) * MCPWM_MIN_DUTY_CYCLE;
}
set_duty_cycle_ll(dutycycle_now);
} else {
// In case the motor is already spinning, set the state to running
// so that it can be ramped down before the full brake is applied.
if (fabsf(rpm_now) > conf.l_max_erpm_fbrake) {
state = MC_STATE_RUNNING;
} else {
full_brake_ll();
}
}
}
}
/**
* Low-level duty cycle setter. Will update the state of the application
* and the motor direction accordingly.
*
* This function should be used with care. Ramping together with current
* limiting should be used.
*
* @param dutyCycle
* The duty cycle in the range [-MCPWM_MAX_DUTY_CYCLE MCPWM_MAX_DUTY_CYCLE]
* If the absolute value of the duty cycle is less than MCPWM_MIN_DUTY_CYCLE,
* the motor will be switched off.
*/
static void set_duty_cycle_ll(float dutyCycle) {
if (dutyCycle >= MCPWM_MIN_DUTY_CYCLE) {
direction = 1;
} else if (dutyCycle <= -MCPWM_MIN_DUTY_CYCLE) {
dutyCycle = -dutyCycle;
direction = 0;
}
if (dutyCycle < MCPWM_MIN_DUTY_CYCLE) {
switch (state) {
case MC_STATE_RUNNING:
full_brake_ll();
break;
case MC_STATE_DETECTING:
stop_pwm_ll();
break;
default:
break;
}
return;
} else if (dutyCycle > MCPWM_MAX_DUTY_CYCLE) {
dutyCycle = MCPWM_MAX_DUTY_CYCLE;
}
set_duty_cycle_hw(dutyCycle);
if (conf.sl_is_sensorless) {
if (state != MC_STATE_RUNNING) {
if (state == MC_STATE_OFF) {
state = MC_STATE_RUNNING;
if (fabsf(rpm_now) < conf.sl_min_erpm) {
commutate(1);
}
} else if (state == MC_STATE_FULL_BRAKE) {
if (fabsf(rpm_now) < conf.sl_min_erpm && mcpwm_get_tot_current_filtered() < conf.sl_max_fullbreak_current_dir_change) {
state = MC_STATE_RUNNING;
commutate(1);
}
}
}
} else {
if (state != MC_STATE_RUNNING) {
state = MC_STATE_RUNNING;
comm_step = mcpwm_read_hall_phase();
set_next_comm_step(comm_step);
commutate(1);
}
}
}
/**
* Lowest level (hardware) duty cycle setter. Will set the hardware timer to
* the specified duty cycle and update the ADC sampling positions.
*
* @param dutyCycle
* The duty cycle in the range [MCPWM_MIN_DUTY_CYCLE MCPWM_MAX_DUTY_CYCLE]
* (Only positive)
*/
static void set_duty_cycle_hw(float dutyCycle) {
mc_timer_struct timer_tmp;
utils_sys_lock_cnt();
timer_tmp = timer_struct;
utils_sys_unlock_cnt();
utils_truncate_number(&dutyCycle, MCPWM_MIN_DUTY_CYCLE, MCPWM_MAX_DUTY_CYCLE);
if (conf.pwm_mode == PWM_MODE_BIPOLAR && !IS_DETECTING()) {
timer_tmp.duty = (uint16_t) (((float) timer_tmp.top / 2.0) * dutyCycle
+ ((float) timer_tmp.top / 2.0));
} else {
timer_tmp.duty = (uint16_t)((float)timer_tmp.top * dutyCycle);
}
if (IS_DETECTING() || conf.pwm_mode == PWM_MODE_BIPOLAR) {
switching_frequency_now = MCPWM_SWITCH_FREQUENCY_MAX;
} else {
switching_frequency_now = (float)MCPWM_SWITCH_FREQUENCY_MIN * (1.0 - fabsf(dutyCycle)) +
(float)MCPWM_SWITCH_FREQUENCY_MAX * fabsf(dutyCycle);
}
timer_tmp.top = SYSTEM_CORE_CLOCK / (int)switching_frequency_now;
update_adc_sample_pos(&timer_tmp);
set_next_timer_settings(&timer_tmp);
}
static void run_pid_controller(void) {
static float i_term = 0;
static float prev_error = 0;
float p_term;
float d_term;
// PID is off. Return.
if (control_mode != CONTROL_MODE_SPEED) {
i_term = dutycycle_now;
prev_error = 0;
return;
}
// Too low RPM set. Stop and return.
if (fabsf(speed_pid_set_rpm) < conf.s_pid_min_rpm) {
i_term = dutycycle_now;
prev_error = 0;
mcpwm_set_duty(0.0);
return;
}
// Compensation for supply voltage variations
float scale = 1.0 / GET_INPUT_VOLTAGE();
// Compute error
float error = speed_pid_set_rpm - mcpwm_get_rpm();
// Compute parameters
p_term = error * conf.s_pid_kp * scale;
i_term += error * (conf.s_pid_ki * MCPWM_PID_TIME_K) * scale;
d_term = (error - prev_error) * (conf.s_pid_kd / MCPWM_PID_TIME_K) * scale;
// I-term wind-up protection
utils_truncate_number(&i_term, -1.0, 1.0);
// Store previous error
prev_error = error;
// Calculate output
float output = p_term + i_term + d_term;
// Make sure that at least minimum output is used
if (fabsf(output) < MCPWM_MIN_DUTY_CYCLE) {
output = SIGN(output) * MCPWM_MIN_DUTY_CYCLE;
}
// Do not output in reverse direction to oppose too high rpm
if (speed_pid_set_rpm > 0.0 && output < 0.0) {
output = MCPWM_MIN_DUTY_CYCLE;
i_term = 0.0;
} else if (speed_pid_set_rpm < 0.0 && output > 0.0) {
output = -MCPWM_MIN_DUTY_CYCLE;
i_term = 0.0;
}
set_duty_cycle_hl(output);
}
static msg_t rpm_thread(void *arg) {
(void)arg;
chRegSetThreadName("rpm timer");
for (;;) {
if (rpm_dep.comms != 0) {
utils_sys_lock_cnt();
const float comms = (float)rpm_dep.comms;
const float time_at_comm = (float)rpm_dep.time_at_comm;
rpm_dep.comms = 0;
rpm_dep.time_at_comm = 0;
utils_sys_unlock_cnt();
rpm_now = (comms * MCPWM_RPM_TIMER_FREQ * 60.0) / (time_at_comm * 6.0);
} else {
// In case we have slowed down
float rpm_tmp = (MCPWM_RPM_TIMER_FREQ * 60.0) / ((float) TIM2 ->CNT * 6.0);
if (fabsf(rpm_tmp) < fabsf(rpm_now)) {
rpm_now = rpm_tmp;
}
}
// Some low-pass filtering
static float rpm_p1 = 0.0;
rpm_now = (rpm_now + rpm_p1) / 2;
rpm_p1 = rpm_now;
const float rpm_abs = fabsf(rpm_now);
// Update the cycle integrator limit
rpm_dep.cycle_int_limit = conf.sl_cycle_int_limit;
rpm_dep.cycle_int_limit_running = rpm_dep.cycle_int_limit + (float)ADC_Value[ADC_IND_VIN_SENS] *
conf.sl_bemf_coupling_k / (rpm_abs > conf.sl_min_erpm ? rpm_abs : conf.sl_min_erpm);
rpm_dep.cycle_int_limit_running = utils_map(rpm_abs, 0,
conf.sl_cycle_int_rpm_br, rpm_dep.cycle_int_limit_running,
rpm_dep.cycle_int_limit_running * conf.sl_phase_advance_at_br);
rpm_dep.cycle_int_limit_max = rpm_dep.cycle_int_limit + (float)ADC_Value[ADC_IND_VIN_SENS] *
conf.sl_bemf_coupling_k / conf.sl_min_erpm_cycle_int_limit;
if (rpm_dep.cycle_int_limit_running < 1.0) {
rpm_dep.cycle_int_limit_running = 1.0;
}
if (rpm_dep.cycle_int_limit_running > rpm_dep.cycle_int_limit_max) {
rpm_dep.cycle_int_limit_running = rpm_dep.cycle_int_limit_max;
}
rpm_dep.comm_time_sum = ((float) MCPWM_SWITCH_FREQUENCY_MAX) / ((rpm_abs / 60.0) * 6.0);
rpm_dep.comm_time_sum_min_rpm = ((float) MCPWM_SWITCH_FREQUENCY_MAX) / ((conf.sl_min_erpm / 60.0) * 6.0);
run_pid_controller();
chThdSleepMilliseconds(1);
}
return 0;
}
static msg_t timer_thread(void *arg) {
(void)arg;
chRegSetThreadName("mcpwm timer");
float amp;
float min_s;
float max_s;
for(;;) {
if (state != MC_STATE_OFF) {
tachometer_for_direction = 0;
}
switch (state) {
case MC_STATE_OFF:
// Track the motor back-emf and follow it with dutycycle_now. Also track
// the direction of the motor.
amp = filter_run_fir_iteration((float*)amp_fir_samples,
(float*)amp_fir_coeffs, AMP_FIR_TAPS_BITS, amp_fir_index);
// Direction tracking
if (conf.sl_is_sensorless) {
min_s = 9999999999999.0;
max_s = 0.0;
for (int i = 0;i < 6;i++) {
if (last_pwm_cycles_sums[i] < min_s) {
min_s = last_pwm_cycles_sums[i];
}
if (last_pwm_cycles_sums[i] > max_s) {
max_s = last_pwm_cycles_sums[i];
}
}
// If the relative difference between the longest and shortest commutation is
// too large, we probably got the direction wrong. In that case, try the other
// direction.
//
// The tachometer_for_direction value is used to make sure that the samples
// have enough time after a direction change to get stable before trying to
// change direction again.
if ((max_s - min_s) / ((max_s + min_s) / 2.0) > 1.2) {
if (tachometer_for_direction > 12) {
if (direction == 1) {
direction = 0;
} else {
direction = 1;
}
tachometer_for_direction = 0;
}
} else {
tachometer_for_direction = 0;
}
} else {
// If the direction tachometer is counting backwards, the motor is
// not moving in the direction we think it is.
if (tachometer_for_direction < -3) {
if (direction == 1) {
direction = 0;
} else {
direction = 1;
}
tachometer_for_direction = 0;
} else if (tachometer_for_direction > 0) {
tachometer_for_direction = 0;
}
}
if (direction == 1) {
dutycycle_now = amp / (float)ADC_Value[ADC_IND_VIN_SENS];
} else {
dutycycle_now = -amp / (float)ADC_Value[ADC_IND_VIN_SENS];
}
utils_truncate_number((float*)&dutycycle_now, -MCPWM_MAX_DUTY_CYCLE, MCPWM_MAX_DUTY_CYCLE);
break;
case MC_STATE_DETECTING:
break;
case MC_STATE_RUNNING:
break;
case MC_STATE_FULL_BRAKE:
break;
default:
break;
}
// Fill KV filter vector at 100Hz
static int cnt_tmp = 0;
cnt_tmp++;
if (cnt_tmp >= 10) {
cnt_tmp = 0;
if (state == MC_STATE_RUNNING) {
filter_add_sample((float*)kv_fir_samples, mcpwm_get_kv(),
KV_FIR_TAPS_BITS, (uint32_t*)&kv_fir_index);
} else if (state == MC_STATE_OFF) {
if (dutycycle_now >= MCPWM_MIN_DUTY_CYCLE) {
filter_add_sample((float*)kv_fir_samples, mcpwm_get_kv(),
KV_FIR_TAPS_BITS, (uint32_t*)&kv_fir_index);
}
}
}
// Check if the DRV8302 indicates any fault
if (IS_DRV_FAULT()) {
fault_stop(FAULT_CODE_DRV8302);
}
// Decrease fault iterations
if (ignore_iterations > 0) {
ignore_iterations--;
} else {
if (!IS_DRV_FAULT()) {
fault_now = FAULT_CODE_NONE;
}
}
update_override_limits(&conf);
chThdSleepMilliseconds(1);
}
return 0;
}
void mcpwm_adc_inj_int_handler(void) {
TIM12->CNT = 0;
static int detect_now = 0;
int curr0 = ADC_GetInjectedConversionValue(ADC1, ADC_InjectedChannel_1);
int curr1 = ADC_GetInjectedConversionValue(ADC2, ADC_InjectedChannel_1);
if (curr_samp_volt == 1) {
curr0 = ADC_Value[ADC_IND_CURR1];
} else if (curr_samp_volt == 2) {
curr1 = ADC_Value[ADC_IND_CURR2];
}
curr0_sum += curr0;
curr1_sum += curr1;
curr_start_samples++;
ADC_curr_norm_value[0] = curr0 - curr0_offset;
ADC_curr_norm_value[1] = curr1 - curr1_offset;
ADC_curr_norm_value[2] = -(ADC_curr_norm_value[0] + ADC_curr_norm_value[1]);
float curr_tot_sample = 0;
/*
* Commutation Steps FORWARDS
* STEP BR1 BR2 BR3
* 1 0 + -
* 2 + 0 -
* 3 + - 0
* 4 0 - +
* 5 - 0 +
* 6 - + 0
*
* Commutation Steps REVERSE (switch phase 2 and 3)
* STEP BR1 BR2 BR3
* 1 0 - +
* 2 + - 0
* 3 + 0 -
* 4 0 + -
* 5 - + 0
* 6 - 0 +
*/
if (state == MC_STATE_FULL_BRAKE) {
float c0 = (float)ADC_curr_norm_value[0];
float c1 = (float)ADC_curr_norm_value[1];
float c2 = (float)ADC_curr_norm_value[2];
curr_tot_sample = sqrtf((c0*c0 + c1*c1 + c2*c2) / 1.5);
} else {
switch (comm_step) {
case 1:
case 6:
if (direction) {
if (comm_step == 1) {
curr_tot_sample = -(float)ADC_curr_norm_value[1];
} else {
curr_tot_sample = -(float)ADC_curr_norm_value[0];
}
} else {
curr_tot_sample = (float)ADC_curr_norm_value[1];
}
break;
case 2:
case 3:
curr_tot_sample = (float)ADC_curr_norm_value[0];
break;
case 4:
case 5:
if (direction) {
curr_tot_sample = (float)ADC_curr_norm_value[1];
} else {
if (comm_step == 4) {
curr_tot_sample = -(float)ADC_curr_norm_value[1];
} else {
curr_tot_sample = -(float)ADC_curr_norm_value[0];
}
}
break;
}
}
if (detect_now == 4) {
float a = fabsf(ADC_curr_norm_value[0]);
float b = fabsf(ADC_curr_norm_value[1]);
if (a > b) {
mcpwm_detect_currents[detect_step] = a;
} else {
mcpwm_detect_currents[detect_step] = b;
}
if (detect_step > 0) {
mcpwm_detect_currents_diff[detect_step] =
mcpwm_detect_currents[detect_step - 1] - mcpwm_detect_currents[detect_step];
} else {
mcpwm_detect_currents_diff[detect_step] =
mcpwm_detect_currents[5] - mcpwm_detect_currents[detect_step];
}
mcpwm_detect_currents_avg[detect_step] += mcpwm_detect_currents[detect_step];
mcpwm_detect_currents_avg_samples[detect_step]++;
stop_pwm_hw();
}
if (detect_now) {
detect_now--;
}
if (IS_DETECTING() && detect_now == 0) {
detect_now = 5;
set_duty_cycle_hw(0.2);
detect_step++;
if (detect_step > 5) {
detect_step = 0;
}
comm_step = detect_step + 1;
set_next_comm_step(detect_step + 1);
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
}
last_current_sample = curr_tot_sample;
filter_add_sample((float*) current_fir_samples, curr_tot_sample,
CURR_FIR_TAPS_BITS, (uint32_t*) &current_fir_index);
last_current_sample_filtered = filter_run_fir_iteration(
(float*) current_fir_samples, (float*) current_fir_coeffs,
CURR_FIR_TAPS_BITS, current_fir_index);
last_inj_adc_isr_duration = (float) TIM12->CNT / 10000000.0;
}
/*
* New ADC samples ready. Do commutation!
*/
void mcpwm_adc_int_handler(void *p, uint32_t flags) {
(void)p;
(void)flags;
TIM12->CNT = 0;
// Set the next timer settings if an update is far enough away
update_timer_attempt();
// Reset the watchdog
WWDG_SetCounter(100);
const float input_voltage = GET_INPUT_VOLTAGE();
int ph1, ph2, ph3;
int ph1_raw, ph2_raw, ph3_raw;
static int direction_before = 1;
if (state == MC_STATE_RUNNING && direction == direction_before) {
cycles_running++;
} else {
cycles_running = 0;
has_commutated = 0;
}
direction_before = direction;
// Check for faults that should stop the motor
static float wrong_voltage_iterations = 0;
if (input_voltage < conf.l_min_vin ||
input_voltage > conf.l_max_vin) {
wrong_voltage_iterations++;
if ((wrong_voltage_iterations >= 8)) {
fault_stop(input_voltage < conf.l_min_vin ?
FAULT_CODE_UNDER_VOLTAGE : FAULT_CODE_OVER_VOLTAGE);
}
} else {
wrong_voltage_iterations = 0;
}
/*
* Calculate the virtual ground, depending on the state.
*/
if (has_commutated && fabsf(dutycycle_now) > 0.2) {
mcpwm_vzero = ADC_V_ZERO;
} else {
mcpwm_vzero = (ADC_V_L1 + ADC_V_L2 + ADC_V_L3) / 3;
}
if (direction) {
ph1 = ADC_V_L1 - mcpwm_vzero;
ph2 = ADC_V_L2 - mcpwm_vzero;
ph3 = ADC_V_L3 - mcpwm_vzero;
ph1_raw = ADC_V_L1;
ph2_raw = ADC_V_L2;
ph3_raw = ADC_V_L3;
} else {
ph1 = ADC_V_L1 - mcpwm_vzero;
ph2 = ADC_V_L3 - mcpwm_vzero;
ph3 = ADC_V_L2 - mcpwm_vzero;
ph1_raw = ADC_V_L1;
ph2_raw = ADC_V_L3;
ph3_raw = ADC_V_L2;
}
update_timer_attempt();
float amp = 0.0;
if (has_commutated) {
amp = fabsf(dutycycle_now) * (float)ADC_Value[ADC_IND_VIN_SENS];
} else {
amp = sqrtf((float)(ph1*ph1 + ph2*ph2 + ph3*ph3)) * sqrtf(2.0);
}
// Fill the amplitude FIR filter
filter_add_sample((float*)amp_fir_samples, amp,
AMP_FIR_TAPS_BITS, (uint32_t*)&amp_fir_index);
if (conf.sl_is_sensorless) {
static float cycle_integrator = 0;
if (pwm_cycles_sum >= rpm_dep.comm_time_sum_min_rpm) {
if (state == MC_STATE_RUNNING) {
if (conf.comm_mode == COMM_MODE_INTEGRATE) {
// This means that the motor is stuck. If this commutation does not
// produce any torque because of misalignment at start, two
// commutations ahead should produce full torque.
commutate(2);
} else if (conf.comm_mode == COMM_MODE_DELAY) {
commutate(1);
}
cycle_integrator = 0.0;
}
}
if ((state == MC_STATE_RUNNING && pwm_cycles_sum >= 2.0) || state == MC_STATE_OFF) {
int v_diff = 0;
int ph_now_raw = 0;
switch (comm_step) {
case 1:
v_diff = ph1;
ph_now_raw = ph1_raw;
break;
case 2:
v_diff = -ph2;
ph_now_raw = ph2_raw;
break;
case 3:
v_diff = ph3;
ph_now_raw = ph3_raw;
break;
case 4:
v_diff = -ph1;
ph_now_raw = ph1_raw;
break;
case 5:
v_diff = ph2;
ph_now_raw = ph2_raw;
break;
case 6:
v_diff = -ph3;
ph_now_raw = ph3_raw;
break;
default:
break;
}
// Don't commutate while the motor is standing still and the signal only consists
// of weak noise.
if (abs(v_diff) < 10) {
v_diff = 0;
}
if (v_diff > 0) {
if (pwm_cycles_sum > (last_pwm_cycles_sum / 2.0) ||
!has_commutated || (ph_now_raw > 100 && ph_now_raw < (ADC_Value[ADC_IND_VIN_SENS] - 100))) {
cycle_integrator += (float)v_diff / switching_frequency_now;
}
}
if (conf.comm_mode == COMM_MODE_INTEGRATE) {
float limit;
if (has_commutated) {
limit = rpm_dep.cycle_int_limit_running * (0.0005 * VDIV_CORR);
} else {
limit = rpm_dep.cycle_int_limit * (0.0005 * VDIV_CORR);
}
if (cycle_integrator >= (rpm_dep.cycle_int_limit_max * (0.0005 * VDIV_CORR)) ||
cycle_integrator >= limit) {
commutate(1);
cycle_integrator = 0.0;
}
} else if (conf.comm_mode == COMM_MODE_DELAY) {
static float cycle_sum = 0.0;
if (v_diff > 0) {
cycle_sum += (float)MCPWM_SWITCH_FREQUENCY_MAX / switching_frequency_now;
if (cycle_sum >= utils_map(fabsf(rpm_now), 0,
conf.sl_cycle_int_rpm_br, rpm_dep.comm_time_sum / 2.0,
(rpm_dep.comm_time_sum / 2.0) * conf.sl_phase_advance_at_br)) {
commutate(1);
cycle_integrator_sum += cycle_integrator * (1.0 / (0.0005 * VDIV_CORR));
cycle_integrator_iterations += 1.0;
cycle_integrator = 0.0;
cycle_sum = 0.0;
}
} else {
cycle_integrator = 0.0;
cycle_sum = 0.0;
}
}
} else {
cycle_integrator = 0.0;
}
pwm_cycles_sum += (float)MCPWM_SWITCH_FREQUENCY_MAX / switching_frequency_now;
} else {
int hall_phase = mcpwm_read_hall_phase();
if (comm_step != hall_phase) {
comm_step = hall_phase;
update_rpm_tacho();
if (state == MC_STATE_RUNNING) {
set_next_comm_step(comm_step);
commutate(0);
}
} else if (state == MC_STATE_RUNNING && !has_commutated) {
set_next_comm_step(comm_step);
commutate(0);
}
}
const float current = mcpwm_get_tot_current_filtered();
const float current_in = current * fabsf(dutycycle_now);
const float current_nofilter = mcpwm_get_tot_current();
const float current_in_nofilter = current_nofilter * fabsf(dutycycle_now);
motor_current_sum += current;
input_current_sum += current_in;
motor_current_iterations++;
input_current_iterations++;
if (conf.l_slow_abs_current) {
if (fabsf(current) > conf.l_abs_current_max) {
fault_stop(FAULT_CODE_ABS_OVER_CURRENT);
}
} else {
if (fabsf(current_nofilter) > conf.l_abs_current_max) {
fault_stop(FAULT_CODE_ABS_OVER_CURRENT);
}
}
if (fabsf(current) > 1.0) {
// Some extra filtering
static float curr_diff_sum = 0.0;
static float curr_diff_samples = 0;
curr_diff_sum += current_in / switching_frequency_now;
curr_diff_samples += 1.0 / switching_frequency_now;
if (curr_diff_samples >= 0.01) {
if (curr_diff_sum > 0.0) {
amp_seconds += curr_diff_sum;
watt_seconds += curr_diff_sum * input_voltage;
} else {
amp_seconds_charged -= curr_diff_sum;
watt_seconds_charged -= curr_diff_sum * input_voltage;
}
curr_diff_samples = 0.0;
curr_diff_sum = 0.0;
}
}
if (state == MC_STATE_RUNNING && has_commutated) {
// Compensation for supply voltage variations
const float voltage_scale = 20.0 / input_voltage;
float ramp_step = MCPWM_RAMP_STEP / (switching_frequency_now / 1000.0);
float ramp_step_no_lim = ramp_step;
const float rpm = mcpwm_get_rpm();
if (slow_ramping_cycles) {
slow_ramping_cycles--;
ramp_step *= 0.1;
}
float dutycycle_now_tmp = dutycycle_now;
if (control_mode == CONTROL_MODE_CURRENT) {
// Compute error
const float error = current_set - (direction ? current_nofilter : -current_nofilter);
float step = error * conf.cc_gain * voltage_scale;
const float start_boost = conf.cc_startup_boost_duty / voltage_scale;
// Do not ramp too much
utils_truncate_number(&step, -MCPWM_RAMP_STEP_CURRENT_MAX,
MCPWM_RAMP_STEP_CURRENT_MAX);
// Switching frequency correction
step /= switching_frequency_now / 1000.0;
if (slow_ramping_cycles) {
slow_ramping_cycles--;
step *= 0.1;
}
// Optionally apply startup boost.
if (fabsf(dutycycle_now_tmp) < start_boost) {
utils_step_towards(&dutycycle_now_tmp,
current_set > 0.0 ?
start_boost :
-start_boost, ramp_step);
} else {
dutycycle_now_tmp += step;
}
// Upper truncation
utils_truncate_number((float*)&dutycycle_now_tmp, -MCPWM_MAX_DUTY_CYCLE, MCPWM_MAX_DUTY_CYCLE);
// Lower truncation
if (fabsf(dutycycle_now_tmp) < MCPWM_MIN_DUTY_CYCLE) {
if (dutycycle_now_tmp < 0.0 && current_set > 0.0) {
dutycycle_now_tmp = MCPWM_MIN_DUTY_CYCLE;
} else if (dutycycle_now_tmp > 0.0 && current_set < 0.0) {
dutycycle_now_tmp = -MCPWM_MIN_DUTY_CYCLE;
}
}
// The set dutycycle should be in the correct direction in case the output is lower
// than the minimum duty cycle and the mechanism below gets activated.
dutycycle_set = dutycycle_now_tmp >= 0.0 ? MCPWM_MIN_DUTY_CYCLE : -MCPWM_MIN_DUTY_CYCLE;
} else if (control_mode == CONTROL_MODE_CURRENT_BRAKE) {
// Compute error
const float error = -fabsf(current_set) - current_nofilter;
float step = error * conf.cc_gain * voltage_scale;
// Do not ramp too much
utils_truncate_number(&step, -MCPWM_RAMP_STEP_CURRENT_MAX,
MCPWM_RAMP_STEP_CURRENT_MAX);
// Switching frequency correction
step /= switching_frequency_now / 1000.0;
if (slow_ramping_cycles) {
slow_ramping_cycles--;
step *= 0.1;
}
dutycycle_now_tmp += SIGN(dutycycle_now_tmp) * step;
// Upper truncation
utils_truncate_number((float*)&dutycycle_now_tmp, -MCPWM_MAX_DUTY_CYCLE, MCPWM_MAX_DUTY_CYCLE);
// Lower truncation
if (fabsf(dutycycle_now_tmp) < MCPWM_MIN_DUTY_CYCLE) {
if (fabsf(rpm_now) < conf.l_max_erpm_fbrake_cc) {
dutycycle_now_tmp = 0.0;
dutycycle_set = dutycycle_now_tmp;
} else {
dutycycle_now_tmp = SIGN(dutycycle_now_tmp) * MCPWM_MIN_DUTY_CYCLE;
dutycycle_set = dutycycle_now_tmp;
}
}
} else {
utils_step_towards((float*)&dutycycle_now_tmp, dutycycle_set, ramp_step);
}
static int limit_delay = 0;
// Apply limits in priority order
if (current_nofilter > conf.lo_current_max) {
utils_step_towards((float*) &dutycycle_now, 0.0,
ramp_step_no_lim * fabsf(current_nofilter - conf.lo_current_max) * MCPWM_CURRENT_LIMIT_GAIN);
limit_delay = 1;
} else if (current_nofilter < conf.lo_current_min) {
utils_step_towards((float*) &dutycycle_now, direction ? MCPWM_MAX_DUTY_CYCLE : -MCPWM_MAX_DUTY_CYCLE,
ramp_step_no_lim * fabsf(current_nofilter - conf.lo_current_min) * MCPWM_CURRENT_LIMIT_GAIN);
limit_delay = 1;
} else if (current_in_nofilter > conf.lo_in_current_max) {
utils_step_towards((float*) &dutycycle_now, 0.0,
ramp_step_no_lim * fabsf(current_in_nofilter - conf.lo_in_current_max) * MCPWM_CURRENT_LIMIT_GAIN);
limit_delay = 1;
} else if (current_in_nofilter < conf.lo_in_current_min) {
utils_step_towards((float*) &dutycycle_now, direction ? MCPWM_MAX_DUTY_CYCLE : -MCPWM_MAX_DUTY_CYCLE,
ramp_step_no_lim * fabsf(current_in_nofilter - conf.lo_in_current_min) * MCPWM_CURRENT_LIMIT_GAIN);
limit_delay = 1;
} else if (rpm > conf.l_max_erpm) {
if ((conf.l_rpm_lim_neg_torque || current > -1.0) && dutycycle_now <= dutycycle_now_tmp) {
utils_step_towards((float*) &dutycycle_now, 0.0, MCPWM_RAMP_STEP_RPM_LIMIT);
limit_delay = 1;
slow_ramping_cycles = 500;
}
} else if (rpm < conf.l_min_erpm) {
if ((conf.l_rpm_lim_neg_torque || current > -1.0) && dutycycle_now >= dutycycle_now_tmp) {
utils_step_towards((float*) &dutycycle_now, 0.0, MCPWM_RAMP_STEP_RPM_LIMIT);
limit_delay = 1;
slow_ramping_cycles = 500;
}
}
if (limit_delay > 0) {
limit_delay--;
} else {
dutycycle_now = dutycycle_now_tmp;
}
// When the set duty cycle is in the opposite direction, make sure that the motor
// starts again after stopping completely
if (fabsf(dutycycle_now) < MCPWM_MIN_DUTY_CYCLE) {
if (dutycycle_set >= MCPWM_MIN_DUTY_CYCLE) {
dutycycle_now = MCPWM_MIN_DUTY_CYCLE;
} else if (dutycycle_set <= -MCPWM_MIN_DUTY_CYCLE) {
dutycycle_now = -MCPWM_MIN_DUTY_CYCLE;
}
}
// Don't start in the opposite direction when the RPM is too high even if the current is low enough.
if (dutycycle_now >= MCPWM_MIN_DUTY_CYCLE && rpm < -conf.l_max_erpm_fbrake) {
dutycycle_now = -MCPWM_MIN_DUTY_CYCLE;
} else if (dutycycle_now <= -MCPWM_MIN_DUTY_CYCLE && rpm > conf.l_max_erpm_fbrake) {
dutycycle_now = MCPWM_MIN_DUTY_CYCLE;
}
set_duty_cycle_ll(dutycycle_now);
}
main_dma_adc_handler();
last_adc_isr_duration = (float)TIM12->CNT / 10000000.0;
}
void mcpwm_set_detect(void) {
if (try_input()) {
return;
}
control_mode = CONTROL_MODE_NONE;
stop_pwm_hw();
set_switching_frequency(MCPWM_SWITCH_FREQUENCY_MAX);
for(int i = 0;i < 6;i++) {
mcpwm_detect_currents[i] = 0;
mcpwm_detect_currents_avg[i] = 0;
mcpwm_detect_currents_avg_samples[i] = 0;
}
state = MC_STATE_DETECTING;
}
float mcpwm_get_detect_pos(void) {
float v[6];
v[0] = mcpwm_detect_currents_avg[0] / mcpwm_detect_currents_avg_samples[0];
v[1] = mcpwm_detect_currents_avg[1] / mcpwm_detect_currents_avg_samples[1];
v[2] = mcpwm_detect_currents_avg[2] / mcpwm_detect_currents_avg_samples[2];
v[3] = mcpwm_detect_currents_avg[3] / mcpwm_detect_currents_avg_samples[3];
v[4] = mcpwm_detect_currents_avg[4] / mcpwm_detect_currents_avg_samples[4];
v[5] = mcpwm_detect_currents_avg[5] / mcpwm_detect_currents_avg_samples[5];
for(int i = 0;i < 6;i++) {
mcpwm_detect_currents_avg[i] = 0;
mcpwm_detect_currents_avg_samples[i] = 0;
}
float v0 = v[0] + v[3];
float v1 = v[1] + v[4];
float v2 = v[2] + v[5];
float offset = (v0 + v1 + v2) / 3.0;
v0 -= offset;
v1 -= offset;
v2 -= offset;
float amp = sqrtf((v0*v0 + v1*v1 + v2*v2) / 1.5);
v0 /= amp;
v1 /= amp;
v2 /= amp;
float ph[1];
ph[0] = asinf(v0) * 180.0 / M_PI;
float res = ph[0];
if (v1 < v2) {
res = 180 - ph[0];
}
utils_norm_angle(&res);
return res;
}
float mcpwm_read_reset_avg_motor_current(void) {
float res = motor_current_sum / motor_current_iterations;
motor_current_sum = 0;
motor_current_iterations = 0;
return res;
}
float mcpwm_read_reset_avg_input_current(void) {
float res = input_current_sum / input_current_iterations;
input_current_sum = 0;
input_current_iterations = 0;
return res;
}
float mcpwm_read_reset_avg_cycle_integrator(void) {
float res = cycle_integrator_sum / cycle_integrator_iterations;
cycle_integrator_sum = 0;
cycle_integrator_iterations = 0;
return res;
}
/**
* Set the minimum allowed RPM in sensorless mode. This will affect startup
* performance. WARNING: Setting this too high can break stuff.
*
* @param rpm
* The minimum allowed RPM.
*/
void mcpwm_set_min_rpm(float rpm) {
conf.sl_min_erpm = rpm;
}
/**
* Get the minimum allowed RPM in sensorless mode.
*
* @return
* The minimum allowed RPM.
*/
float mcpwm_get_min_rpm(void) {
return conf.sl_min_erpm;
}
/**
* Set the commutation mode for sensorless commutation.
*
* @param mode
* COMM_MODE_INTEGRATE: More robust, but requires many parameters.
* COMM_MODE_DELAY: Like most hobby ESCs. Requires less parameters,
* but has worse startup and is less robust.
*
*/
void mcpwm_set_comm_mode(mc_comm_mode mode) {
conf.comm_mode = mode;
}
mc_comm_mode mcpwm_get_comm_mode(void) {
return conf.comm_mode;
}
float mcpwm_get_last_adc_isr_duration(void) {
return last_adc_isr_duration;
}
float mcpwm_get_last_inj_adc_isr_duration(void) {
return last_inj_adc_isr_duration;
}
mc_rpm_dep_struct mcpwm_get_rpm_dep(void) {
return rpm_dep;
}
/**
* Read the current phase of the motor using hall effect sensors
* @return
* The phase read.
*/
signed int mcpwm_read_hall_phase(void) {
int hall = READ_HALL1() | (READ_HALL2() << 1) | (READ_HALL3() << 2);
return hall_to_phase_table[hall + (direction ? 8 : 0)];
}
/*
* Commutation Steps FORWARDS
* STEP BR1 BR2 BR3
* 1 0 + -
* 2 + 0 -
* 3 + - 0
* 4 0 - +
* 5 - 0 +
* 6 - + 0
*
* Commutation Steps REVERSE (switch phase 2 and 3)
* STEP BR1 BR2 BR3
* 1 0 - +
* 2 + - 0
* 3 + 0 -
* 4 0 + -
* 5 - + 0
* 6 - 0 +
*/
static void update_adc_sample_pos(mc_timer_struct *timer_tmp) {
volatile uint32_t duty = timer_tmp->duty;
volatile uint32_t top = timer_tmp->top;
volatile uint32_t val_sample = timer_tmp->val_sample;
volatile uint32_t curr1_sample = timer_tmp->curr1_sample;
volatile uint32_t curr2_sample = timer_tmp->curr2_sample;
curr_samp_volt = 0;
// Sample the ADC at an appropriate time during the pwm cycle
if (IS_DETECTING()) {
// Voltage samples
val_sample = 200;
// Current samples
curr1_sample = (top - duty) / 2 + duty;
curr2_sample = (top - duty) / 2 + duty;
} else {
if (conf.pwm_mode == PWM_MODE_BIPOLAR) {
uint32_t samp_neg = top - 2;
uint32_t samp_pos = duty + (top - duty) / 2;
uint32_t samp_zero = top - 2;
// Voltage and other sampling
val_sample = top / 4;
// Current sampling
switch (comm_step) {
case 1:
if (direction) {
curr1_sample = samp_zero;
curr2_sample = samp_neg;
curr_samp_volt = 2;
} else {
curr1_sample = samp_zero;
curr2_sample = samp_pos;
}
break;
case 2:
if (direction) {
curr1_sample = samp_pos;
curr2_sample = samp_neg;
curr_samp_volt = 2;
} else {
curr1_sample = samp_pos;
curr2_sample = samp_zero;
}
break;
case 3:
if (direction) {
curr1_sample = samp_pos;
curr2_sample = samp_zero;
} else {
curr1_sample = samp_pos;
curr2_sample = samp_neg;
curr_samp_volt = 2;
}
break;
case 4:
if (direction) {
curr1_sample = samp_zero;
curr2_sample = samp_pos;
} else {
curr1_sample = samp_zero;
curr2_sample = samp_neg;
curr_samp_volt = 2;
}
break;
case 5:
if (direction) {
curr1_sample = samp_neg;
curr2_sample = samp_pos;
curr_samp_volt = 1;
} else {
curr1_sample = samp_neg;
curr2_sample = samp_zero;
curr_samp_volt = 1;
}
break;
case 6:
if (direction) {
curr1_sample = samp_neg;
curr2_sample = samp_zero;
curr_samp_volt = 1;
} else {
curr1_sample = samp_neg;
curr2_sample = samp_pos;
curr_samp_volt = 1;
}
break;
}
} else {
// Voltage samples
val_sample = duty / 2;
// Current samples
curr1_sample = duty + (top - duty) / 2 + 1000;
if (curr1_sample > (top - 20)) {
curr1_sample = top - 20;
}
// curr1_sample = duty + 1500;
// curr1_sample = duty + (top - duty) / 2;
// curr1_sample = duty + 2 * (top - duty) / 3;
// curr1_sample = top - 20;
curr2_sample = curr1_sample;
}
}
timer_tmp->val_sample = val_sample;
timer_tmp->curr1_sample = curr1_sample;
timer_tmp->curr2_sample = curr2_sample;
}
static void update_rpm_tacho(void) {
int step = comm_step - 1;
static int last_step = 0;
int tacho_diff = (step - last_step) % 6;
last_step = step;
if (tacho_diff > 3) {
tacho_diff -= 6;
} else if (tacho_diff < -2) {
tacho_diff += 6;
}
if (tacho_diff != 0) {
rpm_dep.comms += tacho_diff;
rpm_dep.time_at_comm += TIM2->CNT;
TIM2->CNT = 0;
}
// Tachometers
tachometer_for_direction += tacho_diff;
tachometer_abs += tacho_diff;
if (direction) {
tachometer += tacho_diff;
} else {
tachometer -= tacho_diff;
}
}
static void commutate(int steps) {
if (conf.sl_is_sensorless) {
last_pwm_cycles_sum = pwm_cycles_sum;
last_pwm_cycles_sums[comm_step - 1] = pwm_cycles_sum;
pwm_cycles_sum = 0;
comm_step += steps;
while (comm_step > 6) {
comm_step -= 6;
}
while (comm_step < 1) {
comm_step += 6;
}
update_rpm_tacho();
if (!(state == MC_STATE_RUNNING)) {
return;
}
set_next_comm_step(comm_step);
}
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
has_commutated = 1;
mc_timer_struct timer_tmp;
utils_sys_lock_cnt();
timer_tmp = timer_struct;
utils_sys_unlock_cnt();
update_adc_sample_pos(&timer_tmp);
set_next_timer_settings(&timer_tmp);
}
static void set_next_timer_settings(mc_timer_struct *settings) {
utils_sys_lock_cnt();
timer_struct = *settings;
timer_struct.updated = false;
utils_sys_unlock_cnt();
update_timer_attempt();
}
/**
* Try to apply the new timer settings. This is really not an elegant solution, but for now it is
* the best I can come up with.
*/
static void update_timer_attempt(void) {
utils_sys_lock_cnt();
// Set the next timer settings if an update is far enough away
if (!timer_struct.updated && TIM1->CNT > 10 && TIM1->CNT < (TIM1->ARR - 500)) {
// Disable preload register updates
TIM1->CR1 |= TIM_CR1_UDIS;
TIM8->CR1 |= TIM_CR1_UDIS;
// Set the new configuration
TIM1->ARR = timer_struct.top;
TIM1->CCR1 = timer_struct.duty;
TIM1->CCR2 = timer_struct.duty;
TIM1->CCR3 = timer_struct.duty;
TIM8->CCR1 = timer_struct.val_sample;
TIM1->CCR4 = timer_struct.curr1_sample;
TIM8->CCR2 = timer_struct.curr2_sample;
// Enables preload register updates
TIM1->CR1 &= ~TIM_CR1_UDIS;
TIM8->CR1 &= ~TIM_CR1_UDIS;
timer_struct.updated = true;
}
utils_sys_unlock_cnt();
}
static void set_switching_frequency(float frequency) {
switching_frequency_now = frequency;
mc_timer_struct timer_tmp;
utils_sys_lock_cnt();
timer_tmp = timer_struct;
utils_sys_unlock_cnt();
timer_tmp.top = SYSTEM_CORE_CLOCK / (int)switching_frequency_now;
update_adc_sample_pos(&timer_tmp);
set_next_timer_settings(&timer_tmp);
}
static void set_next_comm_step(int next_step) {
uint16_t positive_oc_mode = TIM_OCMode_PWM1;
uint16_t negative_oc_mode = TIM_OCMode_Inactive;
uint16_t positive_highside = TIM_CCx_Enable;
uint16_t positive_lowside = TIM_CCxN_Enable;
uint16_t negative_highside = TIM_CCx_Enable;
uint16_t negative_lowside = TIM_CCxN_Enable;
if (!IS_DETECTING()) {
switch (conf.pwm_mode) {
case PWM_MODE_NONSYNCHRONOUS_HISW:
positive_lowside = TIM_CCxN_Disable;
break;
case PWM_MODE_SYNCHRONOUS:
break;
case PWM_MODE_BIPOLAR:
negative_oc_mode = TIM_OCMode_PWM2;
break;
}
}
if (next_step == 1) {
if (direction) {
// 0
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_Inactive);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
// +
TIM_SelectOCxM(TIM1, TIM_Channel_2, positive_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_2, positive_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_2, positive_lowside);
// -
TIM_SelectOCxM(TIM1, TIM_Channel_3, negative_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_3, negative_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_3, negative_lowside);
} else {
// 0
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_Inactive);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
// +
TIM_SelectOCxM(TIM1, TIM_Channel_3, positive_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_3, positive_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_3, positive_lowside);
// -
TIM_SelectOCxM(TIM1, TIM_Channel_2, negative_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_2, negative_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_2, negative_lowside);
}
} else if (next_step == 2) {
if (direction) {
// 0
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_Inactive);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
// +
TIM_SelectOCxM(TIM1, TIM_Channel_1, positive_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_1, positive_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_1, positive_lowside);
// -
TIM_SelectOCxM(TIM1, TIM_Channel_3, negative_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_3, negative_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_3, negative_lowside);
} else {
// 0
TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_Inactive);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
// +
TIM_SelectOCxM(TIM1, TIM_Channel_1, positive_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_1, positive_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_1, positive_lowside);
// -
TIM_SelectOCxM(TIM1, TIM_Channel_2, negative_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_2, negative_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_2, negative_lowside);
}
} else if (next_step == 3) {
if (direction) {
// 0
TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_Inactive);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
// +
TIM_SelectOCxM(TIM1, TIM_Channel_1, positive_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_1, positive_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_1, positive_lowside);
// -
TIM_SelectOCxM(TIM1, TIM_Channel_2, negative_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_2, negative_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_2, negative_lowside);
} else {
// 0
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_Inactive);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
// +
TIM_SelectOCxM(TIM1, TIM_Channel_1, positive_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_1, positive_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_1, positive_lowside);
// -
TIM_SelectOCxM(TIM1, TIM_Channel_3, negative_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_3, negative_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_3, negative_lowside);
}
} else if (next_step == 4) {
if (direction) {
// 0
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_Inactive);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
// +
TIM_SelectOCxM(TIM1, TIM_Channel_3, positive_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_3, positive_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_3, positive_lowside);
// -
TIM_SelectOCxM(TIM1, TIM_Channel_2, negative_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_2, negative_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_2, negative_lowside);
} else {
// 0
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_Inactive);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
// +
TIM_SelectOCxM(TIM1, TIM_Channel_2, positive_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_2, positive_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_2, positive_lowside);
// -
TIM_SelectOCxM(TIM1, TIM_Channel_3, negative_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_3, negative_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_3, negative_lowside);
}
} else if (next_step == 5) {
if (direction) {
// 0
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_Inactive);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
// +
TIM_SelectOCxM(TIM1, TIM_Channel_3, positive_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_3, positive_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_3, positive_lowside);
// -
TIM_SelectOCxM(TIM1, TIM_Channel_1, negative_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_1, negative_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_1, negative_lowside);
} else {
// 0
TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_Inactive);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
// +
TIM_SelectOCxM(TIM1, TIM_Channel_2, positive_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_2, positive_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_2, positive_lowside);
// -
TIM_SelectOCxM(TIM1, TIM_Channel_1, negative_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_1, negative_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_1, negative_lowside);
}
} else if (next_step == 6) {
if (direction) {
// 0
TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_Inactive);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
// +
TIM_SelectOCxM(TIM1, TIM_Channel_2, positive_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_2, positive_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_2, positive_lowside);
// -
TIM_SelectOCxM(TIM1, TIM_Channel_1, negative_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_1, negative_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_1, negative_lowside);
} else {
// 0
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_Inactive);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
// +
TIM_SelectOCxM(TIM1, TIM_Channel_3, positive_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_3, positive_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_3, positive_lowside);
// -
TIM_SelectOCxM(TIM1, TIM_Channel_1, negative_oc_mode);
TIM_CCxCmd(TIM1, TIM_Channel_1, negative_highside);
TIM_CCxNCmd(TIM1, TIM_Channel_1, negative_lowside);
}
} else {
// Invalid phase.. stop PWM!
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_InActive);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_InActive);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_InActive);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
}
}
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