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mcpwm.c
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mcpwm.c
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/*
Copyright 2016 Benjamin Vedder benjamin@vedder.se
Copyright 2017 Nico Ackermann added cruise control status and handling and changed speed control calculation,
added hysterysis for hall hybrid mode,
changed current limit truncation
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/>.
*/
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
#include <stdlib.h>
#include <math.h>
#include <stdio.h>
#include <string.h>
#include "mcpwm.h"
#include "mc_interface.h"
#include "digital_filter.h"
#include "utils.h"
#include "ledpwm.h"
#include "terminal.h"
#include "encoder.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;
#ifdef HW_HAS_3_SHUNTS
volatile unsigned int curr3_sample;
#endif
} 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 ppm_cruise speed_pid_cruise_control_type;
static volatile float pos_pid_set_pos;
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_control_mode control_mode;
static volatile float last_current_sample;
static volatile float last_current_sample_filtered;
static volatile float mcpwm_detect_currents_avg[6];
static volatile float mcpwm_detect_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 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 int pwm_cycles;
static volatile float last_pwm_cycles_sum;
static volatile float last_pwm_cycles_sums[6];
static volatile bool dccal_done;
static volatile bool sensorless_now;
static volatile float sensor_hyst_min;
static volatile float sensor_hyst_max;
static volatile int hall_detect_table[8][7];
static volatile bool init_done;
static volatile mc_comm_mode comm_mode_next;
#ifdef HW_HAS_3_SHUNTS
static volatile int curr2_sum;
static volatile int curr2_offset;
#endif
// 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 float mcpwm_detect_currents[6];
volatile float mcpwm_detect_voltages[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 run_pid_control_speed(void);
static void run_pid_control_pos(float dt);
static void set_next_comm_step(int next_step);
static void update_rpm_tacho(void);
static void update_sensor_mode(void);
static int read_hall(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 void do_dc_cal(void);
// Defines
#define IS_DETECTING() (state == MC_STATE_DETECTING)
// Threads
static THD_WORKING_AREA(timer_thread_wa, 2048);
static THD_FUNCTION(timer_thread, arg);
static THD_WORKING_AREA(rpm_thread_wa, 1024);
static THD_FUNCTION(rpm_thread, arg);
static volatile bool timer_thd_stop;
static volatile bool rpm_thd_stop;
void mcpwm_init(volatile mc_configuration *configuration) {
utils_sys_lock_cnt();
init_done= false;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
conf = configuration;
// Initialize variables
comm_step = 1;
detect_step = 0;
direction = 1;
rpm_now = 0.0;
dutycycle_set = 0.0;
dutycycle_now = 0.0;
speed_pid_set_rpm = 0.0;
speed_pid_cruise_control_type = CRUISE_CONTROL_MOTOR_SETTINGS;
pos_pid_set_pos = 0.0;
current_set = 0.0;
tachometer = 0;
tachometer_abs = 0;
tachometer_for_direction = 0;
state = MC_STATE_OFF;
control_mode = CONTROL_MODE_NONE;
last_current_sample = 0.0;
last_current_sample_filtered = 0.0;
switching_frequency_now = conf->m_bldc_f_sw_max;
ignore_iterations = 0;
curr_samp_volt = 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;
pwm_cycles = 0;
last_pwm_cycles_sum = 0.0;
memset((float*)last_pwm_cycles_sums, 0, sizeof(last_pwm_cycles_sums));
dccal_done = false;
memset((void*)hall_detect_table, 0, sizeof(hall_detect_table[0][0]) * 8 * 7);
update_sensor_mode();
comm_mode_next = conf->comm_mode;
mcpwm_init_hall_table((int8_t*)conf->hall_table);
// 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_OutputNState_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_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = HW_DEAD_TIME_VALUE;
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);
// Enable Vrefint channel
ADC_TempSensorVrefintCmd(ENABLE);
// 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);
#ifdef HW_HAS_3_SHUNTS
ADC_ExternalTrigInjectedConvConfig(ADC3, ADC_ExternalTrigInjecConv_T8_CC3);
#endif
ADC_ExternalTrigInjectedConvEdgeConfig(ADC1, ADC_ExternalTrigInjecConvEdge_Falling);
ADC_ExternalTrigInjectedConvEdgeConfig(ADC2, ADC_ExternalTrigInjecConvEdge_Falling);
#ifdef HW_HAS_3_SHUNTS
ADC_ExternalTrigInjectedConvEdgeConfig(ADC3, ADC_ExternalTrigInjecConvEdge_Falling);
#endif
ADC_InjectedSequencerLengthConfig(ADC1, HW_ADC_INJ_CHANNELS);
ADC_InjectedSequencerLengthConfig(ADC2, HW_ADC_INJ_CHANNELS);
#ifdef HW_HAS_3_SHUNTS
ADC_InjectedSequencerLengthConfig(ADC3, HW_ADC_INJ_CHANNELS);
#endif
hw_setup_adc_channels();
// Interrupt
ADC_ITConfig(ADC1, ADC_IT_JEOC, ENABLE);
nvicEnableVector(ADC_IRQn, 6);
// 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_OC3Init(TIM8, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(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);
TIM_Cmd(TIM12, ENABLE);
// Start threads
timer_thd_stop = false;
rpm_thd_stop = false;
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;
init_done = true;
}
void mcpwm_deinit(void) {
init_done = false;
WWDG_DeInit();
timer_thd_stop = true;
rpm_thd_stop = true;
while (timer_thd_stop || rpm_thd_stop) {
chThdSleepMilliseconds(1);
}
TIM_DeInit(TIM1);
TIM_DeInit(TIM2);
TIM_DeInit(TIM8);
TIM_DeInit(TIM12);
ADC_DeInit();
DMA_DeInit(DMA2_Stream4);
nvicDisableVector(ADC_IRQn);
dmaStreamRelease(STM32_DMA_STREAM(STM32_DMA_STREAM_ID(2, 4)));
}
bool mcpwm_init_done(void) {
return init_done;
}
void mcpwm_set_configuration(volatile mc_configuration *configuration) {
// Stop everything first to be safe
control_mode = CONTROL_MODE_NONE;
stop_pwm_ll();
utils_sys_lock_cnt();
conf = configuration;
comm_mode_next = conf->comm_mode;
mcpwm_init_hall_table((int8_t*)conf->hall_table);
update_sensor_mode();
utils_sys_unlock_cnt();
}
/**
* Initialize the hall sensor lookup table
*
* @param table
* The commutations corresponding to the hall sensor states in the forward direction-
*/
void mcpwm_init_hall_table(int8_t *table) {
const int fwd_to_rev[7] = {-1,1,6,5,4,3,2};
for (int i = 0;i < 8;i++) {
hall_to_phase_table[8 + i] = table[i];
int ind_now = hall_to_phase_table[8 + i];
if (ind_now < 1) {
hall_to_phase_table[i] = ind_now;
continue;
}
hall_to_phase_table[i] = fwd_to_rev[ind_now];
}
// init the sensor hyst
float sensor_hyst = conf->hall_sl_erpm * 0.1;
if(sensor_hyst > 500.0){
sensor_hyst = 500.0;
}
sensor_hyst_min = conf->hall_sl_erpm - sensor_hyst;
sensor_hyst_max = conf->hall_sl_erpm + sensor_hyst;
}
static void do_dc_cal(void) {
DCCAL_ON();
// Wait max 5 seconds
int cnt = 0;
while(IS_DRV_FAULT()){
chThdSleepMilliseconds(1);
cnt++;
if (cnt > 5000) {
break;
}
};
chThdSleepMilliseconds(1000);
curr0_sum = 0;
curr1_sum = 0;
#ifdef HW_HAS_3_SHUNTS
curr2_sum = 0;
#endif
curr_start_samples = 0;
while(curr_start_samples < 4000) {};
curr0_offset = curr0_sum / curr_start_samples;
curr1_offset = curr1_sum / curr_start_samples;
#ifdef HW_HAS_3_SHUNTS
curr2_offset = curr2_sum / curr_start_samples;
#endif
DCCAL_OFF();
dccal_done = true;
}
/**
* 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) {
control_mode = CONTROL_MODE_DUTY;
set_duty_cycle_hl(dutyCycle);
}
/**
* Use duty cycle control. Absolute values less than MCPWM_MIN_DUTY_CYCLE will
* stop the motor.
*
* WARNING: This function does not use ramping. A too large step with a large motor
* can destroy hardware.
*
* @param dutyCycle
* The duty cycle to use.
*/
void mcpwm_set_duty_noramp(float dutyCycle) {
control_mode = CONTROL_MODE_DUTY;
if (state != MC_STATE_RUNNING) {
set_duty_cycle_hl(dutyCycle);
} else {
dutycycle_set = dutyCycle;
dutycycle_now = dutyCycle;
set_duty_cycle_ll(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) {
control_mode = CONTROL_MODE_SPEED;
speed_pid_set_rpm = rpm;
speed_pid_cruise_control_type = CRUISE_CONTROL_MOTOR_SETTINGS;
}
void mcpwm_set_pid_speed_with_cruise_status(float rpm, ppm_cruise cruise_status) {
control_mode = CONTROL_MODE_SPEED;
speed_pid_set_rpm = rpm;
speed_pid_cruise_control_type = cruise_status;
}
/**
* Use PID position control. Note that this only works when encoder support
* is enabled.
*
* @param pos
* The desired position of the motor in degrees.
*/
void mcpwm_set_pid_pos(float pos) {
control_mode = CONTROL_MODE_POS;
pos_pid_set_pos = pos;
if (state != MC_STATE_RUNNING) {
set_duty_cycle_hl(conf->l_min_duty);
}
}
/**
* 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 (fabsf(current) < conf->cc_min_current) {
control_mode = CONTROL_MODE_NONE;
stop_pwm_ll();
return;
}
// truncate by the higher value because it also could mean accelerate reverse
float max_c = fabsf(utils_max_abs(conf->l_current_min, conf->l_current_max));
utils_truncate_number(¤t, -max_c, max_c);
control_mode = CONTROL_MODE_CURRENT;
current_set = current;
if (state != MC_STATE_RUNNING) {
set_duty_cycle_hl(SIGN(current) * conf->l_min_duty);
}
}
/**
* 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 (fabsf(current) < conf->cc_min_current) {
control_mode = CONTROL_MODE_NONE;
stop_pwm_ll();
return;
}
utils_truncate_number(¤t, conf->l_current_min, -conf->l_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 (conf->motor_type == MOTOR_TYPE_DC) {
if (fabsf(dutycycle_now) > 0.1) {
state = MC_STATE_RUNNING;
} else {
full_brake_ll();
}
} else {
if (fabsf(rpm_now) > conf->l_max_erpm_fbrake) {
state = MC_STATE_RUNNING;
} else {
full_brake_ll();
}
}
}
}
/**
* 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;
}
/**
* 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;
}
/**
* 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;
}
/**
* 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;
}
/**
* Switch off all FETs.
*/
void mcpwm_stop_pwm(void) {
control_mode = CONTROL_MODE_NONE;
stop_pwm_ll();
}
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) {
#ifdef HW_HAS_DRV8313
DISABLE_BR();
#endif
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(conf->m_bldc_f_sw_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) {
#ifdef HW_HAS_DRV8313
ENABLE_BR();
#endif
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(conf->m_bldc_f_sw_max);
}
/**
* 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, -conf->l_max_duty, conf->l_max_duty);
if (state == MC_STATE_DETECTING) {
stop_pwm_ll();
return;
}
dutycycle_set = dutyCycle;
if (state != MC_STATE_RUNNING) {
if (fabsf(dutyCycle) >= conf->l_min_duty) {
// dutycycle_now is updated by the back-emf detection. If the motor already
// is spinning, it will be non-zero.
if (fabsf(dutycycle_now) < conf->l_min_duty) {
dutycycle_now = SIGN(dutyCycle) * conf->l_min_duty;
}
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 (conf->motor_type == MOTOR_TYPE_DC) {
if (fabsf(dutycycle_now) > 0.1) {
state = MC_STATE_RUNNING;