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BLDC_Control.cpp
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BLDC_Control.cpp
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/*******************************************************************************
BLDC_Control.cpp - Library for brushless DC Motor Control.
Author: Swen Wahl
Date: 07.03.2013
License: Released into the public domain
uses API of Atmel Software Framework
http://asf.atmel.com/docs/latest/api.html
*******************************************************************************/
#include "Arduino.h"
#include "BLDC_Control.h"
#include "BLDC_Peripherals.h"
/*******************************************************************************
defines
*******************************************************************************/
#define DEAD_TIME 0.0000005/* 500 ns dead time */
#define SYS_CLOCK_84MHZ 84000000 /* system main clock is assumed to be 84MHz */
#define MCK_CLOCK_42MHZ 42000000 /* arduino has prescaler for main peripheral
clock of 2 from system clock */
#define CTRL_FRQ 30000 /* controller runs at 30kHz */
#define CTRL_DELTM 1/CTRL_FRQ /* reciprocal of control frequency */
#define SEC_PER_MIN 60
/* filter constant for current feedback */
/* value Bandwidth (normalized to 1 Hz) Rise time (samples)
1 0.1197 3
2 0.0466 8
3 0.0217 16
4 0.0104 34
5 0.0051 69
6 0.0026 140
7 0.0012 280
8 0.0007 561
*/
#define FILTER_VALUE 1
#define FILTER_VALUE_INTCNT 3
/* PIO related definitions */
#define PORT_HALL1 PIOA /* Arduino PIN 24 */
#define PORT_HALL2 PIOD /* Arduino PIN 26 */
#define PORT_HALL3 PIOD /* Arduino PIN 28 */
#define PIN_HALL1 15
#define PIN_HALL2 1
#define PIN_HALL3 3
#define HALL1_STATE ((PORT_HALL1 -> PIO_PDSR & (0x1U<<PIN_HALL1)) >> PIN_HALL1)
#define HALL2_STATE ((PORT_HALL2 -> PIO_PDSR & (0x1U<<PIN_HALL2)) >> PIN_HALL2)
#define HALL3_STATE ((PORT_HALL3 -> PIO_PDSR & (0x1U<<PIN_HALL3)) >> PIN_HALL3)
#define PORT_DEBUG PIOC
#define PIN_DEBUG 16 /* PC16 = Arduino PIN 47 */
#define SET_DEBUG_PIN (PORT_DEBUG->PIO_SODR |= (0x1U<<PIN_DEBUG))
#define CLR_DEBUG_PIN (PORT_DEBUG->PIO_CODR |= (0x1U<<PIN_DEBUG))
#define TGL_DEBUG_PIN (if(PORT_DEBUG->PIO_ODSR){CLEAR_DEBUG_PIN}\
else {SET_DEBUG_PIN})
/*******************************************************************************
static variables
*******************************************************************************/
static uint8_t MotorCount = 0;
static BldcControl* motors[MAX_MOTORS];
/* table for clockwise commutation */
commutationTable commutationTableCW =
{ { 0, 0, 0}, /* illegal hall state 000 */
{-1, 0, 1}, /* 001 */
{ 0, 1,-1}, /* 010 */
{-1, 1, 0}, /* 011 */
{ 1,-1, 0}, /* 100 */
{ 0,-1, 1}, /* 101 */
{ 1, 0,-1}, /* 110 */
{ 0, 0, 0}, /* illegal hall state 111 */
};
/* table for counter clockwise commutation */
commutationTable commutationTableCCW =
{ { 0, 0, 0}, /* illegal hall state 000 */
{ 1, 0,-1}, /* 001 */
{ 0,-1, 1}, /* 010 */
{ 1,-1, 0}, /* 011 */
{-1, 1, 0}, /* 100 */
{ 0, 1,-1}, /* 101 */
{-1, 0, 1}, /* 110 */
{ 0, 0, 0}, /* illegal hall state 111 */
};
/* angle assignment to hall states */
uint16_t anglePosition[8] =
{ 0, /* illegal hall state 000 */
60, /* 001 */
180, /* 010 */
120, /* 011 */
300, /* 100 */
0, /* 101 */
240, /* 110 */
0 /* illegal hall state 111 */
};
/*******************************************************************************
interrupt handler
*******************************************************************************/
#if defined (useTimer1)
void HANDLER_FOR_TIMER1(void) {
/* clear interrupt */
TC_FOR_TIMER1->TC_CHANNEL[CHANNEL_FOR_TIMER1].TC_SR;
motors[0]->CommutationControl();
}
#endif
#if defined (_useTimer2)
void HANDLER_FOR_TIMER2(void) {
/* clear interrupt */
TC_FOR_TIMER2->TC_CHANNEL[CHANNEL_FOR_TIMER2].TC_SR;
motors[1]->CommutationControl();
}
#endif
#if defined (useAdcInterrupt)
void ADC_Handler(void)
{
motors[0]->CommutationControl();
}
#endif
/*******************************************************************************
private methods
*******************************************************************************/
/*------------------------------------------------------------------------------
Name: configurePMC
parameters: -
description: initializes the Power Management controller
------------------------------------------------------------------------------*/
void BldcControl::configurePMC(void)
{
pmc_set_writeprotect(false);
/* enable PWM peripheral */
pmc_enable_periph_clk(PWM_IRQn);
/* enable PIO of inputs */
pmc_enable_periph_clk(PIOA_IRQn);
pmc_enable_periph_clk(PIOD_IRQn);
}
/*------------------------------------------------------------------------------
Name: startTimer
parameters: tc - timer counter
channel - timer channel
irq - isr request
frequency - frequency of inetrrupts
description: initializes timer for periodic interrupt generation
------------------------------------------------------------------------------*/
void BldcControl::configureTimerInterrupt(Tc *tc,
uint32_t channel,
IRQn_Type irq,
uint32_t frequency)
{
pmc_set_writeprotect(false);
pmc_enable_periph_clk((uint32_t)irq);
TC_Configure(tc,
channel,
TC_CMR_WAVE | TC_CMR_WAVSEL_UP_RC |
TC_CMR_TCCLKS_TIMER_CLOCK4);
uint32_t rc = VARIANT_MCK/128/frequency; //128 because we selected
//TIMER_CLOCK4 above
TC_SetRA(tc, channel, rc/2); //50% high, 50% low
TC_SetRC(tc, channel, rc);
TC_Start(tc, channel);
tc->TC_CHANNEL[channel].TC_IER=TC_IER_CPCS;
tc->TC_CHANNEL[channel].TC_IDR=~TC_IER_CPCS;
NVIC_EnableIRQ(irq);
}
/*------------------------------------------------------------------------------
Name: configurePIOC
parameters: -
description: initializes the PIO controller
------------------------------------------------------------------------------*/
void BldcControl::configurePIOC(void)
{
/* general config just for first instance */
if (this->motorIndex == 0)
{
/* setup debug Pin */
PORT_DEBUG -> PIO_PUDR |= (1U<<PIN_DEBUG); /* no pull up */
PORT_DEBUG -> PIO_PER |= (1U<<PIN_DEBUG); /* manual port control */
PORT_DEBUG -> PIO_OER |= (1U<<PIN_DEBUG); /* enable output */
PORT_DEBUG -> PIO_ODSR |= (1U<<PIN_DEBUG); /* drive 0 */
PORT_DEBUG -> PIO_IFDR |= (1U<<PIN_DEBUG); /* disable interrupt */
PORT_DEBUG -> PIO_MDDR |= (1U<<PIN_DEBUG); /* no multi drive on line */
}
/* set pio registers to enable PWM at desired PINs (PC2 to PC7) */
PIOC -> PIO_ABSR |= this->periphery->Pwm.pwmPio; /* enables Peripherial B */
PIOC -> PIO_PDR |= this->periphery->Pwm.pwmPio; /* disable manual port control */
PIOC -> PIO_MDDR |= this->periphery->Pwm.pwmPio; /* disable multi drive on line */
PIOC -> PIO_PUER |= this->periphery->Pwm.pwmPio; /* enable pull up resistors */
/* set registers for hall inputs */
PORT_HALL1 -> PIO_PUER |= (1U<<PIN_HALL1); /* enable pull up resistors */
PORT_HALL1 -> PIO_PER |= (1U<<PIN_HALL1); /* enable manual port control */
PORT_HALL1 -> PIO_ODR |= (1U<<PIN_HALL1); /* enable output */
PORT_HALL1 -> PIO_ODSR |= (1U<<PIN_HALL1); /* drive 0 */
PORT_HALL1 -> PIO_IFDR |= (1U<<PIN_HALL1); /* disable interrupt */
PORT_HALL1 -> PIO_MDDR |= (1U<<PIN_HALL1); /* disable multi drive on line */
PORT_HALL2 -> PIO_PUER |= (1U<<PIN_HALL2); /* enable pull up resistors */
PORT_HALL2 -> PIO_PER |= (1U<<PIN_HALL2); /* enable manual port control */
PORT_HALL2 -> PIO_ODR |= (1U<<PIN_HALL2); /* enable output */
PORT_HALL2 -> PIO_ODSR |= (1U<<PIN_HALL2); /* drive 0 */
PORT_HALL2 -> PIO_IFDR |= (1U<<PIN_HALL2); /* disable interrupt */
PORT_HALL2 -> PIO_MDDR |= (1U<<PIN_HALL2); /* disable multi drive on line */
PORT_HALL3 -> PIO_PUER |= (1U<<PIN_HALL3); /* enable pull up resistors */
PORT_HALL3 -> PIO_PER |= (1U<<PIN_HALL3); /* enable manual port control */
PORT_HALL3 -> PIO_ODR |= (1U<<PIN_HALL3); /* enable output */
PORT_HALL3 -> PIO_ODSR |= (1U<<PIN_HALL3); /* drive 0 */
PORT_HALL3 -> PIO_IFDR |= (1U<<PIN_HALL3); /* disable interrupt */
PORT_HALL3 -> PIO_MDDR |= (1U<<PIN_HALL3); /* disable multi drive on line */
}
/*------------------------------------------------------------------------------
Name: configureADC
parameters: -
description: initializes the ADC controller
- no DMA transfers
- no startup delay
- 12 bit resolution
- trigger on PWM event line 0
------------------------------------------------------------------------------*/
void BldcControl::configureADC(void)
{
uint32_t prescaler;
/* general config just for first instance */
if (this->motorIndex == 0)
{
/* Reset the controller. */
ADC->ADC_CR = ADC_CR_SWRST;
/* Reset Mode Register. */
ADC->ADC_MR = 0;
/* Reset PDC transfer. */
ADC->ADC_PTCR = (ADC_PTCR_RXTDIS | ADC_PTCR_TXTDIS);
ADC->ADC_RCR = 0;
ADC->ADC_RNCR = 0;
/* set clock prescaler */
prescaler = MCK_CLOCK_42MHZ / (8 * ADC_CLOCK) - 1;
ADC->ADC_MR |= ADC_MR_PRESCAL(prescaler) |
ADC_MR_STARTUP_SUT0; /* no startup delay */
adc_configure_timing(ADC, 0, ADC_SETTLING_TIME_3, 1);
/* set 12 bit resolution */
ADC->ADC_MR |= ADC_MR_LOWRES_BITS_12;
/* set ADC trigger */
ADC->ADC_MR |= ADC_MR_TRGEN_EN | /* enable trigger */
ADC_MR_TRGSEL_ADC_TRIG4; /*PWM event line 0 trrigger */
}
#if defined (useAdcInterrupt)
/* ADC enable interrupts */
ADC->ADC_IER |= 0x80;//ADC_CH_CUR_PHA; /* interrupt on highest channel number */
NVIC_EnableIRQ(ADC_IRQn);
#endif
}
/*------------------------------------------------------------------------------
Name: configurePWMC
parameters: -
description: initializes the PWM controller
------------------------------------------------------------------------------*/
void BldcControl::configurePWMC(void)
{
uint32_t clka = 0; /* clock A not used */
uint32_t clkb = 0; /* clock B not used */
uint32_t mck = MCK_CLOCK_42MHZ;
uint16_t duty = 0;
uint16_t deadTime;
pwmPeriod = MCK_CLOCK_42MHZ / this->periphery->Pwm.pwmSwFrq;
deadTime = (uint16_t)(pwmPeriod * (DEAD_TIME * this->periphery->Pwm.pwmSwFrq * 2));
/* disable all 3 channels */
PWMC_DisableChannel(PWM, this->periphery->Pwm.pwmChU);
PWMC_DisableChannel(PWM, this->periphery->Pwm.pwmChV);
PWMC_DisableChannel(PWM, this->periphery->Pwm.pwmChW);
PWMC_ConfigureClocks(clka, clkb, mck);
/* initialize all 3 channels */
PWMC_ConfigureChannelExt(PWM,
this->periphery->Pwm.pwmChU, /* channel ID */
PWM_CMR_CPRE_MCK, /* use main clock */
PWM_CMR_CALG, /* center alligned */
0, /* polarity low level */
0, /* event counter = 0 */
PWM_CMR_DTE, /* enable dead time */
0, /* no inversion of dead time H */
0); /* no inversion of dead time L */
PWMC_ConfigureChannelExt(PWM,
this->periphery->Pwm.pwmChV, /* channel ID */
PWM_CMR_CPRE_MCK,
PWM_CMR_CALG, /* center alligned */
0, /* polarity low level */
0, /* event counter = 0 */
PWM_CMR_DTE, /* enable dead time */
0, /* no inversion of dead time H */
0); /* no inversion of dead time L */
PWMC_ConfigureChannelExt(PWM,
this->periphery->Pwm.pwmChW, /* channel ID */
PWM_CMR_CPRE_MCK,
PWM_CMR_CALG, /* center alligned */
0, /* polarity low level */
0, /* event counter = 0 */
PWM_CMR_DTE, /* enable dead time */
0, /* no inversion of dead time H */
0); /* no inversion of dead time L */
PWMC_ConfigureSyncChannel(PWM,
PWM_SCM_SYNC0|PWM_SCM_SYNC1|PWM_SCM_SYNC2,
PWM_SCM_UPDM_MODE0,
PWM_SCM_PTRM,
PWM_SCM_PTRCS(0)) ;
/* set periods */
PWMC_SetPeriod(PWM, this->periphery->Pwm.pwmChU, pwmPeriod);
PWMC_SetPeriod(PWM, this->periphery->Pwm.pwmChV, pwmPeriod);
PWMC_SetPeriod(PWM, this->periphery->Pwm.pwmChW, pwmPeriod);
/* set duty cycles */
PWMC_SetDutyCycle(PWM, this->periphery->Pwm.pwmChU, duty);
PWMC_SetDutyCycle(PWM, this->periphery->Pwm.pwmChV, duty);
PWMC_SetDutyCycle(PWM, this->periphery->Pwm.pwmChW, duty);
/* set dead times */
PWMC_SetDeadTime(PWM, this->periphery->Pwm.pwmChU, deadTime, deadTime);
PWMC_SetDeadTime(PWM, this->periphery->Pwm.pwmChV, deadTime, deadTime);
PWMC_SetDeadTime(PWM, this->periphery->Pwm.pwmChW, deadTime, deadTime);
/* set overwrites to 0 */
PWMC_SetOverrideValue(PWM, 0);
/* set event for ADC trigger */
PWM->PWM_CMP[this->periphery->Pwm.pwmChU].PWM_CMPM |= PWM_CMPM_CEN | /* enable */
PWM_CMPM_CTR(0) | /* each period */
PWM_CMPM_CPR(0);
PWM->PWM_CMP[this->periphery->Pwm.pwmChU].PWM_CMPV = pwmPeriod/2; /* set trigger */
PWM->PWM_ELMR[0] |= PWM_ELMR_CSEL0; /* enable event line 0 */
}
/*------------------------------------------------------------------------------
Name: pwmSwitchingCU
parameters: hallState - states of hall sensors bit coded
bit 1 = Hall Sensor 1
bit 2 = Hall Sensor 2
bit 3 = Hall Sensor 3
description: sets PWM registers for unipolar complementary switching
------------------------------------------------------------------------------*/
void BldcControl::pwmSwitchingCU(uint8_t hallState)
{
uint32_t setOverwrite = 0;
uint32_t clearOverwrite = 0;
/* set phase U freewheeling */
if ((*(this->actualCommutation))[hallState][0] == 0)
{
setOverwrite |= this->periphery->Pwm.pwmChBitU |
(this->periphery->Pwm.pwmChBitU<<0x10U);
}
else
{
clearOverwrite |= this->periphery->Pwm.pwmChBitU |
(this->periphery->Pwm.pwmChBitU<<0x10U);
}
/* set phase V freewheeling */
if ((*(this->actualCommutation))[hallState][1] == 0)
{
setOverwrite |= this->periphery->Pwm.pwmChBitV |
(this->periphery->Pwm.pwmChBitV<<0x10U);
}
else
{
clearOverwrite |= this->periphery->Pwm.pwmChBitV |
(this->periphery->Pwm.pwmChBitV<<0x10U);
}
/* set phase W freewheeling */
if ((*(this->actualCommutation))[hallState][2] == 0)
{
setOverwrite |= this->periphery->Pwm.pwmChBitW |
(this->periphery->Pwm.pwmChBitW<<0x10U);
}
else
{
clearOverwrite |= this->periphery->Pwm.pwmChBitW |
(this->periphery->Pwm.pwmChBitW<<0x10U);
}
PWM->PWM_OSS |= setOverwrite;
PWM->PWM_OSCUPD |= clearOverwrite;
return;
}
/*------------------------------------------------------------------------------
Name: readBemfState
parameters: -
description: returns the state of the BEMF for phase U, V and W. the return
value is coded:
bit0: phase U
bit1: phase V
bit2: phase W
The output is delayed by half the last commutation cycle time
(represents 30 degrees)
------------------------------------------------------------------------------*/
uint8_t BldcControl::readBemfState(void)
{
uint16_t halfDcLinkVolt = this->dcVoltRaw>>1;
uint8_t bemfState = 0;
uint8_t retVal;
/* get back EMF of each phase */
if (*this->periphery->Adc.adcChVoltUResult >= halfDcLinkVolt)
{
bemfState |= 0x01;
}
else
{
bemfState &= ~0x01;
}
if (*this->periphery->Adc.adcChVoltVResult >= halfDcLinkVolt)
{
bemfState |= 0x02;
}
else
{
bemfState &= ~0x02;
}
if (*this->periphery->Adc.adcChVoltWResult >= halfDcLinkVolt)
{
bemfState |= 0x04;
}
else
{
bemfState &= ~0x04;
}
/* check if state changed*/
if (this->prevBemfState != bemfState)
{
this->bemfStateDelayCnt = this->intCountPrev>>1;
}
else
{
this->bemfStateDelayCnt--;
}
if (this->bemfStateDelayCnt == 0)
{
retVal = bemfState;
this->prevBemfState = bemfState;
}
else
{
retVal = this->prevBemfState;
}
return retVal;
}
/*******************************************************************************
public methods
*******************************************************************************/
/*------------------------------------------------------------------------------
Name: BldcControl
parameters: -
description: constructor
------------------------------------------------------------------------------*/
BldcControl::BldcControl(void)
{
if (MotorCount < MAX_MOTORS)
{
motors[MotorCount] = this;
this->motorIndex = MotorCount++; /* assign index to this instance */
}
}
/*------------------------------------------------------------------------------
Name: Config
parameters: -
description: initializes motor controler
------------------------------------------------------------------------------*/
void BldcControl::Config(void)
{
/* configure Power Management */
configurePMC();
if(this->motorIndex == 0)
{
periphery = &BldcBoard1;
}
else if(this->motorIndex == 1)
{
periphery = &BldcBoard2;
}
else
{
/* only two instances allowed */
}
if (this->motorIndex < MAX_MOTORS)
{
/* setup timer for interrupt generation */
#if defined (useTimer1)
if (this->motorIndex == 0)
configureTimerInterrupt(TC_FOR_TIMER1,
CHANNEL_FOR_TIMER1,
IRQn_FOR_TIMER1,
CTRL_FRQ);
#endif
#if defined (_useTimer2)
if (this->motorIndex == 1)
configureTimerInterrupt(TC_FOR_TIMER2,
CHANNEL_FOR_TIMER2,
IRQn_FOR_TIMER2,
CTRL_FRQ);
#endif
}
/* setup Pin configuration */
configurePIOC();
/* setup ADC configuration */
configureADC();
/* setup PWM configuration */
configurePWMC();
/* set motor properties */
this->actualCommutation = &commutationTableCW;
this->motorProperties.polePairs = 4;
this->Kprp = 2;
this->Kint = 1;
return;
}
/*------------------------------------------------------------------------------
Name: CommutationController
parameters: -
description: inner loop control.
- measures DC Link voltage
- Measures commutation by reading BEMF/Hall sensors.
- calculates motor current from phase currents
- runs the current regulator to control the duty cycle of PWM
- sets the block commutation accordingly
------------------------------------------------------------------------------*/
void BldcControl::CommutationControl(void)
{
uint8_t hallState, bemfState;
int8_t SpeedSign;
uint16_t tmp_per = this->pwmPeriod>>1;
int16_t tmp_dc;
int16_t Iu, Iv, Iw;
int16_t Ifilt;
int16_t currentFbk, phiElec;
SET_DEBUG_PIN;
this->intCount++;
/* measure DC Link Voltage */
this->dcVoltRaw = (*this->periphery->Adc.adcChVoltUResult +
*this->periphery->Adc.adcChVoltVResult +
*this->periphery->Adc.adcChVoltWResult) / 3;
/* read BEMF */
//bemfState = readBemfState();
/* read hall sensors */
hallState = (uint8_t)((HALL1_STATE | (HALL2_STATE<<1) | (HALL3_STATE<<2))&
0b111U);
/* calculate motor current */
Iu = (((int16_t)(*this->periphery->Adc.adcChCurUResult)) - ADC_CUR_OFFSET);
Iv = (((int16_t)(*this->periphery->Adc.adcChCurVResult)) - ADC_CUR_OFFSET);
Iw = -Iu - Iv;
currentFbk = (abs(Iu) + abs(Iv) + abs(Iw)) / 2;
/* filter measured current */
this->iFbkFiltTmp += (currentFbk - (this->iFbkFiltTmp >> FILTER_VALUE));
Ifilt = this->iFbkFiltTmp >> FILTER_VALUE;
/* run current control */
tmp_dc = CurrentControl(Ifilt, currentRef);
/* change commutation if hall state changed */
if (hallState != this->previousHallState)
{
/* set pwm outputs according to the commutation cycles */
pwmSwitchingCU(hallState);
/* save current hall state */
this->previousHallState = hallState;
/* get electric angle from hall states*/
phiElec = anglePosition[hallState];
/* calculate speed */
this->intCountPrev = this->intCount;
this->intCount = 0;
/* calculate rotor position */
this->deltaPhi = (int16_t)(phiElec - this->phiElecOld);
this->deltaPhi = (this->deltaPhi==-300)? 60:this->deltaPhi;
this->deltaPhi = (this->deltaPhi== 300)?-60:this->deltaPhi;
this->phiElecOld = phiElec;
debug = this->deltaPhi;
/*
this->rotorPosition += (this->deltaPhi /
this->motorProperties.polePairs);
this->rotorPosition = this->rotorPosition%360;
*/
//store current hallState
this->previousHallState = hallState;
}
else
{
/* hall state did not change */
}
/* filter interrupt counter */
this->intCountFiltTmp += (this->intCountPrev- (this->intCountFiltTmp >> FILTER_VALUE_INTCNT));
this->intCountFilt= this->intCountFiltTmp >> FILTER_VALUE_INTCNT;
/* update duty cycle */
PWM->PWM_CH_NUM[this->periphery->Pwm.pwmChU].PWM_CDTYUPD = (int16_t)tmp_per +
(((*(this->actualCommutation))[hallState][0]) *
(int16_t)tmp_dc);
PWM->PWM_CH_NUM[this->periphery->Pwm.pwmChV].PWM_CDTYUPD = (int16_t)tmp_per +
(((*(this->actualCommutation))[hallState][1]) *
(int16_t)tmp_dc);
PWM->PWM_CH_NUM[this->periphery->Pwm.pwmChW].PWM_CDTYUPD = (int16_t)tmp_per +
(((*(this->actualCommutation))[hallState][2]) *
(int16_t)tmp_dc);
/* enable update */
PWM->PWM_SCUC = PWM_SCUC_UPDULOCK;
/* debug output */
analogWriteResolution(12);
analogWrite(66,(bemfState&0x1)*4095); /* DAC0 */
analogWrite(67,(hallState&0x1)*4095); /* DAC1 */
CLR_DEBUG_PIN;
}
/*------------------------------------------------------------------------------
Name: CurrentControl
parameters: iFbk - Current Feedback (raw value)
iRef - Current Reference (raw value)
description: PI controller to control the DC bus current
------------------------------------------------------------------------------*/
int16_t BldcControl::CurrentControl(int16_t iFbk, int16_t iRef)
{
int16_t iErr;
int16_t iOut;
int16_t iPrp;
int16_t iIntLim;
/* calculate error */
iErr = iRef - iFbk;
/* proportional path */
iPrp = iErr >> this->Kprp;
/* integral path */
if (iErr > 0)
{
iInt = iInt + Kint;
}
else if (iErr < 0)
{
iInt = iInt - Kint;
}
/* integral value limiter - anti wind up */
iIntLim = (int16_t)(this->pwmPeriod>>3);
if (iInt > iIntLim)
{
iInt = iIntLim;
}
else if (iInt < -(iIntLim))
{
iInt = -(iIntLim);
}
iOut = iPrp + iInt;
/* limit output */
if (iOut > (this->pwmPeriod>>1))
{
iOut = (this->pwmPeriod>>1);
}
else if (iOut <= 0)
{
iOut = 0;
}
return iOut;
}
/*------------------------------------------------------------------------------
Name: start
parameters: -
description: starts the machine control by activating ADC and PWM
------------------------------------------------------------------------------*/
void BldcControl::start(void)
{
/* enable ADC channels */
ADC->ADC_CHER |= this->periphery->Adc.adcChCurUBit |
this->periphery->Adc.adcChCurVBit |
this->periphery->Adc.adcChVoltUBit |
this->periphery->Adc.adcChVoltVBit |
this->periphery->Adc.adcChVoltWBit;
/* enable all the PWM channels for the 3 phases*/
PWMC_EnableChannel(PWM, this->periphery->Pwm.pwmChU);
PWMC_EnableChannel(PWM, this->periphery->Pwm.pwmChV);
PWMC_EnableChannel(PWM, this->periphery->Pwm.pwmChW);
}
/*------------------------------------------------------------------------------
Name: stop
parameters: -
description: stops the machine control by deactivating ADC and PWM
------------------------------------------------------------------------------*/
void BldcControl::stop(void)
{
/* disable all the PWM channels for the 3 phases*/
PWMC_DisableChannel(PWM, this->periphery->Pwm.pwmChU);
PWMC_DisableChannel(PWM, this->periphery->Pwm.pwmChV);
PWMC_DisableChannel(PWM, this->periphery->Pwm.pwmChW);
/* disable ADC channels */
ADC->ADC_CHDR |= this->periphery->Adc.adcChCurUBit |
this->periphery->Adc.adcChCurVBit |
this->periphery->Adc.adcChVoltUBit |
this->periphery->Adc.adcChVoltVBit |
this->periphery->Adc.adcChVoltWBit;
}
/*------------------------------------------------------------------------------
Name: setCurrentRef
parameters: current - motor current reference in amps
description: sets the raw value of the current reference for inner loop
control. the input is limited to the maximum allowed current
------------------------------------------------------------------------------*/
void BldcControl::setCurrentRef(float current)
{
/* limit current reference */
current = (current > ADC_MAX_CUR)? ADC_MAX_CUR:current;
current = (current < -ADC_MAX_CUR)?-ADC_MAX_CUR:current;
/* set rotational direction */
this->rotDirCmd = (current >= 0)?BLDC_ROT_DIR_CCW:BLDC_ROT_DIR_CW;
this->actualCommutation = (this->rotDirCmd == BLDC_ROT_DIR_CW)?&commutationTableCW:
&commutationTableCCW;
/* set raw value of current reference */
this->currentRef = (int16_t)((abs(current)/ ADC_VOLT_IN_AMPS) *
(ADC_MAX_VAL_12BIT / ADC_REF));
return;
}
/*------------------------------------------------------------------------------
Name: getActualSpeed
parameters: -
description: returns the actual speed of the machine in rpm
------------------------------------------------------------------------------*/
float BldcControl::getActualSpeed(void)
{
float actualSpeed;
actualSpeed = (float)(CTRL_FRQ / this->intCountFilt) *
((((float)(this->deltaPhi) / this->motorProperties.polePairs ))/360) *
(float)SEC_PER_MIN;
/* reset speed after one second */
if (this->intCount > (CTRL_FRQ))
{
actualSpeed = 0;
}
return actualSpeed;
}
/*------------------------------------------------------------------------------
Name: getDcLinkVoltage
parameters: -
description: returns the actual DC link voltage in Volts
------------------------------------------------------------------------------*/
float BldcControl::getDcLinkVoltage(void)
{
float dcVoltage;
dcVoltage = (ADC_REF / ADC_MAX_VAL_12BIT)*((float)(this->dcVoltRaw)) *
ADC_VOLT_DEVIDER;
return dcVoltage;
}