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Merged
finger563 merged 2 commits into from
Aug 1, 2023
Merged

Feature/bldc driver mcpwm fault #101

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db7c53c
feat(bldc_driver): use mcpwm_fault
finger563 Aug 1, 2023
a238eaf
feat(bldc_motor): update logging
finger563 Aug 1, 2023
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101 changes: 77 additions & 24 deletions components/bldc_driver/include/bldc_driver.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,20 @@ class BldcDriver {
/**
* @brief Disable the BldcDriver and destroy it.
*/
~BldcDriver() { disable(); }
~BldcDriver() {
disable();
for (auto &gen : generators_) {
mcpwm_del_generator(gen);
}
for (auto &comp : comparators_) {
mcpwm_del_comparator(comp);
}
mcpwm_del_fault(fault_handle_);
for (auto &oper : operators_) {
mcpwm_del_operator(oper);
}
mcpwm_del_timer(timer_);
}

/**
* @brief Enable the driver, set the enable pin high (if we were provided an
Expand Down Expand Up @@ -220,9 +233,9 @@ class BldcDriver {
protected:
void init(const Config &config) {
configure_enable_gpio();
configure_fault_gpio();
configure_timer();
configure_operators();
configure_fault();
configure_comparators();
configure_generators();
enable();
Expand All @@ -241,20 +254,6 @@ class BldcDriver {
gpio_set_level((gpio_num_t)gpio_en_, 0);
}

void configure_fault_gpio() {
if (gpio_fault_ < 0) {
return;
}
logger_.info("Configure fault pin");
gpio_config_t drv_fault_config;
memset(&drv_fault_config, 0, sizeof(drv_fault_config));
drv_fault_config.pin_bit_mask = 1ULL << gpio_fault_;
drv_fault_config.mode = GPIO_MODE_INPUT;
drv_fault_config.pull_up_en = GPIO_PULLUP_DISABLE;
drv_fault_config.pull_down_en = GPIO_PULLDOWN_ENABLE;
ESP_ERROR_CHECK(gpio_config(&drv_fault_config));
}

void configure_timer() {
logger_.info("Create MCPWM timer");
mcpwm_timer_config_t timer_config;
Expand All @@ -281,6 +280,40 @@ class BldcDriver {
}
}

void configure_fault() {
if (gpio_fault_ < 0) {
return;
}
logger_.info("Create fault detector");
mcpwm_gpio_fault_config_t gpio_fault_config{};
memset(&gpio_fault_config, 0, sizeof(gpio_fault_config));
gpio_fault_config.gpio_num = (gpio_num_t)gpio_fault_;
gpio_fault_config.group_id = 0;
gpio_fault_config.flags.active_level = 1; // high level means fault, refer to TMC6300 datasheet
gpio_fault_config.flags.pull_down = true; // internally pull down
gpio_fault_config.flags.io_loop_back = true; // enable loop back to GPIO input
ESP_ERROR_CHECK(mcpwm_new_gpio_fault(&gpio_fault_config, &fault_handle_));

logger_.info("Set brake mode on the fault event");
mcpwm_brake_config_t brake_config{};
memset(&brake_config, 0, sizeof(brake_config));
brake_config.brake_mode = MCPWM_OPER_BRAKE_MODE_CBC;
brake_config.fault = fault_handle_;
brake_config.flags.cbc_recover_on_tez = true;
for (int i = 0; i < 3; i++) {
ESP_ERROR_CHECK(mcpwm_operator_set_brake_on_fault(operators_[i], &brake_config));
}

logger_.info("Configure fault pin");
gpio_config_t drv_fault_config;
memset(&drv_fault_config, 0, sizeof(drv_fault_config));
drv_fault_config.pin_bit_mask = 1ULL << gpio_fault_;
drv_fault_config.mode = GPIO_MODE_INPUT;
drv_fault_config.pull_up_en = GPIO_PULLUP_DISABLE;
drv_fault_config.pull_down_en = GPIO_PULLDOWN_ENABLE;
ESP_ERROR_CHECK(gpio_config(&drv_fault_config));
}

void configure_comparators() {
logger_.info("Create comparators");
mcpwm_comparator_config_t compare_config;
Expand All @@ -301,6 +334,10 @@ class BldcDriver {
ESP_ERROR_CHECK(mcpwm_new_generator(operators_[i / 2], &gen_config, &generators_[i]));
}

// set high and low generators to output the same waveform using the
// comparator. we will use the dead time module to add edge delay, also make
// gen_high and gen_low complementary

// A high / low
configure_generator_action(generators_[0], generators_[1], comparators_[0]);
configure_generator_deadtime(generators_[0], generators_[1]);
Expand All @@ -315,16 +352,31 @@ class BldcDriver {
void configure_generator_action(mcpwm_gen_handle_t &gen_high, mcpwm_gen_handle_t &gen_low,
mcpwm_cmpr_handle_t comp) {
logger_.info("Setup generator action");
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(

// set high/low generators to output low when the timer is counting up, and
// high when the timer is counting down.
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(
gen_high,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comp, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comp, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
ESP_ERROR_CHECK(mcpwm_generator_set_actions_on_compare_event(
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comp, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(
gen_high,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comp, MCPWM_GEN_ACTION_HIGH)));

ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(
gen_low,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comp, MCPWM_GEN_ACTION_LOW)));
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(
gen_low,
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comp, MCPWM_GEN_ACTION_LOW),
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comp, MCPWM_GEN_ACTION_HIGH),
MCPWM_GEN_COMPARE_EVENT_ACTION_END()));
MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_DOWN, comp, MCPWM_GEN_ACTION_HIGH)));

// set the brake event to stop the motor (set low) for both the high and low generators
ESP_ERROR_CHECK(mcpwm_generator_set_action_on_brake_event(
gen_high, MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC,
MCPWM_GEN_ACTION_LOW)));

ESP_ERROR_CHECK(mcpwm_generator_set_action_on_brake_event(
gen_low, MCPWM_GEN_BRAKE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_OPER_BRAKE_MODE_CBC,
MCPWM_GEN_ACTION_LOW)));
}

void configure_generator_deadtime(mcpwm_gen_handle_t &gen_high, mcpwm_gen_handle_t &gen_low) {
Expand All @@ -350,6 +402,7 @@ class BldcDriver {
gpio_num_t gpio_cl_;
int gpio_en_;
int gpio_fault_;
mcpwm_fault_handle_t fault_handle_;
std::atomic<float> power_supply_voltage_;
std::atomic<float> limit_voltage_;
float dead_zone_;
Expand Down
6 changes: 3 additions & 3 deletions components/bldc_motor/include/bldc_motor.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -716,13 +716,13 @@ class BldcMotor {
std::this_thread::sleep_for(1ms * 200);
// determine the direction the sensor moved
if (mid_angle == end_angle) {
logger_.warn("Failed to notice movement");
logger_.warn("Failed to notice movement when trying to find natural direction.");
return 0; // failed calibration
} else if (mid_angle < end_angle) {
logger_.debug("sensor_direction==CCW");
logger_.info("sensor direction: detail::SensorDirection::COUNTER_CLOCKWISE");
sensor_direction_ = detail::SensorDirection::COUNTER_CLOCKWISE;
} else {
logger_.debug("sensor_direction==CW");
logger_.info("sensor direction: detail::SensorDirection::CLOCKWISE");
sensor_direction_ = detail::SensorDirection::CLOCKWISE;
}
// check pole pair number
Expand Down