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bldc.c
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bldc.c
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/*
* This file is part of the hoverboard-firmware-hack-V2 project. The
* firmware is used to hack the generation 2 board of the hoverboard.
* These new hoverboards have no mainboard anymore. They consist of
* two Sensorboards which have their own BLDC-Bridge per Motor and an
* ARM Cortex-M3 processor GD32F130C8.
*
* Copyright (C) 2018 Florian Staeblein
* Copyright (C) 2018 Jakob Broemauer
* Copyright (C) 2018 Kai Liebich
* Copyright (C) 2018 Christoph Lehnert
*
* The program is based on the hoverboard project by Niklas Fauth. The
* structure was tried to be as similar as possible, so that everyone
* could find a better way through the code.
*
* 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/>.
*/
#include "gd32f1x0.h"
#include "../Inc/setup.h"
#include "../Inc/defines.h"
#include "../Inc/config.h"
// Internal constants
const int16_t pwm_res = 72000000 / 2 / PWM_FREQ; // = 2000
// Global variables for voltage and current
float batteryVoltage = 40.0;
float currentDC = 0.0;
float realSpeed = 0.0;
// Timeoutvariable set by timeout timer
extern FlagStatus timedOut;
// Variables to be set from the main routine
int16_t bldc_inputFilterPwm = 0;
FlagStatus bldc_enable = RESET;
// ADC buffer to be filled by DMA
adc_buf_t adc_buffer;
// Internal calculation variables
uint8_t hall_a;
uint8_t hall_b;
uint8_t hall_c;
uint8_t hall;
uint8_t pos;
uint8_t lastPos;
int16_t bldc_outputFilterPwm = 0;
int32_t filter_reg;
FlagStatus buzzerToggle = RESET;
uint8_t buzzerFreq = 0;
uint8_t buzzerPattern = 0;
uint16_t buzzerTimer = 0;
int16_t offsetcount = 0;
int16_t offsetdc = 2000;
uint32_t speedCounter = 0;
//----------------------------------------------------------------------------
// Commutation table
//----------------------------------------------------------------------------
const uint8_t hall_to_pos[8] =
{
// annotation: for example SA=0 means hall sensor pulls SA down to Ground
0, // hall position [-] - No function (access from 1-6)
3, // hall position [1] (SA=1, SB=0, SC=0) -> PWM-position 3
5, // hall position [2] (SA=0, SB=1, SC=0) -> PWM-position 5
4, // hall position [3] (SA=1, SB=1, SC=0) -> PWM-position 4
1, // hall position [4] (SA=0, SB=0, SC=1) -> PWM-position 1
2, // hall position [5] (SA=1, SB=0, SC=1) -> PWM-position 2
6, // hall position [6] (SA=0, SB=1, SC=1) -> PWM-position 6
0, // hall position [-] - No function (access from 1-6)
};
//----------------------------------------------------------------------------
// Block PWM calculation based on position
//----------------------------------------------------------------------------
void blockPWM(int pwm, int pwmPos, int *y, int *b, int *g)
{
switch(pwmPos)
{
case 1:
*y = 0;
*b = pwm;
*g = -pwm;
break;
case 2:
*y = -pwm;
*b = pwm;
*g = 0;
break;
case 3:
*y = -pwm;
*b = 0;
*g = pwm;
break;
case 4:
*y = 0;
*b = -pwm;
*g = pwm;
break;
case 5:
*y = pwm;
*b = -pwm;
*g = 0;
break;
case 6:
*y = pwm;
*b = 0;
*g = -pwm;
break;
default:
*y = 0;
*b = 0;
*g = 0;
}
}
//----------------------------------------------------------------------------
// Set motor enable
//----------------------------------------------------------------------------
void SetEnable(FlagStatus setEnable)
{
bldc_enable = setEnable;
}
//----------------------------------------------------------------------------
// Set pwm -1000 to 1000
//----------------------------------------------------------------------------
void SetPWM(int16_t setPwm)
{
bldc_inputFilterPwm = CLAMP(setPwm, -1000, 1000);
}
//----------------------------------------------------------------------------
// Calculation-Routine for BLDC => calculates with 16kHz
//----------------------------------------------------------------------------
void CalculateBLDC(void)
{
int y = 0; // yellow = phase A
int b = 0; // blue = phase B
int g = 0; // green = phase C
// Calibrate ADC offsets for the first 1000 cycles
if (offsetcount < 1000)
{
offsetcount++;
offsetdc = (adc_buffer.current_dc + offsetdc) / 2;
return;
}
// Calculate battery voltage every 100 cycles
if (buzzerTimer % 100 == 0)
{
batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.v_batt * ADC_BATTERY_VOLT) * 0.001;
}
#ifdef MASTER
// Create square wave for buzzer
buzzerTimer++;
if (buzzerFreq != 0 && (buzzerTimer / 5000) % (buzzerPattern + 1) == 0)
{
if (buzzerTimer % buzzerFreq == 0)
{
buzzerToggle = buzzerToggle == RESET ? SET : RESET; // toggle variable
gpio_bit_write(BUZZER_PORT, BUZZER_PIN, buzzerToggle);
}
}
else
{
gpio_bit_write(BUZZER_PORT, BUZZER_PIN, RESET);
}
#endif
// Calculate current DC
currentDC = ABS((adc_buffer.current_dc - offsetdc) * MOTOR_AMP_CONV_DC_AMP);
// Disable PWM when current limit is reached (current chopping), enable is not set or timeout is reached
if (currentDC > DC_CUR_LIMIT || bldc_enable == RESET || timedOut == SET)
{
timer_automatic_output_disable(TIMER_BLDC);
}
else
{
timer_automatic_output_enable(TIMER_BLDC);
}
// Read hall sensors
hall_a = gpio_input_bit_get(HALL_A_PORT, HALL_A_PIN);
hall_b = gpio_input_bit_get(HALL_B_PORT, HALL_B_PIN);
hall_c = gpio_input_bit_get(HALL_C_PORT, HALL_C_PIN);
// Determine current position based on hall sensors
hall = hall_a * 1 + hall_b * 2 + hall_c * 4;
pos = hall_to_pos[hall];
// Calculate low-pass filter for pwm value
filter_reg = filter_reg - (filter_reg >> FILTER_SHIFT) + bldc_inputFilterPwm;
bldc_outputFilterPwm = filter_reg >> FILTER_SHIFT;
// Update PWM channels based on position y(ellow), b(lue), g(reen)
blockPWM(bldc_outputFilterPwm, pos, &y, &b, &g);
// Set PWM output (pwm_res/2 is the mean value, setvalue has to be between 10 and pwm_res-10)
timer_channel_output_pulse_value_config(TIMER_BLDC, TIMER_BLDC_CHANNEL_G, CLAMP(g + pwm_res / 2, 10, pwm_res-10));
timer_channel_output_pulse_value_config(TIMER_BLDC, TIMER_BLDC_CHANNEL_B, CLAMP(b + pwm_res / 2, 10, pwm_res-10));
timer_channel_output_pulse_value_config(TIMER_BLDC, TIMER_BLDC_CHANNEL_Y, CLAMP(y + pwm_res / 2, 10, pwm_res-10));
// Increments with 62.5us
if(speedCounter < 4000) // No speed after 250ms
{
speedCounter++;
}
// Every time position reaches value 1, one round is performed (rising edge)
if (lastPos != 1 && pos == 1)
{
realSpeed = 1991.81f / (float)speedCounter; //[km/h]
speedCounter = 0;
}
else
{
if (speedCounter >= 4000)
{
realSpeed = 0;
}
}
// Safe last position
lastPos = pos;
}