#include "config.h"
#include "mc_control.h"
#include "mc_drv.h"
#include "mc_interface.h"

Include dependency graph for mc_control.c:

Functions
U8	mc_control_current (U8 cur_cmd)
	use to control current , current regulation loop need parameter : Kp_cur, Ki_cur ,Kd_cur and K_cur_scal in config_motor.h need to call in Te ms More...

U8	mc_control_speed (U8 speed_cmd)
	use to control speed , speed regulation loop need parameter : Kp_speed, Ki_speed ,Kd_speed and K_speed_scal in config_motor.h need to call in Te ms More...

U8	mc_get_Duty_Cycle ()
	set type of regulation More...

void	mc_regulation_loop ()
	launch speed control or no regulation More...

void	mc_set_Current_Loop ()
	set type of regulation More...

void	mc_set_Open_Loop ()
	set type of regulation More...

void	mc_set_Speed_Loop ()
	set type of regulation More...

Variables
S16	cur_der = 0

S16	cur_derivative = 0

S16	cur_error = 0
	Error calculation. More...

S16	cur_integ = 0

S16	cur_integral = 0

S16	cur_proportional = 0

U8	duty_cycle = 0
	Parameter to set PWM Duty Cycle after regulation calculation. More...

S16	last_cur_error = 0
	Variable for the last error. More...

S16	last_speed_error = 0
	Variable for the last error. More...

U8	regulation_type = OPEN_LOOP
	Define the type of regulation (OPEN_LOOP or CLOSE_LOOP) More...

S16	speed_der = 0

S16	speed_derivative = 0

S16	speed_error = 0
	Error calculation. More...

S16	speed_integ = 0

S16	speed_integral = 0

S16	speed_proportional = 0

Function Documentation

◆ mc_control_current()

U8 mc_control_current ( U8 cur_cmd )

use to control current , current regulation loop need parameter : Kp_cur, Ki_cur ,Kd_cur and K_cur_scal in config_motor.h need to call in Te ms

Returns: value of current, duty cycle on 8 bits

Definition at line 103 of file mc_control.c.

References cur_error, cur_integ, cur_integral, cur_proportional, K_cur_scal, Ki_cur, Kp_cur, and mci_get_measured_current().

Referenced by mc_regulation_loop().

 {
   U8 Duty = 0;
   S32 increment = 0;
 
   // Error calculation
   cur_error = cur_cmd - (mci_get_measured_current());// value -255 <=> 255
 
   // proportional term calculation
   cur_proportional = Kp_cur*cur_error;
 
   // integral term calculation
   cur_integral = cur_integral + cur_error;
 
   if(cur_integral >  255) cur_integral =  255;
   if(cur_integral < -255) cur_integral = -255;
 
   cur_integ = Ki_cur*cur_integral;
 
   // derivative term calculation
   /*cur_derivative = cur_error - last_cur_error;
 
   if(cur_derivative >  255) cur_derivative =  255;
   if(cur_derivative < -255) cur_derivative = -255;
 
   cur_der = Kd_cur*cur_derivative;
 
   last_cur_error = cur_error;*/
 
   // Duty Cycle calculation
   increment = cur_proportional + cur_integ;
   //increment += cur_der;
   increment = increment >> K_cur_scal;
 
   // Variable saturation
   if(increment >= (S16)(255)) Duty = 255;
   else
   {
     if(increment <= (S16)(0)) Duty =   0;
     else Duty = (U8)(increment);
   }
 
   // return Duty Cycle
   return Duty;
 }

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◆ mc_control_speed()

U8 mc_control_speed ( U8 speed_cmd )

use to control speed , speed regulation loop need parameter : Kp_speed, Ki_speed ,Kd_speed and K_speed_scal in config_motor.h need to call in Te ms

Returns: value of speed, duty cycle on 8 bits

Definition at line 48 of file mc_control.c.

References K_speed_scal, Ki_speed, Kp_speed, mci_get_measured_speed(), speed_error, speed_integ, speed_integral, and speed_proportional.

Referenced by mc_regulation_loop().

 {
   U8 Duty = 0;
   S32 increment = 0;
 
   // Error calculation
   speed_error = speed_cmd - mci_get_measured_speed();// value -255 <=> 255
 
   // proportional term calculation
   speed_proportional = Kp_speed*speed_error;
 
   // integral term calculation
   speed_integral = speed_integral + speed_error;
 
   if(speed_integral >  255) speed_integral =  255;
   if(speed_integral < -255) speed_integral = -255;
 
   speed_integ = Ki_speed*speed_integral;
 
   // derivative term calculation
   /*speed_derivative = speed_error - last_speed_error;
 
   if(speed_derivative >  255) speed_derivative =  255;
   if(speed_derivative < -255) speed_derivative = -255;
 
   speed_der = Kd_speed*speed_derivative;
 
   last_speed_error = speed_error;*/
 
   // Duty Cycle calculation
   increment = speed_proportional + speed_integ;
   //increment += speed_der;
   increment = increment >> K_speed_scal;
 
   // Variable saturation
   if(increment >= (S16)(255)) Duty = 255;
   else
   {
     if(increment <= (S16)(0)) Duty =   0;
     else Duty = (U8)(increment);
   }
 
   // return Duty Cycle
   return Duty;
 }

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◆ mc_get_Duty_Cycle()

U8 mc_get_Duty_Cycle ( )

set type of regulation

Precondition: none

Postcondition: Close loop regulation Set

Definition at line 197 of file mc_control.c.

References duty_cycle.

Referenced by mc_switch_commutation(), mci_retry_run(), and mci_run().

 {
   return duty_cycle;
 }

◆ mc_regulation_loop()

void mc_regulation_loop ( )

launch speed control or no regulation

Precondition: none

Postcondition: new duty cycle on PWM

Definition at line 159 of file mc_control.c.

References CURRENT_LOOP, duty_cycle, mc_control_current(), mc_control_speed(), mc_get_motor_speed(), mc_get_potentiometer_value(), OPEN_LOOP, regulation_type, and SPEED_LOOP.

Referenced by main(), mci_retry_run(), and mci_run().

 {
    switch(regulation_type)
   {
     case OPEN_LOOP     : duty_cycle = mc_get_motor_speed();break;
     case SPEED_LOOP    : duty_cycle = mc_control_speed(mc_get_motor_speed());break;
     case CURRENT_LOOP  : duty_cycle = mc_control_current(mc_get_potentiometer_value());break;
     default : break;
   }
 }