config_motor.h

Go to the documentation of this file.

/*This file has been prepared for Doxygen automatic documentation generation.*/

/* Copyright (c) 2007, Atmel Corporation All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. The name of ATMEL may not be used to endorse or promote products derived
 * from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY ATMEL ``AS IS'' AND ANY EXPRESS OR IMPLIED
 * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE EXPRESSLY AND
 * SPECIFICALLY DISCLAIMED. IN NO EVENT SHALL ATMEL BE LIABLE FOR ANY DIRECT,
 * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
 * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */

//_____  I N C L U D E S ___________________________________________________


#ifndef _CONFIG_MOTOR_H_
#define _CONFIG_MOTOR_H_


//typedef  enum {HS_001=1,HS_010=2,HS_011=3,HS_100=4,HS_101=5,HS_110=6} Hall_Position;
typedef enum {MS_001=1,MS_010=2,MS_011=3,MS_100=4,MS_101=5,MS_110=6} Motor_Position;
typedef enum {MS_ALIGN=1,MS_RAMP_UP=2,MS_LAST_RAMP_UP=3,MS_RUNNING=4,MS_STOP=5} Motor_State;

  enum {RUN = TRUE, STOP = FALSE};


  enum {CCW = TRUE, CW = FALSE};


// Define type of speed measure and number of samples
//#define AVERAGE_SPEED_MEASUREMENT
#define N_SAMPLE  8

  enum {OPEN_LOOP  = 0, SPEED_LOOP = 1, CURRENT_LOOP = 2};

// Here you have to define your control coefficients

#define Kp_speed 30
#define Ki_speed 30
#define Kd_speed 0

#define Kp_cur 1
#define Ki_cur 3
#define Kd_cur 0


// All PID coef are multiplied by 2^Kmul
// For exemple : kp = 1 => Kp = 1 * 2^K_scal = 1 * 2^4 = 16
// To get the right result you have to divide the number by 2^K_scal
// So execute a K_scal right shift
#define K_speed_scal 4
#define K_cur_scal 4

// Speed measurement
// K_SPEED = (60 * 255)/(n * t_timer0 * speed_max(rpm))
// with n : number of pairs of poles.
// and t_timer0 : 16us
#define K_SPEED 34152 // max speed : 7000 (MC100/MC310 motor)
//#define K_SPEED 11250 // max speed : 17000 (MMT 35-1LS motor)
// if you want to calculate the absolute speed
//   absolute_speed = alpha * measured_speed
//   with alpha = 60 / (n * K_SPEED * t_timer0)

#endif

/* IMAX for DAC is calculated on that way :
   Rshunt = 0.05 Ohm
   Vref = 2.56V
   DAC is left adjust so it is like a 8 bit DAC
   IMAX = imax(amp) * 0.05 * 5 * 256 / 2.56 + 128
   IMAX = imax * 25 + 128
   The result must be less than 254              */

//#define IMAX (4 * 25 + 128) /* 4 amps */
#define IMAX 228

#define MC310_MOTOR
//#define ELECTROCRAFT_MOTOR
//#define RC_MOTOR

#ifdef MC310_MOTOR
#define RAMP_UP_PERIOD   50  
#define RAMP_UP_INDEX_MAX 10 
#define RAMP_UP_STEP_MAX 40  

#define TIMER1_AT_STARTUP_END 500

#define ALIGN_TIME 200     
#define ALIGN_DUTY 150     

#define POT_REF_MIN 180
#endif


#ifdef ELECTROCRAFT_MOTOR
#define RAMP_UP_PERIOD   50  
#define RAMP_UP_INDEX_MAX 9 
#define RAMP_UP_STEP_MAX 40  

#define TIMER1_AT_STARTUP_END 750

#define ALIGN_TIME 200     
#define ALIGN_DUTY 150     

#define POT_REF_MIN 180
#endif

#ifdef RC_MOTOR
#define RAMP_UP_PERIOD   50  
#define RAMP_UP_INDEX_MAX 14 
#define RAMP_UP_STEP_MAX 40  

#define TIMER1_AT_STARTUP_END 1000

#define ALIGN_TIME 700     
#define ALIGN_DUTY 150     

#define POT_REF_MIN 150

#endif // _CONFIG_MOTOR_H_

---