PMSM.h

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/* This file has been prepared for Doxygen automatic documentation generation.*/
#ifndef _PMSM_H_
#define _PMSM_H_


#define FALSE   0

#define TRUE    (!FALSE)

#define DEAD_TIME_HALF    4

#define SINE_TABLE_LENGTH 192U

#if SINE_TABLE_LENGTH != 192U
#warning "Changing sine modulation table length can have unwanted side effects. Consult the documentation for more information."
#endif

#define TABLE_ELEMENTS_PER_COMMUTATION_SECTOR   (SINE_TABLE_LENGTH / 6)

#define PWM_PATTERN_PORTB   ((1 << PB1) | (1 << PB2) | (1 << PB3))

#define PWM_PATTERN_PORTD   ((1 << PD3) | (1 << PD5) | (1 << PD6))

#define DIRECTION_FORWARD       0

#define DIRECTION_REVERSE       1

#define DIRECTION_UNKNOWN       3

#define HALL_PULLUP_ENABLE      FALSE

#define HALL_PIN      PINC

#define H1_PIN        PC0

#define H2_PIN        PC1

#define H3_PIN        PC2

#define ADC_CHANNEL_SPEED_REF   3

#define ADC_CHANNEL_CURRENT     4

#define ADC_PRESCALER_8        ((0 << ADPS2) | (1 << ADPS1) | (0 << ADPS0))

#define ADC_PRESCALER_64        ((1 << ADPS2) | (1 << ADPS1) | (0 << ADPS0))

#define ADC_PRESCALER           ADC_PRESCALER_8

#define ADC_REFERENCE_VOLTAGE_INTERNAL      ((1 << REFS1) | (1 << REFS0))

#define ADC_REFERENCE_VOLTAGE_VCC           ((0 << REFS1) | (1 << REFS0))

#define ADC_REFERENCE_VOLTAGE_AREF          ((0 << REFS1) | (0 << REFS0))

#define ADC_REFERENCE_VOLTAGE               ADC_REFERENCE_VOLTAGE_INTERNAL

#define ADMUX_SPEED_REF   (ADC_REFERENCE_VOLTAGE | (1 << ADLAR) | (ADC_CHANNEL_SPEED_REF << MUX0))

#define ADMUX_CURRENT     (ADC_REFERENCE_VOLTAGE | (1 << ADLAR) | (ADC_CHANNEL_CURRENT << MUX0))

#define DIRECTION_COMMAND_PIN   PD2

#define REV_ROTATION_PIN        PD4

#define TACHO_OUTPUT_PIN        PD7

#define EMERGENCY_SHUTDOWN_PIN  PB5

#define WAVEFORM_BLOCK_COMMUTATION    0

#define WAVEFORM_SINUSOIDAL           1

#define WAVEFORM_BRAKING              2

#define WAVEFORM_UNDEFINED            3

#define COMMUTATION_TICKS_STOPPED     6000

#define TACHO_OUTPUT_ENABLED              TRUE

#define REVERSE_ROTATION_SIGNAL_ENABLE    TRUE

#define TURN_MODE_COAST               0

#define TURN_MODE_BRAKE               1

#define TURN_MODE                     TURN_MODE_BRAKE

#define BLOCK_COMMUTATION_DUTY_MULTIPLIER   3

#define SYNCHRONIZATION_COUNT       2

#define SPEED_CONTROL_OPEN_LOOP     0

#define SPEED_CONTROL_CLOSED_LOOP   1

#define SPEED_CONTROL_METHOD        SPEED_CONTROL_OPEN_LOOP

#define SPEED_CONTROLLER_TIME_BASE   150

#define PID_K_P    50

#define PID_K_I    5

#define PID_K_D    10

#define SPEED_CONTROLLER_MAX_INCREMENT      550

#define SPEED_CONTROLLER_MAX_INPUT          256


//Typedefs
typedef struct PMSMflags
{
  uint8_t motorStopped : 1;     
  uint8_t motorSynchronized: 1; 
  uint8_t actualDirection : 2;  
  uint8_t desiredDirection : 1; 
  uint8_t driveWaveform : 2;    
} PMSMflags_t;


//Function prototypes
static void TimersInit(void);
static void TimersSetModeSinusoidal(void);
static void TimersSetModeBlockCommutation(void);
static void TimersSetModeBrake(void);
static void TimersWaitForNextPWMCycle(void);
static void BlockCommutationSetDuty(const uint8_t duty);
static void PortsInit(void);
static void PinChangeIntInit(void);
static void ADCInit(void);
static void CheckEmergencyShutdown(void);
static void SpeedController(void);
static uint8_t GetDesiredDirection(void);
static uint8_t GetActualDirection(void);
static void BlockCommutate(const uint8_t direction, uint8_t hall);
static uint8_t GetHall(void);
static void DesiredDirectionUpdate(void);
static uint8_t CalculateActualDirection(const uint8_t lastHall, const uint8_t newHall);
static void ActualDirectionUpdate(uint8_t lastHall, const uint8_t newHall);
static void ReverseRotationSignalUpdate(void);
static void InsertDeadband(const uint8_t compareValue, uint8_t * compareHighPtr, uint8_t * compareLowPtr);
static void AdjustSineTableIndex(const uint16_t increment);
static uint16_t SineTableIncrementCalculate(const uint16_t ticks);
static void SetAdvanceCommutation(const uint8_t leadAngle);
static void TachoOutputUpdate(const uint8_t hall);
static void EnablePWMOutputs(void);
static void DisablePWMOutputs(void);
static void CommutationTicksUpdate(void);
static void MotorSynchronizedUpdate(void);
static uint8_t IsMotorSynchronized(void);

//Prototypes for ISRs, required by MISRA
#pragma vector=PCINT0_vect
__interrupt void EmergencyInterruptISR(void);

#pragma vector=PCINT1_vect
__interrupt void HallChangeISR(void);

#pragma vector=PCINT2_vect
__interrupt void DirectionInputChangeISR(void);

#pragma vector=TIMER1_CAPT_vect
__interrupt void Timer1CaptureISR(void);

#pragma vector=TIMER2_OVF_vect
__interrupt void Timer2OverflowISR(void);

#pragma vector=WDT_vect
__interrupt void WatchdogISR(void);

#pragma vector=ADC_vect
__interrupt void ADCCompleteISR(void);


#endif

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