PMSM.h

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


#include "stdint.h"


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;


#define FALSE   0

#define TRUE    (!FALSE)


#define CPU_FREQUENCY               16000000UL

#define DEAD_TIME     10


#ifndef PWM1X

#define PWM1X   7
#endif


#define UL            PB0

#define UH            PB1

#define VL            PB2

#define VH            PB3

#define WL            PB4

#define WH            PB5

#define PWM_PIN_MASK_PORTB ((1 << UL) | (1 << UH) | (1 << VL) | (1 << VH) | (1 << WL) | (1 << WH))


#define H1_PIN        PA0

#define H2_PIN        PA1

#define H3_PIN        PA2

#define HALL_PULL_UP_ENABLE   FALSE
//#define HALL_PULL_UP_ENABLE   TRUE


#define DIRECTION_PIN PA3


//Output compare override enable bits
#define UL_OCOE       OC1OE0
#define UH_OCOE       OC1OE1
#define VL_OCOE       OC1OE2
#define VH_OCOE       OC1OE3
#define WL_OCOE       OC1OE4
#define WH_OCOE       OC1OE5


#define COMPARE_REGISTER_PHASE_U           OCR1A

#define COMPARE_REGISTER_PHASE_V           OCR1B

#define COMPARE_REGISTER_PHASE_W           OCR1D


#define PWM_INVERT_OUTPUT       0
//#define PWM_INVERT_OUTPUT       1


#define DIRECTION_FORWARD       0

#define DIRECTION_REVERSE       1

#define DIRECTION_UNKNOWN       3


#define SINE_TABLE_LENGTH   192U

#define SINE_TABLE_SIZE_LARGE   0

#define SINE_TABLE_SIZE_SMALL   1

#define SINE_TABLE_SIZE       SINE_TABLE_SIZE_LARGE
//#define SINE_TABLE_SIZE       SINE_TABLE_SIZE_SMALL


#define TABLE_ELEMENTS_PER_COMMUTATION_SECTOR   (SINE_TABLE_LENGTH / 6)


#define PWM_TOP_VALUE       0x03ff


#define COMMUTATION_TICKS_STOPPED     6000


#define SYNCHRONIZATION_COUNT       2


#define WAVEFORM_BLOCK_COMMUTATION    0

#define WAVEFORM_SINUSOIDAL           1

#define WAVEFORM_BRAKING              2

#define WAVEFORM_UNDEFINED            3


#define BLOCK_COMMUTATION_DUTY_MULTIPLIER   3


#define TURN_MODE_COAST               0

#define TURN_MODE_BRAKE               1

//#define TURN_MODE                     TURN_MODE_COAST
#define TURN_MODE                     TURN_MODE_BRAKE


#define SPEED_CONTROL_OPEN_LOOP     0

#define SPEED_CONTROL_CLOSED_LOOP   1

#define SPEED_CONTROL_METHOD        SPEED_CONTROL_OPEN_LOOP
//#define SPEED_CONTROL_METHOD        SPEED_CONTROL_CLOSED_LOOP

#define SPEED_CONTROLLER_TIME_BASE   150

#define PID_K_P    256

#define PID_K_I    10

#define PID_K_D    0

#define SPEED_CONTROLLER_MAX_INCREMENT      620

#define SPEED_CONTROLLER_MAX_INPUT          1024


static void SpeedController(uint16_t speedReference);
static void PortsInit(void);
static void PLLInit(void);
static void TimersInit(void);
static void PWMInit(void);
static void ADCInit(void);
static void PinChangeInit(void);
static void ExternalInterruptInit(void);
static void TimerSetModeBlockCommutation(void);
static void TimerSetModeSinusoidal(void);
static void TimerSetModeBrake(void);
static void BlockCommutationSetDuty(const uint16_t compareValue);
static uint8_t GetDesiredDirection(void);
static uint8_t GetActualDirection(void);
static void BlockCommutate(const uint8_t direction, const uint8_t hall);
static uint8_t GetHall(void);
static void DesiredDirectionUpdate(void);
static void ActualDirectionUpdate(uint8_t lastHall, const uint8_t newHall);
static uint16_t SineTableIncrementCalculate(const uint16_t ticks);
static void AdjustSineTableIndex(const uint16_t increment);
static void SetAdvanceCommutation(const uint8_t advanceCommutation);
static void EnablePWMOutputs(void);
static void DisablePWMOutputs(void);
static void CommutationTicksUpdate(void);
static void MotorSynchronizedUpdate(void);
static uint8_t IsMotorSynchronized(void);
static uint8_t SineTableSmallGetValue(uint8_t index);
static void SineOutputUpdate(void);
static unsigned int MultiplyUS15x8(const uint16_t m15, const uint8_t m8);


#define TC1_PWM6_SET_DUTY_CYCLE(dutyCycle) TC1_WRITE_10_BIT_REGISTER(OCR1A, (dutyCycle))


#endif

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