forked from Ackmaniac/bldc
-
Notifications
You must be signed in to change notification settings - Fork 1
/
mcpwm.h
92 lines (80 loc) · 3.41 KB
/
mcpwm.h
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
/*
Copyright 2016 Benjamin Vedder benjamin@vedder.se
Copyright 2017 Nico Ackermann added functions to handle cruise control status
This file is part of the VESC firmware.
The VESC firmware 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.
The VESC firmware 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/>.
*/
#ifndef MCPWM_H_
#define MCPWM_H_
#include "conf_general.h"
// Functions
void mcpwm_init(volatile mc_configuration *configuration);
void mcpwm_deinit(void);
bool mcpwm_init_done(void);
void mcpwm_set_configuration(volatile mc_configuration *configuration);
void mcpwm_init_hall_table(int8_t *table);
void mcpwm_set_duty(float dutyCycle);
void mcpwm_set_duty_noramp(float dutyCycle);
void mcpwm_set_pid_speed(float rpm);
void mcpwm_set_pid_speed_with_cruise_status(float rpm, ppm_cruise cruise_status);
void mcpwm_set_pid_pos(float pos);
void mcpwm_set_current(float current);
void mcpwm_set_brake_current(float current);
void mcpwm_brake_now(void);
void mcpwm_release_motor(void);
int mcpwm_get_comm_step(void);
float mcpwm_get_duty_cycle_set(void);
float mcpwm_get_duty_cycle_now(void);
float mcpwm_get_switching_frequency_now(void);
float mcpwm_get_rpm(void);
mc_state mcpwm_get_state(void);
float mcpwm_get_kv(void);
float mcpwm_get_kv_filtered(void);
int mcpwm_get_tachometer_value(bool reset);
int mcpwm_get_tachometer_abs_value(bool reset);
void mcpwm_stop_pwm(void);
float mcpwm_get_tot_current(void);
float mcpwm_get_tot_current_filtered(void);
float mcpwm_get_tot_current_directional(void);
float mcpwm_get_tot_current_directional_filtered(void);
float mcpwm_get_tot_current_in(void);
float mcpwm_get_tot_current_in_filtered(void);
void mcpwm_set_detect(void);
float mcpwm_get_detect_pos(void);
void mcpwm_reset_hall_detect_table(void);
int mcpwm_get_hall_detect_result(int8_t *table);
int mcpwm_read_hall_phase(void);
float mcpwm_read_reset_avg_cycle_integrator(void);
void mcpwm_set_comm_mode(mc_comm_mode mode);
mc_comm_mode mcpwm_get_comm_mode(void);
float mcpwm_get_last_adc_isr_duration(void);
float mcpwm_get_last_inj_adc_isr_duration(void);
mc_rpm_dep_struct mcpwm_get_rpm_dep(void);
bool mcpwm_is_dccal_done(void);
void mcpwm_switch_comm_mode(mc_comm_mode next);
// Interrupt handlers
void mcpwm_adc_inj_int_handler(void);
void mcpwm_adc_int_handler(void *p, uint32_t flags);
// External variables
extern volatile float mcpwm_detect_currents[];
extern volatile float mcpwm_detect_voltages[];
extern volatile float mcpwm_detect_currents_diff[];
extern volatile int mcpwm_vzero;
/*
* Fixed parameters
*/
#define MCPWM_RPM_TIMER_FREQ 1000000.0 // Frequency of the RPM measurement timer
#define MCPWM_CMD_STOP_TIME 0 // Ignore commands for this duration in msec after a stop has been sent
#define MCPWM_DETECT_STOP_TIME 500 // Ignore commands for this duration in msec after a detect command
// Speed PID parameters
#define MCPWM_PID_TIME_K 0.001 // Pid controller sample time in seconds
#endif /* MC_PWM_H_ */