added sinusoid commutation, ready to tune offset

circuit/README.md

@@ -22,6 +22,7 @@ This perhaps means I need to run that SPI cable with a differential driver, to b
  - wants one lo-side debug pin!
  - for resets etc, pull en to gnd on other side of switch!
  - wants spi debug pins 
+ - wants more gnd pins, for scope, gnd pins to be not beside 3v3
 
  - might have to go to DRV8320 - newer, available
   - CSD88548 is CSD88599 but more amps less volts, use these 

embedded/atkbldcdriver/atkbldcdriver/atkbldcdriver.cproj

@@ -178,6 +178,9 @@
     <Compile Include="ringbuffer.h">
       <SubType>compile</SubType>
     </Compile>
+    <Compile Include="sinelut.h">
+      <SubType>compile</SubType>
+    </Compile>
     <Compile Include="spiport.c">
       <SubType>compile</SubType>
     </Compile>

embedded/atkbldcdriver/atkbldcdriver/main.c

@@ -9,6 +9,7 @@
 #include <avr/interrupt.h>
 #include "hardware.h"
 #include "fastmath.h"
+#include "sinelut.h"
 
 // first setup all the pins
 // want six step commutation, or sinpwm on encoder reading? 
@@ -51,6 +52,20 @@ void encoder_init(void){
 	ams5047_init(&ams5047, &spiEncoder);
 }
 
+#define ENC_RESOLUTION 16835
+
+// a handful of constants, probably need many less
+// divisor is # of poles on motor / 2 (for each n/s pair, one set of 3 coils per full rotation)
+const static uint16_t enc_resolution = ENC_RESOLUTION;
+const static uint8_t enc_reverse = 1; // 1 or 0, for reverse op
+const static uint16_t twoPi_enc = 2340; //ENC_RESOLUTION / 7; // divisor is # poles / 2
+const static uint16_t pi_enc = 1170;
+const static int16_t enc_offset = -600; // start at midpoint - adjust -ve or +ve from
+
+static uint16_t enc_reading = 0;
+static uint16_t phase_target = 0;
+// 2^14 = 16,384
+
 void pwm_periods(uint16_t peru, uint16_t perv, uint16_t perw){
 	// check overrun
 	(peru > 1024) ? peru = 1024 : (0);
@@ -78,6 +93,23 @@ void pwm_by_offset(int16_t ofu, int16_t ofv, int16_t ofw){
 	pwm_periods(peru, perv, perw);
 }
 
+void pwm_by_sin_duty(uint16_t phase, float duty){
+	// phases respective of home
+	int16_t pu = phase;
+	(pu >= twoPi_enc) ? (pu -= twoPi_enc) : (0);
+	int16_t pv = phase + 780;
+	(pv >= twoPi_enc) ? (pv -= twoPi_enc) : (0);
+	int16_t pw = phase + 1560;
+	(pw >= twoPi_enc) ? (pw -= twoPi_enc) : (0);
+	
+	// zero-set offset
+	int16_t peru = ((sinelut[pu] - 512) * duty) + 512;
+	int16_t perv = ((sinelut[pv] - 512) * duty) + 512;
+	int16_t perw = ((sinelut[pw] - 512) * duty) + 512;
+	
+	pwm_periods(peru, perv, perw);
+}
+
 void pwm_init(void){
 	// setup awex etc
 	
@@ -121,7 +153,7 @@ void drv_init(void){
 	
 	// setup drv8302 mode
 	pin_clear(&drvModePwm); // low for 6-channel pwm, hi and lo sides from uc
-	pin_clear(&drvModeGain); // low for 10v/v, hi for 40v/v current sense gains
+	pin_set(&drvModeGain); // low for 10v/v, hi for 40v/v current sense gains
 	pin_clear(&drvDcCal); // turn DC cal off, we turn this high to set midpoint on amps
 	pin_clear(&drvEnPin); // disable the gate driver, to start. also broken by no/go hardware switch 
 }
@@ -193,7 +225,7 @@ int main(void)
 	bldc_init(&bldc);
 	// on startup, speed (if clcomm) and duty
 	//bldc_setTargetSpeed(&bldc, 1000);
-	bldc_setDuty(&bldc, 30);
+	// bldc_setDuty(&bldc, 10);
 	// startup the driver
 	drv_init();
 	// and enable the gate
@@ -215,87 +247,20 @@ int main(void)
 	}
 }
 
-int8_t comTable[6][3] = {
-	{1,-1,0},
-	{1,0,-1},
-	{0,1,-1},
-	{-1,1,0},
-	{-1,0,1},
-	{0,-1,1}
-};
-
-#define ENC_RESOLUTION 16834
-
-// a handful of constants, probably need many less
-// divisor is # of poles on motor / 2 (for each n/s pair, one set of 3 coils per full rotation)
-const static uint16_t enc_resolution = ENC_RESOLUTION;
-const static uint8_t enc_reverse = 0; // 1 or 0, for reverse op
-const static uint16_t enc_modulo = ENC_RESOLUTION / 7; // divisor is # poles / 2
-const static uint16_t enc_offset = 0; // start at midpoint - adjust -ve or +ve from
-const static uint16_t enc_steplength = ENC_RESOLUTION / 7 / 6;
-static uint16_t enc_reading = 0;
-static uint16_t enc_adjusted = 0;
-static uint16_t enc_phase = 0;
-static uint16_t enc_target = 0;
-// 2^14 = 16,384
-
 // commutation timer
 ISR(TCD0_OVF_vect){
 	// CL 6-step Commutate
 	
 	// get encoder reading
 	ams5047_read(&ams5047, &enc_reading);
-	// offset and modulo to bring to in-phase relative location
-	if(enc_reverse){
-		enc_adjusted = enc_resolution - enc_reading;
-	} else {
-		enc_adjusted = enc_reading;
-	}
-	enc_adjusted += enc_offset; // add offset
-	enc_adjusted %= enc_resolution; // wrap to resolution
-	enc_adjusted %= enc_modulo; // break into phase relative
-	// so this should represent the phase (0-5) that we're currently in
-	enc_phase = enc_adjusted / enc_steplength;
-	// if dir, phase + 2 to go forwards, else + 4, effectively - 2, and wrap past circle
-	(bldc.comDir) ? (enc_target = (enc_phase + 2) % 6) : (enc_target = (enc_phase + 4) % 6);
-	//uint8_t dout[6] = {6,0,5,254,255,enc_target};
-	//uart_sendchars_buffered(&up0, dout, 6);
-	// now we can set PWMs accordingly
-	pwm_by_offset(	comTable[enc_target][0] * bldc.comDuty,
-					comTable[enc_target][1] * bldc.comDuty,
-					comTable[enc_target][2] * bldc.comDuty
-				 );
-				 
-	// OL Commutate
-	/*
-	(bldc.comDir) ? (bldc.comState ++) : (bldc.comState --);
-	if(bldc.comState > 5){
-		bldc.comState = 0;
-	}
-	
-	pwm_by_offset(	comTable[bldc.comState][0] * bldc.comDuty,
-					comTable[bldc.comState][1] * bldc.comDuty,
-					comTable[bldc.comState][2] * bldc.comDuty 
-				 );
-	*/
-}
-
-// acceleration timer
-ISR(TCD1_OVF_vect){
-	// CL Commutate: PID Speed Loop
-	
-	// OL Commutate: Acceleration to Speed
-	/*
-	if(bldc.currentSpeed != bldc.targetSpeed){
-		if(bldc.currentSpeed < bldc.targetSpeed){
-			bldc.currentSpeed ++;
-			bldc_setSpeed(&bldc, bldc.currentSpeed);
-		} else {
-			bldc.currentSpeed --;
-			bldc_setSpeed(&bldc, bldc.currentSpeed);
-		}
-	}
-	*/
+	// reversal if
+	enc_reverse ? enc_reading = enc_resolution - enc_reading : (0);
+	// target phase expressed in 0 - 2PI, where 2PI in terms of an encoder counts' worth of ticks
+	// we add the encoder's resolution here so that we can safely have negative encoder offsets
+	phase_target = (enc_resolution + enc_reading + enc_offset + pi_enc) % twoPi_enc;
+	
+	// we need to compute the respective pwm positions given the phase target 
+	pwm_by_sin_duty(phase_target, 0.04);
 }
 
 ISR(USARTE1_RXC_vect){

embedded/atkbldcdriver/atkbldcdriver/sinelut.h

+/*
+ * sinelut.h
+ *
+ * Created: 7/30/2018 5:47:35 PM
+ *  Author: Jake
+ */ 
+
+
+#ifndef SINELUT_H_
+#define SINELUT_H_
+
+const static int16_t sinelut[2340] = {
+	512,513,515,516,517,519,520,522,523,524,526,527,528,530,531,533,
+	534,535,537,538,539,541,542,544,545,546,548,549,550,552,553,555,
+	556,557,559,560,561,563,564,566,567,568,570,571,572,574,575,576,
+	578,579,581,582,583,585,586,587,589,590,591,593,594,595,597,598,
+	600,601,602,604,605,606,608,609,610,612,613,614,616,617,618,620,
+	621,622,624,625,627,628,629,631,632,633,635,636,637,639,640,641,
+	643,644,645,647,648,649,650,652,653,654,656,657,658,660,661,662,
+	664,665,666,668,669,670,672,673,674,675,677,678,679,681,682,683,
+	685,686,687,688,690,691,692,694,695,696,697,699,700,701,703,704,
+	705,706,708,709,710,711,713,714,715,716,718,719,720,722,723,724,
+	725,727,728,729,730,731,733,734,735,736,738,739,740,741,743,744,
+	745,746,748,749,750,751,752,754,755,756,757,758,760,761,762,763,
+	764,766,767,768,769,770,772,773,774,775,776,777,779,780,781,782,
+	783,784,786,787,788,789,790,791,793,794,795,796,797,798,799,801,
+	802,803,804,805,806,807,808,810,811,812,813,814,815,816,817,818,
+	820,821,822,823,824,825,826,827,828,829,830,832,833,834,835,836,
+	837,838,839,840,841,842,843,844,845,846,847,848,849,850,852,853,
+	854,855,856,857,858,859,860,861,862,863,864,865,866,867,868,869,
+	870,871,872,873,874,875,875,876,877,878,879,880,881,882,883,884,
+	885,886,887,888,889,890,891,892,892,893,894,895,896,897,898,899,
+	900,901,902,902,903,904,905,906,907,908,909,909,910,911,912,913,
+	914,915,915,916,917,918,919,920,920,921,922,923,924,925,925,926,
+	927,928,929,929,930,931,932,933,933,934,935,936,936,937,938,939,
+	940,940,941,942,943,943,944,945,945,946,947,948,948,949,950,951,
+	951,952,953,953,954,955,955,956,957,957,958,959,959,960,961,961,
+	962,963,963,964,965,965,966,967,967,968,969,969,970,970,971,972,
+	972,973,973,974,975,975,976,976,977,977,978,979,979,980,980,981,
+	981,982,982,983,984,984,985,985,986,986,987,987,988,988,989,989,
+	990,990,991,991,992,992,993,993,994,994,995,995,995,996,996,997,
+	997,998,998,999,999,999,1000,1000,1001,1001,1001,1002,1002,1003,1003,1003,
+	1004,1004,1005,1005,1005,1006,1006,1006,1007,1007,1007,1008,1008,1008,1009,1009,
+	1009,1010,1010,1010,1011,1011,1011,1012,1012,1012,1013,1013,1013,1013,1014,1014,
+	1014,1014,1015,1015,1015,1015,1016,1016,1016,1016,1017,1017,1017,1017,1018,1018,
+	1018,1018,1018,1019,1019,1019,1019,1019,1020,1020,1020,1020,1020,1020,1021,1021,
+	1021,1021,1021,1021,1021,1022,1022,1022,1022,1022,1022,1022,1022,1023,1023,1023,
+	1023,1023,1023,1023,1023,1023,1023,1023,1023,1024,1024,1024,1024,1024,1024,1024,
+	1024,1024,1024,1024,1024,1024,1024,1024,1024,1024,1024,1024,1024,1024,1024,1024,
+	1024,1024,1024,1024,1024,1024,1024,1024,1024,1024,1023,1023,1023,1023,1023,1023,
+	1023,1023,1023,1023,1023,1023,1022,1022,1022,1022,1022,1022,1022,1022,1021,1021,
+	1021,1021,1021,1021,1021,1020,1020,1020,1020,1020,1020,1019,1019,1019,1019,1019,
+	1018,1018,1018,1018,1018,1017,1017,1017,1017,1016,1016,1016,1016,1015,1015,1015,
+	1015,1014,1014,1014,1014,1013,1013,1013,1013,1012,1012,1012,1011,1011,1011,1010,
+	1010,1010,1009,1009,1009,1008,1008,1008,1007,1007,1007,1006,1006,1006,1005,1005,
+	1005,1004,1004,1003,1003,1003,1002,1002,1001,1001,1001,1000,1000,999,999,999,
+	998,998,997,997,996,996,995,995,995,994,994,993,993,992,992,991,
+	991,990,990,989,989,988,988,987,987,986,986,985,985,984,984,983,
+	982,982,981,981,980,980,979,979,978,977,977,976,976,975,975,974,
+	973,973,972,972,971,970,970,969,969,968,967,967,966,965,965,964,
+	963,963,962,961,961,960,959,959,958,957,957,956,955,955,954,953,
+	953,952,951,951,950,949,948,948,947,946,945,945,944,943,943,942,
+	941,940,940,939,938,937,936,936,935,934,933,933,932,931,930,929,
+	929,928,927,926,925,925,924,923,922,921,920,920,919,918,917,916,
+	915,915,914,913,912,911,910,909,909,908,907,906,905,904,903,902,
+	902,901,900,899,898,897,896,895,894,893,892,892,891,890,889,888,
+	887,886,885,884,883,882,881,880,879,878,877,876,875,875,874,873,
+	872,871,870,869,868,867,866,865,864,863,862,861,860,859,858,857,
+	856,855,854,853,852,850,849,848,847,846,845,844,843,842,841,840,
+	839,838,837,836,835,834,833,832,830,829,828,827,826,825,824,823,
+	822,821,820,818,817,816,815,814,813,812,811,810,808,807,806,805,
+	804,803,802,801,799,798,797,796,795,794,793,791,790,789,788,787,
+	786,784,783,782,781,780,779,777,776,775,774,773,772,770,769,768,
+	767,766,764,763,762,761,760,758,757,756,755,754,752,751,750,749,
+	748,746,745,744,743,741,740,739,738,736,735,734,733,731,730,729,
+	728,727,725,724,723,722,720,719,718,716,715,714,713,711,710,709,
+	708,706,705,704,703,701,700,699,697,696,695,694,692,691,690,688,
+	687,686,685,683,682,681,679,678,677,675,674,673,672,670,669,668,
+	666,665,664,662,661,660,658,657,656,654,653,652,650,649,648,647,
+	645,644,643,641,640,639,637,636,635,633,632,631,629,628,627,625,
+	624,622,621,620,618,617,616,614,613,612,610,609,608,606,605,604,
+	602,601,600,598,597,595,594,593,591,590,589,587,586,585,583,582,
+	581,579,578,576,575,574,572,571,570,568,567,566,564,563,561,560,
+	559,557,556,555,553,552,550,549,548,546,545,544,542,541,539,538,
+	537,535,534,533,531,530,528,527,526,524,523,522,520,519,517,516,
+	515,513,512,511,509,508,507,505,504,502,501,500,498,497,496,494,
+	493,491,490,489,487,486,485,483,482,480,479,478,476,475,474,472,
+	471,469,468,467,465,464,463,461,460,458,457,456,454,453,452,450,
+	449,448,446,445,443,442,441,439,438,437,435,434,433,431,430,429,
+	427,426,424,423,422,420,419,418,416,415,414,412,411,410,408,407,
+	406,404,403,402,400,399,397,396,395,393,392,391,389,388,387,385,
+	384,383,381,380,379,377,376,375,374,372,371,370,368,367,366,364,
+	363,362,360,359,358,356,355,354,352,351,350,349,347,346,345,343,
+	342,341,339,338,337,336,334,333,332,330,329,328,327,325,324,323,
+	321,320,319,318,316,315,314,313,311,310,309,308,306,305,304,302,
+	301,300,299,297,296,295,294,293,291,290,289,288,286,285,284,283,
+	281,280,279,278,276,275,274,273,272,270,269,268,267,266,264,263,
+	262,261,260,258,257,256,255,254,252,251,250,249,248,247,245,244,
+	243,242,241,240,238,237,236,235,234,233,231,230,229,228,227,226,
+	225,223,222,221,220,219,218,217,216,214,213,212,211,210,209,208,
+	207,206,204,203,202,201,200,199,198,197,196,195,194,192,191,190,
+	189,188,187,186,185,184,183,182,181,180,179,178,177,176,175,174,
+	172,171,170,169,168,167,166,165,164,163,162,161,160,159,158,157,
+	156,155,154,153,152,151,150,149,149,148,147,146,145,144,143,142,
+	141,140,139,138,137,136,135,134,133,132,132,131,130,129,128,127,
+	126,125,124,123,122,122,121,120,119,118,117,116,115,115,114,113,
+	112,111,110,109,109,108,107,106,105,104,104,103,102,101,100,99,
+	99,98,97,96,95,95,94,93,92,91,91,90,89,88,88,87,
+	86,85,84,84,83,82,81,81,80,79,79,78,77,76,76,75,
+	74,73,73,72,71,71,70,69,69,68,67,67,66,65,65,64,
+	63,63,62,61,61,60,59,59,58,57,57,56,55,55,54,54,
+	53,52,52,51,51,50,49,49,48,48,47,47,46,45,45,44,
+	44,43,43,42,42,41,40,40,39,39,38,38,37,37,36,36,
+	35,35,34,34,33,33,32,32,31,31,30,30,29,29,29,28,
+	28,27,27,26,26,25,25,25,24,24,23,23,23,22,22,21,
+	21,21,20,20,19,19,19,18,18,18,17,17,17,16,16,16,
+	15,15,15,14,14,14,13,13,13,12,12,12,11,11,11,11,
+	10,10,10,10,9,9,9,9,8,8,8,8,7,7,7,7,
+	6,6,6,6,6,5,5,5,5,5,4,4,4,4,4,4,
+	3,3,3,3,3,3,3,2,2,2,2,2,2,2,2,1,
+	1,1,1,1,1,1,1,1,1,1,1,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
+	0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,1,
+	1,1,1,1,1,1,1,1,2,2,2,2,2,2,2,2,
+	3,3,3,3,3,3,3,4,4,4,4,4,4,5,5,5,
+	5,5,6,6,6,6,6,7,7,7,7,8,8,8,8,9,
+	9,9,9,10,10,10,10,11,11,11,11,12,12,12,13,13,
+	13,14,14,14,15,15,15,16,16,16,17,17,17,18,18,18,
+	19,19,19,20,20,21,21,21,22,22,23,23,23,24,24,25,
+	25,25,26,26,27,27,28,28,29,29,29,30,30,31,31,32,
+	32,33,33,34,34,35,35,36,36,37,37,38,38,39,39,40,
+	40,41,42,42,43,43,44,44,45,45,46,47,47,48,48,49,
+	49,50,51,51,52,52,53,54,54,55,55,56,57,57,58,59,
+	59,60,61,61,62,63,63,64,65,65,66,67,67,68,69,69,
+	70,71,71,72,73,73,74,75,76,76,77,78,79,79,80,81,
+	81,82,83,84,84,85,86,87,88,88,89,90,91,91,92,93,
+	94,95,95,96,97,98,99,99,100,101,102,103,104,104,105,106,
+	107,108,109,109,110,111,112,113,114,115,115,116,117,118,119,120,
+	121,122,122,123,124,125,126,127,128,129,130,131,132,132,133,134,
+	135,136,137,138,139,140,141,142,143,144,145,146,147,148,149,149,
+	150,151,152,153,154,155,156,157,158,159,160,161,162,163,164,165,
+	166,167,168,169,170,171,172,174,175,176,177,178,179,180,181,182,
+	183,184,185,186,187,188,189,190,191,192,194,195,196,197,198,199,
+	200,201,202,203,204,206,207,208,209,210,211,212,213,214,216,217,
+	218,219,220,221,222,223,225,226,227,228,229,230,231,233,234,235,
+	236,237,238,240,241,242,243,244,245,247,248,249,250,251,252,254,
+	255,256,257,258,260,261,262,263,264,266,267,268,269,270,272,273,
+	274,275,276,278,279,280,281,283,284,285,286,288,289,290,291,293,
+	294,295,296,297,299,300,301,302,304,305,306,308,309,310,311,313,
+	314,315,316,318,319,320,321,323,324,325,327,328,329,330,332,333,
+	334,336,337,338,339,341,342,343,345,346,347,349,350,351,352,354,
+	355,356,358,359,360,362,363,364,366,367,368,370,371,372,374,375,
+	376,377,379,380,381,383,384,385,387,388,389,391,392,393,395,396,
+	397,399,400,402,403,404,406,407,408,410,411,412,414,415,416,418,
+	419,420,422,423,424,426,427,429,430,431,433,434,435,437,438,439,
+	441,442,443,445,446,448,449,450,452,453,454,456,457,458,460,461,
+	463,464,465,467,468,469,471,472,474,475,476,478,479,480,482,483,
+	485,486,487,489,490,491,493,494,496,497,498,500,501,502,504,505,
+	507,508,509,511
+};
+
+
+const static int8_t comTable[6][3] = {
+	{1,-1,0},
+	{1,0,-1},
+	{0,1,-1},
+	{-1,1,0},
+	{-1,0,1},
+	{0,-1,1}
+};
+
+#endif /* SINELUT_H_ */
\ No newline at end of file