bldc.h File Reference

#include "ch.h"
#include "hal.h"
#include <unistd.h>

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Data Structures
struct	bldc
	The structure that defines and characterizes a motor and how it's being control. More...

Macros
#define	OPENLOOP
#define	THREAD_SIZE   (96)
#define	DEBUG_SERIAL   SD2
	serial debugging More...
#define	DEBUG_CHP   ((BaseSequentialStream *) &DEBUG_SERIAL)
#define	SCALE   100
#define	STEPS   360
#define	STRETCH   1
#define	SKIP   1
#define	ENCODER_MAX   1<<14
	encoder has 14 bits of precision More...
#define	CHUNK_AMOUNT   6
#define	CHUNK_SIZE   2730
	chunk size is the number More...
#define	PWM_TIMER_FREQ   48e6
#define	PWM_FREQ   15e3
#define	PWM_PERIOD   PWM_TIMER_FREQ/PWM_FREQ
#define	PWM_U   0U
	PWM signals. More...
#define	PWM_V   1U
#define	PWM_W   2U
#define	ADC_GRP_NUM_CHANNELS   1
#define	ADC_GRP_BUF_DEPTH   8
#define	sinctrl_t   uint16_t

Functions
	THD_WORKING_AREA (wa_spiThread, THREAD_SIZE)
	THD_FUNCTION (spiThread, arg)
	Prototype for spi thread function. More...
void	bldcInit (bldc *pbldc)
	Function prototype with no return type. Takes bldc type as paramater. More...
void	bldcStart (bldc *pbldc)
	Function prototype with no return type. Takes bldc type as paramater. More...
void	bldcStop (bldc *pbldc)
	Function prototype with no return type. Takes bldc type as paramater. More...
void	bldcSetDC (uint8_t channel, uint16_t dc)
	Changes duty cycle for a given channel. More...
void	bldcExit (bldc *pbldc)
	Function prototype with no return type. Takes bldc type as paramater. More...

Variables
static const uint16_t	chunk_low [6]
	The low value used to break up the encoder value into regions. More...
static const SPIConfig	spicfg
	Control structure used to configure the SPI driver. More...

Macro Definition Documentation

ADC_GRP_BUF_DEPTH

#define ADC_GRP_BUF_DEPTH   8

ADC_GRP_NUM_CHANNELS

#define ADC_GRP_NUM_CHANNELS   1

CHUNK_AMOUNT

#define CHUNK_AMOUNT   6

chunk amount is the number of times through the LUT for 1 revolution of the reaction wheel

CHUNK_SIZE

#define CHUNK_SIZE   2730

chunk size is the number

DEBUG_CHP

#define DEBUG_CHP   ((BaseSequentialStream *) &DEBUG_SERIAL)

DEBUG_SERIAL

#define DEBUG_SERIAL   SD2

serial debugging

ENCODER_MAX

#define ENCODER_MAX   1<<14

encoder has 14 bits of precision

OPENLOOP

#define OPENLOOP

Todo:

: openloop is going away

PWM_FREQ

#define PWM_FREQ   15e3

PWM_PERIOD

#define PWM_PERIOD   PWM_TIMER_FREQ/PWM_FREQ

PWM_TIMER_FREQ

#define PWM_TIMER_FREQ   48e6

PWM_U

#define PWM_U   0U

PWM signals.

PWM_V

#define PWM_V   1U

PWM_W

#define PWM_W   2U

SCALE

#define SCALE   100

Todo:

: the definitions of STEP, STRETCH, and SKIP evolved over the course of various experiments. These will completely change in v2.0. Below is their intended and eventual meanings.

STEPS: the number of discrete steps in the LUT

STRETCH: How many periods the current LUT value is repeated

SKIP: How many steps are skipped in the LUT to get the next value

SMOOTH: Smoothing out the transition between LUT values by increasing the amount of steps in between

SCALE: Duty cycle scaling factor from 0-100 %

sinctrl_t

#define sinctrl_t   uint16_t

SKIP

#define SKIP   1

STEPS

#define STEPS   360

STRETCH

#define STRETCH   1

THREAD_SIZE

#define THREAD_SIZE   (96)

Todo:

: had to reduce this to compile with new ADC code We should figure out what an actual good value is

Function Documentation

bldcExit()

void bldcExit

(

bldc *

pbldc

)

Function prototype with no return type. Takes bldc type as paramater.

@ brief Tear down drivers in a sane way.

                                 {
    if(pbldc->started){
        bldcStop(pbldc);
    }
  adcStopConversion(&ADCD1);
  adcStop(&ADCD1); 
    chThdTerminate(motor->p_spi_thread);
    chThdWait(motor->p_spi_thread);
}

bldcInit()

void bldcInit

(

bldc *

pbldc

)

Function prototype with no return type. Takes bldc type as paramater.

Function prototype with no return type. Takes bldc type as paramater.

                                 {
    motor = pbldc;
    motor->steps = STEPS;
    motor->stretch = STRETCH;
    motor->stretch_count = 0;
    motor->scale = SCALE;
    motor->skip = SKIP;
    motor->sinctrl = sinctrl360;
    motor->count = 0;
    motor->position = 0;
    motor->phase_shift = motor->steps/3;
    motor->u = 0;
    motor->v = motor->u + motor->phase_shift;
    motor->w = motor->v + motor->phase_shift;
  motor->openLoop = true;
    motor->started = FALSE;
    
    adcStart(&ADCD1, NULL); 
  adcStartConversion(&ADCD1, &adcgrpcfg, motor->samples, ADC_GRP_BUF_DEPTH);
    
    motor->p_spi_thread=chThdCreateStatic(
        wa_spiThread,
        sizeof(wa_spiThread),
        NORMALPRIO,
        spiThread,
        NULL
    );
}

bldcSetDC()

void bldcSetDC	(	uint8_t	channel,
		uint16_t	dc
	)

Changes duty cycle for a given channel.

Function prototype with no return type. Takes 8 bit unsigned integer and a 16 bit unsigned integer as argument.

                                                  {
    pwmEnableChannelI(
        &PWMD1,
        channel,
        PWM_PERCENTAGE_TO_WIDTH(&PWMD1,scale(dc))
    );
}

bldcStart()

void bldcStart

(

bldc *

pbldc

)

Function prototype with no return type. Takes bldc type as paramater.

Function prototype with no return type. Takes bldc type as paramater.

                                  {
    if(pbldc->started){
        return; 
    }
    pwmStart(&PWMD1,&pwmRWcfg);
  pwmEnablePeriodicNotification(&PWMD1);
    
    pwmEnableChannel(&PWMD1,PWM_U,PWM_PERCENTAGE_TO_WIDTH(&PWMD1,motor->u));
  pwmEnableChannel(&PWMD1,PWM_V,PWM_PERCENTAGE_TO_WIDTH(&PWMD1,motor->v));
  pwmEnableChannel(&PWMD1,PWM_W,PWM_PERCENTAGE_TO_WIDTH(&PWMD1,motor->w));
    pbldc->started = TRUE;
}

bldcStop()

void bldcStop

(

bldc *

pbldc

)

Function prototype with no return type. Takes bldc type as paramater.

Function prototype with no return type. Takes bldc type as paramater.

                                 {
    if(!pbldc->started){
        return;
    }
    pwmDisableChannel(&PWMD1,PWM_U);
  pwmDisableChannel(&PWMD1,PWM_V);
  pwmDisableChannel(&PWMD1,PWM_W);
  pwmDisablePeriodicNotification(&PWMD1);
    pwmStop(&PWMD1);
    pbldc->started = FALSE;
}

THD_FUNCTION()

THD_FUNCTION	(	spiThread	,
		arg
	)

Prototype for spi thread function.

                           {
  (void)arg;
    chRegSetThreadName("spiThread");

  spiStart(&SPID1,&spicfg);             // Start driver.
  spiAcquireBus(&SPID1);                // Gain ownership of bus.

  while (!chThdShouldTerminateX()) {
        motor->spi_rxbuf[0] = 0;
        spiSelect(&SPID1);                  // Select slave.

        while(SPID1.state != SPI_READY) {}   
        spiReceive(&SPID1,1,motor->spi_rxbuf); // Receive 1 frame (16 bits).
        spiUnselect(&SPID1);                // Unselect slave.

        motor->position = 0x3FFF & motor->spi_rxbuf[0];
     
  }

    spiReleaseBus(&SPID1);    // Release ownership of bus.
    spiStop(&SPID1);          // Stop driver.
}

THD_WORKING_AREA()

THD_WORKING_AREA	(	wa_spiThread	,
		THREAD_SIZE
	)

Variable Documentation

chunk_low

const uint16_t chunk_low[6]

static

Initial value:

= {
    0 * CHUNK_SIZE,
    1 * CHUNK_SIZE,
    2 * CHUNK_SIZE,
    3 * CHUNK_SIZE,
    4 * CHUNK_SIZE,
    5 * CHUNK_SIZE
}

The low value used to break up the encoder value into regions.

Allows us to translate the encoder 0 - 2^14 into 6 discrete chunks of 0-360 for use in the LUT.

spicfg

const SPIConfig spicfg

static

Initial value:

= {
    false,                                                  
    NULL,                                                   
    GPIOA,                                                  
    GPIOA_SPI1_NSS,                                         
    SPI_CR1_BR_0|SPI_CR1_BR_1|SPI_CR1_BR_2|SPI_CR1_CPHA,    
    SPI_CR2_DS_0|SPI_CR2_DS_1|SPI_CR2_DS_2|SPI_CR2_DS_3,    
}

Control structure used to configure the SPI driver.

GPIOA_SPI1_NSS is the pin used to initially select the SPI slave. The mask for SPI Control Register 1 sets the frequency of data transfers and sets the clock polarity. The mask for SPI control Register 2 sets the size of the transfer buffer, 16 bits.