File content as of revision 1:786897114846:

#include "BLDCmotorDriver.h"

BLDCmotorDriver::BLDCmotorDriver(PinName pGH_A, PinName pGH_B, PinName pGH_C, PinName pGL_A, PinName pGL_B, PinName pGL_C,
                    PinName pH1, PinName pH2, PinName pH3, PinName pfault) : 
                    GH_A(pGH_A), GH_B(pGH_B), GH_C(pGH_C), GL_A(pGL_A), GL_B(pGL_B), GL_C(pGL_C),
                    H1(pH1), H2(pH2), H3(pH3), fault(pfault) {
    sampleTime = 1e-3;
    switchingPeriod = 1.0 / 20e3;
    dutyCycle = tempDutyCycle = 0;
    GH_A.period(switchingPeriod); // applies to all PwmOut instances
    rl.setLimits(0.1, -0.1, 0, sampleTime); // initial 10 second ramp
    H1.rise(this, &BLDCmotorDriver::commutation);
    H2.rise(this, &BLDCmotorDriver::commutation);
    H3.rise(this, &BLDCmotorDriver::commutation);
    H1.fall(this, &BLDCmotorDriver::commutation);
    H2.fall(this, &BLDCmotorDriver::commutation);
    H3.fall(this, &BLDCmotorDriver::commutation);
}
void BLDCmotorDriver::configure(float sampleTime, float switchingFrequency, float rampUpSlope, float rampDownSlope) {
    if (sampleTime < 1e-6)
        sampleTime = 1e-3;
    if (switchingFrequency < 100)
        switchingFrequency = 20e3;
    if (rampUpSlope < 0 || rampUpSlope > 1)
        rampUpSlope = 0.1;
    if (rampDownSlope > 0 || rampDownSlope < -1)
        rampDownSlope = -0.1;
    this->sampleTime = sampleTime;
    switchingPeriod = 1.0 / switchingFrequency;
    rl.setLimits(rampUpSlope, rampDownSlope, 0, sampleTime);
}
int BLDCmotorDriver::getSector() {           // hall 120°
  
    if(H1.read()== 1 && H2.read()== 0 && H3.read()== 0)
            currentSector = 1; 
    else if(H1.read()== 1 && H2.read()== 1 && H3.read()== 0)
            currentSector = 2;         
    else if(H1.read()== 0 && H2.read()== 1 && H3.read()== 0)
            currentSector = 3;  
    else if(H1.read()== 0 && H2.read()== 1 && H3.read()== 1)
            currentSector = 4;  
    else if(H1.read()== 0 && H2.read()== 0 && H3.read()== 1)
            currentSector = 5;
    else if(H1.read()== 1 && H2.read()== 0 && H3.read()== 1)
            currentSector = 6;             
    else {
       currentSector = 0;
       fault = 1; 
    }
   
    return currentSector;              
}

void BLDCmotorDriver::commutation() {
    getSector();
    if (dutyCycle > 0) {
        if (currentSector > 6) currentSector = 1; // when will this condition happen?
        // currentSector++;        
        switch(currentSector) {           
            case 1:               //100      
                GH_A = dutyCycle;
                GL_A = 0;
                GH_B = 0;
                GL_B = 0;
                GH_C = 0;
                GL_C = 1; 
                break;
           case 2:                //110
                GH_A = dutyCycle;
                GL_A = 0;
                GH_B = 0;
                GL_B = 1;
                GH_C = 0;
                GL_C = 0;
                break;
           case 3:                //010
                GH_A = 0;
                GL_A = 0;
                GH_B = 0;
                GL_B = 1;
                GH_C = dutyCycle;
                GL_C = 0; 
                break;
            case 4:               //011
                GH_A = 0;
                GL_A = 1;
                GH_B = 0;
                GL_B = 0;
                GH_C = dutyCycle;
                GL_C = 0;
                break;
            case 5:               //001
                GH_A = 0;
                GL_A = 1;
                GH_B = dutyCycle;
                GL_B = 0;
                GH_C = 0;
                GL_C = 0;
                break;    
            case 6:               //101
                GH_A = 0;
                GL_A = 0;
                GH_B = dutyCycle;
                GL_B = 0;
                GH_C = 0;
                GL_C = 1;
                break;
        }
    } else if (dutyCycle < 0) { // 
        // if (currentSector < 1) currentSector = 6; // not necessary
        // currentSector--;
        switch(currentSector) {
            case 1:               //100      
                GH_A = dutyCycle;
                GL_A = 0;
                GH_B = 0;
                GL_B = 0;
                GH_C = 0;
                GL_C = 1; 
                break;
           case 2:                //110
                GH_A = dutyCycle;
                GL_A = 0;
                GH_B = 0;
                GL_B = 1;
                GH_C = 0;
                GL_C = 0;
                break;
           case 3:                //010
                GH_A = 0;
                GL_A = 0;
                GH_B = 0;
                GL_B = 1;
                GH_C = dutyCycle;
                GL_C = 0; 
                break;
            case 4:               //011
                GH_A = 0;
                GL_A = 1;
                GH_B = 0;
                GL_B = 0;
                GH_C = dutyCycle;
                GL_C = 0;
                break;
            case 5:               //001
                GH_A = 0;
                GL_A = 1;
                GH_B = dutyCycle;
                GL_B = 0;
                GH_C = 0;
                GL_C = 0;
                break;    
            case 6:               //101
                GH_A = 0;
                GL_A = 0;
                GH_B = dutyCycle;
                GL_B = 0;
                GH_C = 0;
                GL_C = 1;
                break;
            }                
        } else {
            coast();
    }
}

void BLDCmotorDriver::setDutyCycle(float dc) {
    if (dc >= -1 && dc <= 1) {
        ticker.attach(this, &BLDCmotorDriver::adjustDutyCycle, sampleTime);
        tempDutyCycle = dc;
    } else {
        coast();
    }
}

void BLDCmotorDriver::adjustDutyCycle() {
    dutyCycle = rl.out(tempDutyCycle);
    float diff = tempDutyCycle - dutyCycle;
    if (diff < 0.01 || diff > -0.01)
        ticker.detach();
}

void BLDCmotorDriver::coast() {
    GH_A = 0;
    GL_A = 0;
    GH_B = 0;
    GL_B = 0;
    GH_C = 0;
    GL_C = 0;
    dutyCycle = tempDutyCycle = 0;
    rl.reset();
    ticker.detach();
}
float BLDCmotorDriver::getDutyCycle() {
    return dutyCycle;
}