Koichi Kikkawa / BLDCmotorDriver_20200821_motacon_ver4

20200821_motacon_ver4

BLDCmotorDriver.cpp@0:5602fba2a7f7, 2015-05-22 (annotated)

Committer:
mslovic
Date:
Fri May 22 22:43:39 2015 +0000
Revision:
0:5602fba2a7f7
Child:
1:786897114846
Child:
2:7aae78b85e1d
Library for driving a 3-phase brushless DC motor.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mslovic 0:5602fba2a7f7 1 #include "BLDCmotorDriver.h"
mslovic 0:5602fba2a7f7 2
mslovic 0:5602fba2a7f7 3 BLDCmotorDriver::BLDCmotorDriver(PinName gh_a, PinName gl_a, PinName gh_b, PinName gl_b, PinName gh_c, PinName gl_c, PinName h1, PinName h2, PinName h3, PinName led1) : GH_A(gh_a), GL_A(gl_a), GH_B(gh_b), GL_B(gl_b), GH_C(gh_c), GL_C(gl_c), H1(h1), H2(h2), H3(h3), Led1(led1) {
mslovic 0:5602fba2a7f7 4 sampleTime = 1e-3;
mslovic 0:5602fba2a7f7 5 switchingPeriod = 1.0 / 20e3;
mslovic 0:5602fba2a7f7 6 dutyCycle = tempDutyCycle = 0;
mslovic 0:5602fba2a7f7 7 GH_A.period(switchingPeriod); // applies to all PwmOut instances
mslovic 0:5602fba2a7f7 8 rl.setLimits(0.1, -0.1, 0, sampleTime); // initial 10 second ramp
mslovic 0:5602fba2a7f7 9 }
mslovic 0:5602fba2a7f7 10 void BLDCmotorDriver::configure(float sampleTime, float switchingFrequency, float rampUpSlope, float rampDownSlope) {
mslovic 0:5602fba2a7f7 11 if (sampleTime < 1e-6)
mslovic 0:5602fba2a7f7 12 sampleTime = 1e-3;
mslovic 0:5602fba2a7f7 13 if (switchingFrequency < 100)
mslovic 0:5602fba2a7f7 14 switchingFrequency = 20e3;
mslovic 0:5602fba2a7f7 15 if (rampUpSlope < 0 || rampUpSlope > 1)
mslovic 0:5602fba2a7f7 16 rampUpSlope = 0.1;
mslovic 0:5602fba2a7f7 17 if (rampDownSlope > 0 || rampDownSlope < -1)
mslovic 0:5602fba2a7f7 18 rampDownSlope = -0.1;
mslovic 0:5602fba2a7f7 19 this->sampleTime = sampleTime;
mslovic 0:5602fba2a7f7 20 switchingPeriod = 1.0 / switchingFrequency;
mslovic 0:5602fba2a7f7 21 rl.setLimits(rampUpSlope, rampDownSlope, 0, sampleTime);
mslovic 0:5602fba2a7f7 22 }
mslovic 0:5602fba2a7f7 23 int BLDCmotorDriver::HallRead(){ // hall 120°
mslovic 0:5602fba2a7f7 24
mslovic 0:5602fba2a7f7 25 if(H1.read()== 1 && H2.read()== 0 && H3.read()== 0)
mslovic 0:5602fba2a7f7 26 sektor = 1;
mslovic 0:5602fba2a7f7 27 else if(H1.read()== 1 && H2.read()== 1 && H3.read()== 0)
mslovic 0:5602fba2a7f7 28 sektor = 2;
mslovic 0:5602fba2a7f7 29 else if(H1.read()== 0 && H2.read()== 1 && H3.read()== 0)
mslovic 0:5602fba2a7f7 30 sektor = 3;
mslovic 0:5602fba2a7f7 31 else if(H1.read()== 0 && H2.read()== 1 && H3.read()== 1)
mslovic 0:5602fba2a7f7 32 sektor = 4;
mslovic 0:5602fba2a7f7 33 else if(H1.read()== 0 && H2.read()== 0 && H3.read()== 1)
mslovic 0:5602fba2a7f7 34 sektor = 5;
mslovic 0:5602fba2a7f7 35 else if(H1.read()== 1 && H2.read()== 0 && H3.read()== 1)
mslovic 0:5602fba2a7f7 36 sektor = 6;
mslovic 0:5602fba2a7f7 37 else
mslovic 0:5602fba2a7f7 38 Led1 = 1;
mslovic 0:5602fba2a7f7 39
mslovic 0:5602fba2a7f7 40 return sektor;
mslovic 0:5602fba2a7f7 41 }
mslovic 0:5602fba2a7f7 42 void BLDCmotorDriver::komutacijaBLDC() {
mslovic 0:5602fba2a7f7 43 dutyCycle = rl.out(tempDutyCycle);
mslovic 0:5602fba2a7f7 44 sektor = HallRead();
mslovic 0:5602fba2a7f7 45 if (dutyCycle > 0) {
mslovic 0:5602fba2a7f7 46 if (sektor > 6) sektor = 1;
mslovic 0:5602fba2a7f7 47 sektor++;
mslovic 0:5602fba2a7f7 48 switch(sektor) {
mslovic 0:5602fba2a7f7 49 case 1: //100
mslovic 0:5602fba2a7f7 50 GH_A = dutyCycle;
mslovic 0:5602fba2a7f7 51 GL_A = 0;
mslovic 0:5602fba2a7f7 52 GH_B = 0;
mslovic 0:5602fba2a7f7 53 GL_B = 0;
mslovic 0:5602fba2a7f7 54 GH_C = 0;
mslovic 0:5602fba2a7f7 55 GL_C = 1;
mslovic 0:5602fba2a7f7 56 break;
mslovic 0:5602fba2a7f7 57 case 2: //110
mslovic 0:5602fba2a7f7 58 GH_A = dutyCycle;
mslovic 0:5602fba2a7f7 59 GL_A = 0;
mslovic 0:5602fba2a7f7 60 GH_B = 0;
mslovic 0:5602fba2a7f7 61 GL_B = 1;
mslovic 0:5602fba2a7f7 62 GH_C = 0;
mslovic 0:5602fba2a7f7 63 GL_C = 0;
mslovic 0:5602fba2a7f7 64 break;
mslovic 0:5602fba2a7f7 65 case 3: //010
mslovic 0:5602fba2a7f7 66 GH_A = 0;
mslovic 0:5602fba2a7f7 67 GL_A = 0;
mslovic 0:5602fba2a7f7 68 GH_B = 0;
mslovic 0:5602fba2a7f7 69 GL_B = 1;
mslovic 0:5602fba2a7f7 70 GH_C = dutyCycle;
mslovic 0:5602fba2a7f7 71 GL_C = 0;
mslovic 0:5602fba2a7f7 72 break;
mslovic 0:5602fba2a7f7 73 case 4: //011
mslovic 0:5602fba2a7f7 74 GH_A = 0;
mslovic 0:5602fba2a7f7 75 GL_A = 1;
mslovic 0:5602fba2a7f7 76 GH_B = 0;
mslovic 0:5602fba2a7f7 77 GL_B = 0;
mslovic 0:5602fba2a7f7 78 GH_C = dutyCycle;
mslovic 0:5602fba2a7f7 79 GL_C = 0;
mslovic 0:5602fba2a7f7 80 break;
mslovic 0:5602fba2a7f7 81 case 5: //001
mslovic 0:5602fba2a7f7 82 GH_A = 0;
mslovic 0:5602fba2a7f7 83 GL_A = 1;
mslovic 0:5602fba2a7f7 84 GH_B = dutyCycle;
mslovic 0:5602fba2a7f7 85 GL_B = 0;
mslovic 0:5602fba2a7f7 86 GH_C = 0;
mslovic 0:5602fba2a7f7 87 GL_C = 0;
mslovic 0:5602fba2a7f7 88 break;
mslovic 0:5602fba2a7f7 89 case 6: //101
mslovic 0:5602fba2a7f7 90 GH_A = 0;
mslovic 0:5602fba2a7f7 91 GL_A = 0;
mslovic 0:5602fba2a7f7 92 GH_B = dutyCycle;
mslovic 0:5602fba2a7f7 93 GL_B = 0;
mslovic 0:5602fba2a7f7 94 GH_C = 0;
mslovic 0:5602fba2a7f7 95 GL_C = 1;
mslovic 0:5602fba2a7f7 96 break;
mslovic 0:5602fba2a7f7 97 }
mslovic 0:5602fba2a7f7 98 } else if (dutyCycle < 0) { //
mslovic 0:5602fba2a7f7 99 if (sektor < 1) sektor = 6;
mslovic 0:5602fba2a7f7 100 sektor--;
mslovic 0:5602fba2a7f7 101 switch(sektor) {
mslovic 0:5602fba2a7f7 102 case 1: //100
mslovic 0:5602fba2a7f7 103 GH_A = dutyCycle;
mslovic 0:5602fba2a7f7 104 GL_A = 0;
mslovic 0:5602fba2a7f7 105 GH_B = 0;
mslovic 0:5602fba2a7f7 106 GL_B = 0;
mslovic 0:5602fba2a7f7 107 GH_C = 0;
mslovic 0:5602fba2a7f7 108 GL_C = 1;
mslovic 0:5602fba2a7f7 109 break;
mslovic 0:5602fba2a7f7 110 case 2: //110
mslovic 0:5602fba2a7f7 111 GH_A = dutyCycle;
mslovic 0:5602fba2a7f7 112 GL_A = 0;
mslovic 0:5602fba2a7f7 113 GH_B = 0;
mslovic 0:5602fba2a7f7 114 GL_B = 1;
mslovic 0:5602fba2a7f7 115 GH_C = 0;
mslovic 0:5602fba2a7f7 116 GL_C = 0;
mslovic 0:5602fba2a7f7 117 break;
mslovic 0:5602fba2a7f7 118 case 3: //010
mslovic 0:5602fba2a7f7 119 GH_A = 0;
mslovic 0:5602fba2a7f7 120 GL_A = 0;
mslovic 0:5602fba2a7f7 121 GH_B = 0;
mslovic 0:5602fba2a7f7 122 GL_B = 1;
mslovic 0:5602fba2a7f7 123 GH_C = dutyCycle;
mslovic 0:5602fba2a7f7 124 GL_C = 0;
mslovic 0:5602fba2a7f7 125 break;
mslovic 0:5602fba2a7f7 126 case 4: //011
mslovic 0:5602fba2a7f7 127 GH_A = 0;
mslovic 0:5602fba2a7f7 128 GL_A = 1;
mslovic 0:5602fba2a7f7 129 GH_B = 0;
mslovic 0:5602fba2a7f7 130 GL_B = 0;
mslovic 0:5602fba2a7f7 131 GH_C = dutyCycle;
mslovic 0:5602fba2a7f7 132 GL_C = 0;
mslovic 0:5602fba2a7f7 133 break;
mslovic 0:5602fba2a7f7 134 case 5: //001
mslovic 0:5602fba2a7f7 135 GH_A = 0;
mslovic 0:5602fba2a7f7 136 GL_A = 1;
mslovic 0:5602fba2a7f7 137 GH_B = dutyCycle;
mslovic 0:5602fba2a7f7 138 GL_B = 0;
mslovic 0:5602fba2a7f7 139 GH_C = 0;
mslovic 0:5602fba2a7f7 140 GL_C = 0;
mslovic 0:5602fba2a7f7 141 break;
mslovic 0:5602fba2a7f7 142 case 6: //101
mslovic 0:5602fba2a7f7 143 GH_A = 0;
mslovic 0:5602fba2a7f7 144 GL_A = 0;
mslovic 0:5602fba2a7f7 145 GH_B = dutyCycle;
mslovic 0:5602fba2a7f7 146 GL_B = 0;
mslovic 0:5602fba2a7f7 147 GH_C = 0;
mslovic 0:5602fba2a7f7 148 GL_C = 1;
mslovic 0:5602fba2a7f7 149 break;
mslovic 0:5602fba2a7f7 150 }
mslovic 0:5602fba2a7f7 151 }else {
mslovic 0:5602fba2a7f7 152 coast();
mslovic 0:5602fba2a7f7 153 }
mslovic 0:5602fba2a7f7 154 }
mslovic 0:5602fba2a7f7 155 void BLDCmotorDriver::setDutyCycle(float dc) {
mslovic 0:5602fba2a7f7 156 if (dc >= -1 && dc <= 1) {
mslovic 0:5602fba2a7f7 157 ticker.attach(this, &BLDCmotorDriver::komutacijaBLDC, sampleTime);
mslovic 0:5602fba2a7f7 158 tempDutyCycle = dc;
mslovic 0:5602fba2a7f7 159 } else {
mslovic 0:5602fba2a7f7 160 coast();
mslovic 0:5602fba2a7f7 161 }
mslovic 0:5602fba2a7f7 162 }
mslovic 0:5602fba2a7f7 163 void BLDCmotorDriver::coast() {
mslovic 0:5602fba2a7f7 164 GH_A = 0;
mslovic 0:5602fba2a7f7 165 GL_A = 0;
mslovic 0:5602fba2a7f7 166 GH_B = 0;
mslovic 0:5602fba2a7f7 167 GL_B = 0;
mslovic 0:5602fba2a7f7 168 GH_C = 0;
mslovic 0:5602fba2a7f7 169 GL_C = 0;
mslovic 0:5602fba2a7f7 170 dutyCycle = tempDutyCycle = 0;
mslovic 0:5602fba2a7f7 171 rl.reset();
mslovic 0:5602fba2a7f7 172 ticker.detach();
mslovic 0:5602fba2a7f7 173 }
mslovic 0:5602fba2a7f7 174 float BLDCmotorDriver::getDutyCycle() {
mslovic 0:5602fba2a7f7 175 return dutyCycle;
mslovic 0:5602fba2a7f7 176 }