Diff: X_NUCLEO_IHM07M1/SPN7Driver.cpp

Revision:

3:4c71d3475814

Parent:

2:4ae769d0b112

Child:

4:3f63eed73ad1

--- a/X_NUCLEO_IHM07M1/SPN7Driver.cpp	Wed Oct 12 13:15:03 2016 +0000
+++ b/X_NUCLEO_IHM07M1/SPN7Driver.cpp	Thu Oct 13 15:48:50 2016 +0000
@@ -35,6 +35,12 @@
 #include "mbed.h"
 #include "SPN7Driver.h"
 
+typedef enum {
+    ST_BLDC_LOW = 0,
+    ST_BLDC_HIGH,
+    ST_BLDC_OFF
+} st_bldc_status_t;
+
 // FIXME: add doxygen
 
 SPN7Driver::SPN7Driver(PinName pIN1, PinName pIN2, PinName pIN3,
@@ -48,16 +54,14 @@
 {
     // The BLDCmotorDriver class was implemented for half-bridge drivers
     // so the pin names may be misleading when referring to the L6230 chip.
-    // Get a reference of each input pin and call them INx (logic input)
+    // Get pointers to each input pin and call them IN[x] (logic input)
     // to be consistent with the terminology used in the L6230 documentation.
-    PwmOut& IN1 = GH_A;
-    PwmOut& IN2 = GH_B;
-    PwmOut& IN3 = GH_C;
-    
+    PwmOut* IN[3] = {&GH_A, &GH_B, &GH_C};
+
     // Set the switching period of the INx logic input pins (PWM driven)
-    IN1.period(switchingPeriod);
-    IN2.period(switchingPeriod);
-    IN3.period(switchingPeriod);
+    for (int i = 0; i < 3; i++) {
+        IN[i]->period(switchingPeriod);
+    }    
     
     // Set the step commutation function (triggered by the Hall sensors)
     H1.rise(this, &SPN7Driver::commutation);
@@ -69,114 +73,61 @@
 }
 
 // 6-step phase commutation
-//
-// Positive dutycycle:
+void SPN7Driver::commutation()
+{    
+    // The BLDCmotorDriver class was implemented for half-bridge drivers
+    // so the pin names may be misleading when referring to the L6230 chip.
+    // Get pointers to each input pin and call them IN[x] (logic input)
+    // to be consistent with the terminology used in the L6230 documentation.
+    PwmOut* IN[3] = {&GH_A, &GH_B, &GH_C};
+    // Get pointers to each enable pin and call them ENx (enable channel)
+    // to be consistent with the terminology used in the L6230 documentation.
+    DigitalOut* EN[3] = {&GL_A, &GL_B, &GL_C};
+
 //      1--X--0--0--X--1
 //      X--1--1--X--0--0
-//      0--0--X--1--1--X
-//        
-// Negative dutycycle:
-//      1--1--X--0--0--X
-//      0--X--1--1--X--0
-//      X--0--0--X--1--1
-void SPN7Driver::commutation()
-{
-    // The BLDCmotorDriver class was implemented for half-bridge drivers
-    // so the pin names may be misleading when referring to the L6230 chip.
-    
-    // Get a reference of each input pin and call them INx (logic input)
-    // to be consistent with the terminology used in the L6230 documentation.
-    PwmOut& IN1 = GH_A;
-    PwmOut& IN2 = GH_B;
-    PwmOut& IN3 = GH_C;
-    // Get a reference of each enable pin and call them ENx (enable channel)
-    // to be consistent with the terminology used in the L6230 documentation.
-    DigitalOut& EN1 = GL_A;
-    DigitalOut& EN2 = GL_B;
-    DigitalOut& EN3 = GL_C;
+//      0--0--X--1--1--X    
+    st_bldc_status_t tab[6][3] = {
+                            {ST_BLDC_HIGH, ST_BLDC_OFF, ST_BLDC_LOW},
+                            {ST_BLDC_OFF, ST_BLDC_HIGH, ST_BLDC_LOW},
+                            {ST_BLDC_LOW, ST_BLDC_HIGH, ST_BLDC_OFF},
+                            {ST_BLDC_LOW, ST_BLDC_OFF, ST_BLDC_HIGH},
+                            {ST_BLDC_OFF, ST_BLDC_LOW, ST_BLDC_HIGH},
+                            {ST_BLDC_HIGH, ST_BLDC_LOW, ST_BLDC_OFF},
+                            };
 
     dutyCycle = rl.out(tempDutyCycle);
     currentSector = getSector();
 
-    if (dutyCycle > 0 ) {
-         // Positive dutycycle
-         currentSector++;
-         
-         if(currentSector > 5) currentSector = 0;
-         
-         switch(currentSector) {  
-             case 0:                   
-                 EN1 = 1; IN1 = dutyCycle;
-                 EN2 = 0; IN2 = 0;
-                 EN3 = 1; IN3 = 0;                               
-                 break;
-             case 1:            
-                 EN1 = 0; IN1= 0;
-                 EN2 = 1; IN2 = dutyCycle;
-                 EN3 = 1; IN3 = 0;                
-                 break;
-             case 2:             
-                 EN1 = 1; IN1 = 0;
-                 EN2 = 1; IN2 = dutyCycle;
-                 EN3 = 0; IN3 = 0;                
-                 break;
-            case 3:             
-                 EN1 = 1; IN1 = 0;
-                 EN2 = 0; IN2 = 0;
-                 EN3 = 1; IN3 = dutyCycle;              
-                 break;
-            case 4:              
-                 EN1 = 0; IN1 = 0;
-                 EN2 = 1; IN2 = 0;
-                 EN3 = 1; IN3 = dutyCycle;               
-                 break;
-            case 5:           
-                 EN1 = 1; IN1 = dutyCycle;
-                 EN2 = 1; IN2 = 0;
-                 EN3 = 0; IN3 = 0;
-                 break;
-        }
-    } else if (dutyCycle < 0) { 
-        // Negative dutycycle
-        currentSector--;
-        
-        if(currentSector < 0) currentSector = 5;
-        
-        switch(currentSector) {  
-           case 0:
-                EN1 = 1; IN1 = 0;
-                EN2 = 0; IN2=0;
-                EN3 = 1; IN3 = -dutyCycle;
-                break;
-            case 1:
-                EN1 = 0; IN1=0;
-                EN2 = 1; IN2 = 0;
-                EN3 = 1; IN3 = -dutyCycle;
-                break;
-           case 2:
-                EN1 = 1; IN1 = -dutyCycle;
-                EN2 = 1; IN2 = 0;
-                EN3 = 0; IN3= 0;                
-                break;
-           case 3:
-                EN1 = 1; IN1 = -dutyCycle;
-                EN2 = 0; IN2 = 0;
-                EN3 = 1; IN3 = 0;
-                break;
-           case 4:
-                EN1 = 0; IN1= 0;
-                EN2 = 1; IN2 = -dutyCycle;
-                EN3 = 1; IN3 = 0;
-                break;
-           case 5:
-                EN1 = 1; IN1 = 0;
-                EN2 = 1; IN2 = -dutyCycle;
-                EN3 = 0; IN3=0;
-                break;
-       }
-         
-    } else {
+    if (dutyCycle == 0) {
+        // Stop the motor
         coast();
+        return;
     }
     
+    // Move to next sector (i.e. commute phase)
+    if (dutyCycle > 0 ) {
+         // Move forward
+         currentSector++;
+         if(currentSector > 5) currentSector = 0;
+    } else {
+        // Move backward
+        currentSector--;
+        if(currentSector < 0) currentSector = 5;
+    }
+    
+    // Get the absolute value of the duty cycle for the PWM
+    float d = (dutyCycle > 0) ? dutyCycle : -dutyCycle;
+    
+    // Update the logic inputs and the enable pins
+    //printf("Commutation sector %d\n\r", currentSector);
+    for (int i = 0; i < 3; i++) {
+         *EN[i] = (tab[currentSector][i] == ST_BLDC_OFF) ? 0 : 1;
+         *IN[i] = (tab[currentSector][i] == ST_BLDC_HIGH) ? d : 0;
+/*
+         int ena = (tab[currentSector][i] == ST_BLDC_OFF) ? 0 : 1;
+         float inp = (tab[currentSector][i] == ST_BLDC_HIGH) ? d : 0;         
+         printf("EN[%d] = %d, IN[%d] = %f\n\r", i, ena, i, inp);
+*/
+    }    
 }