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PWM Variant update 

- made the 2 channels to operate independently #61
- added defines to enable/disable motors, if one motor is not needed #63
This commit is contained in:
EmanuelFeru 2020-06-13 10:57:54 +02:00
parent 8ddfc82882
commit 205c054235
3 changed files with 34 additions and 6 deletions
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4
Inc/config.h
View File

@ -124,6 +124,10 @@
Outputs: Outputs:
- speedR and speedL: normal driving INPUT_MIN to INPUT_MAX - speedR and speedL: normal driving INPUT_MIN to INPUT_MAX
*/ */
// Enable/Disable Motor
#define MOTOR_LEFT_ENA // [-] Enable LEFT motor. Comment-out if this motor is not needed to be operational
#define MOTOR_RIGHT_ENA // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
// Control selections // Control selections
#define CTRL_TYP_SEL 2 // [-] Control type selection: 0 = Commutation , 1 = Sinusoidal, 2 = FOC Field Oriented Control (default) #define CTRL_TYP_SEL 2 // [-] Control type selection: 0 = Commutation , 1 = Sinusoidal, 2 = FOC Field Oriented Control (default)
#define CTRL_MOD_REQ 1 // [-] Control mode request: 0 = Open mode, 1 = VOLTAGE mode (default), 2 = SPEED mode, 3 = TORQUE mode. Note: SPEED and TORQUE modes are only available for FOC! #define CTRL_MOD_REQ 1 // [-] Control mode request: 0 = Open mode, 1 = VOLTAGE mode (default), 2 = SPEED mode, 3 = TORQUE mode. Note: SPEED and TORQUE modes are only available for FOC!

4
Src/bldc.c
View File

@ -171,7 +171,9 @@ void DMA1_Channel1_IRQHandler(void) {
rtU_Left.i_DCLink = curL_DC; rtU_Left.i_DCLink = curL_DC;
/* Step the controller */ /* Step the controller */
#ifdef MOTOR_LEFT_ENA
BLDC_controller_step(rtM_Left); BLDC_controller_step(rtM_Left);
#endif
/* Get motor outputs here */ /* Get motor outputs here */
ul = rtY_Left.DC_phaA; ul = rtY_Left.DC_phaA;
@ -206,7 +208,9 @@ void DMA1_Channel1_IRQHandler(void) {
rtU_Right.i_DCLink = curR_DC; rtU_Right.i_DCLink = curR_DC;
/* Step the controller */ /* Step the controller */
#ifdef MOTOR_RIGHT_ENA
BLDC_controller_step(rtM_Right); BLDC_controller_step(rtM_Right);
#endif
/* Get motor outputs here */ /* Get motor outputs here */
ur = rtY_Right.DC_phaA; ur = rtY_Right.DC_phaA;

28
Src/control.c
View File

@ -86,17 +86,32 @@ void PPM_Init(void) {
#ifdef CONTROL_PWM #ifdef CONTROL_PWM
/*
* Illustration of the PWM functionality
* CH1 ________|‾‾‾‾‾‾‾‾‾‾|________
* CH2 ______________|‾‾‾‾‾‾‾‾‾‾‾|________
* ↑ ↑ ↑ ↑
* TIM2 RST SAVE RC_CH1 RC_CH1
*/
uint16_t pwm_captured_ch1_value = 500; uint16_t pwm_captured_ch1_value = 500;
uint16_t pwm_captured_ch2_value = 500; uint16_t pwm_captured_ch2_value = 500;
uint16_t pwm_CNT_prev_ch1 = 0;
uint16_t pwm_CNT_prev_ch2 = 0;
uint32_t pwm_timeout_ch1 = 0; uint32_t pwm_timeout_ch1 = 0;
uint32_t pwm_timeout_ch2 = 0; uint32_t pwm_timeout_ch2 = 0;
void PWM_ISR_CH1_Callback(void) { void PWM_ISR_CH1_Callback(void) {
// Dummy loop with 16 bit count wrap around // Dummy loop with 16 bit count wrap around
if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2)) { // Rising Edge interrupt -> reset timer if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2)) { // Rising Edge interrupt -> save timer value OR reset timer
if (HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_3)) {
pwm_CNT_prev_ch1 = TIM2->CNT;
} else {
TIM2->CNT = 0; TIM2->CNT = 0;
pwm_CNT_prev_ch1 = 0;
}
} else { // Falling Edge interrupt -> measure pulse duration } else { // Falling Edge interrupt -> measure pulse duration
uint16_t rc_signal = TIM2->CNT; uint16_t rc_signal = TIM2->CNT - pwm_CNT_prev_ch1;
if (IN_RANGE(rc_signal, 900, 2100)){ if (IN_RANGE(rc_signal, 900, 2100)){
timeout = 0; timeout = 0;
pwm_timeout_ch1 = 0; pwm_timeout_ch1 = 0;
@ -107,10 +122,15 @@ void PWM_ISR_CH1_Callback(void) {
void PWM_ISR_CH2_Callback(void) { void PWM_ISR_CH2_Callback(void) {
// Dummy loop with 16 bit count wrap around // Dummy loop with 16 bit count wrap around
if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_3)) { // Rising Edge interrupt -> reset timer if(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_3)) { // Rising Edge interrupt -> save timer value OR reset timer
if (HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_2)) {
pwm_CNT_prev_ch2 = TIM2->CNT;
} else {
TIM2->CNT = 0; TIM2->CNT = 0;
pwm_CNT_prev_ch2 = 0;
}
} else { // Falling Edge interrupt -> measure pulse duration } else { // Falling Edge interrupt -> measure pulse duration
uint16_t rc_signal = TIM2->CNT; uint16_t rc_signal = TIM2->CNT - pwm_CNT_prev_ch2;
if (IN_RANGE(rc_signal, 900, 2100)){ if (IN_RANGE(rc_signal, 900, 2100)){
timeout = 0; timeout = 0;
pwm_timeout_ch2 = 0; pwm_timeout_ch2 = 0;