Changed delay calculation for open loop commutation
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@ -40,17 +40,6 @@ std::array<uint32_t, 6> senseTable { //! channels to sense during the applied pa
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SENSU_N, //5
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SENSV_P //6
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};
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std::array<unsigned int, 18> startupDelays{
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/*
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200, 150, 100, 80, 70, 65,
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60, 55, 50, 45, 40, 35,
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25, 25, 25, 25, 25, 25,
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25, 25, 25, 25, 25, 25
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*/
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150, 90, 70, 50, 40, 35,
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30, 25, 25, 25, 25, 25,
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25, 25, 25, 25, 25, 25
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};
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bool ccw=false;
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@ -156,12 +145,8 @@ unsigned read_adc(unsigned channel){
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* Since Timer/Counter1 is used in this function, it must never be called when
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* sensorless operation is running.
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*/
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void fixed_delay(unsigned short delay){
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pwm0::oneshot_delay(STARTUP_DELAY_MULTIPLIER*delay);
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}
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unsigned short measured_zc_time(unsigned short max_delay){
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long delay_us = max_delay * STARTUP_DELAY_MULTIPLIER;
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long delay_us = max_delay;
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auto scaling_factor=0;
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while(delay_us/(1<<scaling_factor) > std::numeric_limits<unsigned short>::max()){
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scaling_factor++;
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@ -200,20 +185,23 @@ void next_commutation_step(void) {
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}
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void start_open_loop(void){
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auto delay = 30120U;
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std::array<double, 2> multiplier={0.83, 1.0};
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nextCommutationStep = 0;
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//Preposition.
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gpio0::port_reg() = (gpio0::port_reg() & ~DRIVE_MASK) | driveTable[nextCommutationStep];
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fixed_delay(STARTUP_LOCK_DELAY);
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//fixed_delay(STARTUP_LOCK_DELAY);
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pwm0::oneshot_delay(STARTUP_DELAY);
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next_commutation_step();
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auto nextDrivePattern = driveTable[nextCommutationStep];
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const size_t size=startupDelays.size();
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for (size_t i = 0; i < startupDelays.size()+6*10; i++){
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for (size_t i = 0; i < 12; i++){
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gpio0::port_reg() = (gpio0::port_reg() & ~DRIVE_MASK & 0x00ffffff)
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| nextDrivePattern | nextCommutationStep<<24;
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auto channel=senseTable[nextCommutationStep]&0x3;
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auto zcPolRise = senseTable[nextCommutationStep]<4;
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auto bemf_0=read_adc(channel);
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fixed_delay(startupDelays[i>=size?size-1:i]);
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delay*=multiplier[(i/6)%multiplier.size()];
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pwm0::oneshot_delay(delay);
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auto bemf_1=read_adc(channel);
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auto bemf = bemf_1>bemf_0?bemf_1-bemf_0:bemf_0-bemf_1;
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next_commutation_step();
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@ -229,8 +217,7 @@ void run_closed_loop(void){
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for(;;){
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gpio0::port_reg() = (gpio0::port_reg() & ~DRIVE_MASK & 0x00ffffff)
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| nextDrivePattern | nextCommutationStep<<24;
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zc_delay=measured_zc_time(500);
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pwm0::oneshot_delay(zc_delay);
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zc_delay=measured_zc_time(50000);
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next_commutation_step();
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nextDrivePattern = driveTable[nextCommutationStep];
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}
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@ -29,13 +29,11 @@ enum {
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DRIVE_MASK=(1<<UL)|(1<<UH)| (1<<VL)|(1<<VH)| (1<<WL)|(1<<WH)
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};
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//! Startup delays are given in microseconds times STARTUP_DELAY_MULTIPLIER.
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const auto STARTUP_DELAY_MULTIPLIER=150;
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/*!
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* Number of milliseconds to lock rotor in first commutation step before
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* Number of 10 microseconds to lock rotor in first commutation step before
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* the timed startup sequence is initiated.
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*/
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const auto STARTUP_LOCK_DELAY=1000;
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const auto STARTUP_DELAY=25000U;
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extern "C" void handle_m_ext_interrupt();
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extern "C" void handle_m_time_interrupt();
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