Changed naming of constants and formatting
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@ -6,7 +6,7 @@ HEADERS = $(wildcard src/*.h)
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CFLAGS = -g -fno-builtin-printf -DUSE_PLIC -DUSE_M_TIME -DNO_INIT -I./src
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CXXFLAGS = -fno-use-cxa-atexit
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LDFLAGS = -Wl,--wrap=printf
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LDFLAGS = -g -lstdc++ -fno-use-cxa-atexit -march=$(RISCV_ARCH) -mabi=$(RISCV_ABI) -mcmodel=medany
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LDFLAGS += -g -lstdc++ -fno-use-cxa-atexit -march=$(RISCV_ARCH) -mabi=$(RISCV_ABI) -mcmodel=medany
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BOARD=freedom-e300-hifive1
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@ -7,7 +7,6 @@
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//============================================================================
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#include "riscv-bldc.h"
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#include "peripherals.h"
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#include "delay.h"
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#include "bsp.h"
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#include "plic/plic_driver.h"
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@ -15,42 +14,46 @@
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#include <cstdio>
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#include <cstdint>
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volatile uint32_t nextCommutationStep;
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#include "hifive1_io.h"
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std::array<uint32_t, 6> cwDriveTable { //! Drive pattern for commutation, CW rotation
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((1 << VH) | (1 << WL)), ((1 << UH) | (1 << WL)), ((1 << UH) | (1 << VL)),
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((1 << WH) | (1 << VL)), ((1 << WH) | (1 << UL)), ((1 << VH) | (1 << UL))
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volatile uint32_t nextCommutationStep;
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/*
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Kommutierungsblöcke
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1 2 3 4 5 6
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U 0 z +1 +1 z 0
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V +1 +1 z 0 0 z
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W z 0 0 z +1 +1
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*/
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std::array<uint32_t, 6> driveTable { //! Drive pattern for commutation, CW rotation
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((1 << VH) | (1 << UL)), //1
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((1 << VH) | (1 << WL)), //2
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((1 << UH) | (1 << WL)), //3
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((1 << UH) | (1 << VL)), //4
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((1 << WH) | (1 << VL)), //5
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((1 << WH) | (1 << UL)) //6
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};
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std::array<uint32_t, 6> cwSenseTable { //! channels to sense during the applied pattern
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SENSU_P, SENSV_N, SENSW_P,
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SENSU_N, SENSV_P, SENSW_N
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std::array<uint32_t, 6> senseTable { //! channels to sense during the applied pattern
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SENSW_N, //1
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SENSU_P, //2
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SENSV_N, //3
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SENSW_P, //4
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SENSU_N, //5
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SENSV_P //6
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};
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std::array<uint32_t, 6> ccwDriveTable{ //! Drive pattern for commutation, CCW rotation.
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((1 << UL) | (1 << VH)), ((1 << UL) | (1 << WH)), ((1 << VL) | (1 << WH)),
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((1 << VL) | (1 << UH)), ((1 << WL) | (1 << UH)), ((1 << WL) | (1 << VH))
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};
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std::array<uint32_t, 6> ccwSenseTable { //! channels to sense during the applied pattern
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SENSW_P, SENSV_N, SENSU_P,
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SENSW_N, SENSV_P, SENSU_N
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};
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std::array<unsigned int, 24> startupDelays{
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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, 50, 50,
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50, 50, 50, 40, 40, 40,
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40, 40, 40, 30, 30, 30,
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30, 30, 30, 25, 25, 25,
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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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auto& driveTable = ccw?ccwDriveTable:cwDriveTable;
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auto& senseTable = ccw?ccwSenseTable:cwSenseTable;
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typedef void (*function_ptr_t) (void);
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// Instance data for the PLIC.
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plic_instance_t g_plic;
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@ -157,7 +160,7 @@ 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, unsigned state){
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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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auto scaling_factor=0;
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while(delay_us/(1<<scaling_factor) > std::numeric_limits<unsigned short>::max()){
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@ -174,24 +177,37 @@ unsigned short measured_zc_time(unsigned short max_delay, unsigned state){
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uint32_t adc_res=0;
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do{
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adc_res=read_adc(channel);
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if((zc_neg && adc_res<2048) || (!zc_neg && adc_res>2047)){
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if((zc_neg && adc_res<2048) || (!zc_neg && adc_res>2047))
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break;
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}
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} while(pwm0::is_active());
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uint32_t sreg = pwm0::s_reg();
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pwm0::cfg_reg().enoneshot=false;
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return sreg*(1<<scaling_factor);
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}
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void next_commutation_step(void) {
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if (ccw) {
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if (nextCommutationStep == 0)
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nextCommutationStep = 0;
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else
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nextCommutationStep--;
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} else {
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if (nextCommutationStep == 5)
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nextCommutationStep = 0;
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else
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nextCommutationStep++;
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}
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}
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void start_motor(void){
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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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nextCommutationStep++;
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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()+10; i++){
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for (size_t i = 0; i < startupDelays.size()+6*10; 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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@ -200,10 +216,7 @@ void start_motor(void){
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fixed_delay(startupDelays[i>=size?size-1:i]);
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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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nextCommutationStep++;
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if (nextCommutationStep >= 6){
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nextCommutationStep = 0;
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}
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next_commutation_step();
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nextDrivePattern = driveTable[nextCommutationStep];
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// if(i>12 && bemf>32 && ((zcPolRise && bemf_0<2048 && bemf_1>2047) || (!zcPolRise && bemf_0>2047 && bemf_1<2048)))
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// return;
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@ -214,16 +227,14 @@ void run_motor(void){
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auto count=0;
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auto zc_delay=0U;
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auto tmp=0U;
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auto nextDrivePattern = driveTable[nextCommutationStep];
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for(;;){
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gpio0::port_reg() = (gpio0::port_reg() & ~DRIVE_MASK & 0x00ffffff)
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| driveTable[nextCommutationStep] | nextCommutationStep<<24;
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zc_delay=measured_zc_time(50, senseTable[nextCommutationStep]);
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// tmp=zc_delay>>2;
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// pwm0::oneshot_delay(zc_delay>tmp?zc_delay:zc_delay/2+zc_delay/4+zc_delay/8);
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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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nextCommutationStep++;
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if (nextCommutationStep >= 6)
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nextCommutationStep = 0;
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next_commutation_step();
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nextDrivePattern = driveTable[nextCommutationStep];
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}
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}
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@ -20,24 +20,22 @@ enum {
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VH=10, //! Port pin connected to phase V, high side enable switch.
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WL=19, //! Port pin connected to phase W, low side enable switch.
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WH=20, //! Port pin connected to phase W, high side enable switch.
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CW=0, //! Clockwise rotation flag.
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CCW=1, //! Counterclockwise rotation flag.
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SENSU_P=0, //! Phase U voltage to sense
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SENSV_P=1, //! Phase V voltage to sense
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SENSW_P=2, //! Phase W voltage to sense
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SENSU_N=4, //! Phase U voltage to sense
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SENSV_N=5, //! Phase V voltage to sense
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SENSW_N=6, //! Phase W voltage to sense
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SENSU_P=0, //! Phase U voltage to sense positive zero cross
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SENSV_P=1, //! Phase V voltage to sense positive zero cross
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SENSW_P=2, //! Phase W voltage to sense positive zero cross
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SENSU_N=4, //! Phase U voltage to sense negative zero cross
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SENSV_N=5, //! Phase V voltage to sense negative zero cross
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SENSW_N=6, //! Phase W voltage to sense negative zero cross
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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=1000;
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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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* the timed startup sequence is initiated.
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*/
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const auto STARTUP_LOCK_DELAY=200;
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const auto STARTUP_LOCK_DELAY=1000;
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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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