Changed delay calculation for open loop commutation

riscv-bldc-forced-commutation/src/riscv-bldc.cpp

@@ -40,17 +40,6 @@ std::array<uint32_t, 6> senseTable { //! channels to sense during the applied pa
     SENSU_N, //5
     SENSV_P  //6
 };
-std::array<unsigned int, 18> startupDelays{
-/*
-    200, 150, 100, 80, 70, 65,
-     60,  55,  50, 45, 40, 35,
-     25,  25,  25, 25, 25, 25,
-     25,  25,  25, 25, 25, 25
-*/
-    150, 90, 70, 50, 40, 35,
-     30, 25, 25, 25, 25, 25,
-     25, 25, 25, 25, 25, 25
-};
 
 bool ccw=false;
 
@@ -156,12 +145,8 @@ unsigned read_adc(unsigned channel){
  *  Since Timer/Counter1 is used in this function, it must never be called when
  *  sensorless operation is running.
  */
-void fixed_delay(unsigned short delay){
-    pwm0::oneshot_delay(STARTUP_DELAY_MULTIPLIER*delay);
-}
-
 unsigned short measured_zc_time(unsigned short max_delay){
-    long delay_us = max_delay * STARTUP_DELAY_MULTIPLIER;
+    long delay_us = max_delay;
     auto scaling_factor=0;
     while(delay_us/(1<<scaling_factor) > std::numeric_limits<unsigned short>::max()){
         scaling_factor++;
@@ -200,20 +185,23 @@ void next_commutation_step(void) {
 }
 
 void start_open_loop(void){
+    auto delay = 30120U;
+    std::array<double, 2> multiplier={0.83, 1.0};
     nextCommutationStep = 0;
     //Preposition.
     gpio0::port_reg() = (gpio0::port_reg() & ~DRIVE_MASK) | driveTable[nextCommutationStep];
-    fixed_delay(STARTUP_LOCK_DELAY);
+    //fixed_delay(STARTUP_LOCK_DELAY);
+    pwm0::oneshot_delay(STARTUP_DELAY);
     next_commutation_step();
     auto nextDrivePattern = driveTable[nextCommutationStep];
-    const size_t size=startupDelays.size();
+    for (size_t i = 0; i < 12; i++){
-    for (size_t i = 0; i < startupDelays.size()+6*10; i++){
         gpio0::port_reg() = (gpio0::port_reg() & ~DRIVE_MASK & 0x00ffffff)
                 | nextDrivePattern | nextCommutationStep<<24;
         auto channel=senseTable[nextCommutationStep]&0x3;
         auto zcPolRise = senseTable[nextCommutationStep]<4;
         auto bemf_0=read_adc(channel);
-        fixed_delay(startupDelays[i>=size?size-1:i]);
+        delay*=multiplier[(i/6)%multiplier.size()];
+        pwm0::oneshot_delay(delay);
         auto bemf_1=read_adc(channel);
         auto bemf = bemf_1>bemf_0?bemf_1-bemf_0:bemf_0-bemf_1;
         next_commutation_step();
@@ -229,8 +217,7 @@ void run_closed_loop(void){
     for(;;){
         gpio0::port_reg() = (gpio0::port_reg() & ~DRIVE_MASK & 0x00ffffff)
                 | nextDrivePattern | nextCommutationStep<<24;
-        zc_delay=measured_zc_time(500);
+        zc_delay=measured_zc_time(50000);
-        pwm0::oneshot_delay(zc_delay);
         next_commutation_step();
         nextDrivePattern = driveTable[nextCommutationStep];
     }

riscv-bldc-forced-commutation/src/riscv-bldc.h

@@ -29,13 +29,11 @@ enum {
     DRIVE_MASK=(1<<UL)|(1<<UH)| (1<<VL)|(1<<VH)| (1<<WL)|(1<<WH)
 };
 
-//! Startup delays are given in microseconds times STARTUP_DELAY_MULTIPLIER.
-const auto STARTUP_DELAY_MULTIPLIER=150;
 /*!
- *  Number of milliseconds to lock rotor in first commutation step before
+ *  Number of 10 microseconds to lock rotor in first commutation step before
  *  the timed startup sequence is initiated.
  */
-const auto STARTUP_LOCK_DELAY=1000;
+const auto STARTUP_DELAY=25000U;
 
 extern "C" void handle_m_ext_interrupt();
 extern "C" void handle_m_time_interrupt();