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feat: changed hall sensor pins to 467->789
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@FedorBel
FedorBel committed Mar 31, 2021
1 parent 1bc6acb commit e56f251
Showing 1 changed file with 73 additions and 42 deletions.
115 changes: 73 additions & 42 deletions src/bldc-sensored/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@ unsigned short runningdc;
unsigned short potvalue;

void delay(unsigned long time);
void commutate(uint16_t hallpos);
void commutate(void);
void commutate2(uint16_t hallpos);

void SetSysClockTo72(void)
Expand Down Expand Up @@ -116,14 +116,12 @@ void tim1_init()
GPIO_Init(GPIOB, &GPIO_InitStructure);

//initialize Tim1 PWM outputs
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;
// pin_12 for etr current chopping
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 | GPIO_Pin_12;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12;
GPIO_Init(GPIOA, &GPIO_InitStructure);

// // Time Base configuration
// TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
// TIM_TimeBaseStructure.TIM_Prescaler = 0;
Expand Down Expand Up @@ -170,12 +168,43 @@ void tim1_init()
// TIM_CtrlPWMOutputs(TIM1, ENABLE);
}

uint8_t HallSensorsGetPosition(void)
void tim4_init(void)
{
uint8_t res6_7 = (uint8_t)((GPIO_ReadInputData(GPIOB) & (GPIO_Pin_6 | GPIO_Pin_7)) >> 5);
uint8_t res4 = (uint8_t)((GPIO_ReadInputData(GPIOB) & GPIO_Pin_4) >> 4);
uint8_t res = res6_7 | res4;
return res;
void HallSensorsGetPosition(void)
{
// uint8_t res6_7 = (uint8_t)((GPIO_ReadInputData(GPIOB) & (GPIO_Pin_6 | GPIO_Pin_7)) >> 5);
// uint8_t res4 = (uint8_t)((GPIO_ReadInputData(GPIOB) & GPIO_Pin_4) >> 4);
// uint8_t hallpos = res6_7 | res4;
uint8_t hallpos = (uint8_t)((GPIO_ReadInputData(GPIOB) & (GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9)) >> 7);
switch (hallpos)
{
case 0b101:
phase = 0;
break;
case 0b001:
phase = 1;
break;
case 0b011:
phase = 2;
break;
case 0b010:
phase = 3;
break;
case 0b110:
phase = 4;
break;
case 0b100:
phase = 5;
break;

default:
phase = 0;
break;
}
}

void HallSensorsInit(void)
Expand All @@ -185,7 +214,7 @@ void HallSensorsInit(void)
NVIC_InitTypeDef NVIC_InitStruct;

// Init GPIO
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_4 | GPIO_Pin_6 | GPIO_Pin_7;
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_7 | GPIO_Pin_8 | GPIO_Pin_9;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(GPIOB, &GPIO_InitStruct);
Expand All @@ -196,16 +225,14 @@ void HallSensorsInit(void)
NVIC_InitStruct.NVIC_IRQChannelSubPriority = 0x00;
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStruct);
NVIC_InitStruct.NVIC_IRQChannel = EXTI4_IRQn;
NVIC_Init(&NVIC_InitStruct);

// Tell system that you will use EXTI_Lines */
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource4);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource6);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource7);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource8);
GPIO_EXTILineConfig(GPIO_PortSourceGPIOB, GPIO_PinSource9);

// EXTI
EXTI_InitStruct.EXTI_Line = EXTI_Line4 | EXTI_Line6 | EXTI_Line7;
EXTI_InitStruct.EXTI_Line = EXTI_Line7 | EXTI_Line8 | EXTI_Line9;
EXTI_InitStruct.EXTI_LineCmd = ENABLE;
EXTI_InitStruct.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStruct.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
Expand All @@ -214,73 +241,75 @@ void HallSensorsInit(void)

void EXTI9_5_IRQHandler(void)
{
if ((EXTI_GetITStatus(EXTI_Line6) | EXTI_GetITStatus(EXTI_Line7)) != RESET)
if ((EXTI_GetITStatus(EXTI_Line7) | EXTI_GetITStatus(EXTI_Line8) | EXTI_GetITStatus(EXTI_Line9)) != RESET)
{
// Clear interrupt flags
EXTI_ClearITPendingBit(EXTI_Line4);
EXTI_ClearITPendingBit(EXTI_Line6);
EXTI_ClearITPendingBit(EXTI_Line7);
EXTI_ClearITPendingBit(EXTI_Line8);
EXTI_ClearITPendingBit(EXTI_Line9);

// Commutation
commutate(HallSensorsGetPosition());
HallSensorsGetPosition();
commutate();
}
}

void EXTI4_IRQHandler(void)
{
if (EXTI_GetITStatus(EXTI_Line4) != RESET)
{
// Clear interrupt flags
EXTI_ClearITPendingBit(EXTI_Line4);
EXTI_ClearITPendingBit(EXTI_Line6);
EXTI_ClearITPendingBit(EXTI_Line7);

// Commutation
commutate(HallSensorsGetPosition());
}
}

void commutate(uint16_t hallpos)
// void EXTI4_IRQHandler(void)
// {
// if (EXTI_GetITStatus(EXTI_Line4) != RESET)
// {
// // Clear interrupt flags
// EXTI_ClearITPendingBit(EXTI_Line4);
// EXTI_ClearITPendingBit(EXTI_Line6);
// EXTI_ClearITPendingBit(EXTI_Line7);

// // Commutation
// HallSensorsGetPosition();
// commutate();
// }
// }

void commutate(void)
{
// Hall_CBA
switch (hallpos)
switch (phase)
{
case 0b101: // phase AB
case 0: // phase AB
// enable all 6 except AN
// invert AN
TIM1->CCER = b10 + b8 + b6 + b4 + b0 + b3;
TIM1->CCMR1 = 0x4868 + b15 + b7; // B low, A PWM
TIM1->CCMR2 = 0x6858 + b7; // force C ref high (phc en low)
break;
case 0b001: // phase AC
case 1: // phase AC
// enable all 6 except AN
// invert AN
TIM1->CCER = b10 + b8 + b6 + b4 + b0 + b3;
TIM1->CCMR1 = 0x5868 + b15 + b7; // force B high and A PWM
TIM1->CCMR2 = 0x6848 + b7; // force C ref low
break;
case 0b011: // phase BC
case 2: // phase BC
// enable all 6 except BN
// invert BN
TIM1->CCER = b10 + b8 + b4 + b2 + b0 + b7;
TIM1->CCMR1 = 0x6858 + b15 + b7; // force B PWM and A high
TIM1->CCMR2 = 0x6848 + b7; // force C ref low
break;
case 0b010: // phase BA
case 3: // phase BA
// enable all 6 except BN
// invert BN
TIM1->CCER = b10 + b8 + b4 + b2 + b0 + b7;
TIM1->CCMR1 = 0x6848 + b15 + b7; // force B PWM and A ref low
TIM1->CCMR2 = 0x6858 + b7; // force C ref high
break;
case 0b110: // phase CA
case 4: // phase CA
// enable all 6 except CN
// invert CN
TIM1->CCER = b8 + b6 + b4 + b2 + b0 + b11; // enable all 6 except CN
TIM1->CCMR1 = 0x5848 + b15 + b7; // force B high and A ref low
TIM1->CCMR2 = 0x6868 + b7; // force C PWM
break;
case 0b100: // phase CB
case 5: // phase CB
// enable all 6 except CN
// invert CN
TIM1->CCER = b8 + b6 + b4 + b2 + b0 + b11; // enable all 6 except CN
Expand Down Expand Up @@ -343,10 +372,12 @@ void motorstartinit(void)
{
TIM1->CCER = 0;

HallSensorsGetPosition();
commutate();

// b12 to enable brk input
// b13 for break polarity
// (b15+b11); set MOE

TIM1->BDTR = b15 + b11 + b10 + b12 + b13; //set MOE
}

Expand All @@ -371,9 +402,9 @@ int main(void)
tim1_init();
TIM1->SMCR = b15 + b4 + b5 + b6; // make ETR input active low
TIM1->CR2 = 0;
TIM1->CCR1 = 450;
TIM1->CCR2 = 450;
TIM1->CCR3 = 450;
TIM1->CCR1 = 1350;
TIM1->CCR2 = 1350;
TIM1->CCR3 = 1350;
// TIM1->CCR4 = 1100;
TIM1->ARR = BLDC_CHOPPER_PERIOD;
TIM1->CR1 = 0x0001;
Expand Down

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