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#include "stm32f0xx.h"
#include "definitions.h"
#include "motorcontrolsettings.h"
unsigned char zcfound;
unsigned char phase;
unsigned char autostep;
unsigned char risingdelay;
unsigned char fallingdelay;
unsigned char risingedge;
unsigned char startstate;
unsigned char run;
unsigned char ontimesample;
unsigned short commcounter;
unsigned short step;
unsigned short bemfsample;
unsigned short dcbussample;
unsigned short commcounter;
unsigned short demagcounter;
unsigned short zccounter;
unsigned short commthreshold;
unsigned short demagthreshold;
unsigned short runningdc;
unsigned short potvalue;
unsigned short zcthreshold;
unsigned short dutycyclehold;
unsigned long holdcounter;
unsigned long alignmentcounter;
unsigned long rampspeed;
unsigned long bemfchannel;
void commutate(void);
void commutate2(void);
void motorstartinit(void);
void delay( unsigned long time);
void flashled(unsigned char flashes);
void selftest(void);
unsigned short readadc( unsigned char chnl);
int main(void)
{
// clock chain setup
RCC->CFGR = (4<<18); // set PLL X6 for 24MHZ
RCC->CR = 0x00000083 + (1<<24); //turn PLL on
RCC->CFGR = (4<<18) + 2; // select PLL as clock
RCC->AHBENR = b19+b18+b17; // enable GPIOA, B, C input clock
RCC->APB2ENR = b11+b9+b0; // enable tim1 and ADC input clocks
RCC->APB1ENR = b29; // enable DAC input clock
//**********************************************
delay(5000000) ; //let power supply settle
selftest();
// port A setup
//GPIOA->MODER = 0x2A2AFFF0; // a5,a4,3,2,6,7 anlg, a8,9,10,12 AF
GPIOA->MODER = 0x2A6AFFF0; // 11 pp, a5,a4,3,2,6,7 anlg, a8,9,10,12 AF
GPIOA->AFRH = 0x00020222; // pa8,9,10,12 AF2 for timer
// port B setup
// b22 PB11 as output
GPIOB->MODER = 0xA800000F+b22; // b1,0 anlg, b15,14,13 AF
GPIOB->AFRH = 0x22220000; // b15,14,13,12 AF2 for timer
// port C setup
GPIOC->ODR = 0;
// ADC setup
ADC1->CR= b31 ; // start ADC calibration
while( ADC1->CR & b31); // wait for calibration to complete
while( ADC1->CR & b31); // wait for calibration to complete
ADC1->CR = 1; // enable ADC
ADC1->CFGR1 = b16; // enable discontinuous mode
ADC1->SMPR = 1;
// comparator setup
// (b25+b24) send comp2 output to tim1 OCref clear
// b27 invert comp2 output
// b16 enable comp2
// b22+b20 select PA5 as inverting input for comp2
// b0 enable comp1
// (b6+b5) select PA0 comp1 inverting input
// b8 send comp1 output to tim1 break
// b11 to invert comp1 output
COMP->CSR = 0;
#ifdef currentlimitenable
COMP->CSR = COMP->CSR + b27+b16+b22+b20+b25+b24; // cy-by-cy active
#endif
#ifdef overcurrentenable
COMP->CSR = COMP->CSR + b0+b6+b5+b11+b8; // brk active
#endif
// tim1 setup
TIM1->SMCR = b15+b4+b5+b6; // make ETR input active low
TIM1->CR2= 0;
TIM1->CCR1= 200;
TIM1->CCR2= 200;
TIM1->CCR3= 200;
TIM1->CCR4= 1100;
TIM1->ARR=1200;
TIM1->CR1=0x0001;
// note: b15 b7 and b7 are to enable ETR based current limit
TIM1->CCMR1= 0x6868 +b15 + b7;
TIM1->CCMR2= 0x6868 +b7;
// b4 for cc4 and b7 for brk interrupt
//TIM1->DIER = b4+b7; // enable cc4 interrupt
TIM1->DIER = b4+b6;
// DAC setup
DAC->CR = 1; // enable DAC
// set up interrupts
NVIC_EnableIRQ(14);
__enable_irq();
// initialization
run=0;
motorstartinit();
clearmark;
while(1)
{ // backgroung loop
if( (TIM1->BDTR & b15)==0) // overcurrent fault condition
{
run=0;
while(1)
{
ledon;
delay(1000000);
ledoff;
delay(1000000);
if( (4095-potvalue)<100)
{
TIM1->BDTR= b15+b11+b10+b12+b13; // set MOE
break;
}
} //end of LED flash loop
} // end of if overcurrent
//TIM1->BDTR= b15+b11+b10+b12+b13; // set MOE
if( (4095-potvalue)>200) run=255;
if( (4095-potvalue)<100) run=0;
if(run) ledon;
if(run==0) ledoff;
runningdc = ((4095-potvalue)*1200)>>12;
if(runningdc>1195) runningdc=1300;
if(dutycyclehold && (runningdc>600)) runningdc=600;
#ifdef ontimesampleenable
if(runningdc>800) ontimesample=255;
else ontimesample=0;
#endif
//if(COMP->CSR & b30) // comp2
if(COMP->CSR & b14) // comp1
{
setmark;
}
else
{
//clearmark;
}
//DAC->DHR12R1 = potvalue; // put out for diagnostic purposes
} // end of backgroung loop
} // end of main
void commutate(void)
{
switch(phase)
{
case 0: // phase AB
TIM1->CCER = b3+b0 +b7+b4 +b8; //
TIM1->CCMR1= 0x4868 +b15 + b7; // force B active low
TIM1->CCMR2= 0x6868 +b7;
break;
case 1: // phase AC
TIM1->CCER = b3+b0 +b4 +b8+b11; //
TIM1->CCMR1= 0x6868 +b15 + b7;
TIM1->CCMR2= 0x6848 +b7; // force C active low
break;
case 2: // phase BC
TIM1->CCER = b4+b7 +b8+b11 +b0;
TIM1->CCMR1= 0x6868 +b15 + b7;
TIM1->CCMR2= 0x6848 +b7; // force C active low
break;
case 3: // phase BA
TIM1->CCER = b4+b7 +b3+b0 +b8;
TIM1->CCMR1= 0x6848 +b15 + b7; // force A active low
TIM1->CCMR2= 0x6868 +b7;
break;
case 4: // phase CA
TIM1->CCER = b8+b11 +b3+b0 +b4;
TIM1->CCMR1= 0x6848 +b15 + b7; // force A active low
TIM1->CCMR2= 0x6868 +b7;
break;
case 5: // phase CB
TIM1->CCER = b8+b11 +b4+b7 +b0;
TIM1->CCMR1= 0x4868 +b15 + b7; // force B active low
TIM1->CCMR2= 0x6868 +b7;
break;
} // end of phase switch statement
} // end of commutate function
void commutate2(void)
{
//TIM1->CCER=b10+b8+b6+b4+b2+b0; // enable all 6
switch(phase)
{
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 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 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 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 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 5: // phase CB
// enable all 6 except CN
// invert CN
TIM1->CCER=b8+b6+b4+b2+b0 +b11; // enable all 6 except CN
TIM1->CCMR1=0x4858+b15+b7; // force B low and A high
TIM1->CCMR2= 0x6868 +b7; // force C PWM
break;
} // end of phase switch statement
} // end of commutate2 function
// pwmisr runs just at the end of each PWM cycle
void pwmisr(void)
{
//**********************************************************
unsigned long long0;
ADC1->CHSELR = bemfchannel; // set ADC MUX to proper bemf channel
ADC1->CR = b2; // start adc conversion
// housekeeping increment of some timers while adc is converting
zccounter++; // housekeeping increment of some timers while adc is converting
alignmentcounter++;
holdcounter++;
while((ADC1->CR & b2)==b2) ; // wait for conversion to complete
bemfsample= ADC1->DR;
//DAC->DHR12R1 = bemfsample; // put out for diagnostic purposes
// autostep is true during ramping up
if(autostep)
{
commcounter++;
if(commcounter>step)
{
commcounter=0;
phase++;
if(phase>5) phase=0;
commutate2();
}
} // end of if(autostep)
if(run==0) startstate=0;
switch(startstate)
{
case 0:
TIM1->CCER = 0;
if(run)
{
motorstartinit();
startstate=5;
}
break;
case 5: // setup alignment
TIM1->CCR1= alignmentdc;
TIM1->CCR2= alignmentdc;
TIM1->CCR3= alignmentdc;
phase=0;
commutate2();
alignmentcounter=0;
startstate=10;
break;
case 10: // timing out alignment
if(alignmentcounter>alignmenttime)
{
rampspeed=1;
commcounter=0;
autostep=255;
TIM1->CCR1= rampupdc;
TIM1->CCR2= rampupdc;
TIM1->CCR3= rampupdc;
startstate=20;
}
break;
case 20: // ramping up
rampspeed = rampspeed+rampuprate; // accelerate
long0 = 4000000000;
long0 = long0/rampspeed; // step time = constant/speed
if(long0>30000) long0=30000;
step=long0;
if(step<=minstep)
{
holdcounter=0;
startstate=100;
}
break;
case 100: // wait for hold time, holding at speed to allow sync
if(holdcounter>holdtime) startstate=110;
break;
case 110: // wait to get into phase 5
if(phase==5) startstate=120;
break;
case 120: // wait for leading edge of phase 0 (commutation)
if(phase==0)
{
demagcounter=0;
demagthreshold = (step*demagallowance)>>8;
startstate=130;
}
break;
case 130: // wait out demag time (for current in phase to go to 0)
demagcounter++;
if(demagcounter>demagthreshold)
{
startstate=140;
}
break;
case 140: // looking for zero crossing of bemf
if( zcfound && (zccounter>maxstep) )
{
startstate=0;
break;
}
if(risingedge)
{
if((bemfsample>zcthreshold)||(zccounter>maxstep) )
{
if(zcfound) step = zccounter;
commthreshold = (step*risingdelay)>>8;
zccounter=0;
commcounter=0;
startstate=150;
risingedge=0;
zcfound=255;
autostep=0;
}
}
else
{
if((bemfsample<zcthreshold)||(zccounter>maxstep) )
{
if(zcfound) step = zccounter;
commthreshold = (step*fallingdelay)>>8;
zccounter=0;
commcounter=0;
startstate=150;
risingedge = 255;
zcfound=255;
autostep=0;
}
}
break;
case 150: // wait out commutation delay (nominal 1/2 step time)
TIM1->CCR1= runningdc;
TIM1->CCR2= runningdc;
TIM1->CCR3= runningdc;
commcounter++;
if(commcounter>commthreshold)
{
phase++; // commutate
if(phase>5) phase=0;
commutate2();
demagcounter=0;
demagthreshold = (step*demagallowance)>>8;
startstate=130; // go back to wait out demag
if(dutycyclehold) dutycyclehold--;
}
break;
} // end of startstate state machine
ADC1->CHSELR = b2; // set ADC MUX to pot channel (ain2)
ADC1->CR = b2; // start adc conversion
// switch statement determines next bemf ADC input channel
switch(phase)
{
case 0: // ab
bemfchannel= 1<<8 ; // read phase c
break;
case 1: // ac
bemfchannel= 1<<7 ; // read phase b
break;
case 2: // bc
bemfchannel= 1<<6 ; // read phase a
break;
case 3: // ba
bemfchannel= 1<<8 ; // read phase c
break;
case 4: // ca
bemfchannel= 1<<7 ; // read phase b
break;
case 5: // cb
bemfchannel= 1<<6 ; // read phase a
break;
} // end of phase switch statement
if(ontimesample)
{
GPIOC->MODER = 0x54000000; // C15,14,13 PP to turn on attenuator
TIM1->CCR4 = 100; // move isr to halfway thry on time
//zcthreshold = 620; // for 12V bus
long0 = dcbussample;
long0 = long0 * 599;
long0 = long0>>10;
zcthreshold = long0;
}
else
{
GPIOC->MODER = 0; // turn attenuator off
TIM1->CCR4 = 1100;
zcthreshold = 200; // threshold to about zero
}
while((ADC1->CR & b2)==b2) ; // wait for conversion to complete
potvalue= ADC1->DR;
ADC1->CHSELR = b9; // set ADC MUX to dc bus channel (ain9)
ADC1->CR = b2; // start adc conversion
while((ADC1->CR & b2)==b2) ; // wait for conversion to complete
dcbussample = ADC1->DR;
DAC->DHR12R1 = dcbussample; // put out for diagnostic purposes
//**************************************************************
// clear interrupt
TIM1->SR &= ~0x01F;
NVIC_ClearPendingIRQ(14);
}
void motorstartinit(void)
{
TIM1->CCER = 0;
// b12 to enable brk input
// b13 for break polarity
// (b15+b11); // set MOE
TIM1->BDTR= b15+b11+b10+b12+b13; // set MOE
// ADC count used as zero crossing threshold
// may need to be set higher/lower for higher/lower bemf motors
// setting too low may cause noise sensitivity issues
zcthreshold = 200 ;
ontimesample=0;
phase = 0;
holdcounter=0;
startstate=0;
commcounter=0;
step=3670; // unit is 50uS pwm periods
autostep = 0;
risingedge = 0;
zcfound=0;
alignmentcounter=0;
rampspeed=1;
commthreshold=0;
// risingdelay and fallingdelay control the time delay waited
// between zero crossing detection and commutation. The nominal
// value is 128 which means 128/256 or 1/2 of a step time, which
// is the phase shift between line to neutral zero crossing
// (what is actually detected) and line to line zero cross
// (nominal correct commutation time)
// adjustment will advance or delay commutation (phase advance)
risingdelay=128;
fallingdelay=128;
// sets open loop motor voltage (speed) 1200 for 100% duty cycle
runningdc = 600;
dutycyclehold=100;
} // end of motor start init function
void delay( unsigned long time) // 1000 is 200 usec
{
while(time>0) time--;
}
void selftest(void)
{
unsigned short word0;
// port B setup
GPIOB->ODR = 0;
/*
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
pp pp pp pp in pp pp pp pp pp pp pp pp pp an an
01 01 01 01 00 01 01 01 01 01 01 01 01 01 11 11
5 5 1 5 5 5 5 F
*/
GPIOB->MODER = 0x5515555F;
//test for jumper from P6-2(pb10) to P6-1(pb11)and return from selftest if not
GPIOB->ODR &= ~b10;
delay(1000);
if((GPIOB->IDR & b11) != 0) return;
GPIOB->ODR |= b10;
delay(1000);
if((GPIOB->IDR & b11) != b11) return;
GPIOB->ODR &= ~b10;
delay(1000);
if((GPIOB->IDR & b11) != 0) return;
GPIOB->ODR |= b10;
delay(1000);
if((GPIOB->IDR & b11) != b11) return;
// program is in test mode
// port A setup
GPIOA->ODR = 0;
/*
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
in af af in pp pp pp pp an an an an an an an an
00 10 10 00 01 01 01 01 11 11 11 11 11 11 11 11
2 8 5 5 F F F F
*/
GPIOA->MODER = 0x2855FFFF;
// comparator setup
COMP->CSR = 0;
#ifdef currentlimitenable
COMP->CSR = COMP->CSR + b27+b16+b22+b20+b25+b24; // cy-by-cy active
#endif
#ifdef overcurrentenable
COMP->CSR = COMP->CSR + b0+b6+b5+b11+b8; // brk active
#endif
// ADC setup
ADC1->CR= b31 ; // start ADC calibration
while( ADC1->CR & b31); // wait for calibration to complete
while( ADC1->CR & b31); // wait for calibration to complete
ADC1->CR = 1; // enable ADC
ADC1->CFGR1 = b16; // enable discontinuous mode
ADC1->SMPR = 1;
// routine to manually test pot and LED
while(1)
{
potvalue = 4095 - readadc(2);
switch((potvalue>>9))
{
case 0:
ledoff;
break;
case 1:
ledon;
break;
case 2:
ledoff;
break;
case 3:
ledon;
break;
case 4:
ledoff;
break;
case 5:
ledon;
break;
case 6:
ledoff;
break;
case 7:
ledon;
break;
case 8:
break;
} // end of pot test case statement
//test for jumper from P6-2(pb10) to P6-1(pb11)and break out of loop if not
GPIOB->ODR &= ~b10;
delay(1000);
if((GPIOB->IDR & b11) != 0) break;
GPIOB->ODR |= b10;
delay(1000);
if((GPIOB->IDR & b11) != b11) break;
GPIOB->ODR &= ~b10;
delay(1000);
if((GPIOB->IDR & b11) != 0) break;
GPIOB->ODR |= b10;
delay(1000);
if((GPIOB->IDR & b11) != b11) break;
} // end of pot test endless loop
ledoff;
delay(19999999);
// now test DC bus sensing
word0 = readadc(9); // read bemfa
if(word0<1430) flashled(11);
if(word0>1748) flashled(12);
// now test bridge outputs and bemf sensing
phaseadisable;
phasebdisable;
phasecdisable;
phaseahigh;
phaseblow;
phaseclow;
// enable A and set high. disable B and C
phaseaenable;
delay(500); // wait 100 usec for settling
word0 = readadc(6); // read bemfa
if(word0<2048) flashled(13); // fault if pha not high
word0 = readadc(7); // read bemfb
if(word0<2048) flashled(14); // fault if phb not high
word0 = readadc(8); // read bemfc
if(word0<2048) flashled(15); // fault if phc not high
// now enable B low
phasebenable;
delay(500); // wait 100 usec for settling
word0 = readadc(7); // read bemfb
phasebdisable;
if(word0>2048) flashled(21); // fault if phb not low
// now enable C low
phasecenable;
delay(500); // wait 100 usec for settling
word0 = readadc(8); // read bemfc
phasecdisable;
if(word0>2048) flashled(22); // fault if phc not low
phaseadisable;
phasebenable;
phasebhigh;
// B is high, A and C disabled
delay(500); // wait 100 usec for settling
word0 = readadc(6); // read bemfa
if(word0<2048) flashled(23); // fault if pha not high
// disable verified for all three phases
phaseadisable;
phasebdisable;
phasecdisable;
// activate phase AB
phaseahigh;
phaseblow;
phaseaenable;
phasebenable;
delay(500); // wait 100 usec for settling
word0 = readadc(6); // read bemfa
if(word0<2048) flashled(24); // fault if pha not high
word0 = readadc(7); // read bemfb
if(word0>2048) flashled(24); // fault if phb not low
// activate phase BA
phasebhigh;
phasealow;
delay(500); // wait 100 usec for settling
word0 = readadc(6); // read bemfa
if(word0>2048) flashled(25); // fault if pha not low
word0 = readadc(7); // read bemfb
if(word0<2048) flashled(25); // fault if phb not high
// activate phase AC
phasebdisable;
phaseahigh;
phaseclow;
phasecenable;
delay(500); // wait 100 usec for settling
word0 = readadc(6); // read bemfa
if(word0<2048) flashled(31); // fault if pha not high
word0 = readadc(8); // read bemfc
if(word0>2048) flashled(31); // fault if phc not low
// activate phase CA
phasechigh;
phasealow;
delay(500); // wait 100 usec for settling
word0 = readadc(6); // read bemfa
if(word0>2048) flashled(32); // fault if pha not low
word0 = readadc(8); // read bemfc
if(word0<2048) flashled(32); // fault if phc not high
// activate phase BC
phaseadisable;
phasebenable;
phasebhigh;
phaseclow;
delay(500); // wait 100 usec for settling
word0 = readadc(7); // read bemfb
if(word0<2048) flashled(33); // fault if phb not high
word0 = readadc(8); // read bemfc
if(word0>2048) flashled(33); // fault if phc not low
// activate phase CB
phasechigh;
phaseblow;
delay(500); // wait 100 usec for settling
word0 = readadc(7); // read bemfb
if(word0>2048) flashled(34); // fault if phb not low
word0 = readadc(8); // read bemfc
if(word0<2048) flashled(34); // fault if phc not high
// all 6 phases have been tested (voltage sensing)
phaseadisable;
phasebdisable;
phasecdisable;
// activate phase AB (should not trip)
phaseahigh;
phaseblow;
phaseaenable;
phasebenable;
delay(500); // wait 100 usec for settling
if(COMP->CSR & b30) flashled(35); // comp2 at 2.24A threshold
// now turn on C lower (should trip)
phaseclow;
phasecenable;
delay(500); // wait 100 usec for settling
if((COMP->CSR & b30)==0) flashled(41); // comp2 at 2.24A threshold
// overcurrent (higher threshold) should be low
if((COMP->CSR & b14)) flashled(42); // comp1 high threshold
phaseadisable;
phasebdisable;
phasecdisable;
ledon;
while(1)
{
word0=0;
// break out of loop when jumper restored
GPIOB->ODR &= ~b10;
delay(1000);
if((GPIOB->IDR & b11) != 0) word0=0;
else word0++;
GPIOB->ODR |= b10;
delay(1000);
if((GPIOB->IDR & b11) != b11) word0=0 ;
else word0++;
GPIOB->ODR &= ~b10;
delay(1000);
if((GPIOB->IDR & b11) != 0) word0=0 ;
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