main.h File Reference

Motor control header file. More...

#include <math.h>
#include <stdint.h>

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Classes
struct	motorflags
	Collection of all motor control flags. More...
struct	faultflags
	Collection of all fault flags. More...
struct	motorconfigs
	Collection of motor configurations. More...

Macros
#define	MOTOR_POLES   8
	Number of poles in the motor.
#define	TIM4_FREQ   20000UL
	Desired Switching Frequency for MOSFET Gate Signals.
#define	DEAD_TIME   350UL
	Dead Time Specification.
#define	HALL_PULLUP_ENABLE   FALSE
	Internal Pull-up Resistor Configuration for Hall Sensor Inputs.
#define	EMULATE_HALL   FALSE
	Emulate Motor Spinning.
#define	TIM3_FREQ   200UL
	Desired Electrical Rotational Frequency for "Emulated" Motor.
#define	COMMUTATION_TICKS_STOPPED   6000
	Commutation Stopped Limit.
#define	TURN_OFF_MODE   TURN_OFF_MODE_COAST
	Turn Off Mode.
#define	CURRENT_GAIN   50
	Current Gain for Current Measurement.
#define	CURRENT_SENSE_RESISTOR   2000
	Current Sense Resistor Value.
#define	CURRENT_WARNING_THRESHOLD   408
	Current Warning Threshold (Register Value)
#define	CURRENT_ERROR_THRESHOLD   816
	Current Error Threshold (Register Value)
#define	CURRENT_FAULT_ENABLE   FALSE
	Current Fault Enable.
#define	SPEED_CONTROL_METHOD   SPEED_CONTROL_OPEN_LOOP
	Speed Control Method.
#define	SPEED_CONTROLLER_TIME_BASE   200
	Speed Controller Time Base.
#define	SPEED_CONTROLLER_MAX_DELTA   1
	Speed Controller Maximum Delta (Applicable for Open Loop Control)
#define	SPEED_CONTROLLER_MAX_SPEED   400
	Speed Controller Maximum Speed.
#define	PID_K_P   100
	PID Controller Proportional Gain Constant (Only for Closed Loop)
#define	PID_K_I   10
	PID Controller Integral Gain Constant (Only for Closed Loop)
#define	PID_K_D_ENABLE   TRUE
	PID Controller Derivative Control Enable Flag (Only for Closed Loop)
#define	PID_K_D   0
	PID Controller Derivative Gain Constant (Only for Closed Loop)
#define	GATE_RTOP   1000000
	Top resistor value in the gate voltage potential divider.
#define	GATE_RBOTTOM   71500
	Bottom resistor value in the gate voltage potential divider.
#define	REMOTE_DEBUG_MODE   FALSE
	Set the remote debug mode.
#define	FALSE   0
	FALSE constant value.
#define	TRUE   (!FALSE)
	TRUE constant value, defined to be compatible with comparisons.
#define	F_HST   64000000UL
	High-speed system clock frequency.
#define	AH_PIN   PB6
	PIN where high side gate PWM for phase A is connected.
#define	BH_PIN   PC7
	PIN where high side gate PWM for phase B is connected.
#define	CH_PIN   PD7
	PIN where high side gate PWM for phase C is connected.
#define	AL_PIN   PB5
	PIN where low side gate PWM for phase A is connected.
#define	BL_PIN   PC6
	PIN where low side gate PWM for phase B is connected.
#define	CL_PIN   PD6
	PIN where low side gate PWM for phase C is connected.
#define	PWM_PATTERN_PORTB   ((1 << AH_PIN) | (1 << AL_PIN))
	Bit pattern of PWM pins placed on PORTB (Phase A).
#define	PWM_PATTERN_PORTC   ((1 << BH_PIN) | (1 << BL_PIN))
	Bit pattern of PWM pins placed on PORTC (Phase B).
#define	PWM_PATTERN_PORTD   ((1 << CH_PIN) | (1 << CL_PIN))
	Bit pattern of PWM pins placed on PORTD (Phase C).
#define	OC_ENABLE_PORTB   ((1 << OC4OE3) | (1 << OC4OE2))
#define	OC_ENABLE_PORTC   ((1 << OC4OE1) | (1 << OC4OE0))
#define	OC_ENABLE_PORTD   ((1 << OC4OE5) | (1 << OC4OE4))
#define	DIRECTION_FORWARD   0
	Forward direction flag value.
#define	DIRECTION_REVERSE   1
	Reverse direction flag value.
#define	DIRECTION_UNKNOWN   3
	Unknown direction flag value.
#define	HALL_PIN   PINB
	PIN register for Hall sensor input.
#define	H1_PIN   PB1
	Pin where H1 is connected.
#define	H2_PIN   PB2
	Pin where H2 is connected.
#define	H3_PIN   PB3
	Pin where H3 is connected.
#define	ADC_MUX_L_SPEED   ADC_MUX_L_ADC4
#define	ADC_MUX_H_SPEED   ADC_MUX_H_ADC4
#define	ADC_MUX_L_CURRENT   ADC_MUX_L_ADC7
	Lower analog channel selection bits (MUX4:0) for motor current measurement.
#define	ADC_MUX_H_CURRENT   ADC_MUX_H_ADC7
	High analog channel selection bit (MUX5) for for motor current measurement.
#define	ADC_MUX_L_GATEVREF   ADC_MUX_L_ADC6
	Lower analog channel selection bits (MUX4:0) for motor gateVref measurement.
#define	ADC_MUX_H_GATEVREF   ADC_MUX_H_ADC6
	High analog channel selection bit (MUX5) for for motor gateVref measurement.
#define	ADC_MUX_L_BREF   ADC_MUX_L_ADC0
	Lower analog channel selection bits (MUX4:0) for motor bref measurement.
#define	ADC_MUX_H_BREF   ADC_MUX_H_ADC0
	High analog channel selection bit (MUX5) for for motor bref measurement.
#define	ADC_PRESCALER   ADC_PRESCALER_DIV_8
	ADC clock pre-scaler used in this application.
#define	ADC_REFERENCE_VOLTAGE   ADC_REFERENCE_VOLTAGE_VCC
	ADC voltage reference used in this application.
#define	ADC_TRIGGER   ADC_TRIGGER_TIMER0_OVF
	ADC trigger used in this application.
#define	DIRECTION_COMMAND_PIN   PD2
	Pin where direction command input is located.
#define	ENABLE_PIN   PD0
	Enable input pin.
#define	REMOTE_PIN   PD3
	Remote input pin.
#define	SPEED_INPUT_SOURCE_LOCAL   0
	Speed input source - Local or speed input pin.
#define	SPEED_INPUT_SOURCE_REMOTE   1
	Speed input source - Remote input.
#define	FAULT_PIN_1   PD4
	Fault Pin 1.
#define	FAULT_PIN_2   PB4
	Fault Pin 2.
#define	FAULT_PIN_3   PB7
	Fault Pin 3.
#define	WAVEFORM_BLOCK_COMMUTATION   0
	Waveform constant for block commutation.
#define	WAVEFORM_BRAKING   1
	Waveform status flag for braking.
#define	WAVEFORM_UNDEFINED   3
	Waveform status flag used for coasting.
#define	TURN_OFF_MODE_COAST   0
	TURN_OFF_MODE value for coasting (disabled drivers).
#define	TURN_OFF_MODE_BRAKE   1
#define	SPEED_CONTROL_OPEN_LOOP   0
	Speed control selection for open loop control.
#define	SPEED_CONTROL_CLOSED_LOOP   1
	Speed control selection for closed loop control.
#define	SPEED_CONTROLLER_MAX_INPUT   255
	Maximum Speed Reference Input.
#define	CHOOSE_TIM4_PRESCALER(tim4Freq)   ((tim4Freq) < 15625 ? 4 : ((tim4Freq) < 31250 ? 2 : 1))
	Macro to choose Timer4 pre-scaler.
#define	CHOOSE_DT_PRESCALER(deadTime)
	Macro to choose Timer4 dead time pre-scaler based on the dead time.
#define	FORCE_INLINE   inline __attribute__((always_inline))
	Macro for forcing inline expansion of functions.
#define	FAST_ACCESS(register_address)   __attribute__((address(register_address)))
	Assign a specific memory address to a variable for fast access.
#define	PLL_POSTSCALER_OFF   ((0 << PLLTM1) | (0 << PLLTM0))
	PLL Post-scaler - off.
#define	PLL_POSTSCALER_DIV_1_0   ((0 << PLLTM1) | (1 << PLLTM0))
	PLL Post-scaler - division factor 1.
#define	PLL_POSTSCALER_DIV_1_5   ((1 << PLLTM1) | (0 << PLLTM0))
	PLL Post-scaler - division factor 1.5.
#define	PLL_POSTSCALER_DIV_2_0   ((1 << PLLTM1) | (1 << PLLTM0))
	PLL Post-scaler - division factor 1.
#define	DT_PRESCALER_DIV_1   ((0 << DTPS41) | (0 << DTPS40))
	Deadtime generator pre-scaler - division factor 1.
#define	DT_PRESCALER_DIV_2   ((0 << DTPS41) | (1 << DTPS40))
	Deadtime generator pre-scaler - division factor 2.
#define	DT_PRESCALER_DIV_4   ((1 << DTPS41) | (0 << DTPS40))
	Deadtime generator pre-scaler - division factor 4.
#define	DT_PRESCALER_DIV_8   ((1 << DTPS41) | (1 << DTPS40))
	Deadtime generator pre-scaler - division factor 8.
#define	TIM1_CLOCK_OFF   ((0 << CS12) | (0 << CS11) | (0 << CS10))
	Timer1 clock - no clock source.
#define	TIM1_CLOCK_DIV_1   ((0 << CS12) | (0 << CS11) | (1 << CS10))
	Timer1 clock - i/o clk with division factor 1.
#define	TIM1_CLOCK_DIV_8   ((0 << CS12) | (1 << CS11) | (0 << CS10))
	Timer1 clock - i/o clk with division factor 8.
#define	TIM1_CLOCK_DIV_64   ((0 << CS12) | (1 << CS11) | (1 << CS10))
	Timer1 clock - i/o clk with division factor 64.
#define	TIM1_CLOCK_DIV_256   ((1 << CS12) | (0 << CS11) | (0 << CS10))
	Timer1 clock - i/o clk with division factor 256.
#define	TIM1_CLOCK_DIV_1024   ((1 << CS12) | (0 << CS11) | (1 << CS10))
	Timer1 clock - i/o clk with division factor 1024.
#define	TIM1_CLOCK_EXT_FALLING   ((1 << CS12) | (1 << CS11) | (0 << CS10))
	Timer1 clock - external clock source on Tn pin (falling edge triggered).
#define	TIM1_CLOCK_EXT_RISING   ((1 << CS12) | (1 << CS11) | (1 << CS10))
	Timer1 clock - external clock source on Tn pin (rising edge triggered).
#define	TIM4_PRESCALER_OFF   ((0 << CS43) | (0 << CS42) | (0 << CS41) | (0 << CS40))
	Timer4 pre-scaler - division factor OFF.
#define	TIM4_PRESCALER_DIV_1   ((0 << CS43) | (0 << CS42) | (0 << CS41) | (1 << CS40))
	Timer4 pre-scaler - division factor 1.
#define	TIM4_PRESCALER_DIV_2   ((0 << CS43) | (0 << CS42) | (1 << CS41) | (0 << CS40))
	Timer4 pre-scaler - division factor 2.
#define	TIM4_PRESCALER_DIV_4   ((0 << CS43) | (0 << CS42) | (1 << CS41) | (1 << CS40))
	Timer4 pre-scaler - division factor 4.
#define	ADC_MUX_L_BITS   ((1 << MUX4) | (1 << MUX3) | (1 << MUX2) | (1 << MUX1) | (1 << MUX0))
	Lower ADC channel selection bits (MUX4:0) mask.
#define	ADC_MUX_H_BITS   (1 << MUX5)
	High ADC channel selection bit (MUX5) mask.
#define	ADC_MUX_L_ADC0   ((0 << MUX4) | (0 << MUX3) | (0 << MUX2) | (0 << MUX1) | (0 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - ADC0/PF0.
#define	ADC_MUX_H_ADC0   (0 << MUX5)
	High ADC channel selection bit (MUX5) - ADC0/PF0.
#define	ADC_MUX_L_ADC1   ((0 << MUX4) | (0 << MUX3) | (0 << MUX2) | (0 << MUX1) | (1 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - ADC1/PF1.
#define	ADC_MUX_H_ADC1   (0 << MUX5)
	High ADC channel selection bit (MUX5) - ADC1/PF1.
#define	ADC_MUX_L_ADC4   ((0 << MUX4) | (0 << MUX3) | (1 << MUX2) | (0 << MUX1) | (0 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - ADC4/PF4.
#define	ADC_MUX_H_ADC4   (0 << MUX5)
	High ADC channel selection bit (MUX5) - ADC4/PF4.
#define	ADC_MUX_L_ADC5   ((0 << MUX4) | (0 << MUX3) | (1 << MUX2) | (0 << MUX1) | (1 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - ADC5/PF5.
#define	ADC_MUX_H_ADC5   (0 << MUX5)
	High ADC channel selection bit (MUX5) - ADC5/PF5.
#define	ADC_MUX_L_ADC6   ((0 << MUX4) | (0 << MUX3) | (1 << MUX2) | (1 << MUX1) | (0 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - ADC6/PF6.
#define	ADC_MUX_H_ADC6   (0 << MUX5)
	High ADC channel selection bit (MUX5) - ADC6/PF6.
#define	ADC_MUX_L_ADC7   ((0 << MUX4) | (0 << MUX3) | (1 << MUX2) | (1 << MUX1) | (1 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - ADC7/PF7 .
#define	ADC_MUX_H_ADC7   (0 << MUX5)
	High ADC channel selection bit (MUX5) - ADC7/PF7.
#define	ADC_MUX_L_ADC8   ((0 << MUX4) | (0 << MUX3) | (0 << MUX2) | (0 << MUX1) | (0 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - ADC8/PD4.
#define	ADC_MUX_H_ADC8   (1 << MUX5)
	High ADC channel selection bit (MUX5) - ADC8/PD4.
#define	ADC_MUX_L_ADC9   ((0 << MUX4) | (0 << MUX3) | (0 << MUX2) | (0 << MUX1) | (1 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - ADC9/PD6.
#define	ADC_MUX_H_ADC9   (1 << MUX5)
	High ADC channel selection bit (MUX5) - ADC9/PD6.
#define	ADC_MUX_L_ADC10   ((0 << MUX4) | (0 << MUX3) | (0 << MUX2) | (1 << MUX1) | (0 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - ADC10/PD7.
#define	ADC_MUX_H_ADC10   (1 << MUX5)
	High ADC channel selection bit (MUX5) - ADC10/PD7.
#define	ADC_MUX_L_ADC11   ((0 << MUX4) | (0 << MUX3) | (0 << MUX2) | (1 << MUX1) | (1 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - ADC11/PB4.
#define	ADC_MUX_H_ADC11   (1 << MUX5)
	High ADC channel selection bit (MUX5) - ADC11/PB4.
#define	ADC_MUX_L_ADC12   ((0 << MUX4) | (0 << MUX3) | (1 << MUX2) | (0 << MUX1) | (0 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - ADC12/PB5.
#define	ADC_MUX_H_ADC12   (1 << MUX5)
	High ADC channel selection bit (MUX5) - ADC12/PB5.
#define	ADC_MUX_L_ADC13   ((0 << MUX4) | (0 << MUX3) | (1 << MUX2) | (0 << MUX1) | (1 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - ADC13/PB6.
#define	ADC_MUX_H_ADC13   (1 << MUX5)
	High ADC channel selection bit (MUX5) - ADC13/PB6.
#define	ADC_MUX_L_TEMP_SENSOR   ((0 << MUX4) | (0 << MUX3) | (1 << MUX2) | (1 << MUX1) | (1 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - Temperature Sensor.
#define	ADC_MUX_H_TEMP_SENSOR   (1 << MUX5)
	High ADC channel selection bit (MUX5) - Temperature Sensor.
#define	ADC_MUX_L_1V1   ((1 << MUX4) | (1 << MUX3) | (1 << MUX2) | (1 << MUX1) | (0 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - 1.1V (Vbandgap).
#define	ADC_MUX_H_1V1   (0 << MUX5)
	High ADC channel selection bit (MUX5) - 1.1V (Vbandgap).
#define	ADC_MUX_L_0V   ((1 << MUX4) | (1 << MUX3) | (1 << MUX2) | (1 << MUX1) | (1 << MUX0))
	Lower ADC channel selection bits (MUX4:0) - 0V (GND).
#define	ADC_MUX_H_0V   (0 << MUX5)
	High ADC channel selection bit (MUX5) - 0V (GND).
#define	ADC_PRESCALER_DIV_2   ((0 << ADPS2) | (0 << ADPS1) | (0 << ADPS0))
	ADC pre-scaler - division factor 2.
#define	ADC_PRESCALER_DIV_4   ((0 << ADPS2) | (1 << ADPS1) | (0 << ADPS0))
	ADC pre-scaler - division factor 4.
#define	ADC_PRESCALER_DIV_8   ((0 << ADPS2) | (1 << ADPS1) | (1 << ADPS0))
	ADC pre-scaler - division factor 8.
#define	ADC_PRESCALER_DIV_16   ((1 << ADPS2) | (0 << ADPS1) | (0 << ADPS0))
	ADC pre-scaler - division factor 16.
#define	ADC_PRESCALER_DIV_32   ((1 << ADPS2) | (0 << ADPS1) | (1 << ADPS0))
	ADC pre-scaler - division factor 32.
#define	ADC_PRESCALER_DIV_64   ((1 << ADPS2) | (1 << ADPS1) | (0 << ADPS0))
	ADC pre-scaler - division factor 64.
#define	ADC_PRESCALER_DIV_128   ((1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0))
	ADC pre-scaler - division factor 128.
#define	ADC_REFERENCE_VOLTAGE_AREF   ((0 << REFS1) | (0 << REFS0))
	ADC voltage reference - AREF voltage.
#define	ADC_REFERENCE_VOLTAGE_VCC   ((0 << REFS1) | (1 << REFS0))
	ADC voltage reference - VCC voltage.
#define	ADC_REFERENCE_VOLTAGE_INTERNAL   ((1 << REFS1) | (1 << REFS0))
	ADC voltage reference - internal voltage (2.56V).
#define	ADC_TRIGGER_FREE   ((0 << ADTS3) | (0 << ADTS2) | (0 << ADTS1) | (0 << ADTS0))
	ADC auto trigger source - ADC Free Running.
#define	ADC_TRIGGER_ANALOG_COMP   ((0 << ADTS3) | (0 << ADTS2) | (0 << ADTS1) | (1 << ADTS0))
	ADC auto trigger source - Analog Comparator.
#define	ADC_TRIGGER_INT0   ((0 << ADTS3) | (0 << ADTS2) | (1 << ADTS1) | (0 << ADTS0))
	ADC auto trigger source - External Interrupt Request 0.
#define	ADC_TRIGGER_TIMER0_COMPA   ((0 << ADTS3) | (0 << ADTS2) | (1 << ADTS1) | (1 << ADTS0))
	ADC auto trigger source - Timer/Counter0 Compare Match A.
#define	ADC_TRIGGER_TIMER0_OVF   ((0 << ADTS3) | (1 << ADTS2) | (0 << ADTS1) | (0 << ADTS0))
	ADC auto trigger source - Timer/Counter0 Overflow.
#define	ADC_TRIGGER_TIMER1_COMPB   ((0 << ADTS3) | (1 << ADTS2) | (0 << ADTS1) | (1 << ADTS0))
	ADC auto trigger source - Timer/Counter1 Compare Match B.
#define	ADC_TRIGGER_TIMER1_OVF   ((0 << ADTS3) | (1 << ADTS2) | (1 << ADTS1) | (0 << ADTS0))
	ADC auto trigger source - Timer/Counter1 Overflow.
#define	ADC_TRIGGER_TIMER1_CAPT   ((0 << ADTS3) | (1 << ADTS2) | (1 << ADTS1) | (1 << ADTS0))
	ADC auto trigger source - Timer/Counter1 Capture Event.
#define	ADC_TRIGGER_TIMER4_OVF   ((1 << ADTS3) | (0 << ADTS2) | (0 << ADTS1) | (0 << ADTS0))
	ADC auto trigger source - Timer/Counter4 Overflow.
#define	ADC_TRIGGER_TIMER4_COMPA   ((1 << ADTS3) | (0 << ADTS2) | (0 << ADTS1) | (1 << ADTS0))
	ADC auto trigger source - Timer/Counter4 Compare Match A.
#define	ADC_TRIGGER_TIMER4_COMPB   ((1 << ADTS3) | (0 << ADTS2) | (1 << ADTS1) | (0 << ADTS0))
	ADC auto trigger source - Timer/Counter4 Compare Match B.
#define	ADC_TRIGGER_TIMER4_COMPD   ((1 << ADTS3) | (0 << ADTS2) | (1 << ADTS1) | (1 << ADTS0))
	ADC auto trigger source - Timer/Counter4 Compare Match D.
#define	TIM4_PRESCALER_DIV_PATTERN(tim4Prescaler)
	Timer 4 clock select bits based on pre-scaler value.
#define	TIM4_TOP(tim4Freq)   (((F_HST / ((uint32_t)tim4Freq * CHOOSE_TIM4_PRESCALER(tim4Freq))) >> 1) - 1)
#define	TIM4_TOP_MAX   0x03ff
	Maximum top value for Timer 4.
#define	DT_PRESCALER_DIV_PATTERN(dtPrescaler)
	Deadtime generator pre-scaler selection bits based on pre-scaler value.
#define	DEAD_TIME_HALF(deadTime)   (((uint8_t)(ceil((double)deadTime * F_HST / ((double)CHOOSE_DT_PRESCALER(deadTime) * 1000000000)))))
	This value specifies half the dead time in number of clock cycles. Divide by frequency to get duration.
#define	TIM3_TOP   (((F_CPU / TIM3_FREQ / 3) >> 4) - 1)
	Calculated top value for Timer 3.
#define	TIM3_TOP_MAX   0xffff
	Maximum top value for Timer 3.

Typedefs
typedef struct motorflags	motorflags_t
	Collection of all motor control flags.
typedef struct faultflags	faultflags_t
	Collection of all fault flags.
typedef struct motorconfigs	motorconfigs_t
	Collection of motor configurations.

Detailed Description

Motor control header file.

This file contains all defines, typedefs, and prototypes related to the motor control.

Author

Nexperia: http://www.nexperia.com

Support Page

For additional support, visit: https://www.nexperia.com/support

Author

Aanas Sayed

Date

2024/03/08

Definition in file main.h.