RoCoN: PWM output for simple 3 phase BLDC/PMSM motors control.

Signed-off-by: Pavel Pisa <ppisa@pikron.com>

diff --git a/sw/app/rocon/appl_pxmc.c b/sw/app/rocon/appl_pxmc.c
index 9c227710adfad6e2e4723a4ed52919fc5327177e..8767006c04c9578c210472bea3c9275b52f6a1bd 100644 (file)
--- a/sw/app/rocon/appl_pxmc.c
+++ b/sw/app/rocon/appl_pxmc.c
@@ -40,7 +40,7 @@
 #define HAL_ERR_SENSITIVITY 20
 #define HAL_ERR_MAX_COUNT    5
 
-unsigned pxmc_lpcpwm1_magnitude;
+unsigned pxmc_rocon_pwm_magnitude = 2500;
 
 long pxmc_rocon_irc_offset[PXML_MAIN_CNT];
 unsigned pxmc_rocon_mark_filt[PXML_MAIN_CNT];
@@ -189,6 +189,7 @@ pxmc_rocon_bdc_hal_rd(pxmc_state_t *mcs)
 {
   unsigned h = 0;
   /* FIXME */
+  h = 1;
   /* return 3 bits corresponding to the HAL senzor input */
   return h;
 }
@@ -219,6 +220,21 @@ const unsigned char pxmc_lpc_bdc_hal_pos_table[8] =
 };
 #endif
 
+uint32_t pxmc_rocon_pwm_dummy_reg;
+
+static inline volatile uint32_t *
+pxmc_rocon_pwm_chan2reg(unsigned chan)
+{
+  volatile uint32_t *pwm_reg;
+
+  if (chan >= 16)
+    return &pxmc_rocon_pwm_dummy_reg;
+
+  pwm_reg = fpga_lx_master_transmitter_base;
+  pwm_reg += 1 + (chan >> 8) + chan;
+  return pwm_reg;
+}
+
 /**
  * pxmc_rocon_pwm3ph_wr - Output of the 3-phase PWM to the hardware
  * @mcs:  Motion controller state information
@@ -228,7 +244,16 @@ pxmc_rocon_pwm3ph_wr(pxmc_state_t *mcs, short pwm1, short pwm2, short pwm3)
 {
   unsigned long out_info = mcs->pxms_out_info;
 
-  /* FIXME */
+  volatile uint32_t *pwm_reg_a, *pwm_reg_b, *pwm_reg_c;
+  int chan = mcs->pxms_out_info;
+
+  pwm_reg_a = pxmc_rocon_pwm_chan2reg(chan + 0);
+  pwm_reg_b = pxmc_rocon_pwm_chan2reg(chan + 1);
+  pwm_reg_c = pxmc_rocon_pwm_chan2reg(chan + 2);
+
+  *pwm_reg_a = pwm1;
+  *pwm_reg_b = pwm2;
+  *pwm_reg_c = pwm3;
 }
 
 static inline void
@@ -249,7 +274,7 @@ pxmc_rocon_process_hal_error(struct pxmc_state *mcs)
  * @mcs:  Motion controller state information
  */
 int
-pxmc_rocon_pwm_out(pxmc_state_t *mcs)
+pxmc_rocon_pwm3ph_out(pxmc_state_t *mcs)
 {
   unsigned char hal_pos;
   short pwm1;
@@ -361,88 +386,41 @@ pxmc_rocon_pwm_out(pxmc_state_t *mcs)
     pwm3 = mcs->pxms_ptptr3[indx];
 
 #ifdef PXMC_WITH_PT_ZIC
+    if (labs(mcs->pxms_as) < (10 << PXMC_SUBDIV(mcs)))
+    {
+      pwm1 &= ~PXMC_PT_ZIC_MASK;
+      pwm2 &= ~PXMC_PT_ZIC_MASK;
+      pwm3 &= ~PXMC_PT_ZIC_MASK;
+    }
+#endif /*PXMC_WITH_PT_ZIC*/
 
-    if (labs(mcs->pxms_as) > (10 << PXMC_SUBDIV(mcs)))
+    /* Default phase-table amplitude is 0x7fff, ene max is 0x7fff */
+    /* Initialized CTM4 PWM period is 0x200 => divide by value about 2097024 */
     {
+      unsigned long pwm_dc = pxmc_rocon_pwm_magnitude * (unsigned long)ene;
       if (pwm1 & PXMC_PT_ZIC_MASK)
-      {
-        /*hal_gpio_set_value(PWM2_EN_PIN,0);*/
-      }
+        pwm1 = 0x8000;
       else
-      {
-        /*hal_gpio_set_value(PWM2_EN_PIN,1);*/
-      }
-
+        pwm1 = (((unsigned long long)pwm1 * pwm_dc) >> (15 + 15)) | 0x4000;
       if (pwm2 & PXMC_PT_ZIC_MASK)
-      {
-        /*hal_gpio_set_value(PWM4_EN_PIN,0);*/
-      }
+        pwm2 = 0x8000;
       else
-      {
-        /*hal_gpio_set_value(PWM4_EN_PIN,1);*/
-      }
-
+        pwm2 = (((unsigned long long)pwm2 * pwm_dc) >> (15 + 15)) | 0x4000;
       if (pwm3 & PXMC_PT_ZIC_MASK)
-      {
-        /*hal_gpio_set_value(PWM6_EN_PIN,0);*/
-      }
+        pwm3 = 0x8000;
       else
-      {
-        /*hal_gpio_set_value(PWM6_EN_PIN,1);*/
-      }
-    }
-    else
-    {
-      /*hal_gpio_set_value(PWM2_EN_PIN,1);*/
-      /*hal_gpio_set_value(PWM4_EN_PIN,1);*/
-      /*hal_gpio_set_value(PWM6_EN_PIN,1);*/
-    }
-
-    pwm1 &= ~PXMC_PT_ZIC_MASK;
-    pwm2 &= ~PXMC_PT_ZIC_MASK;
-    pwm3 &= ~PXMC_PT_ZIC_MASK;
-#endif /*PXMC_WITH_PT_ZIC*/
-
-    /* Default phase-table amplitude is 0x7fff, ene max is 0x7fff */
-    /* Initialized CTM4 PWM period is 0x200 => divide by value about 2097024 */
-    {
-      unsigned long pwm_dc = pxmc_lpcpwm1_magnitude * (unsigned long)ene;
-      pwm1 = ((unsigned long long)pwm1 * pwm_dc) >> (15 + 15);
-      pwm2 = ((unsigned long long)pwm2 * pwm_dc) >> (15 + 15);
-      pwm3 = ((unsigned long long)pwm3 * pwm_dc) >> (15 + 15);
+        pwm3 = (((unsigned long long)pwm3 * pwm_dc) >> (15 + 15)) | 0x4000;
     }
     pxmc_rocon_pwm3ph_wr(mcs, pwm1, pwm2, pwm3);
   }
   else
   {
-    /*pxmc_lpc_wind_current_over_cnt=0;*/
     pxmc_rocon_pwm3ph_wr(mcs, 0, 0, 0);
-#ifdef PXMC_WITH_PT_ZIC
-    /*hal_gpio_set_value(PWM2_EN_PIN,1);*/
-    /*hal_gpio_set_value(PWM4_EN_PIN,1);*/
-    /*hal_gpio_set_value(PWM6_EN_PIN,1);*/
-#endif /*PXMC_WITH_PT_ZIC*/
   }
 
   return 0;
 }
 
-uint32_t pxmc_rocon_pwm_dummy_reg;
-
-static inline volatile uint32_t *
-pxmc_rocon_pwm_chan2reg(unsigned chan)
-{
-  volatile uint32_t *pwm_reg;
-
-  if (chan >= 16)
-    return &pxmc_rocon_pwm_dummy_reg;
-
-  pwm_reg = fpga_lx_master_transmitter_base;
-  pwm_reg += 1 + (chan >> 8) + chan;
-  return pwm_reg;
-}
-
-
 int
 pxmc_rocon_pwm_dc_out(pxmc_state_t *mcs)
 {
@@ -450,9 +428,6 @@ pxmc_rocon_pwm_dc_out(pxmc_state_t *mcs)
   int chan = mcs->pxms_out_info;
   int ene = mcs->pxms_ene;
 
-  if (chan > 6)
-    return 0;
-
   pwm_reg_a = pxmc_rocon_pwm_chan2reg(chan + 0);
   pwm_reg_b = pxmc_rocon_pwm_chan2reg(chan + 1);
 
@@ -460,13 +435,13 @@ pxmc_rocon_pwm_dc_out(pxmc_state_t *mcs)
     ene = -ene;
     if (ene > 0x7fff)
       ene = 0x7fff;
-    ene = (ene * (2500 + 5)) >> 15;
+    ene = (ene * (pxmc_rocon_pwm_magnitude + 5)) >> 15;
     *pwm_reg_a = 0;
     *pwm_reg_b = ene | 0x4000;
   } else {
     if (ene > 0x7fff)
       ene = 0x7fff;
-    ene = (ene * (2500 + 5)) >> 15;
+    ene = (ene * (pxmc_rocon_pwm_magnitude + 5)) >> 15;
     *pwm_reg_b = 0;
     *pwm_reg_a = ene | 0x4000;
   }