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Commit a342d381 authored by Jake Read's avatar Jake Read
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six step commutation closed loop

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circuit/README.md
View file @ a342d381
......@@ -8,6 +8,14 @@ The circuit uses a DRV8302 to drive CSD88584 (or CSD88599) half-bridges, which a
Power is bussed to the board with two M3 Screw Terminals. The board includes room for a 16mm (?) diameter capacitor, and I'll normally use a 1000uF 35V cap here, or as big as I can fit happily.
## Tackling Noise on the BLDC Driver
OK, this is concerning! I have lots of noise coming through the SPI lines, I'm a bit worried if these are causing errors:
![noise](/images/logic-spi-noise-bldcv05-pwm.png)
This perhaps means I need to run that SPI cable with a differential driver, to be honest this would be dissapointing.
## Notes
- label lights
......@@ -17,7 +25,7 @@ Power is bussed to the board with two M3 Screw Terminals. The board includes roo
- might have to go to DRV8320 - newer, available
- CSD88548 is CSD88599 but more amps less volts, use these
- use RDT RTD for BLDC - 223-1563-1-ND
- use RDT RTD for temp - 223-1563-1-ND
- phy RS422 and bring back buck
- do 24v fan 40mm on M3 Terminals! silk lands for heatsink 1.1" square
......
circuit/atkbldcdriver/atkbldcdriver.brd
View file @ a342d381
<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="9.0.0">
<eagle version="9.1.1">
<drawing>
<settings>
<setting alwaysvectorfont="no"/>
......@@ -962,6 +962,9 @@ design rules under a new name.</description>
<param name="checkRestrict" value="1"/>
<param name="checkStop" value="0"/>
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<param name="checkNames" value="1"/>
<param name="checkWireStubs" value="1"/>
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<param name="useDiameter" value="13"/>
<param name="maxErrors" value="50"/>
</designrules>
......@@ -3570,19 +3573,18 @@ design rules under a new name.</description>
<signal name="PWMHIV">
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<wire x1="56.12" y1="49.7" x2="56.1" y2="49.72" width="0" layer="19" extent="1-1"/>
<wire x1="55.34894375" y1="49.72" x2="56.1" y2="49.72" width="0" layer="19" extent="1-1"/>
</signal>
......@@ -3638,6 +3640,13 @@ design rules under a new name.</description>
<wire x1="51.2308" y1="51.1808" x2="50.4" y2="50.35" width="0.1524" layer="1"/>
</signal>
</signals>
<mfgpreviewcolors>
<mfgpreviewcolor name="soldermaskcolor" color="0xC8008000"/>
<mfgpreviewcolor name="silkscreencolor" color="0xFFFEFEFE"/>
<mfgpreviewcolor name="backgroundcolor" color="0xFF282828"/>
<mfgpreviewcolor name="coppercolor" color="0xFFFFBF00"/>
<mfgpreviewcolor name="substratecolor" color="0xFF786E46"/>
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</board>
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<compatibility>
......
circuit/atkbldcdriver/eagle.epf
View file @ a342d381
[Eagle]
Version="09 00 00"
Version="09 01 01"
Platform="Windows"
Globals="Globals"
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......@@ -19,37 +19,21 @@ UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/sensor.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries/eagle/tag-connect-2030.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-Connectors.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/jake/tag-connect-2050.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/Comparators.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/Digital.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/FilterProducts.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/Misc.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/Opamps.lbr"
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UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/PAsystem.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/PowerProducts.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/References.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/SpecialFunctions.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/capmeter.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/diode.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/lt-spice-simulation.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/lt-supply.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/rload.lbr"
UsedLibrary="C:/EAGLE 8.3.2/lbr/ltspice/sym.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/marekr/borkedlabs-passives.lbr"
UsedLibrary="D:/Dropbox (Personal)/CBA/doc/libraries_jake/eagle/sparkfun/SparkFun-DiscreteSemi.lbr"
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......@@ -58,17 +42,17 @@ DimensionExtWidths=" 0.127 0.254 0.1 0.13 0.26 0"
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......@@ -80,20 +64,22 @@ SwapLevel=0
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[Win_2]
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Type="Board Editor"
Number=1
File="atkbldcdriver.brd"
View="45.5333 30.9446 77.9146 57.9135"
WireWidths=" 0.0762 0.127 0.15 0.508 0.6096 0.8128 2.54 1.016 1.27 0.3048 0.254 0.2 0.4064 0.1016 0.2032 0.1524"
PadDiameters=" 0.254 0.3048 0.4064 0.6096 0.8128 1.016 1.27 1.4224 1.6764 1.778 1.9304 2.1844 2.54 3.81 6.4516 0"
PadDrills=" 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6"
PadDrills=" 0.2 0.25 0.35 0.4 0.45 0.5 0.55 0.65 0.7 0.75 0.8 0.85 0.9 1 0.6 0.3"
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embedded/atkbldcdriver/atkbldcdriver/main.c
View file @ a342d381
......@@ -103,7 +103,7 @@ void pwm_init(void){
TCC0.CTRLB = TC_WGMODE_DS_T_gc;// | (1 << 7) | (1 << 6) | (1 << 5); // dual slope, and enable channels a, b, c for capture
AWEXC.CTRL = AWEX_DTICCAEN_bm | AWEX_DTICCBEN_bm | AWEX_DTICCCEN_bm;
AWEXC.DTBOTHBUF = 4; // four counts of pwm clock for deadtime
AWEXC.DTBOTHBUF = 2; // four counts of pwm clock for deadtime
AWEXC.OUTOVEN = (1 << 0) | (1 << 1) | (1 << 2) | (1 << 3) | (1 << 4) | (1 << 5);
pwm_periods(0, 0, 0);
......@@ -138,13 +138,13 @@ void tickers_init(void){
// sets up two timers
// compare and capture at value
uint16_t perStartSpeed = 150; // 75 should be 10kHz for commutation, 150 for 5kHz
uint16_t perStartSpeed = 1024;
// write low first, bc bussing / xmega 8-bit oddities cc datasheet @ 3.11
uint8_t perSl = (uint8_t) perStartSpeed;
uint8_t perSh = (uint8_t) (perStartSpeed >> 8);
// turn on TCC0
TCD0.CTRLA = TC_CLKSEL_DIV64_gc;
TCD0.CTRLA = TC_CLKSEL_DIV8_gc;
TCD0.PERBUFL = perSl;
TCD0.PERBUFH = perSh;
......@@ -193,7 +193,7 @@ int main(void)
bldc_init(&bldc);
// on startup, speed (if clcomm) and duty
//bldc_setTargetSpeed(&bldc, 1000);
bldc_setDuty(&bldc, 40);
bldc_setDuty(&bldc, 30);
// startup the driver
drv_init();
// and enable the gate
......@@ -230,9 +230,9 @@ int8_t comTable[6][3] = {
// divisor is # of poles on motor / 2 (for each n/s pair, one set of 3 coils per full rotation)
const static uint16_t enc_resolution = ENC_RESOLUTION;
const static uint8_t enc_reverse = 0; // 1 or 0, for reverse op
const static uint16_t enc_modulo = ENC_RESOLUTION / 4; // 2805 in this case: divisor is # poles / 2
const static uint16_t enc_offset = 60; // start at midpoint - adjust -ve or +ve from
const static uint16_t enc_steplength = ENC_RESOLUTION / 4 / 6;
const static uint16_t enc_modulo = ENC_RESOLUTION / 7; // divisor is # poles / 2
const static uint16_t enc_offset = 0; // start at midpoint - adjust -ve or +ve from
const static uint16_t enc_steplength = ENC_RESOLUTION / 7 / 6;
static uint16_t enc_reading = 0;
static uint16_t enc_adjusted = 0;
static uint16_t enc_phase = 0;
......@@ -248,6 +248,8 @@ ISR(TCD0_OVF_vect){
// offset and modulo to bring to in-phase relative location
if(enc_reverse){
enc_adjusted = enc_resolution - enc_reading;
} else {
enc_adjusted = enc_reading;
}
enc_adjusted += enc_offset; // add offset
enc_adjusted %= enc_resolution; // wrap to resolution
......
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