six step commutation closed loop

circuit/README.md

@@ -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

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circuit/atkbldcdriver/eagle.epf

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+Version="09 01 01"
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embedded/atkbldcdriver/atkbldcdriver/main.c

@@ -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