diff --git a/circuit/mkbldcdriver/eagle.epf b/circuit/mkbldcdriver/eagle.epf
index bc65f2670df52f1c1b84b5fcfc203417b18fec61..b7dc703852c482ce7f222a541fd910b85f304f70 100644
--- a/circuit/mkbldcdriver/eagle.epf
+++ b/circuit/mkbldcdriver/eagle.epf
@@ -40,7 +40,7 @@ Loc="0 0 1919 1016"
State=1
Number=2
File="mkbldcdriver.sch"
-View="-127.358 -108.213 75.6708 -31.4319"
+View="-133.101 -16.4054 69.9278 60.3757"
WireWidths=" 0.0762 0.1016 0.127 0.15 0.2 0.2032 0.254 0.3048 0.4064 0.508 0.6096 0.8128 1.016 1.27 2.54 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"
@@ -79,7 +79,7 @@ ArcDirection=0
AddLevel=2
PadsSameType=0
Layer=91
-Views=" 1: -127.358 -108.213 75.6708 -31.4319"
+Views=" 1: -133.101 -16.4054 69.9278 60.3757"
Sheet="1"
[Win_2]
@@ -88,7 +88,7 @@ Loc="0 0 1919 1016"
State=1
Number=1
File="mkbldcdriver.brd"
-View="10.5389 56.9239 37.1626 57.7509"
+View="13.5716 56.9498 32.0603 57.5241"
WireWidths=" 0.0762 0.1016 0.127 0.15 0.508 0.6096 0.8128 2.54 1.016 1.27 0.3048 0.254 0.2 0.4064 0.2032 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 0.35 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"
diff --git a/datasheet/AS5047D_DS000394_2-00.pdf b/datasheet/AS5047D_DS000394_2-00.pdf
deleted file mode 100644
index bd7745369078f278fc12f0b02ebaac3cf1811a11..0000000000000000000000000000000000000000
Binary files a/datasheet/AS5047D_DS000394_2-00.pdf and /dev/null differ
diff --git a/datasheet/AS5147_DS000307_2-00.pdf b/datasheet/AS5147_DS000307_2-00.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..1c4e3b93373f58070fdf0e7d3b56bd0644b069bc
Binary files /dev/null and b/datasheet/AS5147_DS000307_2-00.pdf differ
diff --git a/datasheet/ATSAMD51.pdf b/datasheet/ATSAMD51.pdf
new file mode 100644
index 0000000000000000000000000000000000000000..6da17e882705592c3103cd5e1703b9f7cacffcaf
Binary files /dev/null and b/datasheet/ATSAMD51.pdf differ
diff --git a/embedded/README.md b/embedded/README.md
index 275f667ecfd99dd3ef48e41a9d50532133d65c98..506601ec60c362b12b01cc992c6b30b6e08a27ac 100644
--- a/embedded/README.md
+++ b/embedded/README.md
@@ -501,4 +501,19 @@ int main(void)
-Now we do v0.31 board, new step board, etc. Go team, big day.
\ No newline at end of file
+Now we do v0.31 board, new step board, etc. Go team, big day.
+
+# Waking up v0.31
+
+
+
+Have this SPI running with the encoder in-line and PWM still setup.
+
+I integrated UART / Ringbuffers etc from the mkstepper project. So I have everything I need to start commutating.
+
+OK!
+
+## Commutating
+
+Properly, I should do this on a timer. I'm going to do it in the while() loop for now, just to check that I'm having the output on the PWMs that I want.
+
diff --git a/embedded/mkbldcdriver-v03/mkbldcdriver-v03/hardware.h b/embedded/mkbldcdriver-v03/mkbldcdriver-v03/hardware.h
index 8b6c756c99997d2bedf695ba92d6e48fca02d8ba..1566dda3d369e8e5cb02c7eca5fa801c27ebef5a 100644
--- a/embedded/mkbldcdriver-v03/mkbldcdriver-v03/hardware.h
+++ b/embedded/mkbldcdriver-v03/mkbldcdriver-v03/hardware.h
@@ -24,4 +24,13 @@ ringbuffer_t up2_rbtx;
uartport_t up1;
uartport_t up2;
+spiport_t spi_encoder;
+
+pin_t en_gate;
+pin_t m_pwm;
+pin_t dc_cal;
+pin_t m_gain;
+pin_t fault;
+pin_t octw;
+
#endif /* HARDWARE_H_ */
\ No newline at end of file
diff --git a/embedded/mkbldcdriver-v03/mkbldcdriver-v03/main.c b/embedded/mkbldcdriver-v03/mkbldcdriver-v03/main.c
index 5dabe538721b1e50284ae6641948cdb92d5ce251..4cbb5f5cac5daf6de3696bf3b2acdc5986690d38 100644
--- a/embedded/mkbldcdriver-v03/mkbldcdriver-v03/main.c
+++ b/embedded/mkbldcdriver-v03/mkbldcdriver-v03/main.c
@@ -9,16 +9,32 @@
#include "sam.h"
#include "pwm_foc.h"
#include "pin.h"
+#include "ringbuffer.h"
+#include "uartport.h"
+#include "spiport.h"
#include "hardware.h"
+#include "sinelut.h"
#include <stdio.h>
// stlb is PA23
+uint32_t encoder_read(void){
+ uint8_t data_tx[2] = {0xFF, 0xFF}; // read command: 1s, noop: 0s
+ uint8_t data_rx[2];
+ spi_txrxchars_polled(&spi_encoder, data_tx, 2, data_rx);
+ data_tx[0] = 0x00;
+ data_tx[1] = 0x00;
+ spi_txrxchars_polled(&spi_encoder, data_tx, 2, data_rx);
+
+ uint32_t data = (data_rx[0] & 0b00111111) << 8 | data_rx[1];
+ return data;
+}
+
int main(void)
{
/* Initialize the SAM system */
SystemInit();
- SysTick_Config(5000000);
+ SysTick_Config(2500000);
// LED
stlb = pin_new(&PORT->Group[0], 23);
@@ -48,26 +64,119 @@ int main(void)
up2 = uart_new(SERCOM5, &PORT->Group[1], &up2_rbrx, &up2_rbtx, 3, 2, HARDWARE_IS_APBD, HARDWARE_ON_PERIPHERAL_D);
MCLK->APBDMASK.reg |= MCLK_APBDMASK_SERCOM5;
uart_init(&up2, 7, SERCOM5_GCLK_ID_CORE, 63018);
-
+
+ // AS5147 SPI
+ // SERCOM0
+ // MISO: SER0, PA4
+ // SCK: SER1, PA5
+ // CSN: SER2, PA6
+ // MOSI: SER3, PA7
+ // AS5147 is CPOL = 0, CPHA = 1, 16 bit words (use 1 32 bit word, 2nd half will be reply: has to load)
+ spi_encoder = spi_new(SERCOM0, &PORT->Group[0], 4, 7, 5, 6, HARDWARE_IS_APBA, HARDWARE_ON_PERIPHERAL_D);
+ MCLK->APBAMASK.reg |= MCLK_APBAMASK_SERCOM0;
+ spi_init(&spi_encoder, 8, SERCOM0_GCLK_ID_CORE, 6, 0, 2, 0, 1, 0, 0);
+
// check all PWM lines
// pins for enable, fault, pwmmode, etc
+ pwmsetup_foc();
+
+ // DRV Outputs
+ // EN_GATE PA19: high to drive gates
+ // M_PWM PA20: drive low for 6 channel pwm, high for 3 channel
+ // DC_CAL PB16: drive high to calibrate
+ // M_GAIN PB17: drive low, gain = 10, high, gain + 40
+ en_gate = pin_new(&PORT->Group[0], 19);
+ pin_output(&en_gate);
+ pin_clear(&en_gate);
+ m_pwm = pin_new(&PORT->Group[0], 20);
+ pin_output(&m_pwm);
+ pin_clear(&m_pwm);
+ dc_cal = pin_new(&PORT->Group[1], 16);
+ pin_output(&dc_cal);
+ pin_clear(&dc_cal);
+ m_gain = pin_new(&PORT->Group[1], 17);
+ pin_output(&m_gain);
+ pin_clear(&m_gain);
- // integrate SPI, test AS5147, library
+ // DRV Inputs
+ // FAULT PA21: input, open drain when active, use pullup
+ // OCTW PA22: input, open drain when active, use pullup
+ fault = pin_new(&PORT->Group[0], 21);
+ pin_input(&fault);
+ octw = pin_new(&PORT->Group[0], 22);
+ pin_input(&octw);
// do closed loop sinucommutate, following old ATSAMS70 code
// do BLDC closed, open loop
- pwmsetup_foc();
+ // enable or don't
+ //pin_clear(&en_gate);
+ pin_set(&en_gate);
+
+ // other modes
+ pin_clear(&m_pwm);
+ pin_clear(&m_gain);
+ pin_clear(&dc_cal);
+
+ uint32_t resolution = 16384;
+ uint32_t modulo = 2340;
+ uint32_t offset = 800;
+ uint32_t reverse = 1;
+ uint32_t scalar = 42; // of 255
+
+ uint32_t reading;
+ uint32_t elecpos;
+
+ uint32_t phaseu, pwmu;
+ uint32_t phasev, pwmv;
+ uint32_t phasew, pwmw;
while (1)
{
- pwmupdate_foc(126,126,126);
+ // read encoder & get electric position (relative phase period, not rotation period)
+ reading = encoder_read();
+ if(reverse){
+ reading = resolution - reading;
+ }
+ elecpos = (reading + offset) % modulo;
+
+ // not LUT'd yet
+ phaseu = elecpos / (modulo / 1024);
+ phasev = elecpos / (modulo / 1024) + 341;
+ phasew = elecpos / (modulo / 1024) + 682;
+
+ (phaseu > 1023) ? (phaseu -= 1023) : (0);
+ (phasev > 1023) ? (phasev -= 1023) : (0);
+ (phasew > 1023) ? (phasew -= 1023) : (0);
+
+ pwmu = sinelut[phaseu] * scalar / 255 + 1;
+ pwmv = sinelut[phasev] * scalar / 255 + 1;
+ pwmw = sinelut[phasew] * scalar / 255 + 1;
+
+ pwmupdate_foc(pwmu,pwmv,pwmw);
}
}
+// ok, we're commutating
+/*
+ - ticking: it's a PWM update error, occasionally setting some values to 100%
+ - implement a timer to commutate at a set frequency
+ - work through the mess of values above, go faster, cleaner
+ - basic search for reverse, offset, modulo etc would be cool, hard (probably)
+ - verify all gates are opening
+*/
+
+uint8_t loopcnt;
+
void SysTick_Handler(void){
pin_toggle(&stlb);
- uart_sendchar_buffered(&up1, 125);
+ loopcnt ++;
+ uart_sendchar_buffered(&up1, loopcnt);
+ uint32_t reading = encoder_read();
+ uint8_t d1 = reading >> 8;
+ uint8_t d2 = reading;
+ uart_sendchar_buffered(&up1, d1);
+ uart_sendchar_buffered(&up1, d2);
}
void SERCOM4_0_Handler(void){
diff --git a/embedded/mkbldcdriver-v03/mkbldcdriver-v03/mkbldcdriver-v03.cproj b/embedded/mkbldcdriver-v03/mkbldcdriver-v03/mkbldcdriver-v03.cproj
index 223a021630cb61a500f6afa641704ec25b141ca1..afe85b64ef67f91c5fd6183067a3f0b530010b38 100644
--- a/embedded/mkbldcdriver-v03/mkbldcdriver-v03/mkbldcdriver-v03.cproj
+++ b/embedded/mkbldcdriver-v03/mkbldcdriver-v03/mkbldcdriver-v03.cproj
@@ -189,6 +189,9 @@
<Compile Include="ringbuffer.h">
<SubType>compile</SubType>
</Compile>
+ <Compile Include="sinelut.h">
+ <SubType>compile</SubType>
+ </Compile>
<Compile Include="spiport.c">
<SubType>compile</SubType>
</Compile>
diff --git a/embedded/mkbldcdriver-v03/mkbldcdriver-v03/sinelut.h b/embedded/mkbldcdriver-v03/mkbldcdriver-v03/sinelut.h
new file mode 100644
index 0000000000000000000000000000000000000000..198f4b46dc015cfeb6c52245aea8c4516279835d
--- /dev/null
+++ b/embedded/mkbldcdriver-v03/mkbldcdriver-v03/sinelut.h
@@ -0,0 +1,148 @@
+/*
+ * sinelut.h
+ *
+ * Created: 11/27/2017 1:32:38 PM
+ * Author: Jake
+ */
+
+
+#ifndef SINELUT_H_
+#define SINELUT_H_
+
+/*
+takes 0 - 1023 phase position and returns sin from 0 - 255
+*/
+
+uint32_t sinelut[1024] = {
+ 128,128,129,130,131,131,132,133,
+ 134,135,135,136,137,138,138,139,
+ 140,141,142,142,143,144,145,145,
+ 146,147,148,149,149,150,151,152,
+ 152,153,154,155,155,156,157,158,
+ 159,159,160,161,162,162,163,164,
+ 165,165,166,167,168,168,169,170,
+ 170,171,172,173,173,174,175,176,
+ 176,177,178,178,179,180,181,181,
+ 182,183,183,184,185,186,186,187,
+ 188,188,189,190,190,191,192,192,
+ 193,194,194,195,196,196,197,198,
+ 198,199,200,200,201,202,202,203,
+ 204,204,205,205,206,207,207,208,
+ 208,209,210,210,211,211,212,213,
+ 213,214,214,215,215,216,217,217,
+ 218,218,219,219,220,220,221,222,
+ 222,223,223,224,224,225,225,226,
+ 226,227,227,228,228,229,229,230,
+ 230,230,231,231,232,232,233,233,
+ 234,234,234,235,235,236,236,237,
+ 237,237,238,238,239,239,239,240,
+ 240,240,241,241,241,242,242,242,
+ 243,243,243,244,244,244,245,245,
+ 245,246,246,246,247,247,247,247,
+ 248,248,248,248,249,249,249,249,
+ 250,250,250,250,250,251,251,251,
+ 251,251,252,252,252,252,252,252,
+ 253,253,253,253,253,253,253,254,
+ 254,254,254,254,254,254,254,254,
+ 254,254,255,255,255,255,255,255,
+ 255,255,255,255,255,255,255,255,
+ 255,255,255,255,255,255,255,255,
+ 255,255,255,255,255,255,255,254,
+ 254,254,254,254,254,254,254,254,
+ 254,253,253,253,253,253,253,253,
+ 253,252,252,252,252,252,251,251,
+ 251,251,251,251,250,250,250,250,
+ 249,249,249,249,248,248,248,248,
+ 247,247,247,247,246,246,246,245,
+ 245,245,245,244,244,244,243,243,
+ 243,242,242,242,241,241,241,240,
+ 240,239,239,239,238,238,238,237,
+ 237,236,236,235,235,235,234,234,
+ 233,233,232,232,232,231,231,230,
+ 230,229,229,228,228,227,227,226,
+ 226,225,225,224,224,223,223,222,
+ 222,221,221,220,220,219,219,218,
+ 217,217,216,216,215,215,214,213,
+ 213,212,212,211,211,210,209,209,
+ 208,208,207,206,206,205,204,204,
+ 203,203,202,201,201,200,199,199,
+ 198,197,197,196,195,195,194,193,
+ 193,192,191,191,190,189,189,188,
+ 187,187,186,185,185,184,183,182,
+ 182,181,180,180,179,178,177,177,
+ 176,175,175,174,173,172,172,171,
+ 170,169,169,168,167,166,166,165,
+ 164,163,163,162,161,160,160,159,
+ 158,157,157,156,155,154,154,153,
+ 152,151,150,150,149,148,147,147,
+ 146,145,144,144,143,142,141,140,
+ 140,139,138,137,136,136,135,134,
+ 133,133,132,131,130,129,129,128,
+ 127,126,126,125,124,123,122,122,
+ 121,120,119,119,118,117,116,115,
+ 115,114,113,112,111,111,110,109,
+ 108,108,107,106,105,105,104,103,
+ 102,101,101,100,99,98,98,97,
+ 96,95,95,94,93,92,92,91,
+ 90,89,89,88,87,86,86,85,
+ 84,83,83,82,81,80,80,79,
+ 78,78,77,76,75,75,74,73,
+ 73,72,71,70,70,69,68,68,
+ 67,66,66,65,64,64,63,62,
+ 62,61,60,60,59,58,58,57,
+ 56,56,55,54,54,53,52,52,
+ 51,51,50,49,49,48,47,47,
+ 46,46,45,44,44,43,43,42,
+ 42,41,40,40,39,39,38,38,
+ 37,36,36,35,35,34,34,33,
+ 33,32,32,31,31,30,30,29,
+ 29,28,28,27,27,26,26,25,
+ 25,24,24,23,23,23,22,22,
+ 21,21,20,20,20,19,19,18,
+ 18,17,17,17,16,16,16,15,
+ 15,14,14,14,13,13,13,12,
+ 12,12,11,11,11,10,10,10,
+ 10,9,9,9,8,8,8,8,
+ 7,7,7,7,6,6,6,6,
+ 5,5,5,5,4,4,4,4,
+ 4,4,3,3,3,3,3,2,
+ 2,2,2,2,2,2,2,1,
+ 1,1,1,1,1,1,1,1,
+ 1,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,0,0,
+ 0,0,0,0,0,0,1,1,
+ 1,1,1,1,1,1,1,1,
+ 1,2,2,2,2,2,2,2,
+ 3,3,3,3,3,3,4,4,
+ 4,4,4,5,5,5,5,5,
+ 6,6,6,6,7,7,7,7,
+ 8,8,8,8,9,9,9,10,
+ 10,10,11,11,11,12,12,12,
+ 13,13,13,14,14,14,15,15,
+ 15,16,16,16,17,17,18,18,
+ 18,19,19,20,20,21,21,21,
+ 22,22,23,23,24,24,25,25,
+ 25,26,26,27,27,28,28,29,
+ 29,30,30,31,31,32,32,33,
+ 33,34,35,35,36,36,37,37,
+ 38,38,39,40,40,41,41,42,
+ 42,43,44,44,45,45,46,47,
+ 47,48,48,49,50,50,51,51,
+ 52,53,53,54,55,55,56,57,
+ 57,58,59,59,60,61,61,62,
+ 63,63,64,65,65,66,67,67,
+ 68,69,69,70,71,72,72,73,
+ 74,74,75,76,77,77,78,79,
+ 79,80,81,82,82,83,84,85,
+ 85,86,87,87,88,89,90,90,
+ 91,92,93,93,94,95,96,96,
+ 97,98,99,100,100,101,102,103,
+ 103,104,105,106,106,107,108,109,
+ 110,110,111,112,113,113,114,115,
+ 116,117,117,118,119,120,120,121,
+ 122,123,124,124,125,126,127,128
+ };
+
+
+#endif /* SINELUT_H_ */
\ No newline at end of file
diff --git a/embedded/mkbldcdriver-v03/mkbldcdriver-v03/spiport.c b/embedded/mkbldcdriver-v03/mkbldcdriver-v03/spiport.c
index 974bbb00297276d1de1b0a1e843befdc5bb220bf..0e3e6b941dd4b584550d23d3cfffb6c9ba496d4a 100644
--- a/embedded/mkbldcdriver-v03/mkbldcdriver-v03/spiport.c
+++ b/embedded/mkbldcdriver-v03/mkbldcdriver-v03/spiport.c
@@ -32,14 +32,15 @@ void spi_init(spiport_t *spi, uint32_t gclknum, uint32_t gclkidcore, uint8_t bau
// to add to this lib: doc, cleaning, options properly enumerated: do when doing AS5147
// clk is unmasked (external to this lib)
// do pin configs
- spi->port->DIRCLR.reg |= spi->miso_bm;
+ spi->port->DIRCLR.reg = spi->miso_bm;
spi->port->PINCFG[spi->miso_pin].bit.PMUXEN = 1;
- spi->port->DIRSET.reg |= spi->mosi_bm | spi->sck_bm | spi->csn_bm;
+ spi->port->DIRSET.reg = spi->mosi_bm | spi->sck_bm | spi->csn_bm;
spi->port->PINCFG[spi->mosi_pin].bit.PMUXEN = 1;
spi->port->PINCFG[spi->sck_pin].bit.PMUXEN = 1;
if(csnhardware){
spi->port->PINCFG[spi->csn_pin].bit.PMUXEN = 1;
+ spi->com->SPI.CTRLB.reg |= SERCOM_SPI_CTRLB_MSSEN;
if(spi->csn_pin % 2){ // yes if odd
spi->port->PMUX[spi->csn_pin >> 1].reg |= PORT_PMUX_PMUXO(spi->peripheral);
} else {
@@ -114,10 +115,22 @@ void spi_txchars_polled(spiport_t *spi, uint8_t *data, uint8_t length){
for(int i = 0; i < length; i ++){
spi_txchar_polled(spi, data[i]);
}
- while(!spi->com->SPI.INTFLAG.bit.TXC); // wait for complete before
+ while(!spi->com->SPI.INTFLAG.bit.TXC); // wait for complete of last byte before
+ spi->port->OUTSET.reg = spi->csn_bm;
+}
+
+void spi_txrxchars_polled(spiport_t *spi, uint8_t *data_tx, uint8_t length, uint8_t *data_rx){
+ spi->port->OUTCLR.reg = spi->csn_bm;
+ for(int i = 0; i < length; i ++){
+ while(!(spi->com->SPI.INTFLAG.bit.DRE));
+ spi->com->SPI.DATA.reg = SERCOM_SPI_DATA_DATA(data_tx[i]);
+ while(!(spi->com->SPI.INTFLAG.bit.RXC)); // wait for data to come out of rx buffer
+ data_rx[i] = spi->com->SPI.DATA.reg;
+ }
+ while(!spi->com->SPI.INTFLAG.bit.TXC); // wait for complete of last byte before
spi->port->OUTSET.reg = spi->csn_bm;
}
void spi_txrxchar_polled(spiport_t *spi, uint8_t data, uint8_t *rxdata){
- // how to read?
+ // not yet bc so far have not needed single receive
}
\ No newline at end of file
diff --git a/embedded/mkbldcdriver-v03/mkbldcdriver-v03/spiport.h b/embedded/mkbldcdriver-v03/mkbldcdriver-v03/spiport.h
index 5b6000d4f1d81e0543a2fe544a76c4f574e6a3d1..d08126a104c54c7069caa3fc82ea48eaa3480ebf 100644
--- a/embedded/mkbldcdriver-v03/mkbldcdriver-v03/spiport.h
+++ b/embedded/mkbldcdriver-v03/mkbldcdriver-v03/spiport.h
@@ -37,6 +37,7 @@ void spi_init(spiport_t *spi, uint32_t gclknum, uint32_t gclkidcore, uint8_t bau
void spi_txchar_polled(spiport_t *spi, uint8_t data);
void spi_txchars_polled(spiport_t *spi, uint8_t *data, uint8_t length);
-void spi_txrxchar_polled(spiport_t *spi, uint8_t data, uint8_t *rxdata);
+void spi_txrxchar_polled(spiport_t *spi, uint8_t data, uint8_t *rxdata); // not implemented, use
+void spi_txrxchars_polled(spiport_t *spi, uint8_t *data_tx, uint8_t length, uint8_t *data_rx);
#endif /* SPIPORT_H_ */
\ No newline at end of file
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