The motor source code. More...

#include "r2r.h"
#include "Motor.h"
#include "Utilities.h"

Functions
void	motorInit ()
	Initializes the GPIO pins for the motor. More...

void	M1HIntHandler (void)
	Hall sensor interrupt for motor 1. More...

void	M2HIntHandler (void)
	Hall sensor interrupt for motor 2. More...

void	motor1ControlPWM (int control)
	Sets the PWM value and direction to motor 1. More...

void	motor2ControlPWM (int control)
	Sets the PWM value and direction to motor 2. More...

void	motor1Commutate (int State, int control)
	Commutate motor 1 with a given pwm. More...

void	motor2Commutate (int State, int control)
	Commutate motor 2 with a given pwm. More...

void	motor1PWM (int pwm1, int pwm2, int pwm3)
	Sets the PWM value to motor 1. More...

void	motor2PWM (int pwm1, int pwm2, int pwm3)
	Sets the PWM value to motor 2. More...

int	getmotor1PWM (void)
	Returns the current PWM of motor 1. More...

int	getmotor2PWM (void)
	Returns the current PWM of motor 2. More...

int32_t	getmotor1HALLS (void)
	Returns the current state of the halls for motor 1. More...

int32_t	getmotor2HALLS (void)
	Returns the current state of the halls for motor 2. More...

void	MotorSPIinit (void)
	Initializes the SPI channels for the motor drivers. More...

void	motorDriverInit (void)
	Initializes the SPI commands to set the motor's configuration for 1x PWM mode. More...

void	M1_INL_WRITE (int a, int b, int c)
	Commutation table for motor 1. More...

void	M2_INL_WRITE (int a, int b, int c)
	Commutation table for motor 2. More...

Detailed Description

The motor source code.

This file contains the motor functions

Author: Benjamen Lim; Huan Weng; Blake Strebel

Function Documentation

◆ getmotor1HALLS()

int32_t getmotor1HALLS ( void )

Returns the current state of the halls for motor 1.

It returns 32 bit number representing the state of the motor as a bit array It is compared to the HALLSTATE definitions to determine the current state.

Parameters

Void

Returns: int32_t the state of the motor in a bit array

◆ getmotor1PWM()

int getmotor1PWM ( void )

Returns the current PWM of motor 1.

Parameters

Void

Returns: int pwm of motor

◆ getmotor2HALLS()

int32_t getmotor2HALLS ( void )

Returns the current state of the halls for motor 2.

It returns 32 bit number representing the state of the motor as a bit array It is compared to the HALLSTATE definitions to determine the current state.

Parameters

Void

Returns: int32_t the state of the motor in a bit array

◆ getmotor2PWM()

int getmotor2PWM ( void )

Returns the current PWM of motor 2.

Parameters

Void

Returns: int pwm of motor

◆ M1_INL_WRITE()

void M1_INL_WRITE	(	int	a,
		int	b,
		int	c
	)

Commutation table for motor 1.

This function contains the commutation table for motor 1 and sets the control pins for each phase accordingly.

Parameters

int	a phase A
int	b phase B
int	c phase C

Returns: Void

◆ M1HIntHandler()

void M1HIntHandler ( void )

Hall sensor interrupt for motor 1.

This function is used to determine the commutation on motor 1

Parameters

Void

Returns: Void

◆ M2_INL_WRITE()

void M2_INL_WRITE	(	int	a,
		int	b,
		int	c
	)

Commutation table for motor 2.

This function contains the commutation table for motor 2 and sets the control pins for each phase accordingly.

Parameters

int	a phase A
int	b phase B
int	c phase C

Returns: Void

◆ M2HIntHandler()

void M2HIntHandler ( void )

Hall sensor interrupt for motor 2.

This function is used to determine the commutation on motor 2

Parameters

Void

Returns: Void

◆ motor1Commutate()

void motor1Commutate	(	int	State,
		int	control
	)

Commutate motor 1 with a given pwm.

The state of the commutation is determined by the hall sensing

Parameters

State	of 1 to 6
control	the pwm for the motor

Returns: Void

◆ motor1ControlPWM()

void motor1ControlPWM ( int control )

Sets the PWM value and direction to motor 1.

This function handles all the commutation for motor 1. This is done via hall sensing to determine the position the BLDC motor is in.

Example: motor2ControlPWM(200); // sets the motor speed to 5% of default, clockwise delayMS(100); //delay for 100 ms motor2ControlPWM(-200); // sets motor speed to 5% of default, counter clockwise.

Parameters

control The pwmValue ranges from -maximum pwm period to the positive period. The default pwm period is 4000, 30kHz.

Returns: Void

◆ motor1PWM()

void motor1PWM	(	int	pwm1,
		int	pwm2,
		int	pwm3
	)

Sets the PWM value to motor 1.

Parameters

pwm1	the pwm output on phase A
pwm2	the pwm output on phase B
pwm3	the pwm output on phase C

Returns: Void

◆ motor2Commutate()

void motor2Commutate	(	int	State,
		int	control
	)

Commutate motor 2 with a given pwm.

The state of the commutation is determined by the hall sensing

Parameters

State	of 1 to 6
control	the pwm for the motor

Returns: Void

◆ motor2ControlPWM()

void motor2ControlPWM ( int control )

Sets the PWM value and direction to motor 2.

This function handles all the commutation for motor 2. This is done via hall sensing to determine the position the BLDC motor is in.

Example: motor2ControlPWM(200); // sets the motor speed to 5% of default, clockwise delayMS(100); //delay for 100 ms motor2ControlPWM(-200); // sets motor speed to 5% of default, counter clockwise.

Parameters

control The pwmValue ranges from -maximum pwm period to the positive period. The default pwm period is 4000, 30kHz.

Returns: Void

◆ motor2PWM()

void motor2PWM	(	int	pwm1,
		int	pwm2,
		int	pwm3
	)

Sets the PWM value to motor 2.

Parameters

pwm1	the pwm output on phase A
pwm2	the pwm output on phase B
pwm3	the pwm output on phase C

Returns: Void

◆ motorDriverInit()

void motorDriverInit ( void )

Initializes the SPI commands to set the motor's configuration for 1x PWM mode.

Parameters

Void

Returns: Void

◆ motorInit()

void motorInit ( void )

Initializes the GPIO pins for the motor.

Initializes the direction, brake, and halt pins for the motor in 1x PWM mode

Parameters

Void

Returns: Void

◆ MotorSPIinit()

void MotorSPIinit ( void )

Initializes the SPI channels for the motor drivers.

Initializes SSI1 ~ 4 and their corresponding GPIO pins

Parameters

Void

Returns: Void

Functions

Detailed Description

Function Documentation

◆ getmotor1HALLS()

◆ getmotor1PWM()

◆ getmotor2HALLS()

◆ getmotor2PWM()

◆ M1_INL_WRITE()

◆ M1HIntHandler()

◆ M2_INL_WRITE()

◆ M2HIntHandler()

◆ motor1Commutate()

◆ motor1ControlPWM()

◆ motor1PWM()

◆ motor2Commutate()

◆ motor2ControlPWM()

◆ motor2PWM()

◆ motorDriverInit()

◆ motorInit()

◆ MotorSPIinit()