Motor.h File Reference

utilities header More...

Go to the source code of this file.

Macros
#define	PWMPERIOD   4000
#define	M1H_PERIPH   SYSCTL_PERIPH_GPIOM
#define	M1H_PORT   GPIO_PORTM_BASE
#define	M1H_PORT_INT   INT_GPIOM
#define	M1H_PIN_A   GPIO_PIN_0
#define	M1H_PIN_B   GPIO_PIN_1
#define	M1H_PIN_C   GPIO_PIN_2
#define	M1H_PINS   (M1H_PIN_A | M1H_PIN_B | M1H_PIN_C)
#define	M1_HALLSTATE_0   (M1H_PIN_A | M1H_PIN_B)
#define	M1_HALLSTATE_1   M1H_PIN_A
#define	M1_HALLSTATE_2   (M1H_PIN_A | M1H_PIN_C)
#define	M1_HALLSTATE_3   M1H_PIN_C
#define	M1_HALLSTATE_4   (M1H_PIN_B | M1H_PIN_C)
#define	M1_HALLSTATE_5   M1H_PIN_B
#define	M1_INL_PERIPH_A   SYSCTL_PERIPH_GPIOP
#define	M1_INL_PORT_A   GPIO_PORTP_BASE
#define	M1_INL_PIN_A   GPIO_PIN_0
#define	M1_INL_PERIPH_B   SYSCTL_PERIPH_GPIOP
#define	M1_INL_PORT_B   GPIO_PORTP_BASE
#define	M1_INL_PIN_B   GPIO_PIN_1
#define	M1_INL_PERIPH_C   SYSCTL_PERIPH_GPIOP
#define	M1_INL_PORT_C   GPIO_PORTP_BASE
#define	M1_INL_PIN_C   GPIO_PIN_2
#define	M2H_PERIPH   SYSCTL_PERIPH_GPION
#define	M2H_PORT   GPIO_PORTN_BASE
#define	M2H_PORT_INT   INT_GPION
#define	M2H_PIN_A   GPIO_PIN_0
#define	M2H_PIN_B   GPIO_PIN_1
#define	M2H_PIN_C   GPIO_PIN_2
#define	M2H_PINS   (M2H_PIN_A | M2H_PIN_B | M2H_PIN_C)
#define	M2_INL_PERIPH_A   SYSCTL_PERIPH_GPIOM
#define	M2_INL_PORT_A   GPIO_PORTM_BASE
#define	M2_INL_PIN_A   GPIO_PIN_5
#define	M2_INL_PERIPH_B   SYSCTL_PERIPH_GPIOM
#define	M2_INL_PORT_B   GPIO_PORTM_BASE
#define	M2_INL_PIN_B   GPIO_PIN_6
#define	M2_INL_PERIPH_C   SYSCTL_PERIPH_GPIOM
#define	M2_INL_PORT_C   GPIO_PORTM_BASE
#define	M2_INL_PIN_C   GPIO_PIN_7
#define	M2_HALLSTATE_0   (M2H_PIN_A | M2H_PIN_B)
#define	M2_HALLSTATE_1   M2H_PIN_A
#define	M2_HALLSTATE_2   (M2H_PIN_A | M2H_PIN_C)
#define	M2_HALLSTATE_3   M2H_PIN_C
#define	M2_HALLSTATE_4   (M2H_PIN_B | M2H_PIN_C)
#define	M2_HALLSTATE_5   M2H_PIN_B

Functions
void	M1HIntHandler (void)
	Hall sensor interrupt for motor 1. More...
void	M2HIntHandler (void)
	Hall sensor interrupt for 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...
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	motorInit (void)
	Initializes the GPIO pins for the motor. 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...
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	pwmInit (void)
	Initializes PWM. More...

Detailed Description

utilities header

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

pwmInit()

void pwmInit

(

void

)

Initializes PWM.

Initialize PWM on PF0 (motor 1) and PG0 (motor 2), and the default period if 320 SysClk cycles.

Parameters

Void

Returns

Void