hall_gpio_drv
Description This module produces a commutation trigger for a 3-ph BLDC motor, based on hall signals received on GPIO pins 24, 25, and 26. Edges
detected are validated or debounced, to eliminate false edges often
occurring from motor oscillations. The software attempts all (6) possible
commutation states to initiate motor movement. Once the motor starts
moving, commutation occurs on each debounced edge from received
hall signals.
Availability This 16-bit module is available in one interface format:
1) The C interface version
Module Properties Type: Target Dependent, Application Independent
28x Fixed Point or PiccoloB
Target
Devices:
C Version File Names: f2803xhall3.h (for x2803x)
IQmath library files for C: N/A
C Interface
C Interface
Object Definition
The structure of HALL3 object is defined by following structure definition
typedef struct { Uint16 CmtnTrigHall; // Output: Commutation trigger for Mod6cnt input
Uint16 CapCounter; // Variable: Running cnt of detected edges on CAP/GPIO Uint16 DebounceCount; // Variable: Counter/debounce delay current value
Uint16 DebounceAmount; // Parameter: Counter delay amount to
// validate/debounce GPIO readings
Uint16 HallGpio; // Variable: Most recent logic level on CAP/GPIO
Uint16 HallGpioBuffer; // Variable: Buffer of last logic level on CAP/GPIO while // being debounced
Uint16 HallGpioAccepted; // Variable: Debounced logic level on CAP/GPIO
Uint16 EdgeDebounced; // Variable: Trigger from Debounce macro to Hall_Drv, // if = 0x7FFF edge is debounced
Uint16 HallMap[6]; // Variable: CAP/GPIO logic levels for HallMapPointer = 0-5 Uint16 CapFlag; // Variable: CAP flags, indicating which CAP/GPIO detected
// the edge
Uint16 StallCount; // Variable: If motor stalls, this counter overflows triggers
// commutation to start rotation. Rotation is defined as
// an edge detection of a hall signal.
Uint16 HallMapPointer; // Input/Output: During the map created, this variable points // to the current commutation state. After map creation, it
// points to the next commutation state.
int16 Revolutions; // Parameter: Running counter, with a revolution defined as 1-
// cycle of the 6 hall stateson
} HALL3;
typedef HALL3 *HALL3_handle;
Interface
Item Name Description Format Range(Hex) CAP/GPIO CAP/GPIO inputs (H/W) N/A 0-3.3
v
Inputs
HallMapPointer As an input, it is defined by
MOD6_CNT
Q0 0 - 5
CmtnTrigHall Commutation trigger for Mod6cnt
input
Q0 0 or 7FFF
Outputs
HallMapPointer During hall map creation, this
variable points to the current
commutation state. After map
creation, it points to the next
commutation state.
Q0 0 - 5
DebounceAmount Counter delay amount to
validate/debounce GPIO
readings
Q0 0000-7FFF
HALL3
parameter
Revolutions Running counter, with a
revolution defined as 1-cycle of
the 6 hall states
Q0 8000-7FFF
CapCounter Running count of detected edges
on CAP/GPIO
Q0 0000-7FFF
DebounceCount Counter/debounce delay current
value
Q0 0000-7FFF
HallGpio Most recent logic level on
CAP/GPIO
Q0 0000-0007
HallGpioBuffer Buffer of last logic level on
CAP/GPIO while being
debounced
Q0 0000-0007
HallGpioAccepted Debounced logic level on
CAP/GPIO
Q0 0000-0007
EdgeDebounced Trigger from Debounce macro to
Hall_Drv, if = 0x7FFF edge is
debounced
Q0 0 or 7FFF
HallMap[6] CAP/GPIO logic levels for
HallMapPointer = 0-5
Q0 0000-0007
CapFlag CAP flags, indicating which
CAP/GPIO detected the edge
Q0 0000-0007
Internal
StallCount If motor stalls, this counter
overflow triggers commutation to
start rotation. Rotation is defined
as an edge detection of a hall
signal.
Q0 0000-FFFF
Special Constants and Data types
HALL3
The module definition is created as a data type. This makes it convenient to instance an interface to the HALL3 driver. To create multiple instances of the module simply declare variables of type HALL3.
HALL3_handle
User defined Data type of pointer to HALL3module
HALL3_DEFAULTS
Structure symbolic constant to initialize HALL3module. This provides the initial values to the terminal variables as well as method pointers.
C Interface Methods
HALL3_INIT_MACRO (HALL3 *)
HALL3_READ_MACRO (HALL3 *)
This default definition of the object implements two methods – the initialization and the runtime compute macro for HALL3. This is implemented by means of a macro pointer, and the initializer sets this to HALL3_INIT_MACRO and HALL3_READ_MACRO macros for x280x. The argument to this macro is the address of the HALL3 object.
Module Usage
Instantiation
The following example instances one HALL3 object
HALL3
hall;
Initialization
To Instance pre-initialized objects
HALL3 hall = HALL3_DEFAULTS;
Invoking the computation macro
HALL3_INIT_MACRO (hall);
HALL3_READ_MACRO (hall);
Example
The following pseudo code provides the information about the module usage.
main()
{
HALL3_INIT_MACRO (hall); // Call init macro for hall3
}
void interrupt periodic_interrupt_isr()
{
HALL3_READ_MACRO (hall); // Call the hall3 read macro
}
Software Flowcharts
Software Flowcharts
Software Flowcharts