nrf52 driver refactored (but untested)

Author: Richard Unger

src/drivers/hardware_specific/nrf52_mcu.cpp

@@ -22,7 +22,7 @@
 #define _TAKEN_SLOT (-0x55)
 
 int pwm_range;
-float dead_time;
+
 
 static NRF_PWM_Type* pwms[PWM_COUNT] = {
   NRF_PWM0,
@@ -72,7 +72,22 @@ stepper_motor_slots_t nrf52_stepper_motor_slots[4] =  {
 bldc_6pwm_motor_slots_t nrf52_bldc_6pwm_motor_slots[2] =  { 
   {_EMPTY_SLOT, pwms[0], pwms[1], {0,0,0,0,0,0,0,0}},// 1st motor will be on PWM0 & PWM1
   {_EMPTY_SLOT, pwms[2], pwms[3], {0,0,0,0,0,0,0,0}} // 2nd motor will be on PWM1 & PWM2
-  };  
+  };
+
+
+
+typedef struct NRF52DriverParams {
+  union {
+    bldc_3pwm_motor_slots_t* slot3pwm;
+    bldc_6pwm_motor_slots_t* slot6pwm;
+    stepper_motor_slots_t* slotstep;
+  } slot;
+  long pwm_frequency;
+  float dead_time;
+} NRF52DriverParams;
+
+
+
 
 // configuring high frequency pwm timer
 void _configureHwPwm(NRF_PWM_Type* mcpwm1,  NRF_PWM_Type* mcpwm2){
@@ -103,7 +118,7 @@ void _configureHwPwm(NRF_PWM_Type* mcpwm1,  NRF_PWM_Type* mcpwm2){
 // function setting the high pwm frequency to the supplied pins
 // - BLDC motor - 3PWM setting
 // - hardware speciffic
-void _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) {
+void* _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC) {
 
   if( !pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = PWM_FREQ; // default frequency 20khz for a resolution of 800
   else pwm_frequency = _constrain(pwm_frequency, 0, PWM_MAX_FREQ); // constrain to 62.5kHz max for a resolution of 256  
@@ -123,6 +138,9 @@ void _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int
       break;
     }
   }
+  // if no slots available
+  if(slot_num >= 4) return SIMPLEFOC_DRIVER_INIT_FAILED;
+
   // disable all the slots with the same MCPWM 
   if(slot_num < 2){
     // slot 0 of the stepper
@@ -149,12 +167,20 @@ void _configure3PWM(long pwm_frequency,const int pinA, const int pinB, const int
 
   // configure the pwm
   _configureHwPwm(nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm, nrf52_bldc_3pwm_motor_slots[slot_num].mcpwm);
+
+  NRF52DriverParams* params = new NRF52DriverParams();
+  params->slot.slot3pwm = &(nrf52_bldc_3pwm_motor_slots[slot_num]);
+  params->pwm_frequency = pwm_frequency;
+  return params;
 }
 
+
+
+
 // function setting the high pwm frequency to the supplied pins
 // - Stepper motor - 4PWM setting
 // - hardware speciffic
-void _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int pinC, const int pinD) {
+void* _configure4PWM(long pwm_frequency, const int pinA, const int pinB, const int pinC, const int pinD) {
 
   if( !pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = PWM_FREQ; // default frequency 20khz for a resolution of 800
   else pwm_frequency = _constrain(pwm_frequency, 0, PWM_MAX_FREQ); // constrain to 62.5kHz max for a resolution of 256
@@ -175,8 +201,11 @@ void _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int
       break;
     }
   }
+  // if no slots available
+  if (slot_num >= 4) return SIMPLEFOC_DRIVER_INIT_FAILED;
+
   // disable all the slots with the same MCPWM 
-  if( slot_num < 2 ){
+  if (slot_num < 2){
     // slots 0 and 1 of the 3pwm bldc
     nrf52_bldc_3pwm_motor_slots[slot_num].pinA = _TAKEN_SLOT;
     // slot 0 of the 6pwm bldc
@@ -202,61 +231,59 @@ void _configure4PWM(long pwm_frequency,const int pinA, const int pinB, const int
 
   // configure the pwm
   _configureHwPwm(nrf52_stepper_motor_slots[slot_num].mcpwm, nrf52_stepper_motor_slots[slot_num].mcpwm);
+
+  NRF52DriverParams* params = new NRF52DriverParams();
+  params->slot.slotstep = &(nrf52_stepper_motor_slots[slot_num]);
+  params->pwm_frequency = pwm_frequency;
+  return params;  
 }
 
+
+
+
 // function setting the pwm duty cycle to the hardware
 // - BLDC motor - 3PWM setting
 // - hardware speciffic
-void _writeDutyCycle3PWM(float dc_a,  float dc_b, float dc_c, int pinA, int pinB, int pinC){
-  // determine which motor slot is the motor connected to 
-  for(int i = 0; i < 4; i++){
-    if(nrf52_bldc_3pwm_motor_slots[i].pinA == pinA){ // if motor slot found
-      // se the PWM on the slot timers
-      // transform duty cycle from [0,1] to [0,range]
-      
-      nrf52_bldc_3pwm_motor_slots[i].mcpwm_channel_sequence[0] = (int)(dc_a * pwm_range) | 0x8000;
-      nrf52_bldc_3pwm_motor_slots[i].mcpwm_channel_sequence[1] = (int)(dc_b * pwm_range) | 0x8000;
-      nrf52_bldc_3pwm_motor_slots[i].mcpwm_channel_sequence[2] = (int)(dc_c * pwm_range) | 0x8000;
-  
-      nrf52_bldc_3pwm_motor_slots[i].mcpwm->TASKS_SEQSTART[0] = 1;
-      break;
-    }
-  }
+void _writeDutyCycle3PWM(float dc_a,  float dc_b, float dc_c, void* params){
+  // transform duty cycle from [0,1] to [0,range]
+  bldc_3pwm_motor_slots_t* p = ((NRF52DriverParams*)params)->slot.slot3pwm;
+  p->mcpwm_channel_sequence[0] = (int)(dc_a * pwm_range) | 0x8000;
+  p->mcpwm_channel_sequence[1] = (int)(dc_b * pwm_range) | 0x8000;
+  p->mcpwm_channel_sequence[2] = (int)(dc_c * pwm_range) | 0x8000;
+
+  p->mcpwm->TASKS_SEQSTART[0] = 1;
 }
 
+
+
+
 // function setting the pwm duty cycle to the hardware
 // - Stepper motor - 4PWM setting
 // - hardware speciffic
-void _writeDutyCycle4PWM(float dc_1a,  float dc_1b, float dc_2a, float dc_2b, int pin1A){
-  // determine which motor slot is the motor connected to 
-  for(int i = 0; i < 4; i++){
-    if(nrf52_stepper_motor_slots[i].pin1A == pin1A){ // if motor slot found
-      // se the PWM on the slot timers
-      // transform duty cycle from [0,1] to [0,range]
-
-      nrf52_stepper_motor_slots[i].mcpwm_channel_sequence[0] = (int)(dc_1a * pwm_range) | 0x8000;
-      nrf52_stepper_motor_slots[i].mcpwm_channel_sequence[1] = (int)(dc_1b * pwm_range) | 0x8000;
-      nrf52_stepper_motor_slots[i].mcpwm_channel_sequence[2] = (int)(dc_2a * pwm_range) | 0x8000;
-      nrf52_stepper_motor_slots[i].mcpwm_channel_sequence[3] = (int)(dc_2b * pwm_range) | 0x8000;
-
-      nrf52_stepper_motor_slots[i].mcpwm->TASKS_SEQSTART[0] = 1;
-      break;
-    }
-  }
+void _writeDutyCycle4PWM(float dc_1a,  float dc_1b, float dc_2a, float dc_2b, void* params){
+
+  stepper_motor_slots_t* p = ((NRF52DriverParams*)params)->slot.slotstep;
+  p->mcpwm_channel_sequence[0] = (int)(dc_1a * pwm_range) | 0x8000;
+  p->mcpwm_channel_sequence[1] = (int)(dc_1b * pwm_range) | 0x8000;
+  p->mcpwm_channel_sequence[2] = (int)(dc_2a * pwm_range) | 0x8000;
+  p->mcpwm_channel_sequence[3] = (int)(dc_2b * pwm_range) | 0x8000;
+
+  p->mcpwm->TASKS_SEQSTART[0] = 1;
 }
 
 /* Configuring PWM frequency, resolution and alignment
 // - BLDC driver - 6PWM setting
 // - hardware specific
 */
-int _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l,  const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l){
+void* _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const int pinA_l,  const int pinB_h, const int pinB_l, const int pinC_h, const int pinC_l){
 
   if( !pwm_frequency || pwm_frequency == NOT_SET) pwm_frequency = PWM_FREQ; // default frequency 20khz - centered pwm has twice lower frequency for a resolution of 400
   else pwm_frequency = _constrain(pwm_frequency*2, 0, PWM_MAX_FREQ); // constrain to 62.5kHz max => 31.25kHz for a resolution of 256  
 
   pwm_range = (PWM_CLK / pwm_frequency);
   pwm_range /= 2; // scale the frequency (centered PWM)
 
+  float dead_time;
   if (dead_zone != NOT_SET){
     dead_time = dead_zone/2;
   }else{
@@ -281,7 +308,7 @@ int _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const
     }
   }
   // if no slots available
-  if(slot_num >= 2) return -1;
+  if(slot_num >= 2) return SIMPLEFOC_DRIVER_INIT_FAILED;
 
   // disable all the slots with the same MCPWM 
   if( slot_num == 0 ){
@@ -324,31 +351,30 @@ int _configure6PWM(long pwm_frequency, float dead_zone, const int pinA_h, const
   // configure the pwm type
   _configureHwPwm(nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm1, nrf52_bldc_6pwm_motor_slots[slot_num].mcpwm2);
 
-  // return 
-  return 0;
+  NRF52DriverParams* params = new NRF52DriverParams();
+  params->slot.slot6pwm = &(nrf52_bldc_6pwm_motor_slots[slot_num]);
+  params->pwm_frequency = pwm_frequency;
+  params->dead_time = dead_time;
+  return params; 
 }
 
+
+
+
 /* Function setting the duty cycle to the pwm pin
 //  - BLDC driver - 6PWM setting
 //  - hardware specific
 */
-void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, float dead_zone, const int pinA_h, const int, const int, const int, const int, const int){
-  for(int i = 0; i < 2; i++){
-    if(nrf52_bldc_6pwm_motor_slots[i].pinAH == pinA_h){ // if motor slot found
-      // se the PWM on the slot timers
-      // transform duty cycle from [0,1] to [0,range]
-
-      nrf52_bldc_6pwm_motor_slots[i].mcpwm_channel_sequence[0] = (int)(_constrain(dc_a-dead_time,0,1)*pwm_range) | 0x8000;
-      nrf52_bldc_6pwm_motor_slots[i].mcpwm_channel_sequence[1] = (int)(_constrain(dc_a+dead_time,0,1)*pwm_range);
-      nrf52_bldc_6pwm_motor_slots[i].mcpwm_channel_sequence[2] = (int)(_constrain(dc_b-dead_time,0,1)*pwm_range) | 0x8000;
-      nrf52_bldc_6pwm_motor_slots[i].mcpwm_channel_sequence[3] = (int)(_constrain(dc_b+dead_time,0,1)*pwm_range);
-      nrf52_bldc_6pwm_motor_slots[i].mcpwm_channel_sequence[4] = (int)(_constrain(dc_c-dead_time,0,1)*pwm_range) | 0x8000;
-      nrf52_bldc_6pwm_motor_slots[i].mcpwm_channel_sequence[5] = (int)(_constrain(dc_c+dead_time,0,1)*pwm_range);
-     
+void _writeDutyCycle6PWM(float dc_a,  float dc_b, float dc_c, void* params){
+      bldc_6pwm_motor_slots_t* p = ((NRF52DriverParams*)params)->slot.slot6pwm;
+      float dead_time = ((NRF52DriverParams*)params)->dead_time;
+      p->mcpwm_channel_sequence[0] = (int)(_constrain(dc_a-dead_time,0,1)*pwm_range) | 0x8000;
+      p->mcpwm_channel_sequence[1] = (int)(_constrain(dc_a+dead_time,0,1)*pwm_range);
+      p->mcpwm_channel_sequence[2] = (int)(_constrain(dc_b-dead_time,0,1)*pwm_range) | 0x8000;
+      p->mcpwm_channel_sequence[3] = (int)(_constrain(dc_b+dead_time,0,1)*pwm_range);
+      p->mcpwm_channel_sequence[4] = (int)(_constrain(dc_c-dead_time,0,1)*pwm_range) | 0x8000;
+      p->mcpwm_channel_sequence[5] = (int)(_constrain(dc_c+dead_time,0,1)*pwm_range);     
       NRF_EGU0->TASKS_TRIGGER[0] = 1;
-      break;
-    }
-  }
 }