ui.h

Luminary Micro BLDC motor control software

//*****************************************************************************
//
// ui.h - Prototypes for the user interface.
//
// Copyright (c) 2007-2008 Luminary Micro, Inc.  All rights reserved.
// 
// Software License Agreement
// 
// Luminary Micro, Inc. (LMI) is supplying this software for use solely and
// exclusively on LMI's microcontroller products.
// 
// The software is owned by LMI and/or its suppliers, and is protected under
// applicable copyright laws.  All rights are reserved.  You may not combine
// this software with "viral" open-source software in order to form a larger
// program.  Any use in violation of the foregoing restrictions may subject
// the user to criminal sanctions under applicable laws, as well as to civil
// liability for the breach of the terms and conditions of this license.
// 
// THIS SOFTWARE IS PROVIDED "AS IS".  NO WARRANTIES, WHETHER EXPRESS, IMPLIED
// OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
// MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
// LMI SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL, OR
// CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
// 
// This is part of revision 716 of the BLDC motor application.
//
//*****************************************************************************

#ifndef __UI_H__
#define __UI_H__

//*****************************************************************************
//
//! \addtogroup ui_api
//! @{
//
//*****************************************************************************

//*****************************************************************************
//
//! This structure contains the Brushless DC motor parameters that are saved to
//! flash.  A copy exists in RAM for use during the execution of the
//! application, which is loaded form flash at startup.  The modified parameter
//! block can also be written back to flash for use on the next power cycle.
//!
//! Note: All parameters exist in the version zero parameter block unless it is
//! explicitly stated otherwise.  If an older parameter block is loaded from
//! flash, the new parameters will get filled in with default values.  When the
//! parameter block is written to flash, it will always be written with the
//! latest parameter block version.
//
//*****************************************************************************
typedef struct
{
    //
    //! The sequence number of this parameter block.  When in RAM, this value
    //! is not used.  When in flash, this value is used to determine the
    //! parameter block with the most recent information.
    //
    unsigned char ucSequenceNum;

    //
    //! The CRC of the parameter block.  When in RAM, this value is not used.
    //! When in flash, this value is used to validate the contents of the
    //! parameter block (to avoid using a partially written parameter block).
    //
    unsigned char ucCRC;

    //
    //! The version of this parameter block.  This can be used to distinguish
    //! saved parameters that correspond to an old version of the parameter
    //! block.
    //
    unsigned char ucVersion;

    //
    //! The minimum width of a PWM pulse, specified in 0.1 us periods.
    //
    unsigned char ucMinPulseWidth;

    //
    //! The dead time between inverting the high and low side of a motor phase,
    //! specified in 20 ns periods.
    //
    unsigned char ucDeadTime;

    //
    //! The rate at which the PWM pulse width is updated, specified in the
    //! number of PWM periods.
    //
    unsigned char ucUpdateRate;

    //
    //! The number of pole pairs in the motor.
    //
    unsigned char ucNumPoles;

    //
    //! Padding to ensure consistent parameter block alignment.
    //
    unsigned char ucPad1[1];

    //
    //! The rate of acceleration, specified in RPM per second.
    //
    unsigned short usAccel;

    //
    //! The rate of deceleration, specified in RPM per second.
    //
    unsigned short usDecel;

    //
    //! The minimum current through the motor drive during operation, specified
    //! in milli-amperes.
    //
    short sMinCurrent;

    //
    //! The maximum current through the motor drive during operation, specified
    //! in milli-amperes.
    //
    short sMaxCurrent;

    //
    //! The amount of time to precharge the bootstrap capacitor on the high
    //! side gate drivers, specified in milliseconds.
    //
    unsigned char ucPrechargeTime;

    //
    //! The maximum ambient temperature of the microcontroller, specified in
    //! degrees Celsius.
    //
    unsigned char ucMaxTemperature;

    //
    //! A set of flags, enumerated by FLAG_PWM_FREQUENCY_MASK,
    //! FLAG_DRIVE_BIT, FLAG_DIR_BIT,
    //! FLAG_ENCODER_BIT, FLAG_BRAKE_BIT,
    //! FLAG_SENSOR_BIT, FLAG_SENSOR_TYPE_BIT,
    //! and FLAG_SENSOR_POLARITY_BIT.
    //
    unsigned short usFlags;

    //
    //! The number of lines in the (optional) optical encoder.
    //
    unsigned short usNumEncoderLines;

    //
    //! Padding to ensure consistent parameter block alignment.
    //
    unsigned char ucPad2[2];

    //
    //! The minimum speed of the motor drive, specified in RPM.
    //
    unsigned long ulMinSpeed;

    //
    //! The maximum speed of the motor drive, specified in RPM.
    //
    unsigned long ulMaxSpeed;

    //
    //! The minimum bus voltage during operation, specified in millivolts.
    //
    unsigned long ulMinVBus;

    //
    //! The maximum bus voltage during operation, specified in millivolts.
    //
    unsigned long ulMaxVBus;

    //
    //! The bus voltage at which the braking circuit is engaged, specified in
    //! millivolts.
    //
    unsigned long ulBrakeOnV;

    //
    //! The bus voltage at which the braking circuit is disengaged, specified
    //! in millivolts.
    //
    unsigned long ulBrakeOffV;

    //
    //! The DC bus voltage at which the deceleration rate is reduced, specified
    //! in millivolts.
    //
    unsigned long ulDecelV;

    //
    //! The P coefficient of the frequency adjust PID controller.
    //
    long lFAdjP;

    //
    //! The I coefficient of the frequency adjust PID controller.
    //
    long lFAdjI;

    //
    //! The D coefficient of the frequency adjust PID controller.
    //
    long lFAdjD;

    //
    //! The amount of time (assuming continuous application) that the dynamic
    //! braking can be utilized, specified in milliseconds.
    //
    unsigned long ulBrakeMax;

    //
    //! The amount of accumulated time that the dynamic brake can have before
    //! the cooling period will end, specified in milliseconds.
    //
    unsigned long ulBrakeCool;

    //
    //! The motor current at which the acceleration rate is reduced, specified
    //! in milli-amperes.
    //
    short sAccelCurrent;

    //
    //! Padding to ensure consistent parameter block alignment.
    //
    unsigned char ucPad3[2];

    //
    //! The Ethernet Connection Timeout, specified in seconds.
    //
    unsigned long ulConnectionTimeout;

    //
    //! The forced duty cycle percentage for startup in sensorless mode.
    //
    unsigned char ucStartupDutyCycle;

    //
    //! Padding to ensure consistent parameter block alignment.
    //
    unsigned char ucPad4[3];

    //
    //! The number of counts (commutations) for startup in sensorless mode.
    //
    unsigned long ulStartupCount;

    //
    //! The motor current limit for motor operation.
    //
   short sTargetCurrent;

    //
    //! Padding to ensure consistent parameter block alignment.
    //
    unsigned char ucPad5[38];
}
tDriveParameters;

//*****************************************************************************
//
//! The mask for the bits in the usFlags member of #tDriveParameters that
//! define the PWM output frequency.  This field will be one of
//! #FLAG_PWM_FREQUENCY_8K, #FLAG_PWM_FREQUENCY_12K, #FLAG_PWM_FREQUENCY_16K,
//! or #FLAG_PWM_FREQUENCY_20K.
//
//*****************************************************************************
#define FLAG_PWM_FREQUENCY_MASK 0x00000003

//*****************************************************************************
//
//! The value of the #FLAG_PWM_FREQUENCY_MASK bit field that indicates that the
//! PWM frequency is 8 KHz.
//