Configure deadtime by just defining it in nanoseconds. Firmware will calculate the required DTG register value.

Signed-off-by: Marcos Chaparro <[email protected]>

Author: nitrousnrg

conf_general.c

@@ -928,3 +928,37 @@ bool conf_general_measure_flux_linkage(float current, float duty,
 	return true;
 }
 #endif
+
+/* Calculate DTG register */
+uint8_t conf_general_calculate_deadtime(float deadtime_ns, float core_clock_freq) {
+	uint8_t DTG = 0;
+	float timebase = 1/(core_clock_freq/1000000.0)*1000.0;
+
+	if (deadtime_ns <= (timebase * 127.0) )
+	    DTG = deadtime_ns / timebase;
+	else {
+	    if (deadtime_ns <= ((63.0 + 64.0)*2.0*timebase) ) {
+	        DTG = deadtime_ns / (2.0*timebase) - 64.0;
+	        DTG |= 0x80;
+	    }
+	    else {
+	        if (deadtime_ns <= ((31.0 + 32.0)*8.0*timebase) ) {
+	            DTG = deadtime_ns / (8.0*timebase) - 32.0;
+	            DTG |= 0xC0;
+	        }
+	        else {
+	            if (deadtime_ns <= ((31.0 + 32)*16*timebase) ) {
+	                DTG = deadtime_ns / (16.0*timebase) - 32.0;
+	                DTG |= 0xE0;
+	            }
+	            else {
+	            	// Deadtime requested is longer than max achievable. Set deadtime at
+	            	// longest possible value
+	            	DTG = 0xFF;
+	            	assert_param(1);	//catch this
+	            }
+	        }
+	    }
+	}
+	return DTG;
+}

hwconf/hw_75_300.h

@@ -230,7 +230,7 @@
 #define READ_HALL3()			palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
 
 // Override dead time. See the stm32f4 reference manual for calculating this value.
-#define HW_DEAD_TIME_VALUE		110
+#define HW_DEAD_TIME_NSEC		660.0
 
 // Default setting overrides
 #ifndef MCCONF_L_MAX_VOLTAGE

hwconf/hw_mini4.h

@@ -210,7 +210,7 @@
 #define READ_HALL2()			palReadPad(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2)
 #define READ_HALL3()			palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
 
-#define HW_DEAD_TIME_VALUE		20
+#define HW_DEAD_TIME_NSEC		120.0
 
 // Default setting overrides
 #ifndef MCCONF_DEFAULT_MOTOR_TYPE

hwconf/hw_palta.h

@@ -207,7 +207,7 @@
 #define READ_HALL3()			palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
 
 // Override dead time. See the stm32f4 reference manual for calculating this value.
-#define HW_DEAD_TIME_VALUE		181
+#define HW_DEAD_TIME_NSEC		1400.0
 #define HW_GATE_DRIVER_SUPPLY_MAX_VOLTAGE	16.0
 #define HW_GATE_DRIVER_SUPPLY_MIN_VOLTAGE	14.0
 

mc_interface.h

@@ -87,8 +87,9 @@ extern volatile uint16_t ADC_Value[];
 extern volatile int ADC_curr_norm_value[];
 
 // Common fixed parameters
-#ifndef HW_DEAD_TIME_VALUE
-#define HW_DEAD_TIME_VALUE				60 // Dead time
+#ifndef HW_DEAD_TIME_NSEC
+#define HW_DEAD_TIME_NSEC				360.0	// Dead time
 #endif
 
+
 #endif /* MC_INTERFACE_H_ */

mcpwm.c

@@ -258,7 +258,7 @@ void mcpwm_init(volatile mc_configuration *configuration) {
 	TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
 	TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
 	TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
-	TIM_BDTRInitStructure.TIM_DeadTime = HW_DEAD_TIME_VALUE;
+	TIM_BDTRInitStructure.TIM_DeadTime = conf_general_calculate_deadtime(HW_DEAD_TIME_NSEC, SYSTEM_CORE_CLOCK);
 	TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
 	TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
 	TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;

mcpwm_foc.c

@@ -277,7 +277,7 @@ void mcpwm_foc_init(volatile mc_configuration *configuration) {
 	TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
 	TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
 	TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
-	TIM_BDTRInitStructure.TIM_DeadTime = HW_DEAD_TIME_VALUE;
+	TIM_BDTRInitStructure.TIM_DeadTime = conf_general_calculate_deadtime(HW_DEAD_TIME_NSEC, SYSTEM_CORE_CLOCK);
 	TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
 	TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
 	TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;