component bldc_hall3 
"""3-wire BLDC motor driver using Hall sensors and trapezoidal commutation.
The functionality of this component is now included in the generic "bldc" 
component. This component is likely to be removed in a future release""";

pin in bit hall1 "Hall sensor signal 1";
pin in bit hall2 "Hall sensor signal 2";
pin in bit hall3 "Hall sensor signal 3";
pin in float value "PWM master amplitude input";
pin in bit dir 
"""Forwards / reverse selection. Negative PWM amplitudes will also 
reverse the motor and there will generally be a pattern that runs the motor in
each direction too.""";

pin out float A-value "Output amplitude for phase A";
pin out float B-value "Output amplitude for phase B";
pin out float C-value "Output amplitude for phase C";

param rw unsigned pattern=25
"""Commutation pattern to use, from 0 to 47. Default is type 25.
Every plausible combination is included. The table shows the excitation pattern
along the top, and the pattern code on the left hand side. The table entries
are the hall patterns in H1, H2, H3 order. 
Common patterns are:
0 (30 degree commutation) and 26, its reverse. 
17 (120 degree).
18 (alternate 60 degree).
21 (300 degree, Bodine).
22 (240 degree).
25 (60 degree commutation).

Note that a number of incorrect commutations will have non-zero net torque 
which might look as if they work, but don't really. 

If your motor lacks documentation it might be worth trying every pattern. 

.ie '\*[.T]'html' \\{\\
.HTML \\
<STYLE> \\
#pattern TD { text-align: center; padding-left: .5ex; padding-right: .5ex } \\
#pattern TH { text-align: center; padding-left: .5ex; padding-right: .5ex } \\
#pattern TD.W { text-align: right; } \\
</STYLE> \\
<TABLE ID="pattern" STYLE="border: 1px solid black; border-collapse: collapse"> \\
<COL SPAN=7 STYLE="margin: .2ex"><COL SPAN=1 STYLE="border-left: 1px solid black"> \\
<TR><TD>&nbsp;<TH COLSPAN=6 CLASS=W>Phases, Source - Sink \\
<TR><TH CLASS=W>pat<TH CLASS=W>B-A<TH CLASS=W>C-A<TH CLASS=W>C-B<TH CLASS=W>A-B<TH CLASS=W>A-C<TH CLASS=W>B-C \\
<TR><TH>0<TD>000<TD>001<TD>011<TD>111<TD>110<TD>100 \\
<TR><TH>1<TD>001<TD>000<TD>010<TD>110<TD>111<TD>101 \\
<TR><TH>2<TD>000<TD>010<TD>011<TD>111<TD>101<TD>100 \\
<TR><TH>3<TD>001<TD>011<TD>010<TD>110<TD>100<TD>101 \\
<TR><TH>4<TD>010<TD>011<TD>001<TD>101<TD>100<TD>110 \\
<TR><TH>5<TD>011<TD>010<TD>000<TD>100<TD>101<TD>111 \\
<TR><TH>6<TD>010<TD>000<TD>001<TD>101<TD>111<TD>110 \\
<TR><TH>7<TD>011<TD>001<TD>000<TD>100<TD>110<TD>111 \\
<TR><TH>8<TD>000<TD>001<TD>101<TD>111<TD>110<TD>010 \\
<TR><TH>9<TD>001<TD>000<TD>100<TD>110<TD>111<TD>011 \\
<TR><TH>10<TD>000<TD>010<TD>110<TD>111<TD>101<TD>001 \\
<TR><TH>11<TD>001<TD>011<TD>111<TD>110<TD>100<TD>000 \\
<TR><TH>12<TD>010<TD>011<TD>111<TD>101<TD>100<TD>000 \\
<TR><TH>13<TD>011<TD>010<TD>110<TD>100<TD>101<TD>001 \\
<TR><TH>14<TD>010<TD>000<TD>100<TD>101<TD>111<TD>011 \\
<TR><TH>15<TD>011<TD>001<TD>101<TD>100<TD>110<TD>010 \\
<TR><TH>16<TD>000<TD>100<TD>101<TD>111<TD>011<TD>010 \\
<TR><TH>17<TD>001<TD>101<TD>100<TD>110<TD>010<TD>011 \\
<TR><TH>18<TD>000<TD>100<TD>110<TD>111<TD>011<TD>001 \\
<TR><TH>19<TD>001<TD>101<TD>111<TD>110<TD>010<TD>000 \\
<TR><TH>20<TD>010<TD>110<TD>111<TD>101<TD>001<TD>000 \\
<TR><TH>21<TD>011<TD>111<TD>110<TD>100<TD>000<TD>001 \\
<TR><TH>22<TD>010<TD>110<TD>100<TD>101<TD>001<TD>011 \\
<TR><TH>23<TD>011<TD>111<TD>101<TD>100<TD>000<TD>010 \\
<TR><TH>24<TD>100<TD>101<TD>111<TD>011<TD>010<TD>000 \\
<TR><TH>25<TD>101<TD>100<TD>110<TD>010<TD>011<TD>001 \\
<TR><TH>26<TD>100<TD>110<TD>111<TD>011<TD>001<TD>000 \\
<TR><TH>27<TD>101<TD>111<TD>110<TD>010<TD>000<TD>001 \\
<TR><TH>28<TD>110<TD>111<TD>101<TD>001<TD>000<TD>010 \\
<TR><TH>29<TD>111<TD>110<TD>100<TD>000<TD>001<TD>011 \\
<TR><TH>30<TD>110<TD>100<TD>101<TD>001<TD>011<TD>010 \\
<TR><TH>31<TD>111<TD>101<TD>100<TD>000<TD>010<TD>011 \\
<TR><TH>32<TD>100<TD>101<TD>001<TD>011<TD>010<TD>110 \\
<TR><TH>33<TD>101<TD>100<TD>000<TD>010<TD>011<TD>111 \\
<TR><TH>34<TD>100<TD>110<TD>010<TD>011<TD>001<TD>101 \\
<TR><TH>35<TD>101<TD>111<TD>011<TD>010<TD>000<TD>100 \\
<TR><TH>36<TD>110<TD>111<TD>011<TD>001<TD>000<TD>100 \\
<TR><TH>37<TD>111<TD>110<TD>010<TD>000<TD>001<TD>101 \\
<TR><TH>38<TD>110<TD>100<TD>000<TD>001<TD>011<TD>111 \\
<TR><TH>39<TD>111<TD>101<TD>001<TD>000<TD>010<TD>110 \\
<TR><TH>40<TD>100<TD>000<TD>001<TD>011<TD>111<TD>110 \\
<TR><TH>41<TD>101<TD>001<TD>000<TD>010<TD>110<TD>111 \\
<TR><TH>42<TD>100<TD>000<TD>010<TD>011<TD>111<TD>101 \\
<TR><TH>43<TD>101<TD>001<TD>011<TD>010<TD>110<TD>100 \\
<TR><TH>44<TD>110<TD>010<TD>011<TD>001<TD>101<TD>100 \\
<TR><TH>45<TD>111<TD>011<TD>010<TD>000<TD>100<TD>101 \\
<TR><TH>46<TD>110<TD>010<TD>000<TD>001<TD>101<TD>111 \\
<TR><TH>47<TD>111<TD>011<TD>001<TD>000<TD>100<TD>110 \\
</TABLE>
\\}
.el \\{\\

.TS
box tab(;);
cb s s s s s s
cb|cb cb cb cb cb cb
c | c  c  c  c c r.
Phases, Source - Sink
_
pat;B-A;C-A;C-B;A-B;A-C;B-C
_
0;000;001;011;111;110;100
1;001;000;010;110;111;101
2;000;010;011;111;101;100
3;001;011;010;110;100;101
4;010;011;001;101;100;110
5;011;010;000;100;101;111
6;010;000;001;101;111;110
7;011;001;000;100;110;111
8;000;001;101;111;110;010
9;001;000;100;110;111;011
10;000;010;110;111;101;001
11;001;011;111;110;100;000
12;010;011;111;101;100;000
13;011;010;110;100;101;001
14;010;000;100;101;111;011
15;011;001;101;100;110;010
16;000;100;101;111;011;010
17;001;101;100;110;010;011
18;000;100;110;111;011;001
19;001;101;111;110;010;000
20;010;110;111;101;001;000
21;011;111;110;100;000;001
22;010;110;100;101;001;011
23;011;111;101;100;000;010
24;100;101;111;011;010;000
25;101;100;110;010;011;001
26;100;110;111;011;001;000
27;101;111;110;010;000;001
28;110;111;101;001;000;010
29;111;110;100;000;001;011
30;110;100;101;001;011;010
31;111;101;100;000;010;011
32;100;101;001;011;010;110
33;101;100;000;010;011;111
34;100;110;010;011;001;101
35;101;111;011;010;000;100
36;110;111;011;001;000;100
37;111;110;010;000;001;101
38;110;100;000;001;011;111
39;111;101;001;000;010;110
40;100;000;001;011;111;110
41;101;001;000;010;110;111
42;100;000;010;011;111;101
43;101;001;011;010;110;100
44;110;010;011;001;101;100
45;111;011;010;000;100;101
46;110;010;000;001;101;111
47;111;011;001;000;100;110
.TE
\\}
""";

description """
This component produces a 3-wire bipolar output. This suits upstream drivers 
that interpret a negative input as a low-side drive and positive as a high-side 
drive. This includes the Hostmot2 3pwmgen function, which is likely to be the 
most common application of this component. 
""";

see_also """
bldc_hall6 6-wire unipolar driver for BLDC motors.
""";

license "GPL";

author "Andy Pugh";

function _ "Interpret Hall sensor patterns and set 3-phase amplitudes";

;;

/*dir H1 H2 H3 pattern 
000  001  010  011  100  101  110  111 */
static unsigned int P[]={
024, 014, 000, 012, 021, 000, 041, 042,
014, 024, 012, 000, 000, 021, 042, 041,
024, 000, 014, 012, 021, 041, 000, 042,
000, 024, 012, 014, 041, 021, 042, 000,
000, 012, 024, 014, 041, 042, 021, 000,
012, 000, 014, 024, 042, 041, 000, 021,
014, 012, 024, 000, 000, 042, 021, 041,
012, 014, 000, 024, 042, 000, 041, 021,
024, 014, 021, 000, 000, 012, 041, 042,
014, 024, 000, 021, 012, 000, 042, 041,
024, 021, 014, 000, 000, 041, 012, 042,
021, 024, 000, 014, 041, 000, 042, 012,
021, 000, 024, 014, 041, 042, 000, 012,
000, 021, 014, 024, 042, 041, 012, 000,
014, 000, 024, 021, 012, 042, 000, 041,
000, 014, 021, 024, 042, 012, 041, 000,
024, 000, 021, 041, 014, 012, 000, 042,
000, 024, 041, 021, 012, 014, 042, 000,
024, 021, 000, 041, 014, 000, 012, 042,
021, 024, 041, 000, 000, 014, 042, 012,
021, 041, 024, 000, 000, 042, 014, 012,
041, 021, 000, 024, 042, 000, 012, 014,
000, 041, 024, 021, 012, 042, 014, 000,
041, 000, 021, 024, 042, 012, 000, 014,
021, 000, 041, 042, 024, 014, 000, 012,
000, 021, 042, 041, 014, 024, 012, 000,
021, 041, 000, 042, 024, 000, 014, 012,
041, 021, 042, 000, 000, 024, 012, 014,
041, 042, 021, 000, 000, 012, 024, 014,
042, 041, 000, 021, 012, 000, 014, 024,
000, 042, 021, 041, 014, 012, 024, 000,
042, 000, 041, 021, 012, 014, 000, 024,
000, 012, 041, 042, 024, 014, 021, 000,
012, 000, 042, 041, 014, 024, 000, 021,
000, 041, 012, 042, 024, 021, 014, 000,
041, 000, 042, 012, 021, 024, 000, 014,
041, 042, 000, 012, 021, 000, 024, 014,
042, 041, 012, 000, 000, 021, 014, 024,
012, 042, 000, 041, 014, 000, 024, 021,
042, 012, 041, 000, 000, 014, 021, 024,
014, 012, 000, 042, 024, 000, 021, 041,
012, 014, 042, 000, 000, 024, 041, 021,
014, 000, 012, 042, 024, 021, 000, 041,
000, 014, 042, 012, 021, 024, 041, 000,
000, 042, 014, 012, 021, 041, 024, 000,
042, 000, 012, 014, 041, 021, 000, 024,
012, 042, 014, 000, 000, 041, 024, 021,
042, 012, 000, 014, 041, 000, 021, 024};

FUNCTION(_){
    int i;
    double V;
    if (pattern > 47){
        rtapi_print_msg(RTAPI_MSG_ERR, 
        "Only step patterns 0-47 are allowed, you have requested pattern %i\n",
        pattern);
        pattern = 0;
        return;
    }
    
    i  = (pattern << 3) + (hall1 << 2) + (hall2 << 1) + hall3;
	
    if (dir) V = -value;
    else V = value;
	
    if (P[i] & 040) A_value =V;
    else if (P[i] & 004) A_value = -V;
    else A_value = 0;

    if (P[i] & 020) B_value = V;
    else if (P[i] & 002) B_value = -V;
    else B_value = 0;

    if (P[i] & 010) C_value = V;
    else if (P[i] & 001) C_value = -V;
    else C_value = 0;
}