Deterministic control of sensor based motor

1. A system comprising an electronic circuit, configured to:

obtain an input comprising one or more hall sensor readings;

determine a current motor position based on the input and a first lookup table;

determine a desired motor position based on the first lookup table on the current motor position;

determine a pulse width modulation (PWM) commutation pattern based on the desired motor position and a second lookup table; and

output the PWM commutation pattern within a predetermined time from obtaining the input.

2. The system of claim 1 , wherein the electronic circuit is further configured to detect that the current motor position is in fault, in response to the current motor position not matching a last sensed motor position, or not matching a motor position that is directly adjacent to the last sensed motor position.

3. The system of claim 2 , wherein the electronic circuit is further configured to, in response to detecting the fault, output a fault signal to a central processing unit (CPU) within the predetermined time.

4. The system of claim 2 , wherein the electronic circuit is further configured to, in response to detecting the fault, output a safety PWM commutation pattern that is not included in the second lookup table, within the predetermined time.

5. The system of claim 4 , wherein the electronic circuit further comprises programmable memory that assigns a value to the safety PWM commutation pattern.

6. The system of claim 1 , wherein the PWM commutation pattern comprises at least six PWM outputs.

7. The system of claim 1 , wherein the electronic circuit further comprises programmable memory that assigns values to the first lookup table and the second lookup table.

8. The system of claim 1 , wherein the first lookup table and the second lookup table are circular lookup tables.

9. The system of claim 1 , wherein determining the desired motor position comprises incrementing an index of the first lookup table to obtain the desired motor position.

10. The system of claim 1 , wherein the system includes a PWM timer, the PWM commutation pattern is output to the PWM timer, and the PWM timer outputs a plurality of PWM outputs according to the PWM commutation pattern.

11. A method, performed by an electronic circuit, comprising:

obtaining an input comprising a plurality of hall sensor readings;

determining a current motor position based on the input and a first lookup table;

determining a desired motor position based on the first lookup table on the current motor position;

determining a pulse width modulation (PWM) commutation pattern based on the desired motor position and a second lookup table; and

outputting the PWM commutation pattern within a predetermined time from obtaining the input.

12. The method of claim 11 , further comprising detecting that the current motor position is in fault in response to the current motor position not matching a last sensed motor position, or not matching a motor position that is directly adjacent to the last sensed motor position.

13. The method of claim 12 , further comprising in response to detecting the fault, outputting a fault signal to a central processing unit (CPU) within the predetermined time.

14. The system of claim 12 , further comprising in response to detecting the fault, outputting a safety PWM commutation pattern that is not included in the second lookup table, within the predetermined time.

15. The system of claim 14 , comprising programmable memory that assigns a value to the safety PWM commutation pattern.

16. A microcontroller unit (MCU), comprising a central processing unit (CPU) and a separate electronic circuit, the electronic circuit configured to:

obtain an input comprising one or more hall sensor readings;

determine a current motor position based on the input and a first lookup table;

determine a desired motor position based on the first lookup table on the current motor position;

determine a pulse width modulation (PWM) commutation pattern based on the desired motor position and a second lookup table; and

output the PWM commutation pattern within a predetermined time from obtaining the input.

17. The MCU of claim 16 , wherein the electronic circuit is further configured to detect that the current motor position is in fault, in response to the current motor position not matching a last sensed motor position, or not matching a motor position that is directly adjacent to the last sensed motor position.

18. The MCU of claim 17 , wherein the electronic circuit is further configured to, in response to detecting the fault, output a fault signal to a central processing unit (CPU) within the predetermined time.

19. The MCU of claim 17 , wherein the electronic circuit is further configured to, in response to detecting the fault, output a safety PWM commutation pattern that is not included in the second lookup table, within the predetermined time.

20. The MCU of claim 19 , wherein the electronic circuit further comprises programmable memory that assigns a value to the safety PWM commutation pattern.