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LCDFUN Normal.h

This document contains C code for controlling a brushless DC motor. It defines pin assignments for hall sensors, initializes PWM output and hall sensors, and implements interrupt service routines to measure motor speed and update PWM duty cycles based on hall sensor readings and sinusoidal commutation. The code supports open-loop and closed-loop control modes, with closed-loop using PI control to maintain a target speed.

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Kumari Mugilan
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64 views7 pages

LCDFUN Normal.h

This document contains C code for controlling a brushless DC motor. It defines pin assignments for hall sensors, initializes PWM output and hall sensors, and implements interrupt service routines to measure motor speed and update PWM duty cycles based on hall sensor readings and sinusoidal commutation. The code supports open-loop and closed-loop control modes, with closed-loop using PI control to maintain a target speed.

Uploaded by

Kumari Mugilan
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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# include<p30f4011.

h>
# include "LCDFUN_Normal.h"

_FOSC(CSW_FSCM_OFF & XT_PLL8);


_FWDT(WDT_OFF);

#define HallA _RD1


#define HallB _RB4
#define HallC _RB5

void Welcome(void);
void Init_Pwm(void);
void Init_Hall(void);
void __attribute__((__interrupt__)) _PWMInterrupt(void);

const int TABLE[257]= {0,804,1608,2410,3212,4011,4808,5602,6393,7179,


7962,8739,9512,10278,11039,11793,12539,13279,14010,
14732,15446,16151,16846,17530,18204,18868,19519,20159,
20787,21403,22005,22594,23170,23731,24279,24811,25329,
25832,26319,26790,27245,27683,28105,28510,28898,29268,
29621,29956,30273,30571,30852,31113,31356,31580,31785,
31971,32137,32285,32412,32521,32609,32678,32728,32757,
32767,32757,32728,32678,32609,32521,32412,32285,32137,
31971,31785,31580,31356,31113,30852,30571,30273,29956,
29621,29268,28898,28510,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,
0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
-804,-1608,-2410,-3212,-4011,-4808,-5602,-6393,-7179,
-7962,-8739,-9512,-10278,-11039,-11793,-12539,-13279,
-14010,-14732,-15446,-16151,-16846,-17530,-18204,-18868,
-19519,-20159,-20787,-21403,-22005,-22594,-23170,-23731,
-24279,-24811,-25329,-25832,-26319,-26790,-27245,-27683,
-28105,-28510,-28898,-29268,-29621,-29956,-30273,-30571,
-30852,-31113,-31356,-31580,-31785,-31971,-32137,-32285,
-32412,-32521,-32609,-32678,-32728,-32757,-32767,-32757,
-32728,-32678,-32609,-32521,-32412,-32285,-32137,-31971,
-31785,-31580,-31356,-31113,-30852,-30571,-30273,-29956,
-29621,-29268,-28898,-28510,0,0,0,0,0,0,0,0,0,0,0,0,
0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,
0,0,0,0,0,0};

struct{
unsigned int Calc;
unsigned int Run;
unsigned int Set;
unsigned int Set1;
unsigned int Cnt;
unsigned int Ov;
unsigned int OvR;
unsigned int PRpm;
unsigned int Acc;
unsigned Dir : 1;
}RPM;

typedef struct SIN


{
unsigned Index;
int Degree;
int Compare;
int Value;
}SINE;

struct{
unsigned A : 1;
unsigned B : 1;
unsigned C : 1;
unsigned char Val;
unsigned char Prev;
}Hall;

SINE R = {0};
SINE Y = {0xAAAA,85,0};
SINE B = {0x5555,170,0};

unsigned int BLDC_PWM[9] =


{0x0000,0x0809,0x2024,0x2021,0x0212,0x0818,0x0206,0x0424,0x0121};
unsigned int Loop=0,MODE=1,flag=0,flag1=0;
unsigned int FREcnt,AMPLITUDE,a,b,counter,lcdcnt;
float kp=0.08,ki=0.03;
int lcd,error,feedback2,duty,prop,integral;
unsigned long int count=0,count1,count2;

void __attribute__((__interrupt__)) _IC2Interrupt(void)


{
IFS0bits.IC2IF = 0;
count = TMR1;
TMR1 = 0;
RPM.Run = (long)(1171875) / count;
}

void __attribute__((__interrupt__)) _T1Interrupt(void)


{
count1 = count1 + 1;
IFS0bits.T1IF = 0;
}

void __attribute__((__interrupt__)) _PWMInterrupt(void)


{
counter++;
if(counter > 5000)
{
counter = 0;
Call_pi();
}

Hall.A = HallA;
Hall.B = HallB;
Hall.C = HallC;
Hall.Val = (unsigned char)Hall.C * 4 +
(unsigned char)Hall.B * 2 + (unsigned char)Hall.A;

if(Loop == 1)
{
if(!MODE)
{
OVDCON = BLDC_PWM[Hall.Val];
PDC1 = RPM.Set1 * (float)0.567;
PDC2 = RPM.Set1 * (float)0.567;
PDC3 = RPM.Set1 * (float)0.567;
}
if(MODE)
{
FREcnt = (RPM.Set * (float)0.218) ;
AMPLITUDE = (RPM.Set * (float)0.6);

if(R.Index >= 0xffff)R.Index = 0;


if(Y.Index >= 0xffff)Y.Index = 0;
if(B.Index >= 0xffff)B.Index = 0;

R.Index = R.Index + FREcnt;


R.Degree = (R.Index>>8) & 0xFF;
R.Value = ((long)AMPLITUDE * TABLE[R.Degree])>>15 ;

Y.Index = Y.Index + FREcnt;


Y.Degree = (Y.Index>>8) & 0xFF;
Y.Value = ((long)AMPLITUDE * TABLE[Y.Degree])>>15 ;

B.Index = B.Index + FREcnt;


B.Degree = (B.Index>>8) & 0xFF;
B.Value = ((long)AMPLITUDE * TABLE[B.Degree])>>15 ;

R.Compare = (1000 + R.Value);


Y.Compare = (1000 + Y.Value);
B.Compare = (1000 + B.Value);

PDC1 = R.Compare;
PDC2 = Y.Compare;
PDC3 = B.Compare;
}
}
else if(Loop == 2)
{
if(!MODE)
{
OVDCON = BLDC_PWM[Hall.Val];

PDC1 = duty;
PDC2 = duty;
PDC3 = duty;
}
if(MODE)
{
FREcnt = (RPM.Set * (float)0.218) ;
AMPLITUDE = (RPM.Set * (float)0.6);

if(R.Index >= 0xffff)R.Index = 0;


if(Y.Index >= 0xffff)Y.Index = 0;
if(B.Index >= 0xffff)B.Index = 0;

R.Index = R.Index + FREcnt;


R.Degree = (R.Index>>8) & 0xFF;
R.Value = ((long)AMPLITUDE * TABLE[R.Degree])>>15 ;
Y.Index = Y.Index + FREcnt;
Y.Degree = (Y.Index>>8) & 0xFF;
Y.Value = ((long)AMPLITUDE * TABLE[Y.Degree])>>15 ;

B.Index = B.Index + FREcnt;


B.Degree = (B.Index>>8) & 0xFF;
B.Value = ((long)AMPLITUDE * TABLE[B.Degree])>>15 ;

R.Compare = (1000 + R.Value);


Y.Compare = (1000 + Y.Value);
B.Compare = (1000 + B.Value);

PDC1 = R.Compare;
PDC2 = Y.Compare;
PDC3 = B.Compare;
}
}
IFS2bits.PWMIF = 0;
}

int main()
{
RPM.Set = 5;
RPM.Set1 = 500;
Welcome();
Init_Pwm();
Init_Hall();
Init_Keys();
while(1)
{
if(flag == 0)
{
if(key1 == 0 && key2 == 1)
{
data_write("M.I 120 MODE ",0x80,16);
data_write(" ",0xC0,16);
delay(300);
flag = Loop = 1;
TMR1 = 0;
PR1 = 65535; //
838.85ms.
//T1CON = 0x8030;
IEC2bits.PWMIE = 1;
}
if(key2 == 0 && key1 == 1)
{
data_write("M.I 120 MODE ",0x80,16);
data_write(" ",0xC0,16);
delay(300);
flag = Loop = 2;
TMR1 = 0;
PR1 = 65535; //
838.85ms.
IEC2bits.PWMIE = 1;
}
}
else if(flag == 1)
{
ReadK();
//RPM.Run = (long)(1171875) / count;
//if(count == 0) RPM.Run = 0;
lcdcnt++;
if(lcdcnt > 100)
{
lcdcnt = 0;
if(!MODE) LCDDisp_INT(RPM.Run,0xC6,4);
//LCDDisp_INT(count,0xCb,4);
}
if(MODE)LCDDisp_INT(RPM.Set,0xC0,4);
else LCDDisp_INT(RPM.Set1/35,0xC0,4);

}
else if(flag == 2)
{
ReadK();
//RPM.Run = (long)(1171875) / count;
//if(count == 0) RPM.Run = 0;
lcdcnt++;
if(lcdcnt > 100)
{
lcdcnt = 0;
if(!MODE) LCDDisp_INT(RPM.Run,0xC6,4);
}
if(MODE)LCDDisp_INT(RPM.Set,0xC0,4);
else LCDDisp_INT(RPM.Set1,0xC0,4);

}
}
}

void Welcome(void)
{
cmd_write();

data_write(" BLDC ",0xc0,16);


data_write(" SENSORLESS ",0x80,16);
delay(1300);

data_write(" 3 PHASE BLDC ",0x80,16);


data_write(" MOTOR CONTROL ",0xC0,16);
delay(1300);

data_write(" 1.OPEN LOOP ",0x80,16);


data_write(" 2.CLOSED LOP ",0xC0,16);
}

void Init_Hall(void)
{
ADPCFGbits.PCFG4 = 1;
ADPCFGbits.PCFG5 = 1;

TRISBbits.TRISB4 = 1;
TRISBbits.TRISB5 = 1;
TRISDbits.TRISD1 = 1;
IC2CON = 0x0003;
IEC0bits.IC2IE = 1;
IEC0bits.T1IE = 1;
}

void Init_Pwm(void)
{
PTPER = 1000;
PTCON = 0x8002;
PDC1 = 0;
PDC2 = 0;
PDC3 = 0;
PWMCON1 = 0x0077;
}

void ReadK(void)
{
if(key3 == 1 && key4 == 0)
{
MODE = 0;
if(Loop == 1)
{
data_write("DUTY SPEED SLESS",0x80,16);
data_write(" ",0xC0,16);
}
else if(Loop == 2)
{
data_write("SET ACT SLESS",0x80,16);
data_write(" ",0xC0,16);
}
T1CON = 0x8030;
}
else if(key4 == 1 && key3 == 0)
{
if(Loop == 1)
{
data_write("M.I 120 MODE ",0x80,16);
data_write(" ",0xC0,16);
}
else if(Loop == 2)
{
data_write("M.I 120 MODE ",0x80,16);
data_write(" ",0xC0,16);
}
MODE = 1;

if(MODE)
{
if(key1 == 0 && key2 == 1)
{
if( RPM.Set < 1500 )
{
RPM.Set++;
}
}
if(key1 == 1 && key2 == 0)
{
if( RPM.Set > 5 )
{
RPM.Set--;
}
}
PWMCON1 = 0x0077;
}
else if(!MODE)
{
if(key1 == 0 && key2 == 1)
{
if( RPM.Set1 < 3000 )
{
RPM.Set1++;
}
}
if(key1 == 1 && key2 == 0)
{
if( RPM.Set1 > 500 )
{
RPM.Set1--;
}
}
PWMCON1 = 0x0777;
}
}

void Call_pi()
{
error = RPM.Set1 - RPM.Run;
prop = error * (float)kp;
lcd = RPM.Run - feedback2;
integral = lcd * (float)ki;
duty = duty + prop + integral;
feedback2 = RPM.Run;
if(duty>1900) duty = 1900;
if(duty<200) duty = 200;
}

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