main.c

3 phase motor driver source code with freescale MCU

/*
 * Project:		 	3-PHASE AC DRIVE
 *
 * Microcontroller: Motorola MC68HC908MR24 
 *
 * Module:			MAIN.C
 * Revision/Date:	2.0 / February 2000 
 * Description:		File contains initialisation of the system and
 *					software timer.  
 *
 * Compiler:		Hiware08 Compiler
 *
 * Author:			Radim VISINKA
 * Company:			MOTOROLA SPS
 *					Motorola Czech Systems Laboratories 
 *					Roznov pod Radhostem, Czech Republic 
 *
 * ===================================================================
 *
 * Copyright (c):	MOTOROLA Inc.,1999, All rights reserved.
 *
 * ====================================================================
 * THIS SOFTWARE IS PROVIDED BY MOTOROLA RSAL "AS IS" AND ANY
 * EXPRESSED OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
 * PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL MOTOROLA RSAL OR
 * ITS CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
 * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
 * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
 * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
 * OF THE POSSIBILITY OF SUCH DAMAGE.
 * ====================================================================
 */


/* DEFINITION_START */

/* Include Header Files */
#include "MR24IO.H"
// #include "VECTORS.H" 		/* file contains interrupt vectors */
#include "RAM.H"			/* file contains RAM global variables */
#include "CONST.H"			/* file contains global constants and
							   definitions */



/* Assembler Subroutine Definitions */

/* Constant Definitions */

/* Global Variables (External) - 8 bit */
extern unsigned char Amplitude;			/* 0 to 255 gives 0 to 100% modulation*/
extern unsigned char Pwm_count; 		/* counter for PWM interrupt */
extern unsigned char Fault_flags;		/* 8 bit fault flag register */
extern unsigned char Speed_control;		/* Control register for OPEN/CLOSED loop */


/* Global Variables (External) - 16 bit */
extern signed int V_command;			/* command speed */
extern signed int V_com_actual;			/* actual ramp speed */
extern signed int Accel;				/* acceleration constant */
extern signed int Decel;				/* deceleration constant */
extern unsigned int Boost_slope;		/* Boost slope pre-calculation */


/* Local Variables - 8 bit */
unsigned char count1;			/* count_down during initialisation */


/* Local Variables - 16 bit */
unsigned int count;				/* count_down during initialisation */
unsigned int Time_ptr_1;		/* time constant 1 for timeout loop SPEED */
unsigned int Time_ptr_2;		/* time constant 2 for timeout loop PI */
unsigned int Temp_tacnt;		/* temporary timer A counter register */

/* Local Variables - 32 bit */
unsigned long temp32;				/* temporary register */



/* External Modules */		
extern void PWMcalc (void);		/* PWM calculation routine */
extern void speed (void);		/* Speed routine */
// extern void tacho (void); 		/* Tacho IC interrupt handler */
extern void pi (void); 			/* PI controller routine */
extern void fault (void);		/* Over Current Fault routine */

/* DEFINITION_END */


void main(void)
	{
			/* clear RAM */

 //	_asm("ldhx #$0060\n ");
 //	_asm("loop:\n");
 //	_asm("clr ,X\n"); 
 //	_asm("aix #1\n"); 
 //	_asm("cphx #$035f\n"); 
 //	_asm("blo loop\n");


			/* setup PLL clock */

	PBWC = 0x80;			/* set Auto Bandwidth Control */
  	PCTL &= ~(0x20);		/* turn PLL off to be able to program multiplier */
  	PPG=0x87;				/* multiply X-tal frequency by 8 => X-tal=4MHz *8 = 32MHz
			   					bus frequency 32MHz/4 = 8MHz, VCO range = 7 */
 	PCTL |= 0x20;			/* turn on the PLL */
	while (~PBWC & 0x40);  	/* wait for PLL lock */	
    PCTL |= 0x10;    		/* use PLL clock */	



			/* setup PWM module */

	MOR = 0x00;				/* 0x00: pos. center PWM mode; cop and LVI enabled */
							/* 0x60: neg. center PWM mode; cop and LVI enabled */
	PMOD = PWM_MODULUS;   	/* set up PWM modulus => PWM frequency */
							/* for 8MHz Bus Frequency 
							   PWM_MODULUS = 0x00fa gives 16kHz PWM */
	DEADTM=15;				/* 2microsecond deadtime= 16 */
	DISMAP=0xff;			/* when PWM disabled, disable PWM1-6 */
	PCTL2 = 0x80;			/* interrupt every 4th. pwm loads */
 	PCTL1 |= 0xc0;			/* disable MCPWM */
	PWMOUT = 0x00;			/* output port control is PWM */
	PCTL1 |= 0x02;  		/* set LDOK bit */ 
	FCR = 0x08;			/* Flt2 enabled in manual mode */

	PVAL1 = PWM_MODULUS/2;	/* set phase A pwm to 50% */
	PVAL3 = PWM_MODULUS/2;	/* set phase B pwm to 50% */
	PVAL5 = PWM_MODULUS/2;	/* set phase C pwm to 50% */

	
			/* setup PORTs input/output */

	DDRA=0x80;				/* PORT A: 0123456 inputs, 7 output */
							/* 1000 0000 */
	PORTA=0x00;    

	DDRB=0x00;				/* PORT B: A/D */

	DDRC=0x70;				/* PORT C: bits 0-3:inputs; 4,5,6:outputs */
							/* 111 0000 */

	PORTC &= ~(FAULT_LED);		/* FAULT_LED OFF */
	PORTC |= YELLOW_LED;
	PORTC &= ~(MCS_LED);		/* STATUS_LED OFF*/

	DDRE=0x00;				/* bit 0-7:input */
							/* 0000 0000*/

	DDRF=0x00;				/* not used */


			/* setup Timer A for IC (on TCH3A) & for software timer reference */
	
	TASC |= 0x20;			/* stop TIMA */
	TASC &= 0xe0;			/* reset TIMA */
	TASC=TBSC | 0x06;		/* sets prescaller for Clock/64 */
  	TASC3 = 0x44;			
  								/* 0100 0100
							   TCHA3 interrupt enabled
							   selected TCHB0: IC on rising edge
							   x100 01xx */
	 
	
			/* setup ADC */
	
	ADCLK = 0x70;			/* ADC clock = internal bus clock / 8 
							   ADC mode: 8-bit truncation */




			/* MANUAL/DEMO Operating Mode set-up */

	Om_mode = PORTA & 0x04;	/* OM set-up coppied to Om_mode variable */ 


			/* Initialise Variables */

	Tacho_pulses = 0x0b40;

	Accel = (ACC * PI_CONST)>>8;	/* acceleration */
	Decel = (DEC * PI_CONST)>>8;	/* deceleration */

				/* Initialise boost of V/Hz ramp */
	temp32 = ((long)FREQ_BOOST*(long)0xffff);
	Boost_slope = temp32/FREQ_BASE;

				/* scale the VOLTS_MIN const. and substract */
	Boost_slope = Boost_slope - (VOLTS_BOOST * 0x028f);



    Mcs_status |= MCS_STAND_BY;				/* Stand_by state */

	Speed_control = 0;

/*****************************************************************/

			/* OPEN/CLOSED	speed control loop */

Speed_control = OPEN_LOOP;			/* Disactivate the line for Closed Loop */

/*****************************************************************/

	
			/* wait */

	count1 = 0x04;
	while (count1 != 0)
	{
	  count1--;
	  count = 0xffff;
	  while (count != 0)
	  {
	    COPCTL = 0x00;	
	    count--;
	  }   
	}

 

			/* START */

	PCTL1 |= 0x20; 		/* enables pwm interrupts */		
   	PCTL1 |= 0x01; 		/* enables PWM */
	FTAC |= 0x04;		/* clears FFLAG2 - fault2 flag bit */
   
    TASC=TASC & 0xdf;	/* starts timer A - clear stop bit */
    TASC3 &= 0x7f; 		/* clears CHANNEL0 Flag Bit */

	ADSCR = 0x00;			/* starts AD conversion - Pot_voltage */
							/* ADC channel 0 */
 	Time_ptr_1 = TACNT;		/* initialise software timer pointer */
	Time_ptr_2 = TACNT;
    
   	cli(); 				/* enables interrupt */
 	
 		
endless_loop:

	Temp_tacnt = TACNT;		/* Software Time No. 1 */	
	if ((Temp_tacnt >= Time_ptr_1) && (!((Temp_tacnt > (0xFFFF - READ_CONST)) && (Time_ptr_1 < READ_CONST))))
	{
	  	Time_ptr_1 += READ_CONST;	  
		speed();
	}

	Temp_tacnt = TACNT;		/* Software Time No. 2 */
	if ((Temp_tacnt >= Time_ptr_2) && (!((Temp_tacnt > (0xFFFF - PI_CONST)) && (Time_ptr_2 <= PI_CONST))))
	{
		Time_ptr_2 += PI_CONST;
		pi();
	}
	goto endless_loop;
  }