main.c

BLDC_SENSORLESS controller using freeescale mcu aw60

/*****************************************************************************
*
* Function: void PeripheralInit(void)
*
* Description: Initialization of all peripherals (calls all initialization 
*              functions)
*     
* Returns: None
*
* Global Data:None
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: None
*
*****************************************************************************/
void PeripheralInit(void)
{
  SysInit();
  TPM1Init();
  TPM2Init();
  IO_PortsInit();
  ADC_Init();
  /* default pointers set up before interrupts enable */
  pAdcSecondSample = (unsigned char *) adcSecondSampleCD;
  PWMCommutationFcn = PWMCommutationFcnCD;
  PWMTransition = PWMTransitionVectorCD;
  SaveSecondSample = SaveSecondSampleCD;
  ZCdetection = ZCdetectionCD;
}

/*****************************************************************************
*
* Function: void PWM_Vector_0CD(void)
*
* Description: Generates the 6-channel complementary bipolar PWM output 
*              for 3-phase power stages. For voltage vector see function comment
*              rotation direction: clockwise
*     
* Returns: None
*
* Global Data: 
*     unsigned int    duty_cycle - actual duty cycle
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: 
*    PWM_MODULO     - defines PWM output frequency
*    PWM_DEAD_TIME  - define PWM dead time
*
*    IMPORTANT: To ensure correct PWM output the function must be called
*               within each PWM cycle. The function must end before new
*               PWM cycle starts!!!
*****************************************************************************/
void PWM_Vector_0CD(void)
{
  signed int temp;
  /* A = +Voltage, B = -Voltage, C off */ 
  TPM1C4SC =  0;                   // PWM C, TOP
  TPM1C5SC =  0;                   // PWM C, BOT
  TPM1C2SC =  TPM1C0SC_ELS0B_MASK; // PWM B, TOP
  TPM1C3SC =  TPM1C0SC_ELS0A_MASK; // PWM B, BOT
  TPM1C0SC =  TPM1C0SC_ELS0A_MASK; // PWM A, TOP
  TPM1C1SC =  TPM1C0SC_ELS0B_MASK; // PWM A, BOT
  temp = PWM_MODULO/2 - PWM_DEAD_TIME - duty_cycle;
  TPM1C1V = temp;
  TPM1C2V = temp; 
  TPM1C4V = temp;  
  if (temp <= 0)
  {
    TPM1C0V = 0;
    TPM1C3V = 0; 
    TPM1C5V = 0;    
  }
  else
  {    
    temp = PWM_MODULO/2 + PWM_DEAD_TIME - duty_cycle;
    TPM1C0V = temp;
    TPM1C3V = temp;
    TPM1C5V = temp;    
  }
}


/*****************************************************************************
*
* Function: void PWM_Vector_1CD(void)
*
* Description: Generates the 6-channel complementary bipolar PWM output 
*              for 3-phase power stages. For voltage vector see function comment
*              rotation direction: clockwise
*     
* Returns: None
*
* Global Data: 
*     unsigned int    duty_cycle - actual duty cycle
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: 
*    PWM_MODULO     - defines PWM output frequency
*    PWM_DEAD_TIME  - define PWM dead time
*
*    IMPORTANT: To ensure correct PWM output the function must be called
*               within each PWM cycle. The function must end before new
*               PWM cycle starts!!!
*****************************************************************************/
void PWM_Vector_1CD(void)
{
  signed int temp;
  /* A off, B = -Voltage, C = +Voltage */
  TPM1C0SC =  0;                   // PWM A, TOP
  TPM1C1SC =  0;                   // PWM A, BOT
  TPM1C4SC =  TPM1C0SC_ELS0A_MASK; // PWM C, TOP
  TPM1C5SC =  TPM1C0SC_ELS0B_MASK; // PWM C, BOT
  TPM1C2SC =  TPM1C0SC_ELS0B_MASK; // PWM B, TOP  
  TPM1C3SC =  TPM1C0SC_ELS0A_MASK; // PWM B, BOT
  temp = PWM_MODULO/2 - PWM_DEAD_TIME - duty_cycle;
  TPM1C1V = temp;
  TPM1C2V = temp;
  TPM1C5V = temp;  
  if (temp <= 0)
  {
     TPM1C0V = 0;
     TPM1C3V = 0;
     TPM1C4V = 0;
  }
  else
  {
    temp = PWM_MODULO/2 + PWM_DEAD_TIME - duty_cycle;
    TPM1C0V = temp;
    TPM1C3V = temp;
    TPM1C4V = temp;
  }  
}


/*****************************************************************************
*
* Function: void PWM_Vector_2CD(void)
*
* Description: Generates the 6-channel complementary bipolar PWM output 
*              for 3-phase power stages. For voltage vector see function comment
*              rotation direction: clockwise
*     
* Returns: None
*
* Global Data: 
*     unsigned int    duty_cycle - actual duty cycle
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: 
*    PWM_MODULO     - defines PWM output frequency
*    PWM_DEAD_TIME  - define PWM dead time
*
*    IMPORTANT: To ensure correct PWM output the function must be called
*               within each PWM cycle. The function must end before new
*               PWM cycle starts!!!
*****************************************************************************/
void PWM_Vector_2CD(void)
{
  signed int temp;
  /* A = -Voltage, B off, C = +Voltage */
  TPM1C2SC =  0;                   // PWM B, TOP
  TPM1C3SC =  0;                   // PWM B, BOT  
  TPM1C0SC =  TPM1C0SC_ELS0B_MASK; // PWM A, TOP  
  TPM1C1SC =  TPM1C0SC_ELS0A_MASK; // PWM A, BOT  
  TPM1C4SC =  TPM1C0SC_ELS0A_MASK; // PWM C, TOP
  TPM1C5SC =  TPM1C0SC_ELS0B_MASK; // PWM C, BOT
  temp = PWM_MODULO/2 - PWM_DEAD_TIME - duty_cycle;
  TPM1C0V = temp;  
  TPM1C2V = temp;
  TPM1C5V = temp;
  if (temp <= 0)
  {
    TPM1C1V = 0;
    TPM1C3V = 0;
    TPM1C4V = 0;
  }
  else
  {
    temp = PWM_MODULO/2 + PWM_DEAD_TIME - duty_cycle;
    TPM1C3V = temp;
    TPM1C4V = temp;
    TPM1C1V = temp;    
  }
}


/*****************************************************************************
*
* Function: void PWM_Vector_3CD(void)
*
* Description: Generates the 6-channel complementary bipolar PWM output 
*              for 3-phase power stages. For voltage vector see function comment
*              rotation direction: clockwise
*     
* Returns: None
*
* Global Data: 
*     unsigned int    duty_cycle - actual duty cycle
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: 
*    PWM_MODULO     - defines PWM output frequency
*    PWM_DEAD_TIME  - define PWM dead time
*
*    IMPORTANT: To ensure correct PWM output the function must be called
*               within each PWM cycle. The function must end before new
*               PWM cycle starts!!!
*****************************************************************************/
void PWM_Vector_3CD(void)
{
  signed int temp;
  /* A = -Voltage, B = +Voltage, C off */
  TPM1C4SC =  0;                   // PWM C, TOP
  TPM1C5SC =  0;                   // PWM C, BOT
  TPM1C2SC =  TPM1C0SC_ELS0A_MASK; // PWM B, TOP
  TPM1C3SC =  TPM1C0SC_ELS0B_MASK; // PWM B, BOT
  TPM1C0SC =  TPM1C0SC_ELS0B_MASK; // PWM A, TOP
  TPM1C1SC =  TPM1C0SC_ELS0A_MASK; // PWM A, BOT
  temp = PWM_MODULO/2 - PWM_DEAD_TIME - duty_cycle;
  TPM1C0V = temp;
  TPM1C3V = temp;
  TPM1C5V = temp;  
  if (temp <= 0)
  {
    TPM1C1V = 0;
    TPM1C2V = 0;
    TPM1C4V = 0;
  }
  else
  {
    temp = PWM_MODULO/2 + PWM_DEAD_TIME - duty_cycle;
    TPM1C1V = temp;
    TPM1C2V = temp;
    TPM1C4V = temp;    
  }
}

/*****************************************************************************
*
* Function: void PWM_Vector_4CD(void)
*
* Description: Generates the 6-channel complementary bipolar PWM output 
*              for 3-phase power stages. For voltage vector see function comment
*              rotation direction: clockwise
*     
* Returns: None
*
* Global Data: 
*     unsigned int    duty_cycle - actual duty cycle
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: 
*    PWM_MODULO     - defines PWM output frequency
*    PWM_DEAD_TIME  - define PWM dead time
*
*    IMPORTANT: To ensure correct PWM output the function must be called
*               within each PWM cycle. The function must end before new
*               PWM cycle starts!!!
*****************************************************************************/
void PWM_Vector_4CD(void)
{
  signed int temp;
  /* A off, B = +Voltage, C = -Voltage */
  TPM1C0SC =  0;                   // PWM A, TOP
  TPM1C1SC =  0;                   // PWM A, BOT
  TPM1C4SC =  TPM1C0SC_ELS0B_MASK; // PWM C, TOP
  TPM1C5SC =  TPM1C0SC_ELS0A_MASK; // PWM C, BOT
  TPM1C2SC =  TPM1C0SC_ELS0A_MASK; // PWM B, TOP
  TPM1C3SC =  TPM1C0SC_ELS0B_MASK; // PWM B, BOT
  temp = PWM_MODULO/2 - PWM_DEAD_TIME - duty_cycle;
  TPM1C0V = temp;
  TPM1C3V = temp;
  TPM1C4V = temp;
  if (temp <= 0)
  {
    TPM1C1V = 0;
    TPM1C2V = 0;
    TPM1C5V = 0;
  }
  else
  {
    temp = PWM_MODULO/2 + PWM_DEAD_TIME - duty_cycle;
    TPM1C1V = temp;
    TPM1C2V = temp;
    TPM1C5V = temp;    
  }      
}

/*****************************************************************************
*
* Function: void PWM_Vector_5CD(void)
*
* Description: Generates the 6-channel complementary bipolar PWM output 
*              for 3-phase power stages. For voltage vector see function comment
*              rotation direction: clockwise
*     
* Returns: None
*
* Global Data: 
*     unsigned int    duty_cycle - actual duty cycle
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: 
*    PWM_MODULO     - defines PWM output frequency
*    PWM_DEAD_TIME  - define PWM dead time
*
*    IMPORTANT: To ensure correct PWM output the function must be called
*               within each PWM cycle. The function must end before new
*               PWM cycle starts!!!
*****************************************************************************/
void PWM_Vector_5CD(void)
{
  signed int temp;
  /* A = +Voltage, B off, C = -Voltage */
  TPM1C2SC =  0;                   // PWM B, TOP
  TPM1C3SC =  0;                   // PWM B, BOT
  TPM1C0SC =  TPM1C0SC_ELS0A_MASK; // PWM A, TOP
  TPM1C1SC =  TPM1C0SC_ELS0B_MASK; // PWM A, BOT
  TPM1C4SC =  TPM1C0SC_ELS0B_MASK; // PWM C, TOP
  TPM1C5SC =  TPM1C0SC_ELS0A_MASK; // PWM C, BOT
  temp = PWM_MODULO/2 - PWM_DEAD_TIME - duty_cycle;
  TPM1C1V = temp;
  TPM1C3V = temp;
  TPM1C4V = temp;  
  if (temp <= 0)
  {
    TPM1C0V = 0;
    TPM1C2V = 0;
    TPM1C5V = 0;
  }
  else
  {
    temp = PWM_MODULO/2 + PWM_DEAD_TIME - duty_cycle;
    TPM1C0V = temp;
    TPM1C2V = temp;
    TPM1C5V = temp;    
  }  
}


/*****************************************************************************
*
* Function: void PWM_Vector_0CCD(void)
*
* Description: Generates the 6-channel complementary bipolar PWM output 
*              for 3-phase power stages. For voltage vector see function comment
*              rotation direction: counter clockwise
*     
* Returns: None
*
* Global Data: 
*     unsigned int    duty_cycle - actual duty cycle
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: 
*    PWM_MODULO     - defines PWM output frequency
*    PWM_DEAD_TIME  - define PWM dead time
*
*    IMPORTANT: To ensure correct PWM output the function must be called
*               within each PWM cycle. The function must end before new
*               PWM cycle starts!!!
*****************************************************************************/
void PWM_Vector_0CCD(void)
{
  signed int temp;
  /* A = +Voltage, B = -Voltage, C off */ 
  TPM1C4SC =  0;                   // PWM C, TOP
  TPM1C5SC =  0;                   // PWM C, BOT
  TPM1C2SC =  TPM1C0SC_ELS0B_MASK; // PWM B, TOP
  TPM1C3SC =  TPM1C0SC_ELS0A_MASK; // PWM B, BOT
  TPM1C0SC =  TPM1C0SC_ELS0A_MASK; // PWM A, TOP
  TPM1C1SC =  TPM1C0SC_ELS0B_MASK; // PWM A, BOT
  temp = PWM_MODULO/2 - PWM_DEAD_TIME - duty_cycle;
  TPM1C1V = temp;
  TPM1C2V = temp; 
  TPM1C5V = temp;  
  if (temp <= 0)
  {
    TPM1C0V = 0;
    TPM1C3V = 0; 
    TPM1C4V = 0;    
  }
  else
  {    
    temp = PWM_MODULO/2 + PWM_DEAD_TIME - duty_cycle;
    TPM1C0V = temp;