main.c

BLDC_SENSORLESS controller using freeescale mcu aw60

*
* Description: Saves ADC result to the respective variable              
*     
* Returns: None
*
* Global Data: 
*    unsigned int phB_voltage - Back-EMF voltage of Phase B 
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: None
*
*****************************************************************************/
static void SaveBEMFB(void)
{
  phB_voltage = AD1R;
}


/*****************************************************************************
*
* Function: static void SaveBEMFC(void)
*
* Description: Saves ADC result to the respective variable              
*     
* Returns: None
*
* Global Data: 
*    unsigned int phC_voltage - Back-EMF voltage of Phase C 
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: None
*
*****************************************************************************/
static void SaveBEMFC(void)
{
  phC_voltage = AD1R;
}

/*****************************************************************************
*
* Function: static void ZCdetectPhAfalling(void)
*
* Description: The function detects the zero crossing of phase A 
*              falling Back EMF voltage and sets the new commutation event
*               using Timer 2
*
* Returns: None
*
* Global Data: 
*    unsigned int   dcb_voltage_ZC      - corrected DC bus voltage
*    unsigned int   dcb_voltage         - DC bus voltage
*    signed int     dcb_offset          - offset of DC bus voltage
*    tProcessStatus processStatus       - process status byte
*    unsigned int   dcb_voltage_HT      - upper treshold for Back-EMF detection
*    unsigned int   dcb_voltage_LT      - lower treshold for Back-EMF detection
*    unsigned int   phA_voltage         - Back-EMF voltage of phase A
*    unsigned int   timeCommutation     - time of last commutation
*    unsigned int   timeZCstep          - time difference from last commutation
*                                         when ZC detection is enabled
*    unsigned int   timeZC_PhA          - time of current commutation
*    unsigned int   timeZC              - time of current commutation
*    unsigned int   lastTimeZC          - time of last commutation
*    unsigned int   actualPeriodZC      - commutation period
*    unsigned int   periodZC_F_PhA      - commutation period of phase A
*    unsigned int   periodNextCommutation - time difference for new commutation
*    signed int     torque_F_PhA        - actual current/torque at ZC of phase A
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: None
*
*****************************************************************************/
static void ZCdetectPhAfalling(void)
{
  dcb_voltage_ZC =  (unsigned int)((signed int)(dcb_voltage >> 1) + dcb_offset);
  if (processStatus.bit.EnableZC == 0)
  {
    if ((phA_voltage < dcb_voltage_HT) && (phA_voltage > dcb_voltage_LT) && ((TPM2CNT - timeCommutation) > timeZCstep))
    {
       processStatus.bit.EnableZC = 1;
       processStatus.bit.AfterCMT = 0;
    }
    return;
  }
  if (phA_voltage < dcb_voltage_ZC)
  {
    timeZC_PhA = TPM2CNT;    
    lastTimeZC = timeZC;
    timeZC = timeZC_PhA;
    actualPeriodZC = periodZC_F_PhA = timeZC - lastTimeZC;
    periodNextCommutation = umul_16x8(actualPeriodZC, advanceAngle);
    TPM2C0V = timeZC + periodNextCommutation;
    torque_F_PhA = dcb_current;
    processStatus.bit.NewZC = 1;
  }
}


/*****************************************************************************
*
* Function: static void ZCdetectPhAraising(void)
*
* Description: The function detects the zero crossing of phase A 
*              raising Back EMF voltage and sets the new commutation event
*               using Timer 2
*
* Returns: None
*
* Global Data: 
*    unsigned int   dcb_voltage_ZC      - corrected DC bus voltage
*    unsigned int   dcb_voltage         - DC bus voltage
*    signed int     dcb_offset          - offset of DC bus voltage
*    tProcessStatus processStatus       - process status byte
*    unsigned int   dcb_voltage_HT      - upper treshold for Back-EMF detection
*    unsigned int   dcb_voltage_LT      - lower treshold for Back-EMF detection
*    unsigned int   phA_voltage         - Back-EMF voltage of phase A
*    unsigned int   timeCommutation     - time of last commutation
*    unsigned int   timeZCstep          - time difference from last commutation
*                                         when ZC detection is enabled
*    unsigned int   timeZC_PhA          - time of current commutation
*    unsigned int   timeZC              - time of current commutation
*    unsigned int   lastTimeZC          - time of last commutation
*    unsigned int   actualPeriodZC      - commutation period
*    unsigned int   periodZC_R_PhA      - commutation period of phase A
*    unsigned int   periodNextCommutation - time difference for new commutation
*    signed int     torque_R_PhA        - actual current/torque at ZC of phase A
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: None
*
*****************************************************************************/
static void ZCdetectPhAraising(void)
{
  dcb_voltage_ZC =  (unsigned int)((signed int)(dcb_voltage >> 1) + dcb_offset);
  if (processStatus.bit.EnableZC == 0)
  {
    if ((phA_voltage < dcb_voltage_HT) && (phA_voltage > dcb_voltage_LT) && ((TPM2CNT - timeCommutation) > timeZCstep))
    {
       processStatus.bit.EnableZC = 1;
       processStatus.bit.AfterCMT = 0;
    }
    return;
  }
  if (phA_voltage > dcb_voltage_ZC)
  {
    timeZC_PhA = TPM2CNT;
    lastTimeZC = timeZC;
		timeZC = timeZC_PhA;
    actualPeriodZC = periodZC_R_PhA = timeZC - lastTimeZC;
    periodNextCommutation = umul_16x8(actualPeriodZC, advanceAngle);
    TPM2C0V = timeZC + periodNextCommutation;
    torque_R_PhA = dcb_current;
    processStatus.bit.NewZC = 1;          
  }
}


/*****************************************************************************
*
* Function: static void ZCdetectPhBfalling(void)
*
* Description: The function detects the zero crossing of phase B 
*              falling Back EMF voltage and sets the new commutation event
*               using Timer 2
*
* Returns: None
*
* Global Data: 
*    unsigned int   dcb_voltage_ZC      - corrected DC bus voltage
*    unsigned int   dcb_voltage         - DC bus voltage
*    signed int     dcb_offset          - offset of DC bus voltage
*    tProcessStatus processStatus       - process status byte
*    unsigned int   dcb_voltage_HT      - upper treshold for Back-EMF detection
*    unsigned int   dcb_voltage_LT      - lower treshold for Back-EMF detection
*    unsigned int   phB_voltage         - Back-EMF voltage of phase B
*    unsigned int   timeCommutation     - time of last commutation
*    unsigned int   timeZCstep          - time difference from last commutation
*                                         when ZC detection is enabled
*    unsigned int   timeZC_PhB          - time of current commutation
*    unsigned int   timeZC              - time of current commutation
*    unsigned int   lastTimeZC          - time of last commutation
*    unsigned int   actualPeriodZC      - commutation period
*    unsigned int   periodZC_F_PhB      - commutation period of phase B
*    unsigned int   periodNextCommutation - time difference for new commutation
*    signed int     torque_F_PhB        - actual current/torque at ZC of phase B
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: None
*
*****************************************************************************/
static void ZCdetectPhBfalling(void)
{
  dcb_voltage_ZC =  (unsigned int)((signed int)(dcb_voltage >> 1) + dcb_offset);
  if (processStatus.bit.EnableZC == 0)
  {
    if ((phB_voltage < dcb_voltage_HT) && (phB_voltage > dcb_voltage_LT) && ((TPM2CNT - timeCommutation) > timeZCstep))
    {
       processStatus.bit.EnableZC = 1;
       processStatus.bit.AfterCMT = 0;
    }    
    return;
  }
  if (phB_voltage < dcb_voltage_ZC)
  {
    timeZC_PhB = TPM2CNT;
    lastTimeZC = timeZC;
    timeZC = timeZC_PhB;
    actualPeriodZC = periodZC_F_PhB = timeZC - lastTimeZC;
    periodNextCommutation = umul_16x8(actualPeriodZC, advanceAngle);
    TPM2C0V = timeZC + periodNextCommutation;
    torque_F_PhB = dcb_current;
    processStatus.bit.NewZC = 1;
  }
}


/*****************************************************************************
*
* Function: static void ZCdetectPhBraising(void)
*
* Description: The function detects the zero crossing of phase B 
*              raising Back EMF voltage and sets the new commutation event
*               using Timer 2
*
* Returns: None
*
* Global Data: 
*    unsigned int   dcb_voltage_ZC      - corrected DC bus voltage
*    unsigned int   dcb_voltage         - DC bus voltage
*    signed int     dcb_offset          - offset of DC bus voltage
*    tProcessStatus processStatus       - process status byte
*    unsigned int   dcb_voltage_HT      - upper treshold for Back-EMF detection
*    unsigned int   dcb_voltage_LT      - lower treshold for Back-EMF detection
*    unsigned int   phB_voltage         - Back-EMF voltage of phase B
*    unsigned int   timeCommutation     - time of last commutation
*    unsigned int   timeZCstep          - time difference from last commutation
*                                         when ZC detection is enabled
*    unsigned int   timeZC_PhB          - time of current commutation
*    unsigned int   timeZC              - time of current commutation
*    unsigned int   lastTimeZC          - time of last commutation
*    unsigned int   actualPeriodZC      - commutation period
*    unsigned int   periodZC_R_PhB      - commutation period of phase B
*    unsigned int   periodNextCommutation - time difference for new commutation
*    signed int     torque_R_PhB        - actual current/torque at ZC of phase B
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: None
*
*****************************************************************************/
static void ZCdetectPhBraising(void)
{
  dcb_voltage_ZC =  (unsigned int)((signed int)(dcb_voltage >> 1) + dcb_offset);
  if (processStatus.bit.EnableZC == 0)
  {
    if ((phB_voltage < dcb_voltage_HT) && (phB_voltage > dcb_voltage_LT) && ((TPM2CNT - timeCommutation) > timeZCstep))
    {
       processStatus.bit.EnableZC = 1;
       processStatus.bit.AfterCMT = 0;
    }
    return;
  }
  if (phB_voltage > dcb_voltage_ZC)
  {
    timeZC_PhB = TPM2CNT;
    lastTimeZC = timeZC;
    timeZC = timeZC_PhB;
    actualPeriodZC = periodZC_R_PhB = timeZC - lastTimeZC;
    periodNextCommutation = umul_16x8(actualPeriodZC, advanceAngle);
    TPM2C0V = timeZC + periodNextCommutation;
    torque_R_PhB = dcb_current;
    processStatus.bit.NewZC = 1;          
  }
}


/*****************************************************************************
*
* Function: static void ZCdetectPhCfalling(void)
*
* Description: The function detects the zero crossing of phase C 
*              falling Back EMF voltage and sets the new commutation event
*               using Timer 2
*
* Returns: None
*
* Global Data: 
*    unsigned int   dcb_voltage_ZC      - corrected DC bus voltage
*    unsigned int   dcb_voltage         - DC bus voltage
*    signed int     dcb_offset          - offset of DC bus voltage
*    tProcessStatus processStatus       - process status byte
*    unsigned int   dcb_voltage_HT      - upper treshold for Back-EMF detection
*    unsigned int   dcb_voltage_LT      - lower treshold for Back-EMF detection
*    unsigned int   phC_voltage         - Back-EMF voltage of phase C
*    unsigned int   timeCommutation     - time of last commutation
*    unsigned int   timeZCstep          - time difference from last commutation
*                                         when ZC detection is enabled
*    unsigned int   timeZC_PhC          - time of current commutation
*    unsigned int   timeZC              - time of current commutation
*    unsigned int   lastTimeZC          - time of last commutation
*    unsigned int   actualPeriodZC      - commutation period
*    unsigned int   periodZC_F_PhC      - commutation period of phase C
*    unsigned int   periodNextCommutation - time difference for new commutation
*    signed int     torque_F_PhC        - actual current/torque at ZC of phase C
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: None
*
*****************************************************************************/
static void ZCdetectPhCfalling(void)
{
  dcb_voltage_ZC =  (unsigned int)((signed int)(dcb_voltage >> 1) + dcb_offset);
  if (processStatus.bit.EnableZC == 0)
  {
    if ((phC_voltage < dcb_voltage_HT) && (phC_voltage > dcb_voltage_LT) && ((TPM2CNT - timeCommutation) > timeZCstep))
    {
       processStatus.bit.EnableZC = 1;
       processStatus.bit.AfterCMT = 0;
    }
    return;
  }
  if (phC_voltage < dcb_voltage_ZC)
  {
    timeZC_PhC = TPM2CNT;
    lastTimeZC = timeZC;
    timeZC = timeZC_PhC;
    actualPeriodZC = periodZC_F_PhC = timeZC - lastTimeZC;
    periodNextCommutation = umul_16x8(actualPeriodZC, advanceAngle);
    TPM2C0V = timeZC + periodNextCommutation;      
    torque_F_PhC = dcb_current;
    processStatus.bit.NewZC = 1;       
  }
}


/*****************************************************************************
*
* Function: static void ZCdetectPhCfalling(void)
*
* Description: The function detects the zero crossing of phase C 
*              raising Back EMF voltage and sets the new commutation event
*               using Timer 2
*
* Returns: None
*
* Global Data: 
*    unsigned int   dcb_voltage_ZC      - corrected DC bus voltage
*    unsigned int   dcb_voltage         - DC bus voltage
*    signed int     dcb_offset          - offset of DC bus voltage
*    tProcessStatus processStatus       - process status byte
*    unsigned int   dcb_voltage_HT      - upper treshold for Back-EMF detection
*    unsigned int   dcb_voltage_LT      - lower treshold for Back-EMF detection
*    unsigned int   phC_voltage         - Back-EMF voltage of phase C
*    unsigned int   timeCommutation     - time of last commutation
*    unsigned int   timeZCstep          - time difference from last commutation
*                                         when ZC detection is enabled
*    unsigned int   timeZC_PhC          - time of current commutation
*    unsigned int   timeZC              - time of current commutation
*    unsigned int   lastTimeZC          - time of last commutation
*    unsigned int   actualPeriodZC      - commutation period
*    unsigned int   periodZC_R_PhC      - commutation period of phase C
*    unsigned int   periodNextCommutation - time difference for new commutation
*    signed int     torque_R_PhC        - actual current/torque at ZC of phase C
*
* Arguments: None
*
* Range Issues: None
*
* Special Issues: None
*
*****************************************************************************/
static void ZCdetectPhCraising(void)
{
  dcb_voltage_ZC =  (unsigned int)((signed int)(dcb_voltage >> 1) + dcb_offset);
  if (processStatus.bit.EnableZC == 0)
  {
    if ((phC_voltage < dcb_voltage_HT) && (phC_voltage > dcb_voltage_LT) && ((TPM2CNT - timeCommutation) > timeZCstep))
    {
       processStatus.bit.EnableZC = 1;
       processStatus.bit.AfterCMT = 0;
    }    
    return;
  }
  if (phC_voltage > dcb_voltage_ZC)
  {
    timeZC_PhC = TPM2CNT;
    lastTimeZC = timeZC;
    timeZC = timeZC_PhC;        
    actualPeriodZC = periodZC_R_PhC