bldc_hall.c

此程序是无刷电机控制程序

 /**********************************************************************
 *                                                                     *
 *                        Software License Agreement                   *
 *                                                                     *
 *    The software supplied herewith by Microchip Technology           *
 *    Incorporated (the "Company") for its dsPIC controller            *
 *    is intended and supplied to you, the Company's customer,         *
 *    for use solely and exclusively on Microchip dsPIC                *
 *    products. The software is owned by the Company and/or its        *
 *    supplier, and is protected under applicable copyright laws. All  *
 *    rights are reserved. Any use in violation of the foregoing       *
 *    restrictions may subject the user to criminal sanctions under    *
 *    applicable laws, as well as to civil liability for the breach of *
 *    the terms and conditions of this license.                        *
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 *    THIS SOFTWARE IS PROVIDED IN AN "AS IS" CONDITION.  NO           *
 *    WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING,    *
 *    BUT NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND    *
 *    FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. THE     *
 *    COMPANY SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL,  *
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  **********************************************************************/

 /**********************************************************************
 *                                                                     * 
 *    Author: Steve Bowling                                            * 
 *                                                                     *
 *    Filename:       BLDC_HALL.c    	                               *
 *    Date:           2/25/03                                          *
 *    File Version:   2.00                                             *
 *                                                                     *
 *    Tools used: MPLAB GL  -> 6.12.02                                 *
 *                Compiler  -> 1.10 beta                               *
 *                                                                     *
 *    Linker File:    p30f6010.gld                                     *
 *                                                                     *
 *                                                                     *
 ***********************************************************************
 *	Code Description
 *  
 *  This file demonstrates BLDC motor control using the
 *  dsPIC30F010.  
 *  Port pins RD8, RD9, and RD10 are used to sample
 *  the hall effect sensors from the BLDC motor and determine the 
 *  correct commutation state.
 *  The speed demand is read from a potentiometer.  
  **********************************************************************/

#include "c:\pic30_tools\support\h\p30F6010.h"

// These are the pushbutton locations
#define	BUTTON1	!PORTGbits.RG6
#define	BUTTON2	!PORTGbits.RG7
#define	BUTTON3	!PORTGbits.RG8
#define	BUTTON4	!PORTGbits.RG9

// These are the LED locations
#define	LED1	PORTAbits.RA9
#define	LED2	PORTAbits.RA10
#define	LED3	PORTAbits.RA14
#define	LED4	PORTAbits.RA15

// These are the hall effect sensor pins.
#define	HALL1	PORTDbits.RD8
#define	HALL2	PORTDbits.RD9
#define	HALL3	PORTDbits.RD10

// This is the control line for the driver IC on the
// motor control PCB.  It must be low to activate
// the PWM drive signals to the power module.
#define	PWM_OUTPUT_ENABLE	PORTDbits.RD11	

// PFC switch firing line
#define	PFC_FIRE	PORTDbits.RD5

// BRAKE circuit firing line
#define BRAKE_FIRE	PORTDbits.RD4

// This is the fault reset line for the motor power module.
// The dsPIC must generate an active high pulse to clear any
// of the red fault LEDs on the power module.
#define FAULT_RESET	PORTEbits.RE9

// This is the fault input line from the power module.  This
// line is connected to the PWM Fault A input pin (RE8).
#define	FAULT_INPUT	PORTEbits.RE8

// This is the interrupt flag for the PWM Fault A input.  It is
// renamed for convenience.
#define	FLTA_FLAG	IFS2bits.FLTAIF

// The following definitions are the values that will be written to
// the OVDCON register to acheive the various BLDC commutation states.
// The commutation state is determined by reading the value of the 
// hall effect sensors on the motor.  
// States 0 and 7 are invalid states and therefore all PWM outputs
// are disabled.

// Two sets of override values are provided, one for hard switching
// and the other for soft switching. For hard switching, both upper
// and lower inverter switches are modulated with PWM.  For soft
// switching, the top device is modulated, while the bottom device
// is always on.

// The type of switching can be controlled by commenting or un-
// commenting the 'HARD_SWITCH' definition below.

//#define	HARD_SWITCH

#ifdef		HARD_SWITCH
#define  	STATE0  0x0000
#define		STATE1 	0x1200		
#define		STATE2 	0x2400		 
#define		STATE3 	0x0600
#define		STATE4 	0x0900
#define		STATE5 	0x1800
#define  	STATE6  0x2100
#define  	STATE7  0x0000
#endif

#ifndef		HARD_SWITCH
#define  	STATE0  0x0000
#define		STATE1 	0x0210		
#define		STATE2 	0x2004		 
#define		STATE3 	0x0204
#define		STATE4 	0x0801
#define		STATE5 	0x0810
#define  	STATE6  0x2001
#define  	STATE7  0x0000
#endif

// These are the counting periods for the medium and slow speed events.
// Count variables are decremented at each PWM interrupt.

#define	SLOW_EVENT_PERIOD	1600		// 100msec period for 16KHz PWM
#define	MEDIUM_EVENT_PERIOD	72			// 5msec period for 16KHz PWM


//---------------------------------------------------------------------


// This bit structure provides status flags for the software
struct {
		unsigned 	:1;
        unsigned   	Reverse:1;
        unsigned   	Button1:1;
        unsigned   	Button2:1;
        unsigned   	Button3:1;
        unsigned   	Button4:1;
        unsigned    DirChange:1;
        unsigned    Accelerate:1;
        unsigned  	PWMFault:1;
        unsigned  	Restart:1;
        unsigned  	:1;
        unsigned    :1;
        unsigned   	:1;
        unsigned   	PWMEvent:1;
        unsigned   	MediumEvent:1;
        unsigned    SlowEvent:1;
} Flags;

// This is a software counter used to time slower system events, such as
// button polling, etc.
unsigned int SlowEventCount, MediumEventCount;

// This variable holds the speed setting
unsigned int Speed, OldSpeed;

// This array holds the commutation states for the OVDCON register.
unsigned int BLDCstates[] = {STATE0, STATE1, STATE2, STATE3, STATE4, STATE5, STATE6, STATE7};

// The hall effect sensor states are read from the I/O port and stored
// in HallState.  HallState is used as an index to the BLDCstates
// array.
unsigned char HallState;

//----------------------------------------------------------------------

main ( void )
{


// Initialize variables
Speed = 0;
OldSpeed = 0;
SlowEventCount = SLOW_EVENT_PERIOD;
MediumEventCount = MEDIUM_EVENT_PERIOD;

Setup();

while(1)
	{
	// This code is executed after each PWM interrupt occurs.
	// The PWM ISR sets PWMflag to signal the interrupt.
	if(Flags.PWMEvent)
		{
		if(!Flags.PWMFault)
			{
			// Read the hall effect sensors on PORTD
			HallState = (unsigned char)(PORTD >> 8) & 0x07;
			// Update the PWM override register with the appropriate commutation
			// state.
			
			if(Flags.Reverse)
				OVDCON = BLDCstates[7 - HallState];
			else
				OVDCON = BLDCstates[HallState];
			}
		
		ClrWdt();		// Clear the watchdog timer
		
		Flags.PWMEvent = 0;		
		}		// end if(PWMEvent)
	
	//-----------------------------------------------------------------
	// Medium speed event handler executes every 5msec
	//-----------------------------------------------------------------
	
	if(Flags.MediumEvent)
		{
		// If no fault management or direction change is in progress,
		// read the new speed setting from the potentiometer on AN7
		if(!Flags.PWMFault && !Flags.Restart && !Flags.DirChange)
			{	
			Speed = ReadADC(7);
			// Limit the maximum duty cycle
			if(Speed > 1000) Speed = 1000;
			}
		// Write the new PWM duty cycles.
		
		PDC1 = Speed;
		PDC2 = Speed;
		PDC3 = Speed;
				
		// This is the main loop code that responds to a fault event
		// signalled by the fault ISR.  Here, we just turn on a status
		// LED to let the user know that the fault occurred.
		// The fault condition is reset when Button 1 is pressed.
		if(Flags.PWMFault)
			{
			LED1 = 1;
			}
			
		// This is the 'motion profile'.  If a direction change is
		// requested, this code will ramp down the speed setting, 
		// reverse the motor, then slowly ramp it back up.
		if(Flags.DirChange)
			{
			if(Flags.Accelerate)
				{
				// If we're back to our old speed, we're done!
				// Clear the DirChange flag
				if(Speed == OldSpeed)
					{ 
					Flags.DirChange = 0;
					LED4 = 0;
					}
				// Otherwise, speed up
				else Speed++;