bldcmmain.c

三相无刷电机的PWM控制

									 //********************************************************///////////////
///**purpose:  use PWM to control BLDCM**********/////
///***data: 2008.8.20***********///
///***author: XieZu Su********//////
#include <iom48v.h>
#include <macros.h>		
#define speed0 0x20

void port_init(void)
{
 PORTB = 0x00;	 //PB1~PB3输出，对应3个下桥臂的通断
 DDRB  = 0x0E;	
 PORTC = 0x07; //PC0,PC1,PC2霍尔位置传感器输入，上拉
 DDRC  = 0x00;
 PORTD = 0x00;
 DDRD  = 0x68;	//PD6 PD5 PD3分别对应上桥臂的通断信号PWM
}



void timer0_init(void)
{
     //TCCR0B = 0x00; //stop
    // TCNT0 = 0x01; //set count
	 
    // TCCR0A = 0xA3; 	 //		 快速PWM
    // TCCR0B = 0x01; //start timer		 选择分频系数			 
		// OCR0A = 0x30;
	// OCR0B = 0x30;				
		
 TCCR0B = 0x00; //stop
 TCNT0 = 0x01; //set count
 //TCCR0A = 0xa3;   //CTC mode 
 //TCCR0B = 0x01; //start timer		
 OCR0A = speed0;
 OCR0B = speed0;
}

void timer2_init(void)
{

    TCCR2B = 0x00; //stop
    ASSR  = 0x00; //set async mode
    TCNT2 = 0x01; //setup
    OCR2A = speed0;
    OCR2B = speed0;
}

void Start_PWMAB(void)
{
 	  TCCR0B = 0x00;
	  TCCR0A = 0xA3;		//
      TCCR0B = 0x01; //start Timer
}

void Start_PWMA_Close_PWMB(void)
{
 	  TCCR0B = 0x00;
	  TCCR0A = 0x83;		//
      TCCR0B = 0x01; //start Timer
}

void Start_PWMB_Close_PWMA(void)
{
 	  TCCR0B = 0x00;
	  TCCR0A = 0x23;		//
      TCCR0B = 0x01; //start Timer
}

void Shut_PWMAB(void)
{
	 TCCR0B = 0x00;
	 TCCR0A = 0x02;
}

void Start_PWMC(void)
{
		 TCCR2B = 0x00; //stop
		 TCCR2A = 0x23; 
     TCCR2B = 0x01; //start
}	

void Shut_PWMC(void)
{
		 TCCR2B = 0x00; //stop
		 TCCR2A = 0x03; 
}

void phase_one_five(void)
{
 	 PORTB = PORTB&0xF5;  //关下桥臂4，6
	 Shut_PWMC();   //关上桥臂 3
	 Start_PWMA_Close_PWMB();  //关上桥臂2，开上桥臂1
	 PORTB = PORTB|0x04;    //开下桥臂5
}

void phase_one_six(void)
{
 	 PORTB = PORTB&0xF9;  //关下桥臂4，5
	 Shut_PWMC();   //关上桥臂 3
	 Start_PWMA_Close_PWMB();  //关上桥臂2，开上桥臂1
	 PORTB = PORTB|0x08;       //开下桥臂6
}

void phase_two_six(void)
{
 	 PORTB = PORTB&0xF9;  //关下桥臂4，5
	 Shut_PWMC();   //关上桥臂 3
	 Start_PWMB_Close_PWMA();  //关上桥臂1，开上桥臂2
	 PORTB = PORTB|0x08;      //开下桥臂6
}

void phase_two_four(void)
{
 	 PORTB = PORTB&0xF3;  //关下桥臂4，6
	 Shut_PWMC();   //关上桥臂 3
	 Start_PWMB_Close_PWMA();  //关上桥臂1，开上桥臂2
	 PORTB = PORTB|0x02;      //开下桥臂4
}

void phase_three_four(void)
{
 	 PORTB = PORTB&0xF3;  //关下桥臂6，5
	 Shut_PWMAB();   //关上桥臂 1,2
	 Start_PWMC();  //开上桥臂PWMC
	 PORTB = PORTB|0x02;      //开下桥臂4
}

void phase_three_five(void)
{
 	 PORTB = PORTB&0xF5;  //关下桥臂6，4
	 Shut_PWMAB();   //关上桥臂 1,2
	 Start_PWMC();  //开上桥臂PWMC
	 PORTB = PORTB|0x04;      //开下桥臂5
}



void uart0_init(void)
{
 UCSR0B = 0x00; //disable while setting baud rate
 UCSR0A = 0x00;
 UCSR0C = 0x06; //8位数据传送
 UBRR0L = 0x33; //set baud rate lo
 UBRR0H = 0x00; //set baud rate hi
 UCSR0B = 0x18; //
}

void init_devices(void)
{
      //stop errant interrupts until set up
     CLI(); //disable all interrupts
     port_init();
     timer0_init();
     timer2_init();
	 uart0_init();

     MCUCR = 0x00;
     EICRA = 0x00; //extended ext ints
 	 EIMSK = 0x00;
 
 	 TIMSK0 = 0x00; //timer 0 interrupt sources
 	 TIMSK1 = 0x00; //timer 1 interrupt sources
 	 TIMSK2 = 0x00; //timer 2 interrupt sources
 
 	 PCMSK0 = 0x00; //pin change mask 0 
 	 PCMSK1 = 0x00; //pin change mask 1 
 	 PCMSK2 = 0x00; //pin change mask 2
 	 PCICR = 0x00; //pin change enable 
 	 PRR = 0x00; //power controller
 	 SEI(); //re-enable interrupts
 	 //all peripherals are now initialized
}


void USART_Transmit(unsigned char data)
{
     //等待发送器缓冲为空
 	 while(!(UCSR0A&(1<<UDRE0)))
	 ;
	 
	 //发送数据
	 UDR0 = data;
}


unsigned char USART_Receive(void)
{
    //等待接收数据
 	while(!(UCSR0A&(1<<RXC0)))
	;
	return UDR0;
}

void set_speed(unsigned char speed)
{
 	 OCR0A = speed;
	 OCR0B = speed;
	 OCR2B = speed;
}

void main(void)
{
     unsigned int Pos_Val,Speed_Val;
	  init_devices();
	  //Start_PWMA_Close_PWMB();
	// Start_PWMC();
	// Start_PWMAB();
	  
	 /* while(1)
	  {
	   				Speed_Val = USART_Receive();
							set_speed(Speed_Val);
	  }*/
	  while(1)
	  {

			if((UCSR0A&0x80)!=0)
			{
						 	Speed_Val = UDR0;
						 	OCR0A = Speed_Val;
							OCR0B = Speed_Val;
							OCR2B = Speed_Val;
			}
			Pos_Val = PINC&0x07;
/* //   500w轮毂电机			
			switch(Pos_Val)
			{
			    case 3:
					 phase_three_five();
				break;
				case 2:
					 phase_one_five();
				break;
				case 6:
					 phase_one_six();
				break;
				case 4:
					 phase_two_six();
				break;
				case 5:
					 phase_two_four();
				break;
				case 1:
					 phase_three_four();
				break;		
				default:
				break;
				
			}
*/			

//   2.2kw电机			
			switch(Pos_Val)
			{
			    case 1:  
					 phase_three_five();   //C+   B-
				break;
				case 3:
					 phase_one_five();     //A+   B-
				break;
				case 2:
					 phase_one_six();      //A+   C-
				break;
				case 6:
					 phase_two_six();      //B+   C-
				break;
				case 4:
					 phase_two_four();      //B+   A-
				break;
				case 5:
					 phase_three_four();    //C+   B-
				break;		
				default:
				break;
				
			}
	

	  }
}