//program drive BLDC fixed PWM //Hall effect PIN_B5-->Blue:PIN_b4-->Green:PIN_b3-->Yellow #include <30F2010.h> #device adc=10 //#Fuses HS #Fuses NOWDT #Fuses XT_PLL8 #Fuses BROWNOUT #Fuses noMCLR #Fuses PUT64 #Fuses NOWDT #fuses WPSB10 #use delay(clock=80000000) //#use rs232(UART1,baud=19200,parity=N,bits=8,) //#include //#FUSES HPOL_low //High.Side Transistors Polarity is Active.High (PWM 1,3,5 and 7) //#FUSES LPOL_low //Low.Side Transistors Polarity is Active.Low (PWM 0,2,4 and 6) //---------------------------------------------------------------------- #priority CNI,TIMER1,EXT1 int16 trisB; #locate trisB=0x02C6 #bit trisb3=trisb.3 #bit trisb4=trisb.4 #bit trisb5=trisb.5 struct sensor{ INT NON :3; int data :3; }hall_data; #locate hall_data=0x02C8 #LOCATE TRISE =0X02D8 #BIT TRIS_E8=TRISE.8 #LOCATE PORTE = 0X2DA #BIT E8 = PORTE.8 int16 TRISC; #LOCATE TRISC =0X02CC #BIT TRIS_C13 =TRISC.13 INT16 PORTC; #LOCATE PORTC = 0X2CE #BIT STOP = PORTC.13 INT16 TRISD; #LOCATE TRISD = 0X02D2 #BIT TRISD0 =TRISD.0 INT16 PORTD; #LOCATE PORTD = 0X02D4 #BIT D0 = PORTD.0 int16 PTCON; #locate PTCON = 0x1C0 #bit PTEN = PTCON.15 #bit PTSIDL = PTCON.13 #bit PTOPS3 = PTCON.7 #bit PTOPS2 = PTCON.6 #bit PTOPS1 = PTCON.5 #bit PTOPS0 = PTCON.4 #bit PTCKPS1 = PTCON.3 #bit PTCKPS0 = PTCON.2 #BIT PTMOD1 =PTCON.1 #BIT PTMOD0 =PTCON.0 //----------------------------------- INT16 PTMR; #LOCATE PTMR = 0X1C2 //----------------------------------- signed INT16 PTPER; #LOCATE PTPER = 0X1C4 //----------------------------------- INT16 SEVTCMP; #LOCATE SEVTCMP = 0X1C6 //----------------------------------- INT16 PWMCON1; #locate PWMCON1 = 0x1c8 #bit PMOD3 = PWMCON1.10 #bit PMOD2 = PWMCON1.9 #bit PMOD1 = PWMCON1.8 #bit PEN3H = PWMCON1.6 #bit PEN2H = PWMCON1.5 #bit PEN1H = PWMCON1.4 #bit PEN3L = PWMCON1.2 #bit PEN2L = PWMCON1.1 #bit PEN1L = PWMCON1.0 //----------------------------------- INT16 PWMCON2; #locate PWMCON2 = 0x1ca #bit SEVOPS3 = PWMCON2.11 #bit SEVOPS2 = PWMCON2.10 #bit SEVOPS1 = PWMCON2.9 #bit SEVOPS0 = PWMCON2.8 #bit OSYNC = PWMCON2.1 #bit UDIS = PWMCON2.0 //---------------------------------- INT16 DTCON1; #LOCATE DTCON1 = 0X1CC #BIT DTAPS1 = DTCON1.7 #BIT DTAPS0 = DTCON1.6 #BIT DTIME5 = DTCON1.5 #BIT DTIME4 = DTCON1.4 #BIT DTIME3 = DTCON1.3 #BIT DTIME2 = DTCON1.2 #BIT DTIME1 = DTCON1.1 #BIT DTIME0 = DTCON1.0 //---------------------------------- int16 ifs2; #locate ifs2=0x088 #bit fltaif = ifs2.11 INT16 FLTACON; #LOCATE FLTACON = 0X1D0 #BIT FAOV3H = FLTACON.13 #BIT FAOV3L = FLTACON.12 #BIT FAOV2H = FLTACON.11 #BIT FAOV2L = FLTACON.10 #BIT FAOV1H = FLTACON.9 #BIT FAOV1L = FLTACON.8 #BIT FLTAM = FLTACON.7 #BIT FAEN3 = FLTACON.2 #BIT FAEN2 = FLTACON.1 #BIT FAEN1 = FLTACON.0 //--------------------------------- INT16 OVDCON; #LOCATE OVDCON = 0X1D4 #BIT POVD3H = OVDCON.13 #BIT POVD3L = OVDCON.12 #BIT POVD2H = OVDCON.11 #BIT POVD2L = OVDCON.10 #BIT POVD1H = OVDCON.9 #BIT POVD1L = OVDCON.8 #BIT POUT4H = OVDCON.7 #BIT POUT3H = OVDCON.5 #BIT POUT3L = OVDCON.4 #BIT POUT2H = OVDCON.3 #BIT POUT2L = OVDCON.2 #BIT POUT1H = OVDCON.1 #BIT POUT1L = OVDCON.0 //----------------------------------- //#define sw_break pin_e8 INT16 PDC1; #LOCATE PDC1 = 0X1D6 INT16 PDC2; #LOCATE PDC2 = 0X1D8 INT16 PDC3; #LOCATE PDC3 = 0X1DA //INT16 CONST TABLE_FW[]={0x0000,0x0520,0x1108,0x2801,0x1402,0x2204,0x0a10}; INT16 CONST TABLE_FW[]={0x0000,0x1402,0x1108,0x0a10,0x0520,0x2204,0x2801}; //INT16 CONST TABLE_RW[]={0x0000,0x0a10,0x2204,0x1402,0x2801,0x1108,0x0520}; INT16 CONST TABLE_RW[]={0x0000,0x2801,0x2204,0x0520,0x0a10,0x1108,0x1402}; INT8 INDEX; int1 flg_int,flg_t4,FLG_RDA; int32 n; int16 chk_cpu=0; int16 duty ; int16 speed2; int1 flg_int_cni=0; int1 flg_bk; int32 speed1; void getspeed(void); void chk_unbreak(void); VOID ROTATE_FW(VOID); VOID ROTATE_RW(VOID); #int_CNI void CNI_isr(void) { //ROTATE_FW(); flg_int_cni=1; //ROTATE_RW(); } #INT_TIMER1 void timer1_isr(void) { //set_adc_channel( 0 ); //delay_us(10); //duty = read_adc(); //if(duty<40)duty=40; //if(duty>200)duty=200; // if(duty < 50 ) duty = 50; //if(duty>50 && duty<200) getspeed(); set_timer1(100); ///////////////////status cpu////////////// } void main(void) { TRIS_C13=1; setup_wdt (WDT_OFF); flg_t4=0; //trisb=0x000f; TRIS_E8=1; trisb3=trisb4=trisb5=1; ptper=0x2f0; SEVTCMP=ptper; ptmr=0x0000; //===============PMOD3(PWM3 MODE) PMDO2(PWM2MODE) AND PMOD1(PWM1MODE) FOR SELECT COMPLEMENTARY OR Independent mode PMOD3=1;//PWM3 PMOD2=1;//PWM2 PMOD1=1;// PWM1 pten=1; // ENABLE INPUT CLOCK FOR PWM PTSIDL=0; //===========PTMOD0 AND PTMOD1 FOR SELECT MODE PWM ptmod0=0; // 00 Free Running mode ptmod1=1; // 01 Single-shot mode // 10 Continuous Up/Down Counting mode. // 11 Continuous Up/Down mode with interrupts for double PWM //============PTCKPS0 AND PTCKPS1 BIT FOR PTMR PRESCALE ptckps0=1; // 00 (1:1 prescale) ptckps1=0; // 01 (1:4 prescale) // 10 (1:16 prescale) // 11 (1:64 prescale) //============PENxh PENxl for enable pwmoutput=============== pen3h=1; // pen2h=1; // pen1h=1; // pen3l=1; // pen2l=1; // pen1l=1; // //======================================= pdc1=0; // pdc2=0; // pdc3=0; // //======================= OSYNC=1;UDIS=0; POVD1H =1; POVD1L =1; POVD2H =1; POVD2L =1; POVD3H =1; povd3l =0; Pout3L =1; //======================== PWMCON2=0X0F00; //FAEN1=1; //FAOV1H=1; //FLTAM=0; INDEX=0; SETUP_ADC_PORTS(sAN0|VSS_VDD ); SETUP_ADC(ADC_CLOCK_INTERNAL); enable_interrupts(INTR_GLOBAL); enable_interrupts(INT_TIMER1); disable_interrupts(INT_RDA); enable_interrupts(INTR_CN_PIN|PIN_B3); enable_interrupts(INTR_CN_PIN|PIN_B4); enable_interrupts(INTR_CN_PIN|PIN_B5 ); set_timer1(500); //=====================SET TIMER23 32 BIT======= setup_timer1(TMR_INTERNAL|TMR_DIV_BY_8); disable_interrupts(INT_EXT1); ext_int_edge( 1, H_TO_L); pdc1= pdc2= pdc3= 0; flg_int=0;FLG_RDA=0;flg_bk=0; n=0; OVDCON=TABLE_FW[0]; WHILE(N<10) { OUTPUT_TOGGLE(PIN_d1); DELAY_MS(100); N++; } OUTPUT_LOW(PIN_B2); FLTACON=0XFF87;E8=1; INDEX=hall_data.data; DELAY_US(50); OVDCON=TABLE_FW[INDEX]; TRISD0=1; // fltaif=0; // FLTACON=0XFF07; while(true) { ///////////////////////////////read analog for adjust speed/////////////////// //set_adc_channel( 0 ); //delay_us(10); //duty = read_adc(); // if(duty < 30 ) duty = 30; //getspeed(); //////////////////////////// check status cup ////////////////////////// n++; if(n>50000) { OUTPUT_toggle(PIN_d1); n=0; } /////////////////////////////////////////////////////////////////////// if(flg_int_cni)ROTATE_FW(); n++; if(n>50000) { OUTPUT_toggle(PIN_d1); n=0; } } } void getspeed(void) { IF(!FLG_BK) { set_adc_channel( 0 ); delay_us(10); duty = read_adc(); if(duty<40)duty=40; if(duty>600)duty=600; pdc1= pdc2= pdc3=duty; } ELSE { pdc1= pdc2= pdc3=0; } } VOID ROTATE_FW(VOID) {flg_int_cni=0; INDEX=hall_data.data; //DELAY_US(10); //OVDCON=TABLE_FW[INDEX]; while(!flg_int_cni){OVDCON=TABLE_FW[INDEX];OUTPUT_low(PIN_d1);} } VOID ROTATE_RW(VOID) {flg_int_cni=0; INDEX=hall_data.data; //DELAY_US(10); OVDCON=TABLE_RW[INDEX]; while(!flg_int_cni){OVDCON=TABLE_RW[INDEX];OUTPUT_low(PIN_d1);} }