void __attribute__((interrupt, no_auto_psv)) _CNInterrupt(void) {
unsigned int ccwpat[] = {-1, 3, 6, 2, 5, 1, 4, -1};
unsigned int cwpat[] = {-1, 5, 3, 1, 6, 4, 2, -1};
state = (S3 << 2) | (S2 << 1) | S1; //Read hall effect sensors
if(motoron == 1){ //If the motor has been turned on
// is state transition valid?
if (last_state == -1 || (state == ccwpat[last_state] || state == cwpat[last_state])) {
commutate(state); //Change outputs based on hall effect sensor state
}
} else { //If the motor is off
commutate(0); //Set all motor outputs to float
printf("motor off: current state is %d\n", state);
}
if(USER) {
commutate(0);
motoron = 0;
}
if (last_state && (state != ccwpat[last_state] && state != cwpat[last_state])) {
LED1 = 0;
//commutate(0);
//printf("noisy state...ending program\n");
//printf("last state: %u next state: %u valid next states: %u %u\n",
// last_state, state, ccwpat[last_state], cwpat[last_state]);
/*
while (1) {
LED3 = !(state & 0x1);
LED2 = !(state & 0x2);
LED1 = !(state & 0x4);
}
*/
}
else {
LED1 = 1;
}
if(state == 0 || state == 7) {
char reread = (S3 << 2) | (S2 << 1) | S1; //Read hall effect sensors
commutate(0);
printf("error state...ending program\n");
printf("last state: %u next state: %u valid next states: %u %u\n",
last_state, state, ccwpat[last_state], cwpat[last_state]);
printf("reread port and got %d as the current state\n", reread);
while (1);
}
last_state = state;
//LED1 = !LED1;
//printf("%d",state);
PORTD; //Clear mismatch condition
IFS1bits.CNIF = 0; //Clear interrupt flag
}
/* _CNInterrupt is the change notification interrupt trigger by a change in
* state of the hall effect sensor inputs. The interrupt service routine reads
* the hall effect sensor state and calls the commutate function to change the
* motor lead outputs.
*
* Interrupt vector names are in Table 7-4 p101 of the MPLAB C30 User's Guide
*/
void __attribute__((interrupt, no_auto_psv)) _CNInterrupt(void) {
state = (S3 << 2) | (S2 << 1) | S1; //Read hall effect sensors
if(motoron == 1){ //If the motor has been turned on
commutate(state); //Change outputs based on hall effect sensor state
} else { //If the motor is off
commutate(0); //Set all motor outputs to float
}
LED1 = !LED1;
//printf("%d",state);
PORTD; //Clear mismatch condition
IFS1bits.CNIF = 0; //Clear interrupt flag
}
void TIM3_IRQHandler(void)
{
/* "Read" all sensors sequence and execute the BLDC coils commutation */
commutate ();
/* Save current time between each hall sensor signal change */
hall_sensors_time = TIM_GetCapture1(TIM3);
// clear interrupt flag
TIM_ClearITPendingBit (TIM3, TIM_IT_Trigger);
}
int main(void) {
int duty = 500;
initialize();
write_duty(duty); //apply duty cycle change
motoron = 1;//turn motor on
kick();//kick start commutation
while (1){
commutate(2);
__delay32(40000000);
commutate(4);
__delay32(40000000);
commutate(3);
__delay32(40000000);
if(USER){
motoron=0;
}
LED1 = !S3;
LED2 = !S2;
LED3 = !S1;
//test_MayDay();
}
return 0;
}
/* The kick function needs to be called when the motor is starting from rest.
* If the motor is not rotating the change notification interrupt will not
* trigger and the commutate function will not be called. The kick function
* drives the motor to change the hall effect sensor inputs.
*/
void kick(void){
int kick;
int state;
int CWtable[6] = {5,3,1,6,4,2};
int CCWtable[6] = {3,6,2,5,1,4};
state = (S3 << 2) | (S2 << 1) | S1;
if(direction==CW){
kick = CWtable[state-1];
} else{ //direction == CCW
kick = CCWtable[state-1];
}
printf("%d",kick);
commutate(kick);
}
void motor_start(MOTOR *p)
{
p->state = STATE_START;
p->phase = 1;
p->start_counter = 0;
*(p->phase_a_pwm) = 800;
*(p->phase_b_pwm) = 800;
*(p->phase_c_pwm) = 800;
p->start_comm_period = US_TO_TICKS(10000);
commutate(p);
// TIM_ITConfig(TIM10, TIM_IT_CC1, ENABLE);
TIM10->DIER |= TIM_IT_CC1;
*(p->commutate_timer) = *(p->commutate_counter) + p->start_comm_period;
p->prev_comm_ticks = *(p->commutate_timer);
p->start_comm_period = ((p->start_comm_period * 15) >> 4);
}
/* The pulse width modulation module controls the motor torque by changing the
* amount of time the on voltage is applied. The PWM module runs at 20kHz in
* complementary mode to work with the HIP4086 BLDC driver.
* In complementary mode each of the three PWM modules controls two outputs
* whose states are the inverse of each other.
* The module incorporates a dead time delay between the falling edge of one
* signal and the rising edge of the next to prevent shoot through.
*/
void initialize_PWM(void){
PTCON2bits.PCLKDIV = 0b010; //PWM input clock prescaled by 1:4
//Period = 80 MHz / (PTPER * Prescaler)
//PTPER = 80 MHz / (20kHz * 4) = 1000
PTPER = 1000;
//PTPER = 80 MHz / (50kHz * 4) = 400
PTPER = 400;
IOCON1bits.PMOD = 0; //Set PWM1 to Complementary Mode
IOCON2bits.PMOD = 0; //Set PWM2 to Complementary Mode
IOCON3bits.PMOD = 0; //Set PWM3 to Complementary Mode
//DTR = Fosc * Deadtime / Prescaler
//DTR = 80MHz * 0.5us / 4
DTR1 = DTR2 = DTR3 = 10; //Set deadtime of 0.5us
ALTDTR1 = ALTDTR2 = ALTDTR3 = 10; //Set alternate deadtime of 0.5us
//Enable PWM outputs
IOCON1bits.PENH = 1;
IOCON1bits.PENL = 1;
IOCON2bits.PENH = 1;
IOCON2bits.PENL = 1;
IOCON3bits.PENH = 1;
IOCON3bits.PENL = 1;
//Set polarity of PWM registers
IOCON1bits.POLH = 1; //PWM1H pin is active-low
IOCON2bits.POLH = 1; //PWM1H pin is active-low
IOCON3bits.POLH = 1; //PWM1H pin is active-low
IOCON1bits.POLL = 0; //PWM1L pin is active-high
IOCON2bits.POLL = 0; //PWM1L pin is active-high
IOCON3bits.POLL = 0; //PWM1L pin is active-high
//Use MDC register to provide duty cycle information for all PWM modules
PWMCON1bits.MDCS = 1;
PWMCON2bits.MDCS = 1;
PWMCON3bits.MDCS = 1;
MDC = 100; // Sets master duty cycle at 10%. 100% is at MDC = 1000
MDC = 10;
commutate(0); //Set all motor outputs to float
PTCONbits.PTEN = 1; //Enable PWM
}
void initialize_pwm(void){
PTCON2bits.PCLKDIV = 0b010; //PWM input clock prescaled by 1:4
//Period = 80 MHz / (PTPER * Prescaler)
//Period = 80 MHz / (20kHz * 4) = 1000
PTPER = 1000;
IOCON1bits.PMOD = 00; //Set PWM to Complementary Mode
IOCON2bits.PMOD = 00; //Set PWM to Complementary Mode
IOCON3bits.PMOD = 00; //Set PWM to Complementary Mode
DTR1 = DTR2 = DTR3 = 10;
ALTDTR1 = ALTDTR2 = ALTDTR3 = 10;
IOCON1bits.PENH = 1;
IOCON1bits.PENL = 1;
IOCON2bits.PENH = 1;
IOCON2bits.PENL = 1;
IOCON3bits.PENH = 1;
IOCON3bits.PENL = 1;
IOCON1bits.POLH = 1;
IOCON2bits.POLH = 1;
IOCON3bits.POLH = 1;
IOCON1bits.POLL = 0;
IOCON2bits.POLL = 0;
IOCON3bits.POLL = 0;
PWMCON1bits.MDCS = 1; //MDC register provides duty cycle information
PWMCON2bits.MDCS = 1;
PWMCON3bits.MDCS = 1;
MDC = 100; // Sets master duty cycle at 10%
commutate(0);
PTCONbits.PTEN = 1;
}
void commutate_state(comm_state_t n_state) {
state = n_state;
commutate();
}
