/*****************************************************
This program was produced by the
CodeWizardAVR V2.05.3 Standard
Automatic Program Generator
© Copyright 1998-2011 Pavel Haiduc, HP InfoTech s.r.l.
http://www.hpinfotech.com
Project : BLDC MOTOR CONTROLLER
Version : 1
Date : 24/06/2015
Author :
Chip type : ATmega48PA
AVR Core Clock frequency: 12.000000 MHz
Memory model : Small
External RAM size : 0
Data Stack size : 128
*****************************************************/
#include <mega48pa.h>
#include <delay.h>
//ACTIVE LOW OR HIGH ???????????????????????
#define ACTIVE_LOW_LSIDES 1 // 1: Active-LOW, 0: Active-HIGH ( for low side MOSFETs )
//PWM init value
#define START_PWM 30
#define TOP_PWM 255
////////////////////////////////////////////////////
//Pin configuration
//PHASE1 (U)
#define UH_DDR DDRB.3
#define UH_PRT PORTB.3
#define UH_PWM_CTRL TCCR2A
#define UH_PWM_MOD COM2A1
#define UH_PWM_SET OCR2A
//PHASE1 (U)
#define UL_DDR DDRB.1
#define UL_PRT PORTB.1
//PHASE2 (V)
#define VH_DDR DDRD.5
#define VH_PRT PORTD.5
#define VH_PWM_CTRL TCCR0A
#define VH_PWM_MOD COM0B1
#define VH_PWM_SET OCR0B
//PHASE2 (V)
#define VL_DDR DDRB.2
#define VL_PRT PORTB.2
//PHASE3 (W)
#define WH_DDR DDRD.3
#define WH_PRT PORTD.3
#define WH_PWM_CTRL TCCR2A
#define WH_PWM_MOD COM2B1
#define WH_PWM_SET OCR2B
//PHASE3 (W)
#define WL_DDR DDRC.3
#define WL_PRT PORTC.3
/////////////////////////////////////////////////////////
//SENSE ADC chanels
#define SENSE_U ADMUX = 0;
#define SENSE_V ADMUX = 1;
#define SENSE_W ADMUX = 2;
/////////////////////////////////////////////////////////
#define OUT 1
#define IN 0
/////////////////////////////////////////////////////////
#define UH_ON() UH_PWM_CTRL |= (1 << UH_PWM_MOD);
#define UH_OFF() UH_PWM_CTRL &= ~(1 << UH_PWM_MOD);
#define VH_ON() VH_PWM_CTRL |= (1 << VH_PWM_MOD);
#define VH_OFF() VH_PWM_CTRL &= ~(1 << VH_PWM_MOD);
#define WH_ON() WH_PWM_CTRL |= (1 << WH_PWM_MOD);
#define WH_OFF() WH_PWM_CTRL &= ~(1 << WH_PWM_MOD);;
//////////////////////////////////////////////////////////
#if ACTIVE_LOW_LSIDES // Active-LOW
#define UL_ON() UL_PRT = 0;
#define UL_OFF() UL_PRT = 1;
#define VL_ON() VL_PRT = 0;
#define VL_OFF() VL_PRT = 1;
#define WL_ON() WL_PRT = 0;
#define WL_OFF() WL_PRT = 1;
#else // Active-HIGH
#define UL_ON() UL_PRT = 1;
#define UL_OFF() UL_PRT = 0;
#define VL_ON() VL_PRT = 1;
#define VL_OFF() VL_PRT = 0;
#define WL_ON() WL_PRT = 1;
#define WL_OFF() WL_PRT = 0;
#endif
////////////////////////////////////////////////////////////
#define PHASE_ALL_OFF() {UH_OFF(); UL_OFF(); VH_OFF(); VL_OFF(); WH_OFF(); WL_OFF();}
#define UH_SET(x) UH_PWM_SET = x;
#define VH_SET(x) VH_PWM_SET = x;
#define WH_SET(x) WH_PWM_SET = x;
/////////////////////////////////////////////////////////////
#define TIMER1_reset() TCNT1H = TCNT1L = 0; //set TIMER1 value (system tick)
#define COMP_enable() ACSR |= (1 << ACIE);
#define TIMER1_enable() TIMSK1 |= (1 << TOIE1);
#define COMP_disable() ACSR &= ~(1 << ACIE);
#define TIMER1_disable() TIMSK1 &= ~(1 << TOIE1);
/////////////////////////////////////////////////////////////
//functions prototype
void next_commutate_state(unsigned char startup);
////////////////////////////////////////////////////////////
unsigned char rotor_state = 0;
unsigned char rotor_run = 0;
bit SENSE_H=1;
unsigned char current_pwm = START_PWM;
/////////////////////////////////////////////////////////////
interrupt [TIM1_OVF] void timer1_ovf_isr(void)
{
next_commutate_state(1);
rotor_run = 0;
UH_SET(START_PWM);
VH_SET(START_PWM);
WH_SET(START_PWM);
}
/////////////////////////////////////////////////////////////
interrupt [ANA_COMP] void ana_comp_isr(void)
{
SENSE_H = (ACSR & (1<<ACO)) ;
if(rotor_run == 200)
next_commutate_state(0);
rotor_run++;
if(rotor_run > 200)
rotor_run = 200;
}
/////////////////////////////////////////////////////////////
void bldc_pin_DDR()//set pins connected to motor as output
{
UH_DDR = OUT;
UL_DDR = OUT;
VH_DDR = OUT;
VL_DDR = OUT;
WH_DDR = OUT;
WL_DDR = OUT;
}
//////////////////////////////////////////////////////////////
void pwm_init() //PWM for UH, VH and WH (>32KHz)
{
TCCR0A |= (1 << COM0B1);
TCCR0A |= (1 << WGM01);
TCCR0A |= (1 << WGM00);
TCCR0B |= (1 << CS00);//prescale 1
TCCR2A |= (1 << COM2A1);
TCCR2A |= (1 << COM2B1);
TCCR2A |= (1 << WGM21);
TCCR2A |= (1 << WGM20);
TCCR2B |= (1 << CS20) ; //prescale 1
}
//////////////////////////////////////////////////////////////
void timer1_init()
{
TCCR1B |= (1 << CS11); //prescaler = CLK/8
TIMSK1 |= (1 << TOIE1);
}
///////////////////////////////////////////////////////////////
void comp_init()
{
ADCSRB |= (1 << ACME); //use ADC multiplexer for AIN1
DIDR1 |= (1 << AIN0D) | (1 << AIN1D); ////digital input disable
ACSR |= (1 << ACIE);
}
void bldc_init()
{
bldc_pin_DDR(); //set pins connected to motor as output
pwm_init(); //PWM for UH, VH and WH (>32KHz)
timer1_init(); //for stat when there is no back emf.commutate in open loop
PHASE_ALL_OFF();
comp_init(); //Comperator init for back EMF
}
/////////////////////////////////////////////////////////////////
void next_commutate_state(unsigned char startup)
{
switch (rotor_state)
{
case (0):
if(!SENSE_H || startup)
{
WH_OFF();
UH_ON();
SENSE_W;
rotor_state = 1;
TIMER1_reset();
}
break;
case (1):
if(SENSE_H || startup)
{
VL_OFF();
WL_ON();
SENSE_V;
rotor_state = 2;
TIMER1_reset();
}
break;
case (2):
if(!SENSE_H || startup)
{
UH_OFF();
VH_ON();
SENSE_U;
rotor_state = 3;
TIMER1_reset();
}
break;
case (3):
if(SENSE_H || startup)
{
WL_OFF();
UL_ON();
SENSE_W;
rotor_state = 4;
TIMER1_reset();
}
break;
case (4):
if(!SENSE_H || startup)
{
VH_OFF();
WH_ON();
SENSE_V;
rotor_state = 5;
TIMER1_reset();
}
break;
case (5):
if(SENSE_H || startup)
{
UL_OFF();
VL_ON();
SENSE_U;
rotor_state = 0;
TIMER1_reset();
}
break;
}
}
/////////////////////////////////////////////////////
// Declare your global variables here
void main(void)
{
// Declare your local variables here
// Crystal Oscillator division factor: 1
#pragma optsize-
CLKPR=0x80;
CLKPR=0x00;
#ifdef _OPTIMIZE_SIZE_
#pragma optsize+
#endif
// TWI initialization
// TWI disabled
TWCR=0x00;
bldc_init();
#asm ("sei")
while (1)
{
if(current_pwm >= START_PWM)
{
COMP_enable();
TIMER1_enable();
if(rotor_run == 200)
{
UH_SET(current_pwm);
VH_SET(current_pwm);
WH_SET(current_pwm);
}
}
else
{
PHASE_ALL_OFF();
COMP_disable();
TIMER1_disable();
}
}
}
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