标题: 一日本摸友的无刷无传感器电机驱动方案 [打印本页] 作者: xj6588 时间: 2004-10-5 12:31 标题: 一日本摸友的无刷无传感器电机驱动方案 无刷风扇电机驱动电路
无刷无传感器电机驱动电路
无刷无传感器电机驱动源代码(1)
;**** A P P L I C A T I O N N O T E A V R ************************
;* Title: Brush-less Sensor-less DC motor speed control
;* Version: 1.2
;* Last Updated: 02.12.20
;* v1.2 Bug found at maximum power control. ZL timer loop counter made no-power out timing.
;* v1.1 Correct the Low-voltage sense level and add the off timing for photo coupler delay compensation.
;* Target: AT90S2313 10MHz
;* Author: Takao Shimizu
;* Support E-mail: shimizutko@nttdata.co.jp, tel:+81-3-3533-9377
;*
;* DESCRIPTION This program is for model airplane Brush-less/Sensor-less DC Hi-Power motor control with usual
;* digital proportional radio control interface.
;* Also, this program has low-voltage sensing, no-signal sensing with keep-run timer(400mS) and
;* no-signal fail safe function.
;* One AT90S2313 can handle all interface lines to drive power FETS, rotor sensing, low voltage and
;* radio connection.
;* To discuss this program's detail, system hardware schematic is required.
;* Applications are model airplane, boat, hybrid car, home appliance's motor control ...etc.
;***************************************************************************
.equ phase_repeat =128 ;Starting repeat time data in TIMER0 interrupt routine.max 255 (Slowest starting speed)
.equ duty_max =240 ;on-duty timing at maximum power. max. 255
.equ phase_max =4 ;phase timing at maximum speed. frame frq.=CLK/1/256(40kHz)/this value. Consider sampling law.
.equ start_on_duty =64 ;used output on-duty timing routine at starting-up 1 phase only. off_duty=255-(start_on_duty). max. 255
;These values is slightly longer by interrupt machine cycles
.equ uS800=125 ;too short. 900uS/6.4uS T1 control input pulse width measuring resolution
.equ uS1100=173 ;1250uS/6.4uS T1 control input pulse width measuring resolution
.equ uS1900L=296-255 ;1900uS/6.4uS T1 control input pulse width measuring resolution
.equ uS2200=343 ;too long. 2200uS/6.4uS T1 control input pulse width measuring resolution
.equ uS2200L=343-255 ;too long. 2200uS/6.4uS T1 lo byte control input pulse width measuring resolution
.equ hys_hi=20 ;hysterisis threshold hi-level of duty data to avoid jitter at starting control input data
.equ hys_lo=10 ; hysterisis threshold lo-level of duty data to avoid jitter at starting control input data
.DSEG ;Start data segment
.ORG 0x60 ;Set SRAM address to hex 60
RAM_DUTY: .byte 1 ; storage for motor power control duty data
ph_count: .byte 1 ;phase timing repeat counter for starting slow 3-phase sweep frequency generator
temp0: .byte 1 ;general scratch space. used mainly in TIM0 data setting.
temp3: .byte 1 ;general scratch space
correct_pulse_width: .byte 1 ;flag to test control input pulse width. 0:incorrect, 1:correct
RAM_TCNT1H: .byte 1 ;Temp storage space for T1 hi-byte timer data
RAM_TCNT1L: .byte 1 ;Temp storage space for T1 lo-byte timer data
RAM_SHORT: .byte 1 ;motor off control pulse width data from T1 lo-byte timer data
RAM_LONG: .byte 1 ;full motor power control pulse width data from T1 lo-byte timer data
RAM_SENSE: .byte 1 ;sensor data storage space to check very slow rotation
RAM_POT: .byte 1 ;Storage for roundtime loop counter data storage space to check very slow rotation
RAM_HYS: .byte 1 ;slow stick position jitter cancel hysterisis data storage
;***** Registers used by all programs
;******Global variables used by routines
.def temp =r16 ;general scratch space
.def temp1 =r17 ;Mostly used for motor drive pattern. In sound gen. rtoutine, used for general scratch space,
.def temp2 =r18 ;general scratch space, used in INT1 interrupt routine. Do not care the using temp in T1 interrupt.
.def stack =r19 ;store SREG space for interrupt
.def on_time =r20 ;on-duty timing data register
.def r_sense =r21 ;get rotate data from sensors and store here
.def timset =r22 ;Flag for timer over flow
.def phase_tim_count =r23 ;motor phase timing counter
.def duty_time =r24 ;Duty time setting register for timer0
;XL is used as scratch space
;XH is used as scratch space
;YH is used argument in each sub-routine作者: xj6588 时间: 2004-10-5 12:42
;**************** motor speed control start routine ********************
start_up_setting: clr on_time ;initial power must be 0
ldi temp,hys_hi ;avoid jitter of control input data
sts RAM_HYS,temp ;by setting the slow speed hysterisis
ret
;-----------------------------------
output_on_timer:
set_off_check: cpi on_time,0 ;Control off?
breq free_run_tim
set_on_timer: mov duty_time,on_time
com duty_time ;on_time=$FF-(on_time) until overflow
out TCNT0,duty_time
st_pulse_out: rcall P_FET_on_fast
out PORTB,temp1 ;Turn on/off the U,V,W Output transistor
clr timset ;Clear timer0 flag
watch_tim_over: sbrs timset,0 ;Skip here if timer0 overflow is occurred
rjmp watch_tim_over
free_run_tim:
set_off_timer: rcall P_FET_off_fast
mov duty_time,on_time
out TCNT0,duty_time ;Do not confuse. off-timing is on_time data, until over flow!
tim_set: clr timset ;Clear timer0 timeover flag
off_phase: sbrs timset,0 ;Skip if timer0 overflow is occurred
rjmp off_phase
get_sense: in r_sense,PIND
andi r_sense,0b00000111 ;get rotate data from sensor circuit
ret
;---------------------------------
P_FET_off_fast: in temp,PORTB ;Turn of all of output FET with photo cuppler delay compasation
andi temp,0b01010111 ;Turn off setting for the UP,VP,WP P-site Output FETs
Pch_deley: out PORTB,temp ;'02/01/11 Photo cupller delay compensation, 2uS for Toshiba TLP521
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
clr temp
out PORTB,temp ;
ret
P_FET_on_fast: mov temp,temp1 ;Turn of all of output FET with photo cuppler delay compasation
andi temp,0b10101011 ;Turn off setting for the UP,VP,WP P-site Output FETs
out PORTB,temp ;'02/01/17 Photo cupller delay compensation, 2uS for Toshiba TLP521
out PORTB,temp ;Turn on the UP,VP,WP P-site Output FETs
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp
out PORTB,temp1 ;Output FETs all off for brake point test
ret
;---------------------------------
;*** Reset handler ***
;*** to provide initial port, timer and interrupt setting up
Reset_handler: clr temp
out PORTB,temp ;Output FETs all off
ser temp ;set register temp=R16 to "11111111"
out DDRB,temp ;initialize port B as all Outputs
ldi temp,0x00 ;clear temp
out DDRD,temp ;initialize portD as all Inputs
;Timer0 internal clock divide for output motor switching duty resolution
ldi temp,(1<<CS00) ;CLK/1
;ldi temp,(1<<CS01) ;CLK/8
;ldi temp,(1<<CS01)+(1<<CS00) ;CLK/64
;ldi temp,(1<<CS02) ;CLK/256
out TCCR0,temp
;Disable Timer0 overflow interrupt for output duty power control initialize
ldi temp,(0<<TOIE0)
out TIMSK,temp
;Timer1 Timer/Counter1 Control ResisterA(TCCR1A)
clr temp ;no output on pin15(OC1), Off the PWM operation
out TCCR1A,temp
;Timer1 internal clock divide for input power control digital prop. pulse width measuring
;Also, Input Timer1 counts data capture Edge select is "Falling Edge" by ICES1="0"
;ldi temp,(1<<CS10) ;CLK/1
;ldi temp,(1<<CS11) ;CLK/8
;ldi temp,(1<<CS11)+(1<<CS10)+(1<<ICNC1)+(0<<ICES1) ;CLK/64, 6.4uS resolution + Noise canceller for pin11 ICP
ldi temp,(1<<CS11)+(1<<CS10)+(0<<ICNC1)+(0<<ICES1) ;CLK/64, 6.4uS resolution
;ldi temp,(1<<CS12) ;CLK/256
;ldi temp,(1<<CS10)+(1<<CS12) ;CLK/1024
;ldi temp,(1<<CS11)+(1<<CS12) ;EXT pin T1, falling edge
;ldi temp,(1<<CS11)+(1<<CS10)+(1<<CS12) ;EXT pin T1, rising edge
out TCCR1B,temp
;Interrupt input setting for digital prop. pulse input
;ldi temp,(1<<ISC11) ;the falling edge of INT1 generates IRQ1
ldi temp,(1<<ISC11)+(1<<ISC10) ;the rising edge of INT1 generates IRQ1
out MCUCR,temp
ldi temp,(1<<INT1)
out GIMSK,temp ;Enable INT1 interrupt for Digital Prop. input line
ret
;---------------------------------
get_control_pulse:
rcall single_beep ;initial powered sound
rcall pulse_in_test ;wait the one sample of control pulse. Possibly noise when TX powered.
rcall pulse_in_test ;wait the one sample of control pulse
rcall pulse_in_test ;wait the one sample of control pulse
rcall pulse_width_check
lds temp,correct_pulse_width ;test control input pulse width by this flag. 0:incorrect, 1:correct
cpi temp,1 ;correct?
brne get_control_pulse ;No. incorrect
ret
;---------------------------------
get_shortest_pulse: rcall wait_2sec
rcall get_T1_data
store_short_pulse:
lds temp,RAM_TCNT1H ;get T1 hi byte data
cpi temp,0
brne get_shortest_pulse ;short not enough
lds temp,RAM_TCNT1L ;Get motor off control pulse width
clc
cpi temp,uS1100 ;Shorter than 1100uS?
brsh get_shortest_pulse ;short not enough
cpi temp,uS800 ;Shorter than 800uS?
brmi get_shortest_pulse ;Too short
cpi temp,0x81 ;RAM_SHORT must be more than $80 to avoid more than 8 bit subtract calculate
brmi get_shortest_pulse
sts RAM_SHORT,temp ;Store motor off control pulse width data
rcall po_pi
ret
;---------------------------------
get_longest_pulse:rcall wait_2sec
rcall wait_2sec
;rcall pulse_width_check
rcall get_T1_data
store_long_pulse:
lds temp,RAM_TCNT1H ;get T1 hi byte data
cpi temp,1
brne get_longest_pulse ;long not enough
lds temp,RAM_TCNT1L ;Get motor full power control pulse width
cpi temp,uS1900L ;longer than 1900uS?
brmi get_longest_pulse ;long not enough
clc
cpi temp,uS2200L ;longer than 2200uS?
brsh get_longest_pulse ;Too long
;brpl get_longest_pulse ;Too long
dec temp ;get digital 1 digit margin
dec temp ;get trim 1 digit margin
dec temp ;get trim 1 digit margin
sts RAM_LONG,temp ;Store motor full power control pulse width data
rcall po_pi
rcall po_pi
ret
;---------------------------------
get_motor_off_pulse: rcall wait_2sec
rcall pulse_width_check
lds temp,correct_pulse_width ;test control input pulse width by this flag. 0:incorrect, 1:correct
cpi temp,1 ;correct?
brne get_motor_off_pulse ;No. incorrect
lds temp,RAM_TCNT1H ;get T1 hi byte data
cpi temp,0
brne get_motor_off_pulse ;Is the TX stick position motor_off?
lds temp,RAM_TCNT1L ;Get motor off control pulse width
lds ZH,RAM_SHORT ;ZH is used as just temporary register
clc
cp temp,ZH ;Is the TX stick motor off position?
;brpl get_motor_off_pulse ;short not enough
brsh get_motor_off_pulse ;short not enough
rcall po_pi
rcall po_pi
rcall po_pi
ret
;-----------------------------------
no_signal_check:in r_sense,PIND ;
andi r_sense,0b01000000 ;get digital prop. input pulse on pin11(PD6)
mov XH,r_sense ;HX is just scratch
;brne sense_lo_batt ;pulse is "H", then should not read T1 Timer/Counter
in temp,TCNT1L ;get T1 law lo-byte timer data from T1 timer
in temp,TCNT1H ;get T1 law hi-byte timer data from T1 timer
in r_sense,PIND ;
andi r_sense,0b01000000 ;get digital prop. input pulse on pin11(PD6)
cp XH,r_sense
breq mS400_check
brpl continue_run ;ignore the data at "H" to "L" falling edge of T1 capture timing as spec. says
mS400_check: clc
cpi temp,0xfe ;no-signal over 6.4uS * 255 * 255 = 400mS?
brsh braking ;stop the motor
continue_run: ldi YH,0xa
ret
braking: ldi YH,0xb
ret
;------------------------------------------------
brake_out: ldi temp,0b01010100 ;motor Brake out
out PORTB,temp
rcall pulse_in_test ;wait the one sample of control pulse. Possibly noise when TX powered.
rcall pulse_in_test ;wait the one sample of control pulse
rcall pulse_in_test ;wait the one sample of control pulse
ret
;---------------------------------作者: xj6588 时间: 2004-10-5 12:45
sense_lo_batt: in temp,PIND ;
andi temp,0b00100000 ;get power voltage comparator input on pin9(PD5)
breq get_rx_pulse_ ;
about_50mS_tim: ldi temp,0 ;motor free run
out PORTB,temp
rcall pulse_in_test ;wait the one sample of control pulse.
rcall pulse_in_test ;wait the one sample of control pulse
rcall pulse_in_test ;wait the one sample of control pulse
re_check_it: in temp,PIND ;
andi temp,0b00100000 ;get power voltage comparator input on pin9(PD5)
breq get_rx_pulse_ ;
really_low: ldi temp,0 ;motor free run
out PORTB,temp
ldi temp,255
wait_a_few_sec:
rcall pulse_in_test ;wait the one sample of control pulse.
rcall pulse_in_test ;wait the one sample of control pulse
rcall pulse_in_test ;wait the one sample of control pulse
dec temp ;may 3-5 second
brne wait_a_few_sec
rcall single_beep
final_test: in temp,PIND ;
andi temp,0b00100000 ;get power voltage comparator input on pin9(PD5)
brne final_test
rcall single_beep ;ready go
check_stick_off:rcall get_rx_pulse
cpi on_time,0 ;is the stick position power-off?
brne check_stick_off
get_rx_pulse_: ret
;---------------------------------
;*** This routine catches the rotor position data
sense_rotor_position:
ldi temp,(1<<TOIE0) ;Enable Timer0 overflow interrupt for output duty power control
out TIMSK,temp
;normal_timing: rcall set_off_timer ;IMPORTANT! wait a little time to compensate sensor circuit response time
; rcall set_off_timer
;reduce_timing: rcall set_off_timer ;Whole control timing must be adjusted here and consider power limit
ldi temp,(0<<TOIE0) ;Disable Timer0 overflow interrupt for output duty power control
out TIMSK,temp
duty_setting: lds temp,RAM_duty
clc
cp on_time,temp
brsh set_control_duty ;Branch if same or higher
inc on_time ;Accelate with step by step to limit power current
rjmp check_max_duty
dec_phase_tim: lds temp,RAM_POT ;'02/02/16
cp temp1,temp ;RAM_POT has previous rotor control data(temp1)
breq same_position ;Rotor position is not rotated, then keep the power timing control
sts RAM_POT,temp1
dec phase_tim_count ;sampling speed up(reduce the Timer0 frame timing) step by step
lds temp,RAM_TCNT1L
add temp,ZH ;+input pulse width= value of duty data
brmi max_power ;data will be x2 by "lsl"
rjmp set_on_duty
;lsl temp
;sts RAM_DUTY,temp
noise_detect: ret ;
slow_pulse: lds temp,RAM_TCNT1L ;
lds ZH,RAM_SHORT ;Get motor off control pulse width
sub temp,ZH ;Is the TX stick motor off position?
brmi motor_off
breq motor_off
set_on_duty: lsr temp ;erase one digit jitter
lsl temp
;*****
;***** this routine makes hysterisis at starting only to avoid very slow start-up sequence
;*****
hysterisis_set: ;**************************
;ldi temp,30 ;TEST ONLY
;**************************
lds temp,RAM_TCNT1H
cpi temp,0x01 ;Check the longest in-put control data.
breq long_pulse_test ;over 1.63mS?
cpi temp,0
breq short_pulse_test ;less than 0.8mS?
rjmp wait_control_in ;too long incorrect pulse width(over 2.3mS)
long_pulse_test: lds temp,RAM_TCNT1L ;get input power control pulse width low-byte data from INT1
clc
cpi temp,uS2200L ;Check over 2200uS long in-put control data.
;cpi temp,0x30 ;Check the longest in-put control data.
;brpl wait_control_in ;too long incorrect pulse width(over 2.3mS)
brsh wait_control_in ;too long incorrect pulse width(over 2.3mS)
rjmp OK_input
short_pulse_test:lds temp,RAM_TCNT1L ;get input power control pulse width low-byte data from INT1
cpi temp,uS800 ;too short incorrect pulse width(less than 0.9mS)?
;cpi temp,0xA0 ;too short incorrect pulse width(less than 0.9mS)?
brmi wait_control_in ;bad data
OK_input: ldi temp,1
sts correct_pulse_width,temp ;OK. set "OK" Flag to RUN
ret
wait_control_in:clr temp
sts correct_pulse_width,temp ;Incorrect pulse width measured. Set bad Flag
ret
;------------------------------------------------
get_T1_data: in temp,PIND ;This routine gets the pulse width counter(T1) capture register data
andi temp,0b01000000 ;get digital prop. input pulse on pin11(PD6)
brne input_hi ;avoid data up-date by falling edge of PD6 as chatter
;interrupt handle routine ;Disable all interrupts to avoid T1 up-date chattering
in temp,ICR1L ;get T1 timer data from T1 capture register
sts RAM_TCNT1L,temp ;Store to the RAM space to calculate
in temp,ICR1H ;get input power control pulse width hi-byte data from T1
sts RAM_TCNT1H,temp ;Store to the RAM space to calculate
;enable all interrupts
input_hi: ret
;------------------------------------------------
wait_2sec: ldi temp,80 ;register r_sense can be used in no-rotation mode.
wait_80_frame: rcall pulse_in_test ;wait about 2 sec. by number of sampling control input pulse frame
dec temp
brne wait_80_frame
ret
;---------------------------------
pulse_in_test: in r_sense,PIND ;This routine checks the pulse width counter(T1)
andi r_sense,0b01000000 ;get digital prop. input pulse on pin11(PD6)
breq pulse_in_test
input_1: in r_sense,PIND
andi r_sense,0b01000000 ;get digital prop. input pulse on pin11(PD6)
brne input_1
input_0: nop ;ensure the ICP T1 capture time
;clr temp
;out PORTB,temp ;Output FETs all off for brake point test only
ret ;get falling edge of input pulse, Then SEE the T1 latched data
;-----------------------------------
single_beep: ldi temp,50 ;Set Sound freq.
beep_0: sts temp3,temp ;Store into the sound freq. data space
rcall single_beep
ret
;-----------------------------------
po_pi: rcall single_beep
ldi temp,20
rcall silent
ldi temp,40 ;"pi" freq. data
rcall beep_0
ret
;---------------------------------
beep_on: ldi temp1,0b01100000 ;Turn the UN, VP, W-off Output transistor
out PORTB,temp1 ;Turn on/off the UN, VP, W Output transistor
rcall little_timer
ldi temp1,0b10000100 ;Turn the UP, V-off, WN Output transistor
out PORTB,temp1 ;Turn on/off the UN, VP, W Output transistor
rcall little_timer
ldi temp1,0b00011000 ;Turn the U-off,VN, WP Output transistor
out PORTB,temp1 ;Turn on/off the UN, VP, W Output transistor
rcall little_timer
ldi temp1,0b10010000 ;Turn the UP, VN, WP-off Output transistor
out PORTB,temp1 ;Turn on/off the UN, VP, W Output transistor
rcall little_timer
ldi temp1,0b00100100 ;Turn the U-off,VP, WN Output transistor
out PORTB,temp1 ;Turn on/off the UN, VP, W Output transistor
rcall little_timer
ldi temp1,0b01001000 ;Turn the UN, V-off, WP Output transistor
out PORTB,temp1 ;Turn on/off the UN, VP, W Output transistor
rcall little_timer
rcall silent
ret
silent: clr temp1 ;Turn off the U, VP, W Output transistor
out PORTB,temp1
lds temp1,temp3 ;beep off-duty timer data to reduce the waste current.
no_tone: rcall little_timer
rcall little_timer
rcall little_timer
rcall little_timer
dec temp1
brne no_tone
ret
