U/f kontrola motora dsPIC30F4011

Code:

;*******************************************************************************
;UPDATE_PWM_DUTYCYCLES
;
;This routine will update the PWM duty cycle on CCPx according to the 
;offset to the table with 0-120-240 degrees.
;This routine scales the PWM value from the table based on the frequency to keep V/F
;constant.
;*******************************************************************************
UPDATE_PWM_DUTYCYCLES

    movf    TABLE_OFFSET1,W            ;Load the table offset for Phase 1
    movf    PLUSW0,W                ;Use offset to access value in sine table via indirect addressing
    mulwf    FREQUENCY, W            ;Table_value X Frequency
    movff    PRODH,PDC0H_TEMP        ;Copy high product into temporary variable for PDC0H
    movff    PRODL,PDC0L_TEMP        ;Copy low product into temporary variable for PDC0L

;    movlw    0x1E                    ;Add 78h (1Eh shifted left two bits), in order to prevent 0 duty cycle
;    addwf    PDC0L_TEMP, F
;    btfsc    STATUS, C
;    incf    PDC0H_TEMP, F

UPDATE_PWM2
    movf    TABLE_OFFSET2,W            ;Load the table offset for Phase 2
    movf    PLUSW0,W                ;Use offset to access value in sine table via indirect addressing
    mulwf    FREQUENCY, W            ;Table_value X Frequency
    movff    PRODH,PDC1H_TEMP        ;Copy high product into temporary variable for PDC1H
    movff    PRODL,PDC1L_TEMP        ;Copy low product into temporary variable for PDC1L
    
;    movlw    0x1E                    ;Add 78h (1Eh shifted left two bits), in order to prevent 0 duty cycle
;    addwf    PDC0L_TEMP, F
;    btfsc    STATUS, C
;    incf    PDC0H_TEMP, F
    
UPDATE_PWM3
    movf    TABLE_OFFSET3,W            ;Load the table offset for Phase 3
    movf    PLUSW0,W                ;Use offset to access value in sine table via indirect addressing
    mulwf    FREQUENCY, W            ;Table_value X Frequency
    movff    PRODH,PDC2H_TEMP        ;Copy high product into temporary variable for PDC2H
    movff    PRODL,PDC2L_TEMP        ;Copy low product into temporary variable for PDC2L
    
;    movlw    0x1E                    ;Add 78h (1Eh shifted left two bits), in order to prevent 0 duty cycle
;    addwf    PDC0L_TEMP, F
;    btfsc    STATUS, C
;    incf    PDC0H_TEMP, F
    
TRUNCATE_PWM123                        ;Truncate results of multiply to 10 uppermost bits
    bcf        STATUS,C                ;discarding lower two bits and right justifying 
    rlcf    PDC0L_TEMP,F
    rlcf    PDC0H_TEMP,F
    rlcf    PDC0L_TEMP,F
    rlcf    PDC0H_TEMP,F
    rlcf    PDC0L_TEMP,W
    andlw    0x3
    movff    PDC0H_TEMP,PDC0L_TEMP
    movwf    PDC0H_TEMP
    
    bcf        STATUS,C
    rlcf    PDC1L_TEMP,F
    rlcf    PDC1H_TEMP,F
    rlcf    PDC1L_TEMP,F
    rlcf    PDC1H_TEMP,F
    rlcf    PDC1L_TEMP,W
    andlw    0x3
    movff    PDC1H_TEMP,PDC1L_TEMP
    movwf    PDC1H_TEMP

    bcf        STATUS,C
    rlcf    PDC2L_TEMP,F
    rlcf    PDC2H_TEMP,F
    rlcf    PDC2L_TEMP,F
    rlcf    PDC2H_TEMP,F
    rlcf    PDC2L_TEMP,W
    andlw    0x3
    movff    PDC2H_TEMP,PDC2L_TEMP
    movwf    PDC2H_TEMP

;testofPWM
;    infsnz    temp, f
;    incf    temp1, f
;    btfss    temp1, 2            ;if this bit is set temp1=4
;    goto    donewiththis
;    clrf    temp
;    clrf    temp1
;donewiththis
;    movff    temp, PDC0L_TEMP
;    movff    temp1, PDC0H_TEMP    
                
;    movlw    0x01
;    movwf    PDC0L_TEMP
;    movlw    0x00
;    movwf    PDC0H_TEMP
;    movlw    0xe8
;    movwf    PDC1L_TEMP
;    movlw    0x03
;    movwf    PDC1H_TEMP

    call    CHECK_LIMITS

    bsf        PWMCON1, UDIS        ;Disable updates to duty cycle and period
    movff    PDC0L_TEMP,PDC0L    ;Transfer temporary values into duty cycle registers
    movff    PDC0H_TEMP,PDC0H
    movff    PDC1L_TEMP,PDC1L
    movff    PDC1H_TEMP,PDC1H
    movff    PDC2L_TEMP,PDC2L
    movff    PDC2H_TEMP,PDC2H
    
    
;    movlw    0xFA
;    movwf    PDC0L
;    movlw    0x00
;    movwf    PDC0H
;    movlw    0xF4
;    movwf    PDC1L
;    movlw    0x01
;    movwf    PDC1H
;    movlw    0xEE
;    movwf    PDC2L
;    movlw    0x02
;    movwf    PDC2H
    
    bcf        PWMCON1, UDIS        ;Enable updates to duty cycle and period to update simultaneously.

    
    return    

;*******************************************************************************
;UPDATE_TABLE_OFFSET
;
;This routine Updates the offset pointers to the table after every access
;*******************************************************************************
UPDATE_TABLE_OFFSET
    btfss    FLAGS,OFFSET1_FLAG            ;If set incr. on table
    bra        DECREMENT_OFFSET1
    movlw    (SINE_TABLE_ENTRIES-1)        ;Check for the last value on the table
    cpfslt    TABLE_OFFSET1
    bra        CLEAR_OFFSET1_FLAG
    incf    TABLE_OFFSET1,F                ;Increment offset1
    bra        UPDATE_OFFSET2

CLEAR_OFFSET1_FLAG
    bcf        FLAGS,OFFSET1_FLAG

DECREMENT_OFFSET1
    dcfsnz    TABLE_OFFSET1,F                ;Decrement offset1
    bsf        FLAGS,OFFSET1_FLAG

UPDATE_OFFSET2
    btfss    FLAGS,OFFSET2_FLAG            ;If set incr. on table
    bra        DECREMENT_OFFSET2
    movlw    (SINE_TABLE_ENTRIES-1)        ;Check for the last value on the table
    cpfslt    TABLE_OFFSET2
    bra        CLEAR_OFFSET2_FLAG
    incf    TABLE_OFFSET2,F                ;Increment offset2
    bra        UPDATE_OFFSET3

CLEAR_OFFSET2_FLAG
    bcf        FLAGS,OFFSET2_FLAG

DECREMENT_OFFSET2
    dcfsnz    TABLE_OFFSET2,F                ;Decrement offset2
    bsf        FLAGS,OFFSET2_FLAG

UPDATE_OFFSET3
    btfss    FLAGS,OFFSET3_FLAG            ;If set incr. on table
    bra        DECREMENT_OFFSET3
    movlw    (SINE_TABLE_ENTRIES-1)        ;Check for the last value on the table
    cpfslt    TABLE_OFFSET3
    bra        CLEAR_OFFSET3_FLAG
    incf    TABLE_OFFSET3,F                ;Increment offset3
    return    

CLEAR_OFFSET3_FLAG
    bcf        FLAGS,OFFSET3_FLAG

DECREMENT_OFFSET3
    dcfsnz    TABLE_OFFSET3,F                ;Decrement offset3
    bsf        FLAGS,OFFSET3_FLAG
    return    

Code:

movf    TABLE_OFFSET1,W            ;Load the table offset for Phase 1
    movf    PLUSW0,W                ;Use offset to access value in sine table via indirect addressing
    mulwf    FREQUENCY, W            ;Table_value X Frequency
    movff    PRODH,PDC0H_TEMP        ;Copy high product into temporary variable for PDC0H
    movff    PRODL,PDC0L_TEMP        ;Copy low product into temporary variable for PDC0L

Code:

unsigned int sin_table[40]={ 625 ,723 ,818 ,909 ,992 ,1067 ,1130 ,1182 ,1219 ,
                             1242 ,1248 , 1242 ,1220 ,1182 ,1131 ,1067 ,993 ,909 ,
                             819 ,724 ,625 ,617 ,595 ,557 ,506 ,442 ,368 ,284 ,
                             194 ,99 ,5 ,98 ,193 ,284 ,367 ,442 ,505 ,557 ,594,617 };
unsigned int i=0,j=0,k=0,brojac=0;
void interrupt(){
     if(PTIF_bit){
                  brojac++;
                  if(brojac==4){
                                brojac=0;
                                PDC0L=sin_table[i];
                                PDC0H=(sin_table[i] & 0b0011111100000000)>>8; //faza_a
                                PDC1L=sin_table[j];
                                PDC1H=(sin_table[j] & 0b0011111100000000)>>8; //faza_b
                                PDC2L=sin_table[k];
                                PDC2H=(sin_table[k] & 0b0011111100000000)>>8; //faza_c
                                i++;
                                j++;
                                k++;
                                if(i==40) i=0;
                                if(j==40) j=0;
                                if(k==40) k=0;
                                PTIF_bit=0;
                  }
     }
}
void main() {
     INTCON=0b11000000;
     INTCON2=0;
     PIE3=0b00010000;    // omogucen interrupt base timer-a
     PWMCON0=0b01010000; // svi omoguceni za PWM i rade u paru
     PTCON0=0b00000100; //pres 4 post 0
     PTCON1=0;
     PTPERH=(311&0b0000111100000000)>>8;    //4kHz PWM
     PTPERL=311;
     //DTCON=0b01000111;
     TRISB=0;
     PORTB=255;
     Delay_ms(1000);
     PORTB=0;
     TRISD=0;
     PORTD=0;
     i=0;
     j=13;
     k=26;
     PTCON1.B7=1;
     while(1){
     }
}