3.22EjemploDRM007 Co..

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Source Code LDX #0x12 DIV LDHX #0x0681 PSHA TXA PULX DIV STA Speed } } if (Actual_Direction == CCW) Speed = -Speed; ControllerOutput = PIController(); if (ControllerOutput < 0) { ControllerOutput = -ControllerOutput; Required_Direction = CCW; } else Required_Direction = CW; /* ControllerOutput newPWM = ---------------- + 128 256 */ newPWM = (UBYTE)((UBYTE)(ControllerOutput >> 8) + 0x80); MotorStalledProtection(); Milli_Counter++; /* Enters if Milli_Counter > 10 milliseconds */ if (Milli_Counter > 10) { Milli_Counter = 0; /* Wash Process */ if (BLDCState == BLDCWASH) RefSpeed = WASHTable[WASHTable_Index++]; /* Spin Process */ else if (SPINTable_Index != 0) { RefSpeed = SPINTable[SPINTable_Index++]; if (Required_Direction == CCW) RefSpeed = -RefSpeed; } } } return; DRM007 BLDC Motor Control Board for Industrial and Appliance Applications 132 Source Code MOTOROLA
Source Code Source Code Files /*****************************************************************************\ * SINT16 PI_Controller (void): This subroutines contains the PI controller * * implementation. * * * * Parameters: None. * * * * Return: SINT16. Controller output. * \*****************************************************************************/ /* ---- | | Mp(K) ---------| Kp |-------- | | | | --- | ---- | --- ------- R(K) -------| + | E(K) | --| + | M(K) | | | |--------| | |---------| Plant |-- U(K) ------| - | | --| + | | | | | --- | ---------- | --- ------- | | | | Ki | | | | -------|----------|---- | | |1 - Z^(-1)| Mi(K) | | ---------- | | | ----------------------------------------------------------------------- E(K) = R(K) - U(K) Mp(K) = E(K) * Kp Mi(K) = Mi(K - 1) + E(K) * Ki M(K) = Mp(K) + Mi(K) where: Symbol Variable Name E(K): ControlDifference R(K): RefSpeed U(K): Speed Mp(K): P_Portion Mi(K): I_Portion Mi(K - 1): I_PortionK_1 M(K): ControllerOutput Kp: P_Gain Ki: I_Gain BLDC Motor Control Board for Industrial and Appliance Applications DRM007 MOTOROLA Source Code 133
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BLDC Motor Control Board for Indust
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Revision History To provide the mos
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List of Sections DRM007 BLDC Motor
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Table of Contents Section 2. Operat
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Table of Contents 5.9.9 Signed Word
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List of Figures Figure Title Page 5
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List of Tables DRM007 BLDC Motor Co
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Introduction and Setup 1.2 Introduc
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Introduction and Setup M68HC08 CPU
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Introduction and Setup • Low-powe
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Introduction and Setup OR PRESCALER
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Introduction and Setup 1.4.3 PWM Co
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Introduction and Setup Brushless dc
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Introduction and Setup V BUS PWM1 P
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Introduction and Setup 1.6.6 Target
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Introduction and Setup The Hall sen
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Introduction and Setup To program t
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Introduction and Setup HALL EFFECT
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Operational Description 2.3 Electri
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Operational Description By pressing
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Operational Description 2.5.5 J5
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44 Schematics and Bill of Materials
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Schematics and Bill of Materials 6
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Schematics and Bill of Materials 4
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Schematics and Bill of Materials DR
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Hardware Design Considerations 4.2
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Hardware Design Considerations VCC
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Hardware Design Considerations As a
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Hardware Design Considerations This
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Hardware Design Considerations DRM0
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Software Design Considerations 5.9.
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Software Design Considerations Clos
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Software Design Considerations The
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Software Design Considerations TIMA
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Software Design Considerations 5.5
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Page 84 and 85: Software Design Considerations 5.6.
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Page 96 and 97: Software Design Considerations DRM0
Page 98 and 99: Practical Results Figure 6-2 shows
Page 100 and 101: Practical Results Taking the rectif
Page 102 and 103: Practical Results DRM007 BLDC Motor
Page 104 and 105: Source Code 7.2 Include Files 7.2.1
Page 106 and 107: Source Code #define SCS1 (*(volatil
Page 108 and 109: Source Code 7.2.2 START08.H ; /****
Page 110 and 111: Source Code #pragma DATA_SEG DEFAUL
Page 112 and 113: Source Code // Function Headers voi
Page 114 and 115: Source Code void CtrlLCD(UBYTE cont
Page 116 and 117: Source Code 7.3 Source Code Files 7
Page 118 and 119: Source Code ZeroOut: ; LDA _startup
Page 120 and 121: Source Code Loop1: finished: } } DB
Page 122 and 123: Source Code 7.3.2 MAIN.C ; /*******
Page 124 and 125: Source Code EnableInterrupts(); do
Page 126 and 127: Source Code } else { if((PORTB & OP
Page 128 and 129: Source Code #include "MR8IO.h" #inc
Page 130 and 131: Source Code #endif /* Initialize ti
Page 134 and 135: Source Code */ SINT16 PIController
Page 136 and 137: Source Code /**********************
Page 138 and 139: Source Code { #ifdef MOS_3_COM PVAL
Page 140 and 141: Source Code #ifdef MOS_2_COM PVAL1
Page 142 and 143: Source Code PVAL3 = _newPWM; PVAL4
Page 144 and 145: Source Code TurnOffAllPWMOutputs();
Page 146 and 147: Source Code /**********************
Page 148 and 149: Source Code void MovCursorLCD(UBYTE
Page 150: Source Code /**********************
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3.22EjemploDRM007 Co..

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