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BLDC motor control using F28335

RAGHAVRAJAT

By RAGHAVRAJAT,
in Development Kits

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RAGHAVRAJAT

RAGHAVRAJAT 0

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//###########################################################################
#include "DSP2833x_Device.h"

// external function prototypes
extern void InitSysCtrl(void);
extern void InitCpuTimers(void);

// Prototype statements for functions found within this file.
void Gpio_select(void);
void Setup_HS1(void);
void Setup_HS2(void);
void Setup_HS3(void);
void Setup_HS4(void);
void Setup_HS5(void);
void Setup_HS6(void);

// Global Variables
int Hall_1_result, Hall_2_result, Hall_3_result, Hall_State, x=0 , P_State=0;

#define Hall_1 GpioDataRegs.GPADAT.bit.GPIO24
#define Hall_2 GpioDataRegs.GPADAT.bit.GPIO25
#define Hall_3 GpioDataRegs.GPADAT.bit.GPIO26

//###########################################################################
//                      main code
//###########################################################################
void main(void)
{

    InitSysCtrl();  // Basic Core Init from DSP2833x_SysCtrl.c

    Gpio_select();


    while(1)
    {

        if(Hall_1 ==1)     //eCAP1_Hall1

            Hall_1_result = 1;
        else Hall_1_result = 0;

        if (Hall_2 == 1)
                              //eCAP2_Hall2
            Hall_2_result = 1;
        else Hall_2_result = 0;

        if (Hall_3 == 1)
                              //eCAP3_Hall3
            Hall_3_result = 1;
        else Hall_3_result = 0;

        Hall_State = (4*Hall_3_result) + (2*Hall_2_result) + (1*Hall_1_result);

        if (Hall_State >=1 && Hall_State <=6)
        {
            P_State = Hall_State;


        switch (Hall_State)
        {
            case 1 :
            {
                x = 1;
                Setup_HS1();
                break;
            }

            case 2 :
            {
                x = 2;
                Setup_HS2();
                break;
            }

            case 3 :
            {
                x = 3;
                Setup_HS3();
                break;
            }

            case 4 :
            {
                x = 4;
                Setup_HS4();
                break;
            }

            case 5 :
            {
                x = 5;
                Setup_HS5();
                break;
            }

            case 6 :
            {
                x = 6;
                Setup_HS6();
                break;
            }


        }

    }


                        if (Hall_State == 0 || Hall_State == 7)
                    {
                        EPwm1Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM1A(S1)
                        EPwm1Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM1B(S4)
                        EPwm2Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM2A(S3)
                        EPwm2Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM2B(S6)
                        EPwm3Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM3A(S5)
                        EPwm3Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM3B(S2)
                    }

    }        // end of infinite loop
}      // end of main

void Gpio_select(void)
{
    EALLOW;
    GpioCtrlRegs.GPAMUX1.all = 0;       // GPIO15 ... GPIO0 = General Puropse I/O
    GpioCtrlRegs.GPAMUX2.all = 0;       // GPIO31 ... GPIO16 = General Purpose I/O
    GpioCtrlRegs.GPBMUX1.all = 0;       // GPIO47 ... GPIO32 = General Purpose I/O
    GpioCtrlRegs.GPBMUX2.all = 0;       // GPIO63 ... GPIO48 = General Purpose I/O
    GpioCtrlRegs.GPCMUX1.all = 0;       // GPIO79 ... GPIO64 = General Purpose I/O
    GpioCtrlRegs.GPCMUX2.all = 0;       // GPIO87 ... GPIO80 = General Purpose I/O

    GpioCtrlRegs.GPAMUX1.bit.GPIO0= 1;  //ePWM1A active
    GpioCtrlRegs.GPAMUX1.bit.GPIO1= 1;  //ePWM1B active
    GpioCtrlRegs.GPAMUX1.bit.GPIO2= 1;  //ePWM2A active
    GpioCtrlRegs.GPAMUX1.bit.GPIO3= 1;  //ePWM2B active
    GpioCtrlRegs.GPAMUX1.bit.GPIO4= 1;  //ePWM3A active
    GpioCtrlRegs.GPAMUX1.bit.GPIO5= 1;  //ePWM3B active

    GpioCtrlRegs.GPADIR.all = 0;
    GpioCtrlRegs.GPAMUX2.bit.GPIO24 = 0;
    GpioCtrlRegs.GPADIR.bit.GPIO24 = 0;  // gpio pin as input
    GpioCtrlRegs.GPAMUX2.bit.GPIO25 = 0;
    GpioCtrlRegs.GPADIR.bit.GPIO25 = 0;  //gpio pins as input
    GpioCtrlRegs.GPAMUX2.bit.GPIO26 = 0;
    GpioCtrlRegs.GPADIR.bit.GPIO26 = 0;  //gpio pins as input

    GpioCtrlRegs.GPBDIR.all = 0;
    GpioCtrlRegs.GPCDIR.all = 0;
    GpioCtrlRegs.GPAPUD.all = 0;
    GpioCtrlRegs.GPAPUD.bit.GPIO24 = 0;
    GpioCtrlRegs.GPAPUD.bit.GPIO25 = 0;
    GpioCtrlRegs.GPAPUD.bit.GPIO26 = 0;
    EDIS;
}

void Setup_HS1(void)
{
    EPwm1Regs.TZCTL.all =  0;           //ePWM on S1 (ePWM1A)
    EPwm1Regs.TBCTL.bit.CLKDIV =  0;    // CLKDIV = 1
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = 1;  // HSPCLKDIV = 2
    EPwm1Regs.TBCTL.bit.CTRMODE = 2;    // up - down mode
    EPwm1Regs.AQCTLA.all = 0x0060;      // SET=CMPA CLEAR=CAD
    EPwm1Regs.TBPRD = 7500;             // 5KHz - PWM signal
    EPwm1Regs.CMPA.half.CMPA = EPwm1Regs.TBPRD/2;  //value of CMPA   (Duty Ratio)
    EPwm3Regs.AQCSFRC.bit.CSFB = 2;     //force continuous high on output of ePWM3B(S2)
    EPwm3Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM3A(S5)
    EPwm2Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM2B(S6)
    EPwm2Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM2A(S3)
    EPwm1Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM1B(S4)
}

void Setup_HS2(void)
{
    EPwm3Regs.TZCTL.all =  0;           //ePWM on S5 (ePWM3A)
    EPwm3Regs.TBCTL.bit.CLKDIV =  0;    // CLKDIV = 1
    EPwm3Regs.TBCTL.bit.HSPCLKDIV = 1;  // HSPCLKDIV = 2
    EPwm3Regs.TBCTL.bit.CTRMODE = 2;    // up - down mode
    EPwm3Regs.AQCTLA.all = 0x0060;      // SET=CMPA CLEAR=CAD
    EPwm3Regs.TBPRD = 7500;             // 5KHz - PWM signal
    EPwm3Regs.CMPA.half.CMPA = EPwm3Regs.TBPRD/2;  //value of CMPA   (Duty Ratio)
    EPwm2Regs.AQCSFRC.bit.CSFB = 2;     //force continuous high on output of ePWM2B(S6)
    EPwm1Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM1A(S1)
    EPwm3Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM3B(S2)
    EPwm2Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM2A(S3)
    EPwm1Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM1B(S4)
}



void Setup_HS3(void)
{
    EPwm1Regs.TZCTL.all =  0;           //ePWM on S1 (ePWM1A)
    EPwm1Regs.TBCTL.bit.CLKDIV =  0;    // CLKDIV = 1
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = 1;  // HSPCLKDIV = 2
    EPwm1Regs.TBCTL.bit.CTRMODE = 2;    // up - down mode
    EPwm1Regs.AQCTLA.all = 0x0060;      // SET=CMPA CLEAR=CAD
    EPwm1Regs.TBPRD = 7500;             // 5KHz - PWM signal
    EPwm1Regs.CMPA.half.CMPA = EPwm1Regs.TBPRD/2;  //value of CMPA   (Duty Ratio)
    EPwm2Regs.AQCSFRC.bit.CSFB = 2;     //force continuous high on output of ePWM2B(S6)
    EPwm3Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM3A(S5)
    EPwm3Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM3B(S2)
    EPwm2Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM2A(S3)
    EPwm1Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM1B(S4)
}

void Setup_HS4(void)
{
    EPwm2Regs.TZCTL.all =  0;            //ePWM on S3 (ePWM2A)
    EPwm2Regs.TBCTL.bit.CLKDIV =  0;    // CLKDIV = 1
    EPwm2Regs.TBCTL.bit.HSPCLKDIV = 1;  // HSPCLKDIV = 2
    EPwm2Regs.TBCTL.bit.CTRMODE = 2;    // up - down mode
    EPwm2Regs.AQCTLA.all = 0x0060;      // SET=CMPA CLEAR=CAD
    EPwm2Regs.TBPRD = 7500;             // 5KHz - PWM signal
    EPwm2Regs.CMPA.half.CMPA = EPwm2Regs.TBPRD/2;  //value of CMPA  (Duty Ratio)
    EPwm1Regs.AQCSFRC.bit.CSFB = 2;     //force continuous high on output of ePWM1B(S4)
    EPwm1Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM1A(S1)
    EPwm2Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM2B(S2)
    EPwm3Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM3A(S5)
    EPwm3Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM3B(S2)
}

void Setup_HS5(void)
{

    EPwm2Regs.TZCTL.all =  0;           //ePWM on S3 (ePWM2A)
    EPwm2Regs.TBCTL.bit.CLKDIV =  0;    // CLKDIV = 1
    EPwm2Regs.TBCTL.bit.HSPCLKDIV = 1;  // HSPCLKDIV = 2
    EPwm2Regs.TBCTL.bit.CTRMODE = 2;    // up - down mode
    EPwm2Regs.AQCTLA.all = 0x0060;      // SET=CMPA CLEAR=CAD
    EPwm2Regs.TBPRD = 7500;             // 5KHz - PWM signal
    EPwm2Regs.CMPA.half.CMPA = EPwm2Regs.TBPRD/2;  //value of CMPA  (Duty Ratio)
    EPwm3Regs.AQCSFRC.bit.CSFB = 2;     //force continuous high on output of ePWM3B(S2)
    EPwm1Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM1A(S1)
    EPwm1Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM1B(S4)
    EPwm3Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM3A(S5)
    EPwm2Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM2B(S6)


}

void Setup_HS6(void)
{
    EPwm3Regs.TZCTL.all =  0;            //ePWM on S5 (ePWM3A)
    EPwm3Regs.TBCTL.bit.CLKDIV =  0;    // CLKDIV = 1
    EPwm3Regs.TBCTL.bit.HSPCLKDIV = 1;  // HSPCLKDIV = 2
    EPwm3Regs.TBCTL.bit.CTRMODE = 2;    // up - down mode
    EPwm3Regs.AQCTLA.all = 0x0060;      // SET=CMPA CLEAR=CAD
    EPwm3Regs.TBPRD = 7500;             // 5KHz - PWM signal
    EPwm3Regs.CMPA.half.CMPA = EPwm3Regs.TBPRD/2;  //value of CMPA (Duty Ratio)
    EPwm1Regs.AQCSFRC.bit.CSFB = 2;     //force continuous high on output of ePWM1B(S4)
    EPwm1Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM1A(S1)
    EPwm2Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM2B(S2)
    EPwm2Regs.AQCSFRC.bit.CSFA = 1;     //force continuous low on output of ePWM2A(S3)
    EPwm3Regs.AQCSFRC.bit.CSFB = 1;     //force continuous low on output of ePWM3B(S2)
}


//===========================================================================
// End of SourceCode.
//===========================================================================

Hi,

I want to run a BLDC motor with the help of my DSP (TMS320F28335). While it is able to detect change in Hall State ( I confirmed it by rotating rotor with hand), as soon as Hall State is changing, corresponding gate driver signals are not developed. However if  I stop debugging in the IDE (CCS) and debug it again then corresponding correct pulses are produced. I am not getting how to develop gate driver signals continuously according to change in hall state. I am using following code-

 

code.txt

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