;******************************************************************************* ;PROGRAM : FEC Motor control algorithm for 3-phase induction motor ;MICROCONTROLLER : PIC18Fxx31 ;******************************************************************************* ; ; Authors: Greg "Turbo" Linder ; Brian H Green ; Nestor Castillo ; Bernie Erxleben ; Alan Hernandez ; ;******************************************************************************* ;Based on code by ; : Jon Burroughs and ; : Padmaraja Yedamale ; : Microchip Technology Inc ;DATE : 2/11/04 ;Version : V1.0 ;******************************************************************************* ;******************************************************************************* ; ; 4/18/05 ; We have the thing going-- There are pictures on the FFT of line-line voltage and ; phase current that look pretty nice. When running at 57 volts, there is very little ; so far as third order harmonics going on. ; ; ; 4/18/05 ; The whole off by one thing was fixed-- It had to do with the value of Qclocks ; used in the PWM code-- The value to compare Qclocks on was set to 4, and it is ; now zero- I think I understand why it works.. We're going to try an HV test ; today with the fixed q-clock thing. Additionally, the deadtime is set to zero and ; the minl_dutycycle stuff is also set to zero.. ; ; 4/15/05 ; So it turns out that the code really is broken-- The switching waveforms aren't looking ; as good as they should-- They look like they are switching polarity midway through. You ; really need to zoom out quite a bit to see it, though-- The glitch happens every 3.72 seconds, ; and it happens because the timing looks appear to be out of sync-- Like when two sinwaves ; are off by just a hair, the error accumulates over time, and then-- ka-bam, the thing stops ; working. Who knows.. Needs to get fixed. ; ; ; 2/21/05 ; Apparently the magical inverter gnomes have played a trick- The optocouplers ; of the demo board were inverting, which means we need to switch the polarity of ; the PWM signals to cooperate with the inverter- This has been changed in the ; configuration bits setting menu in the IDE. ; - Additional note: For the IRAMS module, all 6 PWM channels need to be active low ; - For the FEC inverter, PWM 0,2,4 active low, PWM 1,3,5 active high ; ; ; 2/14/05 ; Currently working on getting this code to work on FEC only hardware- ; Biggest areas to figure out currently are teh fault stuff, and when to call stop ; motor- Are we going to use the fltas input? If so, to do what? ; Look into fixing STOP MOTOR code- Need to determine reset behavior of stop_motor- ; When does it stop permanently requiring powerup reset to fix? When does it stop ; temporarily only needing speed change command. ; CURRENTLY THERE IS NO PROTECTION ENABLED ON THE CIRCUIT. DON'T BLOW ANYTHING UP ; ; 12/5/04 ; Added code to start the motor after the A/D average value passes a certain ; point- Will be used with actual voltage input during challenge- Still need ; to implement some code to allow the motor to coast to a stop after the speed ; input drops below that level- In this case, the level is arbitrarily chosen as ; 0x07, which corresponds to the motor's lowest design speed, 150 RPM. ; ; 12/4/04 ; Added more comments, removed old commented-out code, moved hard-coded ; values into 3im_vf.inc file. ; Also removed interrupt handlers for low-priority interrupts (A/D and input ; capture), as we are not using those anymore. Put code into CALCULATE_CONTROL_OFFSET ; to copy CAP1BUFx to MECH_PERIOD_x. ; ; The code NO LONGER SUPPORTS variable switching speeds- To make the PWM run at a different ; frequency requires a considerable amount of re-writing, but it is doable. ; ; 12/3/04 ; Added overvoltage code and tested it with pot- Can't test it _actually_ until we get ; our demo board ; ; 11/21/04 -> 12/3/04 ; The entire control-system calling routine was re-written in the last week, predominantly ; by Brian Green, to implement a non-interrupt-driven method of calling control- ; This allows us to control acceration rate independent of the speed at which the control ; loop runs. ; ; Additionally, the motor was mounted on the Dyno and tested at various speeds- The motor failed ; to get _any_ torque at high speed, which promoted us, among other things, to write a ramp routine. ; ; 11/21/04 ; Added some comments, moved some things around, and generally tried to improve code ; readability. ; ; 11/20/04 ; Fixed the BootLeg Feedback control- All code written 11/19, but it didn't work at the ; time- The motor would jiggle and vibrate, which was very funny to watch. Turned out to be ; problems in the control loop control which was fixed in the morning. ; ; In the afternoon, we developed and tested the fuse code, which will do our overcurrent ; trip. That is not in this code as of yet, but does function on a demo board ; for Brian and Nestor's Senior Design lab thing. ; Also added serial code, which does not output in real time functionally due to the large ; time period of the serial comms vs. thespeed the motor updates need to happen. ; The plan for the serial i/o code is to write debugging data into the EEPROM ; on motor stop which will be played over the serial port- This means we can ; trace the highest feedback values, motor speed, and timer values prior to a shutdown. ; For tuning the timing loops and calibrating our lookup tables for the FEC motor this ; will be very useful, as the debugger will not function when the board is operating in HV ; mode, and the debugger will also not interface to the final FEC project board when ; it is operational, due to the difficulty of isolated the uC from the rest of the circuit. ; ; ; 11/19/04 ; -Started adding feedback code- To have the feedback code NOT run, and run in ; open loop mode, all you have to do is uncomment the code as noted in the main loop ; ; -Deleted temp1 and temp variable, so now we only use TEMP and TEMP1- ; I was getting irritated by the different calls to temp vs TEMP ; ; ; UPDATE_PWM_DUYCYCLES was re-written to allow a ramp for the Voltage in the motor. There ; is a lookup table that can be used to define the applied voltage for various stages ; in the acceleration profile. These can be adjusted for varying torques at different speeds ; as required. ; ; ; This code supports three different switching frequencies- 10 KHz, 16 KHz, and 20 KHz ; The code must be changed in three places to facilitate the different frequencies- ; 1) The appropriate Duty cycle limit definition must be selected ; 2) The appropriate PTPERL and PTPERH settings in the Initialize PCPWM settings ; 3) The appropriate UPDATE_PWM_DUTYCYCLES code must be uncommented ; UPDATE- The above no longer works due to the implementation of Bootleg control. ; ; ; Implemented lookup table for Timer0 reload instead of ; division. This allows us to pre-compute a link between ; the A/D speedpot input and the output frequency, which ; is important for computing the reload values from 150 - 5k rpm ; -The old Timer0 reload coad has been removed ; ; ; ; ; ;******************************************************************************* include include <3im_vf.inc> ;******************************************************************************* __CONFIG _CONFIG1H, 0x02 ;_OSC_HS_1H &_FCMEN_OFF_1H&_IESO_OFF_1H __CONFIG _CONFIG2L, 0x0C ;_PWRTEN_ON_2L & _BOREN_ON_2L & _BORV_20_2L __CONFIG _CONFIG2H, 0x3E ;_WDTEN_OFF_2H ; __CONFIG _CONFIG3L, 0x3C ;0x24 ;_PWMPIN_OFF_3L & _LPOL_LOW_3L & _HPOL_LOW_3L & _GPTREN_ON_3L ;FOR IRAMS INVERTER __CONFIG _CONFIG3L, 0x24 ;--- __CONFIG _CONFIG3H, 0x9D ;_FLTAMX_RC1_3H & _PWM4MX_RB5_3H __CONFIG _CONFIG4L, 0x7b __CONFIG _CONFIG5L, 0x0F __CONFIG _CONFIG5H, 0xC0 __CONFIG _CONFIG6L, 0x0F __CONFIG _CONFIG6H, 0xE0 __CONFIG _CONFIG7L, 0x0F __CONFIG _CONFIG7H, 0x40 ;FLAGS bits #define TIMER0_OV_FLAG 0 ; Sets in interrupt handler when TIMER0 overflows #define OFFSET1_FLAG 1 ; Because we only store 180 degrees of sine data #define OFFSET2_FLAG 2 ; that is traversed up and down, these flags #define OFFSET3_FLAG 3 ; whether to increment or decrement for the next sine value ;Duty cycle limit definition, for 10KHz @20MHz, 1us deadtime ;Computed and added 11/14/04 to match Duke's hexbridge specification ; The maximum duty cycle is 4 X PTPER to compensate for the Q-bit offset in PWM stuff ; There seems to be a problem with the Q-bit offset-- It was causing spurious 3.72 second ; noise, where the switching waveforms would slowly reverse polarity. The old MINL_DUTY_CYCLE ; was 0x3C. It tursn out that we really don't need a minimum duty cycle.. Perhaps ; when we switch to the center-aligned pwm it might become more important. ;#define MINL_DUTY_CYCLE 0x3C #define MINL_DUTY_CYCLE 0x00 ;******************************************************************************* ;RAM locations in Access bank, uninitialized ;******************************************************************************* UDATA_ACS TABLE_OFFSET1 res 1 ;Phase1 offset to the Sine table(0) TABLE_OFFSET2 res 1 ;Phase2 offset to the Sine table(120) TABLE_OFFSET3 res 1 ;Phase3 offset to the Sine table(240) COUNTER res 1 ;General counters COUNTER1 res 1 FLAGS res 1 ;Flags registers used to indicate different status FREQ_REF_H res 1 ;Reference Frequency input from lookup table based on A/D input FREQ_REF_L res 1 ; Temp values to be used in subroutines that need math values- ; DO NOT USE THESE IN INTERRUPT HANDLERS, as it will most likely ; break things when the interrupts are finished. TEMP res 1 TEMP1 res 1 TEMP2 res 1 TEMP3 res 1 ; Temp values for use in the UPDATE_PWM_DUTYCYCLES code PDC0L_TEMP res 1 PDC0H_TEMP res 1 PDC1L_TEMP res 1 PDC1H_TEMP res 1 PDC2L_TEMP res 1 PDC2H_TEMP res 1 ; The following definitions are for the Bootleg feedback MECH_PERIOD_H res 1 ; Written on IC1 interrupt- Holds the number of clock ticks MECH_PERIOD_L res 1 ; since the last rising edge of encoder wheel CONTROL_OFFSET_H res 1 ; Output from Bootleg control that gets added to CONTROL_OFFSET_L res 1 ; TIMER0 reload values. Only _L is used currently. COMMAND_PERIOD_H res 1 ; The commanded period that comes from the A/D converter COMMAND_PERIOD_L res 1 ; Converted from 0-FF to # clock ticks to compare with MECH_PERIOD ACTUAL_PERIOD_L res 1 ; Period to load into timer0 update registers ACTUAL_PERIOD_H res 1 ; Values needed for the ramp code and the new control code AVERAGE_SPEED res 1 ; Stores average speed of a/d input RAMPED_SPEED res 1 ; stores ramped speed for control output RAMP_COUNTER_LOW res 1 ; Delay loop for ramp RAMP_COUNTER_HI res 1 ; Delay loop for ramp CONTROL_COUNTER_LOW res 1 ; Delay loop for control CONTROL_COUNTER_HI res 1 ; Delay loop for control ; Values needed for the new AD handler code SPEED_SUM_LOW res 1 ; Running average for speed- 256 samples, then return high order SPEED_SUM_HI res 1 SUM_COUNTER res 1 ; Counter that says when 256 samples have been taken, and it is ; therefore time to load AVERAGE_CURRENT, AVERAGE_VOLTAGE, and ; AVERAGE_SPEED ; Values needed for overcurrent CURRENT_SUM_HI res 1 ; Running average for current CURRENT_SUM_LOW res 1 AVERAGE_CURRENT res 1 ; Output current after 256 samples CurrentCounter_L res 1 ; Used in OVERCURRENT_FUSE for decided when too much CurrentCounter_H res 1 ; current has been around for too long. ; Values needed for overvoltage VOLTAGE_SUM_LOW res 1 ; Running average for voltage VOLTAGE_SUM_HI res 1 AVERAGE_VOLTAGE res 1 ; Average voltage returned after 256 samples. ; Other values: SINE_TABLE res 0x14 ; Sine table FREQ_SCALE_FACTOR res 1 ; Used for UPDATE_PWM routine CENTER_OF_HEX res 1 ; Center_of_hex value for hex->ASCII conversion ;******************************************************************************* ;******************************************************************************* ; RESET AND INTERRUPT VECTORS ;******************************************************************************* ;******************************************************************************* STARTUP code 0x00 goto Start ;Reset Vector address CODE 0x08 goto ISR_HIGH ;High priority ISR at 0x0008 ;PROG_LOW CODE 0x018 ; nop ; goto ISR_LOW ;Low priority ISR at 0x0018 ;******************************************************************************* ;******************************************************************************* ; INITIALIZATION ;******************************************************************************* ;******************************************************************************* PROG1 code Start ; Clears all of the values needed through the code- Not doing this ; means that certain memory locations may be full of odd things that ; make no sense. clrf FLAGS clrf CONTROL_OFFSET_H clrf CONTROL_OFFSET_L clrf AVERAGE_SPEED clrf RAMPED_SPEED clrf RAMP_COUNTER_LOW clrf RAMP_COUNTER_HI clrf CONTROL_COUNTER_LOW clrf CONTROL_COUNTER_HI clrf CurrentCounter_L clrf CurrentCounter_H call INIT_HSADC call INIT_PCPWM call INIT_IC1 call INIT_TMR0 call INIT_PORTC call INIT_PORTD call COPY_TABLE_TO_RAM bsf ADCON0, GO WAIT_HERE call AD_HANDLER ; Wait until A/D value goes above certain value before starting motor movlw CutoffSpeed cpfsgt AVERAGE_SPEED bra WAIT_HERE ; AVERAGE_SPEED > CutoffSpeed bcf PORTC,0 call INIT_MOTOR_START call INIT_INTERRUPTS ;******************************************************************************* ;******************************************************************************* ; MAIN LOOP ;******************************************************************************* ;******************************************************************************* MAIN_LOOP btfss FLAGS,TIMER0_OV_FLAG ;back from Timer0 overflow? bra bypass ;No call UPDATE_PWM_DUTYCYCLES ;Yes, update the PWM duty cycle with new value call UPDATE_TABLE_OFFSET ;Update 3 offsets bcf FLAGS,TIMER0_OV_FLAG ;Clear the flag bypass btfsc ADCON0, GO ;does A/D have new sample? bra bypass2 ;no call AD_HANDLER ;why yes, it does bypass2 call CONTROL_HANDLER ; Run control loop ; Stops motor if pot value goes < CutoffSpeed movlw CutoffSpeed-1 cpfsgt AVERAGE_SPEED bra Start ; go back up top because speed command is too low ; btfsc FLTCONFIG,FLTAS ; this is protection for dev board ; call STOP_MOTOR ; bra MAIN_LOOP ;******************************************************************************* ;******************************************************************************* ; INTERRUPT SERVICE ROUTINES ;******************************************************************************* ;******************************************************************************* ;******************************************************************************* ;High priority interrupt service routine ;Timer0 overflow is checked ;******************************************************************************* ISR_HIGH btfsc INTCON,TMR0IF ;Timer0 overflow Interrupt? bra TIMER0_OVERFLOW ;Yes RETFIE FAST TIMER0_OVERFLOW ;TMR0 overflow ISR movff ACTUAL_PERIOD_H,TMR0H ;Load the Higher byte of speed command to TMR0H movff ACTUAL_PERIOD_L,TMR0L ;Load the Lower byte of speed command to TMR0L bsf FLAGS,TIMER0_OV_FLAG bcf INTCON,TMR0IF ;Clear TMR0IF RETFIE FAST ;******************************************************************************* ;******************************************************************************* ; MOTOR DRIVE SUBROUTINES ;******************************************************************************* ;******************************************************************************* ;******************************************************************************* ;CONTROL_HANDLER ; ;This routine implements the following: ; ;increment ramp counter ;if(ramp counter>x) ; reset ramp counter ; move actual command towards ad average thingy (inc or dec or nothing) ; call Calculate Timer0 Reload ;endif ; ;increment control loop counter ;if(control loop counter > x) ; call Calculate Control Offset ; call Calculate Timer0 Reload ;endif ; ; ; Inputs: AVERAGE_SPEED ; ; Outputs: RAMPED_SPEED ; ; Requires: RAMP_COUNTER_LOW, RAMP_COUNTER_HI ; CONTROL_COUNTER_LOW ; CONTROL_COUNTER_HI ; ; ;******************************************************************************* CONTROL_HANDLER ; This is basically a delay loop which runs every time CONTROL_HANDLER is called ; - - - - - - - - incf RAMP_COUNTER_LOW btfsc STATUS, C incf RAMP_COUNTER_HI movlw Acceleration cpfsgt RAMP_COUNTER_HI bra PROCESS_CONTROL ; - - - - - - - - - ; Once the delay loop has been used up, then we either increase our ramped speed ; or decrease our ramped speed, depending on where we want the motor to go. ; - - - - - - - - - clrf RAMP_COUNTER_HI ; It's time to increase or decrease ramp speed, since movf AVERAGE_SPEED, W ; RAMP_COUNTER has grown larger than RampAcceleration cpfsgt RAMPED_SPEED bra SEE_IF_LESS_THAN decf RAMPED_SPEED ; ramped speed > filtered speed so decrement ramped freq SEE_IF_LESS_THAN cpfslt RAMPED_SPEED bra FINISH_RAMP ; they are either equal, or we've already taken care of it incf RAMPED_SPEED ; ramped freq < filtered freq so increment ramped freq FINISH_RAMP call CALCULATE_TIMER0_RELOAD ;- - - - - - - - - ; The following runs each time through this routine as well, and is another delay ; loop which allows us to ramp the speed at a different rate than that at which we run the ; control. ; Alright- Admittedly that's a bit confusing. PROCESS_CONTROL incf CONTROL_COUNTER_LOW btfsc STATUS, C incf CONTROL_COUNTER_HI movlw ControlTimer cpfsgt CONTROL_COUNTER_HI ; Is it time to update control variables? bra END_OF_CONTROL_HANDLER ; No clrf CONTROL_COUNTER_HI ; delay has gone high enough, now do stuff. btg PORTD,2 call CALCULATE_CONTROL_OFFSET call CALCULATE_TIMER0_RELOAD END_OF_CONTROL_HANDLER return ;******************************************************************************* ;AD_Handler ; keeps running average of 256 current, speed commands, and voltages ; ; This just takes the three A/D channels we are interested in, which are ; current, speed, and voltage, and sums them together for 256 samples. ; This is done to try and minimize the wobblyness in the A/D channels, so ; we can minimize the possibility of false overcurrent trips and speed-input ; wobbles. ; If you take 256 8-bit samples, you end up with a 16 bit value whose average ; is in the top 8 bits (The same as doing (Sample Value) 256 times / 256) ; ; After 256 samples, outputs are in: ; AVERAGE_CURRENT ; AVERAGE_SPEED ; AVERAGE_VOLTAGE ; ; ; Read A/D convert in GROUP A, B, C, in this order ; Overcurrent ; Speed Command ; Over VOltage ; ;******************************************************************************* AD_HANDLER ; movf ADRESH, W ;Sum Overcurrent ; addwf CURRENT_SUM_LOW ;add it to the running sum ; btfsc STATUS, C ; incf CURRENT_SUM_HI ;incrememnt hi order when appropriate movf ADRESH,W ;Sum Speed command input ; movlw 0x47 ;for a constant speed command normally commented out addwf SPEED_SUM_LOW ;add it to the running sum btfsc STATUS, C incf SPEED_SUM_HI ;increment hi order when appropriate ; movf ADRESH,W ; Sum Over voltage channel ; addwf VOLTAGE_SUM_LOW ;add it to the running sum ; btfsc STATUS, C ; incf VOLTAGE_SUM_HI ;incrememnt hi order when appropriate incf SUM_COUNTER ; When we have ran through this loop 256 times, we want to move these btfss STATUS, C ; "filtered" value into the register to be used elsewhere in code bra NOT_DONE_WITH_SUMS ; If sum is done, move the "average" value (top value of last 256 sums) into the appropriate place ; and clear the average registers ; movff CURRENT_SUM_HI,AVERAGE_CURRENT ; clrf CURRENT_SUM_HI ; clrf CURRENT_SUM_LOW movff SPEED_SUM_HI,AVERAGE_SPEED clrf SPEED_SUM_LOW clrf SPEED_SUM_HI ; movff VOLTAGE_SUM_HI,AVERAGE_VOLTAGE ; clrf VOLTAGE_SUM_LOW ; clrf VOLTAGE_SUM_HI clrf SUM_COUNTER ; Reset sum counter ; call OVERCURRENT_FUSE ; If we have a new set of averages ready, go do the overcurrent ; call OVERVOLTAGE_FUSE ; and overvoltage fuse stuff NOT_DONE_WITH_SUMS bsf ADCON0, GO ; Start a new conversion after every averaging period. return ;******************************************************************************* ; OVERCURRENT_FUSE ; ; This looks at the values in AVERAGE_CURRENT and increments or decrements ; overcurrent "Fuses" as it runs. ; ; Code basically implements the following: ; ; If (Current > NominalCurrent), increment CurrentCounter ; If (Current < NominalCurrent), decrement CurrentCounter ; ; If (CurrentCounter > TripLimit), then trip ; If (CurrentCounter < TripLimit), do nothing ; If (CurrentCounter < 0), reset to 0. ; ; Note here that the Current values are actually the Average_Current from the ; 256 cycle A/D averaging routine. ; ; Inputs: ; AVERAGE_CURRENT ; Outputs: ; If motor current is chronically high, meaning impending doom ; call STOP_MOTOR ; ; Constants Used: ; NominalCurrent ; Nominal current to compare to ; CurrentLimit_H ; Trip limit- The 16 bit counter value that causes ; CurrentLimit_L ; over current fault ; ; Variables Used: ; CurrentCounter_H res 1 ; The counter to which the AD values are added ; CurrentCounter_L res 1 ; which is compared with Trip limit ; Temp res 1 ; Temporary values ; Temp1 res 1 ; ; Additional Comments: ; integrated into code 12/3... seems functional, but limits, nominal should ; probably be played around with so overcurrent trips faster for high and slower for ; just a little high... ; ineresting notes: trip limit cannot have MSB set, it will mess up the negative test ; logic. Same logic will cause problems if nominal current does not have MSB set. ; so.. ;******************************************************************************* OVERCURRENT_FUSE ;Implements Temp = Current - NominalCurrent movlw NominalCurrent ; Load NominalCurrent into W subwf AVERAGE_CURRENT, W ; w <= Current - NominalCurrent movwf TEMP ; Temp <= Low Value btfss STATUS, N ; If result is negative, set Temp1 to 0xFF to do 2's complement stuff bra NOT_NEGATIVE movlw 0xFF movwf TEMP1 ; <= High Value bcf PORTD,1 bra PLUSTRIPCOUNTER NOT_NEGATIVE clrf TEMP1 ; Make sure that high order bits are zero for proper adds bsf PORTD,1 ; set the second LED to indicate active overcurrent PLUSTRIPCOUNTER ; Does TripCounter = TripCounter + temp in 16 bit clrf STATUS, C movf TEMP, W addwf CurrentCounter_L, F movf TEMP1, W addwfc CurrentCounter_H, F ; Test to see if TripCounter is negative. It never should be. Reset to zero if it is. btfss CurrentCounter_H, 7 bra PerformComparison clrf CurrentCounter_H clrf CurrentCounter_L PerformComparison ; What follows is an example of how to do a 16 bit compare with 8-bit registers. ; There are several examples of this throughout this code. ; Do comparison- Trip if count > TripLimit: movlw CurrentLimit_H ; Load high trip limit cpfsgt CurrentCounter_H bra Compare_Continue bra OverCurrent Compare_Continue cpfslt CurrentCounter_H bra Test_Less_Than bra Less_Than_Current Test_Less_Than movlw CurrentLimit_L ; Load low trip limit cpfsgt CurrentCounter_L bra Less_Than_Current bra OverCurrent Less_Than_Current bra End_Of_Fuse OverCurrent call STOP_MOTOR ; On total overcurrent, call stop_motor End_Of_Fuse return ;******************************************************************************* ; OVERVOLTAGE_FUSE ; ; This looks at the values in AVERAGE_CURRENT and increments or decrements ; overcurrent "Fuses" as it runs. ; ; This essentially implements: ; If (Average_Voltage > VoltageLimit) then stop motor ; If (Average_Voltage > RampLimit) then reset ramp counter ; ; Inputs: ; AVERAGE_VOLTAGE ; ; Outputs: ; If motor voltage is chronically high, meaning impending doom ; call STOP_MOTOR ; ; Constants Used: ; VoltageLimit ; Trip limit- The limit to stop the motor ; RampLimit ; Ramp limit- The limit that resets ramp counter ; ;******************************************************************************* OVERVOLTAGE_FUSE movlw VoltageLimit cpfsgt AVERAGE_VOLTAGE bra Less_Than_Voltage_Limit call STOP_MOTOR return Less_Than_Voltage_Limit movlw RampLimit cpfsgt AVERAGE_VOLTAGE bra Less_Than_Ramp_Limit clrf RAMP_COUNTER_HI clrf RAMP_COUNTER_LOW Less_Than_Ramp_Limit return ;******************************************************************************* ;UPDATE_PWM_DUTYCYCLES ; ; ; ;******************* THIS IS FOR 10 KHz Switching Frequency!! ****************** ; ; ;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. ;THIS ROUTINE USES RAMPED_SPEED AS ITS REFERENCE ;******************************************************************************* ; How good are lookup tables? We need to get: ; FREQ_SCALE_FACTOR = RAMPED SPEED*(Vmax-Vzero)/Fcorner + Vzero ; Which has been nicely computed in the voltage_schedule table UPDATE_PWM_DUTYCYCLES movlw Fcorner ; Corner frequency- Where we switch from V/HZ to constant value cpfslt RAMPED_SPEED ; If RAMPED_SPEED < 0x4D, skip next command bra USE_CONSTANT_VALUE ; Set constant value for FREQ_SCALE_FACTOR movlw UPPER voltage_schedule ;Initialize Table pointer to the first movwf TBLPTRU ;location of the table movlw HIGH voltage_schedule movwf TBLPTRH movlw LOW voltage_schedule movwf TBLPTRL movf RAMPED_SPEED, W addwf TBLPTRL ;Set up offset based on frequency location TBLRD* movff TABLAT, FREQ_SCALE_FACTOR bra UPDATE_PWM1 USE_CONSTANT_VALUE movlw 0xF3 movwf FREQ_SCALE_FACTOR UPDATE_PWM1 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 FREQ_SCALE_FACTOR, 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 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 FREQ_SCALE_FACTOR, 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 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 FREQ_SCALE_FACTOR, 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 TRUNCATE_PWM123 ;Truncate results of multiply to 11 uppermost bits bcf STATUS,C ;discarding lower two bits and right justifying rlcf PDC0L_TEMP,F ;TRUNCATE TO UPPERMOST 11 BITS rlcf PDC0H_TEMP,F ;this is effectively dividing by 32 rlcf PDC0L_TEMP,F rlcf PDC0H_TEMP,F rlcf PDC0L_TEMP,F rlcf PDC0H_TEMP,F rlcf PDC0L_TEMP,W andlw 0x7 movff PDC0H_TEMP,PDC0L_TEMP movwf PDC0H_TEMP movff PDC0L_TEMP,PDC0L ;Transfer temporary values into duty cycle registers movff PDC0H_TEMP,PDC0H bcf STATUS,C rlcf PDC1L_TEMP,F rlcf PDC1H_TEMP,F rlcf PDC1L_TEMP,F rlcf PDC1H_TEMP,F rlcf PDC1L_TEMP,F rlcf PDC1H_TEMP,F rlcf PDC1L_TEMP,W andlw 0x7 movff PDC1H_TEMP,PDC1L_TEMP movwf PDC1H_TEMP movff PDC1L_TEMP,PDC1L movff PDC1H_TEMP,PDC1H bcf STATUS,C rlcf PDC2L_TEMP,F rlcf PDC2H_TEMP,F rlcf PDC2L_TEMP,F rlcf PDC2H_TEMP,F rlcf PDC2L_TEMP,F rlcf PDC2H_TEMP,F rlcf PDC2L_TEMP,W andlw 0x7 movff PDC2H_TEMP,PDC2L_TEMP movwf PDC2H_TEMP movff PDC2L_TEMP,PDC2L movff PDC2H_TEMP,PDC2H call CHECK_LIMITS 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 ; Configure signal to flash whenever flags get reset-- This way we can ; trigger the scope on something that is meaningful to look at the sine waves. btg PORTC,0 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 ; Configure signal to flash whenever flags get reset-- This way we can ; trigger the scope on something that is meaningful to look at the sine waves. btg PORTD,0 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 ; Configure signal to flash whenever flags get reset-- This way we can ; trigger the scope on something that is meaningful to look at the sine waves. btg PORTD,1 DECREMENT_OFFSET3 dcfsnz TABLE_OFFSET3,F ;Decrement offset3 bsf FLAGS,OFFSET3_FLAG return ;***************************************************************************** ; New CALCULATE_TIMER0_RELOAD based on lookup table method ; ; This loads a value from the lookup table indexed by the RAMPED_SPEED value ; FREQ_REF_L and FREQ_REF_H are loaded with synchronous timer0 reload values ; these synchronous values are used by the feedback routine ; the control offset is added, and ACTUAL_PERIOD_L,H have the values to reload ; into timer0 ; The lookup table is called freq_scale_table ; THIS ROUTINE USES RAMPED_SPEED AS ITS REFERENCE ;***************************************************************************** CALCULATE_TIMER0_RELOAD movlw UPPER freq_scale_table ;Initialize Table pointer to the first movwf TBLPTRU ;location of the table movlw HIGH freq_scale_table movwf TBLPTRH movlw LOW freq_scale_table movwf TBLPTRL movlw 0x7F ; Location of center of lookup table ; offsets from 0-248 (255/2) movwf TEMP1 ; to adjust value of TBLPTRH movf RAMPED_SPEED, W ; Start of mem table is RAMPED_SPEED cpfslt TEMP1 ; Is offset > 7F? bra CALCULATE_RELOAD_END ; NO ; YES-> incf TBLPTRH ; If RAMPED_SPEED > 7C, add one to TBLPTRH addlw 0x80 ; Subtract 0x7F from table value-> ; the offset in 0x800 must be 0. CALCULATE_RELOAD_END addwf TBLPTRL rlncf TBLPTRL ; We are indexing WORDS- Multiply by 2!! TBLRD*+ movff TABLAT, FREQ_REF_L ; Get first value movff TABLAT, ACTUAL_PERIOD_L TBLRD* movff TABLAT, FREQ_REF_H ; Get second value movff TABLAT, ACTUAL_PERIOD_H movf CONTROL_OFFSET_L, W ; Adds CONTROL_OFFSET_L to the timer value to get loaded into TIMER0 addwf ACTUAL_PERIOD_L btfsc STATUS,C incf ACTUAL_PERIOD_H return ;******************************************************************************* ;CHECK_LIMIT ROUTINE ; by the calculation of the voltage schedule, duty cycle will be less than ; MAX_DUTY_CYCLE (4 x PTPER) - min duty cycle ; it is still necessary to ensure that PDC is greater or equal to MINL_DUTY_CYCLE (3 x deadtime) ; ;******************************************************************************* CHECK_LIMITS CHK_PWM0_MIN ;Test to see if PDC0H:PDC0L < 0:MINL_DUTY_CYCLE movf PDC0H_TEMP, F ;First, is PDC0H = 0? bnz CHK_PWM1_MIN ; if no, then PDC cannot be less than minimum, check next value movlw MINL_DUTY_CYCLE ;Second, is PDC0L > MINL_DUTY_CYCLE? cpfsgt PDC0L_TEMP ; if yes, then PDC is not less than minimum, check next value movwf PDC0L_TEMP ; if no, make it the minimum value CHK_PWM1_MIN ;Test to see if PDC1H:PDC1L < 0:MINL_DUTY_CYCLE movf PDC1H_TEMP, F ;First, is PDC1H = 0? bnz CHK_PWM2_MIN ; if no, then PDC cannot be less than minimum, check next value movlw MINL_DUTY_CYCLE ;Second, is PDC1L > MINL_DUTY_CYCLE? cpfsgt PDC1L_TEMP ; if yes, then PDC is not less than minimum, check next value movwf PDC1L_TEMP ; if no, make it the minimum value CHK_PWM2_MIN ;Test to see if PDC2H:PDC2L < 0:MINL_DUTY_CYCLE movf PDC2H_TEMP, F ;First, is PDC2H = 0? bnz DONE_CHECK_LIMITS ; if no, then PDC cannot be less than minimum, check next value movlw MINL_DUTY_CYCLE ;Second, is PDC2L > MINL_DUTY_CYCLE? cpfsgt PDC2L_TEMP ; if yes, then PDC is not less than minimum, check next value movwf PDC2L_TEMP ; if no, make it the minimum value DONE_CHECK_LIMITS return ;******************************************************************************* ;This routine stops the motor by driving the PWMs to 0% duty cycle. ;******************************************************************************* STOP_MOTOR ;make the PWM outputs as always low ;there was some concern that this would result in PWMs being turned on ;right at the beginning of the PWM cycle for a count, but it was shown ;on a scope that this works. An alternative method could be using the ;override registers bsf PWMCON1, UDIS ;Disable updates to duty cycle and period clrf PDC0L clrf PDC0H clrf PDC1L clrf PDC1H clrf PDC2L clrf PDC2H bcf PWMCON1, UDIS ;Enable updates to duty cycle and period to update simultaneously. bsf PORTD,0 ;we have over-currented or voltaged, sit here until your power is cycled off and on STAY_FOREVER bra STAY_FOREVER return ;******************************************************************************* ;******************************************************************************* ; FEEDBACK CONTROL SUBROUTINES ;******************************************************************************* ;******************************************************************************* ;******************************************************************************* ; CALCULATE_CONTROL_OFFSET ; ; This routine implements the bootleg feedback routine ; ; - Generates CONTROL_OFFSET_H and CONTROL_OFFSET_L as offset to add ; to the timer0 reload values. ; - Requires following registers: ; ; CAP1BUFH - Output from capture module ; CAP1BUFL - Gives us the period of the last rising edge of cogwheel. ; MECH_PERIOD_L res 1 - Used to store CAP1BUFH and CAP1BUFL during routing, ; MECH_PERIOD_H res 1 - to prevent accidental overwriting if a new edge comes in during this routine ; CONTROL_OFFSET_H res 1 - As output to update timer0 stuff. ; CONTROL_OFFSET_L res 1 ; COMMAND_PERIOD_H res 1 - COMMAND_PERIOD computed by first part of code ; COMMAND_PERIOD_L res 1 - (The period of the current TIMER0 reload value, ; - scaled to be comparable to the mechanical period) ; ; 2.25 is constant based on 8-tooth cogwheel for feedback ; ;******************************************************************************* CALCULATE_CONTROL_OFFSET ; First step: ; Performs 2.25 * (FFFF - Timer0reload), and then compares with speed ; feedback value. movf FREQ_REF_L, W ; Load values for FREQ_REF_H and FREQ_REF_L movwf TEMP ; into TEMP and TEMP1 movf FREQ_REF_H, W movwf TEMP1 movlw 0xFF bsf STATUS, C subfwb TEMP1,F subfwb TEMP,F ; TEMP1, TEMP has FFFF-Timer0reload ; Next: Multiply by 2.25. This means for each value: ; Shift left 1, and add to the same value shifted right 2- 2*x + .25*x = 2.25x movff TEMP, TEMP2 ; TEMP=TEMP2=FF-FREQ_REF_L movff TEMP1, TEMP3 ; TEMP1=TEMP3=FF-FREQ_REF_H bcf STATUS, C rlcf TEMP, F ; TEMP = 2*TEMP rlcf TEMP1, F ; TEMP1 = 2*TEMP1 bcf STATUS, C ; Make sure carry bit is 0. rrcf TEMP3, F rrcf TEMP2, F bcf STATUS, C rrcf TEMP3, F ; TEMP3 = 0.25 * TEMP3 rrcf TEMP2, F ; TEMP2 = 0.25 * TEMP2 movf TEMP, W addwf TEMP2, F ; TEMP2 = 2.25*(FF-FREQ_REF_L) movf TEMP1, W addwfc TEMP3, F ; TEMP3 = 2.25*(FF-FREQ_REF_H) movff TEMP2,COMMAND_PERIOD_L movff TEMP3,COMMAND_PERIOD_H ; if (command_period >= mech_period) ; if (control_offset>0) ; Control_offset-- ;elsif (mech_period > command_period) ; control_offset++ movff CAP1BUFH, MECH_PERIOD_H ; Get CAP1BUFx data- They change on every edge, movff CAP1BUFL, MECH_PERIOD_L ; and we don't want them to change during this section of code. movf COMMAND_PERIOD_H, W cpfsgt MECH_PERIOD_H bra CONT bra MECH_IS_GREATER CONT cpfslt MECH_PERIOD_H bra TEST_LOW_ORDER bra COMMAND_IS_GREATER_OR_EQUAL TEST_LOW_ORDER movf COMMAND_PERIOD_L, W cpfsgt MECH_PERIOD_L bra COMMAND_IS_GREATER_OR_EQUAL bra MECH_IS_GREATER COMMAND_IS_GREATER_OR_EQUAL movlw 0x00 cpfseq CONTROL_OFFSET_L ;don't decrement if 0 decf CONTROL_OFFSET_L return MECH_IS_GREATER movlw 0xFF cpfseq CONTROL_OFFSET_L ;don't increment if FF incf CONTROL_OFFSET_L return ;******************************************************************************* ;******************************************************************************* ; INITIALIZATION SUBROUTINES ;******************************************************************************* ;******************************************************************************* ;******************************************************************************* ;Initialize High-Speed ADC ;******************************************************************************* INIT_HSADC movlw b'00000000' ; ADCON1 is configured such that: movwf ADCON1 ; a) Vref+ and Vref- are Avdd and Avss, respectively. ; b) The FIFO buffer is disabled movlw b'00110010' ; ADCON2 is configured such that: movwf ADCON2 ; a) The A/D result is left justified (so remember to read ADRESL before reading ADRESH) ; b) The A/D acquisition time is set to 12Tad, as required for sequential conversion. ; c) The A/D conversion clock is set to Fosc/32. movlw b'01000000' ; ADCON3 is configured such that: movwf ADCON3 ; a) An interrupt is generated on every 2nd and 4th write to the FIFO buffer. ; b) No external ADC triggers are enabled. movlw b'00000100' ; ADCHS is configured such that: movwf ADCHS ; a) Group A signal is AN0, current reference ; b) Group B signal is AN1, speed reference ; c) Group C signal is AN6, movlw b'00000011' ; ANSEL0 is configured such that: movwf ANSEL0 ; a) AN0 and AN1 and AN6 are analog input pins. movlw b'00000011' ; b) Corresponding bits of TRISA are also set to inputs. movwf TRISA bsf TRISE, 0 ; c) Corresponding bit of TRISE is also set to input. movlw b'00000001' ; ANSEL1 is configured such that: movwf ANSEL1 ; a) AN8 is an analog input pin. bsf TRISE, 2 ; b) Corresponding bit of TRISE is also set to input. movlw b'00000101' ; ADCON0 is configured such that: movwf ADCON0 ; a) Single shot mode is enabled ; b) Single-channel mode is enabled ; c) Group B signal is sampled (speed ref on development board) ; d) The ADC is turned on. return ;******************************************************************************* ;Initialize PCPWM ; NOTES: ; 1) PTPER has 12-bit resolution, 4 LSBs of PTPERH and 8 bits of PTPERL ; 2) In edge aligned mode, PTMR reset to zero on match with PTPER ; 3) PDC has 14-bit resolution, 6 LSBs of PDCxH and 8 bits of PDCxL ; 4) Lower 2 bits of PDC compared to Q clocks ; ; 5) Resolution(of duty cycle)= log((Fosc/4)/Fpwm)/log(2) = log(5Mhz/20kHz)/log(2) = 8 bits ; so 6 LSBs of PDCxH and 2 MSBs of PDCxL will be used. ; (for 16kHz, resolution = log(5Mhz/16kHz)/log(2) = 8 bits, also.) ; ;******************************************************************************* INIT_PCPWM movlw b'00000000' ; PTCON0 is configured such that: movwf PTCON0 ; a) Postscale value is 1:1 ; b) PWM time base input is Fosc/4 ; c) PWM time base mode is free-running for edge-aligned operation ; PTPERL and PTPERH for 10 KHz PWM frequency. ; movlw 0xF3 ; 0xF3 doesn't work-- Need to re-check the maths behind this ; PTPERL-- It doesn't trigger right on the values from the ; lookup table.. It has to do with the QCLOCKS thing. movlw 0xF0 ; This value appears to work. movwf PTPERL movlw 0x01 movwf PTPERH movlw b'01000000' ; PWMCON0 is configured such that: movwf PWMCON0 ; a) PWM0, PWM1, PWM2, PWM3, PWM4, and PWM5 are enabled for output. ; b) All PWM I/O pairs are set to complimentary mode movlw b'00000001' ;PWMCON1 is configured such that: movwf PWMCON1 ; a) Special event trigger post-scaler is set to 1:1 ; b) Special event trigger occurs when time-base is counting upwards ; c) Updates from duty cycle and period buffer registers are enabled. ; d) Output overrides via OVDCON are synchronous to the PWM timebase. ; Turn off deadtime-- The IRAMS inverter has its own built in deadtime stuff- ; If this is turned on, then there are stray switching events out of phase- I am not sure ; why more deadtime makes things less functional, but it does.. If the following line is ; uncommented, there are spurious noise spikes on the voltage, and the current waveform looks ; less happy. ; movlw b'00001010' ;1us deadtime instead of 2us ; movwf DTCON ; a) Clock source for dead-time is Fosc/2. ; b) Dead time = Dead time value / (Fosc/2) = 2uS. movlw b'11111111' ;OVDCOND is configured such that there is no output override. movwf OVDCOND movlw b'00000000' ;OVDCONS is configured such that all PWM outputs are 0 upon power-up. movwf OVDCONS ;FLTA is overcurrent fault, muxed via configuration bit to RC1 ;FLTB is overvoltage fault on RC2 ; bsf TRISC, 1 ;Ensure that RC1 is an input ; bsf TRISC, 2 ;Ensure that RC2 is an input movlw b'10000000' ;Fault A and FaultB are disabled. ; movlw b'10000011' ;Fault B is disabled ; movlw b'10010001' ;Fault A and FaultB are enabled in catastrophic mode. ; movlw b'10110011' ;FLTCONFIG is configured such that: movwf FLTCONFIG ; a) Enable fault condition on break-point for use with ICD2 ; b) Enable FaultA in cycle-by-cycle mode ; c) Enable FaultB in cycle-by-cycle mode ; d) Fault A and Fault B disable PWM channels 0 to 5 movlw 0x00 ;SEVTCMPL and SEVTCMPH are clear. movwf SEVTCMPL movlw 0x00 movwf SEVTCMPH bsf PTCON1, PTEN ;PTEN bit in the PTCON1 is set to enable the PWM time base. ;initialize the PWM outputs as always low bsf PWMCON1, UDIS ;Disable updates to duty cycle and period clrf PDC0L clrf PDC0H clrf PDC1L clrf PDC1H clrf PDC2L clrf PDC2H bcf PWMCON1, UDIS ;Enable updates to duty cycle and period to update simultaneously. return ;******************************************************************************* ;Initialize IC1 ; - an alternative mode of speed measurement using input capture of index ; pulse from quadrature encoder. Simulates a basic tachometer. Uses Input Capture 1. ;******************************************************************************* INIT_IC1 clrf QEICON ; Clear QEICON to make sure that QEI mode is disabled. movlw b'01000010' ;Configure CAP1CON such that: movwf CAP1CON ; a)Timer5 resets on capture event ; b)Capture on every rising edge bsf TRISA, 2 ; Make TRISA pin corresponding to IC1 (INDX signal from encoder)an input movlw b'00011001' ; T5CON is configured such that: movwf T5CON ; a) Special event reset is disabled ; b) Continuous count mode is enabled ; c) Timer5 input clock prescaler is 1:1 ; e) Timer5 is enabled movlw b'00011110' ; Digital filter is configured movwf DFLTCON ; a) INDX filter enabled ; b) noise filter clock divider = 1:128 return ;******************************************************************************* ;Initialize PORTC ;******************************************************************************* INIT_PORTC movlw b'10111110' movwf TRISC bsf PORTC,0 ;LED defined as lit for stop, dark for go return ;******************************************************************************* ;Initialize PORTD ;******************************************************************************* INIT_PORTD movlw b'11010000' ;RD4 is an input (Fault A) movwf TRISD ;start these LED's low bcf PORTD,0 bcf PORTD,1 ;overcurrent indicator bcf PORTD,2 ;control loop speed indicator return ;******************************************************************************* ;Initialize Timer0 ; Timer0 is the timer that provides the timebase for the motor. ;******************************************************************************* INIT_TMR0 movlw b'10000000' ;T0Con movwf T0CON ;a) TMR0 ON, ;b) 16-bit operation, ;c) clock source is T0CKL, ;d) prescalar is 1:2 movlw 0xF8 ;Timer0 Initialisation movwf TMR0H movlw 0x5E ; movwf TMR0L return ;******************************************************************************* ;Initialize interrupts ;******************************************************************************* INIT_INTERRUPTS bsf INTCON,TMR0IE ;Timer0 overflow Interrupt enable bsf INTCON2,TMR0IP ;Timer0 overflow Interrupt high priority movlw b'10010011' ;Power ON reset status bit/Brownout reset status bit movwf RCON ;and Instruction flag bits are set ;Enable Priority levels on Interrupts bsf INTCON,GIEH ;Enable high priority interrupts return ;******************************************************************************* ;Initialize Motor ;******************************************************************************* INIT_MOTOR_START movlw 0x09 ;Initialize the table offset to 3 registers movwf TABLE_OFFSET1 ;to form 0-120-240 degrees bsf FLAGS,OFFSET1_FLAG ;Offset flags initialization movlw 0x03 movwf TABLE_OFFSET2 bcf FLAGS,OFFSET2_FLAG movlw 0x0F movwf TABLE_OFFSET3 bcf FLAGS,OFFSET3_FLAG movlw CutoffSpeed ;Initialize frequency to CutoffSpeed movwf AVERAGE_SPEED movwf RAMPED_SPEED movlw 0xC4 ;Timer0 reload value for Speed=150 RPM movwf FREQ_REF_H movwf TMR0H movlw 0xB5 movwf TMR0L movwf FREQ_REF_L bsf FLAGS,TIMER0_OV_FLAG return ;******************************************************************************* ;Upon initialization the Sine table contents are copied to the RAM from ;Program memory ;******************************************************************************* COPY_TABLE_TO_RAM movlw UPPER sine_table ;Initialize Table pointer to the first movwf TBLPTRU ;location of the table movlw HIGH sine_table movwf TBLPTRH movlw LOW sine_table movwf TBLPTRL movlw LOW(SINE_TABLE) movwf FSR0L movlw HIGH(SINE_TABLE) movwf FSR0H movlw 0x14 movwf TEMP COPY_AGAIN TBLRD*+ movff TABLAT,POSTINC0 decfsz TEMP,F bra COPY_AGAIN movlw LOW(SINE_TABLE) ;FSR0 points to the starting of the table movwf FSR0L movlw HIGH(SINE_TABLE) movwf FSR0H return ;******************************************************************************* ;******************************************************************************* ; SINE TABLE ;******************************************************************************* ;******************************************************************************* TABLE code 0x0100 ;below table is from 270 degrees to 90 degrees @ 10 degree resolution; for 16MHz, PR2 = 137, Timer2 1:1 prescale sine_table db 0x00,0x02,0x08,0x11,0x1E,0x2E,0x40,0x54,0x69,0x80,0x96,0xAB,0xBF,0xD1,0xE1,0xEE,0xF7,0xFD,0xFF ; Need to add a new sine table thing to be able to do third order elimination- ;******************************************************************************* ;******************************************************************************* ; freq_scale_table ;******************************************************************************* ;******************************************************************************* TABLE2 code 0x0200 ;Start of freq_scale_table- Just a guess. Hope it fits. freq_scale_table dw 0x0000,0x0000,0x0000,0x0000,0x0000,0x0000,0x0000 dw 0xC4B5,0xCC1F,0xD1E2,0xD67F,0xDA45,0xDD6A,0xE013,0xE25B,0xE455,0xE60F,0xE796,0xE8F1 dw 0xEA28,0xEB3F,0xEC3C,0xED22,0xEDF4,0xEEB5,0xEF66,0xF009,0xF0A1,0xF12D,0xF1B0,0xF22A dw 0xF29D,0xF308,0xF36C,0xF3CB,0xF424,0xF479,0xF4C8,0xF514,0xF55C,0xF5A0,0xF5E1,0xF61E dw 0xF659,0xF691,0xF6C7,0xF6FA,0xF72B,0xF75A,0xF788,0xF7B3,0xF7DD,0xF805,0xF82B,0xF850 dw 0xF874,0xF897,0xF8B8,0xF8D8,0xF8F7,0xF915,0xF932,0xF94E,0xF969,0xF984,0xF99D,0xF9B6 dw 0xF9CE,0xF9E5,0xF9FC,0xFA12,0xFA28,0xFA3C,0xFA51,0xFA64,0xFA77,0xFA8A,0xFA9C,0xFAAE dw 0xFABF,0xFAD0,0xFAE0,0xFAF0,0xFB00,0xFB0F,0xFB1E,0xFB2D,0xFB3B,0xFB49,0xFB56,0xFB63 dw 0xFB70,0xFB7D,0xFB8A,0xFB96,0xFBA2,0xFBAD,0xFBB9,0xFBC4,0xFBCF,0xFBD9,0xFBE4,0xFBEE dw 0xFBF8,0xFC02,0xFC0C,0xFC16,0xFC1F,0xFC28,0xFC31,0xFC3A,0xFC43,0xFC4B,0xFC54,0xFC5C dw 0xFC64,0xFC6C,0xFC74,0xFC7C,0xFC83,0xFC8B,0xFC92,0xFC99,0xFCA0,0xFCA7,0xFCAE,0xFCB5 dw 0xFCBB,0xFCC2,0xFCC8,0xFCCF,0xFCD5,0xFCDB,0xFCE1,0xFCE7,0xFCED,0xFCF3,0xFCF8,0xFCFE dw 0xFD04,0xFD09,0xFD0E,0xFD14,0xFD19,0xFD1E,0xFD23,0xFD28,0xFD2D,0xFD32,0xFD37,0xFD3C dw 0xFD40,0xFD45,0xFD4A,0xFD4E,0xFD53,0xFD57,0xFD5B,0xFD60,0xFD64,0xFD68,0xFD6C,0xFD70 dw 0xFD74,0xFD78,0xFD7C,0xFD80,0xFD84,0xFD88,0xFD8B,0xFD8F,0xFD93,0xFD96,0xFD9A,0xFD9D dw 0xFDA1,0xFDA4,0xFDA8,0xFDAB,0xFDAE,0xFDB2,0xFDB5,0xFDB8,0xFDBB,0xFDBF,0xFDC2,0xFDC5 dw 0xFDC8,0xFDCB,0xFDCE,0xFDD1,0xFDD4,0xFDD7,0xFDD9,0xFDDC,0xFDDF,0xFDE2,0xFDE5,0xFDE7 dw 0xFDEA,0xFDED,0xFDEF,0xFDF2,0xFDF5,0xFDF7,0xFDFA,0xFDFC,0xFDFF,0xFE01,0xFE04,0xFE06 dw 0xFE08,0xFE0B,0xFE0D,0xFE10,0xFE12,0xFE14,0xFE16,0xFE19,0xFE1B,0xFE1D,0xFE1F,0xFE21 dw 0xFE24,0xFE26,0xFE28,0xFE2A,0xFE2C,0xFE2E,0xFE30,0xFE32,0xFE34,0xFE36,0xFE38,0xFE3A dw 0xFE3C,0xFE3E,0xFE40,0xFE42,0xFE43,0xFE45,0xFE47,0xFE49,0xFE4B,0xFE4D,0xFE4E,0xFE50 dw 0xFE52,0xFE54,0xFE55,0xFE57,0xFE59,0xFE5A,0xFE5C,0xFE5E,0xFE5F ;******************************************************************************* ;******************************************************************************* ; voltage_schedule ; ; This table is used to maintain the V/Hz ratio in the ramp range of operation ;******************************************************************************* ;******************************************************************************* TABLE3 code 0x0420 ; new voltage schedule to account for max duty cycle = 3xdead time voltage_schedule db 0x0F,0x12,0x15,0x18,0x1B,0x1E,0x21,0x24,0x27,0x2A,0x2D,0x30,0x33,0x35,0x38,0x3B,0x3E,0x41 db 0x44,0x47,0x4A,0x4D,0x50,0x53,0x56,0x59,0x5C,0x5F,0x62,0x65,0x68,0x6B,0x6E,0x71,0x74,0x77 db 0x7A,0x7D,0x80,0x82,0x85,0x88,0x8B,0x8E,0x91,0x94,0x97,0x9A,0x9D,0xA0,0xA3,0xA6,0xA9,0xAC db 0xAF,0xB2,0xB5,0xB8,0xBB,0xBE,0xC1,0xC4,0xC7,0xCA,0xCD,0xCF,0xD2,0xD5,0xD8,0xDB,0xDE,0xE1 db 0xE4,0xE7,0xEA,0xED,0xF0,0xF3 END