//เครื่องปรับรอบมอเตอร์สามเฟสแบบ มีแม่เหล็ก ปรับแรงบิดได้ ให้ดูจากCode นะครับ simple demo //software for small 3-phase inverter
//Danijel Gorupec, 2015
//Edit prescaller And Sine wave For IGBT GT15J331 L6569 4 Khz PWM By //Sompong Tungmepol //2/16/2017
#include <avr/io.h>
#include <avr/interrupt.h>
char sin_table[64]=
{
0, 3, 6, 9, 12, 15, 18, 21, 24, 27, 30, 33, 36, 39, 42, 45,
48, 51, 54, 57, 59, 62, 65, 67, 70, 73, 75, 78, 80, 82, 85, 87,
89, 91, 94, 96, 98, 100,102,103,105,107,108,110,112,113,114,116,
117,118,119,120,121,122,123,123,124,125,125,126,126,126,126,126,
};
unsigned char pwm_table[256]; //holds V-F curve adjusted PWM outputs
unsigned char speed; //output frequency (uint: 0.25Hz)
unsigned char direction; //rotation direction (0 forwared, 1 reverse)
unsigned int phase; //the phase of output sine signal
//some handy macros
#define LED_ON {SREG&=0x7F;PORTC|=0x10;SREG|=0x80;}
#define LED_OFF {SREG&=0x7F;PORTC&=0xEF;SREG|=0x80;}
#define INVERTOR_ENABLE {PORTC|=0x20;PORTD|=0x03;}
#define INVERTOR_DISABLE {PORTC&=0xDF;PORTD&=0xFC;}
#define INPUT_JOG ((PINC&0x02)==0)
#define INPUT_RUN ((PINC&0x04)==0)
#define INPUT_DIR ((PINC&0x08)==0)
#define JOG_SPEED 20
//timer interrupt routing
//It is called in fixed intervals. It advances sine wave phase.
ISR (TIMER0_OVF_vect)
{
if (direction==0)
phase+=speed; //phase: 0...16384 equals 0...2*pi
else
phase-=speed;
unsigned int p=phase/64;
unsigned char p1=p%256;
unsigned char p2=p1+85;
unsigned char p3=p1+171;
OCR1A=pwm_table[p2];//pwm_table[p1];
OCR1B=OCR1A-1;//pwm_table[p2];
OCR2A=pwm_table[p3];//pwm_table[p3];
OCR0A=pwm_table[p1];//OCR1A-1;
OCR0B=OCR0A-1;//OCR1B-1;
OCR2B=OCR2A-1;//OCR2A-1;
//adjust the next timer interrupt time
TCNT0=256-240;
}
//this function makes a short pause
//time uint: about 10 microseconds (100 = 1 millisecond)
void WaitLoop(unsigned int time)
{
unsigned int i,j;
for (j=0;j<time;j++)
{
for (i=0;i<8;i++) //the ATmega is runs at 8MHz
if (PORTC==0xFF) DDRB|=0x02; //just a dummy instruction
}
}
char analog_channel=0;
void ReadAnalogs(void)
{
if (ADCSRA&(1<<ADSC)) {return;} //the conversion still not finished
if (analog_channel==0)
{
//ADCH is the speed reference (but inverted!!! - 255=min speed, 0=max speed)
unsigned char spd_ref=255-ADCH;
if (INPUT_JOG) spd_ref=JOG_SPEED;
if (INPUT_DIR)
{
if (direction==0) spd_ref=10;
if (speed==10) direction=1; //only allow direction change at minimum speed
}
else
{
if (direction==1) spd_ref=10;
if (speed==10) direction=0; //only alow direction change at minimum speed
}
if (spd_ref>speed) speed++;
if (spd_ref<speed) speed--;
if (speed<10) speed=10; //the minimum speed
//in next reading we again read this channel because there are no other analog channels used
analog_channel=0;
ADMUX=0x60;
}
ADCSRA|=(1<<ADSC);
}
int main()
{
//Set ATmega8 fuses to 8MHz, internal RC
//Hardware cosist of ATMega8 microcontroller, 6xIRF840 MOSFET (3 halfbridges)
//wait a bit, cca 300ms, for easier programming
//(otherwise programmer has problems downloading)
WaitLoop(30000);
//program IO pins of the ATMega8 microcontroller
//D0 - reset hold (can be kept high to ensure high level on reset pin C6)
//D1 - not used
//D2 - not used
//D3 - not used
//D4 - not used
//D5 - not used
//D6 - not used
//D7 - not used
DDRD=(unsigned char)0xF8;
//B0 - not used (ICR1 is modified if this bit is changed)
//B1 - PWM_R
//B2 - PWM_S
//B3 - PWM_T (MOSI SPI)
//B4 - not used (MISO SPI)
//B5 - not used (SCK SPI)
//B6 - not used (always +5V)
//B7 - not used
DDRB=(unsigned char)0x0E;
//C0 - programable input 1 (speed reference - inverted analog input, +5V=min speed, 0V=max speed)
//C1 - programable input 2 (jog - digital input, active low)
//C2 - programable input 3 (run signal - digital input, active low)
//C3 - programable input 4 (rotation direction - digital input, active low)
//C4 - LED output
//C5 - enable output
//C6 - RESET
DDRC=(unsigned char)0x30;
//enable pull-up resistors on inputs 1, 2, 3 & 4
//note: this is nasty, it would be better if we have external pull-down resistors for analog inputs
// because now we have to use analog input in inverted way (+5V=min speed, 0V=max speed) so that
// the motor slows down if the wire disconnects
PORTC|=0x0F;
INVERTOR_DISABLE;
//LED test (0.3 sec)
LED_ON;
WaitLoop(30000);
LED_OFF;
//configuring ADC (trigger mode)
ADMUX=0x60; //AVcc for reference, right aligned, mux=ADC0
ADCSRA=0xC7; //ADC frequency (62.5kHz), results in 4.8kHz sampling rate
//wait one more milisecond
WaitLoop(100);
TCCR0A |= _BV(COM0A1) | _BV(COM0B0) | _BV(COM0B1) | _BV(WGM00);
TCCR0B |= _BV(CS01); //preskaler 8
TIMSK0 |= _BV(TOIE0); //flaga od wartosci 0 wlaczona
//timer1 init
TCCR1A |= _BV(COM1A1) | _BV(COM1B0) | _BV(COM1B1) | _BV(WGM10);
TCCR1B |= _BV(CS11); //preskaler 8
//timer2 init
TCCR2A |= _BV(COM2A1) | _BV(COM2B0) | _BV(COM2B1) | _BV(WGM20);
TCCR2B |= _BV(CS21); //preskaler 8
//zerowanie wartosci liczników
//TCNT0 = 0;
//TCNT1L = 0;
//TCNT2 = 0;
//Programming PWM_R and PWM_S
//OCR1A=0x00;
//OCR1B=0x00;
//TCCR1A=0xA1; //D10 OC1A and OC1B used, phase correct PWM, 8bit D10
//TCCR1B=0x03; //D9 1:1 prescaller - 15kHz PWM D9
//Programming PWM_T
//OCR2=0x00;
//TCCR2=0x64; //phase correct PWM, no prescaller - 15kHz PWM
//configuring timer 0
TCNT0=0x00; //timer set to start value
TCCR0A|=0x04; //timer/counter 0 input frequency divider set to /8 (that is, 1MHz)
TIMSK0|=0x01; //timer/counter 0 interrupt enabled
SREG|=0x80; //global interrupt enabled
speed=10; //2.5 Hz
//OCR1A=128;
//OCR1B=128;
//OCR2=128;
unsigned char led_cntr=0;
while (1)
{
int i;
if ((INPUT_RUN) || (INPUT_JOG))
{
if (led_cntr>16) LED_OFF else LED_ON //we just make short blinks to save power
led_cntr++;
//The VFfactor defines VF curve (how V depends on speed)
//int VFfactor=(int)speed+180; //ปรับแรงบิด ปกติ +18 ไม่เกิน +180 This setting is for asynchronous motor in delta connection (230VAC delta / 400VAC star)
int VFfactor=speed/2+14; //ปรับแรงบิด ปกติ 4/+15 this settign is for 200VAC servo motor with permanent magnet
if (VFfactor>255) VFfactor=255;
//computing PWM ratios (as we have nothing else to do, this is not optimized)
for (i=0;i<64;i++)
{
int A=sin_table[i];
if (A>127) A=-256+A; //wow! how come I cannot cast char to int?
A=A*VFfactor;
A=A/256;
A+=128+6;
if (A>250) A=250; //because signal delay, we cannot actually create very short impulses
SREG&=0x7F;
pwm_table[i]=A;
pwm_table[127-i]=A;
SREG|=0x80;
A=255-A;
SREG&=0x7F;
pwm_table[i+128]=A;
pwm_table[255-i]=A;
SREG|=0x80;
}
INVERTOR_ENABLE;
}
else
{
INVERTOR_DISABLE;
OCR1A=128;
OCR1B=128;
OCR2A=128;
OCR0A=128;
OCR0B=128;
OCR2B=128;
for (i=0;i<255;i++)
{
SREG&=0x7F;
pwm_table[i]=128;
SREG|=0x80;
}
led_cntr=0;
LED_OFF;
speed=10;
}
ReadAnalogs();
}
}
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