BER EE EEE EE Sensorless brushless DC ( BLDC ) motor control with PIC16F887 microcontroller C Code for mikroC PRO for PIC compiler Crystal oscillator used @ 20MHz Configuration words: CONFIG1 = 0x2CD2 CONFIG2 = 0x0700 This is a free software with NO WARRANTY. Simple Projects This website provides free electrical & electronics projects with c https://simple-circuit.com/ Hhorhonebobi nti bonarhienenrarbornaniabiibearichcicichanbenichchire herbert / #define PWM_MIN_DUTY 80 #define PWM_START_DUTY 200 #include void AH_BL(); void AH_CL(; void BH_CL(; void BH_AL(); void CH_AL(); void CH_BL(); void bldc_move(); uint8_t bldc_step = 0; uint16_t motor_speed, i, j; void Interrupt() // BEMF debounce ints for(j = 0;j < 10; j++) { if(bldc_step & 1) { if(IC1OUT_bit) j-=1; } else { if(C1OUT_bit) j }// clear the mismatch condition // Clear comparator 1 interrupt flag bit void bldc_move() // BLDC motor commutation function { switch(bldc_step){ case 0: AH_BLO; CMI1CONO = 0xA2; // Sense BEMF C (pin RA3 positive, RB3 negative) break; case 1: AH_CLO; CMI1CONO = 0xA1; // Sense BEMF B (pin RA3 positive, RA1 negative) break; case 2: BH_CL(; CM1CONO = 0xA0; // Sense BEMF A (pin RA3 positive, RAO negative) break; case 3: BH_AL(; CMICONO = 0xA2; // Sense BEMF C (pin RA positive, RB3 negative) break; case 4: CH_ALO; CMICONO = 0xA1; // Sense BEMF B (pin RAG positive, RA1 negative) break; case 5: CH_BLO; CMICONO = 0xA0; // Sense BEMF A (pin RA3 positive, RAO negative) break; } bldc_step++; if(bldc_step >= 6) bldc_step = 0; } // set PWM1 duty cycle function void set_pwm_duty(uint16_t pwm_duty) { CCPICON = ((pwm_duty << 4) & 0x30) | Ox0C; CCPRIL = pwm_duty >> 2; }// main function void main() { ANSEL = 0x10; = // configure AN4 (RAS) pin as analog PORTD = 0; TRISD = 0; // ADC module configuration ADCONO = 0xD0; // select analog channel 4 (AN4) ADFM_bit = 0; INTCON = 0xCO; // enable global and peripheral interrupts C1IF_bit=0; // clear analog coparator interrupt flag bit // PWM CCP1CON = O0x0C; // configure CCP1 module as PWM with single output & clear duty cycle 2LSBs CCPRIL =0; //clear duty cycle 8 MSBs // Timer2 module configuration for PWM frequency of 19.53kHz & 10-bit resolution TMR2IF_bit = 0; // clear Timer2 interrupt flag bit T2CON = 0x04; // enable Timer2 module with presacler = 1 PR2 =OxFF; // Timer2 preload value = 255 // Motor start set_pwm_duty(PWM_START_DUTY); // Set PWM duty cycle i= 5000; while(i > 100) { jai while(j--) ; bldc_move(); i=i- 50; } ADON_bit ; C1IE_bit = 1; // enable analog coparator interrupt while(1) { GO_DONE bit = 1; // start analog-to-digital conversion delay_ms(50); // wait 50 ms motor_speed = (ADRESH << 2) | (ADRESL >> 6); // read ADC registersif(motor_speed < PWM_MIN_DUTY) motor_speed = PWM_MIN_DUTY; set_pwm_duty(motor_speed); // set PWM duty cycle } void AH_BLO, { CCPICON=0; — // PWMoff PORTD =0x08; PSTRCON = 0x08; // PWM output on pin P1D (RD7), others OFF CCPICON = 0x0C; // PWM on } void AH_CLO, { PORTD = 0x04; } void BH_CL() { CCPICON=0; — // PWM off PORTD = 0x04; PSTRCON = 0x04; // PWM output on pin P1C (RD6), others OFF CCPICON = 0x0C; // PWM on a void BH_AL() al PORTD = 0x10; a void CH_AL() iC CCPICON=0; — // PWMoff PORTD =0x10; PSTRCON = 0x02; // PWM output on pin P1B (RDS), others OFF CCPICON = 0x0C; // PWM on } void CH_BLO, { PORTD = 0x08;} // End of code.