encoder to sine table

Hi All,
I do have a 2000 ppr incremental encoder and this code , how can i synchronize the sine table to the encoder to make a sinusoidal bldc drive.

//
// Slow and precise BLDC motor driver using SPWM and SVPWM modulation
// Part of code used from http://elabz.com/
// (c) 2015 Ignas Gramba www.berryjam.eu
//
 

const int EN1 = 5;
const int EN2 = 6;
const int EN3 = 7;

const int IN1 = 9;
const int IN2 = 10;
const int IN3 = 11;


// SPWM (Sine Wave)
//const int pwmSin[] = {127, 138, 149, 160, 170, 181, 191, 200, 209, 217, 224, 231, 237, 242, 246, 250, 252, 254, 254, 254, 252, 250, 246, 242, 237, 231, 224, 217, 209, 200, 191, 181, 170, 160, 149, 138, 127, 116, 105, 94, 84, 73, 64, 54, 45, 37, 30, 23, 17, 12, 8, 4, 2, 0, 0, 0, 2, 4, 8, 12, 17, 23, 30, 37, 45, 54, 64, 73, 84, 94, 105, 116 };


/// SVPWM (Space Vector Wave)
//const int pwmSin[] = {128, 147, 166, 185, 203, 221, 238, 243, 248, 251, 253, 255, 255, 255, 253, 251, 248, 243, 238, 243, 248, 251, 253, 255, 255, 255, 253, 251, 248, 243, 238, 221, 203, 185, 166, 147, 128, 109, 90, 71, 53, 35, 18, 13, 8, 5, 3, 1, 1, 1, 3, 5, 8, 13, 18, 13, 8, 5, 3, 1, 1, 1, 3, 5, 8, 13, 18, 35, 53, 71, 90, 109};
const int pwmSin[] = {128, 132, 136, 140, 143, 147, 151, 155, 159, 162, 166, 170, 174, 178, 181, 185, 189, 192, 196, 200, 203, 207, 211, 214, 218, 221, 225, 228, 232, 235, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 235, 232, 228, 225, 221, 218, 214, 211, 207, 203, 200, 196, 192, 189, 185, 181, 178, 174, 170, 166, 162, 159, 155, 151, 147, 143, 140, 136, 132, 128, 124, 120, 116, 113, 109, 105, 101, 97, 94, 90, 86, 82, 78, 75, 71, 67, 64, 60, 56, 53, 49, 45, 42, 38, 35, 31, 28, 24, 21, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 21, 24, 28, 31, 35, 38, 42, 45, 49, 53, 56, 60, 64, 67, 71, 75, 78, 82, 86, 90, 94, 97, 101, 105, 109, 113, 116, 120, 124};

int currentStepA;
int currentStepB;
int currentStepC;
int sineArraySize;
int increment = 0;
boolean direct = 1; // direction true=forward, false=backward

//////////////////////////////////////////////////////////////////////////////

void setup() {

  setPwmFrequency(IN1); // Increase PWM frequency to 32 kHz  (make unaudible)
  setPwmFrequency(IN2);
  setPwmFrequency(IN3);

  pinMode(IN1, OUTPUT); 
  pinMode(IN2, OUTPUT); 
  pinMode(IN3, OUTPUT); 
  
  pinMode(EN1, OUTPUT); 
  pinMode(EN2, OUTPUT); 
  pinMode(EN3, OUTPUT); 


  digitalWrite(EN1, HIGH);
  digitalWrite(EN2, HIGH);
  digitalWrite(EN3, HIGH);
  

  sineArraySize = sizeof(pwmSin)/sizeof(int); // Find lookup table size
  int phaseShift = sineArraySize / 3;         // Find phase shift and initial A, B C phase values
  currentStepA = 0;
  currentStepB = currentStepA + phaseShift;
  currentStepC = currentStepB + phaseShift;

  sineArraySize--; // Convert from array Size to last PWM array number
}

//////////////////////////////////////////////////////////////////////////////

void loop() {

  analogWrite(IN1, pwmSin[currentStepA]);
  analogWrite(IN2, pwmSin[currentStepB]);
  analogWrite(IN3, pwmSin[currentStepC]);  
  
  if (direct==true) increment = 1;
  else increment = -1;     

  currentStepA = currentStepA + increment;
  currentStepB = currentStepB + increment;
  currentStepC = currentStepC + increment;

  //Check for lookup table overflow and return to opposite end if necessary
  if(currentStepA > sineArraySize)  currentStepA = 0;
  if(currentStepA < 0)  currentStepA = sineArraySize;
 
  if(currentStepB > sineArraySize)  currentStepB = 0;
  if(currentStepB < 0)  currentStepB = sineArraySize;
 
  if(currentStepC > sineArraySize)  currentStepC = 0;
  if(currentStepC < 0) currentStepC = sineArraySize; 
  
  /// Control speed by this delay
  delay(10);

}


void setPwmFrequency(int pin) {
  if(pin == 5 || pin == 6 || pin == 9 || pin == 10) {
    if(pin == 5 || pin == 6) {
      TCCR0B = TCCR0B & 0b11111000 | 0x01;
    } else {
      TCCR1B = TCCR1B & 0b11111000 | 0x01;
    }
  }
  else if(pin == 3 || pin == 11) {
    TCCR2B = TCCR2B & 0b11111000 | 0x01;
  }
}

how can i synchronize the sine table to the encoder to make a sinusoidal bldc drive.

I really don't understand the question. The encoder ticks off a pulse every 2000/360 degrees of rotation. That means that each tick represents 5.555 degrees of rotation. But, where is the starting point?

You have some indeterminate number of values in the table. I'm not about to count them. You COULD have used some white space, with 10 values per line, to make it easier...

What does one increment in the encoder position mean to you? Should that advance 1 position in the array? 5.555 positions?

it is 8000 counts after decoding (2000x4), yes i did made a smaller sine table with 100 points.
as by my calculations it should step the sine array by one step every 26 counts on the encoder.

it´s called PLL , the encoder pulse should match the sine array. this way the phase step is synchronized with the encoder count.

this is the way it works,
there is 3 electrical rotation in 1 mechanical rotation so the encoder total count per mechanical revolution is divide by 3 that comes out to 2666,66666 encoder counts per electrical phase.
the sine array have 100 points that comes out to about 26 encoder counts per sine array point.