Sensorless brushless motor controller using PIC18F1230 (XC8)  

• Use only PIC and FET
• PWM  
• ADC

• Open-loop drive.
• Closed-loop drive(seamless transfer from open-loop).
• Closed-loop lock detection(back to open-loop).  
• Speed control by EUSART input.

• Direction of rotation  
• Open-loop duty  
• Open-loop initial speed
• Open-loop acceleration
• Open-loop to closed-loop speed
• Closed-loop speed
• Closed-loop acceleration

PIC: PIC18F1230 http://ww1.microchip.com/downloads/en/DeviceDoc/39758D.pdf
NPN Tr: 2SC1815
MOSFET: SLA5064 http://www.semicon.sanken-ele.co.jp/sk_content/sla5064_ds_en.pdf
Motor : A2212 13T 950kV/1000kV/1300kV/2300kV, Tarot 4006 620kV

Closed-loop test: https://youtu.be/z_nNao-uBho
Lock detection test: https://youtu.be/O4YZ754I2WM
EUSART speed input with foot pedal: https://youtu.be/TU5dIhgWp5A  

1. install MPLAB X / XC8  
2. create PIC18F1230 project
3. create main.c in "Source Files"
4. copy one of the main(---).c  
5. Write it

This is a part of the quadcopter making project.