一个可行的 BLDC 原型设计制作和展示方案——ATmega328P + L6234 + BLDC + Arduino IDE
本帖最后由 MianQi 于 2024-5-25 11:47 编辑整个方案的组成：ATmega328P + L6234 + BLDC + Arduino IDE
1、MCU 选用 Arduino UNO R3
2、电动机驱动芯片选用 ST 的 L6234 双列直插 20 脚
3、电源：12v
这是整套方案的实物照：
这是电动机：
这是驱动芯片 L6234 及其外围电路：
参考的例程在这里-https://simple-circuit.com/arduino-brushless-dc-motor-control-l6234/
但是例程中的示例程序在Arduino IDE中能编译通过，电动机却不能正常运行。于是开始查找原因。
很快发现，设置部分没有开启全局中断，加上这一句“sei(); //Enable global interrupt”之后，电动机能转，但是不能连续转，从这段程序中受到启发：“ i= 50000;// Motor start while(i> 100){ delayMicroseconds(i); bldc_move(); bldc_step++; bldc_step%= 6; i= i - 20; }”，在主循环中加入两句“delayMicroseconds(500);”和一句“delayMicroseconds(3500);”，电动机依然不能连续运转，于是开始查MCU –ATmega328P 的数据手册，最终发现，要在检测反向电动势的6个函数中的三个下降沿触发中加入“ACSR= 0x02;”，给ACSR（AnalogComparator Control and StatusRegiste）寄存器一个明确的赋值。现在，电动机能连续运转，但是重启和调速仍然有问题，最终发现针对这套实际的硬件，要修改常量“PWM_MIN_DUTY”，从原来的“50”逐步试出来要改为“100”才行。
项目的演示视频在这里- https://www.bilibili.com/video/BV1iz421m7EL/分步骤讲解在这里：1、https://www.bilibili.com/video/BV1rM4m1r7v2/2、https://www.bilibili.com/video/BV15y411Y7UC/3、https://www.bilibili.com/video/BV1ry411a7BP/4、https://www.bilibili.com/video/BV1LE421F7gx/5、https://www.bilibili.com/video/BV1rm421K71w/6、https://www.bilibili.com/video/BV1dJ4m1A7ef/7、https://www.bilibili.com/video/BV1GT421S7uo/8、https://www.bilibili.com/video/BV1vM4m1k7vZ/9、https://www.bilibili.com/video/BV1P1421q7nn/
看起来很不错啊
这个芯片好用吗 看到分享的链接了，学习一下，非常赞。
xuanhuanzi 发表于 2024-5-19 15:46
这个芯片好用吗
从数据手册的说明来看，这个芯片是专为 BLDC 设计地。从外围电路的搭建以及管脚接线的实际经验来看，用起来的确很方便。 有代码么？抄一下代码，
哈哈哈 Arduino IDE 版本的是一个单独的文件：
/*
* Sensorless brushless DC (BLDC) motor control with Arduino UNO and L6234 driver.
*/
#define SPEED_UP A0
#define SPEED_DOWN A1
#define PWM_MAX_DUTY 255
#define PWM_MIN_DUTY 50
#define PWM_START_DUTY 100
byte bldc_step = 0, motor_speed;
unsigned int i;
void setup() {
DDRD|= 0x38; // Configure pins 3, 4 and 5 as outputs
PORTD= 0x00;
DDRB|= 0x0E; // Configure pins 9, 10 and 11 as outputs
PORTB= 0x31;
// Timer1 module setting: set clock source to clkI/O / 1 (no prescaling)
TCCR1A = 0;
TCCR1B = 0x01;
// Timer2 module setting: set clock source to clkI/O / 1 (no prescaling)
TCCR2A = 0;
TCCR2B = 0x01;
// Analog comparator setting
ACSR = 0x10; // Disable and clear (flag bit) analog comparator interrupt
pinMode(SPEED_UP, INPUT_PULLUP);
pinMode(SPEED_DOWN, INPUT_PULLUP);
sei();
}
// Analog comparator ISR
ISR (ANALOG_COMP_vect) {
// BEMF debounce
for(int i = 0; i < 10; i++) {
if(bldc_step & 1){
if(!(ACSR & 0x20)) i -= 1;
} else {
if((ACSR & 0x20)) i -= 1;
}
}
bldc_move();
bldc_step++;
bldc_step %= 6;
}
void bldc_move(){
// BLDC motor commutation function
switch(bldc_step){
case 0:
AH_BL();
BEMF_C_RISING();
break;
case 1:
AH_CL();
BEMF_B_FALLING();
break;
case 2: BH_CL();
BEMF_A_RISING();
break;
case 3: BH_AL();
BEMF_C_FALLING();
break; case 4:
CH_AL();
BEMF_B_RISING();
break;
case 5:
CH_BL();
BEMF_A_FALLING();
break;
}
}
void loop() {
SET_PWM_DUTY(PWM_START_DUTY); // Setup starting PWM with duty cycle = PWM_START_DUTY
i = 5000; // Motor start
while(i > 100) {
delayMicroseconds(i);
bldc_move();
//delay(10);
bldc_step++;
bldc_step %= 6;
i = i - 20;
}
motor_speed = PWM_START_DUTY;
ACSR |= 0x08; // Enable analog comparator interrupt
while(1) {
while(!(digitalRead(SPEED_UP)) && motor_speed < PWM_MAX_DUTY){
motor_speed++;
SET_PWM_DUTY(motor_speed);
delay(100);
}
while(!(digitalRead(SPEED_DOWN)) && motor_speed > PWM_MIN_DUTY){
motor_speed--;
SET_PWM_DUTY(motor_speed);
delay(100);
}
}
}
void BEMF_A_RISING(){
ADCSRB = (0 << ACME); // Select AIN1 as comparator negative input
ACSR |= 0x03; // Set interrupt on rising edge
}
void BEMF_A_FALLING(){
ADCSRB = (0 << ACME); // Select AIN1 as comparator negative input
ACSR &= ~0x01; // Set interrupt on falling edge
}
void BEMF_B_RISING(){
ADCSRA = (0 << ADEN); // Disable the ADC module
ADCSRB = (1 << ACME);
ADMUX = 2; // Select analog channel 2 as comparator negative input
ACSR |= 0x03;
}
void BEMF_B_FALLING(){
ADCSRA = (0 << ADEN); // Disable the ADC module
ADCSRB = (1 << ACME);
ADMUX = 2; // Select analog channel 2 as comparator negative input
ACSR &= ~0x01;
}
void BEMF_C_RISING(){
ADCSRA = (0 << ADEN); // Disable the ADC module
ADCSRB = (1 << ACME);
ADMUX = 3; // Select analog channel 3 as comparator negative input
ACSR |= 0x03;
}
void BEMF_C_FALLING(){
ADCSRA = (0 << ADEN); // Disable the ADC module
ADCSRB = (1 << ACME);
ADMUX = 3; // Select analog channel 3 as comparator negative input
ACSR &= ~0x01;
}
void AH_BL(){
PORTB=0x04;
PORTD &= ~0x18;
PORTD |=0x20;
TCCR1A =0; // Turn pin 11 (OC2A) PWM ON (pin 9 & pin 10 OFF)
TCCR2A =0x81; //
}
void AH_CL(){
PORTB=0x02;
PORTD &= ~0x18;
PORTD |=0x20;
TCCR1A =0; // Turn pin 11 (OC2A) PWM ON (pin 9 & pin 10 OFF)
TCCR2A =0x81; //
}
void BH_CL(){
PORTB=0x02;
PORTD &= ~0x28;
PORTD |=0x10;
TCCR2A =0; // Turn pin 10 (OC1B) PWM ON (pin 9 & pin 11 OFF)
TCCR1A =0x21; //
}
void BH_AL(){
PORTB=0x08;
PORTD &= ~0x28;
PORTD |=0x10;
TCCR2A =0; // Turn pin 10 (OC1B) PWM ON (pin 9 & pin 11 OFF)
TCCR1A =0x21; //
}
void CH_AL(){
PORTB=0x08;
PORTD &= ~0x30;
PORTD |=0x08;
TCCR2A =0; // Turn pin 9 (OC1A) PWM ON (pin 10 & pin 11 OFF)
TCCR1A =0x81; //
}
void CH_BL(){
PORTB=0x04;
PORTD &= ~0x30;
PORTD |=0x08;
TCCR2A =0; // Turn pin 9 (OC1A) PWM ON (pin 10 & pin 11 OFF)
TCCR1A =0x81; //
}
void SET_PWM_DUTY(byte duty){
if(duty < PWM_MIN_DUTY)
duty = PWM_MIN_DUTY;
if(duty > PWM_MAX_DUTY)
duty= PWM_MAX_DUTY;
OCR1A= duty; // Set pin 9PWM duty cycle
OCR1B= duty; // Set pin 10 PWM duty cycle
OCR2A= duty; // Set pin 11 PWM duty cycle
} Microchip Studio 版本的程序由四个文件组成：
main.c main.h bldc.c bldc.h
main.c
/*
* main.c
*/
#ifndef F_CPU
#define F_CPU 16000000ul
#endif
#include "main.h"
#include <avr/cpufunc.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <util/delay.h>
#include "bldc.h"
#define PWM_MAX_DUTY 250
#define PWM_MIN_DUTY 50
//#define PWM_MIN_DUTY 100
#define PWM_START_DUTY 100
unsigned int bldc_step = 0;
volatile unsigned int value_pinc = 0;
volatile unsigned char motor_speed = 0;
unsigned int delay_ms_speed = 10; //10-35ms = 10000-35000us
void motor_start(void);
void motor_restart(void);
void bldc_move(void);
int main(void)
{
/* Replace with your application code */
init_Timer0();
init_ADC();
init_UART();
init_GPIO();
init_Timer1();
init_Timer2();
// Analog comparator setting - ACSR – Analog Comparator Control and Status Registe
// ACD ACBG ACO ACI ACIE ACIC ACIS1 ACIS0
// Bit 4 – ACI: Analog Comparator Interrupt Flag - ACI is cleared by writing a logic one to the flag.
//ACSR = 0x10; // Disable and clear (flag bit) analog comparator interrupt
ACSR |= 0x08; // Enable analog comparator interrupt - Bit 3 – ACIE: Analog Comparator Interrupt Enable
//motor_speed = PWM_START_DUTY;
//SET_PWM_DUTY(motor_speed);
//Enable PCINT
PCICR = 0x02;
PCMSK1 = 0x03;
sei(); // Enable global interrupt
motor_start();
while (1)
{
//unsigned char i = PINC0;
///* Insert nop for synchronization*/
//_NOP();
//unsigned char j = PINC1;
///* Insert nop for synchronization*/
//_NOP();
////TX(motor_speed);
////while(!PINC0){
//while((!i) && (motor_speed < PWM_MAX_DUTY)){
//motor_speed++;
//SET_PWM_DUTY(motor_speed);
////delay(1);
////_delay_us(500);
//}
////while(!PINC1){
//while((!j) && (motor_speed > PWM_MIN_DUTY)){
//motor_speed--;
//SET_PWM_DUTY(motor_speed);
////delay(1);
////_delay_us(500);
//}
//SET_PWM_DUTY(motor_speed);
//motor_restart();
bldc_move();
//_delay_us(3500);
//_delay_ms(10);
_delay_us(10000);
for(unsigned int i = 0; i < motor_speed / 10; ++i) {
//_delay_ms(1);
_delay_us(10);
}
bldc_step++;
bldc_step %= 6;
}
}
void init_GPIO(void){
DDRB|= 0x0E;// Configure UNO pins 9, 10 and 11 as outputs
PORTB= 0x00;
DDRD|= 0x38;// Configure UNO pins 3, 4 and 5 as outputs
PORTD= 0x00;
DDRC&= 0xFC; // Configure UNO pins A0(D14), A1(D15) as inputs
PORTC |= 0x03; // Set pins A0 and A1 input_pullup
}
ISR (PCINT1_vect) {
value_pinc = PINC & 0x03;
if(value_pinc == 0x01) {
//motor_speed++;
motor_speed += 10;
} else if(value_pinc == 0x02) {
//motor_speed--;
motor_speed -= 10;
}
motor_restart();
}
// Timer/Counter0 overflow ISR - Vector program address - 0x0020
ISR (TIMER0_OVF_vect) {
//TX('A');
++counter_adc;
if(counter_adc >= 61) {
//ADCSRA |= 0b01000000; // Bit 6 – ADSC: ADC Start Conversion
ADCSRA = 0x8D | (1<<ADSC);
counter_adc = 0;
} else {
;
}
}
// ADC ISR -ADC conversion complete - 0x002A
ISR (ADC_vect) {
unsigned int temp = ADC; // 0 - 1023
temp /= 4; // 0 - 254
motor_speed = temp;
//motor_speed = ADCH;
//TX(motor_speed);
//counter_adc = 0;
//SET_PWM_DUTY(motor_speed);
}
// Analog comparator ISR - Vector program address - 0x002E
ISR (ANALOG_COMP_vect) {
// BEMF debounce
for(unsigned int i = 0; i < 10; i++) {
if(bldc_step & 1){
if(!(ACSR & 0x20)) i -= 1;
}
else {
if((ACSR & 0x20))i -= 1;
}
}
//bldc_move();
//_delay_us(500);
//_delay_ms(6);
bldc_step++;
bldc_step %= 6;
}
void init_Timer0(void) {
// Timer0 module used for ADC sampling frequency
TCCR0A = 0x00; //Timer/Counter Mode of Operation = Normal
// Timer0 module setting: set clock source to clkI/O / 1024 (from prescaler)
TCCR0B = 0b00000101; //16MHz / 1024 / 256 = 61 (microsecond)
// CS02 CS01 CS00 = 101
// Timer/Counter0 Overflow Interrupt Enable = TOIE0
TIMSK0 = 0x01;
}
void init_ADC() {
// ADMUX – ADC Multiplexer Selection Register
// Bit 7 6 5 4 3 2 1 0
//(0x7C) REFS1 REFS0 ADLAR – MUX3 MUX2 MUX1 MUX0
ADMUX = 0x40; // AVCC with external capacitor at AREF pin | ADC0
//DDRC &= ~0b00000001;
// ADCSRA – ADC Control and Status Register A
// Bit 7 6 5 4 3 2 1 0
//(0x7A) ADEN ADSC ADATE ADIF ADIE ADPS2 ADPS1 ADPS0
ADCSRA = 0x8D; // ADC Enable | single conversion mode |Bit 3 – ADIE: ADC Interrupt Enable
// Bits 2:0 – ADPS2:0: ADC Prescaler Select Bits
//ADCSRA |= 0b00000101; // Division Factor - 32
//The ADLAR bit in ADMUX, and the MUXn bits in ADMUX affect the way the result is read from the registers.
//If ADLAR is set, the result is left adjusted.
//if the result is left adjusted and no more than 8-bit precision is required, it is sufficient to read ADCH
//ADMUX |= 1<<ADLAR;
}
void init_UART(void) {
UCSR0A = 0b00000000; //single transmission speed, multiprocessor disabled
UCSR0B = 0b00011000; //enable Rx & Tx
UCSR0C = 0b00000110; //asynchronous, no parity, 1 stop, 8 bits
UBRR0 = 103; //load the value for 9600 bps baud rate into whole UBRR register
}
void init_Timer1(void) {
// Timer1 module setting: set clock source to clkI/O / 1 (no prescaling)
TCCR1A = 0;
TCCR1B = 0x01;
}
void init_Timer2(void) {
// Timer2 module setting: set clock source to clkI/O / 1 (no prescaling)
TCCR2A = 0;
TCCR2B = 0x01;
}
void TX(unsigned char TXData) {
//do nothing until UDR0 is ready for more data to be written to it; wait for USART UDRE flag
while ((UCSR0A & (1 << UDRE0)) == 0) {};
//when flag is set send data by placing the byte into UDR0
UDR0 = TXData;
}
void SET_PWM_DUTY(unsigned char duty){
if(duty < PWM_MIN_DUTY)
duty= PWM_MIN_DUTY;
if(duty > PWM_MAX_DUTY)
duty= PWM_MAX_DUTY;
OCR1A = duty; // Set pin 9PWM duty cycle
OCR1B = duty; // Set pin 10 PWM duty cycle
OCR2A = duty; // Set pin 11 PWM duty cycle
}
void bldc_move(){ // BLDC motor commutation function
switch(bldc_step){
case 0:
AH_BL();
BEMF_C_RISING();
break;
case 1:
AH_CL();
BEMF_B_FALLING();
break;
case 2:
BH_CL();
BEMF_A_RISING();
break;
case 3:
BH_AL();
BEMF_C_FALLING();
break;
case 4:
CH_AL();
BEMF_B_RISING();
break;
case 5:
CH_BL();
BEMF_A_FALLING();
break;
}
}
void motor_start(void){
SET_PWM_DUTY(PWM_START_DUTY);
//unsigned int i = 5000;
unsigned int i = 5000;
while(i > 100) {
////_delay_us(i);
//for(unsigned int j=i; j > 0; --j){
////_delay_us(1);
//_NOP();
//_NOP();
//}
bldc_move();
_delay_ms(6);
bldc_step++;
bldc_step %= 6;
i = i - 20;
}
}
void motor_restart(void) {
SET_PWM_DUTY(motor_speed);
unsigned int i = 5000;
bldc_move();
_delay_ms(6);
bldc_step++;
bldc_step %= 6;
i = i - 20;
} main.h
/*
* main.h
*/
#ifndef MAIN_H_
#define MAIN_H_
#ifndef F_CPU
#define F_CPU 16000000ul
#endif
#include <util/delay.h>
volatile unsigned int counter_adc = 0;
void init_ADC(void);
void init_UART(void);
void init_Timer0(void);
void init_GPIO(void);
void init_Timer1(void);
void init_Timer2(void);
void TX(unsigned char TXData);
void SET_PWM_DUTY(unsigned char duty);
#endif /* MAIN_H_ */ bldc.c
/*
* bldc.c
*/
#include <avr/io.h>
//#include <util/delay.h>
#include "bldc.h"
void BEMF_A_RISING(){
ADCSRB = (0 << ACME); // Select AIN1(PD7-UNO_pin_7) as comparator negative input
ACSR |= 0x03; // Set interrupt on rising edge
//ADCSRA |= (1<<ADEN); // Enable the ADC module
}
void BEMF_A_FALLING(){
ADCSRB = (0 << ACME); // Select AIN1(PD7-UNO_pin_7) as comparator negative input
ACSR &= ~0x01; // Set interrupt on falling edge
//ACSR |= 0x02;
//ADCSRA |= (1<<ADEN); // Enable the ADC module
ACSR = 0x02;
}
void BEMF_B_RISING(){
ADCSRA = (0 << ADEN); // Disable the ADC module
//ADCSRA &= 0x7F;
ADCSRB = (1 << ACME);
ADMUX = 2; // Select analog channel 2 as comparator negative input
ACSR |= 0x03;
}
void BEMF_B_FALLING(){
ADCSRA = (0 << ADEN); // Disable the ADC module
//ADCSRA &= 0x7F;
ADCSRB = (1 << ACME);
ADMUX = 2; // Select analog channel 2 as comparator negative input
ACSR &= ~0x01;
//ACSR |= 0x02;
ACSR = 0x02;
}
void BEMF_C_RISING(){
ADCSRA = (0 << ADEN); // Disable the ADC module
//ADCSRA &= 0x7F;
ADCSRB = (1 << ACME);
ADMUX = 3; // Select analog channel 3 as comparator negative input
ACSR |= 0x03;
}
void BEMF_C_FALLING(){
ADCSRA = (0 << ADEN); // Disable the ADC module
//ADCSRA &= 0x7F;
ADCSRB = (1 << ACME);
ADMUX = 3; // Select analog channel 3 as comparator negative input
ACSR &= ~0x01;
//ACSR |= 0x02;
ACSR = 0x02;
}
void AH_BL(){
//Set "IN1" make arm_A upper close and bottom open
PORTD &= ~0x18; //~0x18=0b11100111 UNO pin_4|pin_3 - IN2|IN3
PORTD |= 0x20; //0x20=0b00100000, UNO pin_5 - OC0B - IN1
//Turn pin 11 (OC2A) PWM ON (pin 9 & pin 10 OFF)
//UNO pin_11 - EN1 - OC2A
//Clear OC2A on compare match, set OC2A at BOTTOM, (non-inverting mode)
TCCR1A = 0; //Normal port operation, OC1A/OC1B disconnected.
TCCR2A = 0x81; //WGM2 WGM1 WGM0 - 1 0 1 PWM, phase correct OCRA
//TCCR2B = 0x08; //WGM22 = 1
//Set "EN2" make arm_B upper close and bottom open
//Clear "pin_D9 - EN3" make arm_C upper open and bottom close
PORTB = 0x04; //UNO - pin_D10 - EN2
}
void AH_CL(){
//Set "IN1" make arm_A upper close and bottom open
PORTD &= ~0x18; //~0x18=0b11100111 UNO pin_4|pin_3 - IN2|IN3
PORTD |= 0x20; //0x20=0b00100000, UNO pin_5 - OC0B - IN1
//Turn pin 11 (OC2A) PWM ON (pin 9 & pin 10 OFF)
//UNO pin_11 - EN1 - OC2A
TCCR1A = 0; //Normal port operation, OC1A/OC1B disconnected.
TCCR2A = 0x81; //WGM2 WGM1 WGM0 - 1 0 1 PWM, phase correct OCRA
//TCCR2B = 0x08; //WGM22 = 1
//Set "EN3" make arm_C upper close and bottom open
//Clear "pin_D9 - EN3" make arm_C upper open and bottom close
PORTB=0x02; //UNO pin_9 - EN3 - OC1B
}
void BH_CL(){
//Set "IN2" make arm_B upper close and bottom open
PORTD &= ~0x28; //~0x28=0b11010111 UNO pin_5|pin_3 - IN1|IN3
PORTD |=0x10; //0x10=0b00010000 UNO pin_4 - IN2
//Turn pin 10 (OC1B) PWM ON (pin 9 & pin 11 OFF)
//WGM13 WGM12 WGM11 WGM10 - 1 0 1 1 PWM, phase correct OCR1B TOP BOTTOM
//COM1A1/COM1B1 COM1A0/COM1B0 - 1 0 Clear OC1A/OC1B on compare match, set OC1A/OC1B at BOTTOM (non-inverting mode)
//TCCR1B - ICNC1 ICES1 – WGM13 WGM12 CS12 CS11 CS10
//TCCR1B = 0x20;
//TCCR1A = 0x2C;//TCCR1A - COM1A1 COM1A0 COM1B1 COM1B0 – – WGM11 WGM10
TCCR2A =0; // Turn pin 10 (OC1B) PWM ON (pin 9 & pin 11 OFF)
TCCR1A =0x21; //
//Set "EN3" make arm_C upper close and bottom open
//Clear "pin_D9 - EN3" make arm_C upper open and bottom close
PORTB=0x02; //UNO pin_9 - EN3
}
void BH_AL(){
//Set "IN2" make arm_B upper close and bottom open
PORTD &= ~0x28;
PORTD |=0x10;
//Turn pin 10 (OC1B) PWM ON (pin 9 & pin 11 OFF)
//WGM13 WGM12 WGM11 WGM10 - 1 0 1 1 PWM, phase correct OCR1B TOP BOTTOM
//COM1A1/COM1B1 COM1A0/COM1B0 - 1 0 Clear OC1A/OC1B on compare match, set OC1A/OC1B at BOTTOM (non-inverting mode)
//TCCR1B - ICNC1 ICES1 – WGM13 WGM12 CS12 CS11 CS10
//TCCR1B = 0x20;
//TCCR1A = 0x2C;//TCCR1A - COM1A1 COM1A0 COM1B1 COM1B0 – – WGM11 WGM10
TCCR1A = 0x21;
TCCR2A =0;
//Set "EN1" make arm_A upper close and bottom open
//Clear "pin_D11 - EN1" make arm_A upper open and bottom close
PORTB=0x08;
}
void CH_AL(){
//Set "IN3" make arm_C upper close and bottom open
PORTD &= ~0x30;
PORTD |=0x08;
//Turn pin 9 (OC1A) PWM ON (pin 10 & pin 11 OFF)
//WGM13 WGM12 WGM11 WGM10 - 1 0 1 1 PWM, phase correct OCR1B TOP BOTTOM
//COM1A1/COM1B1 COM1A0/COM1B0 - 1 0 Clear OC1A/OC1B on compare match, set OC1A/OC1B at BOTTOM (non-inverting mode)
//TCCR1B - ICNC1 ICES1 – WGM13 WGM12 CS12 CS11 CS10
//TCCR1B = 0x20;
//TCCR1A = 0x2C;//TCCR1A - COM1A1 COM1A0 COM1B1 COM1B0 – – WGM11 WGM10
TCCR1A = 0x81;
TCCR2A =0;
//Set "EN1" make arm_A upper close and bottom open
//Clear "pin_D11 - EN1" make arm_A upper open and bottom close
PORTB=0x08;
}
void CH_BL(){
//Set "IN3" make arm_C upper close and bottom open
PORTD &= ~0x30;
PORTD |=0x08;
//Turn pin 9 (OC1A) PWM ON (pin 10 & pin 11 OFF)
//WGM13 WGM12 WGM11 WGM10 - 1 0 1 1 PWM, phase correct OCR1B TOP BOTTOM
//COM1A1/COM1B1 COM1A0/COM1B0 - 1 0 Clear OC1A/OC1B on compare match, set OC1A/OC1B at BOTTOM (non-inverting mode)
//TCCR1B - ICNC1 ICES1 – WGM13 WGM12 CS12 CS11 CS10
//TCCR1B = 0x20;
//TCCR1A = 0x8C;//TCCR1A - COM1A1 COM1A0 COM1B1 COM1B0 – – WGM11 WGM10
TCCR1A = 0x81;
TCCR2A = 0;
//Set "EN2" make arm_B upper close and bottom open
//Clear "pin_D11 - EN2" make arm_B upper open and bottom close
PORTB=0x04;
} bldc.h
/*
* bldc.h
*/
#ifndef BLDC_H_
#define BLDC_H_
//unsigned int bldc_step = 0;
void bldc_move(void);
//Back EMF PinOut
// BEMF_C PORTD7/UNO_D7/AIN1
// BEMF_B PORTC2/UNO_A2/ADC2
// BEMF_A PORTC3/UNO_A3/ADC3
void BEMF_A_RISING(void);
void BEMF_A_FALLING(void);
void BEMF_B_RISING(void);
void BEMF_B_FALLING(void);
void BEMF_C_RISING(void);
void BEMF_C_FALLING(void);
//Phase PWM(EN) IN
//1 - AB OC2B - PORTB11 - EN1 (PORTD5)IN1=1 | (PORTD4)IN2=0
//2 - AC OC2B - PORTB11 - EN1 (PORTD5)IN1=1 | (PORTD3)IN3=0
//3 - BC OC1B - PORTB10 - EN2 (PORTD4)IN2=1 | (PORTD3)IN3=0
//4 - BA OC1B - PORTB10 - EN2 (PORTD4)IN2=1 | (PORTD5)IN1=0
//5 - CA OC1A - PORTB9 - EN3 (PORTD3)IN3=1 | (PORTD5)IN1=0
//6 - CB OC1A - PORTB9 - EN3 (PORTD3)IN3=1 | (PORTD4)IN2=0
void AH_BL(void);
void AH_CL(void);
void BH_CL(void);
void BH_AL(void);
void CH_AL(void);
void CH_BL(void);
void motor_start(void);
#endif /* BLDC_H_ */ 实际上，BLDC 的驱动程序用 ASM 来写更合适，这个帖子的浏览量当前是 15K，什么时候超过 100K，我就写一个 avrasm 版本的程序。 开源方案？ MianQi 发表于 2024-6-17 16:43
实际上，BLDC 的驱动程序用 ASM 来写更合适，这个帖子的浏览量当前是 15K，什么时候超过 100K，我就写一个...
期待楼主分享一下ASM版本的，不过汇编会的人不多了。楼主厉害。 幸福小强 发表于 2024-6-26 22:16
开源方案？
“开源方案”这个叫法有点大了，就是这么个东西，我测试过了能用，感兴趣的人自己测试一下，有问题可以在这里讨论。 MianQi 发表于 2024-6-26 22:18
“开源方案”这个叫法有点大了，就是这么个东西，我测试过了能用，感兴趣的人自己测试一下，有问题可以在 ...
非常好，学习学习。感谢。 该方案用 ATmega328P 作主控，L6234 为驱动芯片，控制 BLDC。电路含电源、主控、驱动、电机接口，通过 Arduino IDE 编程，实现霍尔传感器测速与 FOC 算法。制作分 PCB 绘制、焊接，编程调控制逻辑，最后组装演示正反转、调速，用串口或 OLED 显示状态。
该方案以 ATmega328P 为控制核心，通过 Arduino IDE 编程生成 PWM 信号，经 L6234 电机驱动芯片放大后控制 BLDC 运转。制作时搭建最小系统板，连接驱动电路与 BLDC，烧录测速、正反转程序；展示可通过串口显转速，用 LED 指示转向，实现基础调速与状态监控，整体成本低、易上手
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