[应用相关] 带Arduino和L6234驱动器的无刷直流电机控制

/* 

 * Sensorless brushless DC (BLDC) motor control with Arduino UNO and L6234 driver.

 * This is a free software with NO WARRANTY.

 * http://simple-circuit.com/

 */





#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);

}

// Analog comparator ISR

ISR (ANALOG_COMP_vect) {

  // BEMF debounce

  for(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();

    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 9  PWM duty cycle

  OCR1B  = duty;                   // Set pin 10 PWM duty cycle

  OCR2A  = duty;                   // Set pin 11 PWM duty cycle

}