一个可行的 BLDC 原型设计制作和展示方案——ATmega328P + L6234 + BLDC + Arduino IDE

只看该作者 · 2024-5-11 09:05

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/

只看该作者 · 2024-5-13 13:32

看起来很不错啊

只看该作者 · 2024-5-19 15:46

这个芯片好用吗

只看该作者 · 2024-5-19 15:48

看到分享的链接了，学习一下，非常赞。

只看该作者 · 2024-5-20 15:38

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。

只看该作者 · 2024-6-14 16:08

有代码么？抄一下代码，
哈哈哈

只看该作者 · 2024-6-17 06:34

Arduino IDE 版本的是一个单独的文件：

复制

/*

* 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 9  PWM duty cycle

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

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

}

只看该作者 · 2024-6-17 06:37

Microchip Studio 版本的程序由四个文件组成：
main.c main.h bldc.c bldc.h

main.c

复制

/*

 * 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 9  PWM 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;

}

只看该作者 · 2024-6-17 06:38

main.h

复制

/*

 * 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_ */

只看该作者 · 2024-6-17 06:39

bldc.c

复制

/*

 * 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;

}

只看该作者 · 2024-6-17 06:39

bldc.h

复制

/*

 * 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_ */