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    Lem

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    Drifius lembi
    This document describes code for sensorless brushless DC motor control using an Arduino UNO and L6234 driver. It defines pins and registers for motor commutation and PWM control. Functions are included for BEMF sensing, motor stepping, and setting the PWM duty cycle.

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    © All Rights Reserved
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    Lem

    Uploaded by

    Drifius lembi
    8 views7 pages
    This document describes code for sensorless brushless DC motor control using an Arduino UNO and L6234 driver. It defines pins and registers for motor commutation and PWM control. Functions are included for BEMF sensing, motor stepping, and setting the PWM duty cycle.

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    PimwineDrinkard

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    This document describes code for sensorless brushless DC motor control using an Arduino UNO and L6234 driver. It defines pins and registers for motor commutation and PWM control. Functions are included for BEMF sensing, motor stepping, and setting the PWM duty cycle.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    8 views7 pages

    Lem

    Uploaded by

    Drifius lembi
    This document describes code for sensorless brushless DC motor control using an Arduino UNO and L6234 driver. It defines pins and registers for motor commutation and PWM control. Functions are included for BEMF sensing, motor stepping, and setting the PWM duty cycle.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
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    1 /*eONE

    2 * Sensorless brushless DC (BLDC)


    motor control with Arduino UNO and
    3 L6234 driver.
    4 * This is a free software with NO
    5 WARRANTY.

    6 * http://simple-circuit.com/

    7 */

    10 #define SPEED_UP A0

    11 #define SPEED_DOWN A1

    12 #define PWM_MAX_DUTY 255

    13 #define PWM_MIN_DUTY 50

    14 #define PWM_START_DUTY 100

    15

    16 byte bldc_step = 0, motor_speed;

    17 unsigned int i;

    18 void setup() {

    19 DDRD |= 0x38; //
    Configure pins 3, 4 and 5 as
    20 outputs
    21 PORTD = 0x00;
    22 DDRB |= 0x0E; //
    Configure pins 9, 10 and 11 as
    23
    outputs
    24
    PORTB = 0x31;
    25
    26 // Timer1 module setting: set
    clock source to clkI/O / 1 (no
    27 prescaling)
    28 TCCR1A = 0;
    29 TCCR1B = 0x01;
    30 // Timer2 module setting: set
    31 clock source to clkI/O / 1 (no
    prescaling)
    32
    TCCR2A = 0;
    33
    TCCR2B = 0x01;
    34
    // Analog comparator setting
    35
    ACSR = 0x10; //
    36 Disable and clear (flag bit)
    analog comparator interrupt
    37
    pinMode(SPEED_UP,
    38
    INPUT_PULLUP);
    39
    pinMode(SPEED_DOWN,
    40 INPUT_PULLUP);

    41 }

    42 // Analog comparator ISR

    43 ISR (ANALOG_COMP_vect) {

    44 // BEMF debounce

    45 for(i = 0; i < 10; i++) {


    if(bldc_step & 1){ if(!(ACSR &
    46 0x20)) i -= 1; } else { if((ACSR &
    0x20)) i -= 1; } } bldc_move();
    47
    bldc_step++; bldc_step %= 6; }
    48 void bldc_move(){ // BLDC motor
    commutation function
    49 switch(bldc_step){ case 0:
    50 AH_BL(); BEMF_C_RISING(); break;
    case 1: AH_CL(); BEMF_B_FALLING();
    51 break; case 2: BH_CL();
    BEMF_A_RISING(); break; case 3:
    52
    BH_AL(); BEMF_C_FALLING(); break;
    case 4: CH_AL(); BEMF_B_RISING();
    53 break; case 5: CH_BL();
    BEMF_A_FALLING(); break; } } void
    54 loop() {
    55 SET_PWM_DUTY(PWM_START_DUTY); //
    Setup starting PWM with duty cycle
    56 = PWM_START_DUTY i = 5000; //
    Motor start while(i > 100) {
    57
    delayMicroseconds(i);
    58
    bldc_move();
    59
    bldc_step++;
    60
    bldc_step %= 6;
    61
    i = i - 20;
    62
    }
    63
    motor_speed = PWM_START_DUTY;
    64
    ACSR |= 0x08;
    65
    // Enable analog comparator
    66 interrupt

    67 while(1) {

    68 while(!(digitalRead(SPEED_UP))
    && motor_speed < PWM_MAX_DUTY){
    69 motor_speed++;
    SET_PWM_DUTY(motor_speed);
    70
    delay(100); }
    71 while(!(digitalRead(SPEED_DOWN))
    && motor_speed > PWM_MIN_DUTY){
    72
    motor_speed--;
    73
    SET_PWM_DUTY(motor_speed);
    74
    delay(100);
    75
    }
    76
    }
    77
    }
    78

    79
    void BEMF_A_RISING(){
    80 ADCSRB = (0 << ACME); //
    Select AIN1 as comparator negative
    81 input
    82 ACSR |= 0x03; // Set
    83 interrupt on rising edge

    84 }

    85 void BEMF_A_FALLING(){

    86 ADCSRB = (0 << ACME); //


    Select AIN1 as comparator negative
    87 input
    88 ACSR &= ~0x01; // Set
    interrupt on falling edge
    89
    }
    90
    void BEMF_B_RISING(){
    91
    ADCSRA = (0 << ADEN); //
    92
    Disable the ADC module
    93
    ADCSRB = (1 << ACME);
    94
    ADMUX = 2; //
    95 Select analog channel 2 as
    comparator negative input
    96
    ACSR |= 0x03;
    97
    }
    98
    void BEMF_B_FALLING(){
    99
    ADCSRA = (0 << ADEN); //
    100 Disable the ADC module
    101 ADCSRB = (1 << ACME);
    102 ADMUX = 2; //
    Select analog channel 2 as
    103
    comparator negative input
    104
    ACSR &= ~0x01;
    105
    }
    106
    void BEMF_C_RISING(){
    107 ADCSRA = (0 << ADEN); //
    Disable the ADC module
    108
    ADCSRB = (1 << ACME);
    109
    ADMUX = 3; //
    110 Select analog channel 3 as
    111 comparator negative input

    112 ACSR |= 0x03;

    113 }

    114 void BEMF_C_FALLING(){

    115 ADCSRA = (0 << ADEN); //


    Disable the ADC module
    116
    ADCSRB = (1 << ACME);
    117
    ADMUX = 3; //
    118 Select analog channel 3 as
    comparator negative input
    119
    ACSR &= ~0x01;
    120
    }
    121

    122
    void AH_BL(){
    123
    PORTB = 0x04;
    124
    PORTD &= ~0x18;
    125
    PORTD |= 0x20;
    126
    TCCR1A = 0; // Turn
    127
    pin 11 (OC2A) PWM ON (pin 9 & pin
    128 10 OFF)

    129 TCCR2A = 0x81; //

    130 }

    131 void AH_CL(){

    132 PORTB = 0x02;

    133 PORTD &= ~0x18;


    134 PORTD |= 0x20;

    135 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

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