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Prog Arduino BLDC - Ino

The document contains code for controlling a brushless DC motor using an Arduino. It defines constants for the maximum, minimum, and starting PWM duty cycles. It configures various pins and timers for PWM output and interrupt handling. The main loop initializes the motor, reads the ADC to set the motor speed, and continuously runs the motor commutation routine in response to pin change interrupts from the back-EMF detection pins.

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IVC PUI-SKO
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106 views4 pages

Prog Arduino BLDC - Ino

The document contains code for controlling a brushless DC motor using an Arduino. It defines constants for the maximum, minimum, and starting PWM duty cycles. It configures various pins and timers for PWM output and interrupt handling. The main loop initializes the motor, reads the ADC to set the motor speed, and continuously runs the motor commutation routine in response to pin change interrupts from the back-EMF detection pins.

Uploaded by

IVC PUI-SKO
Copyright
© © All Rights Reserved
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
Download as txt, pdf, or txt
Download as txt, pdf, or txt
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#define PWM_MAX_DUTY 255

#define PWM_MIN_DUTY 50
#define PWM_START_DUTY 100

byte bldc_step = 0, motor_speed, pin_state;

void setup()
{
DDRD |= 0xE0; // configure pins 5, 6 and 7 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;
// ADC module configuration
ADMUX = 0x60; // configure ADC module and select channel 0
ADCSRA = 0x84; // enable ADC module with 16 division factor (ADC clock = 1MHz)

PCICR = EIMSK = 0; // disable all external interrupts

pinMode(2, INPUT_PULLUP);
pinMode(3, INPUT_PULLUP);
pinMode(4, INPUT_PULLUP);
}

// pin change interrupt 2 (PCINT2) ISR


ISR (PCINT2_vect)
{
if( (PIND & PCMSK2) != pin_state )
return;
// BEMF debounce
for(byte i = 0; i < 20; i++)
{
if(bldc_step & 1){
if(PIND & PCMSK2) i -= 1;
}
else {
if(!(PIND & PCMSK2)) i -= 1;
}
}

bldc_move();
bldc_step++;
bldc_step %= 6;
}

// BLDC motor commutation function


void bldc_move()
{
switch(bldc_step)
{
case 0:
AH_BL();
BEMF_C_FALLING();
break;
case 1:
AH_CL();
BEMF_B_RISING();
break;
case 2:
BH_CL();
BEMF_A_FALLING();
break;
case 3:
BH_AL();
BEMF_C_RISING();
break;
case 4:
CH_AL();
BEMF_B_FALLING();
break;
case 5:
CH_BL();
BEMF_A_RISING();
}
}

void loop()
{
SET_PWM_DUTY(PWM_START_DUTY); // setup starting PWM with duty cycle =
PWM_START_DUTY
int i = 5000;

// motor start
while(i > 100)
{
delayMicroseconds(i);
bldc_move();
bldc_step++;
bldc_step %= 6;
i = i - 20;
}

motor_speed = PWM_START_DUTY;

PCICR = 4; // enable pin change interrupt for pins PCINT23..16 (Arduino 0 to 7)

while(1)
{
ADCSRA |= 1 << ADSC; // start conversion
while(ADCSRA & 0x40); // wait for conversion complete
motor_speed = ADCH; // read ADC data (8 bits only)
if(motor_speed < PWM_MIN_DUTY)
motor_speed = PWM_MIN_DUTY;
SET_PWM_DUTY(motor_speed);
}
}

void BEMF_A_RISING()
{
PCMSK2 = 0x04; // enable Arduino pin 2 (PCINT18) interrupt, others are
disabled
pin_state = 0x04;
}
void BEMF_A_FALLING()
{
PCMSK2 = 0x04; // enable Arduino pin 2 (PCINT18) interrupt, others are
disabled
pin_state = 0;
}
void BEMF_B_RISING()
{
PCMSK2 = 0x08; // enable Arduino pin 3 (PCINT19) interrupt, others are
disabled
pin_state = 0x08;
}
void BEMF_B_FALLING()
{
PCMSK2 = 0x08; // enable Arduino pin 3 (PCINT19) interrupt, others are
disabled
pin_state = 0;
}
void BEMF_C_RISING()
{
PCMSK2 = 0x10; // enable Arduino pin 4 (PCINT20) interrupt, others are
disabled
pin_state = 0x10;
}
void BEMF_C_FALLING()
{
PCMSK2 = 0x10; // enable Arduino pin 4 (PCINT20) interrupt, others are
disabled
pin_state = 0;
}

void AH_BL()
{
PORTD &= ~0xA0;
PORTD |= 0x40;
TCCR1A = 0; // turn pin 11 (OC2A) PWM ON (pin 9 & pin 10 OFF)
TCCR2A = 0x81; //
}
void AH_CL()
{
PORTD &= ~0xC0;
PORTD |= 0x20;
TCCR1A = 0; // turn pin 11 (OC2A) PWM ON (pin 9 & pin 10 OFF)
TCCR2A = 0x81; //
}
void BH_CL()
{
PORTD &= ~0xC0;
PORTD |= 0x20;
TCCR2A = 0; // turn pin 10 (OC1B) PWM ON (pin 9 & pin 11 OFF)
TCCR1A = 0x21; //
}
void BH_AL()
{
PORTD &= ~0x60;
PORTD |= 0x80;
TCCR2A = 0; // turn pin 10 (OC1B) PWM ON (pin 9 & pin 11 OFF)
TCCR1A = 0x21; //
}
void CH_AL()
{
PORTD &= ~0x60;
PORTD |= 0x80;
TCCR2A = 0; // turn pin 9 (OC1A) PWM ON (pin 10 & pin 11 OFF)
TCCR1A = 0x81; //
}
void CH_BL()
{
PORTD &= ~0xA0;
PORTD |= 0x40;
TCCR2A = 0; // turn pin 9 (OC1A) PWM ON (pin 10 & pin 11 OFF)
TCCR1A = 0x81; //
}

void SET_PWM_DUTY(byte 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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