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/*
* BLDC_congroller 3.1.1
* by David Glaser
*
* The 3.x series of programs is for the ST L6234 3-Phase Motor Driver IC
*
* Runs a disk drive motor clockwise
* With regenerative braking
* Motor speed and braking is controlled by a single potentiometer
* Motor position is determined with three Hall-Effect sensors
* The Arduino receives outputs from 3 hall sensors (pins 2,3,4)
* and converts their combination to 6 different commutation steps
* PWM outputs on pins 9,10,11, at 32 kHz (corresponding to EN 1,2,3 respectively
* 3 DO on pins 5,6,7 (IN 1,2,3)
* Analog in 0 is connected to a potentiometer to change the PWM duty and change
* between motoring and regenerative braking.
* 0-499: braking
* 500-523: coasting
* 524-1023: motoring
* There are many lines commented out that were used for debugging by
* printing various values to the serial connection.
*/
int HallState1; //Variables for the three hall sensors (3,2,1)
int HallState2;
int HallState3;
int HallVal = 1; //binary value of all 3 hall sensors
int mSpeed = 0; //speed level of the motor
int bSpeed = 0; //braking level
int throttle = 0; //this variable is used with analog in to measure the position of the throttle potentiometer
void setup() {
pinMode(2,INPUT); // Hall 1
pinMode(3,INPUT); // Hall 2
pinMode(4,INPUT); // Hall 3
// Outputs for the L6234 Motor Driver
pinMode(5,OUTPUT); // IN 1
pinMode(6,OUTPUT); // IN 2
pinMode(7,OUTPUT); // IN 3
pinMode(9,OUTPUT); // EN 1
pinMode(10,OUTPUT); // EN 2
pinMode(11,OUTPUT); // EN 3
//Serial.begin(9600); //uncomment this line if you will use the serial connection
// also uncomment Serial.flush command at end of program.
/* Set PWM frequency on pins 9,10, and 11
// this bit of code comes from
http://usethearduino.blogspot.com/2008/11/changing-pwm-frequency-on-arduino.html
*/
// Set PWM for pins 9,10 to 32 kHz
//First clear all three prescaler bits:
int prescalerVal = 0x07; //create a variable called prescalerVal and set it equal to the binary number "00000111" number "00000111" number "00000111"
TCCR1B &= ~prescalerVal; //AND the value in TCCR0B with binary number "11111000"
//Now set the appropriate prescaler bits:
int prescalerVal2 = 1; //set prescalerVal equal to binary number "00000001"
TCCR1B |= prescalerVal2; //OR the value in TCCR0B with binary number "00000001"
// Set PWM for pins 3,11 to 32 kHz (Only pin 11 is used in this program)
//First clear all three prescaler bits:
TCCR2B &= ~prescalerVal; //AND the value in TCCR0B with binary number "11111000"
//Now set the appropriate prescaler bits:
TCCR2B |= prescalerVal2; //OR the value in TCCR0B with binary number "00000001"//First clear all three prescaler bits:
}
void loop(){
//time = millis();
//prints time since program started
//Serial.println(time);
//Serial.print("\n");
throttle = analogRead(0); //value of the throttle potentiometer
mSpeed = map(throttle, 512, 1023, 0, 255); //motoring is mapped to the top half of potentiometer
bSpeed = map(throttle, 0, 511, 255, 0); // regenerative braking on bottom half of pot
//mSpeed = 100; //used for debugging
HallState1 = digitalRead(2); // read input value from Hall 1
HallState2 = digitalRead(3); // read input value from Hall 2
HallState3 = digitalRead(4); // read input value from Hall 3
//digitalWrite(8, HallState1); // LEDs turned on when corresponding sensor is high - originally used for debugging
//digitalWrite(9, HallState2);
//digitalWrite(10, HallState3);
HallVal = (HallState1) + (2*HallState2) + (4*HallState3); //Computes the binary value of the 3 Hall sensors
// Commutation for Motoring
// Each binary number has a case that corresponds to different transistors being turned on
// Bit Math is used to change the values of the output
// For tutorial on bitmath with the Arduino: http://www.arduino.cc/playground/Code/BitMath
// PORTD contains the outputs for the IN pins on the L6234 driver
// that determine whether the upper or lower transistor of each phase is used
// The outputs for the EN pins are controlled by the Arduino command analogWrite, which
// sets the duty of the PWM (0 = OFF, 255 = ON or throttle value that is controlled by the potentiometer).
if (throttle > 511){
switch (HallVal)
{
case 3:
//PORTD = B011xxx00; // Desired Output for pins 0-7 xxx refers to the Hall inputs, which should not be changed
PORTD &= B00011111;
PORTD |= B01100000; //
analogWrite(9,mSpeed); // PWM on Phase A (High side transistor)
analogWrite(10,0); // Phase B off (duty = 0)
analogWrite(11,255); // Phase C on - duty = 100% (Low side transistor)
break;
case 1:
//PORTD = B001xxx00; // Desired Output for pins 0-7
PORTD &= B00011111; //
PORTD |= B00100000; //
analogWrite(9,mSpeed); // PWM on Phase A (High side transistor)
analogWrite(10,255); //Phase B on (Low side transistor)
analogWrite(11,0); //Phase B off (duty = 0)
break;
case 5:
//PORTD = B101xxx00; // Desired Output for pins 0-7
PORTD &= B00011111; //
PORTD |= B10100000;
analogWrite(9,0);
analogWrite(10,255);
analogWrite(11,mSpeed);
break;
case 4:
//PORTD = B100xxx00; // Desired Output for pins 0-7
PORTD &= B00011111;
PORTD |= B10000000; //
analogWrite(9,255);
analogWrite(10,0);
analogWrite(11,mSpeed);
break;
case 6:
//PORTD = B110xxx00; // Desired Output for pins 0-7
PORTD &= B00011111;
PORTD = B11000000; //
analogWrite(9,255);
analogWrite(10,mSpeed);
analogWrite(11,0);
break;
case 2:
//PORTD = B010xxx00; // Desired Output for pins 0-7
PORTD &= B00011111;
PORTD |= B01000000; //
analogWrite(9,0);
analogWrite(10,mSpeed);
analogWrite(11,255);
break;
}
}
// Commutation for Regenerative Braking
// PORTD (Outputs for IN pins on L6234) pins are always low so only the
// lower transistors on each phase are used
// upper transistors are always off during regen. braking.
else{
//PORTD = B000xxx00; // Desired Output for pins 0-7
PORTD &= B00011111;
PORTD |= B00000000; //
switch (HallVal)
{
case 3:
analogWrite(9,bSpeed);
//analogWrite(9,0);
analogWrite(10,0);
analogWrite(11,0);
break;
case 1:
analogWrite(9,bSpeed);
analogWrite(10,0);
analogWrite(11,0);
break;
case 5:
analogWrite(9,0);
analogWrite(10,0);
analogWrite(11,bSpeed);
break;
case 4:
analogWrite(9,0);
analogWrite(10,0);
analogWrite(11,bSpeed);
break;
case 6:
analogWrite(9,0);
analogWrite(10,bSpeed);
analogWrite(11,0);
break;
case 2:
analogWrite(9,0);
analogWrite(10,bSpeed);
analogWrite(11,0);
break;
}
}
//time = millis();
//prints time since program started
//Serial.println(time);
//Serial.print("\n");
//Serial.flush(); //uncomment this if you will use serial port for debugging
}
