What could be the problem that I can not upload this cod to UNO
// The encoder angle is measured as an angle fro 0 - 1023 "binary degrees".
// These arrays define at which angles the Hall signals H1 (Pin 2) H2 (pin 3) and H3 (pin 4) are high.
// H1 = {0, 171, 341, 512, 683, 853) would set the H1 pin high between 0-60, 120-180 and 240-300 degrees
// Which might suit a 3 pole motor.
// All three arrays must have the same number of elements set by the NUMSEGS constant.
// Angle-wrapping is not supported, 0 is always less then 1023.
// Quadrature signals are A (pin 5), B (pin 6), Z (pin 7)
// Resolver Cos+ is Analog(0), Sin+ is Analog(2)
// 31kHz PWM Sine wave excitation Pin11 (low pass filter / buffer required)
#include "avr/pgmspace.h"
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
const char NUMSEGS = 8;
int H1[] = {0, 171, 341, 512, 683, 853, 1025, 1025};
int H2[] = {114, 284, 455, 626, 796, 967, 1025, 1025};
int H3[] = {0, 58, 228, 398, 569, 740, 910, 1023};
byte i1;
byte i2;
byte i3;
// table of 256 sine values / one sine period / stored in flash memory
PROGMEM prog_uchar sine16[] = {127, 176, 217, 245, 255, 245, 217, 176, 128, 79, 38, 10, 0, 10, 38, 79, 127 };
PROGMEM prog_uchar arctan256[] = {
0, 1, 1, 2, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 10, 11, 11, 12, 13, 13, 14, 15, 15, 16, 16, 17, 18, 18, 19, 20,
20, 21, 22, 22, 23, 23, 24, 25, 25, 26, 27, 27, 28, 28, 29, 30, 30, 31, 31, 32, 33, 33, 34, 34, 35, 36, 36, 37,
38, 38, 39, 39, 40, 41, 41, 42, 42, 43, 44, 44, 45, 45, 46, 46, 47, 48, 48, 49, 49, 50, 51, 51, 52, 52, 53, 53,
54, 55, 55, 56, 56, 57, 57, 58, 58, 59, 60, 60, 61, 61, 62, 62, 63, 63, 64, 65, 65, 66, 66, 67, 67, 68, 68, 69,
69, 70, 70, 71, 71, 72, 72, 73, 74, 74, 75, 75, 76, 76, 77, 77, 78, 78, 79, 79, 80, 80, 81, 81, 82, 82, 83, 83,
84, 84, 84, 85, 85, 86, 86, 87, 87, 88, 88, 89, 89, 90, 90, 91, 91, 91, 92, 92, 93, 93, 94, 94, 95, 95, 96, 96,
96, 97, 97, 98, 98, 99, 99, 99, 100, 100, 101, 101, 102, 102, 102, 103, 103, 104, 104, 104, 105, 105, 106, 106,
106, 107, 107, 108, 108, 108, 109, 109, 110, 110, 110, 111, 111, 112, 112, 112, 113, 113, 113, 114, 114, 115, 115,
115, 116, 116, 116, 117, 117, 118, 118, 118, 119, 119, 119, 120, 120, 120, 121, 121, 121, 122, 122, 122, 123, 123,
123, 124, 124, 124, 125, 125, 125, 126, 126, 126, 127, 127, 127, 128, 128, 128
};
byte EP0[] = { B00000000, B00100000, B01100000, B01000000 };
volatile byte V[6]; // Analogue values
byte Z[6]; // Zero-offset values for each channel
volatile boolean F; // "You have new Volts" flag.
signed int Q; // Three Quadrature encoders
signed int A; // Three Angles
long Accum; // For zero-measurement
volatile byte index; // index to current mux channel
byte oldindex = 0; // Only do arctan if there is new data
// variables used inside interrupt service declared as voilatile
volatile byte icnt; // var inside interrupt
void setup()
{
DDRB = B00111111; // PORTB as output
DDRD = B11111100; // PortD as output, except serial IO
Serial.begin(115200); // connect to the serial port
Serial.println("Resolver to Hall Converter");
//First populate the zero-volt value for each channel
analogReference(EXTERNAL);
for (int i = 0 ; i <= 5 ; i++) { // iterate through channels
Accum = 0;
for (int j = 1 ; j<=1000 ; j++) { // 1000 samples should do
Accum = Accum + analogRead(i);
}
Z = Accum / 4000; // 10-to-8 bitshift and 1000
_ Serial.println(Z*, DEC);_
_ }*_
* Setup_timer2();
_ // disable interrupts to avoid timing distortion*_
* cbi (TIMSK0,TOIE0); // disable Timer0 !!! delay() is now not available*
* SetupADC();*
}
void loop()
{
* sbi (TIMSK2,TOIE2); // enable Timer2 Interrupt*
* // Main loop*
* while(1) {*
* if (F) // Only bother updating angle and Hall signals after a new angle measurement*
* {*
* F = false;*
* A = arctan(V[0] - Z[0], V[3] - Z[3]);*
* // Set the Hall Sensors*
* i1 = i2 = i3 = 0;*
* for (int n = 0 ; n < NUMSEGS; n++){*
* if (A > H1[n]) i1++;*
* if (A > H2[n]) i2++;*
* if (A > H3[n]) i3++;*
* }*
* if (i1 & 1) sbi(PORTD, 2);*
* else cbi(PORTD, 2);*
* if (i2 & 1) sbi(PORTD, 3);*
* else cbi(PORTD, 3);*
* if (i3 & 1) sbi(PORTD, 4);*
* else cbi(PORTD, 4);*
* }*
* // Count till the Quadrature counter equals the angle*
* if ((Q < A && int(A - Q) < 512) || int(Q - A) > 511 ) Q = (1023 & ++Q) ;*
* else if ((Q > A && int(Q - A) < 512) || int(A - Q) > 511) Q = (1023 & --Q) ;*
* PORTD = (PORTD & B10011111) | EP0[Q & 3];*
* if (Q == 0) sbi(PORTD, 7);*
* else cbi(PORTD,7);*
* }*
}
//******************************************************************
// timer2 setup
// set prscaler to 1, PWM mode to phase correct PWM, 16000000/510 = 31372.55 Hz clock
void Setup_timer2() {
* sbi (TCCR2B, CS20); // Timer2 Clock Prescaler to : 1*
* cbi (TCCR2B, CS21);*
* cbi (TCCR2B, CS22);*
* // Timer2 PWM Mode set to Phase Correct PWM*
* cbi (TCCR2A, COM2A0); // clear Compare Match*
* sbi (TCCR2A, COM2A1);*
* sbi (TCCR2A, WGM20); // Mode 1 / Phase Correct PWM*
* cbi (TCCR2A, WGM21);*
* cbi (TCCR2B, WGM22);*
}
//Setup ADC
void SetupADC() {
// cbi(ADMUX, REFS1);
//cbi(ADMUX, REFS0); // External Aref
analogReference(EXTERNAL);
sbi(ADMUX, ADLAR); // Left-aligned for 8-bit data
cbi(ADMUX, MUX3);
cbi(ADMUX, MUX2);
cbi(ADMUX, MUX1);
cbi(ADMUX, MUX0); // Set the Mux to zero to begin
sbi(ADCSRA, ADEN); // Enable the ADC
cbi(ADCSRA, ADSC); // Don't start conversion yet
cbi(ADCSRA, ADATE); // No auto-trigger
cbi(ADCSRA, ADIF); // Not sure if that is possible or wise
sbi(ADCSRA, ADIE); // Conversion-complete Interrupt to process data
sbi(ADCSRA, ADPS2);
cbi(ADCSRA, ADPS1);
cbi(ADCSRA, ADPS0); // ADC Clock prescalar = 16
}
//******************************************************************
// Timer2 Interrupt Service at 31372,550 KHz = 32uSec
// this is the timebase REFCLOCK for the DDS generator
ISR(TIMER2_OVF_vect) {
* icnt= 15 & (++icnt); // Choose the next value from the lookup table, with wrap*
* OCR2A=pgm_read_byte_near(sine16 + icnt); // Set the PWM duty for this cycle*
* if (icnt == 5 || icnt==7 ) {*
* sbi(ADCSRA, ADSC); // Start Conversion*
* }*
}
// ADC Conversion Complete Interrupt
ISR(ADC_vect) {
V[index] = ADCH; //get the data
F = true;
index = (index == 0) ? index = 3 : index = 0 ; // swap between active channels
ADMUX = (ADMUX & B11110000) | index; // set the ACDC channel
}
// Lookup-Table based Arctan function
int arctan(int V1, int V2) {
* //Handle the quadrants explicitly*
* if (V1 < 0)*
* {*
* if (V2 < 0)*
* {*
* if (V1 < V2) // 180-225*
* {*
return 512 + pgm_read_byte_near(arctan256 + 256 * V2 / V1);
* }*
* else // 225-270*
* {*
return 768 - pgm_read_byte_near(arctan256 + 256 * V1 / V2);
* }*
* }*
* else // V2 => 0*
* {*
* if (-V1 < V2) // 90-135*
* {*
return 256 + pgm_read_byte_near(arctan256 - 256 * V1 / V2);
* }*
* else // 135-180*
* {*
return 512 - pgm_read_byte_near(arctan256 - 256 * V2 / V1);
* }*
* }*
* }*
* else // V1 => 0*
* {*
* if (V2 < 0)*
* {*
* if (V1 < -V2) // 270-315*
* {*
return 768 + pgm_read_byte_near(arctan256 - 256 * V1 / V2);
* }*
* else // 315-360*
* {*
return 1024 - pgm_read_byte_near(arctan256 - 256 * V2 / V1);
* } *
* }*
* else // V2 => 0*
* {*
* if (V1 < V2) // 45-90*
* {*
return 256 - pgm_read_byte_near(arctan256 + 256 * V1 / V2);
* }*
* else // 0-45*
* { *
return pgm_read_byte_near(arctan256 + 256 * V2 / V1);
* } *
* } *
* }*
}
