我本来今天想来一发源码分析的,但是我手头没有鼠标,我一想截图那么多就算了,我发一个电机驱动的代码就行。
SimpleFoc-云台电机2804+AS5600
SimpleFoc-原理图(STL6234+INA240)
所以一个输出要两个接口控制
L6234 驱动器有 3 个输出:OUT1、OUT2 和 OUT3。每个输出由 2 个引脚控制:输入 (IN) 和使能 (EN),例如 OUT1 由 IN1 和 EN1 控制。下图显示了每个半桥的控制逻辑:
逻辑电平
输出电平
另外这个原理图看左边,为了方便可以把使能脚直接都拉低
这样使用三个引脚模拟也是可以的
1.L6234 三相电机驱动器 2.6 x 33k 欧姆电阻器 3.3 x 10k 欧姆电阻器 4.4 x 1 欧姆电阻器(功率为 2 W 或更高) 5.2 x 1N4148 二极管 6.100 uF 电解电容器(16V 或更高) 7.1 uF 电解电容器(16V 或更高) 8.220 nF (0.22 uF) 陶瓷电容器 9.100 nF (0.1 uF) 陶瓷电容器 10.10 nF (0.01 uF) 陶瓷电容器 11.2 x 按钮 12.12V 电源 直接连接:
#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); } // Analog comparator ISR ISR(ANALOG_COMP_vect) { // BEMF debounce for (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(); 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 }
代码我就先不解释了,看懂需要看ATmega的书手册
审核编辑:汤梓红
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