L6234 Brushless DC Motor Control - Simple Version

I wanted to do a source code analysis today, but I don't have a mouse, so I thought that since there are so many screenshots, forget it, I'll just post the code for the motor driver.

SimpleFoc-PTZ motor 2804+AS5600

SimpleFoc-Schematic Diagram (STL6234+INA240)

So one output needs two interfaces to control

The L6234 driver has 3 outputs: OUT1, OUT2 and OUT3. Each output is controlled by 2 pins: input (IN) and enable (EN), for example OUT1 is controlled by IN1 and EN1. The following figure shows the control logic of each half-bridge:

Logic Level

Output Level

In addition, look at the left side of this schematic diagram. For convenience, you can directly pull the enable pins low.

Using three pins like this is also possible

1. L6234 3-phase motor driver 2.6 x 33k ohm resistors 3.3 x 10k ohm resistors 4.4 x 1 ohm resistors (2 W or higher) 5.2 x 1N4148 diodes 6. 100 uF electrolytic capacitors (16V or higher) 7.1 uF electrolytic capacitors (16V or higher) 8. 220 nF (0.22 uF) ceramic capacitors 9. 100 nF (0.1 uF) ceramic capacitors 10. 10 nF (0.01 uF) ceramic capacitors 11.2 x push buttons 12. 12V power supply Direct connection:

#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

}

I will not explain the code yet, you need to read the ATmega manual to understand it.