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seamabldcallinoneV1.1.ino
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seamabldcallinoneV1.1.ino
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#include <FlexiTimer2.h>
#include <PWM.h>
#include <avr/wdt.h>
//sema bldc v1.0
//we use pwm lib for high speed pwm
//we use flexitimer2 for detect the hall sensor
//The MosFET status:
//1-UH(Pin7) 3-VH(Pin8) 5-WH;(Pin9)
//2-UL(Pin3) 4-VL(Pin4) 6-WL;(Pin6)
#define MosPin_RUN1 digitalWrite(7,1);digitalWrite(8,0);digitalWrite(9,0); digitalWrite(3,0);digitalWrite(4,1);digitalWrite(6,0) //101 CW Hall=5; (1,4) 10-01-00 U-V-W AB
#define MosPin_RUN2 digitalWrite(7,1);digitalWrite(8,0);digitalWrite(9,0); digitalWrite(3,0);digitalWrite(4,0);digitalWrite(6,1) //100 CW Hall=4; (1,6) 10-00-01 U-V-W AC
#define MosPin_RUN3 digitalWrite(7,0);digitalWrite(8,1);digitalWrite(9,0); digitalWrite(3,0);digitalWrite(4,0);digitalWrite(6,1) //110 CW Hall=6; (3,6) 00-10-01 U-V-W BC
#define MosPin_RUN4 digitalWrite(7,0);digitalWrite(8,1);digitalWrite(9,0); digitalWrite(3,1);digitalWrite(4,0);digitalWrite(6,0) //010 CW Hall=2; (3,2) 01-10-00 U-V-W BA
#define MosPin_RUN5 digitalWrite(7,0);digitalWrite(8,0);digitalWrite(9,1); digitalWrite(3,1);digitalWrite(4,0);digitalWrite(6,0) //011 CW Hall=3; (5,2) 01-00-10 U-V-W CA
#define MosPin_RUN6 digitalWrite(7,0);digitalWrite(8,0);digitalWrite(9,1); digitalWrite(3,0);digitalWrite(4,1);digitalWrite(6,0) //001 CW Hall=1; (5,4) 00-10-01 U-V-W CB
#define MosPin_STOP digitalWrite(7,0);digitalWrite(8,0);digitalWrite(9,0); digitalWrite(3,0);digitalWrite(4,0);digitalWrite(6,0) //All MosFet Close 00-00-00 U-V-W
#define MosPin_BRK digitalWrite(7,0);digitalWrite(8,0);digitalWrite(9,0); digitalWrite(3,1);digitalWrite(4,1);digitalWrite(6,1) //The Low MosFet Open 01-01-01 U-V-W
#define _MotorPhasePairs 5
#define _UpdatePWMTime 1 //The Value more big, the motor will start up more slow.
#define _PWMUpStep 2
#define _PWMDownStep 1
#define _DelayTimes 1
#define _UpOffSetDelayTime 10
#define _MaxBRKTimes 1000
#define _MaxPinChangeTime 500
#define _KeyMaxCount 20
#define _MaxIshunt 500 //Limit Normal run current about 12A ( the resistance value 10momega)
#define _MaxUpIshunt 580 //Limit Startup Current about 3A
#define _MaxMaxIshunt 780 //Limit Peeak Current about 16A
#define _MaxIshuntCheck 220 //Check the mosfet status. Limit the current.
#define _MaxIshuntTime 2
#define _MaxUpPWM 900 //Limit Startup the PWM
#define _MaxLocationPWM 150 //Location the rotor position.
#define _MaxLocationTime 100
#define _MaxMotorUpStep 5
#define _BEMFLow 0
#define _BEMFHigh 1
#define _MaxUpdateStallTime 20000 //The motor stall time
#define _MaxSensorLessUpdateStallTime 5000 //The sensorless time
#define M_LoopRun 0
#define M_KP 8
#define M_KI 2
#define M_KD 0
#define M_Scale 30
#define M_MaxMaxPWM 1016
#define M_MinMinPWM 200
#define M_MaxSpeed 3000
#define M_MinSpeed 200
//int UpDelayTime[]= {2000,1900,1800,1600,1400,1200,1000,800,600,550,500,480,460,440,420,400,380,360,355,350,345,340,335,330,325,320,315,310,305,300,298,292};
int UpDelayTime[]= {50,50,50,49,49,49,43,42,40,40,39,39,38,38,37,37,36,35,35,34,34,34,33,33,32,31,31,30};
//int UpDelayTime[]= {1650,1600,1550,1500,1500,1450,1450,1400,1400,1400,1380,1370,1360,1360,1355,1355,1350,1350,1340,1340,1330,1330,1320,1320,1320,1320,1320,1310};
int frequency = 20000; //pwm frequency in Hz 16khz
int HallValue,LastHallValue,RunPin,DirPin,BEMFPinA,BEMFPinB,BEMFPinC;
int RunEnable=1,DirStatus=1;
int ReadPoint,NowPwm=0;
unsigned int UpdatePwm=0;
unsigned int UpdateStallTime=0;
int OutStatus, Ishunt,AvgIshunt=0,SubIshunt,ErrIshunt,CountErr=0,Error=0,HallErr=0,CountRun=0,RunStatus=0,CurrentDirect;
int RunPinChangeCount=0,DirPinChangeCount=0;
int FlashBegan,FlashErr;
unsigned long AvgMotorStepTime,MotorStepTime,LastStepTime,ThisFlashTime,lastrtime;
unsigned long BEMFTimeStamp,LastRunCycleTime,RunTime;
int MotorPhase,LastPhase,SensorLess=0;
int Hall_1=0,Hall_2=0,Hall_3=0,Hall_4=0,Hall_5=0,Hall_6=0,RightRunStatus=0,SensorLessSound=1;
int MotorActualSpeed,TargetSpeed;
int EK, EK1,EK2,CEK,CEK1,CEK2,YK,DealLoop;
float EnvTemperature;
void setup(){
Serial.begin(9600);
pinMode(2, INPUT); //Over Current for Hardware 硬件保护
pinMode(3, OUTPUT); //U-L
pinMode(4, OUTPUT); //V-L
pinMode(6, OUTPUT); //W-L
pinMode(7, OUTPUT); //U-H
pinMode(8, OUTPUT); //V-H
pinMode(9, OUTPUT); //W-H
//the hall sensor abc
pinMode(11, INPUT); //Hall A
pinMode(12, INPUT); //Hall B
pinMode(13, INPUT); //Hall C
pinMode(18, INPUT); //Dir
pinMode(19, INPUT); // Enable
//
pinMode(14, INPUT_PULLUP); //BEMFPinA
pinMode(15, INPUT_PULLUP); // BEMFPinB
pinMode(16, INPUT_PULLUP); // BEMFPinC
//setP16( );
MotorStop();
InitTimersSafe();
bool success = SetPinFrequencySafe(10, frequency); //pin 10 for high speed pwm,
digitalWrite(5,1);
NowPwm=0;
pwmWrite(10,0);
CheckMos();
MotorSound();
FlexiTimer2::set(1, 1.0/15000, MotorRUN);
FlexiTimer2::start();
digitalWrite(5,0);
wdt_enable(WDTO_120MS);
}
void setP32( ) {
Serial.println("ADC Prescaler = 32"); // 101
ADCSRA |= (1 << ADPS2); // 1
ADCSRA &= ~(1 << ADPS1); // 0
ADCSRA |= (1 << ADPS0); // 1
}
void setP128( ) { //
Serial.println("ADC Prescaler = 128"); // 111
ADCSRA |= (1 << ADPS2); // 1
ADCSRA |= (1 << ADPS1); // 1
ADCSRA |= (1 << ADPS0); // 1
} // setP128
void setP16( ) {
Serial.println("ADC Prescaler = 16"); // 100
ADCSRA |= (1 << ADPS2); // 1
ADCSRA &= ~(1 << ADPS1); // 0
ADCSRA &= ~(1 << ADPS0); // 0
}
void MotorRUN(){
wdt_reset();
UpdatePwm++;
if(RunEnable==0&&Error==0){
if(SensorLess==1&&RunStatus==2){
if(CurrentDirect==1){
SenseBEMFCW();
UpdateStallTime++;
if(MotorPhase!=LastPhase){
if(RunStatus<3)CountRun++;
MosPin_STOP;
delayMicroseconds(2);
SensorLessCW();
LastPhase=MotorPhase;
UpdateStallTime=0;
digitalWrite(5,OutStatus);
if(MotorPhase==1){
MotorStepTime=micros()-LastStepTime;
LastStepTime=micros();
AvgMotorStepTime=(AvgMotorStepTime+MotorStepTime)>>1;
DealLoop=1;
OutStatus=!OutStatus;
}
}
}
else{
SenseBEMFCCW();
UpdateStallTime++;
if(MotorPhase!=LastPhase){
if(RunStatus<3)CountRun++;
MosPin_STOP;
delayMicroseconds(2);
SensorLessCCW();
LastPhase=MotorPhase;
UpdateStallTime=0;
digitalWrite(5,OutStatus);
if(MotorPhase==1){
MotorStepTime=micros()-LastStepTime;
LastStepTime=micros();
AvgMotorStepTime=(AvgMotorStepTime+MotorStepTime)>>1;
DealLoop=1;
OutStatus=!OutStatus;
}
}
}
}//SelesorLess Status
if(SensorLess==0){
UpdateStallTime++;
HallValue= digitalRead(11)*4+(int)digitalRead(12)*2+digitalRead(13);
if(RunStatus>0)if(HallValue==0||HallValue==7)Error=3;
if(HallValue!=LastHallValue){
MosPin_STOP;
//delayMicroseconds(2);
HallValue= digitalRead(11)*4+(int)digitalRead(12)*2+digitalRead(13);
if(CurrentDirect==1){
MotorCCW();
}
else{
MotorCW();
}
LastHallValue=HallValue;
UpdateStallTime=0;
if(RunStatus<3)CountRun++;
digitalWrite(5,OutStatus);
if(HallValue==2){
MotorStepTime=micros()-LastStepTime;
LastStepTime=micros();
AvgMotorStepTime=(AvgMotorStepTime+MotorStepTime)>>1;
DealLoop=1;
OutStatus=!OutStatus;
}
}
}//Sensored Status
}
else{
MosPin_STOP;
}
}
void SensorLessCW(){
switch(MotorPhase){
case 1:
MosPin_RUN1;
break;
case 2:
MosPin_RUN2;
break;
case 3:
MosPin_RUN3;
break;
case 4:
MosPin_RUN4;
break;
case 5:
MosPin_RUN5;
break;
case 6:
MosPin_RUN6;
break;
default: MosPin_STOP;
}
}
void SensorLessCCW(){
switch(MotorPhase){
case 1:
MosPin_RUN1;
break;
case 2: //100
MosPin_RUN6;
break;
case 3: //110
MosPin_RUN5;
break;
case 4: //010
MosPin_RUN4;
break;
case 5: //011
MosPin_RUN3;
break;
case 6: //001
MosPin_RUN2;
break;
default: MosPin_STOP;
}
}
void SenseBEMFCW(){
BEMFPinA=digitalRead(14);
BEMFPinB=digitalRead(15);
BEMFPinC=digitalRead(16);
switch(MotorPhase){
case 1:
if(BEMFPinC==_BEMFLow){
RunTime=micros()-BEMFTimeStamp;
delayMicroseconds(2);
BEMFPinC=digitalRead(16);
if((BEMFPinC==_BEMFLow)&&(RunTime>(LastRunCycleTime/2))){
MotorPhase++;
LastRunCycleTime=micros()-BEMFTimeStamp;
BEMFTimeStamp=micros();
}
}
break;
case 2:
if(BEMFPinB==_BEMFHigh){
RunTime=micros()-BEMFTimeStamp;
delayMicroseconds(2);
BEMFPinB=digitalRead(15);
if((BEMFPinB==_BEMFHigh)&&(RunTime>(LastRunCycleTime/2))){
MotorPhase++;
LastRunCycleTime=micros()-BEMFTimeStamp;
BEMFTimeStamp=micros();
}
}
break;
case 3:
if(BEMFPinA==_BEMFLow){
RunTime=micros()-BEMFTimeStamp;
delayMicroseconds(2);
BEMFPinA=digitalRead(14);
if((BEMFPinA==_BEMFLow)&&(RunTime>(LastRunCycleTime/2))){
MotorPhase++;
LastRunCycleTime=micros()-BEMFTimeStamp;
BEMFTimeStamp=micros();
}
}
break;
case 4:
if(BEMFPinC==_BEMFHigh){
RunTime=micros()-BEMFTimeStamp;
delayMicroseconds(2);
BEMFPinC=digitalRead(16);
if((BEMFPinC==_BEMFHigh)&&(RunTime>(LastRunCycleTime/2))){
MotorPhase++;
LastRunCycleTime=micros()-BEMFTimeStamp;
BEMFTimeStamp=micros();
}
}
break;
case 5:
if(BEMFPinB==_BEMFLow){
RunTime=micros()-BEMFTimeStamp;
delayMicroseconds(2);
BEMFPinB=digitalRead(15);
if((BEMFPinB==_BEMFLow)&&(RunTime>(LastRunCycleTime/2))){
MotorPhase++;
LastRunCycleTime=micros()-BEMFTimeStamp;
BEMFTimeStamp=micros();
}
}
break;
case 6:
if(BEMFPinA==_BEMFHigh){
RunTime=micros()-BEMFTimeStamp;
delayMicroseconds(2);
BEMFPinA=digitalRead(14);
if((BEMFPinA==_BEMFHigh)&&(RunTime>(LastRunCycleTime/2))){
MotorPhase=1;
LastRunCycleTime=micros()-BEMFTimeStamp;
BEMFTimeStamp=micros();
}
}
break;
default: MosPin_STOP;
}
}
void SenseBEMFCCW(){
BEMFPinA=digitalRead(14);
BEMFPinB=digitalRead(15);
BEMFPinC=digitalRead(16);
switch(MotorPhase){
case 1:
if(BEMFPinC==_BEMFHigh){
RunTime=micros()-BEMFTimeStamp;
delayMicroseconds(2);
BEMFPinC=digitalRead(16);
if((BEMFPinC==_BEMFHigh)&&(RunTime>(LastRunCycleTime/2))){
MotorPhase++;
LastRunCycleTime=micros()-BEMFTimeStamp;
BEMFTimeStamp=micros();
}
}
break;
case 2:
if(BEMFPinA==_BEMFLow){
RunTime=micros()-BEMFTimeStamp;
delayMicroseconds(2);
BEMFPinA=digitalRead(14);
if((BEMFPinA==_BEMFLow)&&(RunTime>(LastRunCycleTime/2))){
MotorPhase++;
LastRunCycleTime=micros()-BEMFTimeStamp;
BEMFTimeStamp=micros();
}
}
break;
case 3:
if(BEMFPinB==_BEMFHigh){
RunTime=micros()-BEMFTimeStamp;
delayMicroseconds(2);
BEMFPinB=digitalRead(15);
if((BEMFPinB==_BEMFHigh)&&(RunTime>(LastRunCycleTime/2))){
MotorPhase++;
LastRunCycleTime=micros()-BEMFTimeStamp;
BEMFTimeStamp=micros();
}
}
break;
case 4:
if(BEMFPinC==_BEMFLow){
RunTime=micros()-BEMFTimeStamp;
delayMicroseconds(2);
BEMFPinC=digitalRead(16);
if((BEMFPinC==_BEMFLow)&&(RunTime>(LastRunCycleTime/2))){
MotorPhase++;
LastRunCycleTime=micros()-BEMFTimeStamp;
BEMFTimeStamp=micros();
}
}
break;
case 5:
if(BEMFPinA==_BEMFHigh){
RunTime=micros()-BEMFTimeStamp;
delayMicroseconds(2);
BEMFPinA=digitalRead(14);
if((BEMFPinA==_BEMFHigh)&&(RunTime>(LastRunCycleTime/2))){
MotorPhase++;
LastRunCycleTime=micros()-BEMFTimeStamp;
BEMFTimeStamp=micros();
}
}
break;
case 6:
if(BEMFPinB==_BEMFLow){
RunTime=micros()-BEMFTimeStamp;
delayMicroseconds(2);
BEMFPinB=digitalRead(15);
if((BEMFPinB==_BEMFLow)&&(RunTime>(LastRunCycleTime/2))){
MotorPhase=1;
LastRunCycleTime=micros()-BEMFTimeStamp;
BEMFTimeStamp=micros();
}
}
break;
default: MosPin_STOP;
}
}
/*
void SenseBEMF(){
BEMFPinA=digitalRead(14);
BEMFPinB=digitalRead(15);
BEMFPinC=digitalRead(16);
HallValue= digitalRead(14)*4+(int)digitalRead(15)*2+digitalRead(16);
switch(MotorPhase){
case 1: //101
if(sense==1){
if(BEMFPinC==_BEMFLow){
delayMicroseconds(1);
BEMFPinC=digitalRead(16);
if(BEMFPinC==_BEMFLow){ LastRunCycleTime=(micros()-BEMFTimeStamp)/3;BEMFTimeStamp=micros();sense=0;}}
else{
//nothing
}
}else{
if(micros()-BEMFTimeStamp>LastRunCycleTime){
MotorPhase++; sense=1;
}
}
break;
case 2: //100
if(sense==1){
if(BEMFPinB==_BEMFHigh){
delayMicroseconds(1);
BEMFPinB=digitalRead(15);
if(BEMFPinB==_BEMFHigh){LastRunCycleTime=(micros()-BEMFTimeStamp)/3;BEMFTimeStamp=micros();sense=0;}}
else{
}
}else{
if(micros()-BEMFTimeStamp>LastRunCycleTime){
MotorPhase++; sense=1;
}
}
break;
case 3: //110
if(sense==1){
if(BEMFPinA==_BEMFLow){
delayMicroseconds(1);
BEMFPinA=digitalRead(14);
if(BEMFPinA==_BEMFLow){LastRunCycleTime=(micros()-BEMFTimeStamp)/3;BEMFTimeStamp=micros();sense=0;RunTest++;}}
else{
}
}else{
if(micros()-BEMFTimeStamp>LastRunCycleTime){
MotorPhase++; sense=1;
}
}
break;
case 4: //010
if(sense==1){
if(BEMFPinC==_BEMFHigh){
delayMicroseconds(1);
BEMFPinC=digitalRead(16);
if(BEMFPinC==_BEMFHigh){LastRunCycleTime=(micros()-BEMFTimeStamp)/3;BEMFTimeStamp=micros();sense=0;}}
else{
}
}else{
if(micros()-BEMFTimeStamp>LastRunCycleTime){
MotorPhase++; sense=1;
}
}
break;
case 5: //011
if(sense==1){
if(BEMFPinB==_BEMFLow){
delayMicroseconds(1);
BEMFPinB=digitalRead(15);
if(BEMFPinB==_BEMFLow){LastRunCycleTime=(micros()-BEMFTimeStamp)/3;BEMFTimeStamp=micros();sense=0;}}
else{
}
}else{
if(micros()-BEMFTimeStamp>LastRunCycleTime){
MotorPhase++; sense=1;
}
}
break;
case 6: //001
if(sense==1){
if(BEMFPinA==_BEMFHigh){
delayMicroseconds(1);
BEMFPinA=digitalRead(14);
if(BEMFPinA==_BEMFHigh){LastRunCycleTime=(micros()-BEMFTimeStamp)/3;BEMFTimeStamp=micros();sense=0;}}
else{
}
}else{
if(micros()-BEMFTimeStamp>LastRunCycleTime){
MotorPhase=1; sense=1;
}
}
break;
default: MosPin_STOP;
}
}
*/
void MotorCW(){
switch(HallValue){
case 5: //101
MosPin_RUN1;
break;
case 4: //100
MosPin_RUN2;
break;
case 6: //110
MosPin_RUN3;
break;
case 2: //010
MosPin_RUN4;
break;
case 3: //011
MosPin_RUN5;
break;
case 1: //001
MosPin_RUN6;
break;
default: MosPin_STOP;
}
}
/*
//Same special motor need this sequence, 有些电机比较特殊，需要用这个反向表
void MotorCCW(){
switch(HallValue){
case 5: //101
MosPin_RUN3;
break;
case 4: //100
MosPin_RUN4;
break;
case 6: //110
MosPin_RUN5;
break;
case 2: //010
MosPin_RUN6;
break;
case 3: //011
MosPin_RUN1;
break;
case 1: //001
MosPin_RUN2;
break;
default: MosPin_STOP;
}
}
*/
void MotorCCW(){
switch(HallValue){
case 5: //101
MosPin_RUN4;
break;
case 4: //100
MosPin_RUN5;
break;
case 6: //110
MosPin_RUN6;
break;
case 2: //010
MosPin_RUN1;
break;
case 3: //011
MosPin_RUN2;
break;
case 1: //001
MosPin_RUN3;
break;
default: MosPin_STOP;
}
}
void CheckInputPin(){
RunPin=digitalRead(19);
DirPin=digitalRead(18);
//RunPin Check;
if(RunEnable!=RunPin){
RunPinChangeCount++;
if(RunPinChangeCount>_KeyMaxCount){
RunEnable=RunPin;
if(RunEnable==1)Error=0; //复位错误
RunPinChangeCount=0;
}
}
else{
RunPinChangeCount=0;
}
//DirPin Check
if(DirStatus!=DirPin){
DirPinChangeCount++;
if(DirPinChangeCount>_KeyMaxCount){ DirStatus=DirPin;DirPinChangeCount=0;}
}
else{
DirPinChangeCount=0;
}
}
void FlashError(int Err){
int TempDiff;
if(FlashErr<(Err+1)){
if(FlashBegan==1){ThisFlashTime=millis();FlashBegan=0;}
TempDiff=millis()-ThisFlashTime;
if(TempDiff<100)digitalWrite(5,1);
if(TempDiff>100&&TempDiff<500)digitalWrite(5,0);
if(TempDiff>500){FlashBegan=1;FlashErr++;}
}
else{
if(FlashBegan==1){ThisFlashTime=millis();FlashBegan=0;}
TempDiff=millis()-ThisFlashTime;
if(TempDiff<1000){digitalWrite(5,0);}else{FlashErr=0;Serial.println(Error);Serial.println(ErrIshunt);}
}
}
void CurrentCheck(){
//read the Current
Ishunt=analogRead(A6);
SubIshunt=SubIshunt-AvgIshunt+Ishunt;
AvgIshunt=SubIshunt/5;
//Startup Current
if(AvgIshunt>_MaxUpIshunt&&RunStatus==1){Error=5;MosPin_STOP;ErrIshunt=AvgIshunt;}
//Normal Current
if(AvgIshunt>_MaxIshunt&&RunStatus>1){
CountErr++;
if(CountErr>_MaxIshuntTime){Error=6;MosPin_STOP;ErrIshunt=AvgIshunt;}
}
else{
CountErr--;
if(CountErr<0)CountErr=0;
}
//The peak current.
if(Ishunt>_MaxMaxIshunt){Error=7;MosPin_STOP;ErrIshunt=Ishunt;}
if(digitalRead(2)==0){
Error=1; //硬件过流保护
}
}
void readEnvTemp(){
double Digital_Value=analogRead(A7); //读取串联电阻上的电压值（数字量）
double Voltage_Value=(Digital_Value/1023)*5.00;//换算成模拟量的电压值
double Rt_Value= Voltage_Value*82/(48-Voltage_Value); //计算出热敏电阻的阻值
EnvTemperature=(double)1/(log(Rt_Value/10)/3980 + 1/( 25 + 273.15)) - 273.15; //计算所感知的温度并发送
}
void CheckMos(){
pwmWrite(10,100);
//check UH
digitalWrite(7,1);digitalWrite(8,0);digitalWrite(9,0); digitalWrite(3,0);digitalWrite(4,0);digitalWrite(6,0);
delayMicroseconds(5);
InitIshuntCheck(6);
//check VH
MosPin_STOP;
delayMicroseconds(5);
digitalWrite(7,0);digitalWrite(8,1);digitalWrite(9,0); digitalWrite(3,0);digitalWrite(4,0);digitalWrite(6,0);
delayMicroseconds(5);
InitIshuntCheck(6);
//Check WH
MosPin_STOP;
delayMicroseconds(5);
digitalWrite(7,0);digitalWrite(8,0);digitalWrite(9,1); digitalWrite(3,0);digitalWrite(4,0);digitalWrite(6,0);
delayMicroseconds(5);
InitIshuntCheck(6);
//Check UL
MosPin_STOP;
delayMicroseconds(5);
digitalWrite(7,0);digitalWrite(8,0);digitalWrite(9,0); digitalWrite(3,1);digitalWrite(4,0);digitalWrite(6,0);
delayMicroseconds(5);
InitIshuntCheck(6);
//Check VL
MosPin_STOP;
delayMicroseconds(5);
digitalWrite(7,0);digitalWrite(8,0);digitalWrite(9,0); digitalWrite(3,0);digitalWrite(4,1);digitalWrite(6,0);
delayMicroseconds(5);
InitIshuntCheck(6);
//Check WL
MosPin_STOP;
delayMicroseconds(5);
digitalWrite(7,0);digitalWrite(8,0);digitalWrite(9,0); digitalWrite(3,0);digitalWrite(4,0);digitalWrite(6,1);
delayMicroseconds(5);
InitIshuntCheck(6);
//Finish Test Close MosFET.
MosPin_STOP;
pwmWrite(10,0);
}
void InitIshuntCheck(int times){
for(int i=0;i<times;i++){
Ishunt=analogRead(A6);
AvgIshunt=(AvgIshunt+Ishunt)/2;
}
if(AvgIshunt>_MaxIshuntCheck){while(1){MosPin_STOP;FlashError(1);};}
}
void SoundFreq(int ontime, int offtime) {
int i=0;
for(i=0; i<ontime; i++)
delayMicroseconds(1);
MosPin_BRK;
MosPin_STOP;
for(i=0; i<offtime; i++)
delayMicroseconds(1);
}
void Sound(int repetitions, int duration, int ontime, int offtime) {
int i = 0;
int q= 0;
for (i=0; i<repetitions; i++) {
for (q=0; q<duration; q++) {
MosPin_RUN2; InitIshuntCheck(2);
SoundFreq(ontime,offtime);
MosPin_RUN5; InitIshuntCheck(2);
SoundFreq(ontime,offtime);
MosPin_RUN6; InitIshuntCheck(2);
SoundFreq(ontime,offtime);
MosPin_RUN3; InitIshuntCheck(2);
SoundFreq(ontime,offtime);
MosPin_RUN4; InitIshuntCheck(2);
SoundFreq(ontime,offtime);
MosPin_RUN1; InitIshuntCheck(2);
SoundFreq(ontime,offtime);
}
delay(30);
}
}
void MotorSound() {
pwmWrite(10,20);
Sound(1, 20, 10, 1200);
Sound(1, 20, 40, 1200);
Sound(2, 20, 80, 1200);
pwmWrite(10,0);
MosPin_STOP;
}
void ReadPointValue(){
//read the pointmeter value for control the speed
ReadPoint=analogRead(A3)+30;
if(ReadPoint>1000)ReadPoint=1016;
if(ReadPoint<50){Error=2;MotorStop();}else{if(Error==2)Error=0;} //when the pointmeter value <20, The motor will stop.
TargetSpeed=map(ReadPoint,50,1016,M_MinSpeed,M_MaxSpeed);
if(TargetSpeed<M_MinSpeed)TargetSpeed=M_MinSpeed;
if(TargetSpeed>M_MaxSpeed)TargetSpeed=M_MaxSpeed;
}
void MotorRunUp(){
int i;
int j;
if(SensorLess==1){
//Location the Roller;
for(i=0;i<_MaxLocationPWM;i++){
if(Error==0){
NowPwm++;
pwmWrite(10,NowPwm/4);
MosPin_RUN1;
delayMicroseconds(_MaxLocationTime);
Ishunt=analogRead(A6);
CurrentCheck();
}else{
break;
}
}
MotorPhase=2; //The Next Phase;
j=0;
for(;;){
if(Error==0){
if(CurrentDirect==1){
SensorLessCW();}
else{
SensorLessCCW();
}
LastPhase=MotorPhase;
if(j>(_MaxMotorUpStep)){
LastRunCycleTime=UpDelayTime[j]*_DelayTimes+_UpOffSetDelayTime;
RunStatus=2;
break;
}
for(i=0;i<_DelayTimes;i++){
delayMicroseconds(UpDelayTime[j]);
delayMicroseconds(_UpOffSetDelayTime);
}
MotorPhase++;
if(MotorPhase>6){
j++;MotorPhase=1;
NowPwm++;
if(NowPwm>_MaxUpPWM)NowPwm=_MaxUpPWM;
pwmWrite(10,NowPwm/4);
}
CurrentCheck();
BEMFTimeStamp=micros();
}else
{
break;
}
}
}
else{ //Motor Up by Sensored method.
if (UpdatePwm>_UpdatePWMTime){
MotorActualSpeed=(60000000/AvgMotorStepTime)/_MotorPhasePairs;
NowPwm=NowPwm+_PWMUpStep;
if(NowPwm>_MaxUpPWM)NowPwm=_MaxUpPWM;
pwmWrite(10,NowPwm/4);
UpdatePwm=0;
}
ForceRun();
RightRun();
if(CountRun>18){
if(RightRunStatus==1){
RunStatus=2;
}
else{
Error=8; //Hall sequence wrong,
}
}
if(NowPwm>_MaxUpPWM)NowPwm=_MaxUpPWM;
if(CurrentDirect!=DirStatus){RunStatus=3; }
}
}
void ForceRun(){
HallValue= digitalRead(11)*4+digitalRead(12)*2+digitalRead(13);
if(HallValue==0||HallValue==7)Error=3;
if(CurrentDirect==1){
MotorCCW();
}
else{
MotorCW();
}
CurrentCheck();
LastHallValue=HallValue;
}
void RightRun(){
switch(HallValue){
case 1:
Hall_1=1;
break;
case 2:
Hall_2=1;
break;
case 3:
Hall_3=1;
break;
case 4:
Hall_4=1;
break;
case 5:
Hall_5=1;
break;
case 6:
Hall_6=1;
break;
default:
RightRunStatus=0;
break;
}
RightRunStatus=Hall_1&&Hall_2&&Hall_3&&Hall_4&&Hall_5&&Hall_6;
}
void OpenRun(){
if (UpdatePwm>_UpdatePWMTime){
MotorActualSpeed=(60000000/AvgMotorStepTime)/_MotorPhasePairs;
if(ReadPoint>NowPwm){
NowPwm=NowPwm+_PWMUpStep;
}
else{
NowPwm=NowPwm-_PWMDownStep;
}
pwmWrite(10,NowPwm/4);
UpdatePwm=0;
if(CountRun>80&&M_LoopRun&&SensorLess==0)RunStatus=5;
}
}
void LoopRun(){
if(DealLoop==1){
MotorActualSpeed=(60000000/AvgMotorStepTime)/_MotorPhasePairs; // 获得以RPM 为单位的速度，//MotorParameters[2]是极对数
CEK = M_KP + M_KI + M_KD ;
CEK1 = 0 - M_KP - 2*M_KD ;
CEK2 = M_KD ;
EK2 = EK1 ;
EK1 = EK ;
EK = TargetSpeed - MotorActualSpeed;
YK = EK * CEK + EK1 * CEK1 + EK2 *CEK2 ;
YK=YK/M_Scale;
if(YK>50)YK=50;
if(YK<-50)YK=-50;
NowPwm=NowPwm+YK;
if(NowPwm <= M_MinMinPWM)
NowPwm = M_MinMinPWM;
else if(NowPwm > M_MaxMaxPWM)
NowPwm = M_MaxMaxPWM;
pwmWrite(10,NowPwm/4);
DealLoop=0;
}
}
void MotorStop(){
NowPwm=0;
pwmWrite(10,0);
MosPin_STOP;
RunStatus=0;
CountRun=0;
UpdateStallTime=0;
if(Error==0)digitalWrite(5,0);
}
void loop(){
CheckInputPin();
if(RunEnable==0){
ReadPointValue();
if(Error==0){
switch(RunStatus){
case 0:
// setP32( );
HallValue=0;
HallValue= digitalRead(11)*4+digitalRead(12)*2+digitalRead(13);
if(HallValue==0||HallValue==7){
SensorLess=1;
if(SensorLessSound==1){
pwmWrite(10,60);
Sound(3, 20, 80, 1200);
pwmWrite(10,0);
SensorLessSound=0;
}