// Date: Jan.

3rd, 2011
// Author: Takao
// This is for "Arduino Nano ATMega328" Towerpro sensored Brushless motor(DV8V,1.5A
no-load) drive test SKETCH program with all N-ch
//driver.
//
int Hall_Orange_In = 7;
int Hall_White_In = 6;
int Hall_Green_In = 5;
unsigned Propo_Pulse_In = 0;
unsigned char DRIVE_STATE;
unsigned char SENSE_CODE;
unsigned char PREV_SENSE_CODE;
int PWM_Pin = 3; // PWM(2048uS frame, duty 255:1) outputat at digital pin 3
int Propo_in = 2; // digital propo interrupt input-pin 2
signed int PWM_Duty;
unsigned char PWM_ON;
boolean counting = false;
unsigned long time1;
unsigned long time2;
unsigned char PWM_Status;
boolean rpmdirection;
//
void setup()
{
pinMode(Hall_Orange_In, INPUT); // set the digital pin as output:
pinMode(Hall_White_In, INPUT);
pinMode(Hall_Green_In, INPUT); // sets the pin as MOSFET drive output
digitalWrite(Hall_Orange_In, HIGH); // turn on pullup resistors
digitalWrite(Hall_White_In, HIGH); // turn on pullup resistors
digitalWrite(Hall_Green_In, HIGH); // turn on pullup resistors

PORTB &= 0xc0;

DDRB = 255; // all push-pull output on portB
pinMode(Propo_in, INPUT); // sets the pin as input
pinMode(PWM_Pin, OUTPUT); // sets the pin as output
attachInterrupt(0, Propo_Pulse_Width_Counting, CHANGE); // Digital Propo in pin2
// Serial.begin(115200);
}
//
void loop()
{
/*PORTB &= 0xc0;
 delayMicroseconds(10);
//PORTB |=0x07; // xx00 0111 UH(D13,PB5)="L", VH(D12,PB4)="L", WH(D11,PB3)="L",
WL(D10,PB2) ="H", VL(D9,PB1)="H", UL(D8,PB0)="H"
PORTB |=0x20; // xx00 0111 UH(D13,PB5)="L", VH(D12,PB4)="L", WH(D11,PB3)="L",
WL(D10,PB2) ="H", VL(D9,PB1)="H", UL(D8,PB0)="H"
delay (1);
PORTB &= 0xc0;
delayMicroseconds(10);
PORTB |=0x01;
delay (1);
*/
SENSE_CODE = (PIND & 0xe0);
if (( PREV_SENSE_CODE != SENSE_CODE ) || (Propo_Pulse_In<10))
{
Spin_Free ();
delayMicroseconds(10);//MOSFET switching time
}
PREV_SENSE_CODE = SENSE_CODE;
delayMicroseconds(10); //Arduino BUG
// Serial.print(PWM_ON,OCT);
// Serial.print("");
{
if ((PWM_ON > 0) && (rpmdirection == 1))
{
CCW ();
}
else
{
if (( PWM_ON > 0) && (rpmdirection == 0))
{
CW ();
}
}
}//
if (counting == false) // print once after the propo pulse width has been measured only.
{
PWM_Duty = (time2-time1-1000)>>1; // Get about integer length duty control data for byte
length limitaion PWM function
if ((PWM_Duty < 280) && (PWM_Duty > 220)) // DEAD BAND setting
{
PWM_ON = 0;
digitalWrite (PWM_Pin,PWM_ON); // Keep off at throttle near off
Spin_Free ();
 delayMicroseconds(10);//MOSFET switching time
Braking ();
}
else
{
if ( PWM_Duty > 250 ) // upper limit as 100% duty ON setting
{
rpmdirection = 1;
if ( PWM_Duty > 504 )
{
PWM_Duty = 505;
}
PWM_ON = (PWM_Duty-250);
}
else
{
if (PWM_Duty < 250)
{
rpmdirection = 0;
if (PWM_Duty<0)
{
PWM_Duty=0;
}
PWM_ON = (255-PWM_Duty);
}
}
if (PWM_ON>0)
{
analogWrite(PWM_Pin,PWM_ON); // 2mS fram. analogWrite values from 0 to 255 x 8uS,
zero is invalid as keeping duty as before.
}
}
counting = true;
}
PWM_Status = PIND & 0x08; // read PWM status on Pin3
if (PWM_Status == 0)
{
Spin_Free ();
}
}
//
void CCW ()
{
 switch (PREV_SENSE_CODE)
{
case 0x60:
{
State1_On ();
break;
}
//
case 0x40:
{
State2_On ();
break;
}
//
case 0xc0:
{
State3_On ();
break;
}
//
case 0x80:
{
State4_On ();
break;
}
//
case 0xa0:
{
State5_On ();
break;
}
//
case 0x20:
{
State6_On ();
}
}
}
//
void CW ()
{
switch (PREV_SENSE_CODE)
{
 case 0x60:
{
State4_On ();
break;
}
//
case 0x40:
{
State5_On ();
break;
}
//
case 0xc0:
{
State6_On ();
break;
}
//
case 0x80:
{
State1_On ();
break;
}
//
case 0xa0:
{
State2_On ();
break;
}
//
case 0x20:
{
State3_On ();
}
}
}
//--------------------------------------
// Motor drive each state control
//--------------------------------------
void State1_On () // W open
{
PORTB |=0x22; // xx10 0010 UH(D13,PB5)="H",VH(D12,PB4)="L", WH(D11,PB3)="L",
WL(D10,PB2) ="L", VL(D9,PB1)="H", UL(D8,PB0)="L"
}
//
void State2_On (void)
{
PORTB |= 0x24; // xx10 0100 UH(D13,PB5)="H", VH(D12,PB4)="L", WH(D11,PB3)="L",
WL(D10,PB2) ="H", VL(D9,PB1)="L", UL(D8,PB0)="L"
}
//
void State3_On (void)
{
PORTB |=0x14; // xx01 0100 UH(D13,PB5)="L", VH(D12,PB4)="H", WH(D11,PB3)="L",
WL(D10,PB2) ="H", VL(D9,PB1)="L", UL(D8,PB0)="L"
}
//
void State4_On (void)
{
PORTB |=0x11; // xx01 0010 UH(D13,PB5)="L", VH(D12,PB4)="H", WH(D11,PB3)="L",
WL(D10,PB2) ="L", VL(D9,PB1)="L", UL(D8,PB0)="H"
}
//
void State5_On (void)
{
PORTB |=0x09; // xx00 1001 UH(D13,PB5)="L", VH(D12,PB4)="L", WH(D11,PB3)="H",
WL(D10,PB2) ="L", VL(D9,PB1)="L", UL(D8,PB0)="H"
}
//
void State6_On (void)
{
PORTB |=0x0a; // xx00 1001 UH(D13,PB5)="L", VH(D12,PB4)="L", WH(D11,PB3)="H",
WL(D10,PB2) ="L", VL(D9,PB1)="H", UL(D8,PB0)="L"
}
//
void Spin_Free (void) // All output MOSFETs off
{
PORTB &= 0xc0; // xx00 0000 UH(D13,PB5)="L", VH(D12,PB4)="L", WH(D11,PB3)="L",
WL(D10,PB2) ="L", UL(D8,PB0)="L", VL(D9,PB1)="L"
// PCA0CPH2 = 0; // 101009 Watch dog timer off.
}
//
void Braking (void)
{
Spin_Free (); // All MOSFTEs off DOES NOT WORK on Toshiba IGBT unit
PORTB |=0x07; // xx00 0111 UH(D13,PB5)="L", VH(D12,PB4)="L", WH(D11,PB3)="L",
WL(D10,PB2) ="H", VL(D9,PB1)="H", UL(D8,PB0)="H"
}
//
void Propo_Pulse_Width_Counting()
{
if ( digitalRead(Propo_in) == HIGH)
{
// Serial.print("H");
time1 = micros();
}
else
{
// Serial.print("L");
time2 = micros();
Propo_Pulse_In ++; // TX On?
if (Propo_Pulse_In>10)
{
Propo_Pulse_In = 10;
}
counting = false;
}
}
// Program End