Teensy4.0とDRV8320HでBLDCの強制転流を行うプログラム

DRV8320_UVW_PWM.ino

#define INH_U   6
#define INH_V   7
#define INH_W   8
#define INL_U   9
#define INL_V   10
#define INL_W   11
#define ENABLE  13

#define delay_time 1
#define duty_high   50

void setup() {
  // put your setup code here, to run once:
  pinMode(INH_U, OUTPUT);
  pinMode(INH_V, OUTPUT);
  pinMode(INH_W, OUTPUT);
  pinMode(INL_U, OUTPUT);
  pinMode(INL_V, OUTPUT);
  pinMode(INL_W, OUTPUT);
  pinMode(ENABLE, OUTPUT);

  analogWriteFrequency(INH_U, 45000);
  analogWriteFrequency(INH_V, 45000);
  analogWriteFrequency(INH_W, 45000);

  analogWrite(INH_U, 0);
  analogWrite(INH_V, 0);
  analogWrite(INH_W, 0);

//  digitalWrite(INH_U, LOW);
//  digitalWrite(INH_V, LOW);
//  digitalWrite(INH_W, LOW);
  digitalWrite(INL_U, LOW);
  digitalWrite(INL_V, LOW);
  digitalWrite(INL_W, LOW);
  digitalWrite(ENABLE, HIGH);

}

void loop() {
  // U → V
  analogWrite(INH_U, duty_high);
  analogWrite(INH_V, 0);
  analogWrite(INH_W, 0);
//  digitalWrite(INH_U, HIGH);
//  digitalWrite(INH_V, LOW);
//  digitalWrite(INH_W, LOW);
  digitalWrite(INL_U, LOW);
  digitalWrite(INL_V, HIGH);
  digitalWrite(INL_W, LOW);
#ifdef ENABLE_MICROSECOND
  delayMicroseconds(delay_time);
#else
  delay(delay_time);
#endif
  

  // U → W
  analogWrite(INH_U, duty_high);
  analogWrite(INH_V, 0);
  analogWrite(INH_W, 0);
//  digitalWrite(INH_U, HIGH);
//  digitalWrite(INH_V, LOW);
//  digitalWrite(INH_W, LOW);
  digitalWrite(INL_U, LOW);
  digitalWrite(INL_V, LOW);
  digitalWrite(INL_W, HIGH);
#ifdef ENABLE_MICROSECOND
  delayMicroseconds(delay_time);
#else
  delay(delay_time);
#endif

  // V → W
  analogWrite(INH_U, 0);
  analogWrite(INH_V, duty_high);
  analogWrite(INH_W, 0);
//  digitalWrite(INH_U, LOW);
//  digitalWrite(INH_V, HIGH);
//  digitalWrite(INH_W, LOW);
  digitalWrite(INL_U, LOW);
  digitalWrite(INL_V, LOW);
  digitalWrite(INL_W, HIGH);
#ifdef ENABLE_MICROSECOND
  delayMicroseconds(delay_time);
#else
  delay(delay_time);
#endif

  // V → U
  analogWrite(INH_U, 0);
  analogWrite(INH_V, duty_high);
  analogWrite(INH_W, 0);
//  digitalWrite(INH_U, LOW);
//  digitalWrite(INH_V, HIGH);
//  digitalWrite(INH_W, LOW);
  digitalWrite(INL_U, HIGH);
  digitalWrite(INL_V, LOW);
  digitalWrite(INL_W, LOW);
#ifdef ENABLE_MICROSECOND
  delayMicroseconds(delay_time);
#else
  delay(delay_time);
#endif

  // W → U
  analogWrite(INH_U, 0);
  analogWrite(INH_V, 0);
  analogWrite(INH_W, duty_high);
//  digitalWrite(INH_U, LOW);
//  digitalWrite(INH_V, LOW);
//  digitalWrite(INH_W, HIGH);
  digitalWrite(INL_U, HIGH);
  digitalWrite(INL_V, LOW);
  digitalWrite(INL_W, LOW);
#ifdef ENABLE_MICROSECOND
  delayMicroseconds(delay_time);
#else
  delay(delay_time);
#endif

  // W → V
  analogWrite(INH_U, 0);
  analogWrite(INH_V, 0);
  analogWrite(INH_W, duty_high);
//  digitalWrite(INH_U, LOW);
//  digitalWrite(INH_V, LOW);
//  digitalWrite(INH_W, HIGH);
  digitalWrite(INL_U, LOW);
  digitalWrite(INL_V, HIGH);
  digitalWrite(INL_W, LOW);
#ifdef ENABLE_MICROSECOND
  delayMicroseconds(delay_time);
#else
  delay(delay_time);
#endif
}