“Brushless electric motor (BLDC motors) are synchronous motors that are powered by a DC electric source via an integrated inverter/switching power supply, which produces an AC electric signal to drive the motor. Hall sensored motors uses hall effect sensors or a rotary encoder to directly measure the rotor’s position.
For an introduction to BLDC motors, you can take look at my sensored motor driver post, here: http://davidegironi.blogspot.it/2013/09/a-simple-brushless-sensored-motor.html
This library implements a brushless sensorled motor dirver for AVR ATmega.
tl;dr
Take this library: http://davidegironi.blogspot.com/2019/12/an-atmega-brushless-sensorless-motor.html
Set BLDC_DRIVETYPE to BLDC_DRIVETYPE_SENSORED
This is exacly the same library as the previous linked, so, for further information on this library please look at the link above.
There are just a few difference due to the hall sensor presence. The motor position this time it is discovered using hall sensors insted of using the the ZC crossing detection.
When we get the hall sensor status, we can select the next hall sensor status we expect after the step emission. The hall sensor status expected to current status is defined in the bldc.h file.”