Embedded Systems / Mbed OS ES_CW2_Advanced

New smaller slits code

Dependencies:   PID

Fork of ES_CW2_Starter by Edward Stott

main.cpp@2:4e88faab6988, 2017-02-28 (annotated)

Committer:
estott
Date:
Tue Feb 28 14:44:23 2017 +0000
Revision:
2:4e88faab6988
Parent:
1:184cb0870c04
Child:
3:60009a5ed1dc
Finalised pin assignments

Who changed what in which revision?

UserRevisionLine numberNew contents of line
estott 0:de4320f74764 1 #include "mbed.h"
estott 0:de4320f74764 2 #include "rtos.h"
estott 0:de4320f74764 3
estott 0:de4320f74764 4 //Photointerrupter input pins
estott 0:de4320f74764 5 #define I1pin D2
estott 2:4e88faab6988 6 #define I2pin D11
estott 2:4e88faab6988 7 #define I3pin D12
estott 2:4e88faab6988 8
estott 2:4e88faab6988 9 //Incremental encoder input pins
estott 2:4e88faab6988 10 #define CHA D7
estott 2:4e88faab6988 11 #define CHB D8
estott 0:de4320f74764 12
estott 0:de4320f74764 13 //Motor Drive output pins //Mask in output byte
estott 2:4e88faab6988 14 #define L1Lpin D4 //0x01
estott 2:4e88faab6988 15 #define L1Hpin D5 //0x02
estott 2:4e88faab6988 16 #define L2Lpin D3 //0x04
estott 2:4e88faab6988 17 #define L2Hpin D6 //0x08
estott 2:4e88faab6988 18 #define L3Lpin D9 //0x10
estott 0:de4320f74764 19 #define L3Hpin D10 //0x20
estott 0:de4320f74764 20
estott 0:de4320f74764 21 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 22 /*
estott 0:de4320f74764 23 State L1 L2 L3
estott 0:de4320f74764 24 0 H - L
estott 0:de4320f74764 25 1 - H L
estott 0:de4320f74764 26 2 L H -
estott 0:de4320f74764 27 3 L - H
estott 0:de4320f74764 28 4 - L H
estott 0:de4320f74764 29 5 H L -
estott 0:de4320f74764 30 6 - - -
estott 0:de4320f74764 31 7 - - -
estott 0:de4320f74764 32 */
estott 0:de4320f74764 33 //Drive state to output table
estott 0:de4320f74764 34 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 35
estott 0:de4320f74764 36 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
estott 2:4e88faab6988 37 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 38 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
estott 2:4e88faab6988 39
estott 2:4e88faab6988 40 //Phase lead to make motor spin
estott 2:4e88faab6988 41 const int8_t lead = -2; //2 for forwards, -2 for backwards
estott 0:de4320f74764 42
estott 0:de4320f74764 43 //Status LED
estott 0:de4320f74764 44 DigitalOut led1(LED1);
estott 0:de4320f74764 45
estott 0:de4320f74764 46 //Photointerrupter inputs
estott 2:4e88faab6988 47 DigitalIn I1(I1pin);
estott 2:4e88faab6988 48 DigitalIn I2(I2pin);
estott 2:4e88faab6988 49 DigitalIn I3(I3pin);
estott 0:de4320f74764 50
estott 0:de4320f74764 51 //Motor Drive outputs
estott 0:de4320f74764 52 DigitalOut L1L(L1Lpin);
estott 0:de4320f74764 53 DigitalOut L1H(L1Hpin);
estott 0:de4320f74764 54 DigitalOut L2L(L2Lpin);
estott 0:de4320f74764 55 DigitalOut L2H(L2Hpin);
estott 0:de4320f74764 56 DigitalOut L3L(L3Lpin);
estott 0:de4320f74764 57 DigitalOut L3H(L3Hpin);
estott 0:de4320f74764 58
estott 0:de4320f74764 59 //Set a given drive state
estott 0:de4320f74764 60 void motorOut(int8_t driveState){
estott 0:de4320f74764 61
estott 2:4e88faab6988 62 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 63 int8_t driveOut = driveTable[driveState & 0x07];
estott 2:4e88faab6988 64
estott 2:4e88faab6988 65 //Turn off first
estott 2:4e88faab6988 66 if (~driveOut & 0x01) L1L = 0;
estott 2:4e88faab6988 67 if (~driveOut & 0x02) L1H = 1;
estott 2:4e88faab6988 68 if (~driveOut & 0x04) L2L = 0;
estott 2:4e88faab6988 69 if (~driveOut & 0x08) L2H = 1;
estott 2:4e88faab6988 70 if (~driveOut & 0x10) L3L = 0;
estott 2:4e88faab6988 71 if (~driveOut & 0x20) L3H = 1;
estott 2:4e88faab6988 72
estott 2:4e88faab6988 73 //Then turn on
estott 2:4e88faab6988 74 if (driveOut & 0x01) L1L = 1;
estott 2:4e88faab6988 75 if (driveOut & 0x02) L1H = 0;
estott 2:4e88faab6988 76 if (driveOut & 0x04) L2L = 1;
estott 2:4e88faab6988 77 if (driveOut & 0x08) L2H = 0;
estott 2:4e88faab6988 78 if (driveOut & 0x10) L3L = 1;
estott 2:4e88faab6988 79 if (driveOut & 0x20) L3H = 0;
estott 0:de4320f74764 80 }
estott 0:de4320f74764 81
estott 2:4e88faab6988 82 //Convert photointerrupter inputs to a rotor state
estott 0:de4320f74764 83 inline int8_t readRotorState(){
estott 2:4e88faab6988 84 return stateMap[I1 + 2*I2 + 4*I3];
estott 0:de4320f74764 85 }
estott 0:de4320f74764 86
estott 0:de4320f74764 87 //Basic synchronisation routine
estott 2:4e88faab6988 88 int8_t motorHome() {
estott 0:de4320f74764 89 //Put the motor in drive state 0 and wait for it to stabilise
estott 0:de4320f74764 90 motorOut(0);
estott 0:de4320f74764 91 wait(1.0);
estott 0:de4320f74764 92
estott 0:de4320f74764 93 //Get the rotor state
estott 2:4e88faab6988 94 return readRotorState();
estott 0:de4320f74764 95 }
estott 0:de4320f74764 96
estott 0:de4320f74764 97 //Main
estott 0:de4320f74764 98 int main() {
estott 2:4e88faab6988 99 int8_t orState = 0; //Rotot offset at motor state 0
estott 2:4e88faab6988 100
estott 0:de4320f74764 101 //Initialise the serial port
estott 0:de4320f74764 102 Serial pc(SERIAL_TX, SERIAL_RX);
estott 2:4e88faab6988 103 int8_t intState = 0;
estott 2:4e88faab6988 104 int8_t intStateOld = 0;
estott 0:de4320f74764 105 pc.printf("Hello\n\r");
estott 0:de4320f74764 106
estott 0:de4320f74764 107 //Run the motor synchronisation
estott 2:4e88faab6988 108 orState = motorHome();
estott 2:4e88faab6988 109 pc.printf("Rotor origin: %x\n\r",orState);
estott 2:4e88faab6988 110 //orState is subtracted from future rotor state inputs to align rotor and motor states
estott 0:de4320f74764 111
estott 0:de4320f74764 112 //Poll the rotor state and set the motor outputs accordingly to spin the motor
estott 1:184cb0870c04 113 while (1) {
estott 2:4e88faab6988 114 intState = readRotorState();
estott 2:4e88faab6988 115 if (intState != intStateOld) {
estott 2:4e88faab6988 116 intStateOld = intState;
estott 2:4e88faab6988 117 motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
estott 0:de4320f74764 118 }
estott 2:4e88faab6988 119 }
estott 0:de4320f74764 120 }
estott 0:de4320f74764 121