File content as of revision 2:eff06aa2a885:

#include "mbed.h"

//Photointerrupter input pins
#define I1pin D2
#define I2pin D11
#define I3pin D12

//Incremental encoder input pins
#define CHA   D7
#define CHB   D8  

//Motor Drive output pins   //Mask in output byte
#define L1Lpin D4           //0x01
#define L1Hpin D5           //0x02
#define L2Lpin D3           //0x04
#define L2Hpin D6           //0x08
#define L3Lpin D9           //0x10
#define L3Hpin D10          //0x20

//Mapping from sequential drive states to motor phase outputs
/*
State   L1  L2  L3
0       H   -   L
1       -   H   L
2       L   H   -
3       L   -   H
4       -   L   H
5       H   L   -
6       -   -   -
7       -   -   -
*/
//Drive state to output table
const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};

//Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};  
//const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed

//Phase lead to make motor spin
const int8_t lead = 2;  //2 for forwards, -2 for backwards

volatile float revTime;
volatile float revPerMin;
volatile float freq;

//Status LED
DigitalOut led1(LED1);
DigitalOut led2 (LED2);
DigitalOut led3 (LED3);

//Photointerrupter inputs
InterruptIn I1intr(I1pin);
DigitalIn I1(I1pin);
DigitalIn I2(I2pin);
DigitalIn I3(I3pin);

Ticker tick;
Thread th1;
Thread th2;
Timer t;

Serial pc(SERIAL_TX,SERIAL_RX);
//Motor Drive outputs
PwmOut L1L(L1Lpin);
PwmOut L1H(L1Hpin);
PwmOut L2L(L2Lpin);
PwmOut L2H(L2Hpin);
PwmOut L3L(L3Lpin);
PwmOut L3H(L3Hpin);

//Set a given drive state

void blinkLED2(){
    while(1){
        led1 = 0;   
        wait(0.5);
        led1 = 1;
        wait(0.5);
    }
}

void blinkLED3(){
    while(1){
        led3 = 0;   
        wait(0.1);
        led3 = 1;
        wait(0.1);
    }
}

void toggleLED(){
    led3 = !led3;
    float speedTime;
    speedTime = t.read();
    revPerMin = 1.0/(speedTime - revTime);
    revTime = speedTime;
    pc.printf("speed: %f \n\r", revPerMin); 
}   

void decrease(){
    freq -= 0.05;
    pc.printf("current value: %f", freq);
    if (freq < 0.2){
        freq = 1;
        }    
}
        
    
void motorOut(int8_t driveState, float dutyCycle){
    //float dutyCycle = 1.0f;
    //Lookup the output byte from the drive state.
    int8_t driveOut = driveTable[driveState & 0x07];
      
    //Turn off first
    if (~driveOut & 0x01) L1L.write(0); // = 0
    if (~driveOut & 0x02) L1H.write(dutyCycle);// = 1;
    if (~driveOut & 0x04) L2L.write(0); // = 0;
    if (~driveOut & 0x08) L2H.write(dutyCycle);// = 1;
    if (~driveOut & 0x10) L3L.write(0);// = 0;
    if (~driveOut & 0x20) L3H.write(dutyCycle);// = 1;
    
    //Then turn on
    if (driveOut & 0x01) L1L.write(dutyCycle);// = 1;
    if (driveOut & 0x02) L1H.write(0); // = 0;
    if (driveOut & 0x04) L2L.write(dutyCycle);// = 1;
    if (driveOut & 0x08) L2H.write(0);// = 0;
    if (driveOut & 0x10) L3L.write(dutyCycle);// = 1;
    if (driveOut & 0x20) L3H.write(0);// = 0;
    }
    
    //Convert photointerrupter inputs to a rotor state
inline int8_t readRotorState(){
    return stateMap[I1 + 2*I2 + 4*I3];
    }

//Basic synchronisation routine    
int8_t motorHome() {
    //Put the motor in drive state 0 and wait for it to stabilise
    motorOut(0, 1);
    wait(1.0);
    
    //Get the rotor state
    return readRotorState();
}
    
//Main
int main() {
    int8_t orState = 0;    //Rotot offset at motor state 0
    
    //Initialise the serial port
    Serial pc(SERIAL_TX, SERIAL_RX);
    int8_t intState = 0;
    int8_t intStateOld = 0;
    float per = 0.02f; 
    
    L1L.period(per);
    L1H.period(per);
    L2L.period(per);
    L2H.period(per);
    L3L.period(per);
    L3H.period(per);
    freq = 1;
    pc.printf("Device on \n\r");
    
    //Run the motor synchronisation
    orState = motorHome();
    //orState is subtracted from future rotor state inputs to align rotor and motor states
    //th2.set_priority(osPriorityRealtime);
    //th1.start(blinkLED2);
    //th2.start(blinkLED3);
    I1intr.rise(&toggleLED);
    t.start();
    //tick.attach(&decrease, 10);
    //Poll the rotor state and set the motor outputs accordingly to spin the motor
    while (1) {
        intState = readRotorState();
        if (pc.readable()){
             char buffer[128];
        
                pc.gets(buffer, 6);
                freq = atof(buffer);
                 pc.printf("I got '%s'\n\r", buffer); 
                 pc.printf("Also in float '%f'\n\r", freq); 
                 orState = motorHome();
            }
        
        if (intState != intStateOld) {
            intStateOld = intState;
            motorOut((intState-orState+lead+6)%6, freq); //+6 to make sure the remainder is positive
        }
    }
}


// hi