Sz_Insper / Mbed 2 deprecated BLDC_testes_girando

L6230

Dependencies:   L6230_BLDC mbed reScale

main.cpp@3:95a3a1fbc807, 2020-06-25 (annotated)

Committer:
Marcelocostanzo
Date:
Thu Jun 25 17:52:14 2020 +0000
Revision:
3:95a3a1fbc807
Parent:
2:d42e168b0fa7 
v4

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Marcelocostanzo 0:24b2f1c78160 1 #include "mbed.h"
Marcelocostanzo 0:24b2f1c78160 2 #include "L6230_BLDC.h"
Marcelocostanzo 1:08226e87671c 3 #include "reScale.h"
Marcelocostanzo 0:24b2f1c78160 4
Marcelocostanzo 0:24b2f1c78160 5 L6230_BLDC motor(PC_10, PC_11, PC_12, PA_8, PA_9, PA_10);
Marcelocostanzo 0:24b2f1c78160 6
Marcelocostanzo 0:24b2f1c78160 7 AnalogIn feedback_phase_A(PA_0);
Marcelocostanzo 0:24b2f1c78160 8 AnalogIn feedback_phase_B(PC_1);
Marcelocostanzo 0:24b2f1c78160 9 AnalogIn feedback_phase_C(PC_0);
Marcelocostanzo 0:24b2f1c78160 10
Marcelocostanzo 1:08226e87671c 11 AnalogIn pot(PB_1);
Marcelocostanzo 1:08226e87671c 12
Marcelocostanzo 0:24b2f1c78160 13 DigitalOut myled(LED1);
Marcelocostanzo 0:24b2f1c78160 14
Marcelocostanzo 0:24b2f1c78160 15 DigitalIn sw(PC_13);
Marcelocostanzo 0:24b2f1c78160 16
Marcelocostanzo 0:24b2f1c78160 17 Serial pc(USBTX, USBRX);
Marcelocostanzo 0:24b2f1c78160 18
Marcelocostanzo 2:d42e168b0fa7 19 reScale _scale(0, 4095, 800, 5000);
Marcelocostanzo 1:08226e87671c 20
Marcelocostanzo 0:24b2f1c78160 21 float read_current(char);
Marcelocostanzo 0:24b2f1c78160 22
Marcelocostanzo 0:24b2f1c78160 23 int prevStep;
Marcelocostanzo 0:24b2f1c78160 24
Marcelocostanzo 2:d42e168b0fa7 25 long speed;
Marcelocostanzo 2:d42e168b0fa7 26 long adc;
Marcelocostanzo 1:08226e87671c 27
Marcelocostanzo 3:95a3a1fbc807 28 bool start = 0;
Marcelocostanzo 3:95a3a1fbc807 29
Marcelocostanzo 0:24b2f1c78160 30 int main()
Marcelocostanzo 0:24b2f1c78160 31 {
Marcelocostanzo 0:24b2f1c78160 32 pc.baud(115200);
Marcelocostanzo 0:24b2f1c78160 33
Marcelocostanzo 0:24b2f1c78160 34 pc.printf("Started\r");
Marcelocostanzo 0:24b2f1c78160 35
Marcelocostanzo 0:24b2f1c78160 36 while(1)
Marcelocostanzo 0:24b2f1c78160 37 {
Marcelocostanzo 3:95a3a1fbc807 38 if((sw == 0) && (start == 0))
Marcelocostanzo 3:95a3a1fbc807 39 {
Marcelocostanzo 3:95a3a1fbc807 40 start = 1;
Marcelocostanzo 3:95a3a1fbc807 41 wait(1);
Marcelocostanzo 3:95a3a1fbc807 42 }
Marcelocostanzo 3:95a3a1fbc807 43
Marcelocostanzo 3:95a3a1fbc807 44 if((sw == 0) && (start == 1))
Marcelocostanzo 3:95a3a1fbc807 45 {
Marcelocostanzo 3:95a3a1fbc807 46 start = 0;
Marcelocostanzo 3:95a3a1fbc807 47 wait(1);
Marcelocostanzo 3:95a3a1fbc807 48 }
Marcelocostanzo 3:95a3a1fbc807 49
Marcelocostanzo 3:95a3a1fbc807 50 if(start == 1)
Marcelocostanzo 3:95a3a1fbc807 51 {
Marcelocostanzo 3:95a3a1fbc807 52 adc = pot.read() * 4096;
Marcelocostanzo 3:95a3a1fbc807 53 speed =_scale.from(adc);
Marcelocostanzo 3:95a3a1fbc807 54 //pc.printf("%i\r",speed);
Marcelocostanzo 3:95a3a1fbc807 55 motor.one_step(1, speed, &prevStep);
Marcelocostanzo 3:95a3a1fbc807 56 }
Marcelocostanzo 3:95a3a1fbc807 57 else
Marcelocostanzo 3:95a3a1fbc807 58 {
Marcelocostanzo 3:95a3a1fbc807 59 motor.stop();
Marcelocostanzo 3:95a3a1fbc807 60 }
Marcelocostanzo 0:24b2f1c78160 61 }
Marcelocostanzo 0:24b2f1c78160 62 }
Marcelocostanzo 0:24b2f1c78160 63
Marcelocostanzo 0:24b2f1c78160 64 float read_current(char PHASE)
Marcelocostanzo 0:24b2f1c78160 65 {
Marcelocostanzo 0:24b2f1c78160 66 float ADC_VALUE;
Marcelocostanzo 0:24b2f1c78160 67
Marcelocostanzo 0:24b2f1c78160 68 switch (PHASE)
Marcelocostanzo 0:24b2f1c78160 69 {
Marcelocostanzo 0:24b2f1c78160 70 case 1: ADC_VALUE = feedback_phase_A.read() * 3.3f; break; //convert to volts
Marcelocostanzo 0:24b2f1c78160 71 case 2: ADC_VALUE = feedback_phase_B.read() * 3.3f; break; //convert to volts
Marcelocostanzo 0:24b2f1c78160 72 case 3: ADC_VALUE = feedback_phase_C.read() * 3.3f; break; //convert to volts
Marcelocostanzo 0:24b2f1c78160 73 }
Marcelocostanzo 0:24b2f1c78160 74
Marcelocostanzo 0:24b2f1c78160 75 float CURRENT = ADC_VALUE / 0.33f; // U = R*I, I = U/R (R = 330mOhm)
Marcelocostanzo 0:24b2f1c78160 76
Marcelocostanzo 0:24b2f1c78160 77 return CURRENT;
Marcelocostanzo 0:24b2f1c78160 78 }