Senior design sensored code to run freescale motor with IM07M1; Ticker algorithm control
Fork of Blue_Board_Test_2 by
main.cpp@0:d445abf9a8e9, 2016-04-06 (annotated)
- Committer:
- BVanderWilp
- Date:
- Wed Apr 06 17:56:38 2016 +0000
- Revision:
- 0:d445abf9a8e9
- Child:
- 1:69c06d3676fd
first commit; expected code for sensored implementation
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
BVanderWilp | 0:d445abf9a8e9 | 1 | #include "mbed.h" |
BVanderWilp | 0:d445abf9a8e9 | 2 | |
BVanderWilp | 0:d445abf9a8e9 | 3 | PwmOut phaseA(PA_8); |
BVanderWilp | 0:d445abf9a8e9 | 4 | DigitalOut phaseAEN(PC_10); |
BVanderWilp | 0:d445abf9a8e9 | 5 | PwmOut phaseB(PA_9); |
BVanderWilp | 0:d445abf9a8e9 | 6 | DigitalOut phaseBEN(PC_11); |
BVanderWilp | 0:d445abf9a8e9 | 7 | PwmOut phaseC(PA_10); |
BVanderWilp | 0:d445abf9a8e9 | 8 | DigitalOut phaseCEN(PC_12); |
BVanderWilp | 0:d445abf9a8e9 | 9 | |
BVanderWilp | 0:d445abf9a8e9 | 10 | InterruptIn button(USER_BUTTON); |
BVanderWilp | 0:d445abf9a8e9 | 11 | |
BVanderWilp | 0:d445abf9a8e9 | 12 | DigitalOut redLed(PB_2); |
BVanderWilp | 0:d445abf9a8e9 | 13 | DigitalOut led(LED1); |
BVanderWilp | 0:d445abf9a8e9 | 14 | //actual 123? |
BVanderWilp | 0:d445abf9a8e9 | 15 | //InterruptIn hallA(PA_15); |
BVanderWilp | 0:d445abf9a8e9 | 16 | //InterruptIn hallB(PB_3); |
BVanderWilp | 0:d445abf9a8e9 | 17 | //InterruptIn hallC(PB_10); |
BVanderWilp | 0:d445abf9a8e9 | 18 | //attempt to mix and match |
BVanderWilp | 0:d445abf9a8e9 | 19 | InterruptIn hallA(PB_3); |
BVanderWilp | 0:d445abf9a8e9 | 20 | InterruptIn hallB(PB_10); |
BVanderWilp | 0:d445abf9a8e9 | 21 | InterruptIn hallC(PA_15); |
BVanderWilp | 0:d445abf9a8e9 | 22 | |
BVanderWilp | 0:d445abf9a8e9 | 23 | |
BVanderWilp | 0:d445abf9a8e9 | 24 | float pwmDuty = 0.3; |
BVanderWilp | 0:d445abf9a8e9 | 25 | int stall = 0; |
BVanderWilp | 0:d445abf9a8e9 | 26 | void activate() |
BVanderWilp | 0:d445abf9a8e9 | 27 | { |
BVanderWilp | 0:d445abf9a8e9 | 28 | stall = 1; |
BVanderWilp | 0:d445abf9a8e9 | 29 | } |
BVanderWilp | 0:d445abf9a8e9 | 30 | |
BVanderWilp | 0:d445abf9a8e9 | 31 | void Crise() //0 or 360 degrees, B+, C- |
BVanderWilp | 0:d445abf9a8e9 | 32 | { |
BVanderWilp | 0:d445abf9a8e9 | 33 | phaseAEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 34 | phaseA.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 35 | phaseB.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 36 | phaseBEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 37 | redLed = !redLed; |
BVanderWilp | 0:d445abf9a8e9 | 38 | } |
BVanderWilp | 0:d445abf9a8e9 | 39 | |
BVanderWilp | 0:d445abf9a8e9 | 40 | void Afall() //60 degrees, B+, A- |
BVanderWilp | 0:d445abf9a8e9 | 41 | { |
BVanderWilp | 0:d445abf9a8e9 | 42 | phaseCEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 43 | phaseAEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 44 | redLed = !redLed; |
BVanderWilp | 0:d445abf9a8e9 | 45 | } |
BVanderWilp | 0:d445abf9a8e9 | 46 | |
BVanderWilp | 0:d445abf9a8e9 | 47 | void Brise() //120 degrees, C+, A- |
BVanderWilp | 0:d445abf9a8e9 | 48 | { |
BVanderWilp | 0:d445abf9a8e9 | 49 | phaseBEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 50 | phaseB.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 51 | phaseC.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 52 | phaseCEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 53 | redLed = !redLed; |
BVanderWilp | 0:d445abf9a8e9 | 54 | } |
BVanderWilp | 0:d445abf9a8e9 | 55 | |
BVanderWilp | 0:d445abf9a8e9 | 56 | void Cfall() //180 degrees, C+, B- |
BVanderWilp | 0:d445abf9a8e9 | 57 | { |
BVanderWilp | 0:d445abf9a8e9 | 58 | phaseAEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 59 | phaseBEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 60 | redLed = !redLed; |
BVanderWilp | 0:d445abf9a8e9 | 61 | } |
BVanderWilp | 0:d445abf9a8e9 | 62 | |
BVanderWilp | 0:d445abf9a8e9 | 63 | void Arise() //240 degrees, A+, B- |
BVanderWilp | 0:d445abf9a8e9 | 64 | { |
BVanderWilp | 0:d445abf9a8e9 | 65 | phaseCEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 66 | phaseC.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 67 | phaseA.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 68 | phaseAEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 69 | redLed = !redLed; |
BVanderWilp | 0:d445abf9a8e9 | 70 | } |
BVanderWilp | 0:d445abf9a8e9 | 71 | |
BVanderWilp | 0:d445abf9a8e9 | 72 | void Bfall() //300 degrees, A+, C- |
BVanderWilp | 0:d445abf9a8e9 | 73 | { |
BVanderWilp | 0:d445abf9a8e9 | 74 | phaseBEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 75 | phaseCEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 76 | redLed = !redLed; |
BVanderWilp | 0:d445abf9a8e9 | 77 | } |
BVanderWilp | 0:d445abf9a8e9 | 78 | |
BVanderWilp | 0:d445abf9a8e9 | 79 | int main() { |
BVanderWilp | 0:d445abf9a8e9 | 80 | button.rise(&activate); |
BVanderWilp | 0:d445abf9a8e9 | 81 | while(stall == 0) { |
BVanderWilp | 0:d445abf9a8e9 | 82 | led = !led; |
BVanderWilp | 0:d445abf9a8e9 | 83 | wait(2); |
BVanderWilp | 0:d445abf9a8e9 | 84 | } |
BVanderWilp | 0:d445abf9a8e9 | 85 | //NOTE: falls and rises are swapped because Hall sensors use NEGATIVE LOGIC |
BVanderWilp | 0:d445abf9a8e9 | 86 | hallA.fall(&Arise); |
BVanderWilp | 0:d445abf9a8e9 | 87 | hallA.rise(&Afall); |
BVanderWilp | 0:d445abf9a8e9 | 88 | hallB.fall(&Brise); |
BVanderWilp | 0:d445abf9a8e9 | 89 | hallB.rise(&Bfall); |
BVanderWilp | 0:d445abf9a8e9 | 90 | hallC.fall(&Crise); |
BVanderWilp | 0:d445abf9a8e9 | 91 | hallC.rise(&Cfall); |
BVanderWilp | 0:d445abf9a8e9 | 92 | |
BVanderWilp | 0:d445abf9a8e9 | 93 | phaseA.period_us(10); |
BVanderWilp | 0:d445abf9a8e9 | 94 | phaseB.period_us(10); |
BVanderWilp | 0:d445abf9a8e9 | 95 | phaseC.period_us(10); |
BVanderWilp | 0:d445abf9a8e9 | 96 | |
BVanderWilp | 0:d445abf9a8e9 | 97 | phaseA.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 98 | phaseB.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 99 | phaseC.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 100 | |
BVanderWilp | 0:d445abf9a8e9 | 101 | phaseAEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 102 | phaseBEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 103 | phaseCEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 104 | |
BVanderWilp | 0:d445abf9a8e9 | 105 | while(1) { |
BVanderWilp | 0:d445abf9a8e9 | 106 | led = !led; |
BVanderWilp | 0:d445abf9a8e9 | 107 | wait(0.2); |
BVanderWilp | 0:d445abf9a8e9 | 108 | } |
BVanderWilp | 0:d445abf9a8e9 | 109 | } |