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Final
Dependencies: Crypto_light mbed-rtos mbed regex
Fork of EMBEDDED_CW2 by
Diff: main.cpp
- Revision:
- 0:de4320f74764
- Child:
- 1:184cb0870c04
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.cpp Fri Feb 17 22:47:01 2017 +0000 @@ -0,0 +1,108 @@ +#include "mbed.h" +#include "rtos.h" + +//Photointerrupter input pins +#define I1pin D2 +#define I2pin D3 +#define I3pin D4 + +//Motor Drive output pins //Mask in output byte +#define L1Lpin PA_6 //0x01 +#define L1Hpin D6 //0x02 +#define L2Lpin PA_7 //0x04 +#define L2Hpin D8 //0x08 +#define L3Lpin PA_4 //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}; +//Mask to invert the outputs for high side transistors +const int8_t motorHmask = 0x2a; +//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}; + +//Status LED +DigitalOut led1(LED1); + +//Photointerrupter inputs +DigitalIn I1int(I1pin); +DigitalIn I2int(I2pin); +DigitalIn I3int(I3pin); + +//Motor Drive outputs +DigitalOut L1L(L1Lpin); +DigitalOut L1H(L1Hpin); +DigitalOut L2L(L2Lpin); +DigitalOut L2H(L2Hpin); +DigitalOut L3L(L3Lpin); +DigitalOut L3H(L3Hpin); + +//Global state +int32_t outState = 0; //Current drive state +int32_t inState = 0; //Current rotor state +int32_t leadState = 0; //Offset to calculate drive state from rotor state + +//Set a given drive state +void motorOut(int8_t driveState){ + //First turn all phases off to prevent shoot-through + L1H = 1; + L2H = 1; + L3H = 1; + + //Lookup the output byte from the drive state. Apply high side inversion mask + int8_t driveOut = driveTable[driveState & 0x07] ^ motorHmask; + + //Apply the output byte to the pins + L1L = driveOut & 0x01; + L2L = driveOut & 0x04; + L3L = driveOut & 0x10; + L1H = driveOut & 0x02; + L2H = driveOut & 0x08; + L3H = driveOut & 0x20; + } + +inline int8_t readRotorState(){ + return stateMap[I1int + 2*I2int + 4*I3int]; + } + +//Basic synchronisation routine +void motorHome() { + //Put the motor in drive state 0 and wait for it to stabilise + motorOut(0); + wait(1.0); + + //Get the rotor state + inState = readRotorState(); + + //Calculate the rotor-to-drive offset by adding two (modulo 6) the current rotor state + leadState = (inState+2)%6; +} + +//Main +int main() { + //Initialise the serial port + serialThread.start(&serialOut); + Serial pc(SERIAL_TX, SERIAL_RX); + pc.printf("Hello\n\r"); + + //Run the motor synchronisation + motorHome(); + + //Poll the rotor state and set the motor outputs accordingly to spin the motor + while {1} { + motorOut(readRotorState()+leadState); + } +} +