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Final
Dependencies: Crypto_light mbed-rtos mbed regex
Fork of EMBEDDED_CW2 by
main.cpp@1:184cb0870c04, 2017-02-27 (annotated)
- Committer:
- estott
- Date:
- Mon Feb 27 10:25:06 2017 +0000
- Revision:
- 1:184cb0870c04
- Parent:
- 0:de4320f74764
- Child:
- 2:4e88faab6988
Added mbed library
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:de4320f74764 | 6 | #define I2pin D3 |
estott | 0:de4320f74764 | 7 | #define I3pin D4 |
estott | 0:de4320f74764 | 8 | |
estott | 0:de4320f74764 | 9 | //Motor Drive output pins //Mask in output byte |
estott | 0:de4320f74764 | 10 | #define L1Lpin PA_6 //0x01 |
estott | 0:de4320f74764 | 11 | #define L1Hpin D6 //0x02 |
estott | 0:de4320f74764 | 12 | #define L2Lpin PA_7 //0x04 |
estott | 0:de4320f74764 | 13 | #define L2Hpin D8 //0x08 |
estott | 0:de4320f74764 | 14 | #define L3Lpin PA_4 //0x10 |
estott | 0:de4320f74764 | 15 | #define L3Hpin D10 //0x20 |
estott | 0:de4320f74764 | 16 | |
estott | 0:de4320f74764 | 17 | //Mapping from sequential drive states to motor phase outputs |
estott | 0:de4320f74764 | 18 | /* |
estott | 0:de4320f74764 | 19 | State L1 L2 L3 |
estott | 0:de4320f74764 | 20 | 0 H - L |
estott | 0:de4320f74764 | 21 | 1 - H L |
estott | 0:de4320f74764 | 22 | 2 L H - |
estott | 0:de4320f74764 | 23 | 3 L - H |
estott | 0:de4320f74764 | 24 | 4 - L H |
estott | 0:de4320f74764 | 25 | 5 H L - |
estott | 0:de4320f74764 | 26 | 6 - - - |
estott | 0:de4320f74764 | 27 | 7 - - - |
estott | 0:de4320f74764 | 28 | */ |
estott | 0:de4320f74764 | 29 | //Drive state to output table |
estott | 0:de4320f74764 | 30 | const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00}; |
estott | 0:de4320f74764 | 31 | //Mask to invert the outputs for high side transistors |
estott | 0:de4320f74764 | 32 | const int8_t motorHmask = 0x2a; |
estott | 0:de4320f74764 | 33 | //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid |
estott | 0:de4320f74764 | 34 | const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07}; |
estott | 0:de4320f74764 | 35 | |
estott | 0:de4320f74764 | 36 | //Status LED |
estott | 0:de4320f74764 | 37 | DigitalOut led1(LED1); |
estott | 0:de4320f74764 | 38 | |
estott | 0:de4320f74764 | 39 | //Photointerrupter inputs |
estott | 0:de4320f74764 | 40 | DigitalIn I1int(I1pin); |
estott | 0:de4320f74764 | 41 | DigitalIn I2int(I2pin); |
estott | 0:de4320f74764 | 42 | DigitalIn I3int(I3pin); |
estott | 0:de4320f74764 | 43 | |
estott | 0:de4320f74764 | 44 | //Motor Drive outputs |
estott | 0:de4320f74764 | 45 | DigitalOut L1L(L1Lpin); |
estott | 0:de4320f74764 | 46 | DigitalOut L1H(L1Hpin); |
estott | 0:de4320f74764 | 47 | DigitalOut L2L(L2Lpin); |
estott | 0:de4320f74764 | 48 | DigitalOut L2H(L2Hpin); |
estott | 0:de4320f74764 | 49 | DigitalOut L3L(L3Lpin); |
estott | 0:de4320f74764 | 50 | DigitalOut L3H(L3Hpin); |
estott | 0:de4320f74764 | 51 | |
estott | 0:de4320f74764 | 52 | //Global state |
estott | 0:de4320f74764 | 53 | int32_t outState = 0; //Current drive state |
estott | 0:de4320f74764 | 54 | int32_t inState = 0; //Current rotor state |
estott | 0:de4320f74764 | 55 | int32_t leadState = 0; //Offset to calculate drive state from rotor state |
estott | 0:de4320f74764 | 56 | |
estott | 0:de4320f74764 | 57 | //Set a given drive state |
estott | 0:de4320f74764 | 58 | void motorOut(int8_t driveState){ |
estott | 0:de4320f74764 | 59 | //First turn all phases off to prevent shoot-through |
estott | 0:de4320f74764 | 60 | L1H = 1; |
estott | 0:de4320f74764 | 61 | L2H = 1; |
estott | 0:de4320f74764 | 62 | L3H = 1; |
estott | 0:de4320f74764 | 63 | |
estott | 0:de4320f74764 | 64 | //Lookup the output byte from the drive state. Apply high side inversion mask |
estott | 0:de4320f74764 | 65 | int8_t driveOut = driveTable[driveState & 0x07] ^ motorHmask; |
estott | 0:de4320f74764 | 66 | |
estott | 0:de4320f74764 | 67 | //Apply the output byte to the pins |
estott | 0:de4320f74764 | 68 | L1L = driveOut & 0x01; |
estott | 0:de4320f74764 | 69 | L2L = driveOut & 0x04; |
estott | 0:de4320f74764 | 70 | L3L = driveOut & 0x10; |
estott | 0:de4320f74764 | 71 | L1H = driveOut & 0x02; |
estott | 0:de4320f74764 | 72 | L2H = driveOut & 0x08; |
estott | 0:de4320f74764 | 73 | L3H = driveOut & 0x20; |
estott | 0:de4320f74764 | 74 | } |
estott | 0:de4320f74764 | 75 | |
estott | 0:de4320f74764 | 76 | inline int8_t readRotorState(){ |
estott | 0:de4320f74764 | 77 | return stateMap[I1int + 2*I2int + 4*I3int]; |
estott | 0:de4320f74764 | 78 | } |
estott | 0:de4320f74764 | 79 | |
estott | 0:de4320f74764 | 80 | //Basic synchronisation routine |
estott | 0:de4320f74764 | 81 | void motorHome() { |
estott | 0:de4320f74764 | 82 | //Put the motor in drive state 0 and wait for it to stabilise |
estott | 0:de4320f74764 | 83 | motorOut(0); |
estott | 0:de4320f74764 | 84 | wait(1.0); |
estott | 0:de4320f74764 | 85 | |
estott | 0:de4320f74764 | 86 | //Get the rotor state |
estott | 0:de4320f74764 | 87 | inState = readRotorState(); |
estott | 0:de4320f74764 | 88 | |
estott | 0:de4320f74764 | 89 | //Calculate the rotor-to-drive offset by adding two (modulo 6) the current rotor state |
estott | 0:de4320f74764 | 90 | leadState = (inState+2)%6; |
estott | 0:de4320f74764 | 91 | } |
estott | 0:de4320f74764 | 92 | |
estott | 0:de4320f74764 | 93 | //Main |
estott | 0:de4320f74764 | 94 | int main() { |
estott | 0:de4320f74764 | 95 | //Initialise the serial port |
estott | 0:de4320f74764 | 96 | Serial pc(SERIAL_TX, SERIAL_RX); |
estott | 0:de4320f74764 | 97 | pc.printf("Hello\n\r"); |
estott | 0:de4320f74764 | 98 | |
estott | 0:de4320f74764 | 99 | //Run the motor synchronisation |
estott | 0:de4320f74764 | 100 | motorHome(); |
estott | 0:de4320f74764 | 101 | |
estott | 0:de4320f74764 | 102 | //Poll the rotor state and set the motor outputs accordingly to spin the motor |
estott | 1:184cb0870c04 | 103 | while (1) { |
estott | 0:de4320f74764 | 104 | motorOut(readRotorState()+leadState); |
estott | 0:de4320f74764 | 105 | } |
estott | 0:de4320f74764 | 106 | } |
estott | 0:de4320f74764 | 107 |