Diff: BLDCmotorDriver.cpp

Revision:

0:5602fba2a7f7

Child:

1:786897114846

Child:

2:7aae78b85e1d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BLDCmotorDriver.cpp	Fri May 22 22:43:39 2015 +0000
@@ -0,0 +1,176 @@
+#include "BLDCmotorDriver.h"
+
+BLDCmotorDriver::BLDCmotorDriver(PinName gh_a, PinName gl_a, PinName gh_b, PinName gl_b, PinName gh_c, PinName gl_c, PinName h1, PinName h2, PinName h3, PinName led1) : GH_A(gh_a), GL_A(gl_a), GH_B(gh_b), GL_B(gl_b), GH_C(gh_c), GL_C(gl_c), H1(h1), H2(h2), H3(h3), Led1(led1) {
+    sampleTime = 1e-3;
+    switchingPeriod = 1.0 / 20e3;
+    dutyCycle = tempDutyCycle = 0;
+    GH_A.period(switchingPeriod); // applies to all PwmOut instances
+    rl.setLimits(0.1, -0.1, 0, sampleTime); // initial 10 second ramp
+}
+void BLDCmotorDriver::configure(float sampleTime, float switchingFrequency, float rampUpSlope, float rampDownSlope) {
+    if (sampleTime < 1e-6)
+        sampleTime = 1e-3;
+    if (switchingFrequency < 100)
+        switchingFrequency = 20e3;
+    if (rampUpSlope < 0 || rampUpSlope > 1)
+        rampUpSlope = 0.1;
+    if (rampDownSlope > 0 || rampDownSlope < -1)
+        rampDownSlope = -0.1;
+    this->sampleTime = sampleTime;
+    switchingPeriod = 1.0 / switchingFrequency;
+    rl.setLimits(rampUpSlope, rampDownSlope, 0, sampleTime);
+}
+int BLDCmotorDriver::HallRead(){           // hall 120°
+  
+    if(H1.read()== 1 && H2.read()== 0 && H3.read()== 0)
+            sektor = 1; 
+    else if(H1.read()== 1 && H2.read()== 1 && H3.read()== 0)
+            sektor = 2;         
+    else if(H1.read()== 0 && H2.read()== 1 && H3.read()== 0)
+            sektor = 3;  
+    else if(H1.read()== 0 && H2.read()== 1 && H3.read()== 1)
+            sektor = 4;  
+    else if(H1.read()== 0 && H2.read()== 0 && H3.read()== 1)
+            sektor = 5;
+    else if(H1.read()== 1 && H2.read()== 0 && H3.read()== 1)
+            sektor = 6;             
+    else 
+       Led1 = 1; 
+   
+    return sektor;              
+}
+void BLDCmotorDriver::komutacijaBLDC() {
+    dutyCycle = rl.out(tempDutyCycle);
+    sektor = HallRead();
+    if (dutyCycle > 0) {
+        if (sektor > 6) sektor = 1;
+        sektor++;        
+        switch(sektor) {           
+            case 1:               //100      
+                GH_A = dutyCycle;
+                GL_A = 0;
+                GH_B = 0;
+                GL_B = 0;
+                GH_C = 0;
+                GL_C = 1; 
+                break;
+           case 2:                //110
+                GH_A = dutyCycle;
+                GL_A = 0;
+                GH_B = 0;
+                GL_B = 1;
+                GH_C = 0;
+                GL_C = 0;
+                break;
+           case 3:                //010
+                GH_A = 0;
+                GL_A = 0;
+                GH_B = 0;
+                GL_B = 1;
+                GH_C = dutyCycle;
+                GL_C = 0; 
+                break;
+            case 4:               //011
+                GH_A = 0;
+                GL_A = 1;
+                GH_B = 0;
+                GL_B = 0;
+                GH_C = dutyCycle;
+                GL_C = 0;
+                break;
+            case 5:               //001
+                GH_A = 0;
+                GL_A = 1;
+                GH_B = dutyCycle;
+                GL_B = 0;
+                GH_C = 0;
+                GL_C = 0;
+                break;    
+            case 6:               //101
+                GH_A = 0;
+                GL_A = 0;
+                GH_B = dutyCycle;
+                GL_B = 0;
+                GH_C = 0;
+                GL_C = 1;
+                break;
+        }
+    } else if (dutyCycle < 0) { // 
+        if (sektor < 1) sektor = 6;
+        sektor--;
+        switch(sektor) {
+            case 1:               //100      
+                GH_A = dutyCycle;
+                GL_A = 0;
+                GH_B = 0;
+                GL_B = 0;
+                GH_C = 0;
+                GL_C = 1; 
+                break;
+           case 2:                //110
+                GH_A = dutyCycle;
+                GL_A = 0;
+                GH_B = 0;
+                GL_B = 1;
+                GH_C = 0;
+                GL_C = 0;
+                break;
+           case 3:                //010
+                GH_A = 0;
+                GL_A = 0;
+                GH_B = 0;
+                GL_B = 1;
+                GH_C = dutyCycle;
+                GL_C = 0; 
+                break;
+            case 4:               //011
+                GH_A = 0;
+                GL_A = 1;
+                GH_B = 0;
+                GL_B = 0;
+                GH_C = dutyCycle;
+                GL_C = 0;
+                break;
+            case 5:               //001
+                GH_A = 0;
+                GL_A = 1;
+                GH_B = dutyCycle;
+                GL_B = 0;
+                GH_C = 0;
+                GL_C = 0;
+                break;    
+            case 6:               //101
+                GH_A = 0;
+                GL_A = 0;
+                GH_B = dutyCycle;
+                GL_B = 0;
+                GH_C = 0;
+                GL_C = 1;
+                break;
+                }                
+        }else {
+        coast();
+    }
+}
+void BLDCmotorDriver::setDutyCycle(float dc) {
+    if (dc >= -1 && dc <= 1) {
+        ticker.attach(this, &BLDCmotorDriver::komutacijaBLDC, sampleTime);
+        tempDutyCycle = dc;
+    } else {
+        coast();
+    }
+}
+void BLDCmotorDriver::coast() {
+    GH_A = 0;
+    GL_A = 0;
+    GH_B = 0;
+    GL_B = 0;
+    GH_C = 0;
+    GL_C = 0;
+    dutyCycle = tempDutyCycle = 0;
+    rl.reset();
+    ticker.detach();
+}
+float BLDCmotorDriver::getDutyCycle() {
+    return dutyCycle;
+}
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