File content as of revision 0:5602fba2a7f7:

#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;
}