Olaf Sikorski / Mbed OS motor-mining

This is probably never gonna get done

Dependencies:   Crypto

main.cpp@5:08f338b5e4d9, 2019-02-19 (annotated)

Committer:
estott
Date:
Tue Feb 19 09:22:17 2019 +0000
Revision:
5:08f338b5e4d9
Parent:
3:569b35e2a602
Child:
10:a4b5723b6c9d
For V1.1 MCU board

Who changed what in which revision?

UserRevisionLine numberNew contents of line
estott 0:de4320f74764 1 #include "mbed.h"
estott 0:de4320f74764 2
estott 0:de4320f74764 3 //Photointerrupter input pins
estott 5:08f338b5e4d9 4 #define I1pin D6
estott 2:4e88faab6988 5 #define I2pin D11
estott 2:4e88faab6988 6 #define I3pin D12
estott 2:4e88faab6988 7
estott 2:4e88faab6988 8 //Incremental encoder input pins
estott 5:08f338b5e4d9 9 #define CHA D4
estott 5:08f338b5e4d9 10 #define CHB D5
estott 0:de4320f74764 11
estott 0:de4320f74764 12 //Motor Drive output pins //Mask in output byte
estott 5:08f338b5e4d9 13 #define L1Lpin D9 //0x01
estott 5:08f338b5e4d9 14 #define L1Hpin D10 //0x02
estott 5:08f338b5e4d9 15 #define L2Lpin D1 //0x04
estott 5:08f338b5e4d9 16 #define L2Hpin D2 //0x08
estott 5:08f338b5e4d9 17 #define L3Lpin D0 //0x10
estott 5:08f338b5e4d9 18 #define L3Hpin D3 //0x20
estott 5:08f338b5e4d9 19
estott 5:08f338b5e4d9 20 //Motor current sense
estott 5:08f338b5e4d9 21 #define MCSPpin A1
estott 5:08f338b5e4d9 22 #define MCSNpin A0
estott 0:de4320f74764 23
estott 0:de4320f74764 24 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 25 /*
estott 0:de4320f74764 26 State L1 L2 L3
estott 0:de4320f74764 27 0 H - L
estott 0:de4320f74764 28 1 - H L
estott 0:de4320f74764 29 2 L H -
estott 0:de4320f74764 30 3 L - H
estott 0:de4320f74764 31 4 - L H
estott 0:de4320f74764 32 5 H L -
estott 0:de4320f74764 33 6 - - -
estott 0:de4320f74764 34 7 - - -
estott 0:de4320f74764 35 */
estott 0:de4320f74764 36 //Drive state to output table
estott 0:de4320f74764 37 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 38
estott 0:de4320f74764 39 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
estott 2:4e88faab6988 40 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 41 //const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
estott 2:4e88faab6988 42
estott 2:4e88faab6988 43 //Phase lead to make motor spin
estott 3:569b35e2a602 44 const int8_t lead = 2; //2 for forwards, -2 for backwards
estott 0:de4320f74764 45
estott 0:de4320f74764 46 //Status LED
estott 0:de4320f74764 47 DigitalOut led1(LED1);
estott 0:de4320f74764 48
estott 0:de4320f74764 49 //Photointerrupter inputs
estott 2:4e88faab6988 50 DigitalIn I1(I1pin);
estott 2:4e88faab6988 51 DigitalIn I2(I2pin);
estott 2:4e88faab6988 52 DigitalIn I3(I3pin);
estott 0:de4320f74764 53
estott 0:de4320f74764 54 //Motor Drive outputs
estott 0:de4320f74764 55 DigitalOut L1L(L1Lpin);
estott 0:de4320f74764 56 DigitalOut L1H(L1Hpin);
estott 0:de4320f74764 57 DigitalOut L2L(L2Lpin);
estott 0:de4320f74764 58 DigitalOut L2H(L2Hpin);
estott 0:de4320f74764 59 DigitalOut L3L(L3Lpin);
estott 0:de4320f74764 60 DigitalOut L3H(L3Hpin);
estott 0:de4320f74764 61
estott 0:de4320f74764 62 //Set a given drive state
estott 0:de4320f74764 63 void motorOut(int8_t driveState){
estott 0:de4320f74764 64
estott 2:4e88faab6988 65 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 66 int8_t driveOut = driveTable[driveState & 0x07];
estott 2:4e88faab6988 67
estott 2:4e88faab6988 68 //Turn off first
estott 2:4e88faab6988 69 if (~driveOut & 0x01) L1L = 0;
estott 2:4e88faab6988 70 if (~driveOut & 0x02) L1H = 1;
estott 2:4e88faab6988 71 if (~driveOut & 0x04) L2L = 0;
estott 2:4e88faab6988 72 if (~driveOut & 0x08) L2H = 1;
estott 2:4e88faab6988 73 if (~driveOut & 0x10) L3L = 0;
estott 2:4e88faab6988 74 if (~driveOut & 0x20) L3H = 1;
estott 2:4e88faab6988 75
estott 2:4e88faab6988 76 //Then turn on
estott 2:4e88faab6988 77 if (driveOut & 0x01) L1L = 1;
estott 2:4e88faab6988 78 if (driveOut & 0x02) L1H = 0;
estott 2:4e88faab6988 79 if (driveOut & 0x04) L2L = 1;
estott 2:4e88faab6988 80 if (driveOut & 0x08) L2H = 0;
estott 2:4e88faab6988 81 if (driveOut & 0x10) L3L = 1;
estott 2:4e88faab6988 82 if (driveOut & 0x20) L3H = 0;
estott 0:de4320f74764 83 }
estott 0:de4320f74764 84
estott 2:4e88faab6988 85 //Convert photointerrupter inputs to a rotor state
estott 0:de4320f74764 86 inline int8_t readRotorState(){
estott 2:4e88faab6988 87 return stateMap[I1 + 2*I2 + 4*I3];
estott 0:de4320f74764 88 }
estott 0:de4320f74764 89
estott 0:de4320f74764 90 //Basic synchronisation routine
estott 2:4e88faab6988 91 int8_t motorHome() {
estott 0:de4320f74764 92 //Put the motor in drive state 0 and wait for it to stabilise
estott 0:de4320f74764 93 motorOut(0);
estott 3:569b35e2a602 94 wait(2.0);
estott 0:de4320f74764 95
estott 0:de4320f74764 96 //Get the rotor state
estott 2:4e88faab6988 97 return readRotorState();
estott 0:de4320f74764 98 }
estott 0:de4320f74764 99
estott 0:de4320f74764 100 //Main
estott 0:de4320f74764 101 int main() {
estott 2:4e88faab6988 102 int8_t orState = 0; //Rotot offset at motor state 0
estott 3:569b35e2a602 103 int8_t intState = 0;
estott 3:569b35e2a602 104 int8_t intStateOld = 0;
estott 2:4e88faab6988 105
estott 0:de4320f74764 106 //Initialise the serial port
estott 0:de4320f74764 107 Serial pc(SERIAL_TX, SERIAL_RX);
estott 0:de4320f74764 108 pc.printf("Hello\n\r");
estott 0:de4320f74764 109
estott 0:de4320f74764 110 //Run the motor synchronisation
estott 2:4e88faab6988 111 orState = motorHome();
estott 2:4e88faab6988 112 pc.printf("Rotor origin: %x\n\r",orState);
estott 2:4e88faab6988 113 //orState is subtracted from future rotor state inputs to align rotor and motor states
estott 0:de4320f74764 114
estott 0:de4320f74764 115 //Poll the rotor state and set the motor outputs accordingly to spin the motor
estott 1:184cb0870c04 116 while (1) {
estott 2:4e88faab6988 117 intState = readRotorState();
estott 2:4e88faab6988 118 if (intState != intStateOld) {
estott 2:4e88faab6988 119 intStateOld = intState;
estott 2:4e88faab6988 120 motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
estott 5:08f338b5e4d9 121 //pc.printf("%d\n\r",intState);
estott 0:de4320f74764 122 }
estott 2:4e88faab6988 123 }
estott 0:de4320f74764 124 }
estott 0:de4320f74764 125