Revision 0:de4320f74764, committed 2017-02-17

Comitter:

estott

Date:

Fri Feb 17 22:47:01 2017 +0000

Child:

1:184cb0870c04

Commit message:

Initial Commit

Changed in this revision

--- /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);
+        }
+}
+