David Salmon / Mbed OS ES_CW2_Starter_MDMA

ES2017 coursework 2

Dependencies:   PID

Fork of ES_CW2_Starter by Edward Stott

main.cpp@7:5932ed0bad6d, 2017-03-02 (annotated)

Committer:
david_s95
Date:
Thu Mar 02 19:05:49 2017 +0000
Revision:
7:5932ed0bad6d
Parent:
6:4edbe75736d9
Child:
8:77627657da80
Open loop control of motor speed working.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
estott 0:de4320f74764 1 #include "mbed.h"
estott 0:de4320f74764 2 #include "rtos.h"
david_s95 5:e5313b695302 3 #include <string>
estott 0:de4320f74764 4
estott 0:de4320f74764 5 //Photointerrupter input pins
estott 0:de4320f74764 6 #define I1pin D2
estott 2:4e88faab6988 7 #define I2pin D11
estott 2:4e88faab6988 8 #define I3pin D12
estott 2:4e88faab6988 9
estott 2:4e88faab6988 10 //Incremental encoder input pins
estott 2:4e88faab6988 11 #define CHA D7
david_s95 5:e5313b695302 12 #define CHB D8
estott 0:de4320f74764 13
estott 0:de4320f74764 14 //Motor Drive output pins //Mask in output byte
estott 2:4e88faab6988 15 #define L1Lpin D4 //0x01
estott 2:4e88faab6988 16 #define L1Hpin D5 //0x02
estott 2:4e88faab6988 17 #define L2Lpin D3 //0x04
estott 2:4e88faab6988 18 #define L2Hpin D6 //0x08
estott 2:4e88faab6988 19 #define L3Lpin D9 //0x10
estott 0:de4320f74764 20 #define L3Hpin D10 //0x20
estott 0:de4320f74764 21
david_s95 5:e5313b695302 22 //Define sized for command arrays
david_s95 5:e5313b695302 23 #define ARRAYSIZE 8
david_s95 5:e5313b695302 24
estott 0:de4320f74764 25 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 26 /*
estott 0:de4320f74764 27 State L1 L2 L3
estott 0:de4320f74764 28 0 H - L
estott 0:de4320f74764 29 1 - H L
estott 0:de4320f74764 30 2 L H -
estott 0:de4320f74764 31 3 L - H
estott 0:de4320f74764 32 4 - L H
estott 0:de4320f74764 33 5 H L -
estott 0:de4320f74764 34 6 - - -
estott 0:de4320f74764 35 7 - - -
estott 0:de4320f74764 36 */
estott 0:de4320f74764 37 //Drive state to output table
estott 0:de4320f74764 38 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 39
estott 0:de4320f74764 40 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
david_s95 5:e5313b695302 41 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 42 //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 43
estott 2:4e88faab6988 44 //Phase lead to make motor spin
david_s95 3:e7133505f542 45 const int8_t lead = 2; //2 for forwards, -2 for backwards
estott 0:de4320f74764 46
estott 0:de4320f74764 47 //Status LED
estott 0:de4320f74764 48 DigitalOut led1(LED1);
estott 0:de4320f74764 49
estott 0:de4320f74764 50 //Photointerrupter inputs
david_s95 7:5932ed0bad6d 51 //DigitalIn I1(I1pin);
david_s95 7:5932ed0bad6d 52 InterruptIn I1(I1pin);
estott 2:4e88faab6988 53 DigitalIn I2(I2pin);
estott 2:4e88faab6988 54 DigitalIn I3(I3pin);
estott 0:de4320f74764 55
estott 0:de4320f74764 56 //Motor Drive outputs
estott 0:de4320f74764 57 DigitalOut L1L(L1Lpin);
estott 0:de4320f74764 58 DigitalOut L1H(L1Hpin);
estott 0:de4320f74764 59 DigitalOut L2L(L2Lpin);
estott 0:de4320f74764 60 DigitalOut L2H(L2Hpin);
estott 0:de4320f74764 61 DigitalOut L3L(L3Lpin);
estott 0:de4320f74764 62 DigitalOut L3H(L3Hpin);
david_s95 5:e5313b695302 63 DigitalOut clk(LED1);
david_s95 5:e5313b695302 64
david_s95 5:e5313b695302 65 //Timeout function for rotating at set speed
david_s95 5:e5313b695302 66 Timeout spinTimer;
david_s95 5:e5313b695302 67 float spinWait = 10;
david_s95 5:e5313b695302 68 float revsec = 0;
david_s95 5:e5313b695302 69
david_s95 7:5932ed0bad6d 70 //Timer used for calculating speed
david_s95 7:5932ed0bad6d 71 Timer speedTimer;
david_s95 7:5932ed0bad6d 72 float revs = 0, revtimer = 0;
david_s95 7:5932ed0bad6d 73 Ticker printSpeed;
david_s95 7:5932ed0bad6d 74
david_s95 5:e5313b695302 75 Serial pc(SERIAL_TX, SERIAL_RX);
david_s95 5:e5313b695302 76
david_s95 5:e5313b695302 77 int8_t orState = 0; //Rotor offset at motor state 0
david_s95 5:e5313b695302 78 int8_t intState = 0;
david_s95 5:e5313b695302 79 int8_t intStateOld = 0;
david_s95 5:e5313b695302 80
david_s95 5:e5313b695302 81 int i=0;
david_s95 5:e5313b695302 82
estott 0:de4320f74764 83 //Set a given drive state
david_s95 5:e5313b695302 84 void motorOut(int8_t driveState)
david_s95 5:e5313b695302 85 {
david_s95 5:e5313b695302 86
estott 2:4e88faab6988 87 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 88 int8_t driveOut = driveTable[driveState & 0x07];
david_s95 5:e5313b695302 89
estott 2:4e88faab6988 90 //Turn off first
estott 2:4e88faab6988 91 if (~driveOut & 0x01) L1L = 0;
estott 2:4e88faab6988 92 if (~driveOut & 0x02) L1H = 1;
estott 2:4e88faab6988 93 if (~driveOut & 0x04) L2L = 0;
estott 2:4e88faab6988 94 if (~driveOut & 0x08) L2H = 1;
estott 2:4e88faab6988 95 if (~driveOut & 0x10) L3L = 0;
estott 2:4e88faab6988 96 if (~driveOut & 0x20) L3H = 1;
david_s95 5:e5313b695302 97
estott 2:4e88faab6988 98 //Then turn on
estott 2:4e88faab6988 99 if (driveOut & 0x01) L1L = 1;
estott 2:4e88faab6988 100 if (driveOut & 0x02) L1H = 0;
estott 2:4e88faab6988 101 if (driveOut & 0x04) L2L = 1;
estott 2:4e88faab6988 102 if (driveOut & 0x08) L2H = 0;
estott 2:4e88faab6988 103 if (driveOut & 0x10) L3L = 1;
estott 2:4e88faab6988 104 if (driveOut & 0x20) L3H = 0;
david_s95 5:e5313b695302 105 }
david_s95 5:e5313b695302 106
david_s95 5:e5313b695302 107 //Convert photointerrupter inputs to a rotor state
david_s95 5:e5313b695302 108 inline int8_t readRotorState()
david_s95 5:e5313b695302 109 {
estott 2:4e88faab6988 110 return stateMap[I1 + 2*I2 + 4*I3];
david_s95 5:e5313b695302 111 }
estott 0:de4320f74764 112
david_s95 5:e5313b695302 113 //Basic synchronisation routine
david_s95 5:e5313b695302 114 int8_t motorHome()
david_s95 5:e5313b695302 115 {
estott 0:de4320f74764 116 //Put the motor in drive state 0 and wait for it to stabilise
estott 0:de4320f74764 117 motorOut(0);
estott 0:de4320f74764 118 wait(1.0);
david_s95 5:e5313b695302 119
estott 0:de4320f74764 120 //Get the rotor state
estott 2:4e88faab6988 121 return readRotorState();
estott 0:de4320f74764 122 }
david_s95 5:e5313b695302 123
david_s95 5:e5313b695302 124 void fixedSpeed()
david_s95 5:e5313b695302 125 {
david_s95 6:4edbe75736d9 126 //Read current motor state
david_s95 5:e5313b695302 127 intState = readRotorState();
david_s95 6:4edbe75736d9 128 //Increment state machine to next state
david_s95 5:e5313b695302 129 motorOut((intState-orState+lead+6)%6);
david_s95 6:4edbe75736d9 130 //If spinning is required, attach the necessary wait to the
david_s95 6:4edbe75736d9 131 //timeout interrupt to call this function again and
david_s95 6:4edbe75736d9 132 //keep the motor spinning at the right speed
david_s95 5:e5313b695302 133 if(revsec) spinTimer.attach(&fixedSpeed, spinWait);
david_s95 5:e5313b695302 134 }
david_s95 5:e5313b695302 135
david_s95 7:5932ed0bad6d 136 void rps()
david_s95 7:5932ed0bad6d 137 {
david_s95 7:5932ed0bad6d 138 // pc.printf("Tick\r\n");
david_s95 7:5932ed0bad6d 139 speedTimer.stop();
david_s95 7:5932ed0bad6d 140 revtimer = speedTimer.read_ms();
david_s95 7:5932ed0bad6d 141 revs = 1000/(revtimer);
david_s95 7:5932ed0bad6d 142 // pc.printf("Revs / sec: %2.2f\r", revs);
david_s95 7:5932ed0bad6d 143 speedTimer.start();
david_s95 7:5932ed0bad6d 144 }
david_s95 7:5932ed0bad6d 145
david_s95 7:5932ed0bad6d 146 void speedo()
david_s95 7:5932ed0bad6d 147 {
david_s95 7:5932ed0bad6d 148 pc.printf("Revs / sec: %2.4f\r", revs);
david_s95 7:5932ed0bad6d 149 printSpeed.attach(&speedo, 1.0);
david_s95 7:5932ed0bad6d 150 }
david_s95 7:5932ed0bad6d 151
mengkiang 4:f8a9ce214db9 152 //Main function
david_s95 5:e5313b695302 153 int main()
david_s95 5:e5313b695302 154 {
estott 0:de4320f74764 155 pc.printf("Hello\n\r");
david_s95 7:5932ed0bad6d 156
estott 0:de4320f74764 157 //Run the motor synchronisation
estott 2:4e88faab6988 158 orState = motorHome();
david_s95 6:4edbe75736d9 159 //orState is subtracted from future rotor state inputs to align rotor and motor states
david_s95 6:4edbe75736d9 160
estott 2:4e88faab6988 161 pc.printf("Rotor origin: %x\n\r",orState);
david_s95 5:e5313b695302 162
david_s95 6:4edbe75736d9 163 char command[ARRAYSIZE];
david_s95 6:4edbe75736d9 164 int index=0;
david_s95 6:4edbe75736d9 165 int units = 0, tens = 0, decimals = 0;
david_s95 6:4edbe75736d9 166 char ch;
david_s95 7:5932ed0bad6d 167
david_s95 7:5932ed0bad6d 168 speedTimer.start();
david_s95 7:5932ed0bad6d 169 I1.rise(&rps);
david_s95 7:5932ed0bad6d 170
david_s95 5:e5313b695302 171 while(1) {
david_s95 6:4edbe75736d9 172 //Toggle LED so we know something's happening
david_s95 5:e5313b695302 173 clk = !clk;
david_s95 7:5932ed0bad6d 174
david_s95 6:4edbe75736d9 175 //If there's a character to read from the serial port
david_s95 6:4edbe75736d9 176 if (pc.readable()) {
david_s95 7:5932ed0bad6d 177
david_s95 6:4edbe75736d9 178 //Clear index counter and control variables
david_s95 6:4edbe75736d9 179 index = 0;
david_s95 7:5932ed0bad6d 180 // revsec = spinWait = 0;
david_s95 7:5932ed0bad6d 181
david_s95 6:4edbe75736d9 182 //Read each value from the serial port until Enter key is pressed
david_s95 6:4edbe75736d9 183 do {
david_s95 6:4edbe75736d9 184 //Read character
david_s95 6:4edbe75736d9 185 ch = pc.getc();
david_s95 6:4edbe75736d9 186 //Print character to serial for visual feedback
david_s95 6:4edbe75736d9 187 pc.putc(ch);
david_s95 6:4edbe75736d9 188 //Add character to input array
david_s95 6:4edbe75736d9 189 command[index++]=ch; // put it into the value array and increment the index
david_s95 7:5932ed0bad6d 190 //d10 and d13 used for detecting Enter key on Windows/Unix/Mac
david_s95 6:4edbe75736d9 191 } while(ch != 10 && ch != 13);
david_s95 7:5932ed0bad6d 192
david_s95 6:4edbe75736d9 193 //Start new line on terminal for printing data
david_s95 6:4edbe75736d9 194 pc.putc('\n');
david_s95 6:4edbe75736d9 195 pc.putc('\r');
david_s95 7:5932ed0bad6d 196
david_s95 6:4edbe75736d9 197 //Analyse the input string
david_s95 6:4edbe75736d9 198 switch (command[0]) {
david_s95 7:5932ed0bad6d 199 //If a V was typed...
david_s95 6:4edbe75736d9 200 case 'V':
david_s95 7:5932ed0bad6d 201 units = 0, tens = 0, decimals = 0;
david_s95 7:5932ed0bad6d 202 //For each character received, subtract ASCII 0 from ASCII
david_s95 7:5932ed0bad6d 203 //representation to obtain the integer value of the number
david_s95 7:5932ed0bad6d 204
david_s95 6:4edbe75736d9 205 //If decimal point is in the second character (eg, V.1)
david_s95 6:4edbe75736d9 206 if(command[1]=='.') {
david_s95 6:4edbe75736d9 207 //Extract decimal rev/s
david_s95 6:4edbe75736d9 208 decimals = command[2] - '0';
david_s95 7:5932ed0bad6d 209
david_s95 7:5932ed0bad6d 210 //If decimal point is in the third character (eg, V0.1)
david_s95 6:4edbe75736d9 211 } else if(command[2]=='.') {
david_s95 6:4edbe75736d9 212 units = command[1] - '0';
david_s95 6:4edbe75736d9 213 decimals = command[3] - '0';
david_s95 7:5932ed0bad6d 214
david_s95 7:5932ed0bad6d 215 //If decimal point is in the fourth character (eg, V10.1)
david_s95 6:4edbe75736d9 216 } else if(command[3]=='.') {
david_s95 6:4edbe75736d9 217 tens = command[1] - '0';
david_s95 6:4edbe75736d9 218 units = command[2] - '0';
david_s95 6:4edbe75736d9 219 decimals = command[4] - '0';
david_s95 6:4edbe75736d9 220 }
david_s95 7:5932ed0bad6d 221
david_s95 6:4edbe75736d9 222 //Calculate the number of revolutions per second required
david_s95 6:4edbe75736d9 223 revsec = float(tens)*10 + float(units) + float(decimals)/10;
david_s95 6:4edbe75736d9 224 //Calculate the required wait period
david_s95 6:4edbe75736d9 225 spinWait = (1/revsec)/6;
david_s95 7:5932ed0bad6d 226
david_s95 6:4edbe75736d9 227 //Print values for verification
david_s95 7:5932ed0bad6d 228 pc.printf("Rev/S: %2.4f, Wait: %2.4f\n\r", revsec, spinWait);
david_s95 7:5932ed0bad6d 229
david_s95 6:4edbe75736d9 230 //Run the function to start rotating at a fixed speed
david_s95 6:4edbe75736d9 231 fixedSpeed();
david_s95 6:4edbe75736d9 232 break;
david_s95 7:5932ed0bad6d 233 //If anything unexpected was received
david_s95 7:5932ed0bad6d 234 case 's':
david_s95 7:5932ed0bad6d 235 pc.printf("Revs / sec: %2.2f\r", revs);
david_s95 7:5932ed0bad6d 236 break;
david_s95 6:4edbe75736d9 237 default:
david_s95 6:4edbe75736d9 238 //Set speed variables to zero to stop motor spinning
david_s95 6:4edbe75736d9 239 revsec=0;
david_s95 6:4edbe75736d9 240 //Print error message
david_s95 6:4edbe75736d9 241 pc.printf("Error in received data\n\r");
david_s95 6:4edbe75736d9 242 break;
david_s95 6:4edbe75736d9 243 }
david_s95 6:4edbe75736d9 244 }
david_s95 7:5932ed0bad6d 245 // printSpeed.attach(&speedo, 1.0);
david_s95 7:5932ed0bad6d 246 // pc.printf("Revs / sec: %2.2f\r", revs);
estott 2:4e88faab6988 247 }
david_s95 5:e5313b695302 248
estott 0:de4320f74764 249 }