Edward Stott / Mbed OS ES_CW2_Starter

Starter code for brushless motor controller

main.cpp@12:6ad981ef8cc9, 2020-02-23 (annotated)

Committer:
estott
Date:
Sun Feb 23 14:55:44 2020 +0000
Revision:
12:6ad981ef8cc9
Parent:
11:5ff18183764a 
Removed some statements used for debugging

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 10:a4b5723b6c9d 4 #define I1pin D3
estott 10:a4b5723b6c9d 5 #define I2pin D6
estott 10:a4b5723b6c9d 6 #define I3pin D5
estott 2:4e88faab6988 7
estott 2:4e88faab6988 8 //Incremental encoder input pins
estott 10:a4b5723b6c9d 9 #define CHApin D12
estott 10:a4b5723b6c9d 10 #define CHBpin D11
estott 0:de4320f74764 11
estott 0:de4320f74764 12 //Motor Drive output pins //Mask in output byte
estott 10:a4b5723b6c9d 13 #define L1Lpin D1 //0x01
estott 10:a4b5723b6c9d 14 #define L1Hpin A3 //0x02
estott 10:a4b5723b6c9d 15 #define L2Lpin D0 //0x04
estott 10:a4b5723b6c9d 16 #define L2Hpin A6 //0x08
estott 10:a4b5723b6c9d 17 #define L3Lpin D10 //0x10
estott 10:a4b5723b6c9d 18 #define L3Hpin D2 //0x20
estott 10:a4b5723b6c9d 19
estott 10:a4b5723b6c9d 20 #define PWMpin D9
estott 5:08f338b5e4d9 21
estott 5:08f338b5e4d9 22 //Motor current sense
estott 5:08f338b5e4d9 23 #define MCSPpin A1
estott 5:08f338b5e4d9 24 #define MCSNpin A0
estott 0:de4320f74764 25
estott 11:5ff18183764a 26 //Test outputs
estott 11:5ff18183764a 27 #define TP0pin D4
estott 11:5ff18183764a 28 #define TP1pin D13
estott 11:5ff18183764a 29 #define TP2pin A2
estott 11:5ff18183764a 30
estott 0:de4320f74764 31 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 32 /*
estott 0:de4320f74764 33 State L1 L2 L3
estott 0:de4320f74764 34 0 H - L
estott 0:de4320f74764 35 1 - H L
estott 0:de4320f74764 36 2 L H -
estott 0:de4320f74764 37 3 L - H
estott 0:de4320f74764 38 4 - L H
estott 0:de4320f74764 39 5 H L -
estott 0:de4320f74764 40 6 - - -
estott 0:de4320f74764 41 7 - - -
estott 0:de4320f74764 42 */
estott 0:de4320f74764 43 //Drive state to output table
estott 0:de4320f74764 44 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 45
estott 0:de4320f74764 46 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
estott 2:4e88faab6988 47 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 48 //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 49
estott 2:4e88faab6988 50 //Phase lead to make motor spin
estott 3:569b35e2a602 51 const int8_t lead = 2; //2 for forwards, -2 for backwards
estott 0:de4320f74764 52
estott 0:de4320f74764 53 //Status LED
estott 0:de4320f74764 54 DigitalOut led1(LED1);
estott 0:de4320f74764 55
estott 0:de4320f74764 56 //Photointerrupter inputs
estott 2:4e88faab6988 57 DigitalIn I1(I1pin);
estott 2:4e88faab6988 58 DigitalIn I2(I2pin);
estott 2:4e88faab6988 59 DigitalIn I3(I3pin);
estott 0:de4320f74764 60
estott 0:de4320f74764 61 //Motor Drive outputs
estott 0:de4320f74764 62 DigitalOut L1L(L1Lpin);
estott 0:de4320f74764 63 DigitalOut L1H(L1Hpin);
estott 0:de4320f74764 64 DigitalOut L2L(L2Lpin);
estott 0:de4320f74764 65 DigitalOut L2H(L2Hpin);
estott 0:de4320f74764 66 DigitalOut L3L(L3Lpin);
estott 0:de4320f74764 67 DigitalOut L3H(L3Hpin);
estott 0:de4320f74764 68
estott 11:5ff18183764a 69 DigitalOut TP1(TP1pin);
estott 11:5ff18183764a 70 PwmOut MotorPWM(PWMpin);
estott 11:5ff18183764a 71
estott 0:de4320f74764 72 //Set a given drive state
estott 0:de4320f74764 73 void motorOut(int8_t driveState){
estott 0:de4320f74764 74
estott 2:4e88faab6988 75 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 76 int8_t driveOut = driveTable[driveState & 0x07];
estott 2:4e88faab6988 77
estott 2:4e88faab6988 78 //Turn off first
estott 2:4e88faab6988 79 if (~driveOut & 0x01) L1L = 0;
estott 2:4e88faab6988 80 if (~driveOut & 0x02) L1H = 1;
estott 2:4e88faab6988 81 if (~driveOut & 0x04) L2L = 0;
estott 2:4e88faab6988 82 if (~driveOut & 0x08) L2H = 1;
estott 2:4e88faab6988 83 if (~driveOut & 0x10) L3L = 0;
estott 2:4e88faab6988 84 if (~driveOut & 0x20) L3H = 1;
estott 2:4e88faab6988 85
estott 2:4e88faab6988 86 //Then turn on
estott 2:4e88faab6988 87 if (driveOut & 0x01) L1L = 1;
estott 2:4e88faab6988 88 if (driveOut & 0x02) L1H = 0;
estott 2:4e88faab6988 89 if (driveOut & 0x04) L2L = 1;
estott 2:4e88faab6988 90 if (driveOut & 0x08) L2H = 0;
estott 2:4e88faab6988 91 if (driveOut & 0x10) L3L = 1;
estott 2:4e88faab6988 92 if (driveOut & 0x20) L3H = 0;
estott 0:de4320f74764 93 }
estott 0:de4320f74764 94
estott 2:4e88faab6988 95 //Convert photointerrupter inputs to a rotor state
estott 0:de4320f74764 96 inline int8_t readRotorState(){
estott 2:4e88faab6988 97 return stateMap[I1 + 2*I2 + 4*I3];
estott 0:de4320f74764 98 }
estott 0:de4320f74764 99
estott 0:de4320f74764 100 //Basic synchronisation routine
estott 2:4e88faab6988 101 int8_t motorHome() {
estott 0:de4320f74764 102 //Put the motor in drive state 0 and wait for it to stabilise
estott 0:de4320f74764 103 motorOut(0);
estott 3:569b35e2a602 104 wait(2.0);
estott 0:de4320f74764 105
estott 0:de4320f74764 106 //Get the rotor state
estott 2:4e88faab6988 107 return readRotorState();
estott 0:de4320f74764 108 }
estott 0:de4320f74764 109
estott 0:de4320f74764 110 //Main
estott 0:de4320f74764 111 int main() {
estott 2:4e88faab6988 112 int8_t orState = 0; //Rotot offset at motor state 0
estott 3:569b35e2a602 113 int8_t intState = 0;
estott 3:569b35e2a602 114 int8_t intStateOld = 0;
estott 2:4e88faab6988 115
estott 11:5ff18183764a 116 const int32_t PWM_PRD = 2500;
estott 11:5ff18183764a 117 MotorPWM.period_us(PWM_PRD);
estott 11:5ff18183764a 118 MotorPWM.pulsewidth_us(PWM_PRD);
estott 11:5ff18183764a 119
estott 0:de4320f74764 120 //Initialise the serial port
estott 0:de4320f74764 121 Serial pc(SERIAL_TX, SERIAL_RX);
estott 0:de4320f74764 122 pc.printf("Hello\n\r");
estott 0:de4320f74764 123
estott 0:de4320f74764 124 //Run the motor synchronisation
estott 2:4e88faab6988 125 orState = motorHome();
estott 2:4e88faab6988 126 pc.printf("Rotor origin: %x\n\r",orState);
estott 2:4e88faab6988 127 //orState is subtracted from future rotor state inputs to align rotor and motor states
estott 0:de4320f74764 128
estott 0:de4320f74764 129 //Poll the rotor state and set the motor outputs accordingly to spin the motor
estott 1:184cb0870c04 130 while (1) {
estott 2:4e88faab6988 131 intState = readRotorState();
estott 2:4e88faab6988 132 if (intState != intStateOld) {
estott 11:5ff18183764a 133 motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
estott 2:4e88faab6988 134 intStateOld = intState;
estott 0:de4320f74764 135 }
estott 2:4e88faab6988 136 }
estott 0:de4320f74764 137 }
estott 0:de4320f74764 138