Edward Stott / Mbed OS ES_CW2_selftest

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main.cpp@3:569b35e2a602, 2018-03-01 (annotated)

Committer:
estott
Date:
Thu Mar 01 09:41:46 2018 +0000
Revision:
3:569b35e2a602
Parent:
2:4e88faab6988
Child:
4:1cb32cb438ee
Changed library version

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 0:de4320f74764 4 #define I1pin D2
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 2:4e88faab6988 9 #define CHA D7
estott 2:4e88faab6988 10 #define CHB D8
estott 0:de4320f74764 11
estott 0:de4320f74764 12 //Motor Drive output pins //Mask in output byte
estott 2:4e88faab6988 13 #define L1Lpin D4 //0x01
estott 2:4e88faab6988 14 #define L1Hpin D5 //0x02
estott 2:4e88faab6988 15 #define L2Lpin D3 //0x04
estott 2:4e88faab6988 16 #define L2Hpin D6 //0x08
estott 2:4e88faab6988 17 #define L3Lpin D9 //0x10
estott 0:de4320f74764 18 #define L3Hpin D10 //0x20
estott 0:de4320f74764 19
estott 0:de4320f74764 20 //Mapping from sequential drive states to motor phase outputs
estott 0:de4320f74764 21 /*
estott 0:de4320f74764 22 State L1 L2 L3
estott 0:de4320f74764 23 0 H - L
estott 0:de4320f74764 24 1 - H L
estott 0:de4320f74764 25 2 L H -
estott 0:de4320f74764 26 3 L - H
estott 0:de4320f74764 27 4 - L H
estott 0:de4320f74764 28 5 H L -
estott 0:de4320f74764 29 6 - - -
estott 0:de4320f74764 30 7 - - -
estott 0:de4320f74764 31 */
estott 0:de4320f74764 32 //Drive state to output table
estott 0:de4320f74764 33 const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
estott 2:4e88faab6988 34
estott 0:de4320f74764 35 //Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
estott 2:4e88faab6988 36 const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};
estott 2:4e88faab6988 37 //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 38
estott 2:4e88faab6988 39 //Phase lead to make motor spin
estott 3:569b35e2a602 40 const int8_t lead = 2; //2 for forwards, -2 for backwards
estott 0:de4320f74764 41
estott 0:de4320f74764 42 //Status LED
estott 0:de4320f74764 43 DigitalOut led1(LED1);
estott 0:de4320f74764 44
estott 0:de4320f74764 45 //Photointerrupter inputs
estott 2:4e88faab6988 46 DigitalIn I1(I1pin);
estott 2:4e88faab6988 47 DigitalIn I2(I2pin);
estott 2:4e88faab6988 48 DigitalIn I3(I3pin);
estott 0:de4320f74764 49
estott 0:de4320f74764 50 //Motor Drive outputs
estott 0:de4320f74764 51 DigitalOut L1L(L1Lpin);
estott 0:de4320f74764 52 DigitalOut L1H(L1Hpin);
estott 0:de4320f74764 53 DigitalOut L2L(L2Lpin);
estott 0:de4320f74764 54 DigitalOut L2H(L2Hpin);
estott 0:de4320f74764 55 DigitalOut L3L(L3Lpin);
estott 0:de4320f74764 56 DigitalOut L3H(L3Hpin);
estott 0:de4320f74764 57
estott 0:de4320f74764 58 //Set a given drive state
estott 0:de4320f74764 59 void motorOut(int8_t driveState){
estott 0:de4320f74764 60
estott 2:4e88faab6988 61 //Lookup the output byte from the drive state.
estott 2:4e88faab6988 62 int8_t driveOut = driveTable[driveState & 0x07];
estott 2:4e88faab6988 63
estott 2:4e88faab6988 64 //Turn off first
estott 2:4e88faab6988 65 if (~driveOut & 0x01) L1L = 0;
estott 2:4e88faab6988 66 if (~driveOut & 0x02) L1H = 1;
estott 2:4e88faab6988 67 if (~driveOut & 0x04) L2L = 0;
estott 2:4e88faab6988 68 if (~driveOut & 0x08) L2H = 1;
estott 2:4e88faab6988 69 if (~driveOut & 0x10) L3L = 0;
estott 2:4e88faab6988 70 if (~driveOut & 0x20) L3H = 1;
estott 2:4e88faab6988 71
estott 2:4e88faab6988 72 //Then turn on
estott 2:4e88faab6988 73 if (driveOut & 0x01) L1L = 1;
estott 2:4e88faab6988 74 if (driveOut & 0x02) L1H = 0;
estott 2:4e88faab6988 75 if (driveOut & 0x04) L2L = 1;
estott 2:4e88faab6988 76 if (driveOut & 0x08) L2H = 0;
estott 2:4e88faab6988 77 if (driveOut & 0x10) L3L = 1;
estott 2:4e88faab6988 78 if (driveOut & 0x20) L3H = 0;
estott 0:de4320f74764 79 }
estott 0:de4320f74764 80
estott 2:4e88faab6988 81 //Convert photointerrupter inputs to a rotor state
estott 0:de4320f74764 82 inline int8_t readRotorState(){
estott 2:4e88faab6988 83 return stateMap[I1 + 2*I2 + 4*I3];
estott 0:de4320f74764 84 }
estott 0:de4320f74764 85
estott 0:de4320f74764 86 //Basic synchronisation routine
estott 2:4e88faab6988 87 int8_t motorHome() {
estott 0:de4320f74764 88 //Put the motor in drive state 0 and wait for it to stabilise
estott 0:de4320f74764 89 motorOut(0);
estott 3:569b35e2a602 90 wait(2.0);
estott 0:de4320f74764 91
estott 0:de4320f74764 92 //Get the rotor state
estott 2:4e88faab6988 93 return readRotorState();
estott 0:de4320f74764 94 }
estott 0:de4320f74764 95
estott 0:de4320f74764 96 //Main
estott 0:de4320f74764 97 int main() {
estott 2:4e88faab6988 98 int8_t orState = 0; //Rotot offset at motor state 0
estott 3:569b35e2a602 99 int8_t intState = 0;
estott 3:569b35e2a602 100 int8_t intStateOld = 0;
estott 2:4e88faab6988 101
estott 0:de4320f74764 102 //Initialise the serial port
estott 0:de4320f74764 103 Serial pc(SERIAL_TX, SERIAL_RX);
estott 0:de4320f74764 104 pc.printf("Hello\n\r");
estott 0:de4320f74764 105
estott 0:de4320f74764 106 //Run the motor synchronisation
estott 2:4e88faab6988 107 orState = motorHome();
estott 2:4e88faab6988 108 pc.printf("Rotor origin: %x\n\r",orState);
estott 2:4e88faab6988 109 //orState is subtracted from future rotor state inputs to align rotor and motor states
estott 0:de4320f74764 110
estott 0:de4320f74764 111 //Poll the rotor state and set the motor outputs accordingly to spin the motor
estott 1:184cb0870c04 112 while (1) {
estott 2:4e88faab6988 113 intState = readRotorState();
estott 2:4e88faab6988 114 if (intState != intStateOld) {
estott 2:4e88faab6988 115 intStateOld = intState;
estott 2:4e88faab6988 116 motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
estott 0:de4320f74764 117 }
estott 2:4e88faab6988 118 }
estott 0:de4320f74764 119 }
estott 0:de4320f74764 120