hj kiela / Mbed 2 deprecated BLDCSineCommutation

Test program for 20A 24V power stagefor sine commutation of BLDC motor. PID loop and communication will foolow

Dependencies:   mbed

main.cpp@0:924cdaeea469, 2013-05-23 (annotated)

Committer:
hkiela
Date:
Thu May 23 16:28:28 2013 +0000
Revision:
0:924cdaeea469
Child:
1:57efa2224451
PWM test fase 1: potmeters, sinustable, pwm out

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hkiela 0:924cdaeea469 1 // May 2013
hkiela 0:924cdaeea469 2 // HJK Test PWM sine generator
hkiela 0:924cdaeea469 3 // Reads 2 potmeter (value 0 to 1 float) and generates a sine wave with amplidute and freq.
hkiela 0:924cdaeea469 4 // The resulting value is sent to Led 3 and PWM output 1
hkiela 0:924cdaeea469 5
hkiela 0:924cdaeea469 6 #include "mbed.h"
hkiela 0:924cdaeea469 7 //#include "math.h"
hkiela 0:924cdaeea469 8
hkiela 0:924cdaeea469 9 Serial pc(USBTX, USBRX); // tx, rx
hkiela 0:924cdaeea469 10 DigitalOut led1(LED1); // main led
hkiela 0:924cdaeea469 11 DigitalOut led2(LED2); // Interrupt led
hkiela 0:924cdaeea469 12 PwmOut led3(LED3), aPwm0(p23);
hkiela 0:924cdaeea469 13
hkiela 0:924cdaeea469 14 Ticker t;
hkiela 0:924cdaeea469 15
hkiela 0:924cdaeea469 16 Timer tmr1;
hkiela 0:924cdaeea469 17 AnalogIn AD1(p20), AD2(p19);
hkiela 0:924cdaeea469 18
hkiela 0:924cdaeea469 19 unsigned int ServoCnt, BackgrCnt, ServoTime;
hkiela 0:924cdaeea469 20 float Potm1, Potm2;
hkiela 0:924cdaeea469 21
hkiela 0:924cdaeea469 22 int TableIndex, SineOut0;
hkiela 0:924cdaeea469 23
hkiela 0:924cdaeea469 24 int PwmTime_us = 10000;
hkiela 0:924cdaeea469 25 int SineTable[360] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9
hkiela 0:924cdaeea469 26 , 10, 11, 12, 13, 14, 15, 16, 17, 18, 19
hkiela 0:924cdaeea469 27 , 20, 21, 22, 23, 24, 25, 26, 27, 28, 29
hkiela 0:924cdaeea469 28 , 30, 31, 32, 33, 34, 35, 36, 37, 38, 39
hkiela 0:924cdaeea469 29 , 40, 41, 42, 43, 44, 45, 46, 47, 48, 49
hkiela 0:924cdaeea469 30 , 50, 51, 52, 53, 54, 55, 56, 57, 58, 59
hkiela 0:924cdaeea469 31 , 60, 61, 62, 63, 64, 65, 66, 67, 68, 69
hkiela 0:924cdaeea469 32 , 70, 71, 72, 73, 74, 75, 76, 77, 78, 79
hkiela 0:924cdaeea469 33 , 80, 81, 82, 83, 84, 85, 86, 87, 88, 89
hkiela 0:924cdaeea469 34 , 90, 91, 92, 93, 94, 95, 96, 97, 98, 99
hkiela 0:924cdaeea469 35 , 100, 101, 102, 103, 104, 105, 106, 107, 108, 109
hkiela 0:924cdaeea469 36 , 110, 111, 112, 113, 114, 115, 116, 117, 118, 119
hkiela 0:924cdaeea469 37 , 120, 121, 122, 123, 124, 125, 126, 127, 128, 129
hkiela 0:924cdaeea469 38 , 130, 131, 132, 133, 134, 135, 136, 137, 138, 139
hkiela 0:924cdaeea469 39 , 140, 141, 142, 143, 144, 145, 146, 147, 148, 149
hkiela 0:924cdaeea469 40 , 150, 151, 152, 153, 154, 155, 156, 157, 158, 159
hkiela 0:924cdaeea469 41 , 160, 161, 162, 163, 164, 165, 166, 167, 168, 169
hkiela 0:924cdaeea469 42 , 170, 171, 172, 173, 174, 175, 176, 177, 178, 179
hkiela 0:924cdaeea469 43 , 180, 181, 182, 183, 184, 185, 186, 187, 188, 189
hkiela 0:924cdaeea469 44 , 190, 191, 192, 193, 194, 195, 196, 197, 198, 199
hkiela 0:924cdaeea469 45 , 200, 201, 202, 203, 204, 205, 206, 207, 208, 209
hkiela 0:924cdaeea469 46 , 210, 211, 212, 213, 214, 215, 216, 217, 218, 219
hkiela 0:924cdaeea469 47 , 220, 221, 222, 223, 224, 225, 226, 227, 228, 229
hkiela 0:924cdaeea469 48 , 230, 231, 232, 233, 234, 235, 236, 237, 238, 239
hkiela 0:924cdaeea469 49 , 240, 241, 242, 243, 244, 245, 246, 247, 248, 249
hkiela 0:924cdaeea469 50 , 250, 251, 252, 253, 254, 255, 256, 257, 258, 259
hkiela 0:924cdaeea469 51 , 260, 261, 262, 263, 264, 265, 266, 267, 268, 269
hkiela 0:924cdaeea469 52 , 270, 271, 272, 273, 274, 275, 276, 277, 278, 279
hkiela 0:924cdaeea469 53 , 280, 281, 282, 283, 284, 285, 286, 287, 288, 289
hkiela 0:924cdaeea469 54 , 290, 291, 292, 293, 294, 295, 296, 297, 298, 299
hkiela 0:924cdaeea469 55 , 300, 301, 302, 303, 304, 305, 306, 307, 308, 309
hkiela 0:924cdaeea469 56 , 310, 311, 312, 313, 314, 315, 316, 317, 318, 319
hkiela 0:924cdaeea469 57 , 320, 321, 322, 323, 324, 325, 326, 327, 328, 329
hkiela 0:924cdaeea469 58 , 330, 331, 332, 333, 334, 335, 336, 337, 338, 339
hkiela 0:924cdaeea469 59 , 340, 341, 342, 343, 344, 345, 346, 347, 348, 349
hkiela 0:924cdaeea469 60 , 350, 351, 352, 353, 354, 355, 356, 357, 358, 359};
hkiela 0:924cdaeea469 61
hkiela 0:924cdaeea469 62 // A class for flip()-ing a DigitalOut
hkiela 0:924cdaeea469 63 class Flipper {
hkiela 0:924cdaeea469 64 public:
hkiela 0:924cdaeea469 65 Flipper(PinName pin) : _pin(pin) {
hkiela 0:924cdaeea469 66 _pin = 0;
hkiela 0:924cdaeea469 67 }
hkiela 0:924cdaeea469 68 void flip()
hkiela 0:924cdaeea469 69 {int starttime, endtime;
hkiela 0:924cdaeea469 70
hkiela 0:924cdaeea469 71 starttime = tmr1.read_us(); // Measure time 1
hkiela 0:924cdaeea469 72 _pin = !_pin; // toggle led 2
hkiela 0:924cdaeea469 73
hkiela 0:924cdaeea469 74 Potm1 = AD1.read(); Potm2 = AD2.read(); // Get potmeters
hkiela 0:924cdaeea469 75 led3.pulsewidth_us(Potm1 * PwmTime_us); // Set duty cycle for LED
hkiela 0:924cdaeea469 76 aPwm0.pulsewidth_us(Potm1 * PwmTime_us); // Set DC amp out 0
hkiela 0:924cdaeea469 77
hkiela 0:924cdaeea469 78 TableIndex = ceil(Potm1 * 359);
hkiela 0:924cdaeea469 79 SineOut0 = SineTable[TableIndex]; // Get sine value from table
hkiela 0:924cdaeea469 80
hkiela 0:924cdaeea469 81 ServoCnt++; // Servo counter
hkiela 0:924cdaeea469 82 endtime = tmr1.read_us(); // Measure time 2
hkiela 0:924cdaeea469 83 ServoTime = endtime - starttime;
hkiela 0:924cdaeea469 84 }
hkiela 0:924cdaeea469 85 private:
hkiela 0:924cdaeea469 86 DigitalOut _pin;
hkiela 0:924cdaeea469 87 };
hkiela 0:924cdaeea469 88
hkiela 0:924cdaeea469 89 Flipper f(LED2);
hkiela 0:924cdaeea469 90
hkiela 0:924cdaeea469 91 // Init program
hkiela 0:924cdaeea469 92 void DoInit(void) {
hkiela 0:924cdaeea469 93 pc.baud(115200);
hkiela 0:924cdaeea469 94 tmr1.start();
hkiela 0:924cdaeea469 95
hkiela 0:924cdaeea469 96 t.attach_us(&f, &Flipper::flip, 100000); // the address of the object, member function, and interval
hkiela 0:924cdaeea469 97 // t.attach_us(&f, &Flipper::flip, 25); // the address of the object, member function, and interval
hkiela 0:924cdaeea469 98 // 25 us = 40kHz
hkiela 0:924cdaeea469 99 // led3 = 1;
hkiela 0:924cdaeea469 100 led3.period_us(PwmTime_us); // Set the period to 10mS = 100Hz
hkiela 0:924cdaeea469 101 // aPwm0.period_ms(PwmTime_us); // Set the period for the pwm output to amplifier
hkiela 0:924cdaeea469 102
hkiela 0:924cdaeea469 103 pc.printf("The Init time was %f seconds\n\r", tmr1.read());
hkiela 0:924cdaeea469 104 // Return 0;
hkiela 0:924cdaeea469 105 }
hkiela 0:924cdaeea469 106
hkiela 0:924cdaeea469 107
hkiela 0:924cdaeea469 108 int main() {
hkiela 0:924cdaeea469 109 DoInit();
hkiela 0:924cdaeea469 110
hkiela 0:924cdaeea469 111 while(1) {
hkiela 0:924cdaeea469 112 BackgrCnt++;
hkiela 0:924cdaeea469 113 led1 = 1;
hkiela 0:924cdaeea469 114 wait(0.2);
hkiela 0:924cdaeea469 115 led1 = 0;
hkiela 0:924cdaeea469 116 wait(0.2);
hkiela 0:924cdaeea469 117 pc.printf("Servotm: %i, ServoCnt: %i , BackgrCnt: %i , Potm1: ,%.2f, Potm2: ,%.2f, TableIndex %i, SineOut0 %i\r",
hkiela 0:924cdaeea469 118 ServoTime, ServoCnt, BackgrCnt, Potm1, Potm2, TableIndex, SineOut0 );
hkiela 0:924cdaeea469 119 }
hkiela 0:924cdaeea469 120 }
hkiela 0:924cdaeea469 121