KENYA YANAGIHARA
CQ Inverter Kit 2 test
Diff: BLDCmotorDriver.cpp
- Revision:
- 0:5602fba2a7f7
- Child:
- 1:786897114846
- Child:
- 2:7aae78b85e1d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/BLDCmotorDriver.cpp Fri May 22 22:43:39 2015 +0000
@@ -0,0 +1,176 @@
+#include "BLDCmotorDriver.h"
+
+BLDCmotorDriver::BLDCmotorDriver(PinName gh_a, PinName gl_a, PinName gh_b, PinName gl_b, PinName gh_c, PinName gl_c, PinName h1, PinName h2, PinName h3, PinName led1) : GH_A(gh_a), GL_A(gl_a), GH_B(gh_b), GL_B(gl_b), GH_C(gh_c), GL_C(gl_c), H1(h1), H2(h2), H3(h3), Led1(led1) {
+ sampleTime = 1e-3;
+ switchingPeriod = 1.0 / 20e3;
+ dutyCycle = tempDutyCycle = 0;
+ GH_A.period(switchingPeriod); // applies to all PwmOut instances
+ rl.setLimits(0.1, -0.1, 0, sampleTime); // initial 10 second ramp
+}
+void BLDCmotorDriver::configure(float sampleTime, float switchingFrequency, float rampUpSlope, float rampDownSlope) {
+ if (sampleTime < 1e-6)
+ sampleTime = 1e-3;
+ if (switchingFrequency < 100)
+ switchingFrequency = 20e3;
+ if (rampUpSlope < 0 || rampUpSlope > 1)
+ rampUpSlope = 0.1;
+ if (rampDownSlope > 0 || rampDownSlope < -1)
+ rampDownSlope = -0.1;
+ this->sampleTime = sampleTime;
+ switchingPeriod = 1.0 / switchingFrequency;
+ rl.setLimits(rampUpSlope, rampDownSlope, 0, sampleTime);
+}
+int BLDCmotorDriver::HallRead(){ // hall 120°
+
+ if(H1.read()== 1 && H2.read()== 0 && H3.read()== 0)
+ sektor = 1;
+ else if(H1.read()== 1 && H2.read()== 1 && H3.read()== 0)
+ sektor = 2;
+ else if(H1.read()== 0 && H2.read()== 1 && H3.read()== 0)
+ sektor = 3;
+ else if(H1.read()== 0 && H2.read()== 1 && H3.read()== 1)
+ sektor = 4;
+ else if(H1.read()== 0 && H2.read()== 0 && H3.read()== 1)
+ sektor = 5;
+ else if(H1.read()== 1 && H2.read()== 0 && H3.read()== 1)
+ sektor = 6;
+ else
+ Led1 = 1;
+
+ return sektor;
+}
+void BLDCmotorDriver::komutacijaBLDC() {
+ dutyCycle = rl.out(tempDutyCycle);
+ sektor = HallRead();
+ if (dutyCycle > 0) {
+ if (sektor > 6) sektor = 1;
+ sektor++;
+ switch(sektor) {
+ case 1: //100
+ GH_A = dutyCycle;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 1;
+ break;
+ case 2: //110
+ GH_A = dutyCycle;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 1;
+ GH_C = 0;
+ GL_C = 0;
+ break;
+ case 3: //010
+ GH_A = 0;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 1;
+ GH_C = dutyCycle;
+ GL_C = 0;
+ break;
+ case 4: //011
+ GH_A = 0;
+ GL_A = 1;
+ GH_B = 0;
+ GL_B = 0;
+ GH_C = dutyCycle;
+ GL_C = 0;
+ break;
+ case 5: //001
+ GH_A = 0;
+ GL_A = 1;
+ GH_B = dutyCycle;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 0;
+ break;
+ case 6: //101
+ GH_A = 0;
+ GL_A = 0;
+ GH_B = dutyCycle;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 1;
+ break;
+ }
+ } else if (dutyCycle < 0) { //
+ if (sektor < 1) sektor = 6;
+ sektor--;
+ switch(sektor) {
+ case 1: //100
+ GH_A = dutyCycle;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 1;
+ break;
+ case 2: //110
+ GH_A = dutyCycle;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 1;
+ GH_C = 0;
+ GL_C = 0;
+ break;
+ case 3: //010
+ GH_A = 0;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 1;
+ GH_C = dutyCycle;
+ GL_C = 0;
+ break;
+ case 4: //011
+ GH_A = 0;
+ GL_A = 1;
+ GH_B = 0;
+ GL_B = 0;
+ GH_C = dutyCycle;
+ GL_C = 0;
+ break;
+ case 5: //001
+ GH_A = 0;
+ GL_A = 1;
+ GH_B = dutyCycle;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 0;
+ break;
+ case 6: //101
+ GH_A = 0;
+ GL_A = 0;
+ GH_B = dutyCycle;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 1;
+ break;
+ }
+ }else {
+ coast();
+ }
+}
+void BLDCmotorDriver::setDutyCycle(float dc) {
+ if (dc >= -1 && dc <= 1) {
+ ticker.attach(this, &BLDCmotorDriver::komutacijaBLDC, sampleTime);
+ tempDutyCycle = dc;
+ } else {
+ coast();
+ }
+}
+void BLDCmotorDriver::coast() {
+ GH_A = 0;
+ GL_A = 0;
+ GH_B = 0;
+ GL_B = 0;
+ GH_C = 0;
+ GL_C = 0;
+ dutyCycle = tempDutyCycle = 0;
+ rl.reset();
+ ticker.detach();
+}
+float BLDCmotorDriver::getDutyCycle() {
+ return dutyCycle;
+}
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