KENYA YANAGIHARA / Mbed 2 deprecated CQ_KIT_Ver1_5_IHM07M1

CQ_KIT_Ver1_5

Dependencies:   mbed RateLimiter BLDCmotorDriverCQ_KIT_Ver1_5

X_NUCLEO_IHM07M1/SPN7Driver.cpp@6:0eec4b6e94ba, 2016-10-17 (annotated)

Committer:
avilei
Date:
Mon Oct 17 15:17:28 2016 +0000
Revision:
6:0eec4b6e94ba
Parent:
5:3290e8857120
Child:
7:022c306baeb9
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avilei 2:4ae769d0b112 1 /* mbed Microcontroller Library
avilei 2:4ae769d0b112 2 * Copyright (c) 2006-2016 ARM Limited
avilei 2:4ae769d0b112 3 *
avilei 2:4ae769d0b112 4 * Licensed under the Apache License, Version 2.0 (the "License");
avilei 2:4ae769d0b112 5 * you may not use this file except in compliance with the License.
avilei 2:4ae769d0b112 6 * You may obtain a copy of the License at
avilei 2:4ae769d0b112 7 *
avilei 2:4ae769d0b112 8 * http://www.apache.org/licenses/LICENSE-2.0
avilei 2:4ae769d0b112 9 *
avilei 2:4ae769d0b112 10 * Unless required by applicable law or agreed to in writing, software
avilei 2:4ae769d0b112 11 * distributed under the License is distributed on an "AS IS" BASIS,
avilei 2:4ae769d0b112 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
avilei 2:4ae769d0b112 13 * See the License for the specific language governing permissions and
avilei 2:4ae769d0b112 14 * limitations under the License.
avilei 2:4ae769d0b112 15 */
avilei 2:4ae769d0b112 16
avilei 2:4ae769d0b112 17 /**
avilei 2:4ae769d0b112 18 ******************************************************************************
avilei 2:4ae769d0b112 19 * @file SPN7Driver.cpp
avilei 2:4ae769d0b112 20 * @author STMicroelectronics
avilei 2:4ae769d0b112 21 * @brief Implementation of SPN7Driver class
avilei 2:4ae769d0b112 22 ******************************************************************************
avilei 2:4ae769d0b112 23 * @copy
avilei 2:4ae769d0b112 24 *
avilei 2:4ae769d0b112 25 * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
avilei 2:4ae769d0b112 26 * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
avilei 2:4ae769d0b112 27 * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
avilei 2:4ae769d0b112 28 * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
avilei 2:4ae769d0b112 29 * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
avilei 2:4ae769d0b112 30 * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
avilei 2:4ae769d0b112 31 *
avilei 2:4ae769d0b112 32 * <h2><center>&copy; COPYRIGHT 2016 STMicroelectronics</center></h2>
avilei 2:4ae769d0b112 33 */
avilei 2:4ae769d0b112 34
avilei 2:4ae769d0b112 35 #include "mbed.h"
avilei 2:4ae769d0b112 36 #include "SPN7Driver.h"
avilei 2:4ae769d0b112 37
avilei 3:4c71d3475814 38 typedef enum {
avilei 3:4c71d3475814 39 ST_BLDC_LOW = 0,
avilei 3:4c71d3475814 40 ST_BLDC_HIGH,
avilei 3:4c71d3475814 41 ST_BLDC_OFF
avilei 3:4c71d3475814 42 } st_bldc_status_t;
avilei 3:4c71d3475814 43
avilei 6:0eec4b6e94ba 44 /**************************************************************************/
avilei 6:0eec4b6e94ba 45 /**
avilei 6:0eec4b6e94ba 46 @brief Constructor
avilei 6:0eec4b6e94ba 47 * @param pIN1 Logic input pin IN1 of L6230 chip
avilei 6:0eec4b6e94ba 48 * @param pIN2 Logic input pin IN2 of L6230 chip
avilei 6:0eec4b6e94ba 49 * @param pIN3 Logic input pin IN3 of L6230 chip
avilei 6:0eec4b6e94ba 50 * @param pEN1 Enable channel pin EN1 of L6230 chip
avilei 6:0eec4b6e94ba 51 * @param pEN2 Enable channel pin EN2 of L6230 chip
avilei 6:0eec4b6e94ba 52 * @param pEN3 Enable channel pin EN3 of L6230 chip
avilei 6:0eec4b6e94ba 53 * @param pH1 Hall sensor pin for phase #1 (A) of X-NUCLEO-IHM07M1
avilei 6:0eec4b6e94ba 54 * @param pH2 Hall sensor pin for phase #2 (B) of X-NUCLEO-IHM07M1
avilei 6:0eec4b6e94ba 55 * @param pH3 Hall sensor pin for phase #3 (Z) of X-NUCLEO-IHM07M1
avilei 6:0eec4b6e94ba 56 * @param pFault Fault LED pin of X-NUCLEO-IHM07M1
avilei 6:0eec4b6e94ba 57 */
avilei 6:0eec4b6e94ba 58 /**************************************************************************/
avilei 2:4ae769d0b112 59 SPN7Driver::SPN7Driver(PinName pIN1, PinName pIN2, PinName pIN3,
avilei 2:4ae769d0b112 60 PinName pEN1, PinName pEN2, PinName pEN3,
avilei 2:4ae769d0b112 61 PinName pH1, PinName pH2, PinName pH3,
avilei 2:4ae769d0b112 62 PinName pFault) :
avilei 2:4ae769d0b112 63 BLDCmotorDriver(pIN1, pIN2, pIN3,
avilei 2:4ae769d0b112 64 pEN1, pEN2, pEN3,
avilei 2:4ae769d0b112 65 pH1, pH2, pH3,
avilei 2:4ae769d0b112 66 pFault)
avilei 2:4ae769d0b112 67 {
avilei 2:4ae769d0b112 68 // The BLDCmotorDriver class was implemented for half-bridge drivers
avilei 2:4ae769d0b112 69 // so the pin names may be misleading when referring to the L6230 chip.
avilei 3:4c71d3475814 70 // Get pointers to each input pin and call them IN[x] (logic input)
avilei 2:4ae769d0b112 71 // to be consistent with the terminology used in the L6230 documentation.
avilei 3:4c71d3475814 72 PwmOut* IN[3] = {&GH_A, &GH_B, &GH_C};
avilei 3:4c71d3475814 73
avilei 2:4ae769d0b112 74 // Set the switching period of the INx logic input pins (PWM driven)
avilei 3:4c71d3475814 75 for (int i = 0; i < 3; i++) {
avilei 3:4c71d3475814 76 IN[i]->period(switchingPeriod);
avilei 3:4c71d3475814 77 }
avilei 2:4ae769d0b112 78
avilei 2:4ae769d0b112 79 // Set the step commutation function (triggered by the Hall sensors)
avilei 2:4ae769d0b112 80 H1.rise(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 81 H2.rise(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 82 H3.rise(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 83 H1.fall(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 84 H2.fall(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 85 H3.fall(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 86 }
avilei 2:4ae769d0b112 87
avilei 6:0eec4b6e94ba 88 /**************************************************************************/
avilei 6:0eec4b6e94ba 89 /**
avilei 6:0eec4b6e94ba 90 @brief Set duty cycle for motor control
avilei 6:0eec4b6e94ba 91 * @param dc duty cycle value (positive for clockwise spin)
avilei 6:0eec4b6e94ba 92 */
avilei 6:0eec4b6e94ba 93 /**************************************************************************/
avilei 4:3f63eed73ad1 94 void SPN7Driver::setDutyCycle(float dc) {
avilei 4:3f63eed73ad1 95 if (dc >= -1 && dc <= 1) {
avilei 4:3f63eed73ad1 96 ticker.attach(this, &SPN7Driver::commutation, sampleTime);
avilei 4:3f63eed73ad1 97 tempDutyCycle = dc;
avilei 4:3f63eed73ad1 98 } else {
avilei 4:3f63eed73ad1 99 coast();
avilei 4:3f63eed73ad1 100 }
avilei 4:3f63eed73ad1 101 }
avilei 4:3f63eed73ad1 102
avilei 2:4ae769d0b112 103 // 6-step phase commutation
avilei 3:4c71d3475814 104 void SPN7Driver::commutation()
avilei 3:4c71d3475814 105 {
avilei 3:4c71d3475814 106 // The BLDCmotorDriver class was implemented for half-bridge drivers
avilei 3:4c71d3475814 107 // so the pin names may be misleading when referring to the L6230 chip.
avilei 3:4c71d3475814 108 // Get pointers to each input pin and call them IN[x] (logic input)
avilei 3:4c71d3475814 109 // to be consistent with the terminology used in the L6230 documentation.
avilei 3:4c71d3475814 110 PwmOut* IN[3] = {&GH_A, &GH_B, &GH_C};
avilei 3:4c71d3475814 111 // Get pointers to each enable pin and call them ENx (enable channel)
avilei 3:4c71d3475814 112 // to be consistent with the terminology used in the L6230 documentation.
avilei 3:4c71d3475814 113 DigitalOut* EN[3] = {&GL_A, &GL_B, &GL_C};
avilei 3:4c71d3475814 114
avilei 2:4ae769d0b112 115 // 1--X--0--0--X--1
avilei 2:4ae769d0b112 116 // X--1--1--X--0--0
avilei 3:4c71d3475814 117 // 0--0--X--1--1--X
avilei 3:4c71d3475814 118 st_bldc_status_t tab[6][3] = {
avilei 3:4c71d3475814 119 {ST_BLDC_HIGH, ST_BLDC_OFF, ST_BLDC_LOW},
avilei 3:4c71d3475814 120 {ST_BLDC_OFF, ST_BLDC_HIGH, ST_BLDC_LOW},
avilei 3:4c71d3475814 121 {ST_BLDC_LOW, ST_BLDC_HIGH, ST_BLDC_OFF},
avilei 3:4c71d3475814 122 {ST_BLDC_LOW, ST_BLDC_OFF, ST_BLDC_HIGH},
avilei 3:4c71d3475814 123 {ST_BLDC_OFF, ST_BLDC_LOW, ST_BLDC_HIGH},
avilei 3:4c71d3475814 124 {ST_BLDC_HIGH, ST_BLDC_LOW, ST_BLDC_OFF},
avilei 3:4c71d3475814 125 };
avilei 2:4ae769d0b112 126
avilei 2:4ae769d0b112 127 dutyCycle = rl.out(tempDutyCycle);
avilei 2:4ae769d0b112 128 currentSector = getSector();
avilei 2:4ae769d0b112 129
avilei 3:4c71d3475814 130 if (dutyCycle == 0) {
avilei 3:4c71d3475814 131 // Stop the motor
avilei 2:4ae769d0b112 132 coast();
avilei 3:4c71d3475814 133 return;
avilei 2:4ae769d0b112 134 }
avilei 2:4ae769d0b112 135
avilei 3:4c71d3475814 136 // Move to next sector (i.e. commute phase)
avilei 3:4c71d3475814 137 if (dutyCycle > 0 ) {
avilei 3:4c71d3475814 138 // Move forward
avilei 3:4c71d3475814 139 currentSector++;
avilei 3:4c71d3475814 140 if(currentSector > 5) currentSector = 0;
avilei 3:4c71d3475814 141 } else {
avilei 3:4c71d3475814 142 // Move backward
avilei 3:4c71d3475814 143 currentSector--;
avilei 3:4c71d3475814 144 if(currentSector < 0) currentSector = 5;
avilei 3:4c71d3475814 145 }
avilei 3:4c71d3475814 146
avilei 3:4c71d3475814 147 // Get the absolute value of the duty cycle for the PWM
avilei 3:4c71d3475814 148 float d = (dutyCycle > 0) ? dutyCycle : -dutyCycle;
avilei 3:4c71d3475814 149
avilei 3:4c71d3475814 150 // Update the logic inputs and the enable pins
avilei 3:4c71d3475814 151 for (int i = 0; i < 3; i++) {
avilei 3:4c71d3475814 152 *EN[i] = (tab[currentSector][i] == ST_BLDC_OFF) ? 0 : 1;
avilei 3:4c71d3475814 153 *IN[i] = (tab[currentSector][i] == ST_BLDC_HIGH) ? d : 0;
avilei 3:4c71d3475814 154 }
avilei 2:4ae769d0b112 155 }