CQ_KIT_Ver1_5
Dependencies: mbed RateLimiter BLDCmotorDriverCQ_KIT_Ver1_5
main.cpp@14:391dacb6c9ea, 2022-08-30 (annotated)
- Committer:
- kenya8787
- Date:
- Tue Aug 30 09:31:58 2022 +0000
- Revision:
- 14:391dacb6c9ea
- Parent:
- 13:038b62c7ac17
test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 | // This example is based on the BLDCmotorDriver motor control library |
avilei | 2:4ae769d0b112 | 18 | // by the TVZ Mechatronics Team, University of Applied Sciences Zagreb, |
avilei | 2:4ae769d0b112 | 19 | // Professional Study in Mechatronics: |
avilei | 2:4ae769d0b112 | 20 | // https://developer.mbed.org/teams/TVZ-Mechatronics-Team/code/BLDCmotorDriver/ |
avilei | 2:4ae769d0b112 | 21 | |
avilei | 2:4ae769d0b112 | 22 | #include <stdio.h> |
mslovic | 0:24b227524f2d | 23 | #include "mbed.h" |
mslovic | 0:24b227524f2d | 24 | #include "RateLimiter.h" |
avilei | 2:4ae769d0b112 | 25 | #include "SPN7Driver.h" |
avilei | 2:4ae769d0b112 | 26 | // Pin definitions for X-NUCLEO-IHM070M1 with STM32 Nucleo boards |
avilei | 2:4ae769d0b112 | 27 | #include "x_nucleo_ihm07m1_targets.h" |
mslovic | 0:24b227524f2d | 28 | |
avilei | 2:4ae769d0b112 | 29 | // Instance of the motor driver |
avilei | 2:4ae769d0b112 | 30 | SPN7Driver M( |
avilei | 2:4ae769d0b112 | 31 | P_IN1, P_IN2, P_IN3, // Logic input pins |
avilei | 2:4ae769d0b112 | 32 | P_EN1, P_EN2, P_EN3, // Enable channel pins |
avilei | 2:4ae769d0b112 | 33 | P_HALL1, P_HALL2, P_HALL3, // Hall sensors pins |
avilei | 2:4ae769d0b112 | 34 | P_FAULT // Fault LED |
avilei | 2:4ae769d0b112 | 35 | ); |
avilei | 5:3290e8857120 | 36 | |
avilei | 5:3290e8857120 | 37 | // Pin to check temperature on the X-NUCLEO-IHM07M1 board |
avilei | 10:5fbe1476624c | 38 | AnalogIn temperature(P_TEMP); |
avilei | 5:3290e8857120 | 39 | |
avilei | 5:3290e8857120 | 40 | void checkTemperature() |
avilei | 5:3290e8857120 | 41 | { |
kenya8787 | 13:038b62c7ac17 | 42 | float t = temperature; |
kenya8787 | 13:038b62c7ac17 | 43 | // if (temperature > 0.55f){ |
kenya8787 | 13:038b62c7ac17 | 44 | if (temperature < 0.38f){ |
kenya8787 | 13:038b62c7ac17 | 45 | printf("Overheating... Turning off now,temp %1.2f \n\r",t); |
avilei | 5:3290e8857120 | 46 | M.setDutyCycle(0); |
avilei | 5:3290e8857120 | 47 | M.coast(); |
avilei | 5:3290e8857120 | 48 | } |
avilei | 5:3290e8857120 | 49 | } |
mslovic | 0:24b227524f2d | 50 | |
kenya8787 | 13:038b62c7ac17 | 51 | // Pin to check current on the X-NUCLEO-IHM07M1 board |
kenya8787 | 13:038b62c7ac17 | 52 | AnalogIn current_u(P_CURR1),current_v(P_CURR2),current_w(P_CURR3); |
kenya8787 | 13:038b62c7ac17 | 53 | |
kenya8787 | 13:038b62c7ac17 | 54 | void checkCurrent() |
kenya8787 | 13:038b62c7ac17 | 55 | { |
kenya8787 | 13:038b62c7ac17 | 56 | |
kenya8787 | 13:038b62c7ac17 | 57 | } |
kenya8787 | 13:038b62c7ac17 | 58 | |
mslovic | 0:24b227524f2d | 59 | int main() { |
avilei | 2:4ae769d0b112 | 60 | printf("Press 'w' to speed up, 's' to speed down\n\r"); |
avilei | 3:4c71d3475814 | 61 | |
avilei | 4:3f63eed73ad1 | 62 | // Duty cycle value to be used for speed control |
avilei | 12:33614e1dc638 | 63 | // Positive for clockwise; negative for anti-clockwise |
avilei | 4:3f63eed73ad1 | 64 | float dc = 0.0f; |
avilei | 5:3290e8857120 | 65 | |
avilei | 5:3290e8857120 | 66 | Ticker ticker; |
avilei | 5:3290e8857120 | 67 | ticker.attach(checkTemperature, 1); // Periodic overheating check |
kenya8787 | 13:038b62c7ac17 | 68 | // ticker.attach_us(checkCurrent,1000000); // current control interbal 10ms |
kenya8787 | 13:038b62c7ac17 | 69 | // ticker.attach(checkCurrent,1); // current control interbal 10ms |
avilei | 3:4c71d3475814 | 70 | |
mslovic | 0:24b227524f2d | 71 | while(true) { |
mslovic | 0:24b227524f2d | 72 | |
kenya8787 | 13:038b62c7ac17 | 73 | // char c = getchar(); |
kenya8787 | 13:038b62c7ac17 | 74 | // if((c == 'w') && (dc < 0.9f)) { |
kenya8787 | 13:038b62c7ac17 | 75 | // dc += 0.1f; |
kenya8787 | 13:038b62c7ac17 | 76 | // M.setDutyCycle(dc); |
kenya8787 | 13:038b62c7ac17 | 77 | // } |
kenya8787 | 13:038b62c7ac17 | 78 | // if((c == 's') && (dc > -0.9f)) { |
kenya8787 | 13:038b62c7ac17 | 79 | // dc -= 0.1f; |
kenya8787 | 13:038b62c7ac17 | 80 | // M.setDutyCycle(dc); |
kenya8787 | 13:038b62c7ac17 | 81 | // } |
kenya8787 | 13:038b62c7ac17 | 82 | AnalogIn SPEED(P_SPEED); |
kenya8787 | 13:038b62c7ac17 | 83 | float S; |
kenya8787 | 13:038b62c7ac17 | 84 | S = SPEED + 0.001f; |
kenya8787 | 13:038b62c7ac17 | 85 | if(S >0.999f) S = 0.999; |
kenya8787 | 13:038b62c7ac17 | 86 | dc = S; |
kenya8787 | 13:038b62c7ac17 | 87 | M.setDutyCycle(dc); |
kenya8787 | 13:038b62c7ac17 | 88 | |
kenya8787 | 13:038b62c7ac17 | 89 | float im[3]; |
kenya8787 | 13:038b62c7ac17 | 90 | im[0] = current_u; |
kenya8787 | 13:038b62c7ac17 | 91 | im[1] = current_v; |
kenya8787 | 13:038b62c7ac17 | 92 | im[2] = current_w; |
avilei | 2:4ae769d0b112 | 93 | |
kenya8787 | 13:038b62c7ac17 | 94 | printf("iu,iv,iw= %1.3f,%1.3f,%1.3f \n\r",im[0],im[1],im[2]); |
kenya8787 | 13:038b62c7ac17 | 95 | |
kenya8787 | 13:038b62c7ac17 | 96 | // printf("Duty Cycle: %1.2f, Sector: %d, SPEED: %1.2f \n\r",dc, M.getSector(),S); |
avilei | 2:4ae769d0b112 | 97 | |
mslovic | 0:24b227524f2d | 98 | } |
mslovic | 0:24b227524f2d | 99 | } |