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@2:4ae769d0b112, 2016-10-12 (annotated)

Committer:
avilei
Date:
Wed Oct 12 13:15:03 2016 +0000
Revision:
2:4ae769d0b112
Child:
3:4c71d3475814
Initial release of the HelloWorld_IHM07M1 example application

Who changed what in which revision?

UserRevisionLine numberNew contents of line
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 2:4ae769d0b112 38 // FIXME: add doxygen
avilei 2:4ae769d0b112 39
avilei 2:4ae769d0b112 40 SPN7Driver::SPN7Driver(PinName pIN1, PinName pIN2, PinName pIN3,
avilei 2:4ae769d0b112 41 PinName pEN1, PinName pEN2, PinName pEN3,
avilei 2:4ae769d0b112 42 PinName pH1, PinName pH2, PinName pH3,
avilei 2:4ae769d0b112 43 PinName pFault) :
avilei 2:4ae769d0b112 44 BLDCmotorDriver(pIN1, pIN2, pIN3,
avilei 2:4ae769d0b112 45 pEN1, pEN2, pEN3,
avilei 2:4ae769d0b112 46 pH1, pH2, pH3,
avilei 2:4ae769d0b112 47 pFault)
avilei 2:4ae769d0b112 48 {
avilei 2:4ae769d0b112 49 // The BLDCmotorDriver class was implemented for half-bridge drivers
avilei 2:4ae769d0b112 50 // so the pin names may be misleading when referring to the L6230 chip.
avilei 2:4ae769d0b112 51 // Get a reference of each input pin and call them INx (logic input)
avilei 2:4ae769d0b112 52 // to be consistent with the terminology used in the L6230 documentation.
avilei 2:4ae769d0b112 53 PwmOut& IN1 = GH_A;
avilei 2:4ae769d0b112 54 PwmOut& IN2 = GH_B;
avilei 2:4ae769d0b112 55 PwmOut& IN3 = GH_C;
avilei 2:4ae769d0b112 56
avilei 2:4ae769d0b112 57 // Set the switching period of the INx logic input pins (PWM driven)
avilei 2:4ae769d0b112 58 IN1.period(switchingPeriod);
avilei 2:4ae769d0b112 59 IN2.period(switchingPeriod);
avilei 2:4ae769d0b112 60 IN3.period(switchingPeriod);
avilei 2:4ae769d0b112 61
avilei 2:4ae769d0b112 62 // Set the step commutation function (triggered by the Hall sensors)
avilei 2:4ae769d0b112 63 H1.rise(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 64 H2.rise(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 65 H3.rise(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 66 H1.fall(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 67 H2.fall(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 68 H3.fall(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 69 }
avilei 2:4ae769d0b112 70
avilei 2:4ae769d0b112 71 // 6-step phase commutation
avilei 2:4ae769d0b112 72 //
avilei 2:4ae769d0b112 73 // Positive dutycycle:
avilei 2:4ae769d0b112 74 // 1--X--0--0--X--1
avilei 2:4ae769d0b112 75 // X--1--1--X--0--0
avilei 2:4ae769d0b112 76 // 0--0--X--1--1--X
avilei 2:4ae769d0b112 77 //
avilei 2:4ae769d0b112 78 // Negative dutycycle:
avilei 2:4ae769d0b112 79 // 1--1--X--0--0--X
avilei 2:4ae769d0b112 80 // 0--X--1--1--X--0
avilei 2:4ae769d0b112 81 // X--0--0--X--1--1
avilei 2:4ae769d0b112 82 void SPN7Driver::commutation()
avilei 2:4ae769d0b112 83 {
avilei 2:4ae769d0b112 84 // The BLDCmotorDriver class was implemented for half-bridge drivers
avilei 2:4ae769d0b112 85 // so the pin names may be misleading when referring to the L6230 chip.
avilei 2:4ae769d0b112 86
avilei 2:4ae769d0b112 87 // Get a reference of each input pin and call them INx (logic input)
avilei 2:4ae769d0b112 88 // to be consistent with the terminology used in the L6230 documentation.
avilei 2:4ae769d0b112 89 PwmOut& IN1 = GH_A;
avilei 2:4ae769d0b112 90 PwmOut& IN2 = GH_B;
avilei 2:4ae769d0b112 91 PwmOut& IN3 = GH_C;
avilei 2:4ae769d0b112 92 // Get a reference of each enable pin and call them ENx (enable channel)
avilei 2:4ae769d0b112 93 // to be consistent with the terminology used in the L6230 documentation.
avilei 2:4ae769d0b112 94 DigitalOut& EN1 = GL_A;
avilei 2:4ae769d0b112 95 DigitalOut& EN2 = GL_B;
avilei 2:4ae769d0b112 96 DigitalOut& EN3 = GL_C;
avilei 2:4ae769d0b112 97
avilei 2:4ae769d0b112 98 dutyCycle = rl.out(tempDutyCycle);
avilei 2:4ae769d0b112 99 currentSector = getSector();
avilei 2:4ae769d0b112 100
avilei 2:4ae769d0b112 101 if (dutyCycle > 0 ) {
avilei 2:4ae769d0b112 102 // Positive dutycycle
avilei 2:4ae769d0b112 103 currentSector++;
avilei 2:4ae769d0b112 104
avilei 2:4ae769d0b112 105 if(currentSector > 5) currentSector = 0;
avilei 2:4ae769d0b112 106
avilei 2:4ae769d0b112 107 switch(currentSector) {
avilei 2:4ae769d0b112 108 case 0:
avilei 2:4ae769d0b112 109 EN1 = 1; IN1 = dutyCycle;
avilei 2:4ae769d0b112 110 EN2 = 0; IN2 = 0;
avilei 2:4ae769d0b112 111 EN3 = 1; IN3 = 0;
avilei 2:4ae769d0b112 112 break;
avilei 2:4ae769d0b112 113 case 1:
avilei 2:4ae769d0b112 114 EN1 = 0; IN1= 0;
avilei 2:4ae769d0b112 115 EN2 = 1; IN2 = dutyCycle;
avilei 2:4ae769d0b112 116 EN3 = 1; IN3 = 0;
avilei 2:4ae769d0b112 117 break;
avilei 2:4ae769d0b112 118 case 2:
avilei 2:4ae769d0b112 119 EN1 = 1; IN1 = 0;
avilei 2:4ae769d0b112 120 EN2 = 1; IN2 = dutyCycle;
avilei 2:4ae769d0b112 121 EN3 = 0; IN3 = 0;
avilei 2:4ae769d0b112 122 break;
avilei 2:4ae769d0b112 123 case 3:
avilei 2:4ae769d0b112 124 EN1 = 1; IN1 = 0;
avilei 2:4ae769d0b112 125 EN2 = 0; IN2 = 0;
avilei 2:4ae769d0b112 126 EN3 = 1; IN3 = dutyCycle;
avilei 2:4ae769d0b112 127 break;
avilei 2:4ae769d0b112 128 case 4:
avilei 2:4ae769d0b112 129 EN1 = 0; IN1 = 0;
avilei 2:4ae769d0b112 130 EN2 = 1; IN2 = 0;
avilei 2:4ae769d0b112 131 EN3 = 1; IN3 = dutyCycle;
avilei 2:4ae769d0b112 132 break;
avilei 2:4ae769d0b112 133 case 5:
avilei 2:4ae769d0b112 134 EN1 = 1; IN1 = dutyCycle;
avilei 2:4ae769d0b112 135 EN2 = 1; IN2 = 0;
avilei 2:4ae769d0b112 136 EN3 = 0; IN3 = 0;
avilei 2:4ae769d0b112 137 break;
avilei 2:4ae769d0b112 138 }
avilei 2:4ae769d0b112 139 } else if (dutyCycle < 0) {
avilei 2:4ae769d0b112 140 // Negative dutycycle
avilei 2:4ae769d0b112 141 currentSector--;
avilei 2:4ae769d0b112 142
avilei 2:4ae769d0b112 143 if(currentSector < 0) currentSector = 5;
avilei 2:4ae769d0b112 144
avilei 2:4ae769d0b112 145 switch(currentSector) {
avilei 2:4ae769d0b112 146 case 0:
avilei 2:4ae769d0b112 147 EN1 = 1; IN1 = 0;
avilei 2:4ae769d0b112 148 EN2 = 0; IN2=0;
avilei 2:4ae769d0b112 149 EN3 = 1; IN3 = -dutyCycle;
avilei 2:4ae769d0b112 150 break;
avilei 2:4ae769d0b112 151 case 1:
avilei 2:4ae769d0b112 152 EN1 = 0; IN1=0;
avilei 2:4ae769d0b112 153 EN2 = 1; IN2 = 0;
avilei 2:4ae769d0b112 154 EN3 = 1; IN3 = -dutyCycle;
avilei 2:4ae769d0b112 155 break;
avilei 2:4ae769d0b112 156 case 2:
avilei 2:4ae769d0b112 157 EN1 = 1; IN1 = -dutyCycle;
avilei 2:4ae769d0b112 158 EN2 = 1; IN2 = 0;
avilei 2:4ae769d0b112 159 EN3 = 0; IN3= 0;
avilei 2:4ae769d0b112 160 break;
avilei 2:4ae769d0b112 161 case 3:
avilei 2:4ae769d0b112 162 EN1 = 1; IN1 = -dutyCycle;
avilei 2:4ae769d0b112 163 EN2 = 0; IN2 = 0;
avilei 2:4ae769d0b112 164 EN3 = 1; IN3 = 0;
avilei 2:4ae769d0b112 165 break;
avilei 2:4ae769d0b112 166 case 4:
avilei 2:4ae769d0b112 167 EN1 = 0; IN1= 0;
avilei 2:4ae769d0b112 168 EN2 = 1; IN2 = -dutyCycle;
avilei 2:4ae769d0b112 169 EN3 = 1; IN3 = 0;
avilei 2:4ae769d0b112 170 break;
avilei 2:4ae769d0b112 171 case 5:
avilei 2:4ae769d0b112 172 EN1 = 1; IN1 = 0;
avilei 2:4ae769d0b112 173 EN2 = 1; IN2 = -dutyCycle;
avilei 2:4ae769d0b112 174 EN3 = 0; IN3=0;
avilei 2:4ae769d0b112 175 break;
avilei 2:4ae769d0b112 176 }
avilei 2:4ae769d0b112 177
avilei 2:4ae769d0b112 178 } else {
avilei 2:4ae769d0b112 179 coast();
avilei 2:4ae769d0b112 180 }
avilei 2:4ae769d0b112 181
avilei 2:4ae769d0b112 182 }