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@8:9a6444df4256, 2016-10-18 (annotated)

Committer:
avilei
Date:
Tue Oct 18 10:28:09 2016 +0000
Revision:
8:9a6444df4256
Parent:
7:022c306baeb9
Child:
11:0120619cdfb7
Remove negative dutycycle

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 7:022c306baeb9 35 // This example is based on the BLDCmotorDriver motor control library
avilei 7:022c306baeb9 36 // by the TVZ Mechatronics Team, University of Applied Sciences Zagreb,
avilei 7:022c306baeb9 37 // Professional Study in Mechatronics:
avilei 7:022c306baeb9 38 // https://developer.mbed.org/teams/TVZ-Mechatronics-Team/code/BLDCmotorDriver/
avilei 7:022c306baeb9 39
avilei 2:4ae769d0b112 40 #include "mbed.h"
avilei 2:4ae769d0b112 41 #include "SPN7Driver.h"
avilei 2:4ae769d0b112 42
avilei 3:4c71d3475814 43 typedef enum {
avilei 3:4c71d3475814 44 ST_BLDC_LOW = 0,
avilei 3:4c71d3475814 45 ST_BLDC_HIGH,
avilei 3:4c71d3475814 46 ST_BLDC_OFF
avilei 3:4c71d3475814 47 } st_bldc_status_t;
avilei 3:4c71d3475814 48
avilei 6:0eec4b6e94ba 49 /**************************************************************************/
avilei 6:0eec4b6e94ba 50 /**
avilei 6:0eec4b6e94ba 51 @brief Constructor
avilei 6:0eec4b6e94ba 52 * @param pIN1 Logic input pin IN1 of L6230 chip
avilei 6:0eec4b6e94ba 53 * @param pIN2 Logic input pin IN2 of L6230 chip
avilei 6:0eec4b6e94ba 54 * @param pIN3 Logic input pin IN3 of L6230 chip
avilei 6:0eec4b6e94ba 55 * @param pEN1 Enable channel pin EN1 of L6230 chip
avilei 6:0eec4b6e94ba 56 * @param pEN2 Enable channel pin EN2 of L6230 chip
avilei 6:0eec4b6e94ba 57 * @param pEN3 Enable channel pin EN3 of L6230 chip
avilei 6:0eec4b6e94ba 58 * @param pH1 Hall sensor pin for phase #1 (A) of X-NUCLEO-IHM07M1
avilei 6:0eec4b6e94ba 59 * @param pH2 Hall sensor pin for phase #2 (B) of X-NUCLEO-IHM07M1
avilei 6:0eec4b6e94ba 60 * @param pH3 Hall sensor pin for phase #3 (Z) of X-NUCLEO-IHM07M1
avilei 6:0eec4b6e94ba 61 * @param pFault Fault LED pin of X-NUCLEO-IHM07M1
avilei 6:0eec4b6e94ba 62 */
avilei 6:0eec4b6e94ba 63 /**************************************************************************/
avilei 2:4ae769d0b112 64 SPN7Driver::SPN7Driver(PinName pIN1, PinName pIN2, PinName pIN3,
avilei 2:4ae769d0b112 65 PinName pEN1, PinName pEN2, PinName pEN3,
avilei 2:4ae769d0b112 66 PinName pH1, PinName pH2, PinName pH3,
avilei 2:4ae769d0b112 67 PinName pFault) :
avilei 2:4ae769d0b112 68 BLDCmotorDriver(pIN1, pIN2, pIN3,
avilei 2:4ae769d0b112 69 pEN1, pEN2, pEN3,
avilei 2:4ae769d0b112 70 pH1, pH2, pH3,
avilei 2:4ae769d0b112 71 pFault)
avilei 2:4ae769d0b112 72 {
avilei 2:4ae769d0b112 73 // The BLDCmotorDriver class was implemented for half-bridge drivers
avilei 2:4ae769d0b112 74 // so the pin names may be misleading when referring to the L6230 chip.
avilei 3:4c71d3475814 75 // Get pointers to each input pin and call them IN[x] (logic input)
avilei 2:4ae769d0b112 76 // to be consistent with the terminology used in the L6230 documentation.
avilei 3:4c71d3475814 77 PwmOut* IN[3] = {&GH_A, &GH_B, &GH_C};
avilei 3:4c71d3475814 78
avilei 2:4ae769d0b112 79 // Set the switching period of the INx logic input pins (PWM driven)
avilei 3:4c71d3475814 80 for (int i = 0; i < 3; i++) {
avilei 3:4c71d3475814 81 IN[i]->period(switchingPeriod);
avilei 3:4c71d3475814 82 }
avilei 2:4ae769d0b112 83
avilei 2:4ae769d0b112 84 // Set the step commutation function (triggered by the Hall sensors)
avilei 2:4ae769d0b112 85 H1.rise(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 86 H2.rise(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 87 H3.rise(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 88 H1.fall(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 89 H2.fall(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 90 H3.fall(this, &SPN7Driver::commutation);
avilei 2:4ae769d0b112 91 }
avilei 2:4ae769d0b112 92
avilei 6:0eec4b6e94ba 93 /**************************************************************************/
avilei 6:0eec4b6e94ba 94 /**
avilei 6:0eec4b6e94ba 95 @brief Set duty cycle for motor control
avilei 8:9a6444df4256 96 * @param dc duty cycle value
avilei 6:0eec4b6e94ba 97 */
avilei 6:0eec4b6e94ba 98 /**************************************************************************/
avilei 4:3f63eed73ad1 99 void SPN7Driver::setDutyCycle(float dc) {
avilei 8:9a6444df4256 100 if (dc >0 && dc <= 1) {
avilei 4:3f63eed73ad1 101 ticker.attach(this, &SPN7Driver::commutation, sampleTime);
avilei 4:3f63eed73ad1 102 tempDutyCycle = dc;
avilei 4:3f63eed73ad1 103 } else {
avilei 4:3f63eed73ad1 104 coast();
avilei 4:3f63eed73ad1 105 }
avilei 4:3f63eed73ad1 106 }
avilei 4:3f63eed73ad1 107
avilei 2:4ae769d0b112 108 // 6-step phase commutation
avilei 3:4c71d3475814 109 void SPN7Driver::commutation()
avilei 3:4c71d3475814 110 {
avilei 3:4c71d3475814 111 // The BLDCmotorDriver class was implemented for half-bridge drivers
avilei 3:4c71d3475814 112 // so the pin names may be misleading when referring to the L6230 chip.
avilei 3:4c71d3475814 113 // Get pointers to each input pin and call them IN[x] (logic input)
avilei 3:4c71d3475814 114 // to be consistent with the terminology used in the L6230 documentation.
avilei 3:4c71d3475814 115 PwmOut* IN[3] = {&GH_A, &GH_B, &GH_C};
avilei 3:4c71d3475814 116 // Get pointers to each enable pin and call them ENx (enable channel)
avilei 3:4c71d3475814 117 // to be consistent with the terminology used in the L6230 documentation.
avilei 3:4c71d3475814 118 DigitalOut* EN[3] = {&GL_A, &GL_B, &GL_C};
avilei 3:4c71d3475814 119
avilei 2:4ae769d0b112 120 // 1--X--0--0--X--1
avilei 2:4ae769d0b112 121 // X--1--1--X--0--0
avilei 3:4c71d3475814 122 // 0--0--X--1--1--X
avilei 3:4c71d3475814 123 st_bldc_status_t tab[6][3] = {
avilei 3:4c71d3475814 124 {ST_BLDC_HIGH, ST_BLDC_OFF, ST_BLDC_LOW},
avilei 3:4c71d3475814 125 {ST_BLDC_OFF, ST_BLDC_HIGH, ST_BLDC_LOW},
avilei 3:4c71d3475814 126 {ST_BLDC_LOW, ST_BLDC_HIGH, ST_BLDC_OFF},
avilei 3:4c71d3475814 127 {ST_BLDC_LOW, ST_BLDC_OFF, ST_BLDC_HIGH},
avilei 3:4c71d3475814 128 {ST_BLDC_OFF, ST_BLDC_LOW, ST_BLDC_HIGH},
avilei 3:4c71d3475814 129 {ST_BLDC_HIGH, ST_BLDC_LOW, ST_BLDC_OFF},
avilei 3:4c71d3475814 130 };
avilei 2:4ae769d0b112 131
avilei 2:4ae769d0b112 132 dutyCycle = rl.out(tempDutyCycle);
avilei 2:4ae769d0b112 133 currentSector = getSector();
avilei 2:4ae769d0b112 134
avilei 3:4c71d3475814 135 if (dutyCycle == 0) {
avilei 3:4c71d3475814 136 // Stop the motor
avilei 2:4ae769d0b112 137 coast();
avilei 3:4c71d3475814 138 return;
avilei 2:4ae769d0b112 139 }
avilei 2:4ae769d0b112 140
avilei 3:4c71d3475814 141 // Move to next sector (i.e. commute phase)
avilei 3:4c71d3475814 142 if (dutyCycle > 0 ) {
avilei 3:4c71d3475814 143 // Move forward
avilei 3:4c71d3475814 144 currentSector++;
avilei 3:4c71d3475814 145 if(currentSector > 5) currentSector = 0;
avilei 3:4c71d3475814 146 } else {
avilei 3:4c71d3475814 147 // Move backward
avilei 3:4c71d3475814 148 currentSector--;
avilei 3:4c71d3475814 149 if(currentSector < 0) currentSector = 5;
avilei 3:4c71d3475814 150 }
avilei 3:4c71d3475814 151
avilei 3:4c71d3475814 152 // Get the absolute value of the duty cycle for the PWM
avilei 3:4c71d3475814 153 float d = (dutyCycle > 0) ? dutyCycle : -dutyCycle;
avilei 3:4c71d3475814 154
avilei 3:4c71d3475814 155 // Update the logic inputs and the enable pins
avilei 3:4c71d3475814 156 for (int i = 0; i < 3; i++) {
avilei 3:4c71d3475814 157 *EN[i] = (tab[currentSector][i] == ST_BLDC_OFF) ? 0 : 1;
avilei 3:4c71d3475814 158 *IN[i] = (tab[currentSector][i] == ST_BLDC_HIGH) ? d : 0;
avilei 3:4c71d3475814 159 }
avilei 2:4ae769d0b112 160 }