UVW 3 phases Brushless DC motor control
Dependencies: QEI mbed-rtos mbed
Fork of DCmotor by
main.cpp@0:fe068497f773, 2012-11-15 (annotated)
- Committer:
- kosaka
- Date:
- Thu Nov 15 06:18:51 2012 +0000
- Revision:
- 0:fe068497f773
- Child:
- 1:b91aeb5673f3
121115;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kosaka | 0:fe068497f773 | 1 | // DC motor control program using TA7291P driver and 360 resolution rotary encoder with A, B phase. |
kosaka | 0:fe068497f773 | 2 | // ver. 121115 by Kosaka lab. |
kosaka | 0:fe068497f773 | 3 | #include "mbed.h" |
kosaka | 0:fe068497f773 | 4 | #include "rtos.h" |
kosaka | 0:fe068497f773 | 5 | #include "QEI.h" |
kosaka | 0:fe068497f773 | 6 | #define PI 3.14159265358979 // def. of PI |
kosaka | 0:fe068497f773 | 7 | /*********** User setting for control parameters (begin) ***************/ |
kosaka | 0:fe068497f773 | 8 | #define SIMULATION // Comment this line if not simulation |
kosaka | 0:fe068497f773 | 9 | #define CONTROL_MODE 0 // 0:PID control, 1:Frequency response, 2:Step response |
kosaka | 0:fe068497f773 | 10 | #define GOOD_DATA // Comment this line if the length of data TMAX/TS2 > 1000 |
kosaka | 0:fe068497f773 | 11 | #define R_SIN // Comment this line if not r = sin |
kosaka | 0:fe068497f773 | 12 | float _freq_u = 0.3; // [Hz], freq. of Frequency response, or Step response |
kosaka | 0:fe068497f773 | 13 | float _r=100./180.*PI; // [rad], reference signal |
kosaka | 0:fe068497f773 | 14 | float _Kp=70; // P gain for PID ... Kp=1, Ki=0, Kd=0 is good. |
kosaka | 0:fe068497f773 | 15 | float _Ki=10; // I gain for PID |
kosaka | 0:fe068497f773 | 16 | float _Kd=0.01; // D gain for PID |
kosaka | 0:fe068497f773 | 17 | #define TS 0.001 // [s], TS>0.001[s], sampling time[s] of PID controller |
kosaka | 0:fe068497f773 | 18 | #define TS2 0.01 // [s], TS2>0.001[s], sampling time[s] of data save to PC. BUG!! Dangerous if TS2<0.1 because multi interrupt by fprintf is not prohibited! 1st aug of fprintf will be destroyed. |
kosaka | 0:fe068497f773 | 19 | #define TMAX 10 // [s], experiment starts from 0[s] to TMAX[s] |
kosaka | 0:fe068497f773 | 20 | #define UMAX 3.3 // [V], max of control input u |
kosaka | 0:fe068497f773 | 21 | #define UMIN -3.3 // [V], max of control input u |
kosaka | 0:fe068497f773 | 22 | |
kosaka | 0:fe068497f773 | 23 | AnalogOut analog_out(p18);// Vref for DC motor driver TA7291P. DA converter for control input [0.0-1.0]% in the output range of 0.0 to 3.3[V] |
kosaka | 0:fe068497f773 | 24 | DigitalOut IN1(p19); // IN1 for DC motor driver TA7291P |
kosaka | 0:fe068497f773 | 25 | DigitalOut IN2(p20); // IN2 for DC motor driver TA7291P |
kosaka | 0:fe068497f773 | 26 | DigitalOut debug_p17(p17); // p17 for debug |
kosaka | 0:fe068497f773 | 27 | |
kosaka | 0:fe068497f773 | 28 | #define N_ENC (360*4) // "*4": QEI::X4_ENCODING. Number of pulses in one revolution(=360 deg) of rotary encoder. |
kosaka | 0:fe068497f773 | 29 | QEI encoder (p29, p30, NC, N_ENC, QEI::X4_ENCODING); |
kosaka | 0:fe068497f773 | 30 | // QEI(PinName channelA, mbed pin for channel A input. |
kosaka | 0:fe068497f773 | 31 | // PinName channelB, mbed pin for channel B input. |
kosaka | 0:fe068497f773 | 32 | // PinName index, mbed pin for channel Z input. (index channel input Z phase th=0), (pass NC if not needed). |
kosaka | 0:fe068497f773 | 33 | // int pulsesPerRev, Number of pulses in one revolution(=360 deg). |
kosaka | 0:fe068497f773 | 34 | // Encoding encoding = X2_ENCODING, X2 is default. X2 uses interrupts on the rising and falling edges of only channel A where as |
kosaka | 0:fe068497f773 | 35 | // X4 uses them on both channels. |
kosaka | 0:fe068497f773 | 36 | // ) |
kosaka | 0:fe068497f773 | 37 | // void reset (void) |
kosaka | 0:fe068497f773 | 38 | // Reset the encoder. |
kosaka | 0:fe068497f773 | 39 | // int getCurrentState (void) |
kosaka | 0:fe068497f773 | 40 | // Read the state of the encoder. |
kosaka | 0:fe068497f773 | 41 | // int getPulses (void) |
kosaka | 0:fe068497f773 | 42 | // Read the number of pulses recorded by the encoder. |
kosaka | 0:fe068497f773 | 43 | // int getRevolutions (void) |
kosaka | 0:fe068497f773 | 44 | // Read the number of revolutions recorded by the encoder on the index channel. |
kosaka | 0:fe068497f773 | 45 | /*********** User setting for control parameters (end) ***************/ |
kosaka | 0:fe068497f773 | 46 | |
kosaka | 0:fe068497f773 | 47 | |
kosaka | 0:fe068497f773 | 48 | Serial pc(USBTX, USBRX); // Display on tera term in PC |
kosaka | 0:fe068497f773 | 49 | LocalFileSystem local("local"); // save data to mbed USB disk drive in PC |
kosaka | 0:fe068497f773 | 50 | //Semaphore semaphore1(1); // wait and release to protect memories and so on |
kosaka | 0:fe068497f773 | 51 | //Mutex stdio_mutex; // wait and release to protect memories and so on |
kosaka | 0:fe068497f773 | 52 | //Ticker controller_ticker; // Timer interrupt using TIMER3, TS<0.001 is OK. Priority is higher than rtosTimer. |
kosaka | 0:fe068497f773 | 53 | |
kosaka | 0:fe068497f773 | 54 | unsigned long _count; // sampling number |
kosaka | 0:fe068497f773 | 55 | float _time; // time[s] |
kosaka | 0:fe068497f773 | 56 | float _y; // control output |
kosaka | 0:fe068497f773 | 57 | float _e=0; // e=r-y for PID controller |
kosaka | 0:fe068497f773 | 58 | float _eI=0; // integral of e for PID controller |
kosaka | 0:fe068497f773 | 59 | float _u; // control input[V] |
kosaka | 0:fe068497f773 | 60 | unsigned char _f_u_plus=1;// sign(u) |
kosaka | 0:fe068497f773 | 61 | unsigned char _f_umax=0;// flag showing u is max or not |
kosaka | 0:fe068497f773 | 62 | float debug[10]; // for debug |
kosaka | 0:fe068497f773 | 63 | float disp[10]; // for printf to avoid interrupted by quicker process |
kosaka | 0:fe068497f773 | 64 | |
kosaka | 0:fe068497f773 | 65 | #ifdef GOOD_DATA |
kosaka | 0:fe068497f773 | 66 | float data[1000][5]; // memory to save data offline instead of "online fprintf". |
kosaka | 0:fe068497f773 | 67 | unsigned int count3; // |
kosaka | 0:fe068497f773 | 68 | unsigned int count2=(int)(TS2/TS); // |
kosaka | 0:fe068497f773 | 69 | #endif |
kosaka | 0:fe068497f773 | 70 | |
kosaka | 0:fe068497f773 | 71 | void u2TA7291P(float u){// input u to TA7291 driver |
kosaka | 0:fe068497f773 | 72 | float abs_u; |
kosaka | 0:fe068497f773 | 73 | |
kosaka | 0:fe068497f773 | 74 | if( u > 0 ){ // forward: rotate to plus |
kosaka | 0:fe068497f773 | 75 | abs_u = u; // Vref |
kosaka | 0:fe068497f773 | 76 | if(_f_u_plus==0){ _f_u_plus=1; IN1=0; IN2=0; analog_out=0; wait(0.0001);} // if plus to/from minus, set IN1=IN2=0/1 for 100[us]. |
kosaka | 0:fe068497f773 | 77 | IN1 = 1; |
kosaka | 0:fe068497f773 | 78 | IN2 = 0; |
kosaka | 0:fe068497f773 | 79 | }else if( u < 0 ){ // reverse: rotate to minus |
kosaka | 0:fe068497f773 | 80 | abs_u = -u; |
kosaka | 0:fe068497f773 | 81 | if(_f_u_plus==1){ _f_u_plus=0; IN1=0; IN2=0; analog_out=0; wait(0.0001);} // if plus to/from minus, set IN1=IN2=0/1 for 100[us]. |
kosaka | 0:fe068497f773 | 82 | IN1 = 0; |
kosaka | 0:fe068497f773 | 83 | IN2 = 1; |
kosaka | 0:fe068497f773 | 84 | }else{// if( u == 0 ){ // stop mode |
kosaka | 0:fe068497f773 | 85 | abs_u = 0; |
kosaka | 0:fe068497f773 | 86 | IN1 = 0; |
kosaka | 0:fe068497f773 | 87 | IN2 = 0; |
kosaka | 0:fe068497f773 | 88 | } |
kosaka | 0:fe068497f773 | 89 | analog_out = abs_u/3.3; // PID write DA, range is 0-1. Output voltage 0-3.3v |
kosaka | 0:fe068497f773 | 90 | } |
kosaka | 0:fe068497f773 | 91 | |
kosaka | 0:fe068497f773 | 92 | void controller(void const *argument) { // if rtos. current controller & velocity controller |
kosaka | 0:fe068497f773 | 93 | //void controller() { // if ticker. current controller & velocity controller |
kosaka | 0:fe068497f773 | 94 | void u2TA7291P(float); // input u to TA7291 driver |
kosaka | 0:fe068497f773 | 95 | float e_old, wt; |
kosaka | 0:fe068497f773 | 96 | float y, u; // to avoid time shift |
kosaka | 0:fe068497f773 | 97 | |
kosaka | 0:fe068497f773 | 98 | debug_p17 = 1; // for debug: processing time check |
kosaka | 0:fe068497f773 | 99 | // if(debug_p17 == 1) debug_p17=0;else debug_p17=1; // for debug: sampling time check |
kosaka | 0:fe068497f773 | 100 | |
kosaka | 0:fe068497f773 | 101 | _count+=1; |
kosaka | 0:fe068497f773 | 102 | // y_old = _y; // y_old=y(t-TS) is older than y by 1 sampling time TS[s]. update data |
kosaka | 0:fe068497f773 | 103 | #ifdef SIMULATION |
kosaka | 0:fe068497f773 | 104 | y = _y + TS/0.1*(0.02*_u*100-_y); //=(1-TS/0.1)*_y + 0.02*TS/0.1*_u; // G = 0.02/(0.1s+1) |
kosaka | 0:fe068497f773 | 105 | //debug[0]=_u;//plus |
kosaka | 0:fe068497f773 | 106 | #else |
kosaka | 0:fe068497f773 | 107 | // semaphore1.wait(); // |
kosaka | 0:fe068497f773 | 108 | y = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder |
kosaka | 0:fe068497f773 | 109 | // semaphore1.release(); // |
kosaka | 0:fe068497f773 | 110 | #endif |
kosaka | 0:fe068497f773 | 111 | #ifdef R_SIN |
kosaka | 0:fe068497f773 | 112 | #define RMAX (100./180.*PI) |
kosaka | 0:fe068497f773 | 113 | #define RMIN 0 |
kosaka | 0:fe068497f773 | 114 | wt = _freq_u *2.0*PI*_time; |
kosaka | 0:fe068497f773 | 115 | if(wt>2*PI){ wt -= 2*PI*(float)((int)(wt/(2.0*PI)));} |
kosaka | 0:fe068497f773 | 116 | _r = sin(wt ) * (RMAX-RMIN)/2.0 + (RMAX+RMIN)/2.0; |
kosaka | 0:fe068497f773 | 117 | #endif |
kosaka | 0:fe068497f773 | 118 | e_old = _e; // e_old=e(t-TS) is older than e by 1 sampling time TS[s]. update data |
kosaka | 0:fe068497f773 | 119 | _e = _r - y; // error e(t) |
kosaka | 0:fe068497f773 | 120 | if( _f_umax==0 ){ |
kosaka | 0:fe068497f773 | 121 | _eI = _eI + TS*_e; // integral of e(t) |
kosaka | 0:fe068497f773 | 122 | } |
kosaka | 0:fe068497f773 | 123 | |
kosaka | 0:fe068497f773 | 124 | u = _Kp*_e + _Kd*(_e-e_old)/TS + _Ki*_eI; // PID output u(t) |
kosaka | 0:fe068497f773 | 125 | //debug[0]=_e;//minus |
kosaka | 0:fe068497f773 | 126 | //debug[0]=u;//minus |
kosaka | 0:fe068497f773 | 127 | |
kosaka | 0:fe068497f773 | 128 | // u is saturated? for anti-windup |
kosaka | 0:fe068497f773 | 129 | if( u>UMAX ){ |
kosaka | 0:fe068497f773 | 130 | _eI -= (u-UMAX)/_Ki; if(_eI<0){ _eI=0;} |
kosaka | 0:fe068497f773 | 131 | u = UMAX; |
kosaka | 0:fe068497f773 | 132 | // _f_umax = 1; |
kosaka | 0:fe068497f773 | 133 | } else if( u<UMIN ){ |
kosaka | 0:fe068497f773 | 134 | _eI -= (u-UMIN)/_Ki; if(_eI>0){ _eI=0;} |
kosaka | 0:fe068497f773 | 135 | u = UMIN; |
kosaka | 0:fe068497f773 | 136 | // _f_umax = 1; |
kosaka | 0:fe068497f773 | 137 | }else{ |
kosaka | 0:fe068497f773 | 138 | _f_umax = 0; |
kosaka | 0:fe068497f773 | 139 | } |
kosaka | 0:fe068497f773 | 140 | //#define CONTROL_MODE 2 // 0:PID control, 1:Frequency response, 2:Step response |
kosaka | 0:fe068497f773 | 141 | #if CONTROL_MODE>=1 // frequency response, or Step response |
kosaka | 0:fe068497f773 | 142 | wt = _freq_u *2.0*PI*_time; |
kosaka | 0:fe068497f773 | 143 | if(wt>2*PI) wt -= 2*PI*(float)((int)(wt/2.0*PI)); |
kosaka | 0:fe068497f773 | 144 | u = sin(wt ) * (UMAX-UMIN)/2.0 + (UMAX+UMIN)/2.0; |
kosaka | 0:fe068497f773 | 145 | #endif |
kosaka | 0:fe068497f773 | 146 | #if CONTROL_MODE==2 // Step response |
kosaka | 0:fe068497f773 | 147 | if( u>=0 ) u = UMAX; |
kosaka | 0:fe068497f773 | 148 | else u = UMIN; |
kosaka | 0:fe068497f773 | 149 | #endif |
kosaka | 0:fe068497f773 | 150 | //debug[0]=u;//minus |
kosaka | 0:fe068497f773 | 151 | u2TA7291P(u); // input u to TA7291 driver |
kosaka | 0:fe068497f773 | 152 | |
kosaka | 0:fe068497f773 | 153 | //-------- update data |
kosaka | 0:fe068497f773 | 154 | _time += TS; // time |
kosaka | 0:fe068497f773 | 155 | _y = y; |
kosaka | 0:fe068497f773 | 156 | _u = u; |
kosaka | 0:fe068497f773 | 157 | //debug[0]=_u;//minus |
kosaka | 0:fe068497f773 | 158 | //debug[0]=_eI; |
kosaka | 0:fe068497f773 | 159 | debug[0]=_r; |
kosaka | 0:fe068497f773 | 160 | #ifdef GOOD_DATA |
kosaka | 0:fe068497f773 | 161 | if(count2==(int)(TS2/TS)){ |
kosaka | 0:fe068497f773 | 162 | // j=0; if(_count>=j&&_count<j+1000){i=_count-j; data[i][0]=_r; data[i][1]=debug[0]; data[i][2]=_y; data[i][3]=_time; data[i][4]=_u;} |
kosaka | 0:fe068497f773 | 163 | data[count3][0]=_r; data[count3][1]=debug[0]; data[count3][2]=_y; data[count3][3]=_time; data[count3][4]=_u; |
kosaka | 0:fe068497f773 | 164 | count3++; |
kosaka | 0:fe068497f773 | 165 | count2 = 0; |
kosaka | 0:fe068497f773 | 166 | } |
kosaka | 0:fe068497f773 | 167 | count2++; |
kosaka | 0:fe068497f773 | 168 | #endif |
kosaka | 0:fe068497f773 | 169 | //-------- update data |
kosaka | 0:fe068497f773 | 170 | |
kosaka | 0:fe068497f773 | 171 | debug_p17 = 0; // for debug: processing time check |
kosaka | 0:fe068497f773 | 172 | } |
kosaka | 0:fe068497f773 | 173 | |
kosaka | 0:fe068497f773 | 174 | void main1() { |
kosaka | 0:fe068497f773 | 175 | RtosTimer timer_controller(controller); |
kosaka | 0:fe068497f773 | 176 | FILE *fp; // save data to PC |
kosaka | 0:fe068497f773 | 177 | #ifdef GOOD_DATA |
kosaka | 0:fe068497f773 | 178 | int i; |
kosaka | 0:fe068497f773 | 179 | |
kosaka | 0:fe068497f773 | 180 | count3=0; |
kosaka | 0:fe068497f773 | 181 | #endif |
kosaka | 0:fe068497f773 | 182 | _count=0; |
kosaka | 0:fe068497f773 | 183 | _time = 0; // time |
kosaka | 0:fe068497f773 | 184 | _e = _eI = 0; |
kosaka | 0:fe068497f773 | 185 | _y = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder |
kosaka | 0:fe068497f773 | 186 | _r = _r + _y; |
kosaka | 0:fe068497f773 | 187 | if( _r>2*PI ) _r -= _r-2*PI; |
kosaka | 0:fe068497f773 | 188 | |
kosaka | 0:fe068497f773 | 189 | pc.printf("Control start!!\r\n"); |
kosaka | 0:fe068497f773 | 190 | if ( NULL == (fp = fopen( "/local/data.csv", "w" )) ){ error( "" );} // save data to PC |
kosaka | 0:fe068497f773 | 191 | |
kosaka | 0:fe068497f773 | 192 | // controller_ticker.attach(&controller, TS ); // period [s] |
kosaka | 0:fe068497f773 | 193 | timer_controller.start((unsigned int)(TS*1000.)); // Sampling period[ms] |
kosaka | 0:fe068497f773 | 194 | |
kosaka | 0:fe068497f773 | 195 | // for ( i = 0; i < (unsigned int)(TMAX/TS2); i++ ) { |
kosaka | 0:fe068497f773 | 196 | while ( _time <= TMAX ) { |
kosaka | 0:fe068497f773 | 197 | // BUG!! Dangerous if TS2<0.1 because multi interrupt by fprintf is not prohibited! 1st aug of fprintf will be destroyed. |
kosaka | 0:fe068497f773 | 198 | // fprintf returns before process completed. |
kosaka | 0:fe068497f773 | 199 | //BUG fprintf( fp, "%8.2f, %8.4f,\t%8.1f,\t%8.2f\r\n", disp[3], disp[1], disp[0], tmp); // save data to PC (para, y, time, u) |
kosaka | 0:fe068497f773 | 200 | //OK? fprintf( fp, "%f, %f, %f, %f, %f\r\n", _time, debug[0], debug[3], (_y/(2*PI)*360.0),_u); // save data to PC (para, y, time, u) |
kosaka | 0:fe068497f773 | 201 | #ifndef GOOD_DATA |
kosaka | 0:fe068497f773 | 202 | fprintf( fp, "%f, %f, %f, %f, %f\r\n", _r, debug[0], _y, _time, _u); // save data to PC (para, y, time, u) |
kosaka | 0:fe068497f773 | 203 | #endif |
kosaka | 0:fe068497f773 | 204 | Thread::wait((unsigned int)(TS2*1000.)); //[ms] |
kosaka | 0:fe068497f773 | 205 | } |
kosaka | 0:fe068497f773 | 206 | timer_controller.stop(); // rtos timer stop |
kosaka | 0:fe068497f773 | 207 | analog_out = 0; // stop motor |
kosaka | 0:fe068497f773 | 208 | #ifdef GOOD_DATA |
kosaka | 0:fe068497f773 | 209 | for(i=0;i<1000;i++){ fprintf( fp, "%f, %f, %f, %f, %f\r\n", data[i][0],data[i][1],data[i][2],data[i][3],data[i][4]);} // save data to PC (para, y, time, u) |
kosaka | 0:fe068497f773 | 210 | #endif |
kosaka | 0:fe068497f773 | 211 | fclose( fp ); // release mbed USB drive |
kosaka | 0:fe068497f773 | 212 | pc.printf("Control completed!!\r\n\r\n"); |
kosaka | 0:fe068497f773 | 213 | } |
kosaka | 0:fe068497f773 | 214 | |
kosaka | 0:fe068497f773 | 215 | void thread_print2PC(void const *argument) { |
kosaka | 0:fe068497f773 | 216 | while (true) { |
kosaka | 0:fe068497f773 | 217 | pc.printf("%8.1f[s]\t%8.5f[V]\t%4d [deg]\t%8.2f\r\n", _time, _u, (int)(_y/(2*PI)*360.0), debug[0]); // print to tera term |
kosaka | 0:fe068497f773 | 218 | Thread::wait(200); |
kosaka | 0:fe068497f773 | 219 | } |
kosaka | 0:fe068497f773 | 220 | } |
kosaka | 0:fe068497f773 | 221 | |
kosaka | 0:fe068497f773 | 222 | void main2(void const *argument) { |
kosaka | 0:fe068497f773 | 223 | #if CONTROL_MODE==0 // PID control |
kosaka | 0:fe068497f773 | 224 | char f; |
kosaka | 0:fe068497f773 | 225 | float val; |
kosaka | 0:fe068497f773 | 226 | #endif |
kosaka | 0:fe068497f773 | 227 | |
kosaka | 0:fe068497f773 | 228 | while(true){ |
kosaka | 0:fe068497f773 | 229 | main1(); |
kosaka | 0:fe068497f773 | 230 | |
kosaka | 0:fe068497f773 | 231 | #if CONTROL_MODE>=1 // frequency response, or Step response |
kosaka | 0:fe068497f773 | 232 | pc.printf("Input u(t) Frequency[Hz]?..."); |
kosaka | 0:fe068497f773 | 233 | pc.scanf("%f",&_freq_u); |
kosaka | 0:fe068497f773 | 234 | pc.printf("%8.3f[Hz]\r\n", _freq_u); // print to tera term |
kosaka | 0:fe068497f773 | 235 | #else // PID control |
kosaka | 0:fe068497f773 | 236 | #ifdef R_SIN |
kosaka | 0:fe068497f773 | 237 | pc.printf("Reference signal r(t) Frequency[Hz]?..."); |
kosaka | 0:fe068497f773 | 238 | pc.scanf("%f",&_freq_u); |
kosaka | 0:fe068497f773 | 239 | pc.printf("%8.3f[Hz]\r\n", _freq_u); // print to tera term |
kosaka | 0:fe068497f773 | 240 | #endif |
kosaka | 0:fe068497f773 | 241 | pc.printf("What number do you like to change?... 0) no change, 1) Kp, 2) Ki, 3)Kd"); |
kosaka | 0:fe068497f773 | 242 | f=pc.getc()-48; //int = char-48 |
kosaka | 0:fe068497f773 | 243 | pc.printf("\r\n Value?... "); |
kosaka | 0:fe068497f773 | 244 | if(f>=1&&f<=3){ pc.scanf("%f",&val);} |
kosaka | 0:fe068497f773 | 245 | pc.printf("%8.3f\r\n", val); // print to tera term |
kosaka | 0:fe068497f773 | 246 | if(f==1){ _Kp = val;} |
kosaka | 0:fe068497f773 | 247 | if(f==2){ _Ki = val;} |
kosaka | 0:fe068497f773 | 248 | if(f==3){ _Kd = val;} |
kosaka | 0:fe068497f773 | 249 | pc.printf("Kp=%f, Ki=%f, Kd=%f\r\n",_Kp, _Ki, _Kd); |
kosaka | 0:fe068497f773 | 250 | #endif |
kosaka | 0:fe068497f773 | 251 | } |
kosaka | 0:fe068497f773 | 252 | } |
kosaka | 0:fe068497f773 | 253 | int main() { |
kosaka | 0:fe068497f773 | 254 | // void main1(); |
kosaka | 0:fe068497f773 | 255 | Thread save2PC(main2,NULL,osPriorityBelowNormal); |
kosaka | 0:fe068497f773 | 256 | Thread print2PC(thread_print2PC,NULL,osPriorityLow); |
kosaka | 0:fe068497f773 | 257 | |
kosaka | 0:fe068497f773 | 258 | // osStatus set_priority(osPriority osPriorityBelowNormal ); |
kosaka | 0:fe068497f773 | 259 | // Priority of Thread (RtosTimer has no priority?) |
kosaka | 0:fe068497f773 | 260 | // osPriorityIdle = -3, ///< priority: idle (lowest)--> then, mbed ERROR!! |
kosaka | 0:fe068497f773 | 261 | // osPriorityLow = -2, ///< priority: low |
kosaka | 0:fe068497f773 | 262 | // osPriorityBelowNormal = -1, ///< priority: below normal |
kosaka | 0:fe068497f773 | 263 | // osPriorityNormal = 0, ///< priority: normal (default) |
kosaka | 0:fe068497f773 | 264 | // osPriorityAboveNormal = +1, ///< priority: above normal |
kosaka | 0:fe068497f773 | 265 | // osPriorityHigh = +2, ///< priority: high |
kosaka | 0:fe068497f773 | 266 | // osPriorityRealtime = +3, ///< priority: realtime (highest) |
kosaka | 0:fe068497f773 | 267 | // osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority |
kosaka | 0:fe068497f773 | 268 | } |