NUCLEOのキットを使った秒針
main.cpp@0:a1180efb20e0, 2016-03-22 (annotated)
- Committer:
- motomiya
- Date:
- Tue Mar 22 22:52:08 2016 +0000
- Revision:
- 0:a1180efb20e0
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
motomiya | 0:a1180efb20e0 | 1 | /************************************************* |
motomiya | 0:a1180efb20e0 | 2 | "Nucleo_motor_control" |
motomiya | 0:a1180efb20e0 | 3 | Nucleo Pack |
motomiya | 0:a1180efb20e0 | 4 | マイコンボード NUCLEO-F302R8 |
motomiya | 0:a1180efb20e0 | 5 | 拡張ボード X-NUCLEO-IHM07M1 |
motomiya | 0:a1180efb20e0 | 6 | モーター BR2804-1700KV-1 |
motomiya | 0:a1180efb20e0 | 7 | を使ったモーター制御の実験 |
motomiya | 0:a1180efb20e0 | 8 | |
motomiya | 0:a1180efb20e0 | 9 | アナログPWM版 秒針仕様 |
motomiya | 0:a1180efb20e0 | 10 | Copyright(C) 2016 Columbus-seiki |
motomiya | 0:a1180efb20e0 | 11 | |
motomiya | 0:a1180efb20e0 | 12 | 2016-02-22 Rev0 |
motomiya | 0:a1180efb20e0 | 13 | |
motomiya | 0:a1180efb20e0 | 14 | ***************************************************/ |
motomiya | 0:a1180efb20e0 | 15 | #include "mbed.h" |
motomiya | 0:a1180efb20e0 | 16 | #include "main.h" |
motomiya | 0:a1180efb20e0 | 17 | |
motomiya | 0:a1180efb20e0 | 18 | #define POLE_PAIR 7//モーターの磁極対数 |
motomiya | 0:a1180efb20e0 | 19 | #define PERIOD_TIMER 0.005 //タイマー周期(S) |
motomiya | 0:a1180efb20e0 | 20 | #define SINTBL_LENGTH 512 //sinTbl[]要素数 |
motomiya | 0:a1180efb20e0 | 21 | #define PERIOD_PWM 0.0002 //PWM周期(S) これ以下では ヒゲ がでる |
motomiya | 0:a1180efb20e0 | 22 | #define HALF_PWM (PERIOD_PWM / 2) //PWM周期の真ん中 PERIOD_PWM÷2 |
motomiya | 0:a1180efb20e0 | 23 | #define DEG360 1024 //360°相当 |
motomiya | 0:a1180efb20e0 | 24 | #define DEG120 341 //120° |
motomiya | 0:a1180efb20e0 | 25 | #define DEG240 682 //240° |
motomiya | 0:a1180efb20e0 | 26 | |
motomiya | 0:a1180efb20e0 | 27 | //入出力ピンを定義 |
motomiya | 0:a1180efb20e0 | 28 | DigitalIn mybutton(USER_BUTTON); |
motomiya | 0:a1180efb20e0 | 29 | //Serial pc(PA_2, PA_3); //USB/COM パソコンの仮想シリアルポートへ。ここでは使いません |
motomiya | 0:a1180efb20e0 | 30 | DigitalOut ld2(PB_13); //LD2 グリーンLED |
motomiya | 0:a1180efb20e0 | 31 | DigitalOut d11(PB_2); //D11 パワボード赤LED |
motomiya | 0:a1180efb20e0 | 32 | |
motomiya | 0:a1180efb20e0 | 33 | //pwm出力の定義 |
motomiya | 0:a1180efb20e0 | 34 | PwmOut pwmU(PA_8), pwmV(PA_9), pwmW(PA_10);//それぞれUH_PWM, VH_PWM, WH_PWM |
motomiya | 0:a1180efb20e0 | 35 | |
motomiya | 0:a1180efb20e0 | 36 | //IOの定義 |
motomiya | 0:a1180efb20e0 | 37 | DigitalOut enableU(PC_10), enableV(PC_11), enableW(PC_12);//それぞれEnable_CH1-L6230, _CH2-, _CH3- |
motomiya | 0:a1180efb20e0 | 38 | |
motomiya | 0:a1180efb20e0 | 39 | //アナログ入力の定義 |
motomiya | 0:a1180efb20e0 | 40 | AnalogIn ain(PB_1);//R42 POTENTIOPOTENTIOMETER |
motomiya | 0:a1180efb20e0 | 41 | |
motomiya | 0:a1180efb20e0 | 42 | //タイマーの定義 |
motomiya | 0:a1180efb20e0 | 43 | Ticker myTimer;//繰返しタイマー |
motomiya | 0:a1180efb20e0 | 44 | |
motomiya | 0:a1180efb20e0 | 45 | //変数 |
motomiya | 0:a1180efb20e0 | 46 | int preMybutton; //記憶 |
motomiya | 0:a1180efb20e0 | 47 | int enablePWM=0;//PWM開始と停止フラグ |
motomiya | 0:a1180efb20e0 | 48 | //int scope[100];//モニター用バッファ |
motomiya | 0:a1180efb20e0 | 49 | int count, loopCount=0; //カウンター |
motomiya | 0:a1180efb20e0 | 50 | double outDuty=0 ,outU, outV, outW; //PWM出力デューティー |
motomiya | 0:a1180efb20e0 | 51 | float theta, omega; //角度と角速度 |
motomiya | 0:a1180efb20e0 | 52 | int timePerRound=60; //1回転時間(S) |
motomiya | 0:a1180efb20e0 | 53 | |
motomiya | 0:a1180efb20e0 | 54 | /********************************** |
motomiya | 0:a1180efb20e0 | 55 | sin関数 |
motomiya | 0:a1180efb20e0 | 56 | 引数:最大1024=360° |
motomiya | 0:a1180efb20e0 | 57 | 出力:最大512=1.0 |
motomiya | 0:a1180efb20e0 | 58 | ***********************************/ |
motomiya | 0:a1180efb20e0 | 59 | int mySin(int angleNum) |
motomiya | 0:a1180efb20e0 | 60 | { |
motomiya | 0:a1180efb20e0 | 61 | |
motomiya | 0:a1180efb20e0 | 62 | angleNum &= 0x3ff; //0x3ff=1023 でマスク |
motomiya | 0:a1180efb20e0 | 63 | if(angleNum >= 512) //180~360° |
motomiya | 0:a1180efb20e0 | 64 | return -sinTbl[angleNum - 512]; |
motomiya | 0:a1180efb20e0 | 65 | else //0~180° |
motomiya | 0:a1180efb20e0 | 66 | return sinTbl[angleNum]; |
motomiya | 0:a1180efb20e0 | 67 | } |
motomiya | 0:a1180efb20e0 | 68 | |
motomiya | 0:a1180efb20e0 | 69 | |
motomiya | 0:a1180efb20e0 | 70 | /********************************** |
motomiya | 0:a1180efb20e0 | 71 | タイマー割込み関数 5mS |
motomiya | 0:a1180efb20e0 | 72 | ***********************************/ |
motomiya | 0:a1180efb20e0 | 73 | void myTimerCallBack() //全相をONにする |
motomiya | 0:a1180efb20e0 | 74 | { |
motomiya | 0:a1180efb20e0 | 75 | outDuty = 0.2; //最大1.0 出力電圧を調整します |
motomiya | 0:a1180efb20e0 | 76 | |
motomiya | 0:a1180efb20e0 | 77 | theta += omega; //増加分 |
motomiya | 0:a1180efb20e0 | 78 | if(theta >= 1024) //360°オーバーフローを防止 |
motomiya | 0:a1180efb20e0 | 79 | theta -= 1024; |
motomiya | 0:a1180efb20e0 | 80 | else if(theta <= -1024) |
motomiya | 0:a1180efb20e0 | 81 | theta += 1024; |
motomiya | 0:a1180efb20e0 | 82 | |
motomiya | 0:a1180efb20e0 | 83 | pwmU.pulsewidth(HALF_PWM + outDuty * mySin((int)theta & 0x3ff) / 512.0 * HALF_PWM); |
motomiya | 0:a1180efb20e0 | 84 | pwmV.pulsewidth(HALF_PWM + outDuty * mySin(((int)theta - DEG120) & 0x3ff) / 512.0 * HALF_PWM); |
motomiya | 0:a1180efb20e0 | 85 | pwmW.pulsewidth(HALF_PWM + outDuty * mySin(((int)theta - DEG240) & 0x3ff) / 512.0 * HALF_PWM); |
motomiya | 0:a1180efb20e0 | 86 | |
motomiya | 0:a1180efb20e0 | 87 | //サイクルカウンター処理(同期) |
motomiya | 0:a1180efb20e0 | 88 | count++; |
motomiya | 0:a1180efb20e0 | 89 | if( count == 100) { |
motomiya | 0:a1180efb20e0 | 90 | count = 0; |
motomiya | 0:a1180efb20e0 | 91 | loopCount = 1; //loopの同期用 5mS X 100 = 0.5S |
motomiya | 0:a1180efb20e0 | 92 | } |
motomiya | 0:a1180efb20e0 | 93 | |
motomiya | 0:a1180efb20e0 | 94 | } |
motomiya | 0:a1180efb20e0 | 95 | /*********************************** |
motomiya | 0:a1180efb20e0 | 96 | |
motomiya | 0:a1180efb20e0 | 97 | ************************************/ |
motomiya | 0:a1180efb20e0 | 98 | int main() |
motomiya | 0:a1180efb20e0 | 99 | { |
motomiya | 0:a1180efb20e0 | 100 | |
motomiya | 0:a1180efb20e0 | 101 | //pwmデューティー 初期値 |
motomiya | 0:a1180efb20e0 | 102 | outU = 0; |
motomiya | 0:a1180efb20e0 | 103 | outV = 0; |
motomiya | 0:a1180efb20e0 | 104 | outW = 0; |
motomiya | 0:a1180efb20e0 | 105 | |
motomiya | 0:a1180efb20e0 | 106 | //PWM設定 |
motomiya | 0:a1180efb20e0 | 107 | pwmU.period(PERIOD_PWM);//0.2mS 5KHz |
motomiya | 0:a1180efb20e0 | 108 | pwmV.period(PERIOD_PWM); |
motomiya | 0:a1180efb20e0 | 109 | pwmW.period(PERIOD_PWM); |
motomiya | 0:a1180efb20e0 | 110 | |
motomiya | 0:a1180efb20e0 | 111 | //タイマー設定 |
motomiya | 0:a1180efb20e0 | 112 | myTimer.attach(&myTimerCallBack, PERIOD_TIMER);//5mS毎にmyTimerCallBack()がコールされます |
motomiya | 0:a1180efb20e0 | 113 | |
motomiya | 0:a1180efb20e0 | 114 | |
motomiya | 0:a1180efb20e0 | 115 | while(1) { |
motomiya | 0:a1180efb20e0 | 116 | //------ およそ一定周期の処理 ------- |
motomiya | 0:a1180efb20e0 | 117 | if(loopCount != 0) {//5x100=0.5S |
motomiya | 0:a1180efb20e0 | 118 | loopCount = 0; |
motomiya | 0:a1180efb20e0 | 119 | |
motomiya | 0:a1180efb20e0 | 120 | ld2 = !ld2; //点滅 |
motomiya | 0:a1180efb20e0 | 121 | d11 = !d11; //パワボード |
motomiya | 0:a1180efb20e0 | 122 | } |
motomiya | 0:a1180efb20e0 | 123 | |
motomiya | 0:a1180efb20e0 | 124 | //-------- 時間に関係しない処理 -------- |
motomiya | 0:a1180efb20e0 | 125 | //PWM開始と停止 |
motomiya | 0:a1180efb20e0 | 126 | if((int)mybutton != preMybutton) {//ボタンが押された。チャタリングを考慮していません |
motomiya | 0:a1180efb20e0 | 127 | preMybutton = (int)mybutton;//次に押されたときのために記憶 |
motomiya | 0:a1180efb20e0 | 128 | |
motomiya | 0:a1180efb20e0 | 129 | if(mybutton == 0)//押されたときだけ。 |
motomiya | 0:a1180efb20e0 | 130 | enablePWM = ~enablePWM;//オルタネート |
motomiya | 0:a1180efb20e0 | 131 | |
motomiya | 0:a1180efb20e0 | 132 | //PWM開始 |
motomiya | 0:a1180efb20e0 | 133 | if(enablePWM) { |
motomiya | 0:a1180efb20e0 | 134 | enableU = 1;//PWM出力ON. L6230PのENable端子です |
motomiya | 0:a1180efb20e0 | 135 | enableV = 1; |
motomiya | 0:a1180efb20e0 | 136 | enableW = 1; |
motomiya | 0:a1180efb20e0 | 137 | } else { |
motomiya | 0:a1180efb20e0 | 138 | enableU = 0;//PWM出力OFF. L6230PのENable端子です. PWM出力は止まりません |
motomiya | 0:a1180efb20e0 | 139 | enableV = 0; |
motomiya | 0:a1180efb20e0 | 140 | enableW = 0; |
motomiya | 0:a1180efb20e0 | 141 | } |
motomiya | 0:a1180efb20e0 | 142 | } //ボタンが押された の終わり |
motomiya | 0:a1180efb20e0 | 143 | |
motomiya | 0:a1180efb20e0 | 144 | //速度指定 ポテンショメータをディップスイッチのように処理 |
motomiya | 0:a1180efb20e0 | 145 | if(ain < 0.3L) //ain=0~1.0 |
motomiya | 0:a1180efb20e0 | 146 | timePerRound = 60 * 5; //5分時計 ボリューム左一杯 |
motomiya | 0:a1180efb20e0 | 147 | else if( ain < 0.6L) |
motomiya | 0:a1180efb20e0 | 148 | timePerRound = 60 * 3; //3分時計 ボリューム中央 |
motomiya | 0:a1180efb20e0 | 149 | else |
motomiya | 0:a1180efb20e0 | 150 | timePerRound = 60; //1分時計 ボリューム右一杯 |
motomiya | 0:a1180efb20e0 | 151 | |
motomiya | 0:a1180efb20e0 | 152 | //指定の周期を角速度に変換 |
motomiya | 0:a1180efb20e0 | 153 | omega = PERIOD_TIMER * DEG360 * POLE_PAIR / timePerRound; |
motomiya | 0:a1180efb20e0 | 154 | |
motomiya | 0:a1180efb20e0 | 155 | |
motomiya | 0:a1180efb20e0 | 156 | }//END while(1) |
motomiya | 0:a1180efb20e0 | 157 | |
motomiya | 0:a1180efb20e0 | 158 | |
motomiya | 0:a1180efb20e0 | 159 | } |
motomiya | 0:a1180efb20e0 | 160 |