akiyoshi oguro / Mbed 2 deprecated F302R8_OPEN_BLDC

Open Drive Trapezoid

Dependencies:   mbed

main.cpp@0:3b5242119d17, 2020-08-27 (annotated)

Committer:
oguro
Date:
Thu Aug 27 03:03:43 2020 +0000
Revision:
0:3b5242119d17
OPEN Drive  Trapezoid

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oguro 0:3b5242119d17 1 #include "mbed.h"
oguro 0:3b5242119d17 2 int i=0,t=0,tt=0,q=0,START=4;
oguro 0:3b5242119d17 3 unsigned int adc;
oguro 0:3b5242119d17 4 PwmOut mypwmA(PA_8); //PWM_OUT 8
oguro 0:3b5242119d17 5 PwmOut mypwmB(PA_9); //9
oguro 0:3b5242119d17 6 PwmOut mypwmC(PA_10);//10
oguro 0:3b5242119d17 7
oguro 0:3b5242119d17 8 PwmOut Current_Ref(PB_4);
oguro 0:3b5242119d17 9
oguro 0:3b5242119d17 10 DigitalOut EN1(PC_10);
oguro 0:3b5242119d17 11 DigitalOut EN2(PC_11);
oguro 0:3b5242119d17 12 DigitalOut EN3(PC_12);
oguro 0:3b5242119d17 13
oguro 0:3b5242119d17 14
oguro 0:3b5242119d17 15 AnalogIn V_adc(PC_2);
oguro 0:3b5242119d17 16 AnalogOut CP_re(PA_4);
oguro 0:3b5242119d17 17
oguro 0:3b5242119d17 18 Serial pc(USBTX,USBRX);
oguro 0:3b5242119d17 19
oguro 0:3b5242119d17 20
oguro 0:3b5242119d17 21 float Vr_adc=0.0f;
oguro 0:3b5242119d17 22 float Speed=0;
oguro 0:3b5242119d17 23
oguro 0:3b5242119d17 24 int main() {
oguro 0:3b5242119d17 25 pc.baud(128000);
oguro 0:3b5242119d17 26 EN1=0;
oguro 0:3b5242119d17 27 EN2=0;
oguro 0:3b5242119d17 28 EN3=0;
oguro 0:3b5242119d17 29
oguro 0:3b5242119d17 30 mypwmA.period_us(20);
oguro 0:3b5242119d17 31
oguro 0:3b5242119d17 32 mypwmB.period_us(20);
oguro 0:3b5242119d17 33
oguro 0:3b5242119d17 34 mypwmC.period_us(20);
oguro 0:3b5242119d17 35
oguro 0:3b5242119d17 36
oguro 0:3b5242119d17 37 while(1) {
oguro 0:3b5242119d17 38
oguro 0:3b5242119d17 39 Vr_adc=V_adc.read();
oguro 0:3b5242119d17 40 adc= V_adc.read_u16()/35 ; //>>5
oguro 0:3b5242119d17 41
oguro 0:3b5242119d17 42
oguro 0:3b5242119d17 43 while((Vr_adc>0.15f)&&(q<50)){
oguro 0:3b5242119d17 44
oguro 0:3b5242119d17 45 EN1=1;
oguro 0:3b5242119d17 46 EN2=1;
oguro 0:3b5242119d17 47 EN3=0;
oguro 0:3b5242119d17 48 mypwmA.write(0.7f);
oguro 0:3b5242119d17 49 mypwmB=0;
oguro 0:3b5242119d17 50 mypwmC=0;
oguro 0:3b5242119d17 51 wait_ms(START);
oguro 0:3b5242119d17 52 EN1=1;
oguro 0:3b5242119d17 53 EN2=0;
oguro 0:3b5242119d17 54 EN3=1;
oguro 0:3b5242119d17 55 wait_ms(START);
oguro 0:3b5242119d17 56 EN1=0;
oguro 0:3b5242119d17 57 EN2=1;
oguro 0:3b5242119d17 58 EN3=1;
oguro 0:3b5242119d17 59 mypwmA=0;
oguro 0:3b5242119d17 60 mypwmB.write(0.7f);
oguro 0:3b5242119d17 61 mypwmC=0;
oguro 0:3b5242119d17 62 wait_ms(START);
oguro 0:3b5242119d17 63 EN1=1;
oguro 0:3b5242119d17 64 EN2=1;
oguro 0:3b5242119d17 65 EN3=0;
oguro 0:3b5242119d17 66 wait_ms(START);
oguro 0:3b5242119d17 67 EN1=1;
oguro 0:3b5242119d17 68 EN2=0;
oguro 0:3b5242119d17 69 EN3=1;
oguro 0:3b5242119d17 70 mypwmA=0;
oguro 0:3b5242119d17 71 mypwmB=0;
oguro 0:3b5242119d17 72 mypwmC.write(0.7f);
oguro 0:3b5242119d17 73 wait_ms(START);
oguro 0:3b5242119d17 74 EN1=0;
oguro 0:3b5242119d17 75 EN2=1;
oguro 0:3b5242119d17 76 EN3=1;
oguro 0:3b5242119d17 77 q++;
oguro 0:3b5242119d17 78 wait_ms(START);
oguro 0:3b5242119d17 79 }
oguro 0:3b5242119d17 80
oguro 0:3b5242119d17 81 if(Vr_adc < 0.005f){
oguro 0:3b5242119d17 82 q=0;
oguro 0:3b5242119d17 83 }
oguro 0:3b5242119d17 84
oguro 0:3b5242119d17 85 t=3000-(adc);//3000
oguro 0:3b5242119d17 86 if(t<=2){
oguro 0:3b5242119d17 87 t=2;
oguro 0:3b5242119d17 88 }
oguro 0:3b5242119d17 89 tt=t;
oguro 0:3b5242119d17 90
oguro 0:3b5242119d17 91
oguro 0:3b5242119d17 92 if(Vr_adc >0.05f){
oguro 0:3b5242119d17 93
oguro 0:3b5242119d17 94
oguro 0:3b5242119d17 95 EN1=1; //1
oguro 0:3b5242119d17 96 EN2=1; //1
oguro 0:3b5242119d17 97 EN3=0; //0
oguro 0:3b5242119d17 98
oguro 0:3b5242119d17 99 mypwmA.write(Vr_adc);
oguro 0:3b5242119d17 100 mypwmB.write(0.0f);
oguro 0:3b5242119d17 101 mypwmC.write(0.0f);
oguro 0:3b5242119d17 102
oguro 0:3b5242119d17 103 wait_us(t);
oguro 0:3b5242119d17 104
oguro 0:3b5242119d17 105 EN1=1; //1
oguro 0:3b5242119d17 106 EN2=0; //0
oguro 0:3b5242119d17 107 EN3=1; //1
oguro 0:3b5242119d17 108 wait_us(tt);
oguro 0:3b5242119d17 109
oguro 0:3b5242119d17 110 EN1=0; //0
oguro 0:3b5242119d17 111 EN2=1; //1
oguro 0:3b5242119d17 112 EN3=1; //1
oguro 0:3b5242119d17 113 mypwmA.write(0.0f);
oguro 0:3b5242119d17 114 mypwmB.write(Vr_adc);
oguro 0:3b5242119d17 115 mypwmC.write(0.0f);
oguro 0:3b5242119d17 116
oguro 0:3b5242119d17 117 wait_us(t);
oguro 0:3b5242119d17 118 EN1=1;//1
oguro 0:3b5242119d17 119 EN2=1;//1
oguro 0:3b5242119d17 120 EN3=0;//0
oguro 0:3b5242119d17 121 wait_us(tt);
oguro 0:3b5242119d17 122
oguro 0:3b5242119d17 123 EN1=1; //1
oguro 0:3b5242119d17 124 EN2=0; //0
oguro 0:3b5242119d17 125 EN3=1; //1
oguro 0:3b5242119d17 126 mypwmA.write(0.0f);
oguro 0:3b5242119d17 127 mypwmB.write(0.0f);
oguro 0:3b5242119d17 128 mypwmC.write(Vr_adc);
oguro 0:3b5242119d17 129 wait_us(t);
oguro 0:3b5242119d17 130 EN1=0; //0
oguro 0:3b5242119d17 131 EN2=1; //1
oguro 0:3b5242119d17 132 EN3=1; //1
oguro 0:3b5242119d17 133
oguro 0:3b5242119d17 134 wait_us(tt);
oguro 0:3b5242119d17 135 }
oguro 0:3b5242119d17 136 else{
oguro 0:3b5242119d17 137 mypwmA.write(0.0f);
oguro 0:3b5242119d17 138 mypwmB.write(0.0f);
oguro 0:3b5242119d17 139 mypwmC.write(0.0f);
oguro 0:3b5242119d17 140 }
oguro 0:3b5242119d17 141 Speed=60*(1/(7.0*6*float(t)*1E-6))-476;
oguro 0:3b5242119d17 142 pc.printf("%.3f , %.3f \r" ,Speed ,Vr_adc);
oguro 0:3b5242119d17 143
oguro 0:3b5242119d17 144 }
oguro 0:3b5242119d17 145 }