akiyoshi oguro / Mbed 2 deprecated Nucleo_Hall_BLDC_rpm

Hall Sensor 6step BLDC

Dependencies:   mbed mbed-rtos

main.cpp@2:7a89b67efc84, 2019-06-08 (annotated)

Committer:
oguro
Date:
Sat Jun 08 03:23:13 2019 +0000
Revision:
2:7a89b67efc84
Parent:
1:cfa36edc2232
Child:
3:842fce070123
Trapezoid drive with Hall sensor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
oguro 0:852c73d4e9a3 1 #include "mbed.h"
oguro 0:852c73d4e9a3 2 #include "rtos.h"
oguro 0:852c73d4e9a3 3
oguro 1:cfa36edc2232 4 unsigned int q=0,r=0,s=0,START=8;//8
oguro 0:852c73d4e9a3 5
oguro 0:852c73d4e9a3 6 PwmOut mypwmA(PA_8); //PWM_OUT
oguro 0:852c73d4e9a3 7 PwmOut mypwmB(PA_9); //PWM_OUT
oguro 0:852c73d4e9a3 8 PwmOut mypwmC(PA_10);//PWM_OUT
oguro 0:852c73d4e9a3 9
oguro 0:852c73d4e9a3 10
oguro 0:852c73d4e9a3 11 DigitalOut EN1(PC_10);
oguro 0:852c73d4e9a3 12 DigitalOut EN2(PC_11);
oguro 0:852c73d4e9a3 13 DigitalOut EN3(PC_12);
oguro 0:852c73d4e9a3 14
oguro 0:852c73d4e9a3 15 InterruptIn HA(PA_15);
oguro 0:852c73d4e9a3 16 InterruptIn HB(PB_3);
oguro 0:852c73d4e9a3 17 InterruptIn HC(PB_10);
oguro 0:852c73d4e9a3 18
oguro 0:852c73d4e9a3 19 unsigned int UP,VP,WP;
oguro 0:852c73d4e9a3 20 AnalogIn V_adc(PC_2); // gaibu Volume
oguro 0:852c73d4e9a3 21 //AnalogIn V_adc(PB_1); //Volume
oguro 0:852c73d4e9a3 22
oguro 0:852c73d4e9a3 23
oguro 0:852c73d4e9a3 24 Serial pc(USBTX,USBRX);
oguro 0:852c73d4e9a3 25
oguro 0:852c73d4e9a3 26 DigitalOut myled(LED1);
oguro 0:852c73d4e9a3 27
oguro 0:852c73d4e9a3 28 float Vr_adc=0.0f;
oguro 0:852c73d4e9a3 29
oguro 0:852c73d4e9a3 30 Timer uT;
oguro 0:852c73d4e9a3 31 float ut1=0,ut2=0,usi=0;
oguro 0:852c73d4e9a3 32 float Speed=0;
oguro 0:852c73d4e9a3 33
oguro 0:852c73d4e9a3 34 void HAH(){
oguro 0:852c73d4e9a3 35
oguro 0:852c73d4e9a3 36 s=r%2;
oguro 0:852c73d4e9a3 37 if(s==0){
oguro 0:852c73d4e9a3 38 ut1=uT.read_us();
oguro 0:852c73d4e9a3 39 r++;
oguro 0:852c73d4e9a3 40 }
oguro 0:852c73d4e9a3 41
oguro 0:852c73d4e9a3 42 if(s==1){
oguro 0:852c73d4e9a3 43 ut2=uT.read_us();
oguro 0:852c73d4e9a3 44 r++;
oguro 0:852c73d4e9a3 45 uT.reset();
oguro 0:852c73d4e9a3 46 }
oguro 0:852c73d4e9a3 47 mypwmA.write(Vr_adc);
oguro 0:852c73d4e9a3 48 mypwmB.write(0);
oguro 0:852c73d4e9a3 49 mypwmC.write(0);
oguro 0:852c73d4e9a3 50 }
oguro 0:852c73d4e9a3 51
oguro 0:852c73d4e9a3 52 void HAL(){
oguro 0:852c73d4e9a3 53
oguro 0:852c73d4e9a3 54 mypwmA.write(0);
oguro 0:852c73d4e9a3 55 mypwmC.write(0);
oguro 0:852c73d4e9a3 56
oguro 0:852c73d4e9a3 57 }
oguro 0:852c73d4e9a3 58 void HBH(){
oguro 0:852c73d4e9a3 59
oguro 0:852c73d4e9a3 60 mypwmA.write(0);
oguro 0:852c73d4e9a3 61 mypwmB.write(Vr_adc);
oguro 0:852c73d4e9a3 62 mypwmC.write(0);
oguro 0:852c73d4e9a3 63 }
oguro 0:852c73d4e9a3 64 void HBL(){
oguro 0:852c73d4e9a3 65
oguro 0:852c73d4e9a3 66 mypwmA.write(0);
oguro 0:852c73d4e9a3 67 mypwmB.write(0);
oguro 0:852c73d4e9a3 68 }
oguro 0:852c73d4e9a3 69 void HCH(){
oguro 0:852c73d4e9a3 70
oguro 0:852c73d4e9a3 71 mypwmA.write(0);
oguro 0:852c73d4e9a3 72 mypwmB.write(0);
oguro 0:852c73d4e9a3 73 mypwmC.write(Vr_adc);
oguro 0:852c73d4e9a3 74 }
oguro 0:852c73d4e9a3 75
oguro 0:852c73d4e9a3 76 void HCL(){
oguro 0:852c73d4e9a3 77 mypwmB.write(0);
oguro 0:852c73d4e9a3 78 mypwmC.write(0);
oguro 0:852c73d4e9a3 79 }
oguro 0:852c73d4e9a3 80
oguro 0:852c73d4e9a3 81 int main() {
oguro 0:852c73d4e9a3 82 pc.baud(128000);
oguro 0:852c73d4e9a3 83
oguro 0:852c73d4e9a3 84 EN1=1;
oguro 0:852c73d4e9a3 85 EN2=1;
oguro 0:852c73d4e9a3 86 EN3=1;
oguro 0:852c73d4e9a3 87
oguro 0:852c73d4e9a3 88 mypwmA.period_us(20); // PWM 50KHz
oguro 0:852c73d4e9a3 89
oguro 0:852c73d4e9a3 90 mypwmB.period_us(20);
oguro 0:852c73d4e9a3 91
oguro 0:852c73d4e9a3 92 mypwmC.period_us(20);
oguro 0:852c73d4e9a3 93
oguro 0:852c73d4e9a3 94
oguro 0:852c73d4e9a3 95 while(1) {
oguro 0:852c73d4e9a3 96
oguro 0:852c73d4e9a3 97 Vr_adc=V_adc.read();
oguro 0:852c73d4e9a3 98 uT.start();
oguro 0:852c73d4e9a3 99
oguro 0:852c73d4e9a3 100 if((Vr_adc>0.15f)&&(q==0)){
oguro 0:852c73d4e9a3 101 while(q<50){
oguro 0:852c73d4e9a3 102
oguro 2:7a89b67efc84 103 mypwmA.write(0.5f); //0.5
oguro 2:7a89b67efc84 104 mypwmB.write(0.0);
oguro 1:cfa36edc2232 105 mypwmC.write(0.0);
oguro 0:852c73d4e9a3 106 wait_ms(START);
oguro 0:852c73d4e9a3 107
oguro 1:cfa36edc2232 108 mypwmA.write(0.0);
oguro 2:7a89b67efc84 109 mypwmB.write(0.5f);//0.5
oguro 2:7a89b67efc84 110 mypwmC.write(0.0);
oguro 0:852c73d4e9a3 111 wait_ms(START);
oguro 0:852c73d4e9a3 112
oguro 2:7a89b67efc84 113 mypwmA.write(0.0);
oguro 1:cfa36edc2232 114 mypwmB.write(0.0);
oguro 2:7a89b67efc84 115 mypwmC.write(0.5f); //0.5
oguro 0:852c73d4e9a3 116 wait_ms(START);
oguro 0:852c73d4e9a3 117 q++;
oguro 0:852c73d4e9a3 118 }
oguro 0:852c73d4e9a3 119 }
oguro 0:852c73d4e9a3 120
oguro 2:7a89b67efc84 121 HA.rise(&HAH);
oguro 2:7a89b67efc84 122 HC.fall(&HCL);
oguro 2:7a89b67efc84 123 HB.rise(&HBH);
oguro 2:7a89b67efc84 124 HA.fall(&HAL);
oguro 2:7a89b67efc84 125 HC.rise(&HCH);
oguro 2:7a89b67efc84 126 HB.fall(&HBL);
oguro 0:852c73d4e9a3 127 // s=0;
oguro 0:852c73d4e9a3 128 if(Vr_adc < 0.1f){
oguro 0:852c73d4e9a3 129
oguro 0:852c73d4e9a3 130 q=0;
oguro 0:852c73d4e9a3 131
oguro 0:852c73d4e9a3 132 }
oguro 0:852c73d4e9a3 133
oguro 0:852c73d4e9a3 134 usi=abs(ut2-ut1);
oguro 0:852c73d4e9a3 135 Speed=60*(1/(7.0*usi*1E-6));
oguro 0:852c73d4e9a3 136 pc.printf("%.3f , %.3f \r" ,Speed ,Vr_adc);
oguro 0:852c73d4e9a3 137 //UP=HA; VP=HB; WP=HC;
oguro 0:852c73d4e9a3 138 // pc.printf("%d ,%d ,%d\r" ,UP,VP,WP);
oguro 0:852c73d4e9a3 139 myled = !myled;
oguro 0:852c73d4e9a3 140
oguro 0:852c73d4e9a3 141 }
oguro 0:852c73d4e9a3 142 }
oguro 0:852c73d4e9a3 143