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Hall Sensor 6step BLDC
main.cpp
- Committer:
- oguro
- Date:
- 2019-06-08
- Revision:
- 3:842fce070123
- Parent:
- 2:7a89b67efc84
File content as of revision 3:842fce070123:
#include "mbed.h" #include "rtos.h" unsigned int q=0,r=0,s=0,START=20;//8 PwmOut mypwmA(PA_8); //PWM_OUT PwmOut mypwmB(PA_9); //PWM_OUT PwmOut mypwmC(PA_10);//PWM_OUT DigitalOut EN1(PC_10); DigitalOut EN2(PC_11); DigitalOut EN3(PC_12); InterruptIn HA(PA_15); InterruptIn HB(PB_3); InterruptIn HC(PB_10); unsigned int UP,VP,WP; AnalogIn V_adc(PC_2); // gaibu Volume //AnalogIn V_adc(PB_1); //Volume Serial pc(USBTX,USBRX); DigitalOut myled(LED1); float Vr_adc=0.0f; Timer uT; float ut1=0,ut2=0,usi=0; float Speed=0; void HAH(){ s=r%2; if(s==0){ ut1=uT.read_us(); r++; } if(s==1){ ut2=uT.read_us(); r++; uT.reset(); } mypwmA.write(Vr_adc); mypwmB.write(0); mypwmC.write(0); } void HAL(){ mypwmA.write(0); mypwmC.write(0); } void HBH(){ mypwmA.write(0); mypwmB.write(Vr_adc); mypwmC.write(0); } void HBL(){ mypwmA.write(0); mypwmB.write(0); } void HCH(){ mypwmA.write(0); mypwmB.write(0); mypwmC.write(Vr_adc); } void HCL(){ mypwmB.write(0); mypwmC.write(0); } int main() { pc.baud(128000); EN1=1; EN2=1; EN3=1; mypwmA.period_us(20); // PWM 50KHz mypwmB.period_us(20); mypwmC.period_us(20); while(1) { Vr_adc=V_adc.read(); uT.start(); if((Vr_adc>0.15f)&&(q==0)){ while(q<10){ mypwmA.write(0.5f); //0.5 mypwmB.write(0.0); mypwmC.write(0.0); wait_ms(START); mypwmA.write(0.0); mypwmB.write(0.5f);//0.5 mypwmC.write(0.0); wait_ms(START); mypwmA.write(0.0); mypwmB.write(0.0); mypwmC.write(0.5f); //0.5 wait_ms(START); q++; } } HA.rise(&HAH); HC.fall(&HCL); HB.rise(&HBH); HA.fall(&HAL); HC.rise(&HCH); HB.fall(&HBL); // s=0; if(Vr_adc < 0.1f){ q=0; } usi=abs(ut2-ut1); Speed=60*(1/(7.0*usi*1E-6)); pc.printf("%.3f , %.3f \r" ,Speed ,Vr_adc); //UP=HA; VP=HB; WP=HC; // pc.printf("%d ,%d ,%d\r" ,UP,VP,WP); myled = !myled; } }