akiyoshi oguro
/
Nucleo_Sensorless_Blushless_DC
Important changes to repositories hosted on mbed.com
Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.
To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.
It is also possible to export all your personal repositories from the account settings page.
Fork of
Nucleo_Sensorless_Blushless_DC_
by 
akiyoshi oguro
Revision 0:320025ba637f, committed 2017-07-24
- Comitter:
- oguro
- Date:
- Mon Jul 24 23:41:45 2017 +0000
- Commit message:
- Sensorless DC Bulushless
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jul 24 23:41:45 2017 +0000
@@ -0,0 +1,362 @@
+#include "mbed.h"
+#include <math.h>
+#include "rtos.h"
+#define TS1 0.2
+
+int i=0,q=0,s=0,r=0,rr=0,START=3; //5
+int sensorless=0;
+float wsi=0,wsj=0;
+float t=0,tt=0,tp=0;
+float t1=0,t2=0,t3=0,t4=0,t5=0,t6=0,t7=0,t8=0,t9=0,t10=0;
+float adc_s=0;
+float Speed=0,Speed_h=0;
+float ad_sensorless;
+float power=1.0;
+
+PwmOut mypwmA(PA_8); //PWM_OUT
+PwmOut mypwmB(PA_9);
+PwmOut mypwmC(PA_10);
+
+PwmOut Current_Ref(PB_4);
+DigitalOut Sensorless(PC_4);
+
+DigitalOut EN1(PC_10);
+DigitalOut EN2(PC_11);
+DigitalOut EN3(PC_12);
+DigitalOut OUTC(PC_8);
+
+
+AnalogIn V_adc(PC_2); //Outside Volume
+AnalogIn V_sinkaku(PB_1); //Blue Volume
+AnalogOut SWAVE(PA_4);
+
+
+AnalogIn BEMF1(PC_3);//C7_37
+AnalogIn BEMF2(PB_0);//C7_34
+AnalogIn BEMF3(PA_7);//C10_26 PA_7
+
+DigitalOut GPIO_BEMF(PC_9);
+
+InterruptIn HA(PA_15);
+
+Timer timer2;
+Timer timer_uT;
+float ut1=0,ut2=0,usi=0;
+
+Serial pc(USBTX,USBRX);
+
+DigitalOut myled(LED1);
+
+float Vr_adc=0.0f;
+float adc;
+float sinkaku;
+
+void HAH(){
+
+ rr=r%2;
+ if(rr==0){
+ ut1=timer_uT.read_us();
+ r++;
+ }
+
+ if(rr==1){
+ ut2=timer_uT.read_us();
+ r++;
+ timer_uT.reset();
+ }
+ }
+
+ void CPLT(){
+ pc.printf("%.3f , %.3f \r" ,Speed_h ,Vr_adc);
+ }
+
+ void timerTS1(void const*argument){
+ CPLT();
+ }
+
+int main() {
+
+ EN1=1;
+ EN2=1;
+ EN3=1;
+
+ timer2.start();
+ timer_uT.start();
+ mypwmA.period_us(20);
+ mypwmB.period_us(20);
+ mypwmC.period_us(20);
+
+ OUTC=0;
+ GPIO_BEMF=0;
+ pc.baud(128000);
+
+ /* RtosTimer RtosTimerTS1(timerTS1);
+ RtosTimerTS1.start((unsigned int)(TS1*5000));
+ Thread::wait(100); */
+
+ while(1) {
+
+ HA.rise(&HAH);
+ Vr_adc=V_adc.read();
+ adc= V_adc.read_u16()>>4 ;
+
+ sinkaku=((V_sinkaku.read_u16())>>7)+20;//7
+
+ if(i==0){
+ mypwmA.write(0.5f);
+ wait_ms(100);
+ i=1;
+ }
+
+ tp=3800-(adc);// 3800 3300-4000
+
+ if(sensorless==0){
+ t=tp;
+ tt=t;
+ }
+
+
+
+ if(Speed<900){ //900
+ // t=tp;
+ sensorless=0;
+ s=1;
+ }
+ if(Speed>=900){ //900
+
+ if(s==1){
+ ad_sensorless=Vr_adc;
+ s=0;
+ sensorless=1;
+ t1=(abs(wsj-wsi));
+
+ t=t1;
+ // tt=t;
+ }
+
+ if((Speed >= 900)&&(Speed<=1500)){
+ power=0.8; //0.5
+ }
+ if((Speed >= 1500)&&(Speed<=2000)){
+ power=0.6; //0.5
+ }
+ if((Speed >= 2000)&&(Speed<=2500)){
+ power=0.8; //0.6
+ }
+ if((Speed >= 2500)){
+ power=1.0; //0.7
+
+ }
+
+
+ adc_s=Vr_adc-ad_sensorless;
+
+ if(adc_s < -0.01){
+ t2=t1+100;
+ t=t2;
+ tt=t-sinkaku;
+ }
+
+ if((adc_s > 0.0)&&(adc_s <= 0.05)){
+ t2=t1-200; //200
+ t=t2;
+ tt=t-sinkaku;
+ }
+ if((adc_s > 0.05)&&(adc_s <= 0.1)){
+ t3=t2-150; //150
+ t=t3;
+ tt=t-sinkaku;
+ }
+ if((adc_s > 0.1)&&(adc_s <= 0.15)){
+ t4=t3-130; //130
+ t=t4;
+ tt=t-sinkaku;
+ }
+ if((adc_s > 0.15)&&(adc_s <= 0.2)){
+ t5=t4-100; //120
+ t=t5;
+ tt=t-sinkaku;
+ }
+ if((adc_s > 0.2)&&(adc_s <= 0.25)){
+ t6=t5-100; //100
+ t=t6;
+ tt=t-sinkaku;
+ }
+ if((adc_s > 0.25)&&(adc_s <= 0.3)){
+ t7=t6-80; //80
+ t=t7;
+ tt=t-sinkaku;
+ }
+ if((adc_s > 0.3)&&(adc_s <= 0.35)){
+ t8=t7-70; //70
+ t=t8;
+ tt=t-sinkaku;
+ }
+ if((adc_s > 0.35)&&(adc_s <= 0.4)){
+ t9=t8-70; //70
+ t=t9;
+ tt=t-sinkaku;
+ }
+ if((adc_s > 0.4)&&(adc_s <= 0.45)){
+ t10=t9-50; //50
+ t=t10;
+ tt=t-sinkaku;
+ }
+ if(adc_s > 0.45){
+ t=t10-50; //50
+ tt=t-sinkaku;
+ }
+ }
+
+ // tt=t-100;
+
+
+
+ if((Vr_adc>0.15f)&&(q==0)){
+ while(q<100){
+
+ EN1=1;
+ EN2=1;
+ EN3=0;
+ mypwmA.write(0.5f);//0.5
+ mypwmB=0;
+ mypwmC=0;
+
+ wait_ms(START);
+
+ EN1=1;
+ EN2=0;
+ EN3=1;
+
+ wait_ms(START);
+
+ EN1=0;
+ EN2=1;
+ EN3=1;
+ mypwmA=0;
+ mypwmB.write(0.5f);
+ mypwmC=0;
+ wait_ms(START);
+
+ EN1=1;
+ EN2=1;
+ EN3=0;
+
+ wait_ms(START);
+
+ EN1=1;
+ EN2=0;
+ EN3=1;
+
+ mypwmA=0;
+ mypwmB=0;
+ mypwmC.write(0.5f);
+
+ wait_ms(START);
+
+ EN1=0;
+ EN2=1;
+ EN3=1;
+
+ q++;
+ wait_ms(START);
+
+ }
+ }
+
+ if(Vr_adc < 0.05f){ //0.005
+ q=0;
+ s=0;
+ r=0;
+ rr=0;
+ i=0;
+ sensorless=0;
+ power=1.0;
+ }
+
+
+
+ if(Vr_adc >0.05f){
+ EN1=1;
+ EN2=1;
+ EN3=0;
+
+ mypwmA.write(Vr_adc*power);
+ mypwmB.write(0.0f);
+ mypwmC.write(0.0f);
+
+ wait_us(t-200);
+ EN1=1;
+ EN2=0;
+ EN3=1;
+
+ if(BEMF1>0.5f){
+ OUTC=0;
+ wsi=timer2.read_us();
+ }
+ wait_us(tt);
+ if(OUTC==0){
+ wsj=timer2.read_us();
+ }
+ OUTC=1;
+
+ EN1=0;
+ EN2=1;
+ EN3=1;
+
+ mypwmA.write(0.0f);
+ mypwmB.write(Vr_adc*power);
+ mypwmC.write(0.0f);
+
+ wait_us(t);
+
+ EN1=1;
+ EN2=1;
+ EN3=0;
+
+ if(BEMF2>0.5f){
+ OUTC=0;
+ wsi=timer2.read_us();
+ }
+ wait_us(tt);
+ if(OUTC==0){
+ wsj=timer2.read_us();
+ }
+ OUTC=1;
+
+ EN1=1;
+ EN2=0;
+ EN3=1;
+
+ mypwmA.write(0.0f);
+ mypwmB.write(0.0f);
+ mypwmC.write(Vr_adc*power);
+
+ wait_us(t);
+
+ EN1=0;
+ EN2=1;
+ EN3=1;
+
+
+ if(BEMF3>0.5f){
+ OUTC=0;
+ wsi=timer2.read_us();
+ }
+ wait_us(tt);
+ if(OUTC==0){
+ wsj=timer2.read_us();
+ }
+ OUTC=1;
+
+ }
+
+ Sensorless=sensorless;
+ usi=abs(ut2-ut1);
+ Speed_h=60*(1/(7.0*usi*1E-6));
+ Speed=60*(1/(7.0*6.0*t*1E-6));
+
+ myled = !myled;
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Mon Jul 24 23:41:45 2017 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed-rtos/#58563e6cba1e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jul 24 23:41:45 2017 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed/builds/856d2700e60b \ No newline at end of file