akiyoshi oguro
/
Nucleo_Sensorless_Blushless_DC_
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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
diff -r 000000000000 -r 320025ba637f main.cpp
--- /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;
+
+ }
+}
diff -r 000000000000 -r 320025ba637f mbed-rtos.lib --- /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
diff -r 000000000000 -r 320025ba637f mbed.bld --- /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