akiyoshi oguro
/
Nucleo_Z_SIN_Full_BLDC
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Revision 0:d7338aa3fbcd, committed 2020-11-13
- Comitter:
- oguro
- Date:
- Fri Nov 13 06:00:01 2020 +0000
- Commit message:
- Nucleo Ztrans SIN Full
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Nov 13 06:00:01 2020 +0000
@@ -0,0 +1,238 @@
+#include "mbed.h"
+#include <math.h>
+#include "rtos.h"
+
+#define PI 3.14159265358979
+#define TS1 0.01//0.2
+
+int i=0,q=0;
+
+short f1=0,a1=0;
+int START=10;//8
+float ut1=0,ut2=0,usi=0;
+float vt1=0,vt2=0,vsi=0;
+float wt1=0,wt2=0,wsi=0;
+
+float Speed;
+float tau=100; //60
+float su,sv,sw;
+
+PwmOut mypwmA(PA_8); //PWM_OUT 8
+PwmOut mypwmB(PA_9); //9
+PwmOut mypwmC(PA_10);//10
+
+DigitalOut EN1(PC_10);
+DigitalOut EN2(PC_11);
+DigitalOut EN3(PC_12);
+
+InterruptIn HA(PA_15);
+InterruptIn HB(PB_3);
+InterruptIn HC(PB_10);
+
+AnalogOut aout(PA_4);
+
+//AnalogIn V_adc(PB_1);//Volume
+AnalogIn V_adc(PC_2); // gaibu Volume
+
+AnalogIn Current_W(PC_0);
+
+float Vr_adc,output,Current_Ws;
+float zint=tau*1E-6; //40E-6 MaX
+Serial pc(USBTX,USBRX);
+
+DigitalOut myled(LED1);
+
+Timer uT;
+Timer vT;
+Timer wT;
+
+Ticker zt;
+
+ short u[5]={0x7FFF,0xC000,0,0x0001,0};//a1,a2,f0,f1,f2
+ short v[5]={0x7FFF,0xC000,0,0x0001,0};//a1,a2,f0,f1,f2
+ short w[5]={0x7FFF,0xC000,0,0x0001,0};//a1,a2,f0,f1,f2
+
+void ztrans(){
+
+ u[2] = ((u[1]*u[4])>>14) + ((u[0]*u[3])>>14);
+ u[4] = u[3];
+ u[3] = u[2];
+
+ v[2] = ((v[1]*v[4])>>14) + ((v[0]*v[3])>>14);
+ v[4] = v[3];
+ v[3] = v[2];
+
+ w[2] = ((w[1]*w[4])>>14) + ((w[0]*w[3])>>14);
+ w[4] = w[3];
+ w[3] = w[2];
+
+ }
+
+void HAH(){
+ ut1=uT.read_us();
+
+ f1=(sin(2*3.14159*(1/(usi*1E-6))*zint)*16384); //125E-6
+ a1=(2*cos(2*3.14159*(1/(usi*1E-6))*zint)*16384);
+
+ u[0]=a1;u[1]=0xC000;u[2]=0; u[3]=f1; u[4]=0;
+ }
+ void HAL(){
+ ut2=uT.read_us();
+ uT.reset();
+ }
+ void HBH(){
+
+ vt1=vT.read_us();
+
+ f1=(sin(2*3.14159*(1/(vsi*1E-6))*zint)*16384);
+ a1=(2*cos(2*3.14159*(1/(vsi*1E-6))*zint)*16384);
+
+ v[0]=a1;v[1]=0xC000;v[2]=0; v[3]=f1; v[4]=0;
+
+ }
+ void HBL(){
+ vt2=vT.read_us();
+ vT.reset();
+ }
+ void HCH(){
+ wt1=wT.read_us();
+
+ f1=(sin(2*3.14159*(1/(wsi*1E-6))*zint)*16384);
+ a1=(2*cos(2*3.14159*(1/(wsi*1E-6))*zint)*16384);
+
+ w[0]=a1;w[1]=0xC000;w[2]=0; w[3]=f1; w[4]=0;
+ }
+
+ void HCL(){
+ wt2=wT.read_us();
+ wT.reset();
+ }
+
+ void CPLT(){
+ //pc.printf("%.3f , %.3f \r" ,Speed ,Vr_adc);
+ // pc.printf("%.3f , %.3f, %.3f\r" ,su,sv,sw);
+ }
+
+ void timerTS1(void const*argument){
+ CPLT();
+ }
+
+
+
+int main(){
+
+ pc.baud(128000);
+
+ zt.attach_us(&ztrans, tau); // 40MAX
+
+ EN1=1;
+ EN2=1;
+ EN3=1;
+
+ mypwmA.period_us(20);
+ mypwmB.period_us(20);
+ mypwmC.period_us(20);
+
+ uT.start();
+ vT.start();
+ wT.start();
+
+ RtosTimer RtosTimerTS1(timerTS1);
+ RtosTimerTS1.start((unsigned int)(TS1*300));//5000
+ Thread::wait(1);//100
+
+
+while(1){
+
+
+ Vr_adc=V_adc.read();
+
+ if((Vr_adc>0.15f)&&(q==0)){
+ while(q<50){
+
+ mypwmA.write(0); //0.8f
+ mypwmB.write(0);
+ mypwmC.write(0.7f);
+ wait_ms(START);
+
+ mypwmA.write(0);
+ mypwmB.write(0.7f);
+ mypwmC.write(0);
+ wait_ms(START);
+
+ mypwmA.write(0.7f);
+ mypwmB.write(0);
+ mypwmC.write(0);//0.8f
+ wait_ms(START);
+ q++;
+ }
+
+ }
+ HA.rise(&HAH);
+ HC.fall(&HCL);
+ HB.rise(&HBH);
+ HA.fall(&HAL);
+ HC.rise(&HCH);
+ HB.fall(&HBL);
+
+ if(Vr_adc < 0.08f){
+ q=0;
+ }
+
+ usi=2*(ut2-ut1);
+ vsi=2*(vt2-vt1);
+ wsi=2*(wt2-wt1);
+
+
+ if((u[2])<=-16383){ //飽和処理
+ u[2]=-16383;
+ }
+ if(u[2]>=16383){
+ u[2]=16383;
+ }
+
+ if(v[2]<=-16383){ //飽和処理
+ v[2]=-16383;
+ }
+ if(v[2]>=16383){
+ v[2]=16383;
+ }
+ if(w[2]<=-16383){ //飽和処理
+ w[2]=-16383;
+ }
+ if(w[2]>=16383){
+ w[2]=16383;
+ }
+
+ #if 1
+ aout=(float(v[2])/(16383*2))*(Vr_adc)+0.5;
+
+ mypwmA.write(((float(u[2])/(16383*2)))*(Vr_adc)+0.5);
+ mypwmB.write(((float(v[2])/(16383*2)))*(Vr_adc)+0.5);
+ mypwmC.write(((float(w[2])/(16383*2)))*(Vr_adc)+0.5);
+ #endif
+
+ #if 0
+ su=(float(u[2])/(16383*2))*(Vr_adc);
+ sv=(float(v[2])/(16383*2))*(Vr_adc);
+ sw=(float(w[2])/(16383*2))*(Vr_adc);
+
+ mypwmA.write(su);
+ mypwmB.write(sv);
+ mypwmC.write(sw);
+
+ aout=su;
+ //aout=(float(wz[2])/(16383*2))*(power*STOP)+0.5;//16383
+ #endif
+
+ Speed=60*(1/(7.0*usi*1E-6));
+
+ myled = !myled;
+
+ }
+
+
+}
+
+
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Fri Nov 13 06:00:01 2020 +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 Fri Nov 13 06:00:01 2020 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed/builds/97feb9bacc10 \ No newline at end of file