akiyoshi oguro
/
Nucleo_sinwt_BLDC_FULL
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Revision 0:01b47504efd4, committed 2020-11-11
- Comitter:
- oguro
- Date:
- Wed Nov 11 01:25:14 2020 +0000
- Commit message:
- Sin modulate Full Scale
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Nov 11 01:25:14 2020 +0000
@@ -0,0 +1,162 @@
+#include "mbed.h"
+#include "rtos.h"
+#include <math.h>
+#define TS1 0.2
+int q=0,START=15; //10
+float ut1=0,ut2=0,usi=0;
+float vt1=0,vt2=0,vsi=0;
+float wt1=0,wt2=0,wsi=0;
+float ui=0,vi=0,wi=0;
+float su,sv,sw;
+float PI=3.141592;
+float t=2.06E-4; //2.26E-4
+float Speed;
+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);
+
+AnalogIn V_adc(PC_2); //Potention
+//AnalogIn V_adc(PB_1); // gaibu Volume
+Timer uT;
+Timer vT;
+Timer wT;
+AnalogOut SWAVE(PA_4);
+
+Serial pc(USBTX,USBRX);
+
+DigitalOut myled(LED1);
+
+float Vr_adc=0.0f;
+
+ void HAH(){
+ ut1=uT.read_us();
+ ui=0;
+ }
+ void HAL(){
+ ut2=uT.read_us();
+ uT.reset();
+ }
+ void HBH(){
+ vt1=vT.read_us();
+ vi=0;
+ }
+ void HBL(){
+ vt2=vT.read_us();
+ vT.reset();
+ }
+ void HCH(){
+ wt1=wT.read_us();
+ wi=0;
+ }
+ void HCL(){
+ wt2=wT.read_us();
+ wT.reset();
+ }
+
+void CPLT(){
+ pc.printf("%.3f , %.3f \r" ,Speed ,Vr_adc);
+ }
+
+void timerTS1(void const*argument){
+ CPLT();
+ }
+
+
+int main() {
+
+ pc.baud(128000);
+
+ 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*3000));
+ Thread::wait(100);
+
+ while(1) {
+
+ Vr_adc=V_adc.read();
+
+if((Vr_adc>0.15f)&&(q==0)){
+
+ while(q<50){ //30
+
+ mypwmA.write(0.5f); //0.5
+ mypwmB.write(0);
+ mypwmC.write(0);
+ wait_ms(START);
+
+ mypwmA.write(0);
+ mypwmB.write(0.5f);
+ mypwmC.write(0);
+ wait_ms(START);
+
+ mypwmA.write(0);
+ mypwmB.write(0);
+ mypwmC.write(0.5f);
+ wait_ms(START);
+ q++;
+
+ }
+ // q=31;
+ }
+
+ HA.rise(&HAH);
+ HC.fall(&HCL);
+ HB.rise(&HBH);
+ HA.fall(&HAL);
+ HC.rise(&HCH);
+ HB.fall(&HBL);
+
+ if(Vr_adc < 0.05f){
+ q=0;
+
+ }
+
+ ui=ui+1;
+ vi=vi+1;
+ wi=wi+1;
+
+ usi=ut2-ut1;
+ vsi=vt2-vt1;
+ wsi=wt2-wt1;
+
+ if(q>=31){
+
+ su=sin(2*PI*((1/(2*usi*1E-6))*ui*t));
+ sv=sin(2*PI*((1/(2*vsi*1E-6))*vi*t));
+ sw=sin(2*PI*((1/(2*wsi*1E-6))*wi*t));
+
+ }
+
+ mypwmA.write((su)*Vr_adc+0.5);
+ mypwmB.write((sv)*Vr_adc+0.5);
+ mypwmC.write((sw)*Vr_adc+0.5);
+
+ SWAVE=(su)*Vr_adc+0.5;
+ Speed=60*(1/(7.0*2.0*usi*1E-6));
+
+ myled = !myled;
+
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed-rtos.lib Wed Nov 11 01:25:14 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 Wed Nov 11 01:25:14 2020 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mbed_official/code/mbed/builds/97feb9bacc10 \ No newline at end of file