File content as of revision 0:fd2cb1721c58:

#include "mbed.h"
#include "rtos.h"
#include <math.h>
#define TS1 0.2

float PI=3.141592;
int t=0,q=0,i=0;
int START=10; //7
PwmOut mypwmA(PA_8); 
PwmOut mypwmB(PA_9); 
PwmOut mypwmC(PA_10);

PwmOut  Current_Ref(PB_4);

DigitalOut Vector(PC_4);
DigitalOut EN1(PC_10);
DigitalOut EN2(PC_11);
DigitalOut EN3(PC_12);



//AnalogIn V_adc(PB_1);  //volume
AnalogIn V_adc(PC_2); // Gaibu Potention

AnalogIn  Vshuntu(PA_1);
AnalogIn  Vshuntv(PA_0);
AnalogIn  Vshuntw(PB_0);

AnalogIn BEMF1(PC_3);//C7_37
AnalogIn BEMF2(PB_0);//C7_34
AnalogIn BEMF3(PA_7);//C10_26

DigitalIn GPIO_BEMF(PC_9);
DigitalIn CPOUT(PA_12);
AnalogIn Curr_ui(PA_0);
AnalogIn Curr_vi(PC_1);
AnalogIn Curr_wi(PA_1);

InterruptIn  HA(PA_15);
InterruptIn  HB(PB_3);
InterruptIn  HC(PB_10);
Timer uT;
Timer vT;
Timer wT;

AnalogOut SWAVE(PA_4);

Serial pc(USBTX,USBRX);

DigitalOut myled(LED1);
float sq32=sqrt(3.0f/2.0f);
float sq23=2.0f/sqrt(3.0f);
float sq3=1.0f/sqrt(3.0f);
float VDC=1.8;
float Vdlink=1/VDC;  
float aVa;
float a3Vb;
float Vr_adc;

Timer Timer1; 
float freq=0;
float z=1.0; //0.5
float Wt,Va,Vb,Vq,Vd;
float d1,d2,d3,d4,d5,d6,d07;
float du,dv,dw;
bool  cu,cv,cw;
float ave=0,aveo=0,avsum=0;

float ut=0,ut1=0,ut2=0,usi=0;
float vt=0,vt1=0,vt2=0,vsi=0;
float wt=0,wt1=0,wt2=0,wsi=0;
float Speed;

void HAH(){
   
    ut1=uT.read_us();
    ut=0;  
     
      }
 void HAL(){
  
    ut2=uT.read_us(); 
    uT.reset();
    
     }
 void HBH(){
  
    vt1=vT.read_us();   
    
     }
 void HBL(){
   
    vt2=vT.read_us();
   
    vT.reset();
     }
 void HCH(){
    wt1=wT.read_us();
    
     }
     
 void HCL(){
    wt2=wT.read_us();
    
    wT.reset();
     }   
     
  

void CPLT(){
  //pc.printf("%.3f , %.3f \r" ,Speed ,Vr_adc);
  //pc.printf("%.3f,%.3f,%.3f \r" ,du,dv,dw);
  }
     
   void timerTS1(void const*argument){
   CPLT();
  } 
int main() {
  Timer1.start();  
   EN1=1;
   EN2=1;
   EN3=1;
     uT.start();
     vT.start();
     wT.start();
   
    mypwmA.period_us(20);
   
    mypwmB.period_us(20);
   
    mypwmC.period_us(20);
    
    pc.baud(128000);
    
    /* RtosTimer RtosTimerTS1(timerTS1);
     RtosTimerTS1.start((unsigned int)(TS1*5000)); //3000
     Thread::wait(100); */
   
      
 while(1) {
         
        HA.rise(&HAH);
        HC.fall(&HCL);
        HB.rise(&HBH);
        HA.fall(&HAL);
        HC.rise(&HCH);
        HB.fall(&HBL);
    Speed=60*(1/(7.0*2.0*usi*1E-6));
         usi=ut2-ut1;
         vsi=vt2-vt1;
         wsi=wt2-wt1;
         Vd=0;
     
        float s = Timer1.read();
        Vr_adc=V_adc.read();
        myled = ((int)s) % 2 == 0; /* LED output(0.5Hz) */
   
        
if((Vr_adc>0.08f)&&(q==0)){
while(q<30){   
    
    mypwmA.write(0.5f);
    mypwmB.write(0);
    mypwmC.write(0);
    wait_ms(START);
           
    mypwmA.write(0);
    mypwmB.write(0.5f);
    mypwmC.write(0.0);
    wait_ms(START);
         
    mypwmA.write(0);
    mypwmB.write(0.0);
    mypwmC.write(0.5f);
    wait_ms(START);
    q++;
    
    }
    }
  if(Vr_adc < 0.05f){
         q=0;
         Vr_adc=0; 
         
       }  
        
     aveo=Vr_adc;   
  
       if((aveo<=0.15)&&(aveo>0.1)){
        Wt=fmodf(s * 45, 1) * PI* 2; 
        Vq=0.4;
       }
        if((aveo<=0.2)&&(aveo>0.15)){
        Wt=fmodf(s * 50, 1) * PI* 2; 
         Vq=0.42;
       }
        if((aveo<=0.25)&&(aveo>0.2)){
        Wt=fmodf(s * 55, 1) * PI* 2; 
         Vq=0.45;
       }
        if((aveo<=0.3)&&(aveo>0.25)){
        Wt=fmodf(s * 60, 1) * PI* 2;
         Vq=0.48;
       }
        if((aveo<=0.35)&&(aveo>0.3)){
        Wt=fmodf(s * 65, 1) * PI* 2; 
         Vq=0.5;
       }
        if((aveo<=0.4)&&(aveo>0.35)){
        Wt=fmodf(s * 70, 1) * PI* 2; 
         Vq=0.52;
       }
        if((aveo<=0.45)&&(aveo>0.4)){
        Wt=fmodf(s * 75, 1) * PI* 2; 
         Vq=0.55;
       }
        if((aveo<=0.5)&&(aveo>0.45)){
        Wt=fmodf(s * 80, 1) * PI* 2;
         Vq=0.58;
       }
        if((aveo<=0.55)&&(aveo>0.5)){
        Wt=fmodf(s * 85, 1) * PI* 2; 
         Vq=0.6;
       }
        if((aveo<=0.6)&&(aveo>0.55)){
        Wt=fmodf(s * 90, 1) * PI* 2; 
         Vq=0.62;
       }
       if((aveo<=0.65)&&(aveo>0.6)){
        Wt=fmodf(s * 95, 1) * PI* 2; 
         Vq=0.65;
       }
        if((aveo<=0.7)&&(aveo>0.65)){
        Wt=fmodf(s * 100, 1) * PI* 2; 
         Vq=0.67;
       }
        if((aveo<=0.75)&&(aveo>0.7)){
        Wt=fmodf(s * 105, 1) * PI* 2; 
         Vq=0.7;
       }
        if((aveo<=0.8)&&(aveo>0.75)){
        Wt=fmodf(s * 110, 1) * PI* 2; 
         Vq=0.72;
       }
        if((aveo<=0.85)&&(aveo>0.8)){
        Wt=fmodf(s * 120, 1) * PI* 2; 
         Vq=0.75;
       }
        if((aveo<=0.9)&&(aveo>0.85)){
        Wt=fmodf(s * 130, 1) * PI* 2; 
         Vq=0.78;
       }
        if((aveo<=0.95)&&(aveo>0.9)){
        Wt=fmodf(s * 140, 1) * PI* 2; 
         Vq=0.8;
       }
         if(aveo>0.95){
        Wt=fmodf(s * 150, 1) * PI* 2; 
         Vq=0.82;
       }
       Vq=0.9;
if(aveo<0.1){  
   mypwmA.write(0);
      mypwmB.write(0);
       mypwmC.write(0);

}
else{    
        Va=cos(Wt)*Vd-sin(Wt)*Vq;
        Vb=sin(Wt)*Vd+cos(Wt)*Vq;
        aVa=abs(Va);
        a3Vb=abs(sq3*Vb);
      
    if((Va>=0)&&(Vb>=0)&&(aVa>=a3Vb)){  //sect 0
     
       d1=sq32*(Va-sq3*Vb)*Vdlink;
       d2=sq32*(sq23*Vb)*Vdlink;
       d07=(z-(d1+d2))*0.5;
      // d07=0;
       du=d1+d2+d07;
       dv=d2+d07;
       dw=d07;
     
     }
    if((aVa<=sq3*Vb)){  //sect 1
     
       d3=sq32*(-Va+sq3*Vb)*Vdlink;
       d2=sq32*(Va+sq3*Vb)*Vdlink;
       d07=(z-(d2+d3))*0.5;
       //d07=0;
       du=d2+d07;
       dv=d2+d3+d07;
       dw=d07;
     } 
         
    if((Va<=0)&&(Vb>=0)&&(aVa>=a3Vb)){  //sect 2
     
       d3=sq32*sq23*Vb*Vdlink;
       d4=sq32*(-Va-sq3*Vb)*Vdlink;
       d07=(z-(d3+d4))*0.5;
      // d07=0;
       du=d07;
       dv=d3+d4+d07;
       dw=d4+d07;
     } 
     
    if((Va<=0)&&(Vb<=0)&&(aVa>=a3Vb)){  //sect 3
     
       d5=-sq32*sq23*Vb*Vdlink;
       d4=sq32*(-Va+sq3*Vb)*Vdlink;
       d07=(z-(d4+d5))*0.5;
       //d07=0;
       du=d07;
       dv=d4+d07;
       dw=d4+d5+d07;
     }  
   
    if((aVa<=-sq3*Vb)){  //sect 4
     
       d5=sq32*(-Va-sq3*Vb)*Vdlink;;
       d6=sq32*(Va-sq3*Vb)*Vdlink;
       d07=(z-(d5+d6))*0.5;
       //d07=0;
       du=d6+d07;
       dv=d07;
       dw=d5+d6+d07;
     }  
     
     if((Va>=0)&&(Vb<=0)&&(aVa>=a3Vb)){  //sect 5
     
       d1=sq32*(Va+sq3*Vb)*Vdlink;;
       d6=-sq32*sq23*Vb*Vdlink;;
       d07=(z-(d1+d6))*0.5;
       //d07=0;
       du=d1+d6+d07;
       dv=d07;
       dw=d6+d07;
     }   
    
     mypwmA.write(du);
      mypwmB.write(dv);
       mypwmC.write(dw);
    }
       
         SWAVE=dw;
         //pc.printf("%.3f,%.3f,%.3f \r" ,du,dv,dw);
     }
     }