Diff: main.cpp

Revision:

0:93a9ccc6b7e2

Child:

1:ce18261eee75

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Thu Dec 21 04:06:40 2017 +0000
@@ -0,0 +1,291 @@
+#include "mbed.h"
+#include "rtos.h"
+//#include "adc.h"
+#include <math.h>
+#define TS1 0.2
+
+float PI=3.141592;
+int t=0,q=0,i=0;
+int START=7;
+PwmOut mypwmA(PA_8); //PA_8
+PwmOut mypwmB(PA_9); //9
+PwmOut mypwmC(PA_10);//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
+
+InterruptIn  HA(PA_15);
+InterruptIn  HB(PB_3);
+InterruptIn  HC(PB_10);
+Timer uT;
+Timer vT;
+Timer wT;
+
+//AnalogIn VBUS(PA_1);
+
+DigitalIn GPIO_BEMF(PC_9);
+DigitalIn CPOUT(PA_12);
+AnalogIn Curr_ui(PA_0);
+AnalogIn Curr_vi(PC_1);
+AnalogIn Curr_wi(PA_1);
+
+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 Vdlink=3.0f/5.0f;
+float aVa;
+float a3Vb;
+float Vr_adc;
+
+Timer Timer1; 
+float freq=0;
+float z=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 zet=sqrt(2.0f/3.0f),cos23=cos((2.0f/3.0f)*PI);
+float cos43=cos((4.0f/3.0f)*PI),sin23=sin((2.0f/3.0f)*PI),sin43=sin((4.0f/3.0f)*PI);
+
+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);
+  }
+     
+   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); 
+   
+    Vq=0.7;
+    Vd=0; 
+    
+ 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;
+     
+        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<50){   
+    
+    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 * 50, 1) * PI* 2; 
+        Vq=0.4;
+       }
+        if((aveo<=0.2)&&(aveo>0.15)){
+        Wt=fmodf(s * 55, 1) * PI* 2; 
+         Vq=0.45;
+       }
+        if((aveo<=0.25)&&(aveo>0.2)){
+        Wt=fmodf(s * 60, 1) * PI* 2; 
+         Vq=0.5;
+       }
+        if((aveo<=0.3)&&(aveo>0.25)){
+        Wt=fmodf(s * 65, 1) * PI* 2;
+         Vq=0.55;
+       }
+        if((aveo<=0.35)&&(aveo>0.3)){
+        Wt=fmodf(s * 70, 1) * PI* 2; 
+         Vq=0.6;
+       }
+        if((aveo<=0.4)&&(aveo>0.35)){
+        Wt=fmodf(s * 80, 1) * PI* 2; 
+         Vq=0.65;
+       }
+        if((aveo<=0.45)&&(aveo>0.4)){
+        Wt=fmodf(s * 90, 1) * PI* 2; 
+         Vq=0.7;
+       }
+        if((aveo<=0.5)&&(aveo>0.45)){
+        Wt=fmodf(s * 100, 1) * PI* 2;
+         Vq=0.7;
+       }
+        if((aveo<=0.55)&&(aveo>0.5)){
+        Wt=fmodf(s * 110, 1) * PI* 2; 
+         Vq=0.7;
+       }
+        if((aveo<=0.6)&&(aveo>0.55)){
+        Wt=fmodf(s * 120, 1) * PI* 2; 
+         Vq=0.7;
+       }
+       if((aveo<=0.65)&&(aveo>0.6)){
+        Wt=fmodf(s * 130, 1) * PI* 2; 
+         Vq=0.8;
+       }
+        if((aveo<=0.7)&&(aveo>0.65)){
+        Wt=fmodf(s * 140, 1) * PI* 2; 
+         Vq=0.8;
+       }
+        if((aveo<=0.75)&&(aveo>0.7)){
+        Wt=fmodf(s * 150, 1) * PI* 2; 
+         Vq=0.8;
+       }
+        if((aveo<=0.8)&&(aveo>0.75)){
+        Wt=fmodf(s * 160, 1) * PI* 2; 
+         Vq=0.8;
+       }
+        if((aveo<=0.85)&&(aveo>0.8)){
+        Wt=fmodf(s * 170, 1) * PI* 2; 
+         Vq=0.9;
+       }
+        if((aveo<=0.9)&&(aveo>0.85)){
+        Wt=fmodf(s * 180, 1) * PI* 2; 
+         Vq=0.9;
+       }
+        if((aveo<=0.95)&&(aveo>0.9)){
+        Wt=fmodf(s * 190, 1) * PI* 2; 
+         Vq=0.9;
+       }
+         if(aveo>0.95){
+        Wt=fmodf(s * 200, 1) * PI* 2; 
+         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;
+          
+       du=(Va*zet);
+       dv=((Va*cos23+Vb*sin23)*zet);
+       dw=((Va*cos43+Vb*sin43)*zet); 
+      
+       mypwmA.write(du);
+       mypwmB.write(dv);
+       mypwmC.write(dw);
+      
+         SWAVE=dw;
+      
+     }
+    }
+}
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