Revision 3:7cc2b48b9a4c, committed 2017-03-17

Comitter:

ramikalai

Date:

Fri Mar 17 17:11:54 2017 +0000

Parent:

2:4e88faab6988

Commit message:

1.0

Changed in this revision

--- a/main.cpp	Tue Feb 28 14:44:23 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,121 +0,0 @@
-#include "mbed.h"
-#include "rtos.h"
-
-//Photointerrupter input pins
-#define I1pin D2
-#define I2pin D11
-#define I3pin D12
-
-//Incremental encoder input pins
-#define CHA   D7
-#define CHB   D8  
-
-//Motor Drive output pins   //Mask in output byte
-#define L1Lpin D4           //0x01
-#define L1Hpin D5           //0x02
-#define L2Lpin D3           //0x04
-#define L2Hpin D6           //0x08
-#define L3Lpin D9           //0x10
-#define L3Hpin D10          //0x20
-
-//Mapping from sequential drive states to motor phase outputs
-/*
-State   L1  L2  L3
-0       H   -   L
-1       -   H   L
-2       L   H   -
-3       L   -   H
-4       -   L   H
-5       H   L   -
-6       -   -   -
-7       -   -   -
-*/
-//Drive state to output table
-const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
-
-//Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
-const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};  
-//const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
-
-//Phase lead to make motor spin
-const int8_t lead = -2;  //2 for forwards, -2 for backwards
-
-//Status LED
-DigitalOut led1(LED1);
-
-//Photointerrupter inputs
-DigitalIn I1(I1pin);
-DigitalIn I2(I2pin);
-DigitalIn I3(I3pin);
-
-//Motor Drive outputs
-DigitalOut L1L(L1Lpin);
-DigitalOut L1H(L1Hpin);
-DigitalOut L2L(L2Lpin);
-DigitalOut L2H(L2Hpin);
-DigitalOut L3L(L3Lpin);
-DigitalOut L3H(L3Hpin);
-
-//Set a given drive state
-void motorOut(int8_t driveState){
-    
-    //Lookup the output byte from the drive state.
-    int8_t driveOut = driveTable[driveState & 0x07];
-      
-    //Turn off first
-    if (~driveOut & 0x01) L1L = 0;
-    if (~driveOut & 0x02) L1H = 1;
-    if (~driveOut & 0x04) L2L = 0;
-    if (~driveOut & 0x08) L2H = 1;
-    if (~driveOut & 0x10) L3L = 0;
-    if (~driveOut & 0x20) L3H = 1;
-    
-    //Then turn on
-    if (driveOut & 0x01) L1L = 1;
-    if (driveOut & 0x02) L1H = 0;
-    if (driveOut & 0x04) L2L = 1;
-    if (driveOut & 0x08) L2H = 0;
-    if (driveOut & 0x10) L3L = 1;
-    if (driveOut & 0x20) L3H = 0;
-    }
-    
-    //Convert photointerrupter inputs to a rotor state
-inline int8_t readRotorState(){
-    return stateMap[I1 + 2*I2 + 4*I3];
-    }
-
-//Basic synchronisation routine    
-int8_t motorHome() {
-    //Put the motor in drive state 0 and wait for it to stabilise
-    motorOut(0);
-    wait(1.0);
-    
-    //Get the rotor state
-    return readRotorState();
-}
-    
-//Main
-int main() {
-    int8_t orState = 0;    //Rotot offset at motor state 0
-    
-    //Initialise the serial port
-    Serial pc(SERIAL_TX, SERIAL_RX);
-    int8_t intState = 0;
-    int8_t intStateOld = 0;
-    pc.printf("Hello\n\r");
-    
-    //Run the motor synchronisation
-    orState = motorHome();
-    pc.printf("Rotor origin: %x\n\r",orState);
-    //orState is subtracted from future rotor state inputs to align rotor and motor states
-    
-    //Poll the rotor state and set the motor outputs accordingly to spin the motor
-    while (1) {
-        intState = readRotorState();
-        if (intState != intStateOld) {
-            intStateOld = intState;
-            motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
-        }
-    }
-}
-

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/new.cpp	Fri Mar 17 17:11:54 2017 +0000
@@ -0,0 +1,139 @@
+#include "mbed.h"
+#include "rtos.h"
+
+//Photointerrupter input pins
+#define I1pin D2
+#define I2pin D11
+#define I3pin D12
+
+//Incremental encoder input pins
+#define CHA   D7
+#define CHB   D8  
+
+//Motor Drive output pins   //Mask in output byte
+#define L1Lpin D4           //0x01
+#define L1Hpin D5           //0x02
+#define L2Lpin D3           //0x04
+#define L2Hpin D6           //0x08
+#define L3Lpin D9           //0x10
+#define L3Hpin D10          //0x20
+
+//Mapping from sequential drive states to motor phase outputs
+/*
+State   L1  L2  L3
+0       H   -   L
+1       -   H   L
+2       L   H   -
+3       L   -   H
+4       -   L   H
+5       H   L   -
+6       -   -   -
+7       -   -   -
+*/
+//Drive state to output table
+const int8_t driveTable[] = {0x12,0x18,0x09,0x21,0x24,0x06,0x00,0x00};
+
+//Mapping from interrupter inputs to sequential rotor states. 0x00 and 0x07 are not valid
+const int8_t stateMap[] = {0x07,0x05,0x03,0x04,0x01,0x00,0x02,0x07};  
+//const int8_t stateMap[] = {0x07,0x01,0x03,0x02,0x05,0x00,0x04,0x07}; //Alternative if phase order of input or drive is reversed
+
+//Phase lead to make motor spin
+const int8_t lead = -2;  //2 for forwards, -2 for backwards
+
+//Status LED
+DigitalOut led1(LED1);
+
+//Define Photointerrupter inputs as Interrupts
+InterruptIn I1 (I1pin);
+InterruptIn I2 (I2pin);
+InterruptIn I3 (I3pin);
+
+//Globals
+volatile int8_t intState = 0;
+volatile int8_t intStateOld = 0;
+
+
+//Motor Drive outputs
+DigitalOut L1L(L1Lpin);
+DigitalOut L1H(L1Hpin);
+DigitalOut L2L(L2Lpin);
+DigitalOut L2H(L2Hpin);
+DigitalOut L3L(L3Lpin);
+DigitalOut L3H(L3Hpin);
+
+//Serial Comms
+Serial pc(USBTX, USBRX);
+
+
+void motorOut(int8_t driveState){
+    
+    //Lookup the output byte from the drive state.
+    int8_t driveOut = driveTable[driveState & 0x07];
+    
+    //pc.printf("test: %x\n", driveState & 0x07);
+
+    //Turn off first
+    if (~driveOut & 0x01) L1L = 0;
+    if (~driveOut & 0x02) L1H = 1;
+    if (~driveOut & 0x04) L2L = 0;
+    if (~driveOut & 0x08) L2H = 1;
+    if (~driveOut & 0x10) L3L = 0;
+    if (~driveOut & 0x20) L3H = 1;
+    
+    //Then turn on
+    if (driveOut & 0x01) L1L = 1;
+    if (driveOut & 0x02) L1H = 0;
+    if (driveOut & 0x04) L2L = 1;
+    if (driveOut & 0x08) L2H = 0;
+    if (driveOut & 0x10) L3L = 1;
+    if (driveOut & 0x20) L3H = 0;
+    }
+    
+    //Convert photointerrupter inputs to a rotor state
+void readRotorState(){
+    intStateOld = intState;
+    intState = stateMap[I1.read() + 2*I2.read() + 4*I3.read()];
+
+    }
+
+inline int8_t readRotorState1(){
+    return stateMap[I1.read() + 2*I2.read() + 4*I3.read()];
+    }
+
+
+//Basic synchronisation routine    
+int8_t motorHome() {
+    
+    //Put the motor in drive state 0 and wait for it to stabilise
+    motorOut(0);
+    wait(1.0);
+    
+    //Get the rotor state
+    return readRotorState1();
+}
+
+
+int main() {
+    
+    //Attach ISR to interruptIns
+    I1.rise(&readRotorState);
+    I2.rise(&readRotorState);
+    I3.rise(&readRotorState);
+
+
+    int8_t orState = 0;    //Rotot offset at motor state 0
+    //Run the motor synchronisation
+    orState = motorHome();
+    
+    readRotorState();      //To ensure that the correct initial value for intState is used
+    
+    
+    //orState is subtracted from future rotor state inputs to align rotor and motor states
+    //Set the motor outputs accordingly to spin the motor
+    while (1) {
+        if (intState != intStateOld) {
+            motorOut((intState-orState+lead+6)%6); //+6 to make sure the remainder is positive
+        }
+    }
+
+}
\ No newline at end of file