Victor Yap / Mbed 2 deprecated Blue_Board_Test_2_Refactored

Senior design censored code to run freescale motor with X-NUCLEO-IM07M1. REFACTORED

Dependencies:   mbed

Fork of Blue_Board_Test_2 by Brad VanderWilp

main.cpp@3:2bcc36fe4de5, 2016-04-06 (annotated)

Committer:
BVanderWilp
Date:
Wed Apr 06 20:01:18 2016 +0000
Revision:
3:2bcc36fe4de5
Parent:
2:0fbba327c44f
Child:
4:ab4d51b5b1c8
Fully sensored startup

Who changed what in which revision?

UserRevisionLine numberNew contents of line
BVanderWilp 0:d445abf9a8e9 1 #include "mbed.h"
BVanderWilp 0:d445abf9a8e9 2
BVanderWilp 1:69c06d3676fd 3 PwmOut phaseA(PA_8); //Out1, Green
BVanderWilp 0:d445abf9a8e9 4 DigitalOut phaseAEN(PC_10);
BVanderWilp 1:69c06d3676fd 5 PwmOut phaseB(PA_9); //Out2, Blue
BVanderWilp 0:d445abf9a8e9 6 DigitalOut phaseBEN(PC_11);
BVanderWilp 1:69c06d3676fd 7 PwmOut phaseC(PA_10); //Out3, White
BVanderWilp 0:d445abf9a8e9 8 DigitalOut phaseCEN(PC_12);
BVanderWilp 0:d445abf9a8e9 9
BVanderWilp 0:d445abf9a8e9 10 InterruptIn button(USER_BUTTON);
BVanderWilp 0:d445abf9a8e9 11
BVanderWilp 0:d445abf9a8e9 12 DigitalOut redLed(PB_2);
BVanderWilp 0:d445abf9a8e9 13 DigitalOut led(LED1);
BVanderWilp 1:69c06d3676fd 14 InterruptIn hallA(PA_15); //H1, Green
BVanderWilp 1:69c06d3676fd 15 InterruptIn hallB(PB_3); //H2, Blue
BVanderWilp 1:69c06d3676fd 16 InterruptIn hallC(PB_10); //H3, White
BVanderWilp 0:d445abf9a8e9 17
BVanderWilp 1:69c06d3676fd 18 Ticker interrupt;
BVanderWilp 0:d445abf9a8e9 19
BVanderWilp 1:69c06d3676fd 20 float pwmDuty = 0.5;
BVanderWilp 0:d445abf9a8e9 21 int stall = 0;
BVanderWilp 0:d445abf9a8e9 22 void activate()
BVanderWilp 0:d445abf9a8e9 23 {
BVanderWilp 0:d445abf9a8e9 24 stall = 1;
BVanderWilp 0:d445abf9a8e9 25 }
BVanderWilp 0:d445abf9a8e9 26
BVanderWilp 1:69c06d3676fd 27 void Crise() //state1, A0 B- C+
BVanderWilp 0:d445abf9a8e9 28 {
BVanderWilp 0:d445abf9a8e9 29 phaseAEN = 0;
BVanderWilp 1:69c06d3676fd 30 phaseBEN = 1;
BVanderWilp 1:69c06d3676fd 31
BVanderWilp 3:2bcc36fe4de5 32 phaseC.write(pwmDuty);
BVanderWilp 3:2bcc36fe4de5 33 phaseCEN = 1;
BVanderWilp 1:69c06d3676fd 34 redLed = ! redLed;
BVanderWilp 1:69c06d3676fd 35 }
BVanderWilp 1:69c06d3676fd 36
BVanderWilp 1:69c06d3676fd 37 void Bfall() //state2, A+ B- C0
BVanderWilp 1:69c06d3676fd 38 {
BVanderWilp 1:69c06d3676fd 39 phaseCEN = 0;
BVanderWilp 1:69c06d3676fd 40 phaseC.write(0);
BVanderWilp 1:69c06d3676fd 41 phaseA.write(pwmDuty);
BVanderWilp 1:69c06d3676fd 42 phaseAEN = 1;
BVanderWilp 3:2bcc36fe4de5 43
BVanderWilp 3:2bcc36fe4de5 44 phaseBEN = 1;
BVanderWilp 1:69c06d3676fd 45 }
BVanderWilp 1:69c06d3676fd 46
BVanderWilp 1:69c06d3676fd 47 void Arise() //state3, A+ B0 C-
BVanderWilp 1:69c06d3676fd 48 {
BVanderWilp 1:69c06d3676fd 49 phaseBEN = 0;
BVanderWilp 1:69c06d3676fd 50 phaseCEN = 1;
BVanderWilp 3:2bcc36fe4de5 51
BVanderWilp 3:2bcc36fe4de5 52 phaseA.write(pwmDuty);
BVanderWilp 3:2bcc36fe4de5 53 phaseAEN = 1;
BVanderWilp 1:69c06d3676fd 54 }
BVanderWilp 1:69c06d3676fd 55
BVanderWilp 1:69c06d3676fd 56 void Cfall() //state4, A0 B+ C-
BVanderWilp 1:69c06d3676fd 57 {
BVanderWilp 1:69c06d3676fd 58 phaseAEN = 0;
BVanderWilp 0:d445abf9a8e9 59 phaseA.write(0);
BVanderWilp 0:d445abf9a8e9 60 phaseB.write(pwmDuty);
BVanderWilp 0:d445abf9a8e9 61 phaseBEN = 1;
BVanderWilp 1:69c06d3676fd 62
BVanderWilp 3:2bcc36fe4de5 63 phaseCEN = 1;
BVanderWilp 1:69c06d3676fd 64 redLed = ! redLed;
BVanderWilp 0:d445abf9a8e9 65 }
BVanderWilp 0:d445abf9a8e9 66
BVanderWilp 1:69c06d3676fd 67 void Brise() //state5, A- B+ C0
BVanderWilp 0:d445abf9a8e9 68 {
BVanderWilp 0:d445abf9a8e9 69 phaseCEN = 0;
BVanderWilp 0:d445abf9a8e9 70 phaseAEN = 1;
BVanderWilp 3:2bcc36fe4de5 71
BVanderWilp 3:2bcc36fe4de5 72 phaseB.write(pwmDuty);
BVanderWilp 3:2bcc36fe4de5 73 phaseBEN = 1;
BVanderWilp 0:d445abf9a8e9 74 }
BVanderWilp 0:d445abf9a8e9 75
BVanderWilp 1:69c06d3676fd 76 void Afall() //state5, A- B0 C+
BVanderWilp 0:d445abf9a8e9 77 {
BVanderWilp 0:d445abf9a8e9 78 phaseBEN = 0;
BVanderWilp 0:d445abf9a8e9 79 phaseB.write(0);
BVanderWilp 0:d445abf9a8e9 80 phaseC.write(pwmDuty);
BVanderWilp 0:d445abf9a8e9 81 phaseCEN = 1;
BVanderWilp 3:2bcc36fe4de5 82
BVanderWilp 3:2bcc36fe4de5 83 phaseAEN = 1;
BVanderWilp 0:d445abf9a8e9 84 }
BVanderWilp 0:d445abf9a8e9 85
BVanderWilp 1:69c06d3676fd 86 int count = 0;
BVanderWilp 1:69c06d3676fd 87 void intcall(){
BVanderWilp 1:69c06d3676fd 88 count = (count + 1) % 6;
BVanderWilp 1:69c06d3676fd 89
BVanderWilp 1:69c06d3676fd 90 if(count == 0) //B+, C-
BVanderWilp 1:69c06d3676fd 91 {
BVanderWilp 1:69c06d3676fd 92 phaseAEN = 0;
BVanderWilp 1:69c06d3676fd 93 phaseA.write(0);
BVanderWilp 1:69c06d3676fd 94 phaseB.write(pwmDuty);
BVanderWilp 1:69c06d3676fd 95 phaseBEN = 1;
BVanderWilp 1:69c06d3676fd 96 }
BVanderWilp 1:69c06d3676fd 97 else if(count == 1) //B+, A-
BVanderWilp 1:69c06d3676fd 98 {
BVanderWilp 1:69c06d3676fd 99 phaseCEN = 0;
BVanderWilp 1:69c06d3676fd 100 phaseAEN = 1;
BVanderWilp 1:69c06d3676fd 101 }
BVanderWilp 1:69c06d3676fd 102 else if(count == 2) //C+, A-
BVanderWilp 1:69c06d3676fd 103 {
BVanderWilp 1:69c06d3676fd 104 phaseBEN = 0;
BVanderWilp 1:69c06d3676fd 105 phaseB.write(0);
BVanderWilp 1:69c06d3676fd 106 phaseC.write(pwmDuty);
BVanderWilp 1:69c06d3676fd 107 phaseCEN = 1;
BVanderWilp 1:69c06d3676fd 108 }
BVanderWilp 1:69c06d3676fd 109 else if(count == 3) //C+, B-
BVanderWilp 1:69c06d3676fd 110 {
BVanderWilp 1:69c06d3676fd 111 phaseAEN = 0;
BVanderWilp 1:69c06d3676fd 112 phaseBEN = 1;
BVanderWilp 1:69c06d3676fd 113 }
BVanderWilp 1:69c06d3676fd 114 else if(count == 4) //A+, B-
BVanderWilp 1:69c06d3676fd 115 {
BVanderWilp 1:69c06d3676fd 116 phaseCEN = 0;
BVanderWilp 1:69c06d3676fd 117 phaseC.write(0);
BVanderWilp 1:69c06d3676fd 118 phaseA.write(pwmDuty);
BVanderWilp 1:69c06d3676fd 119 phaseAEN = 1;
BVanderWilp 1:69c06d3676fd 120 }
BVanderWilp 1:69c06d3676fd 121 else if(count == 5) //A+, C-
BVanderWilp 1:69c06d3676fd 122 {
BVanderWilp 1:69c06d3676fd 123 phaseBEN = 0;
BVanderWilp 1:69c06d3676fd 124 phaseCEN = 1;
BVanderWilp 1:69c06d3676fd 125 }
BVanderWilp 0:d445abf9a8e9 126 }
BVanderWilp 0:d445abf9a8e9 127
BVanderWilp 0:d445abf9a8e9 128
BVanderWilp 0:d445abf9a8e9 129 int main() {
BVanderWilp 1:69c06d3676fd 130 //wait until button push to start
BVanderWilp 0:d445abf9a8e9 131 button.rise(&activate);
BVanderWilp 0:d445abf9a8e9 132 while(stall == 0) {
BVanderWilp 0:d445abf9a8e9 133 led = !led;
BVanderWilp 0:d445abf9a8e9 134 wait(2);
BVanderWilp 0:d445abf9a8e9 135 }
BVanderWilp 3:2bcc36fe4de5 136 button.detach();
BVanderWilp 1:69c06d3676fd 137
BVanderWilp 3:2bcc36fe4de5 138 // //startup with open loop
BVanderWilp 3:2bcc36fe4de5 139 // phaseA.period_us(10);
BVanderWilp 3:2bcc36fe4de5 140 // phaseB.period_us(10);
BVanderWilp 3:2bcc36fe4de5 141 // phaseC.period_us(10);
BVanderWilp 3:2bcc36fe4de5 142 // interrupt.attach(&intcall, .01);
BVanderWilp 3:2bcc36fe4de5 143 //
BVanderWilp 3:2bcc36fe4de5 144 //
BVanderWilp 3:2bcc36fe4de5 145 // phaseA.write(0);
BVanderWilp 3:2bcc36fe4de5 146 // phaseB.write(pwmDuty);
BVanderWilp 3:2bcc36fe4de5 147 // phaseC.write(0);
BVanderWilp 3:2bcc36fe4de5 148 //
BVanderWilp 3:2bcc36fe4de5 149 // phaseAEN = 0;
BVanderWilp 3:2bcc36fe4de5 150 // phaseBEN = 1;
BVanderWilp 3:2bcc36fe4de5 151 // phaseCEN = 1;
BVanderWilp 3:2bcc36fe4de5 152 //
BVanderWilp 3:2bcc36fe4de5 153 // for(int i = 0; i < 4; i++)
BVanderWilp 3:2bcc36fe4de5 154 // {
BVanderWilp 3:2bcc36fe4de5 155 // i++;
BVanderWilp 3:2bcc36fe4de5 156 // led = !led;
BVanderWilp 3:2bcc36fe4de5 157 // wait(0.5);
BVanderWilp 3:2bcc36fe4de5 158 // }
BVanderWilp 3:2bcc36fe4de5 159 // interrupt.detach();
BVanderWilp 3:2bcc36fe4de5 160
BVanderWilp 0:d445abf9a8e9 161 phaseA.period_us(10);
BVanderWilp 0:d445abf9a8e9 162 phaseB.period_us(10);
BVanderWilp 0:d445abf9a8e9 163 phaseC.period_us(10);
BVanderWilp 0:d445abf9a8e9 164
BVanderWilp 0:d445abf9a8e9 165 phaseA.write(0);
BVanderWilp 3:2bcc36fe4de5 166 phaseB.write(0);
BVanderWilp 0:d445abf9a8e9 167 phaseC.write(0);
BVanderWilp 0:d445abf9a8e9 168
BVanderWilp 0:d445abf9a8e9 169 phaseAEN = 0;
BVanderWilp 3:2bcc36fe4de5 170 phaseBEN = 0;
BVanderWilp 3:2bcc36fe4de5 171 phaseCEN = 0;
BVanderWilp 3:2bcc36fe4de5 172 //begin sensored mode
BVanderWilp 1:69c06d3676fd 173 hallA.fall(&Afall);
BVanderWilp 1:69c06d3676fd 174 hallA.rise(&Arise);
BVanderWilp 1:69c06d3676fd 175 hallB.fall(&Bfall);
BVanderWilp 1:69c06d3676fd 176 hallB.rise(&Brise);
BVanderWilp 1:69c06d3676fd 177 hallC.fall(&Cfall);
BVanderWilp 1:69c06d3676fd 178 hallC.rise(&Crise);
BVanderWilp 1:69c06d3676fd 179
BVanderWilp 3:2bcc36fe4de5 180 int h1 = hallA.read();
BVanderWilp 3:2bcc36fe4de5 181 int h2 = hallB.read();
BVanderWilp 3:2bcc36fe4de5 182 int h3 = hallC.read();
BVanderWilp 3:2bcc36fe4de5 183 //check where we start
BVanderWilp 3:2bcc36fe4de5 184 if(h1 == 0 && h2 == 1 && h3 == 1) //state1
BVanderWilp 3:2bcc36fe4de5 185 {
BVanderWilp 3:2bcc36fe4de5 186 Crise();
BVanderWilp 3:2bcc36fe4de5 187 Bfall();
BVanderWilp 3:2bcc36fe4de5 188 }
BVanderWilp 3:2bcc36fe4de5 189 else if(h1 == 0 && h2 == 0 && h3 == 1) //state2
BVanderWilp 3:2bcc36fe4de5 190 {
BVanderWilp 3:2bcc36fe4de5 191 Bfall();
BVanderWilp 3:2bcc36fe4de5 192 Arise();
BVanderWilp 3:2bcc36fe4de5 193 }
BVanderWilp 3:2bcc36fe4de5 194 else if(h1 == 1 && h2 == 0 && h3 == 1) //state3
BVanderWilp 3:2bcc36fe4de5 195 {
BVanderWilp 3:2bcc36fe4de5 196 Arise();
BVanderWilp 3:2bcc36fe4de5 197 Cfall();
BVanderWilp 3:2bcc36fe4de5 198 }
BVanderWilp 3:2bcc36fe4de5 199 else if(h1 == 1 && h2 == 0 && h3 == 0) //state4
BVanderWilp 3:2bcc36fe4de5 200 {
BVanderWilp 3:2bcc36fe4de5 201 Cfall();
BVanderWilp 3:2bcc36fe4de5 202 Brise();
BVanderWilp 3:2bcc36fe4de5 203 }
BVanderWilp 3:2bcc36fe4de5 204 else if(h1 == 1 && h2 == 1 && h3 == 0) //state5
BVanderWilp 3:2bcc36fe4de5 205 {
BVanderWilp 3:2bcc36fe4de5 206 Brise();
BVanderWilp 3:2bcc36fe4de5 207 Crise();
BVanderWilp 3:2bcc36fe4de5 208 }
BVanderWilp 3:2bcc36fe4de5 209 else //state6
BVanderWilp 3:2bcc36fe4de5 210 {
BVanderWilp 3:2bcc36fe4de5 211 Afall();
BVanderWilp 3:2bcc36fe4de5 212 }
BVanderWilp 3:2bcc36fe4de5 213
BVanderWilp 0:d445abf9a8e9 214 while(1) {
BVanderWilp 0:d445abf9a8e9 215 led = !led;
BVanderWilp 0:d445abf9a8e9 216 wait(0.2);
BVanderWilp 0:d445abf9a8e9 217 }
BVanderWilp 0:d445abf9a8e9 218 }