STM32F302R8 with Konrad's inverter boards for senior design.
Fork of Blue_Board_Ticker by
main.cpp@20:029a58eb24ab, 2016-04-15 (annotated)
- Committer:
- vicyap
- Date:
- Fri Apr 15 21:54:18 2016 +0000
- Revision:
- 20:029a58eb24ab
- Parent:
- 19:085eb0579185
- Child:
- 21:2bf65c29a3c6
smoothed out the potentiometer reading
Who changed what in which revision?
User | Revision | Line number | New 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 | 5:6110655353ad | 10 | AnalogIn pot(PB_1); |
BVanderWilp | 5:6110655353ad | 11 | |
BVanderWilp | 0:d445abf9a8e9 | 12 | InterruptIn button(USER_BUTTON); |
BVanderWilp | 0:d445abf9a8e9 | 13 | |
BVanderWilp | 0:d445abf9a8e9 | 14 | DigitalOut redLed(PB_2); |
BVanderWilp | 0:d445abf9a8e9 | 15 | DigitalOut led(LED1); |
BVanderWilp | 1:69c06d3676fd | 16 | InterruptIn hallA(PA_15); //H1, Green |
BVanderWilp | 1:69c06d3676fd | 17 | InterruptIn hallB(PB_3); //H2, Blue |
BVanderWilp | 1:69c06d3676fd | 18 | InterruptIn hallC(PB_10); //H3, White |
BVanderWilp | 0:d445abf9a8e9 | 19 | |
BVanderWilp | 6:e401c592d2c3 | 20 | Ticker rpmInterrupt; |
vicyap | 12:d34b96d7f997 | 21 | Ticker spinTicker; |
BVanderWilp | 6:e401c592d2c3 | 22 | int revCount = 0; |
BVanderWilp | 6:e401c592d2c3 | 23 | int rpmPrintFlag = 0; |
BVanderWilp | 6:e401c592d2c3 | 24 | int currentRPM; |
BVanderWilp | 0:d445abf9a8e9 | 25 | |
vicyap | 20:029a58eb24ab | 26 | int ADCCountMax = 1000; // tune for responsiveness vs. stability, higher value -> less responsive -> more stable |
vicyap | 20:029a58eb24ab | 27 | float pwmMax = 0.9; // tune for max pwmDuty. higher value -> more power available |
BVanderWilp | 5:6110655353ad | 28 | float pwmDuty; |
BVanderWilp | 0:d445abf9a8e9 | 29 | int stall = 0; |
BVanderWilp | 7:9d90184335aa | 30 | int reverse = 0; |
BVanderWilp | 6:e401c592d2c3 | 31 | |
vicyap | 19:085eb0579185 | 32 | int spinTickerCounter = 0; |
vicyap | 20:029a58eb24ab | 33 | int spinTickerPeriod_us = 50; // tune for how often hall sensors are checked |
vicyap | 19:085eb0579185 | 34 | int ticksPerHall = 0; |
vicyap | 19:085eb0579185 | 35 | int prevHallState = 0; |
vicyap | 19:085eb0579185 | 36 | |
vicyap | 20:029a58eb24ab | 37 | int pole_pairs = 2; // tune for proper mech rpm calculation |
vicyap | 19:085eb0579185 | 38 | |
BVanderWilp | 6:e401c592d2c3 | 39 | void rpmCalc() |
BVanderWilp | 6:e401c592d2c3 | 40 | { |
vicyap | 19:085eb0579185 | 41 | currentRPM = revCount * 60; // 60 seconds in 1 minute |
vicyap | 19:085eb0579185 | 42 | currentRPM /= pole_pairs; // account for elec vs mech rpm |
BVanderWilp | 6:e401c592d2c3 | 43 | revCount = 0; |
BVanderWilp | 6:e401c592d2c3 | 44 | rpmPrintFlag = 1; |
BVanderWilp | 6:e401c592d2c3 | 45 | } |
BVanderWilp | 9:af60c737a93e | 46 | //original names: CBA CBA, new names: BAC BAC |
BVanderWilp | 9:af60c737a93e | 47 | void Brise() //state1, A0 B- C+ |
vicyap | 15:dddb511c39b4 | 48 | { |
vicyap | 17:5e27edd3d8e6 | 49 | phaseA.write(0); |
vicyap | 17:5e27edd3d8e6 | 50 | phaseB.write(0); |
vicyap | 17:5e27edd3d8e6 | 51 | phaseC.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 52 | phaseAEN = 0; |
BVanderWilp | 1:69c06d3676fd | 53 | phaseBEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 54 | phaseCEN = 1; |
BVanderWilp | 1:69c06d3676fd | 55 | } |
BVanderWilp | 1:69c06d3676fd | 56 | |
BVanderWilp | 9:af60c737a93e | 57 | void Afall() //state2, A+ B- C0 |
BVanderWilp | 1:69c06d3676fd | 58 | { |
vicyap | 17:5e27edd3d8e6 | 59 | phaseA.write(pwmDuty); |
vicyap | 17:5e27edd3d8e6 | 60 | phaseB.write(0); |
BVanderWilp | 1:69c06d3676fd | 61 | phaseC.write(0); |
BVanderWilp | 1:69c06d3676fd | 62 | phaseAEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 63 | phaseBEN = 1; |
vicyap | 17:5e27edd3d8e6 | 64 | phaseCEN = 0; |
BVanderWilp | 1:69c06d3676fd | 65 | } |
BVanderWilp | 1:69c06d3676fd | 66 | |
BVanderWilp | 9:af60c737a93e | 67 | void Crise() //state3, A+ B0 C- |
BVanderWilp | 1:69c06d3676fd | 68 | { |
vicyap | 17:5e27edd3d8e6 | 69 | phaseA.write(pwmDuty); |
vicyap | 17:5e27edd3d8e6 | 70 | phaseB.write(0); |
vicyap | 17:5e27edd3d8e6 | 71 | phaseC.write(0); |
vicyap | 17:5e27edd3d8e6 | 72 | phaseAEN = 1; |
BVanderWilp | 1:69c06d3676fd | 73 | phaseBEN = 0; |
BVanderWilp | 1:69c06d3676fd | 74 | phaseCEN = 1; |
BVanderWilp | 1:69c06d3676fd | 75 | } |
BVanderWilp | 1:69c06d3676fd | 76 | |
BVanderWilp | 9:af60c737a93e | 77 | void Bfall() //state4, A0 B+ C- |
BVanderWilp | 1:69c06d3676fd | 78 | { |
BVanderWilp | 0:d445abf9a8e9 | 79 | phaseA.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 80 | phaseB.write(pwmDuty); |
vicyap | 17:5e27edd3d8e6 | 81 | phaseC.write(0); |
vicyap | 17:5e27edd3d8e6 | 82 | phaseAEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 83 | phaseBEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 84 | phaseCEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 85 | } |
BVanderWilp | 0:d445abf9a8e9 | 86 | |
BVanderWilp | 9:af60c737a93e | 87 | void Arise() //state5, A- B+ C0 |
BVanderWilp | 0:d445abf9a8e9 | 88 | { |
vicyap | 17:5e27edd3d8e6 | 89 | phaseA.write(0); |
vicyap | 17:5e27edd3d8e6 | 90 | phaseB.write(pwmDuty); |
vicyap | 17:5e27edd3d8e6 | 91 | phaseC.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 92 | phaseAEN = 1; |
vicyap | 17:5e27edd3d8e6 | 93 | phaseCEN = 0; |
BVanderWilp | 3:2bcc36fe4de5 | 94 | phaseBEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 95 | } |
BVanderWilp | 0:d445abf9a8e9 | 96 | |
BVanderWilp | 9:af60c737a93e | 97 | void Cfall() //state6, A- B0 C+ |
BVanderWilp | 0:d445abf9a8e9 | 98 | { |
vicyap | 17:5e27edd3d8e6 | 99 | phaseAEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 100 | phaseBEN = 0; |
vicyap | 17:5e27edd3d8e6 | 101 | phaseCEN = 1; |
vicyap | 17:5e27edd3d8e6 | 102 | phaseA.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 103 | phaseB.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 104 | phaseC.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 105 | } |
BVanderWilp | 0:d445abf9a8e9 | 106 | |
vicyap | 14:0f50e85bd463 | 107 | void toggleRedLed() |
vicyap | 14:0f50e85bd463 | 108 | { |
vicyap | 15:dddb511c39b4 | 109 | redLed = !redLed; |
vicyap | 14:0f50e85bd463 | 110 | } |
BVanderWilp | 0:d445abf9a8e9 | 111 | |
BVanderWilp | 7:9d90184335aa | 112 | void jumpStart() |
BVanderWilp | 7:9d90184335aa | 113 | { |
BVanderWilp | 3:2bcc36fe4de5 | 114 | int h1 = hallA.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 115 | int h2 = hallB.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 116 | int h3 = hallC.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 117 | //check where we start |
vicyap | 19:085eb0579185 | 118 | int currentHallState = (h1 << 2) + (h2 << 1) + h3; |
vicyap | 19:085eb0579185 | 119 | if (currentHallState != prevHallState) |
vicyap | 19:085eb0579185 | 120 | { |
vicyap | 19:085eb0579185 | 121 | ticksPerHall = spinTickerCounter; |
vicyap | 19:085eb0579185 | 122 | spinTickerCounter = 0; // reset the number of ticks per hall sensor change |
vicyap | 19:085eb0579185 | 123 | if (prevHallState == 1) // arbitrarily choose state 1 |
vicyap | 19:085eb0579185 | 124 | { |
vicyap | 19:085eb0579185 | 125 | revCount += 1; |
vicyap | 19:085eb0579185 | 126 | } |
vicyap | 19:085eb0579185 | 127 | } |
vicyap | 19:085eb0579185 | 128 | prevHallState = currentHallState; |
vicyap | 19:085eb0579185 | 129 | spinTickerCounter += 1; // count the number of times spinTicker runs per hall sensor |
vicyap | 16:792055c232a5 | 130 | |
vicyap | 16:792055c232a5 | 131 | if (reverse == 0) |
vicyap | 16:792055c232a5 | 132 | { |
vicyap | 16:792055c232a5 | 133 | if(h1 == 0 && h2 == 1 && h3 == 1) { //state1 |
vicyap | 16:792055c232a5 | 134 | Afall(); |
vicyap | 16:792055c232a5 | 135 | } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2 |
vicyap | 16:792055c232a5 | 136 | Crise(); |
vicyap | 16:792055c232a5 | 137 | } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3 |
vicyap | 16:792055c232a5 | 138 | Bfall(); |
vicyap | 16:792055c232a5 | 139 | } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4 |
vicyap | 16:792055c232a5 | 140 | Arise(); |
vicyap | 16:792055c232a5 | 141 | } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5 |
vicyap | 16:792055c232a5 | 142 | Cfall(); |
vicyap | 16:792055c232a5 | 143 | } else { //(h1 == 0 && h2 == 1 && h3 == 0)state6 |
vicyap | 16:792055c232a5 | 144 | Brise(); |
vicyap | 16:792055c232a5 | 145 | } |
vicyap | 16:792055c232a5 | 146 | } |
vicyap | 18:d7033a38f20b | 147 | else if (reverse == 1) // to go in reverse, shift the mappings by 180 degrees |
vicyap | 16:792055c232a5 | 148 | { |
vicyap | 16:792055c232a5 | 149 | if(h1 == 0 && h2 == 1 && h3 == 1) { //state1 |
vicyap | 18:d7033a38f20b | 150 | Arise(); |
vicyap | 18:d7033a38f20b | 151 | } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2 |
vicyap | 16:792055c232a5 | 152 | Cfall(); |
vicyap | 18:d7033a38f20b | 153 | } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3 |
vicyap | 16:792055c232a5 | 154 | Brise(); |
vicyap | 18:d7033a38f20b | 155 | } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4 |
vicyap | 16:792055c232a5 | 156 | Afall(); |
vicyap | 18:d7033a38f20b | 157 | } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5 |
vicyap | 16:792055c232a5 | 158 | Crise(); |
vicyap | 18:d7033a38f20b | 159 | } else { //(h1 == 0 && h2 == 1 && h3 == 0) state6 |
vicyap | 16:792055c232a5 | 160 | Bfall(); |
vicyap | 16:792055c232a5 | 161 | } |
vicyap | 14:0f50e85bd463 | 162 | } |
vicyap | 14:0f50e85bd463 | 163 | toggleRedLed(); |
BVanderWilp | 7:9d90184335aa | 164 | } |
BVanderWilp | 7:9d90184335aa | 165 | |
BVanderWilp | 7:9d90184335aa | 166 | void activate() |
BVanderWilp | 7:9d90184335aa | 167 | { |
vicyap | 15:dddb511c39b4 | 168 | if(stall == 0) { |
BVanderWilp | 7:9d90184335aa | 169 | stall = 1; |
vicyap | 15:dddb511c39b4 | 170 | } else { |
vicyap | 17:5e27edd3d8e6 | 171 | if (pwmDuty < 0.4f) |
vicyap | 16:792055c232a5 | 172 | { |
vicyap | 16:792055c232a5 | 173 | reverse = reverse ^ 1; |
vicyap | 16:792055c232a5 | 174 | } |
BVanderWilp | 7:9d90184335aa | 175 | } |
BVanderWilp | 7:9d90184335aa | 176 | } |
BVanderWilp | 7:9d90184335aa | 177 | |
vicyap | 15:dddb511c39b4 | 178 | int main() |
vicyap | 15:dddb511c39b4 | 179 | { |
BVanderWilp | 7:9d90184335aa | 180 | //wait until button push to start |
BVanderWilp | 7:9d90184335aa | 181 | rpmInterrupt.attach(&rpmCalc, 1); |
BVanderWilp | 7:9d90184335aa | 182 | button.rise(&activate); |
BVanderWilp | 7:9d90184335aa | 183 | while(stall == 0) { |
BVanderWilp | 7:9d90184335aa | 184 | led = !led; |
BVanderWilp | 7:9d90184335aa | 185 | wait(1); |
BVanderWilp | 7:9d90184335aa | 186 | } |
BVanderWilp | 7:9d90184335aa | 187 | |
BVanderWilp | 7:9d90184335aa | 188 | pwmDuty = pot.read() * pwmMax; |
BVanderWilp | 7:9d90184335aa | 189 | |
BVanderWilp | 7:9d90184335aa | 190 | phaseA.period_us(50); |
BVanderWilp | 7:9d90184335aa | 191 | phaseB.period_us(50); |
BVanderWilp | 7:9d90184335aa | 192 | phaseC.period_us(50); |
vicyap | 15:dddb511c39b4 | 193 | |
BVanderWilp | 7:9d90184335aa | 194 | phaseA.write(0); |
BVanderWilp | 7:9d90184335aa | 195 | phaseB.write(0); |
vicyap | 15:dddb511c39b4 | 196 | phaseC.write(0); |
vicyap | 15:dddb511c39b4 | 197 | |
BVanderWilp | 7:9d90184335aa | 198 | phaseAEN = 0; |
BVanderWilp | 7:9d90184335aa | 199 | phaseBEN = 0; |
BVanderWilp | 7:9d90184335aa | 200 | phaseCEN = 0; |
vicyap | 19:085eb0579185 | 201 | |
vicyap | 19:085eb0579185 | 202 | // init the prevHallState |
vicyap | 19:085eb0579185 | 203 | int h1 = hallA.read(); |
vicyap | 19:085eb0579185 | 204 | int h2 = hallB.read(); |
vicyap | 19:085eb0579185 | 205 | int h3 = hallC.read(); |
vicyap | 19:085eb0579185 | 206 | prevHallState = (h1 << 2) + (h2 << 1) + h3; |
vicyap | 15:dddb511c39b4 | 207 | |
vicyap | 20:029a58eb24ab | 208 | spinTicker.attach_us(&jumpStart, spinTickerPeriod_us); |
vicyap | 16:792055c232a5 | 209 | float ADCSum = 0; |
BVanderWilp | 5:6110655353ad | 210 | int ADCCount = 0; |
BVanderWilp | 0:d445abf9a8e9 | 211 | while(1) { |
BVanderWilp | 0:d445abf9a8e9 | 212 | led = !led; |
vicyap | 20:029a58eb24ab | 213 | if(ADCCount == ADCCountMax) { |
vicyap | 20:029a58eb24ab | 214 | ADCSum = ADCSum - (ADCSum / ADCCountMax); |
vicyap | 20:029a58eb24ab | 215 | ADCSum += pot.read(); |
vicyap | 20:029a58eb24ab | 216 | pwmDuty = (ADCSum/ADCCountMax) * pwmMax; |
vicyap | 20:029a58eb24ab | 217 | } |
vicyap | 20:029a58eb24ab | 218 | else |
vicyap | 20:029a58eb24ab | 219 | { |
vicyap | 20:029a58eb24ab | 220 | ADCSum += pot.read(); |
vicyap | 20:029a58eb24ab | 221 | ADCCount++; |
BVanderWilp | 5:6110655353ad | 222 | } |
vicyap | 15:dddb511c39b4 | 223 | if(rpmPrintFlag == 1) { |
vicyap | 19:085eb0579185 | 224 | printf("%d rpm; %f duty; reverse: %d; ticksPerHall = %d\r\n", currentRPM, pwmDuty, reverse, ticksPerHall); |
BVanderWilp | 6:e401c592d2c3 | 225 | rpmPrintFlag = 0; |
BVanderWilp | 6:e401c592d2c3 | 226 | } |
BVanderWilp | 0:d445abf9a8e9 | 227 | } |
BVanderWilp | 0:d445abf9a8e9 | 228 | } |