Victor Yap / Mbed 2 deprecated Konrad_Board_Controller

STM32F302R8 with Konrad's inverter boards for senior design.

Dependencies:   mbed

Fork of Blue_Board_Ticker by Brad VanderWilp

main.cpp@19:085eb0579185, 2016-04-15 (annotated)

Committer:
vicyap
Date:
Fri Apr 15 21:35:50 2016 +0000
Revision:
19:085eb0579185
Parent:
18:d7033a38f20b
Child:
20:029a58eb24ab
Added rpm and ticksPerHall counts

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 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
BVanderWilp 5:6110655353ad 26 float pwmMax = 0.9;
BVanderWilp 5:6110655353ad 27 float pwmDuty;
BVanderWilp 0:d445abf9a8e9 28 int stall = 0;
BVanderWilp 7:9d90184335aa 29 int reverse = 0;
BVanderWilp 6:e401c592d2c3 30
vicyap 19:085eb0579185 31 int spinTickerCounter = 0;
vicyap 19:085eb0579185 32 int ticksPerHall = 0;
vicyap 19:085eb0579185 33 int prevHallState = 0;
vicyap 19:085eb0579185 34
vicyap 19:085eb0579185 35 int pole_pairs = 2;
vicyap 19:085eb0579185 36
BVanderWilp 6:e401c592d2c3 37 void rpmCalc()
BVanderWilp 6:e401c592d2c3 38 {
vicyap 19:085eb0579185 39 currentRPM = revCount * 60; // 60 seconds in 1 minute
vicyap 19:085eb0579185 40 currentRPM /= pole_pairs; // account for elec vs mech rpm
BVanderWilp 6:e401c592d2c3 41 revCount = 0;
BVanderWilp 6:e401c592d2c3 42 rpmPrintFlag = 1;
BVanderWilp 6:e401c592d2c3 43 }
BVanderWilp 9:af60c737a93e 44 //original names: CBA CBA, new names: BAC BAC
BVanderWilp 9:af60c737a93e 45 void Brise() //state1, A0 B- C+
vicyap 15:dddb511c39b4 46 {
vicyap 17:5e27edd3d8e6 47 phaseA.write(0);
vicyap 17:5e27edd3d8e6 48 phaseB.write(0);
vicyap 17:5e27edd3d8e6 49 phaseC.write(pwmDuty);
BVanderWilp 0:d445abf9a8e9 50 phaseAEN = 0;
BVanderWilp 1:69c06d3676fd 51 phaseBEN = 1;
BVanderWilp 3:2bcc36fe4de5 52 phaseCEN = 1;
BVanderWilp 1:69c06d3676fd 53 }
BVanderWilp 1:69c06d3676fd 54
BVanderWilp 9:af60c737a93e 55 void Afall() //state2, A+ B- C0
BVanderWilp 1:69c06d3676fd 56 {
vicyap 17:5e27edd3d8e6 57 phaseA.write(pwmDuty);
vicyap 17:5e27edd3d8e6 58 phaseB.write(0);
BVanderWilp 1:69c06d3676fd 59 phaseC.write(0);
BVanderWilp 1:69c06d3676fd 60 phaseAEN = 1;
BVanderWilp 3:2bcc36fe4de5 61 phaseBEN = 1;
vicyap 17:5e27edd3d8e6 62 phaseCEN = 0;
BVanderWilp 1:69c06d3676fd 63 }
BVanderWilp 1:69c06d3676fd 64
BVanderWilp 9:af60c737a93e 65 void Crise() //state3, A+ B0 C-
BVanderWilp 1:69c06d3676fd 66 {
vicyap 17:5e27edd3d8e6 67 phaseA.write(pwmDuty);
vicyap 17:5e27edd3d8e6 68 phaseB.write(0);
vicyap 17:5e27edd3d8e6 69 phaseC.write(0);
vicyap 17:5e27edd3d8e6 70 phaseAEN = 1;
BVanderWilp 1:69c06d3676fd 71 phaseBEN = 0;
BVanderWilp 1:69c06d3676fd 72 phaseCEN = 1;
BVanderWilp 1:69c06d3676fd 73 }
BVanderWilp 1:69c06d3676fd 74
BVanderWilp 9:af60c737a93e 75 void Bfall() //state4, A0 B+ C-
BVanderWilp 1:69c06d3676fd 76 {
BVanderWilp 0:d445abf9a8e9 77 phaseA.write(0);
BVanderWilp 0:d445abf9a8e9 78 phaseB.write(pwmDuty);
vicyap 17:5e27edd3d8e6 79 phaseC.write(0);
vicyap 17:5e27edd3d8e6 80 phaseAEN = 0;
BVanderWilp 0:d445abf9a8e9 81 phaseBEN = 1;
BVanderWilp 3:2bcc36fe4de5 82 phaseCEN = 1;
BVanderWilp 0:d445abf9a8e9 83 }
BVanderWilp 0:d445abf9a8e9 84
BVanderWilp 9:af60c737a93e 85 void Arise() //state5, A- B+ C0
BVanderWilp 0:d445abf9a8e9 86 {
vicyap 17:5e27edd3d8e6 87 phaseA.write(0);
vicyap 17:5e27edd3d8e6 88 phaseB.write(pwmDuty);
vicyap 17:5e27edd3d8e6 89 phaseC.write(0);
BVanderWilp 0:d445abf9a8e9 90 phaseAEN = 1;
vicyap 17:5e27edd3d8e6 91 phaseCEN = 0;
BVanderWilp 3:2bcc36fe4de5 92 phaseBEN = 1;
BVanderWilp 0:d445abf9a8e9 93 }
BVanderWilp 0:d445abf9a8e9 94
BVanderWilp 9:af60c737a93e 95 void Cfall() //state6, A- B0 C+
BVanderWilp 0:d445abf9a8e9 96 {
vicyap 17:5e27edd3d8e6 97 phaseAEN = 1;
BVanderWilp 0:d445abf9a8e9 98 phaseBEN = 0;
vicyap 17:5e27edd3d8e6 99 phaseCEN = 1;
vicyap 17:5e27edd3d8e6 100 phaseA.write(0);
BVanderWilp 0:d445abf9a8e9 101 phaseB.write(0);
BVanderWilp 0:d445abf9a8e9 102 phaseC.write(pwmDuty);
BVanderWilp 0:d445abf9a8e9 103 }
BVanderWilp 0:d445abf9a8e9 104
vicyap 14:0f50e85bd463 105 void toggleRedLed()
vicyap 14:0f50e85bd463 106 {
vicyap 15:dddb511c39b4 107 redLed = !redLed;
vicyap 14:0f50e85bd463 108 }
BVanderWilp 0:d445abf9a8e9 109
BVanderWilp 7:9d90184335aa 110 void jumpStart()
BVanderWilp 7:9d90184335aa 111 {
BVanderWilp 3:2bcc36fe4de5 112 int h1 = hallA.read();
BVanderWilp 3:2bcc36fe4de5 113 int h2 = hallB.read();
BVanderWilp 3:2bcc36fe4de5 114 int h3 = hallC.read();
BVanderWilp 3:2bcc36fe4de5 115 //check where we start
vicyap 19:085eb0579185 116 int currentHallState = (h1 << 2) + (h2 << 1) + h3;
vicyap 19:085eb0579185 117 if (currentHallState != prevHallState)
vicyap 19:085eb0579185 118 {
vicyap 19:085eb0579185 119 ticksPerHall = spinTickerCounter;
vicyap 19:085eb0579185 120 spinTickerCounter = 0; // reset the number of ticks per hall sensor change
vicyap 19:085eb0579185 121 if (prevHallState == 1) // arbitrarily choose state 1
vicyap 19:085eb0579185 122 {
vicyap 19:085eb0579185 123 revCount += 1;
vicyap 19:085eb0579185 124 }
vicyap 19:085eb0579185 125 }
vicyap 19:085eb0579185 126 prevHallState = currentHallState;
vicyap 19:085eb0579185 127 spinTickerCounter += 1; // count the number of times spinTicker runs per hall sensor
vicyap 16:792055c232a5 128
vicyap 16:792055c232a5 129 if (reverse == 0)
vicyap 16:792055c232a5 130 {
vicyap 16:792055c232a5 131 if(h1 == 0 && h2 == 1 && h3 == 1) { //state1
vicyap 16:792055c232a5 132 Afall();
vicyap 16:792055c232a5 133 } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2
vicyap 16:792055c232a5 134 Crise();
vicyap 16:792055c232a5 135 } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3
vicyap 16:792055c232a5 136 Bfall();
vicyap 16:792055c232a5 137 } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4
vicyap 16:792055c232a5 138 Arise();
vicyap 16:792055c232a5 139 } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5
vicyap 16:792055c232a5 140 Cfall();
vicyap 16:792055c232a5 141 } else { //(h1 == 0 && h2 == 1 && h3 == 0)state6
vicyap 16:792055c232a5 142 Brise();
vicyap 16:792055c232a5 143 }
vicyap 16:792055c232a5 144 }
vicyap 18:d7033a38f20b 145 else if (reverse == 1) // to go in reverse, shift the mappings by 180 degrees
vicyap 16:792055c232a5 146 {
vicyap 16:792055c232a5 147 if(h1 == 0 && h2 == 1 && h3 == 1) { //state1
vicyap 18:d7033a38f20b 148 Arise();
vicyap 18:d7033a38f20b 149 } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2
vicyap 16:792055c232a5 150 Cfall();
vicyap 18:d7033a38f20b 151 } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3
vicyap 16:792055c232a5 152 Brise();
vicyap 18:d7033a38f20b 153 } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4
vicyap 16:792055c232a5 154 Afall();
vicyap 18:d7033a38f20b 155 } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5
vicyap 16:792055c232a5 156 Crise();
vicyap 18:d7033a38f20b 157 } else { //(h1 == 0 && h2 == 1 && h3 == 0) state6
vicyap 16:792055c232a5 158 Bfall();
vicyap 16:792055c232a5 159 }
vicyap 14:0f50e85bd463 160 }
vicyap 14:0f50e85bd463 161 toggleRedLed();
BVanderWilp 7:9d90184335aa 162 }
BVanderWilp 7:9d90184335aa 163
BVanderWilp 7:9d90184335aa 164 void activate()
BVanderWilp 7:9d90184335aa 165 {
vicyap 15:dddb511c39b4 166 if(stall == 0) {
BVanderWilp 7:9d90184335aa 167 stall = 1;
vicyap 15:dddb511c39b4 168 } else {
vicyap 17:5e27edd3d8e6 169 if (pwmDuty < 0.4f)
vicyap 16:792055c232a5 170 {
vicyap 16:792055c232a5 171 reverse = reverse ^ 1;
vicyap 16:792055c232a5 172 }
BVanderWilp 7:9d90184335aa 173 }
BVanderWilp 7:9d90184335aa 174 }
BVanderWilp 7:9d90184335aa 175
vicyap 15:dddb511c39b4 176 int main()
vicyap 15:dddb511c39b4 177 {
BVanderWilp 7:9d90184335aa 178 //wait until button push to start
BVanderWilp 7:9d90184335aa 179 rpmInterrupt.attach(&rpmCalc, 1);
BVanderWilp 7:9d90184335aa 180 button.rise(&activate);
BVanderWilp 7:9d90184335aa 181 while(stall == 0) {
BVanderWilp 7:9d90184335aa 182 led = !led;
BVanderWilp 7:9d90184335aa 183 wait(1);
BVanderWilp 7:9d90184335aa 184 }
BVanderWilp 7:9d90184335aa 185
BVanderWilp 7:9d90184335aa 186 pwmDuty = pot.read() * pwmMax;
BVanderWilp 7:9d90184335aa 187
BVanderWilp 7:9d90184335aa 188 phaseA.period_us(50);
BVanderWilp 7:9d90184335aa 189 phaseB.period_us(50);
BVanderWilp 7:9d90184335aa 190 phaseC.period_us(50);
vicyap 15:dddb511c39b4 191
BVanderWilp 7:9d90184335aa 192 phaseA.write(0);
BVanderWilp 7:9d90184335aa 193 phaseB.write(0);
vicyap 15:dddb511c39b4 194 phaseC.write(0);
vicyap 15:dddb511c39b4 195
BVanderWilp 7:9d90184335aa 196 phaseAEN = 0;
BVanderWilp 7:9d90184335aa 197 phaseBEN = 0;
BVanderWilp 7:9d90184335aa 198 phaseCEN = 0;
vicyap 19:085eb0579185 199
vicyap 19:085eb0579185 200 // init the prevHallState
vicyap 19:085eb0579185 201 int h1 = hallA.read();
vicyap 19:085eb0579185 202 int h2 = hallB.read();
vicyap 19:085eb0579185 203 int h3 = hallC.read();
vicyap 19:085eb0579185 204 prevHallState = (h1 << 2) + (h2 << 1) + h3;
vicyap 15:dddb511c39b4 205
vicyap 13:08c700d71324 206 spinTicker.attach_us(&jumpStart, 50);
vicyap 16:792055c232a5 207 float ADCSum = 0;
BVanderWilp 5:6110655353ad 208 int ADCCount = 0;
BVanderWilp 0:d445abf9a8e9 209 while(1) {
BVanderWilp 0:d445abf9a8e9 210 led = !led;
BVanderWilp 5:6110655353ad 211 ADCSum += pot.read();
BVanderWilp 5:6110655353ad 212 ADCCount++;
vicyap 15:dddb511c39b4 213 if(ADCCount == 20) {
BVanderWilp 5:6110655353ad 214 pwmDuty = (ADCSum/20) * pwmMax;
BVanderWilp 5:6110655353ad 215 ADCSum = 0;
BVanderWilp 5:6110655353ad 216 ADCCount = 0;
BVanderWilp 5:6110655353ad 217 }
vicyap 15:dddb511c39b4 218 if(rpmPrintFlag == 1) {
vicyap 19:085eb0579185 219 printf("%d rpm; %f duty; reverse: %d; ticksPerHall = %d\r\n", currentRPM, pwmDuty, reverse, ticksPerHall);
BVanderWilp 6:e401c592d2c3 220 rpmPrintFlag = 0;
BVanderWilp 6:e401c592d2c3 221 }
BVanderWilp 5:6110655353ad 222 wait(0.05);
BVanderWilp 0:d445abf9a8e9 223 }
BVanderWilp 0:d445abf9a8e9 224 }