STM32F302R8 with Konrad's inverter boards for senior design.
Fork of Blue_Board_Ticker by
main.cpp@21:2bf65c29a3c6, 2016-04-15 (annotated)
- Committer:
- vicyap
- Date:
- Fri Apr 15 22:09:41 2016 +0000
- Revision:
- 21:2bf65c29a3c6
- Parent:
- 20:029a58eb24ab
- Child:
- 22:72905102b50d
refactoring: renamed functions
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 | 21:2bf65c29a3c6 | 37 | float reverseThreshold = 0.4f; // tune for minimum duty cycle to allow reverse |
vicyap | 21:2bf65c29a3c6 | 38 | |
vicyap | 20:029a58eb24ab | 39 | int pole_pairs = 2; // tune for proper mech rpm calculation |
vicyap | 19:085eb0579185 | 40 | |
vicyap | 21:2bf65c29a3c6 | 41 | void init() |
vicyap | 21:2bf65c29a3c6 | 42 | { |
vicyap | 21:2bf65c29a3c6 | 43 | phaseA.period_us(50); |
vicyap | 21:2bf65c29a3c6 | 44 | phaseB.period_us(50); |
vicyap | 21:2bf65c29a3c6 | 45 | phaseC.period_us(50); |
vicyap | 21:2bf65c29a3c6 | 46 | |
vicyap | 21:2bf65c29a3c6 | 47 | phaseA.write(0); |
vicyap | 21:2bf65c29a3c6 | 48 | phaseB.write(0); |
vicyap | 21:2bf65c29a3c6 | 49 | phaseC.write(0); |
vicyap | 21:2bf65c29a3c6 | 50 | |
vicyap | 21:2bf65c29a3c6 | 51 | phaseAEN = 0; |
vicyap | 21:2bf65c29a3c6 | 52 | phaseBEN = 0; |
vicyap | 21:2bf65c29a3c6 | 53 | phaseCEN = 0; |
vicyap | 21:2bf65c29a3c6 | 54 | |
vicyap | 21:2bf65c29a3c6 | 55 | // init the prevHallState |
vicyap | 21:2bf65c29a3c6 | 56 | int h1 = hallA.read(); |
vicyap | 21:2bf65c29a3c6 | 57 | int h2 = hallB.read(); |
vicyap | 21:2bf65c29a3c6 | 58 | int h3 = hallC.read(); |
vicyap | 21:2bf65c29a3c6 | 59 | prevHallState = (h1 << 2) + (h2 << 1) + h3; |
vicyap | 21:2bf65c29a3c6 | 60 | } |
vicyap | 21:2bf65c29a3c6 | 61 | |
BVanderWilp | 6:e401c592d2c3 | 62 | void rpmCalc() |
BVanderWilp | 6:e401c592d2c3 | 63 | { |
vicyap | 19:085eb0579185 | 64 | currentRPM = revCount * 60; // 60 seconds in 1 minute |
vicyap | 19:085eb0579185 | 65 | currentRPM /= pole_pairs; // account for elec vs mech rpm |
vicyap | 21:2bf65c29a3c6 | 66 | if (reverse == 1) |
vicyap | 21:2bf65c29a3c6 | 67 | { |
vicyap | 21:2bf65c29a3c6 | 68 | currentRPM = -currentRPM; // indicate a reverse direction |
vicyap | 21:2bf65c29a3c6 | 69 | } |
BVanderWilp | 6:e401c592d2c3 | 70 | revCount = 0; |
BVanderWilp | 6:e401c592d2c3 | 71 | rpmPrintFlag = 1; |
BVanderWilp | 6:e401c592d2c3 | 72 | } |
vicyap | 21:2bf65c29a3c6 | 73 | |
BVanderWilp | 9:af60c737a93e | 74 | //original names: CBA CBA, new names: BAC BAC |
vicyap | 21:2bf65c29a3c6 | 75 | void Output_ANull_BLow_CHigh() //state1, A0 B- C+ |
vicyap | 15:dddb511c39b4 | 76 | { |
vicyap | 17:5e27edd3d8e6 | 77 | phaseA.write(0); |
vicyap | 17:5e27edd3d8e6 | 78 | phaseB.write(0); |
vicyap | 17:5e27edd3d8e6 | 79 | phaseC.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 80 | phaseAEN = 0; |
BVanderWilp | 1:69c06d3676fd | 81 | phaseBEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 82 | phaseCEN = 1; |
BVanderWilp | 1:69c06d3676fd | 83 | } |
BVanderWilp | 1:69c06d3676fd | 84 | |
vicyap | 21:2bf65c29a3c6 | 85 | void Output_AHigh_BLow_CNull() //state2, A+ B- C0 |
BVanderWilp | 1:69c06d3676fd | 86 | { |
vicyap | 17:5e27edd3d8e6 | 87 | phaseA.write(pwmDuty); |
vicyap | 17:5e27edd3d8e6 | 88 | phaseB.write(0); |
BVanderWilp | 1:69c06d3676fd | 89 | phaseC.write(0); |
BVanderWilp | 1:69c06d3676fd | 90 | phaseAEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 91 | phaseBEN = 1; |
vicyap | 17:5e27edd3d8e6 | 92 | phaseCEN = 0; |
BVanderWilp | 1:69c06d3676fd | 93 | } |
BVanderWilp | 1:69c06d3676fd | 94 | |
vicyap | 21:2bf65c29a3c6 | 95 | void Output_AHigh_BNull_CLow() //state3, A+ B0 C- |
BVanderWilp | 1:69c06d3676fd | 96 | { |
vicyap | 17:5e27edd3d8e6 | 97 | phaseA.write(pwmDuty); |
vicyap | 17:5e27edd3d8e6 | 98 | phaseB.write(0); |
vicyap | 17:5e27edd3d8e6 | 99 | phaseC.write(0); |
vicyap | 17:5e27edd3d8e6 | 100 | phaseAEN = 1; |
BVanderWilp | 1:69c06d3676fd | 101 | phaseBEN = 0; |
BVanderWilp | 1:69c06d3676fd | 102 | phaseCEN = 1; |
BVanderWilp | 1:69c06d3676fd | 103 | } |
BVanderWilp | 1:69c06d3676fd | 104 | |
vicyap | 21:2bf65c29a3c6 | 105 | void Output_ANull_BHigh_CLow() //state4, A0 B+ C- |
BVanderWilp | 1:69c06d3676fd | 106 | { |
BVanderWilp | 0:d445abf9a8e9 | 107 | phaseA.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 108 | phaseB.write(pwmDuty); |
vicyap | 17:5e27edd3d8e6 | 109 | phaseC.write(0); |
vicyap | 17:5e27edd3d8e6 | 110 | phaseAEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 111 | phaseBEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 112 | phaseCEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 113 | } |
BVanderWilp | 0:d445abf9a8e9 | 114 | |
vicyap | 21:2bf65c29a3c6 | 115 | void Output_ALow_BHigh_CNull() //state5, A- B+ C0 |
BVanderWilp | 0:d445abf9a8e9 | 116 | { |
vicyap | 17:5e27edd3d8e6 | 117 | phaseA.write(0); |
vicyap | 17:5e27edd3d8e6 | 118 | phaseB.write(pwmDuty); |
vicyap | 17:5e27edd3d8e6 | 119 | phaseC.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 120 | phaseAEN = 1; |
vicyap | 17:5e27edd3d8e6 | 121 | phaseCEN = 0; |
BVanderWilp | 3:2bcc36fe4de5 | 122 | phaseBEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 123 | } |
BVanderWilp | 0:d445abf9a8e9 | 124 | |
vicyap | 21:2bf65c29a3c6 | 125 | void Output_ALow_BNull_CHigh() //state6, A- B0 C+ |
BVanderWilp | 0:d445abf9a8e9 | 126 | { |
vicyap | 17:5e27edd3d8e6 | 127 | phaseAEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 128 | phaseBEN = 0; |
vicyap | 17:5e27edd3d8e6 | 129 | phaseCEN = 1; |
vicyap | 17:5e27edd3d8e6 | 130 | phaseA.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 131 | phaseB.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 132 | phaseC.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 133 | } |
BVanderWilp | 0:d445abf9a8e9 | 134 | |
vicyap | 14:0f50e85bd463 | 135 | void toggleRedLed() |
vicyap | 14:0f50e85bd463 | 136 | { |
vicyap | 15:dddb511c39b4 | 137 | redLed = !redLed; |
vicyap | 14:0f50e85bd463 | 138 | } |
BVanderWilp | 0:d445abf9a8e9 | 139 | |
vicyap | 21:2bf65c29a3c6 | 140 | void SixStepNext() |
BVanderWilp | 7:9d90184335aa | 141 | { |
BVanderWilp | 3:2bcc36fe4de5 | 142 | int h1 = hallA.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 143 | int h2 = hallB.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 144 | int h3 = hallC.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 145 | //check where we start |
vicyap | 19:085eb0579185 | 146 | int currentHallState = (h1 << 2) + (h2 << 1) + h3; |
vicyap | 19:085eb0579185 | 147 | if (currentHallState != prevHallState) |
vicyap | 19:085eb0579185 | 148 | { |
vicyap | 19:085eb0579185 | 149 | ticksPerHall = spinTickerCounter; |
vicyap | 19:085eb0579185 | 150 | spinTickerCounter = 0; // reset the number of ticks per hall sensor change |
vicyap | 19:085eb0579185 | 151 | if (prevHallState == 1) // arbitrarily choose state 1 |
vicyap | 19:085eb0579185 | 152 | { |
vicyap | 19:085eb0579185 | 153 | revCount += 1; |
vicyap | 19:085eb0579185 | 154 | } |
vicyap | 19:085eb0579185 | 155 | } |
vicyap | 19:085eb0579185 | 156 | prevHallState = currentHallState; |
vicyap | 19:085eb0579185 | 157 | spinTickerCounter += 1; // count the number of times spinTicker runs per hall sensor |
vicyap | 16:792055c232a5 | 158 | |
vicyap | 16:792055c232a5 | 159 | if (reverse == 0) |
vicyap | 16:792055c232a5 | 160 | { |
vicyap | 16:792055c232a5 | 161 | if(h1 == 0 && h2 == 1 && h3 == 1) { //state1 |
vicyap | 21:2bf65c29a3c6 | 162 | Output_AHigh_BLow_CNull(); |
vicyap | 16:792055c232a5 | 163 | } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2 |
vicyap | 21:2bf65c29a3c6 | 164 | Output_AHigh_BNull_CLow(); |
vicyap | 16:792055c232a5 | 165 | } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3 |
vicyap | 21:2bf65c29a3c6 | 166 | Output_ANull_BHigh_CLow(); |
vicyap | 16:792055c232a5 | 167 | } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4 |
vicyap | 21:2bf65c29a3c6 | 168 | Output_ALow_BHigh_CNull(); |
vicyap | 16:792055c232a5 | 169 | } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5 |
vicyap | 21:2bf65c29a3c6 | 170 | Output_ALow_BNull_CHigh(); |
vicyap | 21:2bf65c29a3c6 | 171 | } else if (h1 == 0 && h2 == 1 && h3 == 0) { //state6 |
vicyap | 21:2bf65c29a3c6 | 172 | Output_ANull_BLow_CHigh(); |
vicyap | 16:792055c232a5 | 173 | } |
vicyap | 16:792055c232a5 | 174 | } |
vicyap | 18:d7033a38f20b | 175 | else if (reverse == 1) // to go in reverse, shift the mappings by 180 degrees |
vicyap | 16:792055c232a5 | 176 | { |
vicyap | 16:792055c232a5 | 177 | if(h1 == 0 && h2 == 1 && h3 == 1) { //state1 |
vicyap | 21:2bf65c29a3c6 | 178 | Output_ALow_BHigh_CNull(); |
vicyap | 18:d7033a38f20b | 179 | } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2 |
vicyap | 21:2bf65c29a3c6 | 180 | Output_ALow_BNull_CHigh(); |
vicyap | 18:d7033a38f20b | 181 | } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3 |
vicyap | 21:2bf65c29a3c6 | 182 | Output_ANull_BLow_CHigh(); |
vicyap | 18:d7033a38f20b | 183 | } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4 |
vicyap | 21:2bf65c29a3c6 | 184 | Output_AHigh_BLow_CNull(); |
vicyap | 18:d7033a38f20b | 185 | } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5 |
vicyap | 21:2bf65c29a3c6 | 186 | Output_AHigh_BNull_CLow(); |
vicyap | 21:2bf65c29a3c6 | 187 | } else if (h1 == 0 && h2 == 1 && h3 == 0) { //state6 |
vicyap | 21:2bf65c29a3c6 | 188 | Output_ANull_BHigh_CLow(); |
vicyap | 16:792055c232a5 | 189 | } |
vicyap | 14:0f50e85bd463 | 190 | } |
vicyap | 14:0f50e85bd463 | 191 | toggleRedLed(); |
BVanderWilp | 7:9d90184335aa | 192 | } |
BVanderWilp | 7:9d90184335aa | 193 | |
vicyap | 21:2bf65c29a3c6 | 194 | void user_button_callback() |
BVanderWilp | 7:9d90184335aa | 195 | { |
vicyap | 21:2bf65c29a3c6 | 196 | if(stall == 0) |
vicyap | 21:2bf65c29a3c6 | 197 | { |
BVanderWilp | 7:9d90184335aa | 198 | stall = 1; |
vicyap | 21:2bf65c29a3c6 | 199 | } |
vicyap | 21:2bf65c29a3c6 | 200 | else |
vicyap | 21:2bf65c29a3c6 | 201 | { |
vicyap | 21:2bf65c29a3c6 | 202 | if (pwmDuty < reverseThreshold) |
vicyap | 16:792055c232a5 | 203 | { |
vicyap | 16:792055c232a5 | 204 | reverse = reverse ^ 1; |
vicyap | 16:792055c232a5 | 205 | } |
BVanderWilp | 7:9d90184335aa | 206 | } |
BVanderWilp | 7:9d90184335aa | 207 | } |
BVanderWilp | 7:9d90184335aa | 208 | |
vicyap | 15:dddb511c39b4 | 209 | int main() |
vicyap | 15:dddb511c39b4 | 210 | { |
BVanderWilp | 7:9d90184335aa | 211 | //wait until button push to start |
BVanderWilp | 7:9d90184335aa | 212 | rpmInterrupt.attach(&rpmCalc, 1); |
vicyap | 21:2bf65c29a3c6 | 213 | button.rise(&user_button_callback); |
BVanderWilp | 7:9d90184335aa | 214 | while(stall == 0) { |
BVanderWilp | 7:9d90184335aa | 215 | led = !led; |
BVanderWilp | 7:9d90184335aa | 216 | wait(1); |
BVanderWilp | 7:9d90184335aa | 217 | } |
vicyap | 21:2bf65c29a3c6 | 218 | |
vicyap | 21:2bf65c29a3c6 | 219 | init(); |
vicyap | 15:dddb511c39b4 | 220 | |
vicyap | 21:2bf65c29a3c6 | 221 | spinTicker.attach_us(&SixStepNext, spinTickerPeriod_us); |
vicyap | 16:792055c232a5 | 222 | float ADCSum = 0; |
BVanderWilp | 5:6110655353ad | 223 | int ADCCount = 0; |
BVanderWilp | 0:d445abf9a8e9 | 224 | while(1) { |
BVanderWilp | 0:d445abf9a8e9 | 225 | led = !led; |
vicyap | 20:029a58eb24ab | 226 | if(ADCCount == ADCCountMax) { |
vicyap | 20:029a58eb24ab | 227 | ADCSum = ADCSum - (ADCSum / ADCCountMax); |
vicyap | 20:029a58eb24ab | 228 | ADCSum += pot.read(); |
vicyap | 20:029a58eb24ab | 229 | pwmDuty = (ADCSum/ADCCountMax) * pwmMax; |
vicyap | 20:029a58eb24ab | 230 | } |
vicyap | 20:029a58eb24ab | 231 | else |
vicyap | 20:029a58eb24ab | 232 | { |
vicyap | 20:029a58eb24ab | 233 | ADCSum += pot.read(); |
vicyap | 20:029a58eb24ab | 234 | ADCCount++; |
BVanderWilp | 5:6110655353ad | 235 | } |
vicyap | 15:dddb511c39b4 | 236 | if(rpmPrintFlag == 1) { |
vicyap | 19:085eb0579185 | 237 | printf("%d rpm; %f duty; reverse: %d; ticksPerHall = %d\r\n", currentRPM, pwmDuty, reverse, ticksPerHall); |
BVanderWilp | 6:e401c592d2c3 | 238 | rpmPrintFlag = 0; |
BVanderWilp | 6:e401c592d2c3 | 239 | } |
BVanderWilp | 0:d445abf9a8e9 | 240 | } |
BVanderWilp | 0:d445abf9a8e9 | 241 | } |