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@10:3012bacdfc55, 2016-04-13 (annotated)

Committer:
BVanderWilp
Date:
Wed Apr 13 16:24:11 2016 +0000
Revision:
10:3012bacdfc55
Parent:
9:af60c737a93e
Child:
11:8dc1e36579e2
jumpStart now forces 3 steps instead of 2 for more consistent 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 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 7:9d90184335aa 20 //InterruptIn hallA(PB_3); //New: H2; Original: H1, Green
BVanderWilp 7:9d90184335aa 21 //InterruptIn hallB(PB_10); //New: H3; Original: H2, Blue
BVanderWilp 7:9d90184335aa 22 //InterruptIn hallC(PA_15); //New: H1; Original: H3, White
BVanderWilp 7:9d90184335aa 23
BVanderWilp 6:e401c592d2c3 24 Ticker rpmInterrupt;
BVanderWilp 6:e401c592d2c3 25 int revCount = 0;
BVanderWilp 6:e401c592d2c3 26 int rpmPrintFlag = 0;
BVanderWilp 6:e401c592d2c3 27 int currentRPM;
BVanderWilp 0:d445abf9a8e9 28
BVanderWilp 5:6110655353ad 29 float pwmMax = 0.9;
BVanderWilp 5:6110655353ad 30 float pwmDuty;
BVanderWilp 0:d445abf9a8e9 31 int stall = 0;
BVanderWilp 7:9d90184335aa 32 int reverse = 0;
BVanderWilp 6:e401c592d2c3 33
BVanderWilp 6:e401c592d2c3 34 void rpmCalc()
BVanderWilp 6:e401c592d2c3 35 {
BVanderWilp 7:9d90184335aa 36 currentRPM = revCount * 60; //account for elec vs mech rpm
BVanderWilp 6:e401c592d2c3 37 revCount = 0;
BVanderWilp 6:e401c592d2c3 38 rpmPrintFlag = 1;
BVanderWilp 6:e401c592d2c3 39 }
BVanderWilp 9:af60c737a93e 40 //original names: CBA CBA, new names: BAC BAC
BVanderWilp 9:af60c737a93e 41 void Brise() //state1, A0 B- C+
BVanderWilp 0:d445abf9a8e9 42 {
BVanderWilp 0:d445abf9a8e9 43 phaseAEN = 0;
BVanderWilp 1:69c06d3676fd 44 phaseBEN = 1;
BVanderWilp 1:69c06d3676fd 45
BVanderWilp 3:2bcc36fe4de5 46 phaseC.write(pwmDuty);
BVanderWilp 3:2bcc36fe4de5 47 phaseCEN = 1;
BVanderWilp 7:9d90184335aa 48 // redLed = ! redLed;
BVanderWilp 6:e401c592d2c3 49 revCount++;
BVanderWilp 1:69c06d3676fd 50 }
BVanderWilp 1:69c06d3676fd 51
BVanderWilp 9:af60c737a93e 52 void Afall() //state2, A+ B- C0
BVanderWilp 1:69c06d3676fd 53 {
BVanderWilp 1:69c06d3676fd 54 phaseCEN = 0;
BVanderWilp 1:69c06d3676fd 55 phaseC.write(0);
BVanderWilp 1:69c06d3676fd 56 phaseA.write(pwmDuty);
BVanderWilp 1:69c06d3676fd 57 phaseAEN = 1;
BVanderWilp 3:2bcc36fe4de5 58
BVanderWilp 3:2bcc36fe4de5 59 phaseBEN = 1;
BVanderWilp 1:69c06d3676fd 60 }
BVanderWilp 1:69c06d3676fd 61
BVanderWilp 9:af60c737a93e 62 void Crise() //state3, A+ B0 C-
BVanderWilp 1:69c06d3676fd 63 {
BVanderWilp 1:69c06d3676fd 64 phaseBEN = 0;
BVanderWilp 1:69c06d3676fd 65 phaseCEN = 1;
BVanderWilp 3:2bcc36fe4de5 66
BVanderWilp 3:2bcc36fe4de5 67 phaseA.write(pwmDuty);
BVanderWilp 3:2bcc36fe4de5 68 phaseAEN = 1;
BVanderWilp 1:69c06d3676fd 69 }
BVanderWilp 1:69c06d3676fd 70
BVanderWilp 9:af60c737a93e 71 void Bfall() //state4, A0 B+ C-
BVanderWilp 1:69c06d3676fd 72 {
BVanderWilp 1:69c06d3676fd 73 phaseAEN = 0;
BVanderWilp 0:d445abf9a8e9 74 phaseA.write(0);
BVanderWilp 0:d445abf9a8e9 75 phaseB.write(pwmDuty);
BVanderWilp 0:d445abf9a8e9 76 phaseBEN = 1;
BVanderWilp 1:69c06d3676fd 77
BVanderWilp 3:2bcc36fe4de5 78 phaseCEN = 1;
BVanderWilp 7:9d90184335aa 79 // redLed = ! redLed;
BVanderWilp 0:d445abf9a8e9 80 }
BVanderWilp 0:d445abf9a8e9 81
BVanderWilp 9:af60c737a93e 82 void Arise() //state5, A- B+ C0
BVanderWilp 0:d445abf9a8e9 83 {
BVanderWilp 0:d445abf9a8e9 84 phaseCEN = 0;
BVanderWilp 0:d445abf9a8e9 85 phaseAEN = 1;
BVanderWilp 3:2bcc36fe4de5 86
BVanderWilp 3:2bcc36fe4de5 87 phaseB.write(pwmDuty);
BVanderWilp 3:2bcc36fe4de5 88 phaseBEN = 1;
BVanderWilp 0:d445abf9a8e9 89 }
BVanderWilp 0:d445abf9a8e9 90
BVanderWilp 9:af60c737a93e 91 void Cfall() //state6, A- B0 C+
BVanderWilp 0:d445abf9a8e9 92 {
BVanderWilp 0:d445abf9a8e9 93 phaseBEN = 0;
BVanderWilp 0:d445abf9a8e9 94 phaseB.write(0);
BVanderWilp 0:d445abf9a8e9 95 phaseC.write(pwmDuty);
BVanderWilp 0:d445abf9a8e9 96 phaseCEN = 1;
BVanderWilp 3:2bcc36fe4de5 97
BVanderWilp 3:2bcc36fe4de5 98 phaseAEN = 1;
BVanderWilp 0:d445abf9a8e9 99 }
BVanderWilp 0:d445abf9a8e9 100
BVanderWilp 0:d445abf9a8e9 101
BVanderWilp 7:9d90184335aa 102 void jumpStart()
BVanderWilp 7:9d90184335aa 103 {
BVanderWilp 3:2bcc36fe4de5 104 int h1 = hallA.read();
BVanderWilp 3:2bcc36fe4de5 105 int h2 = hallB.read();
BVanderWilp 3:2bcc36fe4de5 106 int h3 = hallC.read();
BVanderWilp 3:2bcc36fe4de5 107 //check where we start
BVanderWilp 3:2bcc36fe4de5 108 if(h1 == 0 && h2 == 1 && h3 == 1) //state1
BVanderWilp 3:2bcc36fe4de5 109 {
BVanderWilp 9:af60c737a93e 110 Brise();
BVanderWilp 9:af60c737a93e 111 Afall();
BVanderWilp 10:3012bacdfc55 112 Crise();
BVanderWilp 9:af60c737a93e 113 }
BVanderWilp 9:af60c737a93e 114 else if(h1 == 0 && h2 == 0 && h3 == 1) //state2
BVanderWilp 9:af60c737a93e 115 {
BVanderWilp 9:af60c737a93e 116 Afall();
BVanderWilp 9:af60c737a93e 117 Crise();
BVanderWilp 10:3012bacdfc55 118 Bfall();
BVanderWilp 9:af60c737a93e 119 }
BVanderWilp 9:af60c737a93e 120 else if(h1 == 1 && h2 == 0 && h3 == 1) //state3
BVanderWilp 9:af60c737a93e 121 {
BVanderWilp 3:2bcc36fe4de5 122 Crise();
BVanderWilp 3:2bcc36fe4de5 123 Bfall();
BVanderWilp 10:3012bacdfc55 124 Arise();
BVanderWilp 3:2bcc36fe4de5 125 }
BVanderWilp 9:af60c737a93e 126 else if(h1 == 1 && h2 == 0 && h3 == 0) //state4
BVanderWilp 3:2bcc36fe4de5 127 {
BVanderWilp 3:2bcc36fe4de5 128 Bfall();
BVanderWilp 3:2bcc36fe4de5 129 Arise();
BVanderWilp 10:3012bacdfc55 130 Cfall();
BVanderWilp 3:2bcc36fe4de5 131 }
BVanderWilp 9:af60c737a93e 132 else if(h1 == 1 && h2 == 1 && h3 == 0) //state5
BVanderWilp 3:2bcc36fe4de5 133 {
BVanderWilp 3:2bcc36fe4de5 134 Arise();
BVanderWilp 3:2bcc36fe4de5 135 Cfall();
BVanderWilp 10:3012bacdfc55 136 Brise();
BVanderWilp 3:2bcc36fe4de5 137 }
BVanderWilp 9:af60c737a93e 138 else //(h1 == 0 && h2 == 1 && h3 == 0)state6
BVanderWilp 3:2bcc36fe4de5 139 {
BVanderWilp 3:2bcc36fe4de5 140 Cfall();
BVanderWilp 3:2bcc36fe4de5 141 Brise();
BVanderWilp 10:3012bacdfc55 142 Afall();
BVanderWilp 3:2bcc36fe4de5 143 }
BVanderWilp 7:9d90184335aa 144 }
BVanderWilp 7:9d90184335aa 145
BVanderWilp 7:9d90184335aa 146 void activate()
BVanderWilp 7:9d90184335aa 147 {
BVanderWilp 7:9d90184335aa 148 if(stall == 0)
BVanderWilp 7:9d90184335aa 149 {
BVanderWilp 7:9d90184335aa 150 stall = 1;
BVanderWilp 7:9d90184335aa 151 }
BVanderWilp 7:9d90184335aa 152 else
BVanderWilp 7:9d90184335aa 153 {
BVanderWilp 7:9d90184335aa 154 jumpStart();
BVanderWilp 7:9d90184335aa 155 // if(reverse == 1) //switch to forward
BVanderWilp 7:9d90184335aa 156 // {
BVanderWilp 7:9d90184335aa 157 // hallA.fall(&Afall);
BVanderWilp 7:9d90184335aa 158 // hallA.rise(&Arise);
BVanderWilp 7:9d90184335aa 159 // hallB.fall(&Bfall);
BVanderWilp 7:9d90184335aa 160 // hallB.rise(&Brise);
BVanderWilp 7:9d90184335aa 161 // hallC.fall(&Cfall);
BVanderWilp 7:9d90184335aa 162 // hallC.rise(&Crise);
BVanderWilp 7:9d90184335aa 163 // redLed = !redLed;
BVanderWilp 7:9d90184335aa 164 // reverse = 0;
BVanderWilp 7:9d90184335aa 165 // }
BVanderWilp 7:9d90184335aa 166 // else if(reverse == 0) //switch to reverse
BVanderWilp 7:9d90184335aa 167 // {
BVanderWilp 7:9d90184335aa 168 // hallA.fall(&Bfall);
BVanderWilp 7:9d90184335aa 169 // hallA.rise(&Brise);
BVanderWilp 7:9d90184335aa 170 // hallB.fall(&Cfall);
BVanderWilp 7:9d90184335aa 171 // hallB.rise(&Crise);
BVanderWilp 7:9d90184335aa 172 // hallC.fall(&Afall);
BVanderWilp 7:9d90184335aa 173 // hallC.rise(&Arise);
BVanderWilp 7:9d90184335aa 174 // redLed = !redLed;
BVanderWilp 7:9d90184335aa 175 // reverse = 1;
BVanderWilp 7:9d90184335aa 176 // }
BVanderWilp 7:9d90184335aa 177 }
BVanderWilp 7:9d90184335aa 178 }
BVanderWilp 7:9d90184335aa 179
BVanderWilp 7:9d90184335aa 180 int main() {
BVanderWilp 7:9d90184335aa 181 //wait until button push to start
BVanderWilp 7:9d90184335aa 182 rpmInterrupt.attach(&rpmCalc, 1);
BVanderWilp 7:9d90184335aa 183 button.rise(&activate);
BVanderWilp 7:9d90184335aa 184 while(stall == 0) {
BVanderWilp 7:9d90184335aa 185 led = !led;
BVanderWilp 7:9d90184335aa 186 wait(1);
BVanderWilp 7:9d90184335aa 187 }
BVanderWilp 7:9d90184335aa 188
BVanderWilp 7:9d90184335aa 189 pwmDuty = pot.read() * pwmMax;
BVanderWilp 7:9d90184335aa 190
BVanderWilp 7:9d90184335aa 191 phaseA.period_us(50);
BVanderWilp 7:9d90184335aa 192 phaseB.period_us(50);
BVanderWilp 7:9d90184335aa 193 phaseC.period_us(50);
BVanderWilp 7:9d90184335aa 194
BVanderWilp 7:9d90184335aa 195 phaseA.write(0);
BVanderWilp 7:9d90184335aa 196 phaseB.write(0);
BVanderWilp 7:9d90184335aa 197 phaseC.write(0);
BVanderWilp 7:9d90184335aa 198
BVanderWilp 7:9d90184335aa 199 phaseAEN = 0;
BVanderWilp 7:9d90184335aa 200 phaseBEN = 0;
BVanderWilp 7:9d90184335aa 201 phaseCEN = 0;
BVanderWilp 7:9d90184335aa 202 //begin sensored mode
BVanderWilp 7:9d90184335aa 203 hallA.fall(&Afall);
BVanderWilp 7:9d90184335aa 204 hallA.rise(&Arise);
BVanderWilp 7:9d90184335aa 205 hallB.fall(&Bfall);
BVanderWilp 7:9d90184335aa 206 hallB.rise(&Brise);
BVanderWilp 7:9d90184335aa 207 hallC.fall(&Cfall);
BVanderWilp 7:9d90184335aa 208 hallC.rise(&Crise);
BVanderWilp 7:9d90184335aa 209
BVanderWilp 7:9d90184335aa 210 jumpStart();
BVanderWilp 5:6110655353ad 211 float ADCSum = 0;;
BVanderWilp 5:6110655353ad 212 int ADCCount = 0;
BVanderWilp 0:d445abf9a8e9 213 while(1) {
BVanderWilp 0:d445abf9a8e9 214 led = !led;
BVanderWilp 5:6110655353ad 215 ADCSum += pot.read();
BVanderWilp 5:6110655353ad 216 ADCCount++;
BVanderWilp 5:6110655353ad 217 if(ADCCount == 20)
BVanderWilp 5:6110655353ad 218 {
BVanderWilp 5:6110655353ad 219 pwmDuty = (ADCSum/20) * pwmMax;
BVanderWilp 5:6110655353ad 220 ADCSum = 0;
BVanderWilp 5:6110655353ad 221 ADCCount = 0;
BVanderWilp 5:6110655353ad 222 }
BVanderWilp 6:e401c592d2c3 223 if(rpmPrintFlag == 1)
BVanderWilp 6:e401c592d2c3 224 {
BVanderWilp 7:9d90184335aa 225 printf("%d rpm; %f duty\r\n", currentRPM, pwmDuty);
BVanderWilp 6:e401c592d2c3 226 rpmPrintFlag = 0;
BVanderWilp 6:e401c592d2c3 227 }
BVanderWilp 5:6110655353ad 228 wait(0.05);
BVanderWilp 0:d445abf9a8e9 229 }
BVanderWilp 0:d445abf9a8e9 230 }