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@22:72905102b50d, 2016-04-15 (annotated)

Committer:
vicyap
Date:
Fri Apr 15 22:23:37 2016 +0000
Revision:
22:72905102b50d
Parent:
21:2bf65c29a3c6
Child:
23:cb38086e8695
refactoring, moved functionality to different functions

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
vicyap 20:029a58eb24ab 26 int ADCCountMax = 1000; // tune for responsiveness vs. stability, higher value -> less responsive -> more stable
vicyap 22:72905102b50d 27 float ADCSum = 0;
vicyap 22:72905102b50d 28 int ADCCount = 0;
vicyap 22:72905102b50d 29
vicyap 20:029a58eb24ab 30 float pwmMax = 0.9; // tune for max pwmDuty. higher value -> more power available
BVanderWilp 5:6110655353ad 31 float pwmDuty;
vicyap 22:72905102b50d 32 int start = 0;
BVanderWilp 7:9d90184335aa 33 int reverse = 0;
BVanderWilp 6:e401c592d2c3 34
vicyap 19:085eb0579185 35 int spinTickerCounter = 0;
vicyap 20:029a58eb24ab 36 int spinTickerPeriod_us = 50; // tune for how often hall sensors are checked
vicyap 19:085eb0579185 37 int ticksPerHall = 0;
vicyap 19:085eb0579185 38 int prevHallState = 0;
vicyap 19:085eb0579185 39
vicyap 21:2bf65c29a3c6 40 float reverseThreshold = 0.4f; // tune for minimum duty cycle to allow reverse
vicyap 21:2bf65c29a3c6 41
vicyap 20:029a58eb24ab 42 int pole_pairs = 2; // tune for proper mech rpm calculation
vicyap 19:085eb0579185 43
vicyap 22:72905102b50d 44 int hallToStateNumber(int h1, int h2, int h3)
vicyap 22:72905102b50d 45 {
vicyap 22:72905102b50d 46 return (h1 << 2) + (h2 << 1) + h3;
vicyap 22:72905102b50d 47 }
vicyap 22:72905102b50d 48
vicyap 21:2bf65c29a3c6 49 void init()
vicyap 21:2bf65c29a3c6 50 {
vicyap 21:2bf65c29a3c6 51 phaseA.period_us(50);
vicyap 21:2bf65c29a3c6 52 phaseB.period_us(50);
vicyap 21:2bf65c29a3c6 53 phaseC.period_us(50);
vicyap 21:2bf65c29a3c6 54
vicyap 21:2bf65c29a3c6 55 phaseA.write(0);
vicyap 21:2bf65c29a3c6 56 phaseB.write(0);
vicyap 21:2bf65c29a3c6 57 phaseC.write(0);
vicyap 21:2bf65c29a3c6 58
vicyap 21:2bf65c29a3c6 59 phaseAEN = 0;
vicyap 21:2bf65c29a3c6 60 phaseBEN = 0;
vicyap 21:2bf65c29a3c6 61 phaseCEN = 0;
vicyap 21:2bf65c29a3c6 62
vicyap 21:2bf65c29a3c6 63 // init the prevHallState
vicyap 21:2bf65c29a3c6 64 int h1 = hallA.read();
vicyap 21:2bf65c29a3c6 65 int h2 = hallB.read();
vicyap 21:2bf65c29a3c6 66 int h3 = hallC.read();
vicyap 22:72905102b50d 67 prevHallState = hallToStateNumber(h1, h2, h3);
vicyap 21:2bf65c29a3c6 68 }
vicyap 21:2bf65c29a3c6 69
BVanderWilp 6:e401c592d2c3 70 void rpmCalc()
BVanderWilp 6:e401c592d2c3 71 {
vicyap 19:085eb0579185 72 currentRPM = revCount * 60; // 60 seconds in 1 minute
vicyap 19:085eb0579185 73 currentRPM /= pole_pairs; // account for elec vs mech rpm
vicyap 21:2bf65c29a3c6 74 if (reverse == 1)
vicyap 21:2bf65c29a3c6 75 {
vicyap 21:2bf65c29a3c6 76 currentRPM = -currentRPM; // indicate a reverse direction
vicyap 21:2bf65c29a3c6 77 }
BVanderWilp 6:e401c592d2c3 78 revCount = 0;
BVanderWilp 6:e401c592d2c3 79 rpmPrintFlag = 1;
BVanderWilp 6:e401c592d2c3 80 }
vicyap 21:2bf65c29a3c6 81
BVanderWilp 9:af60c737a93e 82 //original names: CBA CBA, new names: BAC BAC
vicyap 21:2bf65c29a3c6 83 void Output_ANull_BLow_CHigh() //state1, A0 B- C+
vicyap 15:dddb511c39b4 84 {
vicyap 17:5e27edd3d8e6 85 phaseA.write(0);
vicyap 17:5e27edd3d8e6 86 phaseB.write(0);
vicyap 17:5e27edd3d8e6 87 phaseC.write(pwmDuty);
BVanderWilp 0:d445abf9a8e9 88 phaseAEN = 0;
BVanderWilp 1:69c06d3676fd 89 phaseBEN = 1;
BVanderWilp 3:2bcc36fe4de5 90 phaseCEN = 1;
BVanderWilp 1:69c06d3676fd 91 }
BVanderWilp 1:69c06d3676fd 92
vicyap 21:2bf65c29a3c6 93 void Output_AHigh_BLow_CNull() //state2, A+ B- C0
BVanderWilp 1:69c06d3676fd 94 {
vicyap 17:5e27edd3d8e6 95 phaseA.write(pwmDuty);
vicyap 17:5e27edd3d8e6 96 phaseB.write(0);
BVanderWilp 1:69c06d3676fd 97 phaseC.write(0);
BVanderWilp 1:69c06d3676fd 98 phaseAEN = 1;
BVanderWilp 3:2bcc36fe4de5 99 phaseBEN = 1;
vicyap 17:5e27edd3d8e6 100 phaseCEN = 0;
BVanderWilp 1:69c06d3676fd 101 }
BVanderWilp 1:69c06d3676fd 102
vicyap 21:2bf65c29a3c6 103 void Output_AHigh_BNull_CLow() //state3, A+ B0 C-
BVanderWilp 1:69c06d3676fd 104 {
vicyap 17:5e27edd3d8e6 105 phaseA.write(pwmDuty);
vicyap 17:5e27edd3d8e6 106 phaseB.write(0);
vicyap 17:5e27edd3d8e6 107 phaseC.write(0);
vicyap 17:5e27edd3d8e6 108 phaseAEN = 1;
BVanderWilp 1:69c06d3676fd 109 phaseBEN = 0;
BVanderWilp 1:69c06d3676fd 110 phaseCEN = 1;
BVanderWilp 1:69c06d3676fd 111 }
BVanderWilp 1:69c06d3676fd 112
vicyap 21:2bf65c29a3c6 113 void Output_ANull_BHigh_CLow() //state4, A0 B+ C-
BVanderWilp 1:69c06d3676fd 114 {
BVanderWilp 0:d445abf9a8e9 115 phaseA.write(0);
BVanderWilp 0:d445abf9a8e9 116 phaseB.write(pwmDuty);
vicyap 17:5e27edd3d8e6 117 phaseC.write(0);
vicyap 17:5e27edd3d8e6 118 phaseAEN = 0;
BVanderWilp 0:d445abf9a8e9 119 phaseBEN = 1;
BVanderWilp 3:2bcc36fe4de5 120 phaseCEN = 1;
BVanderWilp 0:d445abf9a8e9 121 }
BVanderWilp 0:d445abf9a8e9 122
vicyap 21:2bf65c29a3c6 123 void Output_ALow_BHigh_CNull() //state5, A- B+ C0
BVanderWilp 0:d445abf9a8e9 124 {
vicyap 17:5e27edd3d8e6 125 phaseA.write(0);
vicyap 17:5e27edd3d8e6 126 phaseB.write(pwmDuty);
vicyap 17:5e27edd3d8e6 127 phaseC.write(0);
BVanderWilp 0:d445abf9a8e9 128 phaseAEN = 1;
vicyap 17:5e27edd3d8e6 129 phaseCEN = 0;
BVanderWilp 3:2bcc36fe4de5 130 phaseBEN = 1;
BVanderWilp 0:d445abf9a8e9 131 }
BVanderWilp 0:d445abf9a8e9 132
vicyap 21:2bf65c29a3c6 133 void Output_ALow_BNull_CHigh() //state6, A- B0 C+
BVanderWilp 0:d445abf9a8e9 134 {
vicyap 17:5e27edd3d8e6 135 phaseAEN = 1;
BVanderWilp 0:d445abf9a8e9 136 phaseBEN = 0;
vicyap 17:5e27edd3d8e6 137 phaseCEN = 1;
vicyap 17:5e27edd3d8e6 138 phaseA.write(0);
BVanderWilp 0:d445abf9a8e9 139 phaseB.write(0);
BVanderWilp 0:d445abf9a8e9 140 phaseC.write(pwmDuty);
BVanderWilp 0:d445abf9a8e9 141 }
BVanderWilp 0:d445abf9a8e9 142
vicyap 14:0f50e85bd463 143 void toggleRedLed()
vicyap 14:0f50e85bd463 144 {
vicyap 15:dddb511c39b4 145 redLed = !redLed;
vicyap 14:0f50e85bd463 146 }
BVanderWilp 0:d445abf9a8e9 147
vicyap 21:2bf65c29a3c6 148 void SixStepNext()
BVanderWilp 7:9d90184335aa 149 {
vicyap 22:72905102b50d 150 // compute next outputs
vicyap 16:792055c232a5 151 if (reverse == 0)
vicyap 16:792055c232a5 152 {
vicyap 16:792055c232a5 153 if(h1 == 0 && h2 == 1 && h3 == 1) { //state1
vicyap 21:2bf65c29a3c6 154 Output_AHigh_BLow_CNull();
vicyap 16:792055c232a5 155 } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2
vicyap 21:2bf65c29a3c6 156 Output_AHigh_BNull_CLow();
vicyap 16:792055c232a5 157 } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3
vicyap 21:2bf65c29a3c6 158 Output_ANull_BHigh_CLow();
vicyap 16:792055c232a5 159 } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4
vicyap 21:2bf65c29a3c6 160 Output_ALow_BHigh_CNull();
vicyap 16:792055c232a5 161 } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5
vicyap 21:2bf65c29a3c6 162 Output_ALow_BNull_CHigh();
vicyap 21:2bf65c29a3c6 163 } else if (h1 == 0 && h2 == 1 && h3 == 0) { //state6
vicyap 21:2bf65c29a3c6 164 Output_ANull_BLow_CHigh();
vicyap 16:792055c232a5 165 }
vicyap 16:792055c232a5 166 }
vicyap 18:d7033a38f20b 167 else if (reverse == 1) // to go in reverse, shift the mappings by 180 degrees
vicyap 16:792055c232a5 168 {
vicyap 16:792055c232a5 169 if(h1 == 0 && h2 == 1 && h3 == 1) { //state1
vicyap 21:2bf65c29a3c6 170 Output_ALow_BHigh_CNull();
vicyap 18:d7033a38f20b 171 } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2
vicyap 21:2bf65c29a3c6 172 Output_ALow_BNull_CHigh();
vicyap 18:d7033a38f20b 173 } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3
vicyap 21:2bf65c29a3c6 174 Output_ANull_BLow_CHigh();
vicyap 18:d7033a38f20b 175 } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4
vicyap 21:2bf65c29a3c6 176 Output_AHigh_BLow_CNull();
vicyap 18:d7033a38f20b 177 } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5
vicyap 21:2bf65c29a3c6 178 Output_AHigh_BNull_CLow();
vicyap 21:2bf65c29a3c6 179 } else if (h1 == 0 && h2 == 1 && h3 == 0) { //state6
vicyap 21:2bf65c29a3c6 180 Output_ANull_BHigh_CLow();
vicyap 16:792055c232a5 181 }
vicyap 22:72905102b50d 182 }
vicyap 22:72905102b50d 183 }
vicyap 22:72905102b50d 184
vicyap 22:72905102b50d 185 void SpinTicker_callback()
vicyap 22:72905102b50d 186 {
vicyap 22:72905102b50d 187 int h1 = hallA.read();
vicyap 22:72905102b50d 188 int h2 = hallB.read();
vicyap 22:72905102b50d 189 int h3 = hallC.read();
vicyap 22:72905102b50d 190 //check where we start
vicyap 22:72905102b50d 191 int currentHallState = hallToStateNumber(h1, h2, h3);
vicyap 22:72905102b50d 192 if (currentHallState != prevHallState)
vicyap 22:72905102b50d 193 {
vicyap 22:72905102b50d 194 ticksPerHall = spinTickerCounter;
vicyap 22:72905102b50d 195 spinTickerCounter = 0; // reset the number of ticks per hall sensor change
vicyap 22:72905102b50d 196 if (prevHallState == 1) // arbitrarily choose state 1
vicyap 22:72905102b50d 197 {
vicyap 22:72905102b50d 198 revCount += 1;
vicyap 22:72905102b50d 199 }
vicyap 14:0f50e85bd463 200 }
vicyap 22:72905102b50d 201 prevHallState = currentHallState;
vicyap 22:72905102b50d 202 spinTickerCounter += 1; // count the number of times spinTicker runs per hall sensor
vicyap 22:72905102b50d 203
vicyap 22:72905102b50d 204 SixStepNext();
vicyap 22:72905102b50d 205
vicyap 14:0f50e85bd463 206 toggleRedLed();
BVanderWilp 7:9d90184335aa 207 }
BVanderWilp 7:9d90184335aa 208
vicyap 21:2bf65c29a3c6 209 void user_button_callback()
BVanderWilp 7:9d90184335aa 210 {
vicyap 22:72905102b50d 211 if(start == 0)
vicyap 21:2bf65c29a3c6 212 {
vicyap 22:72905102b50d 213 start = 1;
vicyap 21:2bf65c29a3c6 214 }
vicyap 21:2bf65c29a3c6 215 else
vicyap 21:2bf65c29a3c6 216 {
vicyap 21:2bf65c29a3c6 217 if (pwmDuty < reverseThreshold)
vicyap 16:792055c232a5 218 {
vicyap 16:792055c232a5 219 reverse = reverse ^ 1;
vicyap 16:792055c232a5 220 }
BVanderWilp 7:9d90184335aa 221 }
BVanderWilp 7:9d90184335aa 222 }
BVanderWilp 7:9d90184335aa 223
vicyap 22:72905102b50d 224 float buffered_ADC_read()
vicyap 22:72905102b50d 225 {
vicyap 22:72905102b50d 226 if(ADCCount == ADCCountMax) {
vicyap 22:72905102b50d 227 ADCSum = ADCSum - (ADCSum / ADCCountMax);
vicyap 22:72905102b50d 228 ADCSum += pot.read();
vicyap 22:72905102b50d 229 return ADCSum / ADCCountMax;
vicyap 22:72905102b50d 230 }
vicyap 22:72905102b50d 231 else
vicyap 22:72905102b50d 232 {
vicyap 22:72905102b50d 233 ADCSum += pot.read();
vicyap 22:72905102b50d 234 ADCCount++;
vicyap 22:72905102b50d 235 return 0.0;
vicyap 22:72905102b50d 236 }
vicyap 22:72905102b50d 237 }
vicyap 22:72905102b50d 238
vicyap 15:dddb511c39b4 239 int main()
vicyap 15:dddb511c39b4 240 {
BVanderWilp 7:9d90184335aa 241 //wait until button push to start
BVanderWilp 7:9d90184335aa 242 rpmInterrupt.attach(&rpmCalc, 1);
vicyap 21:2bf65c29a3c6 243 button.rise(&user_button_callback);
vicyap 22:72905102b50d 244 while(start == 0) {
BVanderWilp 7:9d90184335aa 245 led = !led;
BVanderWilp 7:9d90184335aa 246 wait(1);
BVanderWilp 7:9d90184335aa 247 }
vicyap 21:2bf65c29a3c6 248
vicyap 21:2bf65c29a3c6 249 init();
vicyap 15:dddb511c39b4 250
vicyap 22:72905102b50d 251 spinTicker.attach_us(&SpinTicker_callback, spinTickerPeriod_us);
BVanderWilp 0:d445abf9a8e9 252 while(1) {
BVanderWilp 0:d445abf9a8e9 253 led = !led;
vicyap 22:72905102b50d 254
vicyap 22:72905102b50d 255 pwmDuty = buffered_ADC_read() * pwmMax;
vicyap 22:72905102b50d 256
vicyap 15:dddb511c39b4 257 if(rpmPrintFlag == 1) {
vicyap 19:085eb0579185 258 printf("%d rpm; %f duty; reverse: %d; ticksPerHall = %d\r\n", currentRPM, pwmDuty, reverse, ticksPerHall);
BVanderWilp 6:e401c592d2c3 259 rpmPrintFlag = 0;
BVanderWilp 6:e401c592d2c3 260 }
BVanderWilp 0:d445abf9a8e9 261 }
BVanderWilp 0:d445abf9a8e9 262 }