STM32F302R8 with Konrad's inverter boards for senior design.
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main.cpp@16:792055c232a5, 2016-04-13 (annotated)
- Committer:
- vicyap
- Date:
- Wed Apr 13 19:09:10 2016 +0000
- Revision:
- 16:792055c232a5
- Parent:
- 15:dddb511c39b4
- Child:
- 17:5e27edd3d8e6
user button will reverse if pwmDuty is less than 20%
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 | |
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 | |
BVanderWilp | 6:e401c592d2c3 | 31 | void rpmCalc() |
BVanderWilp | 6:e401c592d2c3 | 32 | { |
BVanderWilp | 7:9d90184335aa | 33 | currentRPM = revCount * 60; //account for elec vs mech rpm |
BVanderWilp | 6:e401c592d2c3 | 34 | revCount = 0; |
BVanderWilp | 6:e401c592d2c3 | 35 | rpmPrintFlag = 1; |
BVanderWilp | 6:e401c592d2c3 | 36 | } |
BVanderWilp | 9:af60c737a93e | 37 | //original names: CBA CBA, new names: BAC BAC |
BVanderWilp | 9:af60c737a93e | 38 | void Brise() //state1, A0 B- C+ |
vicyap | 15:dddb511c39b4 | 39 | { |
BVanderWilp | 0:d445abf9a8e9 | 40 | phaseAEN = 0; |
BVanderWilp | 1:69c06d3676fd | 41 | phaseBEN = 1; |
vicyap | 15:dddb511c39b4 | 42 | |
BVanderWilp | 3:2bcc36fe4de5 | 43 | phaseC.write(pwmDuty); |
BVanderWilp | 3:2bcc36fe4de5 | 44 | phaseCEN = 1; |
BVanderWilp | 6:e401c592d2c3 | 45 | revCount++; |
BVanderWilp | 1:69c06d3676fd | 46 | } |
BVanderWilp | 1:69c06d3676fd | 47 | |
BVanderWilp | 9:af60c737a93e | 48 | void Afall() //state2, A+ B- C0 |
BVanderWilp | 1:69c06d3676fd | 49 | { |
BVanderWilp | 1:69c06d3676fd | 50 | phaseCEN = 0; |
BVanderWilp | 1:69c06d3676fd | 51 | phaseC.write(0); |
BVanderWilp | 1:69c06d3676fd | 52 | phaseA.write(pwmDuty); |
BVanderWilp | 1:69c06d3676fd | 53 | phaseAEN = 1; |
vicyap | 15:dddb511c39b4 | 54 | |
BVanderWilp | 3:2bcc36fe4de5 | 55 | phaseBEN = 1; |
BVanderWilp | 1:69c06d3676fd | 56 | } |
BVanderWilp | 1:69c06d3676fd | 57 | |
BVanderWilp | 9:af60c737a93e | 58 | void Crise() //state3, A+ B0 C- |
BVanderWilp | 1:69c06d3676fd | 59 | { |
BVanderWilp | 1:69c06d3676fd | 60 | phaseBEN = 0; |
BVanderWilp | 1:69c06d3676fd | 61 | phaseCEN = 1; |
vicyap | 15:dddb511c39b4 | 62 | |
BVanderWilp | 3:2bcc36fe4de5 | 63 | phaseA.write(pwmDuty); |
BVanderWilp | 3:2bcc36fe4de5 | 64 | phaseAEN = 1; |
BVanderWilp | 1:69c06d3676fd | 65 | } |
BVanderWilp | 1:69c06d3676fd | 66 | |
BVanderWilp | 9:af60c737a93e | 67 | void Bfall() //state4, A0 B+ C- |
BVanderWilp | 1:69c06d3676fd | 68 | { |
BVanderWilp | 1:69c06d3676fd | 69 | phaseAEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 70 | phaseA.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 71 | phaseB.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 72 | phaseBEN = 1; |
vicyap | 15:dddb511c39b4 | 73 | |
BVanderWilp | 3:2bcc36fe4de5 | 74 | phaseCEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 75 | } |
BVanderWilp | 0:d445abf9a8e9 | 76 | |
BVanderWilp | 9:af60c737a93e | 77 | void Arise() //state5, A- B+ C0 |
BVanderWilp | 0:d445abf9a8e9 | 78 | { |
BVanderWilp | 0:d445abf9a8e9 | 79 | phaseCEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 80 | phaseAEN = 1; |
vicyap | 15:dddb511c39b4 | 81 | |
BVanderWilp | 3:2bcc36fe4de5 | 82 | phaseB.write(pwmDuty); |
BVanderWilp | 3:2bcc36fe4de5 | 83 | phaseBEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 84 | } |
BVanderWilp | 0:d445abf9a8e9 | 85 | |
BVanderWilp | 9:af60c737a93e | 86 | void Cfall() //state6, A- B0 C+ |
BVanderWilp | 0:d445abf9a8e9 | 87 | { |
BVanderWilp | 0:d445abf9a8e9 | 88 | phaseBEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 89 | phaseB.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 90 | phaseC.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 91 | phaseCEN = 1; |
vicyap | 15:dddb511c39b4 | 92 | |
BVanderWilp | 3:2bcc36fe4de5 | 93 | phaseAEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 94 | } |
BVanderWilp | 0:d445abf9a8e9 | 95 | |
vicyap | 14:0f50e85bd463 | 96 | void toggleRedLed() |
vicyap | 14:0f50e85bd463 | 97 | { |
vicyap | 15:dddb511c39b4 | 98 | redLed = !redLed; |
vicyap | 14:0f50e85bd463 | 99 | } |
BVanderWilp | 0:d445abf9a8e9 | 100 | |
BVanderWilp | 7:9d90184335aa | 101 | void jumpStart() |
BVanderWilp | 7:9d90184335aa | 102 | { |
BVanderWilp | 3:2bcc36fe4de5 | 103 | int h1 = hallA.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 104 | int h2 = hallB.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 105 | int h3 = hallC.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 106 | //check where we start |
vicyap | 16:792055c232a5 | 107 | |
vicyap | 16:792055c232a5 | 108 | if (reverse == 0) |
vicyap | 16:792055c232a5 | 109 | { |
vicyap | 16:792055c232a5 | 110 | if(h1 == 0 && h2 == 1 && h3 == 1) { //state1 |
vicyap | 16:792055c232a5 | 111 | Afall(); |
vicyap | 16:792055c232a5 | 112 | } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2 |
vicyap | 16:792055c232a5 | 113 | Crise(); |
vicyap | 16:792055c232a5 | 114 | } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3 |
vicyap | 16:792055c232a5 | 115 | Bfall(); |
vicyap | 16:792055c232a5 | 116 | } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4 |
vicyap | 16:792055c232a5 | 117 | Arise(); |
vicyap | 16:792055c232a5 | 118 | } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5 |
vicyap | 16:792055c232a5 | 119 | Cfall(); |
vicyap | 16:792055c232a5 | 120 | } else { //(h1 == 0 && h2 == 1 && h3 == 0)state6 |
vicyap | 16:792055c232a5 | 121 | Brise(); |
vicyap | 16:792055c232a5 | 122 | } |
vicyap | 16:792055c232a5 | 123 | } |
vicyap | 16:792055c232a5 | 124 | else if (reverse == 1) |
vicyap | 16:792055c232a5 | 125 | { |
vicyap | 16:792055c232a5 | 126 | // A -> C |
vicyap | 16:792055c232a5 | 127 | // B -> A |
vicyap | 16:792055c232a5 | 128 | // C -> B |
vicyap | 16:792055c232a5 | 129 | if(h1 == 0 && h2 == 1 && h3 == 1) { //state1 |
vicyap | 16:792055c232a5 | 130 | Cfall(); |
vicyap | 16:792055c232a5 | 131 | } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2 |
vicyap | 16:792055c232a5 | 132 | Brise(); |
vicyap | 16:792055c232a5 | 133 | } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3 |
vicyap | 16:792055c232a5 | 134 | Afall(); |
vicyap | 16:792055c232a5 | 135 | } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4 |
vicyap | 16:792055c232a5 | 136 | Crise(); |
vicyap | 16:792055c232a5 | 137 | } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5 |
vicyap | 16:792055c232a5 | 138 | Bfall(); |
vicyap | 16:792055c232a5 | 139 | } else { //(h1 == 0 && h2 == 1 && h3 == 0) state6 |
vicyap | 16:792055c232a5 | 140 | Arise(); |
vicyap | 16:792055c232a5 | 141 | } |
vicyap | 14:0f50e85bd463 | 142 | } |
vicyap | 14:0f50e85bd463 | 143 | toggleRedLed(); |
BVanderWilp | 7:9d90184335aa | 144 | } |
BVanderWilp | 7:9d90184335aa | 145 | |
BVanderWilp | 7:9d90184335aa | 146 | void activate() |
BVanderWilp | 7:9d90184335aa | 147 | { |
vicyap | 15:dddb511c39b4 | 148 | if(stall == 0) { |
BVanderWilp | 7:9d90184335aa | 149 | stall = 1; |
vicyap | 15:dddb511c39b4 | 150 | } else { |
vicyap | 16:792055c232a5 | 151 | if (pwmDuty < 0.2f) |
vicyap | 16:792055c232a5 | 152 | { |
vicyap | 16:792055c232a5 | 153 | reverse = reverse ^ 1; |
vicyap | 16:792055c232a5 | 154 | } |
BVanderWilp | 7:9d90184335aa | 155 | } |
BVanderWilp | 7:9d90184335aa | 156 | } |
BVanderWilp | 7:9d90184335aa | 157 | |
vicyap | 15:dddb511c39b4 | 158 | int main() |
vicyap | 15:dddb511c39b4 | 159 | { |
BVanderWilp | 7:9d90184335aa | 160 | //wait until button push to start |
BVanderWilp | 7:9d90184335aa | 161 | rpmInterrupt.attach(&rpmCalc, 1); |
BVanderWilp | 7:9d90184335aa | 162 | button.rise(&activate); |
BVanderWilp | 7:9d90184335aa | 163 | while(stall == 0) { |
BVanderWilp | 7:9d90184335aa | 164 | led = !led; |
BVanderWilp | 7:9d90184335aa | 165 | wait(1); |
BVanderWilp | 7:9d90184335aa | 166 | } |
BVanderWilp | 7:9d90184335aa | 167 | |
BVanderWilp | 7:9d90184335aa | 168 | pwmDuty = pot.read() * pwmMax; |
BVanderWilp | 7:9d90184335aa | 169 | |
BVanderWilp | 7:9d90184335aa | 170 | phaseA.period_us(50); |
BVanderWilp | 7:9d90184335aa | 171 | phaseB.period_us(50); |
BVanderWilp | 7:9d90184335aa | 172 | phaseC.period_us(50); |
vicyap | 15:dddb511c39b4 | 173 | |
BVanderWilp | 7:9d90184335aa | 174 | phaseA.write(0); |
BVanderWilp | 7:9d90184335aa | 175 | phaseB.write(0); |
vicyap | 15:dddb511c39b4 | 176 | phaseC.write(0); |
vicyap | 15:dddb511c39b4 | 177 | |
BVanderWilp | 7:9d90184335aa | 178 | phaseAEN = 0; |
BVanderWilp | 7:9d90184335aa | 179 | phaseBEN = 0; |
BVanderWilp | 7:9d90184335aa | 180 | phaseCEN = 0; |
vicyap | 15:dddb511c39b4 | 181 | |
vicyap | 13:08c700d71324 | 182 | spinTicker.attach_us(&jumpStart, 50); |
vicyap | 16:792055c232a5 | 183 | float ADCSum = 0; |
BVanderWilp | 5:6110655353ad | 184 | int ADCCount = 0; |
BVanderWilp | 0:d445abf9a8e9 | 185 | while(1) { |
BVanderWilp | 0:d445abf9a8e9 | 186 | led = !led; |
BVanderWilp | 5:6110655353ad | 187 | ADCSum += pot.read(); |
BVanderWilp | 5:6110655353ad | 188 | ADCCount++; |
vicyap | 15:dddb511c39b4 | 189 | if(ADCCount == 20) { |
BVanderWilp | 5:6110655353ad | 190 | pwmDuty = (ADCSum/20) * pwmMax; |
BVanderWilp | 5:6110655353ad | 191 | ADCSum = 0; |
BVanderWilp | 5:6110655353ad | 192 | ADCCount = 0; |
BVanderWilp | 5:6110655353ad | 193 | } |
vicyap | 15:dddb511c39b4 | 194 | if(rpmPrintFlag == 1) { |
vicyap | 16:792055c232a5 | 195 | printf("%d rpm; %f duty; reverse: %d\r\n", currentRPM, pwmDuty, reverse); |
BVanderWilp | 6:e401c592d2c3 | 196 | rpmPrintFlag = 0; |
BVanderWilp | 6:e401c592d2c3 | 197 | } |
BVanderWilp | 5:6110655353ad | 198 | wait(0.05); |
BVanderWilp | 0:d445abf9a8e9 | 199 | } |
BVanderWilp | 0:d445abf9a8e9 | 200 | } |