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@11:8dc1e36579e2, 2016-04-13 (annotated)

Committer:
BVanderWilp
Date:
Wed Apr 13 17:40:36 2016 +0000
Revision:
11:8dc1e36579e2
Parent:
10:3012bacdfc55
Child:
12:d34b96d7f997
attempt to fork to ticker

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