STM32F302R8 with Konrad's inverter boards for senior design.
Fork of Blue_Board_Ticker by
main.cpp@12:d34b96d7f997, 2016-04-13 (annotated)
- Committer:
- vicyap
- Date:
- Wed Apr 13 17:59:31 2016 +0000
- Revision:
- 12:d34b96d7f997
- Parent:
- 11:8dc1e36579e2
- Child:
- 13:08c700d71324
working with a spinTicker but the motor doesn't spin smoothly
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+ |
BVanderWilp | 0:d445abf9a8e9 | 39 | { |
BVanderWilp | 0:d445abf9a8e9 | 40 | phaseAEN = 0; |
BVanderWilp | 1:69c06d3676fd | 41 | phaseBEN = 1; |
BVanderWilp | 1:69c06d3676fd | 42 | |
BVanderWilp | 3:2bcc36fe4de5 | 43 | phaseC.write(pwmDuty); |
BVanderWilp | 3:2bcc36fe4de5 | 44 | phaseCEN = 1; |
BVanderWilp | 7:9d90184335aa | 45 | // redLed = ! redLed; |
BVanderWilp | 6:e401c592d2c3 | 46 | revCount++; |
BVanderWilp | 1:69c06d3676fd | 47 | } |
BVanderWilp | 1:69c06d3676fd | 48 | |
BVanderWilp | 9:af60c737a93e | 49 | void Afall() //state2, A+ B- C0 |
BVanderWilp | 1:69c06d3676fd | 50 | { |
BVanderWilp | 1:69c06d3676fd | 51 | phaseCEN = 0; |
BVanderWilp | 1:69c06d3676fd | 52 | phaseC.write(0); |
BVanderWilp | 1:69c06d3676fd | 53 | phaseA.write(pwmDuty); |
BVanderWilp | 1:69c06d3676fd | 54 | phaseAEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 55 | |
BVanderWilp | 3:2bcc36fe4de5 | 56 | phaseBEN = 1; |
BVanderWilp | 1:69c06d3676fd | 57 | } |
BVanderWilp | 1:69c06d3676fd | 58 | |
BVanderWilp | 9:af60c737a93e | 59 | void Crise() //state3, A+ B0 C- |
BVanderWilp | 1:69c06d3676fd | 60 | { |
BVanderWilp | 1:69c06d3676fd | 61 | phaseBEN = 0; |
BVanderWilp | 1:69c06d3676fd | 62 | phaseCEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 63 | |
BVanderWilp | 3:2bcc36fe4de5 | 64 | phaseA.write(pwmDuty); |
BVanderWilp | 3:2bcc36fe4de5 | 65 | phaseAEN = 1; |
BVanderWilp | 1:69c06d3676fd | 66 | } |
BVanderWilp | 1:69c06d3676fd | 67 | |
BVanderWilp | 9:af60c737a93e | 68 | void Bfall() //state4, A0 B+ C- |
BVanderWilp | 1:69c06d3676fd | 69 | { |
BVanderWilp | 1:69c06d3676fd | 70 | phaseAEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 71 | phaseA.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 72 | phaseB.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 73 | phaseBEN = 1; |
BVanderWilp | 1:69c06d3676fd | 74 | |
BVanderWilp | 3:2bcc36fe4de5 | 75 | phaseCEN = 1; |
BVanderWilp | 7:9d90184335aa | 76 | // redLed = ! redLed; |
BVanderWilp | 0:d445abf9a8e9 | 77 | } |
BVanderWilp | 0:d445abf9a8e9 | 78 | |
BVanderWilp | 9:af60c737a93e | 79 | void Arise() //state5, A- B+ C0 |
BVanderWilp | 0:d445abf9a8e9 | 80 | { |
BVanderWilp | 0:d445abf9a8e9 | 81 | phaseCEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 82 | phaseAEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 83 | |
BVanderWilp | 3:2bcc36fe4de5 | 84 | phaseB.write(pwmDuty); |
BVanderWilp | 3:2bcc36fe4de5 | 85 | phaseBEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 86 | } |
BVanderWilp | 0:d445abf9a8e9 | 87 | |
BVanderWilp | 9:af60c737a93e | 88 | void Cfall() //state6, A- B0 C+ |
BVanderWilp | 0:d445abf9a8e9 | 89 | { |
BVanderWilp | 0:d445abf9a8e9 | 90 | phaseBEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 91 | phaseB.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 92 | phaseC.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 93 | phaseCEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 94 | |
BVanderWilp | 3:2bcc36fe4de5 | 95 | phaseAEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 96 | } |
BVanderWilp | 0:d445abf9a8e9 | 97 | |
BVanderWilp | 0:d445abf9a8e9 | 98 | |
BVanderWilp | 7:9d90184335aa | 99 | void jumpStart() |
BVanderWilp | 7:9d90184335aa | 100 | { |
BVanderWilp | 3:2bcc36fe4de5 | 101 | int h1 = hallA.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 102 | int h2 = hallB.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 103 | int h3 = hallC.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 104 | //check where we start |
BVanderWilp | 3:2bcc36fe4de5 | 105 | if(h1 == 0 && h2 == 1 && h3 == 1) //state1 |
BVanderWilp | 3:2bcc36fe4de5 | 106 | { |
BVanderWilp | 9:af60c737a93e | 107 | Brise(); |
BVanderWilp | 9:af60c737a93e | 108 | } |
BVanderWilp | 9:af60c737a93e | 109 | else if(h1 == 0 && h2 == 0 && h3 == 1) //state2 |
BVanderWilp | 9:af60c737a93e | 110 | { |
BVanderWilp | 9:af60c737a93e | 111 | Afall(); |
BVanderWilp | 9:af60c737a93e | 112 | } |
BVanderWilp | 9:af60c737a93e | 113 | else if(h1 == 1 && h2 == 0 && h3 == 1) //state3 |
BVanderWilp | 9:af60c737a93e | 114 | { |
BVanderWilp | 3:2bcc36fe4de5 | 115 | Crise(); |
BVanderWilp | 3:2bcc36fe4de5 | 116 | } |
BVanderWilp | 9:af60c737a93e | 117 | else if(h1 == 1 && h2 == 0 && h3 == 0) //state4 |
BVanderWilp | 3:2bcc36fe4de5 | 118 | { |
BVanderWilp | 3:2bcc36fe4de5 | 119 | Bfall(); |
BVanderWilp | 3:2bcc36fe4de5 | 120 | } |
BVanderWilp | 9:af60c737a93e | 121 | else if(h1 == 1 && h2 == 1 && h3 == 0) //state5 |
BVanderWilp | 3:2bcc36fe4de5 | 122 | { |
BVanderWilp | 3:2bcc36fe4de5 | 123 | Arise(); |
BVanderWilp | 3:2bcc36fe4de5 | 124 | } |
BVanderWilp | 9:af60c737a93e | 125 | else //(h1 == 0 && h2 == 1 && h3 == 0)state6 |
BVanderWilp | 3:2bcc36fe4de5 | 126 | { |
BVanderWilp | 3:2bcc36fe4de5 | 127 | Cfall(); |
BVanderWilp | 3:2bcc36fe4de5 | 128 | } |
BVanderWilp | 7:9d90184335aa | 129 | } |
BVanderWilp | 7:9d90184335aa | 130 | |
BVanderWilp | 7:9d90184335aa | 131 | void activate() |
BVanderWilp | 7:9d90184335aa | 132 | { |
BVanderWilp | 7:9d90184335aa | 133 | if(stall == 0) |
BVanderWilp | 7:9d90184335aa | 134 | { |
BVanderWilp | 7:9d90184335aa | 135 | stall = 1; |
BVanderWilp | 7:9d90184335aa | 136 | } |
BVanderWilp | 7:9d90184335aa | 137 | else |
BVanderWilp | 7:9d90184335aa | 138 | { |
BVanderWilp | 7:9d90184335aa | 139 | jumpStart(); |
BVanderWilp | 7:9d90184335aa | 140 | // if(reverse == 1) //switch to forward |
BVanderWilp | 7:9d90184335aa | 141 | // { |
BVanderWilp | 7:9d90184335aa | 142 | // hallA.fall(&Afall); |
BVanderWilp | 7:9d90184335aa | 143 | // hallA.rise(&Arise); |
BVanderWilp | 7:9d90184335aa | 144 | // hallB.fall(&Bfall); |
BVanderWilp | 7:9d90184335aa | 145 | // hallB.rise(&Brise); |
BVanderWilp | 7:9d90184335aa | 146 | // hallC.fall(&Cfall); |
BVanderWilp | 7:9d90184335aa | 147 | // hallC.rise(&Crise); |
BVanderWilp | 7:9d90184335aa | 148 | // redLed = !redLed; |
BVanderWilp | 7:9d90184335aa | 149 | // reverse = 0; |
BVanderWilp | 7:9d90184335aa | 150 | // } |
BVanderWilp | 7:9d90184335aa | 151 | // else if(reverse == 0) //switch to reverse |
BVanderWilp | 7:9d90184335aa | 152 | // { |
BVanderWilp | 7:9d90184335aa | 153 | // hallA.fall(&Bfall); |
BVanderWilp | 7:9d90184335aa | 154 | // hallA.rise(&Brise); |
BVanderWilp | 7:9d90184335aa | 155 | // hallB.fall(&Cfall); |
BVanderWilp | 7:9d90184335aa | 156 | // hallB.rise(&Crise); |
BVanderWilp | 7:9d90184335aa | 157 | // hallC.fall(&Afall); |
BVanderWilp | 7:9d90184335aa | 158 | // hallC.rise(&Arise); |
BVanderWilp | 7:9d90184335aa | 159 | // redLed = !redLed; |
BVanderWilp | 7:9d90184335aa | 160 | // reverse = 1; |
BVanderWilp | 7:9d90184335aa | 161 | // } |
BVanderWilp | 7:9d90184335aa | 162 | } |
BVanderWilp | 7:9d90184335aa | 163 | } |
BVanderWilp | 7:9d90184335aa | 164 | |
BVanderWilp | 7:9d90184335aa | 165 | int main() { |
BVanderWilp | 7:9d90184335aa | 166 | //wait until button push to start |
BVanderWilp | 7:9d90184335aa | 167 | rpmInterrupt.attach(&rpmCalc, 1); |
BVanderWilp | 7:9d90184335aa | 168 | button.rise(&activate); |
BVanderWilp | 7:9d90184335aa | 169 | while(stall == 0) { |
BVanderWilp | 7:9d90184335aa | 170 | led = !led; |
BVanderWilp | 7:9d90184335aa | 171 | wait(1); |
BVanderWilp | 7:9d90184335aa | 172 | } |
BVanderWilp | 7:9d90184335aa | 173 | |
BVanderWilp | 7:9d90184335aa | 174 | pwmDuty = pot.read() * pwmMax; |
BVanderWilp | 7:9d90184335aa | 175 | |
BVanderWilp | 7:9d90184335aa | 176 | phaseA.period_us(50); |
BVanderWilp | 7:9d90184335aa | 177 | phaseB.period_us(50); |
BVanderWilp | 7:9d90184335aa | 178 | phaseC.period_us(50); |
BVanderWilp | 7:9d90184335aa | 179 | |
BVanderWilp | 7:9d90184335aa | 180 | phaseA.write(0); |
BVanderWilp | 7:9d90184335aa | 181 | phaseB.write(0); |
BVanderWilp | 7:9d90184335aa | 182 | phaseC.write(0); |
BVanderWilp | 7:9d90184335aa | 183 | |
BVanderWilp | 7:9d90184335aa | 184 | phaseAEN = 0; |
BVanderWilp | 7:9d90184335aa | 185 | phaseBEN = 0; |
BVanderWilp | 7:9d90184335aa | 186 | phaseCEN = 0; |
BVanderWilp | 7:9d90184335aa | 187 | //begin sensored mode |
vicyap | 12:d34b96d7f997 | 188 | // hallA.fall(&Afall); |
vicyap | 12:d34b96d7f997 | 189 | // hallA.rise(&Arise); |
vicyap | 12:d34b96d7f997 | 190 | // hallB.fall(&Bfall); |
vicyap | 12:d34b96d7f997 | 191 | // hallB.rise(&Brise); |
vicyap | 12:d34b96d7f997 | 192 | // hallC.fall(&Cfall); |
vicyap | 12:d34b96d7f997 | 193 | // hallC.rise(&Crise); |
BVanderWilp | 7:9d90184335aa | 194 | |
vicyap | 12:d34b96d7f997 | 195 | spinTicker.attach_us(&jumpStart, 100); |
BVanderWilp | 5:6110655353ad | 196 | float ADCSum = 0;; |
BVanderWilp | 5:6110655353ad | 197 | int ADCCount = 0; |
BVanderWilp | 0:d445abf9a8e9 | 198 | while(1) { |
BVanderWilp | 0:d445abf9a8e9 | 199 | led = !led; |
BVanderWilp | 5:6110655353ad | 200 | ADCSum += pot.read(); |
BVanderWilp | 5:6110655353ad | 201 | ADCCount++; |
BVanderWilp | 5:6110655353ad | 202 | if(ADCCount == 20) |
BVanderWilp | 5:6110655353ad | 203 | { |
BVanderWilp | 5:6110655353ad | 204 | pwmDuty = (ADCSum/20) * pwmMax; |
BVanderWilp | 5:6110655353ad | 205 | ADCSum = 0; |
BVanderWilp | 5:6110655353ad | 206 | ADCCount = 0; |
BVanderWilp | 5:6110655353ad | 207 | } |
BVanderWilp | 6:e401c592d2c3 | 208 | if(rpmPrintFlag == 1) |
BVanderWilp | 6:e401c592d2c3 | 209 | { |
BVanderWilp | 7:9d90184335aa | 210 | printf("%d rpm; %f duty\r\n", currentRPM, pwmDuty); |
BVanderWilp | 6:e401c592d2c3 | 211 | rpmPrintFlag = 0; |
BVanderWilp | 6:e401c592d2c3 | 212 | } |
BVanderWilp | 5:6110655353ad | 213 | wait(0.05); |
BVanderWilp | 0:d445abf9a8e9 | 214 | } |
BVanderWilp | 0:d445abf9a8e9 | 215 | } |