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@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?

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
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 }