STM32F302R8 with Konrad's inverter boards for senior design.
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main.cpp@6:e401c592d2c3, 2016-04-11 (annotated)
- Committer:
- BVanderWilp
- Date:
- Mon Apr 11 16:38:16 2016 +0000
- Revision:
- 6:e401c592d2c3
- Parent:
- 5:6110655353ad
- Child:
- 7:9d90184335aa
Added RPM printf output
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; |
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 | 6:e401c592d2c3 | 28 | |
BVanderWilp | 6:e401c592d2c3 | 29 | void rpmCalc() |
BVanderWilp | 6:e401c592d2c3 | 30 | { |
BVanderWilp | 6:e401c592d2c3 | 31 | currentRPM = revCount * 60; |
BVanderWilp | 6:e401c592d2c3 | 32 | revCount = 0; |
BVanderWilp | 6:e401c592d2c3 | 33 | rpmPrintFlag = 1; |
BVanderWilp | 6:e401c592d2c3 | 34 | } |
BVanderWilp | 6:e401c592d2c3 | 35 | |
BVanderWilp | 0:d445abf9a8e9 | 36 | void activate() |
BVanderWilp | 0:d445abf9a8e9 | 37 | { |
BVanderWilp | 0:d445abf9a8e9 | 38 | stall = 1; |
BVanderWilp | 0:d445abf9a8e9 | 39 | } |
BVanderWilp | 0:d445abf9a8e9 | 40 | |
BVanderWilp | 1:69c06d3676fd | 41 | void Crise() //state1, A0 B- C+ |
BVanderWilp | 0:d445abf9a8e9 | 42 | { |
BVanderWilp | 0:d445abf9a8e9 | 43 | phaseAEN = 0; |
BVanderWilp | 1:69c06d3676fd | 44 | phaseBEN = 1; |
BVanderWilp | 1:69c06d3676fd | 45 | |
BVanderWilp | 3:2bcc36fe4de5 | 46 | phaseC.write(pwmDuty); |
BVanderWilp | 3:2bcc36fe4de5 | 47 | phaseCEN = 1; |
BVanderWilp | 1:69c06d3676fd | 48 | redLed = ! redLed; |
BVanderWilp | 6:e401c592d2c3 | 49 | revCount++; |
BVanderWilp | 1:69c06d3676fd | 50 | } |
BVanderWilp | 1:69c06d3676fd | 51 | |
BVanderWilp | 1:69c06d3676fd | 52 | void Bfall() //state2, A+ B- C0 |
BVanderWilp | 1:69c06d3676fd | 53 | { |
BVanderWilp | 1:69c06d3676fd | 54 | phaseCEN = 0; |
BVanderWilp | 1:69c06d3676fd | 55 | phaseC.write(0); |
BVanderWilp | 1:69c06d3676fd | 56 | phaseA.write(pwmDuty); |
BVanderWilp | 1:69c06d3676fd | 57 | phaseAEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 58 | |
BVanderWilp | 3:2bcc36fe4de5 | 59 | phaseBEN = 1; |
BVanderWilp | 1:69c06d3676fd | 60 | } |
BVanderWilp | 1:69c06d3676fd | 61 | |
BVanderWilp | 1:69c06d3676fd | 62 | void Arise() //state3, A+ B0 C- |
BVanderWilp | 1:69c06d3676fd | 63 | { |
BVanderWilp | 1:69c06d3676fd | 64 | phaseBEN = 0; |
BVanderWilp | 1:69c06d3676fd | 65 | phaseCEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 66 | |
BVanderWilp | 3:2bcc36fe4de5 | 67 | phaseA.write(pwmDuty); |
BVanderWilp | 3:2bcc36fe4de5 | 68 | phaseAEN = 1; |
BVanderWilp | 1:69c06d3676fd | 69 | } |
BVanderWilp | 1:69c06d3676fd | 70 | |
BVanderWilp | 1:69c06d3676fd | 71 | void Cfall() //state4, A0 B+ C- |
BVanderWilp | 1:69c06d3676fd | 72 | { |
BVanderWilp | 1:69c06d3676fd | 73 | phaseAEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 74 | phaseA.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 75 | phaseB.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 76 | phaseBEN = 1; |
BVanderWilp | 1:69c06d3676fd | 77 | |
BVanderWilp | 3:2bcc36fe4de5 | 78 | phaseCEN = 1; |
BVanderWilp | 1:69c06d3676fd | 79 | redLed = ! redLed; |
BVanderWilp | 0:d445abf9a8e9 | 80 | } |
BVanderWilp | 0:d445abf9a8e9 | 81 | |
BVanderWilp | 1:69c06d3676fd | 82 | void Brise() //state5, A- B+ C0 |
BVanderWilp | 0:d445abf9a8e9 | 83 | { |
BVanderWilp | 0:d445abf9a8e9 | 84 | phaseCEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 85 | phaseAEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 86 | |
BVanderWilp | 3:2bcc36fe4de5 | 87 | phaseB.write(pwmDuty); |
BVanderWilp | 3:2bcc36fe4de5 | 88 | phaseBEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 89 | } |
BVanderWilp | 0:d445abf9a8e9 | 90 | |
BVanderWilp | 1:69c06d3676fd | 91 | void Afall() //state5, A- B0 C+ |
BVanderWilp | 0:d445abf9a8e9 | 92 | { |
BVanderWilp | 0:d445abf9a8e9 | 93 | phaseBEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 94 | phaseB.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 95 | phaseC.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 96 | phaseCEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 97 | |
BVanderWilp | 3:2bcc36fe4de5 | 98 | phaseAEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 99 | } |
BVanderWilp | 0:d445abf9a8e9 | 100 | |
BVanderWilp | 1:69c06d3676fd | 101 | int count = 0; |
BVanderWilp | 1:69c06d3676fd | 102 | void intcall(){ |
BVanderWilp | 1:69c06d3676fd | 103 | count = (count + 1) % 6; |
BVanderWilp | 1:69c06d3676fd | 104 | |
BVanderWilp | 1:69c06d3676fd | 105 | if(count == 0) //B+, C- |
BVanderWilp | 1:69c06d3676fd | 106 | { |
BVanderWilp | 1:69c06d3676fd | 107 | phaseAEN = 0; |
BVanderWilp | 1:69c06d3676fd | 108 | phaseA.write(0); |
BVanderWilp | 1:69c06d3676fd | 109 | phaseB.write(pwmDuty); |
BVanderWilp | 1:69c06d3676fd | 110 | phaseBEN = 1; |
BVanderWilp | 1:69c06d3676fd | 111 | } |
BVanderWilp | 1:69c06d3676fd | 112 | else if(count == 1) //B+, A- |
BVanderWilp | 1:69c06d3676fd | 113 | { |
BVanderWilp | 1:69c06d3676fd | 114 | phaseCEN = 0; |
BVanderWilp | 1:69c06d3676fd | 115 | phaseAEN = 1; |
BVanderWilp | 1:69c06d3676fd | 116 | } |
BVanderWilp | 1:69c06d3676fd | 117 | else if(count == 2) //C+, A- |
BVanderWilp | 1:69c06d3676fd | 118 | { |
BVanderWilp | 1:69c06d3676fd | 119 | phaseBEN = 0; |
BVanderWilp | 1:69c06d3676fd | 120 | phaseB.write(0); |
BVanderWilp | 1:69c06d3676fd | 121 | phaseC.write(pwmDuty); |
BVanderWilp | 1:69c06d3676fd | 122 | phaseCEN = 1; |
BVanderWilp | 1:69c06d3676fd | 123 | } |
BVanderWilp | 1:69c06d3676fd | 124 | else if(count == 3) //C+, B- |
BVanderWilp | 1:69c06d3676fd | 125 | { |
BVanderWilp | 1:69c06d3676fd | 126 | phaseAEN = 0; |
BVanderWilp | 1:69c06d3676fd | 127 | phaseBEN = 1; |
BVanderWilp | 1:69c06d3676fd | 128 | } |
BVanderWilp | 1:69c06d3676fd | 129 | else if(count == 4) //A+, B- |
BVanderWilp | 1:69c06d3676fd | 130 | { |
BVanderWilp | 1:69c06d3676fd | 131 | phaseCEN = 0; |
BVanderWilp | 1:69c06d3676fd | 132 | phaseC.write(0); |
BVanderWilp | 1:69c06d3676fd | 133 | phaseA.write(pwmDuty); |
BVanderWilp | 1:69c06d3676fd | 134 | phaseAEN = 1; |
BVanderWilp | 1:69c06d3676fd | 135 | } |
BVanderWilp | 1:69c06d3676fd | 136 | else if(count == 5) //A+, C- |
BVanderWilp | 1:69c06d3676fd | 137 | { |
BVanderWilp | 1:69c06d3676fd | 138 | phaseBEN = 0; |
BVanderWilp | 1:69c06d3676fd | 139 | phaseCEN = 1; |
BVanderWilp | 1:69c06d3676fd | 140 | } |
BVanderWilp | 0:d445abf9a8e9 | 141 | } |
BVanderWilp | 0:d445abf9a8e9 | 142 | |
BVanderWilp | 0:d445abf9a8e9 | 143 | |
BVanderWilp | 0:d445abf9a8e9 | 144 | int main() { |
BVanderWilp | 1:69c06d3676fd | 145 | //wait until button push to start |
BVanderWilp | 6:e401c592d2c3 | 146 | rpmInterrupt.attach(&rpmCalc, 1); |
BVanderWilp | 0:d445abf9a8e9 | 147 | button.rise(&activate); |
BVanderWilp | 0:d445abf9a8e9 | 148 | while(stall == 0) { |
BVanderWilp | 0:d445abf9a8e9 | 149 | led = !led; |
BVanderWilp | 4:ab4d51b5b1c8 | 150 | wait(1); |
BVanderWilp | 0:d445abf9a8e9 | 151 | } |
BVanderWilp | 1:69c06d3676fd | 152 | |
BVanderWilp | 3:2bcc36fe4de5 | 153 | // //startup with open loop |
BVanderWilp | 3:2bcc36fe4de5 | 154 | // phaseA.period_us(10); |
BVanderWilp | 3:2bcc36fe4de5 | 155 | // phaseB.period_us(10); |
BVanderWilp | 3:2bcc36fe4de5 | 156 | // phaseC.period_us(10); |
BVanderWilp | 3:2bcc36fe4de5 | 157 | // interrupt.attach(&intcall, .01); |
BVanderWilp | 3:2bcc36fe4de5 | 158 | // |
BVanderWilp | 3:2bcc36fe4de5 | 159 | // |
BVanderWilp | 3:2bcc36fe4de5 | 160 | // phaseA.write(0); |
BVanderWilp | 3:2bcc36fe4de5 | 161 | // phaseB.write(pwmDuty); |
BVanderWilp | 3:2bcc36fe4de5 | 162 | // phaseC.write(0); |
BVanderWilp | 3:2bcc36fe4de5 | 163 | // |
BVanderWilp | 3:2bcc36fe4de5 | 164 | // phaseAEN = 0; |
BVanderWilp | 3:2bcc36fe4de5 | 165 | // phaseBEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 166 | // phaseCEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 167 | // |
BVanderWilp | 3:2bcc36fe4de5 | 168 | // for(int i = 0; i < 4; i++) |
BVanderWilp | 3:2bcc36fe4de5 | 169 | // { |
BVanderWilp | 3:2bcc36fe4de5 | 170 | // i++; |
BVanderWilp | 3:2bcc36fe4de5 | 171 | // led = !led; |
BVanderWilp | 3:2bcc36fe4de5 | 172 | // wait(0.5); |
BVanderWilp | 3:2bcc36fe4de5 | 173 | // } |
BVanderWilp | 3:2bcc36fe4de5 | 174 | // interrupt.detach(); |
BVanderWilp | 3:2bcc36fe4de5 | 175 | |
BVanderWilp | 5:6110655353ad | 176 | pwmDuty = pot.read() * pwmMax; |
BVanderWilp | 5:6110655353ad | 177 | |
BVanderWilp | 0:d445abf9a8e9 | 178 | phaseA.period_us(10); |
BVanderWilp | 0:d445abf9a8e9 | 179 | phaseB.period_us(10); |
BVanderWilp | 0:d445abf9a8e9 | 180 | phaseC.period_us(10); |
BVanderWilp | 0:d445abf9a8e9 | 181 | |
BVanderWilp | 0:d445abf9a8e9 | 182 | phaseA.write(0); |
BVanderWilp | 3:2bcc36fe4de5 | 183 | phaseB.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 184 | phaseC.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 185 | |
BVanderWilp | 0:d445abf9a8e9 | 186 | phaseAEN = 0; |
BVanderWilp | 3:2bcc36fe4de5 | 187 | phaseBEN = 0; |
BVanderWilp | 3:2bcc36fe4de5 | 188 | phaseCEN = 0; |
BVanderWilp | 3:2bcc36fe4de5 | 189 | //begin sensored mode |
BVanderWilp | 1:69c06d3676fd | 190 | hallA.fall(&Afall); |
BVanderWilp | 1:69c06d3676fd | 191 | hallA.rise(&Arise); |
BVanderWilp | 1:69c06d3676fd | 192 | hallB.fall(&Bfall); |
BVanderWilp | 1:69c06d3676fd | 193 | hallB.rise(&Brise); |
BVanderWilp | 1:69c06d3676fd | 194 | hallC.fall(&Cfall); |
BVanderWilp | 1:69c06d3676fd | 195 | hallC.rise(&Crise); |
BVanderWilp | 1:69c06d3676fd | 196 | |
BVanderWilp | 3:2bcc36fe4de5 | 197 | int h1 = hallA.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 198 | int h2 = hallB.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 199 | int h3 = hallC.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 200 | //check where we start |
BVanderWilp | 3:2bcc36fe4de5 | 201 | if(h1 == 0 && h2 == 1 && h3 == 1) //state1 |
BVanderWilp | 3:2bcc36fe4de5 | 202 | { |
BVanderWilp | 3:2bcc36fe4de5 | 203 | Crise(); |
BVanderWilp | 3:2bcc36fe4de5 | 204 | Bfall(); |
BVanderWilp | 3:2bcc36fe4de5 | 205 | } |
BVanderWilp | 3:2bcc36fe4de5 | 206 | else if(h1 == 0 && h2 == 0 && h3 == 1) //state2 |
BVanderWilp | 3:2bcc36fe4de5 | 207 | { |
BVanderWilp | 3:2bcc36fe4de5 | 208 | Bfall(); |
BVanderWilp | 3:2bcc36fe4de5 | 209 | Arise(); |
BVanderWilp | 3:2bcc36fe4de5 | 210 | } |
BVanderWilp | 3:2bcc36fe4de5 | 211 | else if(h1 == 1 && h2 == 0 && h3 == 1) //state3 |
BVanderWilp | 3:2bcc36fe4de5 | 212 | { |
BVanderWilp | 3:2bcc36fe4de5 | 213 | Arise(); |
BVanderWilp | 3:2bcc36fe4de5 | 214 | Cfall(); |
BVanderWilp | 3:2bcc36fe4de5 | 215 | } |
BVanderWilp | 3:2bcc36fe4de5 | 216 | else if(h1 == 1 && h2 == 0 && h3 == 0) //state4 |
BVanderWilp | 3:2bcc36fe4de5 | 217 | { |
BVanderWilp | 3:2bcc36fe4de5 | 218 | Cfall(); |
BVanderWilp | 3:2bcc36fe4de5 | 219 | Brise(); |
BVanderWilp | 3:2bcc36fe4de5 | 220 | } |
BVanderWilp | 3:2bcc36fe4de5 | 221 | else if(h1 == 1 && h2 == 1 && h3 == 0) //state5 |
BVanderWilp | 3:2bcc36fe4de5 | 222 | { |
BVanderWilp | 3:2bcc36fe4de5 | 223 | Brise(); |
BVanderWilp | 4:ab4d51b5b1c8 | 224 | Afall(); |
BVanderWilp | 3:2bcc36fe4de5 | 225 | } |
BVanderWilp | 3:2bcc36fe4de5 | 226 | else //state6 |
BVanderWilp | 3:2bcc36fe4de5 | 227 | { |
BVanderWilp | 3:2bcc36fe4de5 | 228 | Afall(); |
BVanderWilp | 4:ab4d51b5b1c8 | 229 | Crise(); |
BVanderWilp | 3:2bcc36fe4de5 | 230 | } |
BVanderWilp | 5:6110655353ad | 231 | float ADCSum = 0;; |
BVanderWilp | 5:6110655353ad | 232 | int ADCCount = 0; |
BVanderWilp | 0:d445abf9a8e9 | 233 | while(1) { |
BVanderWilp | 0:d445abf9a8e9 | 234 | led = !led; |
BVanderWilp | 5:6110655353ad | 235 | ADCSum += pot.read(); |
BVanderWilp | 5:6110655353ad | 236 | ADCCount++; |
BVanderWilp | 5:6110655353ad | 237 | if(ADCCount == 20) |
BVanderWilp | 5:6110655353ad | 238 | { |
BVanderWilp | 5:6110655353ad | 239 | pwmDuty = (ADCSum/20) * pwmMax; |
BVanderWilp | 5:6110655353ad | 240 | ADCSum = 0; |
BVanderWilp | 5:6110655353ad | 241 | ADCCount = 0; |
BVanderWilp | 5:6110655353ad | 242 | } |
BVanderWilp | 6:e401c592d2c3 | 243 | if(rpmPrintFlag == 1) |
BVanderWilp | 6:e401c592d2c3 | 244 | { |
BVanderWilp | 6:e401c592d2c3 | 245 | printf("%d rpm\r\n", currentRPM); |
BVanderWilp | 6:e401c592d2c3 | 246 | rpmPrintFlag = 0; |
BVanderWilp | 6:e401c592d2c3 | 247 | } |
BVanderWilp | 5:6110655353ad | 248 | wait(0.05); |
BVanderWilp | 0:d445abf9a8e9 | 249 | } |
BVanderWilp | 0:d445abf9a8e9 | 250 | } |