STM32F302R8 with Konrad's inverter boards for senior design.
Fork of Blue_Board_Ticker by
main.cpp
- Committer:
- vicyap
- Date:
- 2016-04-13
- Revision:
- 12:d34b96d7f997
- Parent:
- 11:8dc1e36579e2
- Child:
- 13:08c700d71324
File content as of revision 12:d34b96d7f997:
#include "mbed.h" PwmOut phaseA(PA_8); //Out1, Green DigitalOut phaseAEN(PC_10); PwmOut phaseB(PA_9); //Out2, Blue DigitalOut phaseBEN(PC_11); PwmOut phaseC(PA_10); //Out3, White DigitalOut phaseCEN(PC_12); AnalogIn pot(PB_1); InterruptIn button(USER_BUTTON); DigitalOut redLed(PB_2); DigitalOut led(LED1); InterruptIn hallA(PA_15); //H1, Green InterruptIn hallB(PB_3); //H2, Blue InterruptIn hallC(PB_10); //H3, White Ticker rpmInterrupt; Ticker spinTicker; int revCount = 0; int rpmPrintFlag = 0; int currentRPM; float pwmMax = 0.9; float pwmDuty; int stall = 0; int reverse = 0; void rpmCalc() { currentRPM = revCount * 60; //account for elec vs mech rpm revCount = 0; rpmPrintFlag = 1; } //original names: CBA CBA, new names: BAC BAC void Brise() //state1, A0 B- C+ { phaseAEN = 0; phaseBEN = 1; phaseC.write(pwmDuty); phaseCEN = 1; // redLed = ! redLed; revCount++; } void Afall() //state2, A+ B- C0 { phaseCEN = 0; phaseC.write(0); phaseA.write(pwmDuty); phaseAEN = 1; phaseBEN = 1; } void Crise() //state3, A+ B0 C- { phaseBEN = 0; phaseCEN = 1; phaseA.write(pwmDuty); phaseAEN = 1; } void Bfall() //state4, A0 B+ C- { phaseAEN = 0; phaseA.write(0); phaseB.write(pwmDuty); phaseBEN = 1; phaseCEN = 1; // redLed = ! redLed; } void Arise() //state5, A- B+ C0 { phaseCEN = 0; phaseAEN = 1; phaseB.write(pwmDuty); phaseBEN = 1; } void Cfall() //state6, A- B0 C+ { phaseBEN = 0; phaseB.write(0); phaseC.write(pwmDuty); phaseCEN = 1; phaseAEN = 1; } void jumpStart() { int h1 = hallA.read(); int h2 = hallB.read(); int h3 = hallC.read(); //check where we start if(h1 == 0 && h2 == 1 && h3 == 1) //state1 { Brise(); } else if(h1 == 0 && h2 == 0 && h3 == 1) //state2 { Afall(); } else if(h1 == 1 && h2 == 0 && h3 == 1) //state3 { Crise(); } else if(h1 == 1 && h2 == 0 && h3 == 0) //state4 { Bfall(); } else if(h1 == 1 && h2 == 1 && h3 == 0) //state5 { Arise(); } else //(h1 == 0 && h2 == 1 && h3 == 0)state6 { Cfall(); } } void activate() { if(stall == 0) { stall = 1; } else { jumpStart(); // if(reverse == 1) //switch to forward // { // hallA.fall(&Afall); // hallA.rise(&Arise); // hallB.fall(&Bfall); // hallB.rise(&Brise); // hallC.fall(&Cfall); // hallC.rise(&Crise); // redLed = !redLed; // reverse = 0; // } // else if(reverse == 0) //switch to reverse // { // hallA.fall(&Bfall); // hallA.rise(&Brise); // hallB.fall(&Cfall); // hallB.rise(&Crise); // hallC.fall(&Afall); // hallC.rise(&Arise); // redLed = !redLed; // reverse = 1; // } } } int main() { //wait until button push to start rpmInterrupt.attach(&rpmCalc, 1); button.rise(&activate); while(stall == 0) { led = !led; wait(1); } pwmDuty = pot.read() * pwmMax; phaseA.period_us(50); phaseB.period_us(50); phaseC.period_us(50); phaseA.write(0); phaseB.write(0); phaseC.write(0); phaseAEN = 0; phaseBEN = 0; phaseCEN = 0; //begin sensored mode // hallA.fall(&Afall); // hallA.rise(&Arise); // hallB.fall(&Bfall); // hallB.rise(&Brise); // hallC.fall(&Cfall); // hallC.rise(&Crise); spinTicker.attach_us(&jumpStart, 100); float ADCSum = 0;; int ADCCount = 0; while(1) { led = !led; ADCSum += pot.read(); ADCCount++; if(ADCCount == 20) { pwmDuty = (ADCSum/20) * pwmMax; ADCSum = 0; ADCCount = 0; } if(rpmPrintFlag == 1) { printf("%d rpm; %f duty\r\n", currentRPM, pwmDuty); rpmPrintFlag = 0; } wait(0.05); } }