File content as of revision 18:d7033a38f20b:

#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+
{
    phaseA.write(0);
    phaseB.write(0);
    phaseC.write(pwmDuty);
    phaseAEN = 0;
    phaseBEN = 1;
    phaseCEN = 1;
}

void Afall()    //state2, A+ B- C0
{
    phaseA.write(pwmDuty);
    phaseB.write(0);
    phaseC.write(0);
    phaseAEN = 1;
    phaseBEN = 1;
    phaseCEN = 0;
}

void Crise()    //state3, A+ B0 C-
{
    phaseA.write(pwmDuty);
    phaseB.write(0);
    phaseC.write(0);
    phaseAEN = 1;
    phaseBEN = 0;
    phaseCEN = 1;
}

void Bfall()    //state4, A0 B+ C-
{
    phaseA.write(0);
    phaseB.write(pwmDuty);
    phaseC.write(0);
    phaseAEN = 0;
    phaseBEN = 1;
    phaseCEN = 1;
}

void Arise()    //state5, A- B+ C0
{
    phaseA.write(0);
    phaseB.write(pwmDuty);
    phaseC.write(0);
    phaseAEN = 1;
    phaseCEN = 0;
    phaseBEN = 1;
}

void Cfall()    //state6, A- B0 C+
{
    phaseAEN = 1;
    phaseBEN = 0;
    phaseCEN = 1;
    phaseA.write(0);
    phaseB.write(0);
    phaseC.write(pwmDuty);
}

void toggleRedLed()
{
    redLed = !redLed;
}

void jumpStart()
{
    int h1 = hallA.read();
    int h2 = hallB.read();
    int h3 = hallC.read();
    //check where we start
    
    if (reverse == 0)
    {
        if(h1 == 0 && h2 == 1 && h3 == 1) { //state1
            Afall();
        } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2
            Crise();
        } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3
            Bfall();
        } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4
            Arise();
        } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5
            Cfall();
        } else { //(h1 == 0 && h2 == 1 && h3 == 0)state6
            Brise();
        }
    }
    else if (reverse == 1) // to go in reverse, shift the mappings by 180 degrees
    {
        if(h1 == 0 && h2 == 1 && h3 == 1) { //state1
//            Cfall();
            Arise();
        } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2
//            Brise();
            Cfall();
        } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3
//            Afall();
            Brise();
        } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4
//            Crise();
            Afall();
        } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5
//            Bfall();
            Crise();
        } else { //(h1 == 0 && h2 == 1 && h3 == 0) state6
//            Arise();
            Bfall();
        }
    }
    toggleRedLed();
    revCount++;
}

void activate()
{
    if(stall == 0) {
        stall = 1;
    } else {
        if (pwmDuty < 0.4f)
        {
            reverse = 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;

    spinTicker.attach_us(&jumpStart, 50);
    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; reverse: %d\r\n", currentRPM, pwmDuty, reverse);
            rpmPrintFlag = 0;
        }
        wait(0.05);
    }
}