STM32F302R8 with Konrad's inverter boards for senior design.
Fork of Blue_Board_Ticker by
main.cpp@17:5e27edd3d8e6, 2016-04-13 (annotated)
- Committer:
- vicyap
- Date:
- Wed Apr 13 19:22:34 2016 +0000
- Revision:
- 17:5e27edd3d8e6
- Parent:
- 16:792055c232a5
- Child:
- 18:d7033a38f20b
reverse working
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+ |
vicyap | 15:dddb511c39b4 | 39 | { |
vicyap | 17:5e27edd3d8e6 | 40 | phaseA.write(0); |
vicyap | 17:5e27edd3d8e6 | 41 | phaseB.write(0); |
vicyap | 17:5e27edd3d8e6 | 42 | phaseC.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 43 | phaseAEN = 0; |
BVanderWilp | 1:69c06d3676fd | 44 | phaseBEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 45 | phaseCEN = 1; |
BVanderWilp | 1:69c06d3676fd | 46 | } |
BVanderWilp | 1:69c06d3676fd | 47 | |
BVanderWilp | 9:af60c737a93e | 48 | void Afall() //state2, A+ B- C0 |
BVanderWilp | 1:69c06d3676fd | 49 | { |
vicyap | 17:5e27edd3d8e6 | 50 | phaseA.write(pwmDuty); |
vicyap | 17:5e27edd3d8e6 | 51 | phaseB.write(0); |
BVanderWilp | 1:69c06d3676fd | 52 | phaseC.write(0); |
BVanderWilp | 1:69c06d3676fd | 53 | phaseAEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 54 | phaseBEN = 1; |
vicyap | 17:5e27edd3d8e6 | 55 | phaseCEN = 0; |
BVanderWilp | 1:69c06d3676fd | 56 | } |
BVanderWilp | 1:69c06d3676fd | 57 | |
BVanderWilp | 9:af60c737a93e | 58 | void Crise() //state3, A+ B0 C- |
BVanderWilp | 1:69c06d3676fd | 59 | { |
vicyap | 17:5e27edd3d8e6 | 60 | phaseA.write(pwmDuty); |
vicyap | 17:5e27edd3d8e6 | 61 | phaseB.write(0); |
vicyap | 17:5e27edd3d8e6 | 62 | phaseC.write(0); |
vicyap | 17:5e27edd3d8e6 | 63 | phaseAEN = 1; |
BVanderWilp | 1:69c06d3676fd | 64 | phaseBEN = 0; |
BVanderWilp | 1:69c06d3676fd | 65 | phaseCEN = 1; |
BVanderWilp | 1:69c06d3676fd | 66 | } |
BVanderWilp | 1:69c06d3676fd | 67 | |
BVanderWilp | 9:af60c737a93e | 68 | void Bfall() //state4, A0 B+ C- |
BVanderWilp | 1:69c06d3676fd | 69 | { |
BVanderWilp | 0:d445abf9a8e9 | 70 | phaseA.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 71 | phaseB.write(pwmDuty); |
vicyap | 17:5e27edd3d8e6 | 72 | phaseC.write(0); |
vicyap | 17:5e27edd3d8e6 | 73 | phaseAEN = 0; |
BVanderWilp | 0:d445abf9a8e9 | 74 | phaseBEN = 1; |
BVanderWilp | 3:2bcc36fe4de5 | 75 | phaseCEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 76 | } |
BVanderWilp | 0:d445abf9a8e9 | 77 | |
BVanderWilp | 9:af60c737a93e | 78 | void Arise() //state5, A- B+ C0 |
BVanderWilp | 0:d445abf9a8e9 | 79 | { |
vicyap | 17:5e27edd3d8e6 | 80 | phaseA.write(0); |
vicyap | 17:5e27edd3d8e6 | 81 | phaseB.write(pwmDuty); |
vicyap | 17:5e27edd3d8e6 | 82 | phaseC.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 83 | phaseAEN = 1; |
vicyap | 17:5e27edd3d8e6 | 84 | phaseCEN = 0; |
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 | { |
vicyap | 17:5e27edd3d8e6 | 90 | phaseAEN = 1; |
BVanderWilp | 0:d445abf9a8e9 | 91 | phaseBEN = 0; |
vicyap | 17:5e27edd3d8e6 | 92 | phaseCEN = 1; |
vicyap | 17:5e27edd3d8e6 | 93 | phaseA.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 94 | phaseB.write(0); |
BVanderWilp | 0:d445abf9a8e9 | 95 | phaseC.write(pwmDuty); |
BVanderWilp | 0:d445abf9a8e9 | 96 | } |
BVanderWilp | 0:d445abf9a8e9 | 97 | |
vicyap | 14:0f50e85bd463 | 98 | void toggleRedLed() |
vicyap | 14:0f50e85bd463 | 99 | { |
vicyap | 15:dddb511c39b4 | 100 | redLed = !redLed; |
vicyap | 14:0f50e85bd463 | 101 | } |
BVanderWilp | 0:d445abf9a8e9 | 102 | |
BVanderWilp | 7:9d90184335aa | 103 | void jumpStart() |
BVanderWilp | 7:9d90184335aa | 104 | { |
BVanderWilp | 3:2bcc36fe4de5 | 105 | int h1 = hallA.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 106 | int h2 = hallB.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 107 | int h3 = hallC.read(); |
BVanderWilp | 3:2bcc36fe4de5 | 108 | //check where we start |
vicyap | 16:792055c232a5 | 109 | |
vicyap | 16:792055c232a5 | 110 | if (reverse == 0) |
vicyap | 16:792055c232a5 | 111 | { |
vicyap | 16:792055c232a5 | 112 | if(h1 == 0 && h2 == 1 && h3 == 1) { //state1 |
vicyap | 16:792055c232a5 | 113 | Afall(); |
vicyap | 16:792055c232a5 | 114 | } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2 |
vicyap | 16:792055c232a5 | 115 | Crise(); |
vicyap | 16:792055c232a5 | 116 | } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3 |
vicyap | 16:792055c232a5 | 117 | Bfall(); |
vicyap | 16:792055c232a5 | 118 | } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4 |
vicyap | 16:792055c232a5 | 119 | Arise(); |
vicyap | 16:792055c232a5 | 120 | } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5 |
vicyap | 16:792055c232a5 | 121 | Cfall(); |
vicyap | 16:792055c232a5 | 122 | } else { //(h1 == 0 && h2 == 1 && h3 == 0)state6 |
vicyap | 16:792055c232a5 | 123 | Brise(); |
vicyap | 16:792055c232a5 | 124 | } |
vicyap | 16:792055c232a5 | 125 | } |
vicyap | 16:792055c232a5 | 126 | else if (reverse == 1) |
vicyap | 16:792055c232a5 | 127 | { |
vicyap | 16:792055c232a5 | 128 | // A -> C |
vicyap | 16:792055c232a5 | 129 | // B -> A |
vicyap | 16:792055c232a5 | 130 | // C -> B |
vicyap | 16:792055c232a5 | 131 | if(h1 == 0 && h2 == 1 && h3 == 1) { //state1 |
vicyap | 16:792055c232a5 | 132 | Cfall(); |
vicyap | 16:792055c232a5 | 133 | } else if(h1 == 0 && h2 == 0 && h3 == 1) { //state2 |
vicyap | 16:792055c232a5 | 134 | Brise(); |
vicyap | 16:792055c232a5 | 135 | } else if(h1 == 1 && h2 == 0 && h3 == 1) { //state3 |
vicyap | 16:792055c232a5 | 136 | Afall(); |
vicyap | 16:792055c232a5 | 137 | } else if(h1 == 1 && h2 == 0 && h3 == 0) { //state4 |
vicyap | 16:792055c232a5 | 138 | Crise(); |
vicyap | 16:792055c232a5 | 139 | } else if(h1 == 1 && h2 == 1 && h3 == 0) { //state5 |
vicyap | 16:792055c232a5 | 140 | Bfall(); |
vicyap | 16:792055c232a5 | 141 | } else { //(h1 == 0 && h2 == 1 && h3 == 0) state6 |
vicyap | 16:792055c232a5 | 142 | Arise(); |
vicyap | 16:792055c232a5 | 143 | } |
vicyap | 14:0f50e85bd463 | 144 | } |
vicyap | 14:0f50e85bd463 | 145 | toggleRedLed(); |
vicyap | 17:5e27edd3d8e6 | 146 | revCount++; |
BVanderWilp | 7:9d90184335aa | 147 | } |
BVanderWilp | 7:9d90184335aa | 148 | |
BVanderWilp | 7:9d90184335aa | 149 | void activate() |
BVanderWilp | 7:9d90184335aa | 150 | { |
vicyap | 15:dddb511c39b4 | 151 | if(stall == 0) { |
BVanderWilp | 7:9d90184335aa | 152 | stall = 1; |
vicyap | 15:dddb511c39b4 | 153 | } else { |
vicyap | 17:5e27edd3d8e6 | 154 | if (pwmDuty < 0.4f) |
vicyap | 16:792055c232a5 | 155 | { |
vicyap | 16:792055c232a5 | 156 | reverse = reverse ^ 1; |
vicyap | 16:792055c232a5 | 157 | } |
BVanderWilp | 7:9d90184335aa | 158 | } |
BVanderWilp | 7:9d90184335aa | 159 | } |
BVanderWilp | 7:9d90184335aa | 160 | |
vicyap | 15:dddb511c39b4 | 161 | int main() |
vicyap | 15:dddb511c39b4 | 162 | { |
BVanderWilp | 7:9d90184335aa | 163 | //wait until button push to start |
BVanderWilp | 7:9d90184335aa | 164 | rpmInterrupt.attach(&rpmCalc, 1); |
BVanderWilp | 7:9d90184335aa | 165 | button.rise(&activate); |
BVanderWilp | 7:9d90184335aa | 166 | while(stall == 0) { |
BVanderWilp | 7:9d90184335aa | 167 | led = !led; |
BVanderWilp | 7:9d90184335aa | 168 | wait(1); |
BVanderWilp | 7:9d90184335aa | 169 | } |
BVanderWilp | 7:9d90184335aa | 170 | |
BVanderWilp | 7:9d90184335aa | 171 | pwmDuty = pot.read() * pwmMax; |
BVanderWilp | 7:9d90184335aa | 172 | |
BVanderWilp | 7:9d90184335aa | 173 | phaseA.period_us(50); |
BVanderWilp | 7:9d90184335aa | 174 | phaseB.period_us(50); |
BVanderWilp | 7:9d90184335aa | 175 | phaseC.period_us(50); |
vicyap | 15:dddb511c39b4 | 176 | |
BVanderWilp | 7:9d90184335aa | 177 | phaseA.write(0); |
BVanderWilp | 7:9d90184335aa | 178 | phaseB.write(0); |
vicyap | 15:dddb511c39b4 | 179 | phaseC.write(0); |
vicyap | 15:dddb511c39b4 | 180 | |
BVanderWilp | 7:9d90184335aa | 181 | phaseAEN = 0; |
BVanderWilp | 7:9d90184335aa | 182 | phaseBEN = 0; |
BVanderWilp | 7:9d90184335aa | 183 | phaseCEN = 0; |
vicyap | 15:dddb511c39b4 | 184 | |
vicyap | 13:08c700d71324 | 185 | spinTicker.attach_us(&jumpStart, 50); |
vicyap | 16:792055c232a5 | 186 | float ADCSum = 0; |
BVanderWilp | 5:6110655353ad | 187 | int ADCCount = 0; |
BVanderWilp | 0:d445abf9a8e9 | 188 | while(1) { |
BVanderWilp | 0:d445abf9a8e9 | 189 | led = !led; |
BVanderWilp | 5:6110655353ad | 190 | ADCSum += pot.read(); |
BVanderWilp | 5:6110655353ad | 191 | ADCCount++; |
vicyap | 15:dddb511c39b4 | 192 | if(ADCCount == 20) { |
BVanderWilp | 5:6110655353ad | 193 | pwmDuty = (ADCSum/20) * pwmMax; |
BVanderWilp | 5:6110655353ad | 194 | ADCSum = 0; |
BVanderWilp | 5:6110655353ad | 195 | ADCCount = 0; |
BVanderWilp | 5:6110655353ad | 196 | } |
vicyap | 15:dddb511c39b4 | 197 | if(rpmPrintFlag == 1) { |
vicyap | 16:792055c232a5 | 198 | printf("%d rpm; %f duty; reverse: %d\r\n", currentRPM, pwmDuty, reverse); |
BVanderWilp | 6:e401c592d2c3 | 199 | rpmPrintFlag = 0; |
BVanderWilp | 6:e401c592d2c3 | 200 | } |
BVanderWilp | 5:6110655353ad | 201 | wait(0.05); |
BVanderWilp | 0:d445abf9a8e9 | 202 | } |
BVanderWilp | 0:d445abf9a8e9 | 203 | } |