Ryota Yamamoto
DRV8301を使用してブラシレスモーター(BLDC)をパパッと回すために作りました。DRV8301の全機能は使用できていません。会社・学校などで無理やり実験の担当を押し付けられた際にどうぞ。
Dependencies: DRV8301CTRL mbed
Diff: main.cpp
- Revision:
- 0:a8f76586ab79
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Wed Aug 31 17:03:46 2016 +0000
@@ -0,0 +1,227 @@
+#include "mbed.h"
+#include "DRV8301CTRL.h"
+
+//ユーザーボタン
+DigitalIn btn(USER_BUTTON);
+
+//シリアル通信
+Serial pc(USBTX, USBRX);
+
+//SPI通信
+SPI spi(D11, D12, D13);
+
+//DRV8301コントロールクラス
+drv8301ctrl DRV(&pc, &spi, D10, D9);
+//drv8301ctrl DRV(&spi, D10, D9);
+
+//PWM(3線式)
+PwmOut m1a(D7);
+PwmOut m1b(D8);
+PwmOut m1c(D2);
+
+//アナログ読み取り
+AnalogIn shunt1(A0);
+AnalogIn shunt2(A1);
+AnalogIn vbatt(A2);
+AnalogIn rvar(A3);
+
+//PWM疑似正弦波テーブル
+unsigned char step1A = 0;
+unsigned char step1B = 64;
+unsigned char step1C = 128;
+const unsigned int sinwave[192] = {
+ 17, 15, 13, 12, 10, 8, 7, 6, 5, 4, 3, 2, 1, 1, 1, 0,
+ 0, 0, 1, 1, 1, 2, 3, 4, 5, 6, 7, 8, 10, 12, 13, 15,
+ 17, 19, 22, 24, 27, 29, 32, 35, 37, 40, 44, 47, 50, 53, 57, 60,
+ 64, 67, 71, 75, 79, 82, 86, 90, 94, 98,102,106,110,115,119,123,
+ 127,131,135,139,144,148,152,156,160,164,168,172,175,179,183,187,
+ 190,194,197,201,204,207,210,214,217,219,222,225,227,230,232,235,
+ 237,239,241,242,244,246,247,248,249,250,251,252,253,253,253,254,
+ 254,254,253,253,253,252,251,250,249,248,247,246,244,242,241,239,
+ 237,235,232,230,227,225,222,219,217,214,210,207,204,201,197,194,
+ 190,187,183,179,175,172,168,164,160,156,152,148,144,139,135,131,
+ 127,123,119,115,110,106,102, 98, 94, 90, 86, 82, 79, 75, 71, 67,
+ 64, 60, 57, 53, 50, 47, 44, 40, 37, 35, 32, 29, 27, 24, 22, 19
+};
+
+//PWM周期(4us = 16KHz)
+unsigned int period_us = 4;
+
+//PWM待ち基準(マイクロ秒)(待ち基準*rvar=PWM待ち時間)
+int pwmWait_us = 600;
+float pwmWait_cf = 1.0f;
+float pwmWait_cf_cf = 0.000001f;
+
+//タイマー
+Ticker pc_timer;
+
+//タイマー関数
+void out_pc1(){
+ //pc.printf(
+ // "DutyA=%f,DutyB=%f,DutyC=%f,speed=%f,shunt1=%f,shunt2=%f,vbatt=%f\r\n",
+ // m1a.read(), m1b.read(), m1c.read(), rvar.read(), shunt1.read()*3.3f, shunt2.read()*3.3f, vbatt.read()*61.8f
+ //);
+}
+void out_pc2(){
+ //pc.printf(
+ // "DutyA=%f,DutyB=%f,DutyC=%f,pwmWait_us=%05d,shunt1=%f,shunt2=%f,vbatt=%f\r\n",
+ // m1a.read(), m1b.read(), m1c.read(), pwmWait_us, shunt1.read()*3.3f, shunt2.read()*3.3f, vbatt.read()*61.8f
+ //);
+}
+void motor_run1(){
+ step1A = (step1A+1) % 192;
+ step1B = (step1B+1) % 192;
+ step1C = (step1C+1) % 192;
+ m1a.write((float)(sinwave[step1A] / 255.0f));
+ m1b.write((float)(sinwave[step1B] / 255.0f));
+ m1c.write((float)(sinwave[step1C] / 255.0f));
+}
+void motor_run2(){
+ step1C = (step1C == 0) ? step1C = 191 : (step1C-1) % 192;
+ step1B = (step1B == 0) ? step1B = 191 : (step1B-1) % 192;
+ step1A = (step1A == 0) ? step1A = 191 : (step1A-1) % 192;
+ m1c.write((float)(sinwave[step1C] / 255.0f));
+ m1b.write((float)(sinwave[step1B] / 255.0f));
+ m1a.write((float)(sinwave[step1A] / 255.0f));
+}
+
+//メイン
+int main(){
+
+ //シリアル出力
+ pc.printf("mbed ready...\r\n");
+ m1a.write(0.0);
+ m1b.write(0.0);
+ m1c.write(0.0);
+
+ //ボタンが押されるまで待ち続ける
+ while(btn);
+
+ //ドライバ初期化
+ pc.printf("--------init drv8301...\r\n");
+ DRV.init();
+
+ //ドライバの状態を読み取る
+ pc.printf("--------read status(before settings) drv8301...\r\n");
+ DRV.readStatus1();
+ DRV.readStatus2();
+ DRV.readCtrl1();
+ DRV.readCtrl2();
+
+ //シャントアンプのゲインを80V/Vに
+ pc.printf("--------set gain 80v/v...\r\n");
+ DRV.readCtrl2(); //現在の値を内部変数に読み込み
+ DRV.setGAIN(3); //内部変数に値をセット(0x11)
+ DRV.writeCtrl2(); //書き込み(GAINはコントロールレジスタ2)
+
+ //ドライバの状態を読み取る
+ pc.printf("--------read status(after settings) drv8301...\r\n");
+ DRV.readStatus1();
+ DRV.readStatus2();
+ DRV.readCtrl1();
+ DRV.readCtrl2();
+
+ //set PWM period
+ pc.printf("--------Set PWM period = %d[us](%f [Hz])...\r\n", period_us, (float)(1e6 / period_us));
+ m1a.period_us(period_us);
+ m1b.period_us(period_us);
+ m1c.period_us(period_us);
+
+ //ボタンが押されるまで待ち続ける
+ pc.printf("--------WAITING PUSH BUTTON...\r\n");
+ while(btn);
+ wait(3.0);
+
+ //PCへの送出開始
+ pc.printf("--------Running motor!! until push user button...\r\n");
+ pc_timer.attach(&out_pc1, 0.15f);
+
+ //PWM送出(ボタンが押されるまで)
+ do{
+ motor_run1();
+ wait_us((int)(pwmWait_us * (1.0f - rvar.read())));
+ }while(btn);
+
+ //PCへの送出停止
+ pc_timer.detach();
+ //PWM送出停止
+ pc.printf("--------STOP...\r\n");
+ m1a.write(0.0);
+ m1b.write(0.0);
+ m1c.write(0.0);
+ wait(3.0);
+
+ //ボタンが押されるまで待ち続ける
+ pc.printf("--------WAITING PUSH BUTTON...\r\n");
+ while(btn);
+ wait(3.0);
+
+ //PCへの送出開始
+ pc.printf("--------Running motor!!(reverse) until push user button...\r\n");
+ pc_timer.attach(&out_pc1, 0.15f);
+
+ //PWM送出(ボタンが押されるまで)
+ do{
+ motor_run2();
+ wait_us((int)(pwmWait_us * (1.0f - rvar.read())));
+ }while(btn);
+
+ //PCへの送出停止
+ pc_timer.detach();
+ //PWM送出停止
+ pc.printf("--------STOP...\r\n");
+ m1a.write(0.0);
+ m1b.write(0.0);
+ m1c.write(0.0);
+ wait(3.0);
+
+
+ //ドライバの状態を読み取る
+ pc.printf("--------read status drv8301...\r\n");
+ DRV.readStatus1();
+ DRV.readStatus2();
+ DRV.readCtrl1();
+ DRV.readCtrl2();
+
+ //ボタンが押されるまで待ち続ける
+ pc.printf("----WAITING PUSH BUTTON !!(before automatic acc/dec sequence)!! ...\r\n");
+ while(btn);
+ wait(3.0);
+
+ //PWM送出(段々加速していく)
+ pc.printf("--------Running motor!!(automatic acceleration/deceleration)\r\n");
+ //PCへの送出開始
+ pc_timer.attach(&out_pc2, 0.15f);
+ do{
+ motor_run1();
+ wait_us((int)(pwmWait_us *= (pwmWait_cf -= pwmWait_cf_cf)));
+ }while(pwmWait_us > 2);
+
+ pwmWait_us = (pwmWait_us < 2) ? 2 : pwmWait_us;
+ pwmWait_cf = (pwmWait_cf < 1.0f) ? 1.00f : pwmWait_cf;
+ pwmWait_cf_cf = 0.000005f;
+
+ //PWM送出(段々減速していく)
+ do{
+ motor_run1();
+ wait_us((int)(pwmWait_us *= (pwmWait_cf += pwmWait_cf_cf)));
+ }while(pwmWait_us < 300);
+
+ //PCへの送出停止
+ pc_timer.detach();
+ //減速終了
+ pc.printf("--------Running motor!!(end of deceleration)\r\n");
+ wait(2.5);
+
+ //出力停止
+ pc.printf("--------STOP...\r\n");
+ m1a.write(0.0);
+ m1b.write(0.0);
+ m1c.write(0.0);
+
+ //ゲートクローズ
+ DRV.gateDisable();
+
+ //PCへの送出停止
+ pc_timer.detach();
+}