Interface編集部
2022年1月号 ブラシレス・モータを回すプログラムの書き方講座＜第2回＞
第2回ではブラシレス・モータを回す最小構成のプログラムを紹介しています．
本誌ではプログラムの一部のみを掲載していました．
以下にプログラム全体を示します．
#include “mbed.h”
DigitalOut shuki(PC_6);
PwmOut PWMu(PA_8);
PwmOut PWMv(PA_9);
PwmOut PWMw(PA_10);
AnalogIn V_adc(PC_2);
DigitalOut EN1(PC_10);
DigitalOut EN2(PC_11);
DigitalOut EN3(PC_12);
DigitalIn HU(PA_15);
DigitalIn HV(PB_3);
DigitalIn HW(PB_10);
Serial pc(USBTX,USBRX);
/*******************************************/
unsigned int scnt_m=0,scount=0;
unsigned char HUVW;
unsigned char VMODE;
float Vr_adc_i,vr1_ad,vr_ad,vr1_ad_p;
float Duty=0;
unsigned char UP,VP,WP;
unsigned char kukei_U,kukei_V,kukei_W;
unsigned char EN_U,EN_V,EN_W;
unsigned char UVW_In(void)
{
unsigned char temp8;
temp8 = HW; //W
temp8 = (temp8+temp8) + HV; //V
temp8 = (temp8+temp8) + HU; //U
return temp8;
}
/********main***********/
int main(){
pc.baud(128000);
PWMu.period_us(20);
PWMv.period_us(20);
PWMw.period_us(20);
Vr_adc_i=V_adc.read();
wait_ms(100);
while(1) {
//pc.printf( “%d\r”, SystemCoreClock );
UP=HU; VP=HV; WP=HW;
EN_U=EN1;EN_V=EN2;EN_W=EN3;
//pc.printf(“%d,%d,%d,%d,%d,%d \r” ,kukei_W,kukei_V,kukei_U,WP,VP,UP);
//pc.printf(“%d,%d,%d,%d,%d,%d \r” ,kukei_W,kukei_V,kukei_U,EN_W,EN_V,EN_U);
//pc.printf(“%d \r” ,scnt_m);
vr_ad=V_adc.read();
vr1_ad_p=(vr_ad-Vr_adc_i);
vr1_ad+=(vr1_ad_p-vr1_ad)*0.1;
/* ———— */
/* ホールセンサ読込 */
/* ———— */
HUVW = UVW_In(); /* センサ付・ホールIC信号 */
switch (HUVW)
{
case 1: VMODE = 2; break;//2
case 2: VMODE = 4; break;//4
case 3: VMODE = 3; break;//3
case 4: VMODE = 6; break;//6
case 5: VMODE = 1; break;//1
case 6: VMODE = 5; break;//5
default: VMODE = 1; break;
}
if(vr1_ad>0.05){
Duty=fabs(vr1_ad);
}else{}
/************* PWM 駆動**** */
switch (VMODE)
{
case 1: PWMu.write(Duty); PWMv.write(0); PWMw.write(0);
EN1=1; EN2 = 1; EN3= 0;//0:Active 1:High inpeedance
kukei_U=shuki;kukei_V=0;kukei_W=0;
break;
case 2: PWMu.write(Duty); PWMv.write(0); PWMw.write(0);
EN1=1; EN2 = 0; EN3 = 1;
kukei_U=shuki;kukei_V=0;kukei_W=0;
break;
case 3: PWMu.write(0); PWMv.write(Duty); PWMw.write(0);
EN1=0; EN2 = 1; EN3 = 1;
kukei_U=0;kukei_V=shuki;kukei_W=0;
break;
case 4: PWMu.write(0); PWMv.write(Duty); PWMw.write(0);
EN1=1; EN2 = 1; EN3 = 0;
kukei_U=0;kukei_V=shuki;kukei_W=0;
break;
case 5: PWMu.write(0); PWMv.write(0); PWMw.write(Duty);
EN1=1; EN2 = 0; EN3 = 1;
kukei_U=0;kukei_V=0;kukei_W=shuki;
break;
case 6: PWMu.write(0); PWMv.write(0); PWMw.write(Duty);
EN1=0; EN2 = 1; EN3 = 1;
kukei_U=0;kukei_V=0;kukei_W=shuki;
break;
default: PWMu.write(0); PWMv.write(0); PWMw.write(0);
EN1=0; EN2 = 0; EN3 = 0;
kukei_U=0;kukei_V=0;kukei_W=0;
break;
}
/********実行周期************/
scnt_m=scount%2;
if(scnt_m==0){
shuki=0;
}else{
shuki=1;
}
scount++;
/*************************/
}//while
}//main
