Published October 2, 2023 © MIT

CO2 Bird - an animatronic CO2 indicator

As the "Canary in the coal mine" this Bird indicates the air quality, sitting on top or falling down.

IntermediateFull instructions provided6 hours899

Things used in this project

Hardware components

MIKROE CO2 3 Click

Infineon TLE5012B E1000 MS2GO

Infineon BLDC Shield IFX007T

Infineon XMC4200 Platform2Go

Woudi® Specht

T-Motor GB2208

Software apps and online services

Arduino IDE

Hand tools and fabrication machines

Soldering iron (generic)

3D Printer (generic)

Story

Well into the 20th century, coal miners brought canaries into coal mines as an early-warning signal for toxic gases, primarily carbon monoxide. The birds, being more sensitive, would become sick before the miners, who would then have a chance to escape.

Living in the 21st century the "Canary in the coal mine" is still used as an idiom for a thing that warns people of danger. So we decided to bring it to life again, warning about high CO2 concentration and bad air quality.

Things you need:

Sensor - CO2 3 Click

MikroE developed a new Click board™ featuring the Infineon XENSIV™ PAS CO2 sensor.

The used PASCO2V01BUMA1 overcomes the size, performance, and assembly challenges of existing CO2 sensor solutions by using photoacoustic spectroscopy (PAS). It uses pulses of light from an infrared source that pass through an optical filter explicitly tuned to the CO2 absorption wavelength. The CO2 molecules inside the measurement chamber absorb the filtered light, causing the molecules to shake and generate a pressure wave with each pulse, known as the photoacoustic effect. The sound is then detected by an acoustic detector optimized for low-frequency operation, and an on board microcontroller converts the output into a CO2 concentration reading. This results in a highly accurate and reliable measurement of CO2 levels in real time.

This Click board™ comes with a configurable host interface that allows communication with a variety of MCUs using three selectable interfaces.

The PASCO2V01BUMA1 can communicate with a MCU using the UART interface with commonly used UART RX and TX pins as its default communication protocol operating at 115200bps to transmit and exchange data with the host MCU
The by default configured I2C interface is compatible with the Fast-Mode allowing a maximum frequency of 400kHz.

Selection of UART and I2C is made by positioning SMD jumpers marked COMM SEL to the appropriate position. All jumpers must be on the same side, or the Click board™ may become unresponsive.

As a third - and in this project used - option for communication with the MCU, you can choose a PWM interface controlled via the PWS pin of the mikroBUS™ socket. The PWS pin is first asserted after the Power-On boot sequence (not after soft reset), and the level of the pin is checked. If a low level is detected, an internal interrupt routine configures the device into continuous mode and starts a measurement sequence every 60 seconds. At the end of each measurement sequence, the level of this pin is polled. If it is high, the device is configured back to Idle mode. The PWO pin, routed to the AN pin of the mikroBUS™ socket, offers the possibility to read out the CO2 concentration by delivering a PWM signal which timing information contains the CO2 concentration value. At the end of each measurement sequence, the device updates the PWM timing with the measured CO2 concentration. The board also possesses an additional interrupt alert signal, routed on the INT pin of the mikroBUS™ socket, to provide a notification of CO2 measurements that violate programmed thresholds.

//Setting the XENSIV PAS CO2 sensor into autonomous mode on a XMC4200 Platform 2Go
int PWD = 19;
int PWS = 22;
unsigned long CO2;
// the setup function runs once when you press reset or power the board
void setup() {
Serial.begin(115200);
// initialize digital pin interface
pinMode(PWS, OUTPUT);
pinMode(PWD, INPUT);
}
// the loop function runs over and over again forever
void loop() {
digitalWrite(PWS, LOW);  // turn the sensor in autonomous mode
CO2 = pulseIn(PWD, HIGH,70000000); // read CO2 value
Serial.print("puls:"); Serial.println(CO2);
}

Sensor - TLE5012 magnetic angle sensor

To sense the position of the bird and to give our BLDC motor control the possibility to control a certain position we use a TLE5012B E100 magnetic angle sensor on a custom PCB design. The files for this can be found below.

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You can also use the breakout part of the TLE5012B E1000 MS2Go, one of our fast system prototyping boards.

Power board - BLDC-SHIELD IFX007T

This board amplifies the PWM signals of the microcontroller to drive the BLDC turning the Bird up and down.

Controller - XMC4200 Platform 2Go

Infineons Platform 2Go boards feature different form factors to easily stack board on top of it. These are

Arduino Uno
MikroE Click
Infineon 2Go

Combined with an ARM® Cortex™-M4 (32-bit) microcontroller, this board is the perfect solution for our CO2 bird setup.

Wire things up

The TLE5012 will be connected to the SPI interface of the left Shield2Go slot.MISO, MOSI and CKL are routed through all SPI interfaces (Arduino, mikroBUS and 2 Shield2Go slots) while every form factor uses an own CS (Chip select).Make sure MISO/MOSI are shorted as the sensor uses a 3-wire SPI.

The MikroE Click board™ can be stacked right on the mikroBUS slot of the controller board. Same applies for the IFX007 bldc shield using the Arduino Shield slot. Before stacking, cut the shields Pins 9 and 10 (INV and INU) as these are SPI pins on the Uno layout which are used for the sensor interface already. Use two PWM pins (P1.2 and P1.3) on the X1 header instead. You can see them in white below.

Mechanics

This project uses three 3D printed parts. All STL files of them can be found below:

Sensor Mount: Holds the TLE5012 custom PCB on the back of the motor.

Motor Mount: Holds the Senor, Motor setup on top of the Arduino Power Shield

Bird mount:

System setup

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The whole system exists basically out of two parts:

1) The motor control - is a closed loop BLDC with position control based on a PID controller. This runs based on a timer interrupt and a lookup table. Detailed information about the control can be found in our project Build your own Servo based on a BLDC.

2) The state machine - "dead" or "alive"Our application code: a simple sensor readout and an if case.

The sensor can be read by the basic pulseIn() function of Arduino.As the motor control runs in an interrupt routine we can wait until a new sensor pulse arrives (every 60 senconds) and set the state accordingly.

In alive state the bird is moved towards a position in which the birds center of gravity is above the rotary axis. Thus no force is need and the motor is basically in standby most of the time.

In case our bird dies we give him a little push out of this position and implemented an electronic damping in the motor control to smooth the falling out.

CO2 = pulseIn(PWD, HIGH,70000000);
Serial.print("CO2:"); Serial.println(CO2);
if(CO2 > 1400){ //bird dead
sollWinkel = -40.0;
delay(100);
KP = 0;
KD =- 100;
}
else { //bird alive
KP = 10;
KD = -40;
sollWinkel = 0.0;
}

Schematics

Code

CO2 Bird

#include <TLE5012-ino.hpp>

using namespace tle5012;
Tle5012Ino Tle5012Sensor = Tle5012Ino(40,Tle5012b::TLE5012B_S0 );

#define PWD 19
#define PWS 22

unsigned long CO2;

//#define PI              (double)  3.14159265359
#define PHASE_DELAY_1     (double)  2.094395102 //120°
#define PHASE_DELAY_2     (double)  4.188790205 //240°

const int U = 24;
const int V = 23; 
const int W = 9;
const int EN_U = 6;
const int EN_V = 5;
const int EN_W = 3;
 
int i=0;
int duty = 100;

int pwmOne = 0;
int pwmTwo = 0;
int pwmThree = 0;

double amplitudeOne;
double amplitudeTwo;
double amplitudeThree;

double angle = 0.0;
double last_angle = 0.0;
double sollWinkel = 0.0;
float angle_rad = 0.0;

double speed;
int KP = 20;
int KD = -50;

double former_millis = 0;

int myPWM_U_values[1800] = {-14, -11, -8, -4, -1, 2, 5, 9, 12, 15, 18, 22, 24, 27, 30, 33, 36, 38, 41, 43, 45, 48, 50, 52, 54, 56, 57, 59, 61, 63, 65, 66, 68, 69, 71, 73, 75, 76, 78, 80, 82, 83, 84, 86, 87, 88, 89, 91, 92, 92, 93, 94, 95, 95, 96, 96, 97, 97, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 97, 97, 96, 95, 94, 93, 92, 91, 90, 89, 87, 86, 84, 83, 81, 79, 77, 75, 74, 72, 70, 68, 66, 65, 63, 61, 60, 58, 57, 55, 54, 52, 51, 49, 47, 46, 44, 42, 40, 38, 36, 34, 32, 30, 28, 26, 23, 21, 18, 14, 11, 8, 4, 2, -1, -4, -8, -11, -15, -17, -21, -24, -26, -29, -32, -34, -37, -40, -42, -44, -47, -49, -51, -53, -55, -57, -59, -61, -63, -65, -67, -69, -71, -73, -75, -76, -78, -80, -82, -84, -85, -86, -88, -89, -90, -91, -92, -93, -94, -94, -95, -95, -96, -96, -97, -97, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -97, -97, -96, -96, -95, -94, -93, -92, -91, -90, -89, -87, -86, -84, -83, -81, -79, -78, -76, -74, -73, -71, -69, -68, -66, -65, -63, -62, -60, -59, -57, -55, -54, -52, -50, -48, -47, -45, -43, -41, -39, -37, -35, -33, -32, -30, -27, -25, -23, -21, -18, -16, -13, -10, -7, -3, 0, 3, 6, 10, 13, 16, 19, 23, 26, 29, 32, 35, 37, 40, 42, 45, 47, 50, 52, 54, 56, 58, 60, 62, 64, 66, 67, 69, 71, 73, 74, 76, 78, 80, 81, 83, 84, 86, 87, 88, 89, 91, 91, 92, 93, 94, 95, 95, 96, 96, 97, 97, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 97, 97, 96, 96, 95, 94, 93, 93, 92, 91, 89, 88, 87, 85, 83, 82, 80, 78, 76, 75, 73, 72, 70, 68, 67, 65, 63, 62, 60, 59, 57, 55, 54, 52, 50, 48, 47, 45, 43, 41, 39, 38, 36, 34, 32, 30, 28, 26, 24, 21, 18, 15, 11, 8, 4, 1, -1, -5, -9, -12, -16, -19, -22, -25, -28, -31, -33, -37, -39, -42, -44, -46, -49, -51, -53, -55, -57, -59, -61, -63, -65, -67, -69, -71, -73, -75, -77, -79, -81, -83, -84, -86, -87, -89, -90, -91, -92, -93, -94, -95, -95, -96, -97, -97, -97, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -97, -96, -96, -95, -94, -93, -92, -91, -90, -89, -88, -87, -86, -84, -82, -81, -79, -78, -76, -75, -73, -72, -70, -69, -68, -66, -65, -64, -62, -61, -60, -58, -57, -55, -54, -52, -51, -49, -48, -46, -44, -42, -40, -38, -36, -34, -32, -30, -28, -26, -23, -20, -17, -14, -10, -7, -4, 0, 2, 6, 9, 13, 16, 19, 22, 25, 28, 31, 33, 36, 38, 40, 42, 45, 47, 50, 52, 54, 56, 59, 61, 63, 65, 67, 69, 71, 73, 75, 77, 79, 81, 82, 84, 85, 86, 88, 89, 90, 91, 92, 93, 94, 94, 95, 96, 96, 97, 97, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 97, 97, 96, 96, 95, 94, 93, 92, 91, 90, 89, 88, 86, 85, 83, 81, 79, 78, 76, 75, 73, 71, 69, 67, 66, 64, 62, 61, 59, 58, 56, 55, 53, 52, 51, 49, 47, 46, 44, 42, 41, 39, 37, 36, 34, 32, 30, 29, 27, 25, 23, 21, 19, 16, 12, 9, 6, 3, 0, -3, -6, -10, -13, -17, -19, -22, -26, -29, -32, -34, -37, -40, -42, -44, -46, -49, -51, -53, -55, -57, -60, -62, -64, -66, -68, -70, -72, -74, -76, -77, -79, -81, -82, -84, -85, -87, -88, -89, -91, -92, -93, -94, -94, -95, -96, -96, -97, -97, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -97, -97, -96, -96, -95, -94, -93, -92, -90, -89, -88, -86, -85, -83, -81, -80, -78, -76, -75, -73, -72, -70, -68, -67, -65, -64, -62, -61, -59, -58, -56, -55, -53, -52, -50, -48, -47, -45, -44, -42, -40, -39, -37, -35, -33, -31, -29, -27, -25, -23, -21, -18, -15, -12, -8, -5, -2, 0, 3, 6, 10, 13, 16, 18, 21, 24, 27, 30, 32, 34, 36, 38, 41, 43, 45, 47, 49, 50, 53, 55, 57, 58, 61, 63, 65, 67, 69, 71, 73, 75, 77, 79, 81, 82, 84, 85, 87, 88, 89, 90, 91, 92, 93, 94, 94, 95, 96, 96, 97, 97, 97, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 97, 97, 96, 95, 94, 93, 93, 91, 90, 89, 88, 86, 85, 83, 81, 80, 78, 76, 74, 73, 71, 69, 67, 66, 64, 62, 60, 58, 57, 55, 53, 51, 49, 48, 46, 44, 43, 41, 39, 37, 36, 34, 32, 30, 28, 26, 25, 23, 20, 18, 15, 12, 9, 5, 2, -1, -4, -7, -10, -14, -17, -20, -23, -26, -29, -32, -35, -38, -40, -42, -45, -47, -49, -51, -53, -55, -57, -59, -61, -63, -65, -67, -68, -70, -72, -74, -76, -77, -79, -81, -82, -83, -85, -86, -87, -88, -89, -90, -91, -92, -93, -94, -94, -95, -96, -96, -97, -97, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -97, -97, -96, -96, -95, -94, -93, -92, -91, -90, -88, -87, -85, -84, -82, -80, -78, -77, -75, -73, -72, -70, -68, -67, -65, -63, -62, -60, -59, -57, -56, -54, -53, -51, -49, -48, -46, -44, -42, -40, -38, -36, -34, -32, -30, -28, -26, -23, -21, -18, -15, -12, -9, -6, -3, 0, 3, 7, 10, 13, 16, 20, 23, 26, 29, 32, 34, 37, 39, 41, 43, 45, 47, 49, 52, 53, 55, 57, 59, 61, 63, 65, 67, 69, 71, 73, 75, 77, 79, 80, 82, 83, 85, 86, 87, 88, 90, 91, 92, 93, 94, 94, 95, 96, 96, 96, 97, 97, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 97, 97, 96, 95, 94, 93, 92, 91, 90, 89, 87, 86, 84, 82, 81, 79, 77, 76, 74, 72, 71, 69, 67, 66, 64, 62, 61, 59, 58, 56, 54, 53, 51, 49, 47, 45, 43, 41, 39, 37, 36, 34, 32, 30, 28, 26, 24, 22, 19, 16, 13, 10, 6, 3, 0, -3, -7, -10, -13, -17, -20, -23, -26, -29, -32, -36, -39, -41, -44, -46, -49, -51, -53, -55, -57, -59, -61, -63, -65, -67, -69, -71, -72, -74, -76, -78, -79, -81, -82, -84, -85, -87, -88, -89, -90, -91, -92, -93, -94, -95, -95, -96, -96, -97, -97, -98, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -97, -97, -97, -96, -95, -95, -94, -93, -92, -92, -91, -89, -88, -87, -86, -84, -83, -81, -79, -78, -76, -75, -73, -71, -70, -68, -66, -65, -63, -61, -60, -58, -57, -55, -53, -51, -50, -48, -46, -44, -42, -41, -39, -37, -35, -33, -31, -29, -27, -24, -22, -19, -16, -13, -10, -7, -3, 0, 3, 6, 10, 13, 16, 19, 22, 25, 28, 31, 34, 36, 39, 41, 44, 46, 48, 50, 52, 55, 57, 59, 61, 63, 65, 67, 69, 71, 73, 75, 77, 79, 81, 83, 85, 86, 87, 89, 90, 91, 92, 93, 94, 95, 95, 96, 96, 97, 97, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 97, 97, 96, 95, 94, 94, 92, 92, 90, 89, 88, 86, 85, 83, 82, 80, 78, 77, 75, 73, 72, 70, 69, 67, 66, 64, 63, 61, 60, 59, 57, 56, 54, 53, 52, 50, 48, 46, 45, 43, 41, 39, 37, 35, 33, 31, 29, 26, 24, 22, 18, 15, 11, 8, 5, 2, 0, -4, -8, -11, -15, -17, -20, -23, -26, -30, -33, -35, -38, -41, -43, -46, -48, -50, -53, -55, -57, -59, -61, -63, -65, -67, -69, -71, -73, -75, -77, -78, -80, -82, -83, -85, -86, -88, -89, -90, -91, -92, -93, -94, -95, -96, -96, -97, -97, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -97, -97, -96, -96, -95, -94, -94, -93, -92, -91, -89, -88, -87, -86, -85, -83, -81, -80, -78, -76, -75, -73, -71, -69, -68, -66, -64, -62, -61, -59, -58, -56, -55, -53, -52, -50, -49, -47, -45, -44, -42, -41, -39, -38, -36, -34, -33, -31, -29, -27, -25, -24, -21, -19, -17, -14, -11, -8, -4, -1, 1, 5, 9, 12, 15, 18, 22, 25, 28, 31, 33, 36, 38, 41, 43, 46, 48, 50, 52, 54, 57, 59, 60, 63, 65, 66, 69, 71, 73, 74, 76, 78, 80, 82, 84, 85, 87, 88, 90, 91, 92, 93, 93, 94, 95, 95, 96, 96, 97, 97, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 97, 97, 96, 96, 95, 94, 93, 92, 90, 89, 88, 87, 85, 83, 81, 80, 78, 76, 75, 73, 71, 69, 68, 66, 64, 63, 61, 60, 58, 56, 55, 54, 52, 51, 49, 48, 47, 45, 43, 41, 39, 38, 36, 34, 32, 30, 28, 26, 23, 21, 18, 15, 12, 9, 6, 3, 0, -2, -6, -9, -12, -15, -18, -20, -23, -26, -28, -31, -33, -35, -38, -40, -42, -45, -47, -48, -51, -53, -55, -57, -59, -61, -63, -65, -67, -69, -71, -73, -75, -77, -79, -81, -83, -84, -86, -87, -88, -90, -91, -92, -93, -93, -94, -95, -96, -96, -97, -97, -97, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -97, -97, -96, -95, -95, -94, -93, -92, -91, -90, -89, -87, -86, -84, -83, -81, -79, -77, -75, -74, -72, -70, -68, -67, -65, -63, -61, -60, -58, -56, -55, -53, -51, -49, -48, -46, -44, -42, -41, -39, -37, -36, -34, -32, -30, -29, -27, -25, -23, -21, -19, -17};
int myPWM_V_values[1800] = {92, 91, 90, 89, 87, 85, 84, 81, 79, 77, 75, 73, 71, 68, 66, 64, 62, 60, 57, 56, 53, 51, 49, 48, 45, 44, 42, 40, 37, 35, 33, 30, 28, 26, 23, 21, 19, 16, 13, 11, 8, 6, 3, 0, -1, -4, -6, -9, -11, -13, -16, -18, -20, -22, -24, -26, -28, -30, -32, -34, -36, -37, -39, -41, -42, -44, -46, -47, -49, -51, -52, -54, -56, -58, -60, -61, -63, -65, -67, -69, -71, -73, -74, -77, -78, -80, -82, -84, -85, -87, -88, -90, -91, -92, -93, -94, -95, -96, -96, -97, -97, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -97, -97, -96, -95, -95, -94, -92, -91, -90, -88, -87, -85, -83, -81, -79, -77, -75, -73, -71, -69, -67, -65, -62, -60, -58, -56, -54, -52, -50, -48, -46, -44, -41, -39, -36, -34, -31, -29, -26, -24, -21, -18, -16, -12, -10, -7, -4, -1, 1, 3, 6, 9, 11, 14, 16, 18, 20, 22, 24, 26, 28, 29, 31, 32, 34, 35, 36, 38, 39, 41, 42, 43, 45, 46, 47, 49, 50, 52, 54, 55, 57, 59, 61, 62, 64, 66, 68, 70, 72, 74, 75, 77, 79, 81, 82, 84, 85, 87, 88, 90, 91, 92, 93, 94, 95, 95, 96, 97, 97, 97, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 97, 97, 96, 96, 95, 95, 94, 93, 92, 90, 89, 87, 86, 84, 82, 80, 78, 76, 74, 71, 69, 66, 64, 62, 60, 58, 55, 53, 51, 49, 46, 44, 42, 39, 37, 35, 33, 31, 28, 26, 24, 21, 19, 16, 13, 11, 8, 5, 2, 0, -2, -4, -7, -10, -12, -15, -17, -19, -22, -24, -26, -27, -30, -31, -33, -35, -37, -39, -40, -42, -43, -45, -46, -48, -49, -50, -52, -53, -54, -56, -57, -59, -60, -62, -64, -65, -67, -68, -70, -72, -73, -75, -77, -79, -80, -82, -83, -85, -86, -88, -89, -90, -92, -93, -93, -94, -95, -96, -96, -97, -97, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -97, -97, -96, -95, -95, -93, -92, -91, -89, -88, -86, -84, -82, -80, -78, -76, -74, -72, -69, -67, -65, -62, -60, -58, -56, -54, -52, -50, -47, -45, -43, -41, -38, -36, -34, -31, -29, -26, -23, -20, -17, -14, -11, -8, -5, -2, 0, 3, 7, 10, 12, 15, 17, 19, 22, 24, 26, 28, 30, 32, 34, 35, 37, 38, 40, 41, 43, 44, 45, 47, 48, 49, 51, 52, 54, 56, 57, 59, 61, 63, 64, 66, 68, 70, 72, 73, 75, 77, 78, 80, 82, 83, 84, 86, 87, 88, 89, 91, 92, 93, 94, 94, 95, 96, 96, 97, 97, 98, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 97, 97, 96, 95, 94, 93, 92, 91, 89, 88, 86, 84, 82, 80, 78, 76, 74, 72, 70, 68, 66, 64, 62, 60, 58, 56, 54, 51, 49, 46, 44, 41, 39, 36, 34, 31, 29, 26, 23, 20, 18, 15, 12, 9, 6, 4, 1, -1, -3, -6, -9, -11, -14, -16, -18, -20, -22, -24, -26, -28, -30, -32, -34, -36, -38, -40, -42, -43, -45, -47, -49, -50, -52, -54, -55, -57, -59, -60, -62, -63, -65, -67, -69, -70, -72, -73, -75, -77, -78, -80, -82, -83, -85, -86, -88, -89, -91, -92, -93, -94, -94, -95, -96, -96, -97, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -97, -97, -96, -96, -95, -95, -94, -93, -92, -90, -89, -87, -86, -84, -82, -80, -78, -77, -74, -72, -70, -68, -66, -63, -61, -58, -56, -54, -52, -50, -48, -46, -43, -41, -38, -36, -34, -31, -28, -26, -23, -21, -18, -15, -12, -9, -7, -4, -1, 1, 3, 6, 9, 12, 14, 17, 19, 22, 24, 26, 28, 30, 32, 34, 36, 37, 39, 40, 42, 43, 45, 46, 48, 50, 51, 52, 54, 56, 57, 59, 61, 62, 64, 66, 68, 70, 72, 74, 76, 78, 79, 81, 83, 85, 86, 87, 89, 90, 91, 92, 93, 94, 95, 96, 96, 97, 97, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 97, 97, 96, 96, 95, 95, 94, 93, 92, 91, 89, 88, 86, 85, 83, 81, 79, 77, 75, 73, 71, 69, 67, 65, 63, 61, 60, 58, 56, 54, 52, 51, 49, 47, 45, 42, 40, 38, 35, 33, 30, 27, 24, 21, 19, 16, 12, 9, 6, 4, 1, 0, -3, -6, -8, -11, -13, -16, -18, -20, -22, -24, -26, -28, -30, -32, -33, -35, -37, -38, -40, -41, -43, -44, -46, -48, -50, -51, -53, -55, -57, -59, -61, -63, -65, -67, -69, -70, -72, -74, -76, -77, -79, -81, -82, -84, -85, -87, -89, -90, -91, -92, -93, -94, -95, -96, -97, -97, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -97, -97, -96, -96, -95, -94, -94, -93, -92, -90, -89, -87, -86, -84, -83, -81, -78, -76, -74, -72, -70, -68, -66, -64, -61, -59, -57, -55, -53, -51, -48, -46, -44, -42, -40, -37, -35, -33, -30, -28, -26, -23, -20, -18, -15, -13, -10, -7, -5, -2, 0, 1, 3, 6, 8, 10, 13, 15, 17, 19, 21, 23, 25, 27, 29, 31, 33, 35, 37, 38, 40, 42, 43, 45, 47, 48, 50, 52, 54, 55, 57, 59, 61, 62, 64, 66, 68, 69, 71, 73, 75, 76, 78, 80, 82, 83, 85, 86, 88, 90, 91, 92, 93, 94, 95, 95, 96, 97, 97, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 97, 97, 96, 96, 95, 94, 93, 92, 91, 89, 88, 86, 84, 82, 80, 79, 77, 75, 73, 70, 68, 66, 64, 62, 60, 58, 56, 54, 52, 49, 47, 46, 43, 41, 39, 37, 35, 33, 30, 27, 25, 22, 19, 16, 13, 11, 8, 5, 2, 0, -2, -4, -7, -10, -12, -15, -17, -19, -21, -23, -25, -27, -28, -30, -32, -33, -35, -37, -38, -40, -41, -42, -43, -45, -46, -47, -48, -50, -52, -53, -55, -56, -58, -60, -62, -64, -66, -68, -70, -72, -74, -76, -78, -80, -82, -83, -85, -86, -88, -89, -91, -92, -93, -94, -94, -95, -96, -96, -97, -97, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -97, -97, -96, -96, -95, -94, -93, -92, -91, -90, -88, -87, -85, -83, -81, -79, -77, -75, -72, -70, -67, -65, -62, -60, -58, -55, -53, -51, -49, -46, -44, -42, -40, -38, -35, -33, -31, -28, -26, -23, -20, -18, -15, -12, -9, -6, -4, -1, 0, 3, 5, 8, 11, 13, 15, 17, 19, 22, 24, 26, 28, 30, 32, 33, 35, 36, 38, 40, 41, 43, 45, 46, 47, 49, 51, 52, 54, 55, 57, 59, 60, 62, 64, 65, 67, 68, 70, 72, 73, 75, 76, 78, 79, 81, 82, 83, 85, 86, 87, 88, 90, 92, 93, 93, 94, 95, 96, 96, 97, 97, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 97, 97, 96, 95, 95, 93, 92, 91, 90, 88, 87, 85, 83, 81, 79, 77, 75, 73, 71, 69, 66, 64, 62, 60, 58, 56, 54, 52, 49, 47, 45, 42, 40, 38, 36, 33, 31, 28, 25, 22, 19, 16, 12, 9, 6, 3, 0, -2, -5, -8, -10, -13, -15, -18, -20, -22, -24, -26, -28, -30, -32, -33, -35, -37, -39, -40, -42, -43, -45, -46, -47, -49, -50, -51, -53, -54, -56, -57, -59, -61, -62, -64, -66, -68, -70, -71, -73, -75, -77, -79, -81, -82, -84, -85, -87, -88, -90, -91, -92, -93, -94, -94, -95, -96, -96, -97, -97, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -97, -97, -96, -95, -94, -93, -92, -91, -89, -88, -86, -85, -83, -81, -78, -76, -75, -73, -70, -68, -66, -64, -61, -59, -56, -54, -52, -50, -48, -45, -43, -41, -38, -36, -33, -31, -28, -26, -23, -20, -18, -14, -12, -9, -6, -3, 0, 2, 5, 7, 10, 13, 15, 18, 20, 22, 25, 27, 29, 31, 33, 35, 36, 39, 40, 42, 44, 45, 47, 48, 50, 51, 53, 54, 56, 57, 59, 61, 62, 64, 66, 67, 69, 70, 72, 74, 75, 76, 78, 80, 81, 83, 84, 85, 87, 88, 90, 91, 92, 93, 94, 95, 96, 96, 97, 97, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 98, 97, 97, 96, 96, 95, 94, 94, 93, 92, 90, 89, 87, 86, 84, 82, 80, 78, 76, 74, 72, 69, 67, 65, 63, 61, 59, 56, 54, 52, 50, 48, 46, 43, 41, 38, 36, 34, 31, 28, 26, 23, 21, 17, 14, 11, 8, 5, 2, 0, -3, -6, -9, -11, -13, -16, -18, -20, -22, -24, -26, -28, -30, -32, -33, -35, -36, -38, -40, -41, -43, -45, -46, -48, -49, -51, -53, -55, -56, -58, -60, -62, -63, -65, -67, -69, -71, -73, -75, -77, -79, -80, -82, -84, -85, -87, -88, -90, -91, -92, -93, -94, -95, -96, -96, -97, -97, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -97, -97, -96, -96, -95, -94, -93, -92, -91, -90, -88, -87, -85, -84, -82, -80, -78, -77, -75, -73, -71, -69, -67, -65, -63, -61, -59, -57, -55, -53, -51, -49, -47, -44, -42, -40, -38, -35, -33, -30, -27, -25, -22, -18, -16, -13, -10, -7, -4, -1, 1, 3, 6, 9, 12, 14, 17, 19, 21, 23, 25, 27, 29, 31, 33, 35, 36, 38, 39, 41, 43, 44, 46, 48, 50, 51, 53, 55, 56, 58, 59, 61, 63, 65, 66, 68, 70, 72, 73, 75, 77, 79, 80, 82, 83, 85, 86, 88, 89, 91, 92, 93, 94, 94, 95, 96, 97, 97, 98, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 97, 97, 97, 96, 95, 95, 94, 93};
int myPWM_W_values[1800] = {-78, -80, -82, -83, -85, -87, -89, -90, -92, -93, -94, -95, -96, -97, -97, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -97, -97, -96, -96, -95, -94, -93, -92, -91, -90, -89, -88, -87, -85, -84, -82, -81, -80, -78, -77, -75, -74, -72, -71, -70, -68, -67, -65, -64, -62, -61, -59, -58, -56, -55, -53, -52, -50, -49, -47, -45, -43, -41, -39, -37, -34, -32, -29, -27, -25, -22, -19, -16, -13, -10, -7, -4, -1, 1, 4, 7, 10, 13, 16, 19, 21, 23, 26, 28, 31, 33, 35, 37, 39, 41, 42, 44, 46, 47, 49, 50, 52, 54, 55, 57, 59, 60, 62, 64, 65, 67, 69, 70, 72, 74, 75, 78, 80, 81, 83, 85, 87, 88, 90, 91, 93, 94, 95, 96, 96, 97, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 97, 97, 96, 95, 94, 93, 92, 91, 90, 88, 87, 86, 84, 83, 81, 80, 78, 77, 76, 75, 73, 72, 70, 69, 68, 67, 65, 64, 63, 62, 60, 59, 58, 57, 56, 54, 53, 52, 50, 49, 47, 46, 44, 42, 40, 38, 36, 34, 31, 29, 26, 23, 21, 18, 16, 13, 11, 8, 5, 2, 0, -3, -7, -10, -13, -15, -17, -20, -22, -25, -27, -29, -31, -33, -35, -37, -39, -40, -42, -44, -45, -47, -49, -51, -52, -54, -56, -58, -59, -61, -62, -64, -66, -67, -68, -70, -72, -73, -75, -77, -78, -80, -82, -84, -86, -87, -89, -91, -92, -93, -94, -95, -96, -97, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -97, -96, -96, -95, -94, -93, -92, -91, -90, -89, -88, -87, -85, -84, -83, -81, -80, -78, -77, -75, -74, -72, -71, -69, -68, -66, -65, -63, -62, -60, -59, -57, -56, -55, -53, -52, -51, -49, -48, -46, -45, -43, -41, -40, -38, -36, -34, -32, -30, -28, -26, -24, -22, -19, -17, -14, -11, -9, -6, -3, 0, 2, 5, 8, 11, 14, 16, 19, 21, 24, 26, 28, 30, 32, 34, 36, 38, 40, 41, 43, 45, 47, 49, 50, 52, 54, 56, 57, 59, 60, 62, 63, 65, 67, 68, 70, 71, 73, 76, 78, 80, 82, 84, 86, 87, 89, 91, 92, 93, 94, 95, 96, 97, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 97, 96, 96, 95, 94, 93, 92, 90, 89, 88, 86, 84, 83, 81, 79, 78, 76, 75, 73, 71, 70, 69, 67, 66, 65, 63, 62, 61, 59, 58, 57, 55, 54, 53, 51, 50, 49, 47, 45, 43, 42, 40, 38, 36, 34, 31, 29, 26, 24, 21, 19, 16, 13, 11, 8, 6, 3, 1, -1, -4, -6, -9, -12, -14, -17, -19, -21, -24, -26, -28, -29, -31, -33, -34, -36, -38, -39, -41, -42, -44, -45, -47, -49, -50, -52, -53, -55, -57, -58, -60, -62, -63, -65, -67, -69, -70, -73, -75, -77, -79, -81, -83, -84, -86, -88, -89, -91, -92, -93, -94, -95, -96, -97, -98, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -97, -97, -96, -95, -95, -94, -93, -91, -90, -89, -88, -87, -85, -84, -83, -81, -80, -78, -77, -75, -74, -72, -71, -69, -68, -66, -65, -63, -62, -60, -59, -57, -55, -54, -52, -50, -48, -47, -45, -43, -41, -40, -38, -36, -34, -32, -30, -27, -25, -23, -21, -18, -16, -13, -10, -7, -5, -2, 0, 4, 7, 10, 12, 15, 18, 20, 23, 25, 28, 30, 32, 34, 36, 38, 40, 41, 43, 44, 46, 48, 49, 50, 52, 54, 55, 57, 58, 60, 61, 63, 64, 65, 67, 68, 70, 71, 73, 74, 76, 78, 80, 81, 83, 85, 87, 89, 90, 92, 93, 94, 95, 96, 96, 97, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 97, 97, 96, 95, 94, 93, 92, 91, 90, 89, 88, 86, 85, 84, 82, 80, 79, 77, 76, 74, 72, 71, 69, 68, 66, 65, 63, 62, 60, 59, 58, 56, 55, 54, 52, 51, 49, 48, 46, 45, 43, 41, 39, 37, 35, 32, 30, 27, 25, 22, 19, 16, 13, 10, 7, 4, 1, 0, -3, -6, -9, -12, -15, -17, -20, -23, -25, -27, -29, -31, -33, -35, -37, -39, -40, -42, -43, -45, -46, -48, -49, -51, -53, -54, -56, -58, -59, -60, -62, -63, -65, -66, -68, -70, -71, -72, -74, -76, -78, -80, -81, -83, -85, -87, -88, -90, -91, -92, -93, -94, -95, -96, -97, -97, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -97, -96, -96, -95, -94, -93, -92, -90, -89, -88, -87, -85, -84, -82, -81, -79, -78, -76, -75, -74, -73, -71, -70, -69, -67, -66, -65, -63, -62, -60, -59, -57, -56, -54, -52, -51, -49, -47, -45, -43, -41, -38, -36, -34, -32, -30, -28, -25, -23, -20, -17, -14, -11, -8, -5, -2, 0, 2, 5, 8, 11, 14, 17, 20, 23, 25, 28, 30, 32, 35, 37, 39, 41, 42, 44, 46, 48, 50, 51, 53, 55, 56, 58, 59, 61, 62, 64, 65, 67, 68, 70, 71, 72, 74, 75, 77, 79, 81, 83, 85, 86, 88, 90, 91, 92, 93, 94, 95, 96, 97, 97, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 97, 97, 96, 95, 95, 94, 93, 92, 91, 90, 89, 88, 86, 85, 84, 83, 81, 80, 79, 77, 76, 75, 73, 72, 70, 69, 67, 66, 64, 63, 61, 60, 58, 57, 55, 54, 52, 51, 49, 47, 46, 44, 42, 40, 37, 35, 33, 31, 28, 26, 24, 21, 19, 16, 13, 11, 8, 4, 2, 0, -3, -7, -10, -13, -16, -18, -21, -23, -26, -28, -30, -32, -34, -35, -37, -39, -41, -42, -44, -46, -48, -49, -51, -53, -54, -56, -58, -59, -61, -63, -64, -66, -68, -70, -71, -73, -75, -77, -79, -81, -82, -84, -86, -88, -89, -91, -92, -93, -94, -95, -96, -97, -97, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -97, -97, -96, -95, -94, -93, -92, -91, -90, -88, -87, -86, -84, -83, -82, -80, -79, -77, -76, -74, -73, -71, -70, -69, -68, -66, -65, -64, -62, -61, -60, -59, -58, -56, -55, -54, -53, -52, -50, -49, -47, -46, -44, -42, -40, -37, -35, -32, -30, -28, -25, -22, -19, -16, -13, -10, -7, -4, -1, 1, 4, 7, 10, 13, 15, 18, 20, 23, 25, 28, 30, 32, 34, 36, 38, 40, 41, 43, 45, 47, 48, 50, 52, 54, 56, 58, 59, 61, 62, 64, 65, 67, 68, 70, 71, 73, 75, 77, 79, 81, 83, 85, 86, 88, 90, 91, 93, 94, 95, 96, 96, 97, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 98, 97, 96, 96, 95, 94, 93, 92, 91, 90, 89, 88, 86, 85, 84, 82, 81, 79, 78, 76, 75, 73, 72, 71, 69, 68, 66, 65, 63, 62, 61, 59, 58, 57, 55, 54, 52, 51, 49, 48, 46, 44, 43, 41, 39, 37, 35, 33, 31, 29, 27, 25, 23, 21, 19, 16, 14, 11, 9, 6, 4, 1, 0, -3, -5, -9, -12, -14, -17, -19, -21, -24, -26, -28, -30, -32, -34, -36, -38, -39, -41, -43, -45, -47, -48, -50, -52, -54, -56, -57, -59, -60, -62, -63, -65, -67, -69, -70, -72, -74, -76, -78, -80, -82, -84, -86, -87, -89, -91, -92, -93, -94, -95, -96, -97, -97, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -97, -97, -96, -95, -94, -93, -92, -91, -89, -88, -87, -85, -84, -82, -80, -79, -77, -76, -74, -73, -71, -70, -68, -67, -65, -64, -63, -61, -60, -58, -57, -56, -54, -53, -51, -50, -48, -47, -46, -44, -42, -41, -38, -37, -35, -32, -30, -27, -25, -23, -20, -17, -14, -11, -9, -6, -3, 0, 2, 5, 8, 11, 14, 16, 18, 21, 23, 25, 27, 29, 31, 33, 35, 37, 38, 40, 41, 43, 44, 46, 47, 49, 51, 52, 54, 55, 57, 59, 61, 62, 64, 66, 68, 69, 71, 73, 75, 77, 79, 81, 83, 84, 86, 88, 90, 91, 92, 93, 94, 95, 96, 97, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 97, 97, 96, 95, 94, 93, 92, 91, 90, 89, 87, 86, 85, 83, 81, 80, 78, 77, 75, 74, 72, 70, 69, 67, 66, 64, 63, 61, 59, 58, 56, 55, 53, 52, 50, 49, 47, 45, 44, 42, 40, 38, 36, 35, 33, 31, 29, 27, 25, 23, 21, 18, 16, 13, 11, 8, 5, 3, 0, -2, -5, -8, -11, -13, -16, -19, -21, -23, -25, -28, -30, -32, -34, -36, -38, -40, -41, -43, -45, -46, -48, -50, -51, -53, -54, -56, -57, -59, -60, -61, -63, -64, -65, -67, -68, -69, -71, -72, -74, -75, -77, -79, -81, -83, -85, -86, -88, -90, -91, -92, -94, -94, -95, -96, -97, -98, -98, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -99, -98, -98, -98, -97, -96, -96, -95, -94, -93, -92, -90, -89, -88, -86, -85, -83, -82, -80, -79, -77, -76, -74, -73, -72, -70, -69, -68, -66, -65, -63, -62, -61, -59, -57, -56, -54, -53, -52, -50, -49, -47, -45, -43, -41, -39, -37, -34, -32, -30, -28, -25, -22, -19, -17, -14, -11, -8, -5, -2, 0, 3, 6, 9, 12, 15, 17, 20, 22, 25, 27, 30, 32, 34, 36, 38, 39, 41, 43, 44, 46, 47, 49, 50, 51, 53, 54, 56, 58, 59, 61, 63, 64, 66, 67, 69, 71, 72, 74, 76, 78, 80, 81, 83, 85, 86, 88, 89, 91, 92, 93, 94, 95, 96, 96, 97, 98, 98, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 99, 98, 98, 97, 97, 96, 95, 94, 93, 92, 91, 90, 89, 87, 86, 84, 83, 81, 80, 78, 77, 75, 74, 72, 71, 70, 68, 66, 65, 64, 62, 61, 60, 58, 56, 55, 53, 52, 50, 48, 47, 45, 43, 41, 40, 37, 35, 34, 31, 29, 27, 24, 22, 19, 17, 14, 11, 8, 5, 2, 0, -2, -5, -9, -12, -15, -17, -20, -22, -25, -27, -30, -32, -34, -36, -38, -40, -42, -44, -46, -48, -49, -51, -52, -54, -56, -57, -59, -61, -62, -63, -65, -66, -67, -69, -70, -72, -73, -75, -76};

//change these parameters according to your motor
int offset = 125;
int PhaseShift = 75;

extern "C" {
  void CCU40_0_IRQHandler(void)
  {   //read sensor 
       Tle5012Sensor.getAngleValue(angle);

        //calculate speeds    
          if(abs(angle-last_angle) < 300){speed = angle-last_angle;} 

      //Position control (PD)
        duty = (sollWinkel-angle)*KP; + speed*-KD;  
        if(duty > 0){PhaseShift = -75;}   //direction
        if(duty < 0){PhaseShift = 75;}  //direction
        duty = constrain(abs(duty),0,127); // only positive dutycycle 0-127
        

      //drive motor according to lookup table
       int angle_table = (angle+180)*5+PhaseShift+offset;
         if (angle_table >= 1800) {angle_table -=1800;} 
         if (angle_table < 0000) {angle_table +=1800;} 
  
       pwmOne   = myPWM_U_values[angle_table];
       pwmTwo   = myPWM_V_values[angle_table];
       pwmThree = myPWM_W_values[angle_table];
  
       analogWrite(U, 127 + duty*pwmOne/100); 
       analogWrite(V, 127 + duty*pwmTwo/100); 
       analogWrite(W, 127 + duty*pwmThree/100);     
  }
}


void setup() { 
  Serial.begin(115200);
  Tle5012Sensor.begin();

  pinMode(PWS, OUTPUT);  digitalWrite(PWS, LOW);  // turn CO2 sensor into PWM mode
  pinMode(PWD, INPUT);

  pinMode(U, OUTPUT);  setAnalogWriteFrequency(U,20000);
  pinMode(V, OUTPUT);  setAnalogWriteFrequency(V,20000);
  pinMode(W, OUTPUT);  setAnalogWriteFrequency(W,20000);

  pinMode(EN_U, OUTPUT);  digitalWrite(EN_U, HIGH);
  pinMode(EN_V, OUTPUT);  digitalWrite(EN_V, HIGH);
  pinMode(EN_W, OUTPUT);  digitalWrite(EN_W, HIGH);

 
//Setup Interrupt settings
  XMC_CCU4_SLICE_COMPARE_CONFIG_t pwm_config = {0};
    pwm_config.passive_level = XMC_CCU4_SLICE_OUTPUT_PASSIVE_LEVEL_HIGH;
    pwm_config.prescaler_initval = XMC_CCU4_SLICE_PRESCALER_128;
//Setup interrupt
    XMC_CCU4_Init(CCU40, XMC_CCU4_SLICE_MCMS_ACTION_TRANSFER_PR_CR);

    XMC_CCU4_SLICE_CompareInit(CCU40_CC43, &pwm_config);

    XMC_CCU4_EnableClock(CCU40, 3);

    XMC_CCU4_SLICE_SetTimerPeriodMatch(CCU40_CC43, 200); // Adjust last Value or Prescaler 

    /* Enable compare match and period match events */
    XMC_CCU4_SLICE_EnableEvent(CCU40_CC43, XMC_CCU4_SLICE_IRQ_ID_PERIOD_MATCH);

    /* Connect period match event to SR0 */
    XMC_CCU4_SLICE_SetInterruptNode(CCU40_CC43, XMC_CCU4_SLICE_IRQ_ID_PERIOD_MATCH, XMC_CCU4_SLICE_SR_ID_0);
    
    /* Configure NVIC */
    /* Set priority */
    NVIC_SetPriority(CCU40_0_IRQn, 10);

    /* Enable IRQ */
    NVIC_EnableIRQ(CCU40_0_IRQn); 
    XMC_CCU4_EnableShadowTransfer(CCU40, (CCU4_GCSS_S0SE_Msk << (4 * 3)));
    XMC_CCU4_SLICE_StartTimer(CCU40_CC43);
}

void loop() {

  CO2 = pulseIn(PWD, HIGH,70000000);
  Serial.print("CO2:"); Serial.println(CO2);

if(CO2 > 1400){//bird dead
    sollWinkel = -40.0; //pushing bird down
    delay(10);
    KP = 0;    //no active drive to a specific position 
    KD = -100; //damping for better look of the fall
  }
else {//bird alive
    KP = 10;  //controller settings to move and hold bird in upright position
    KD = -40;
    sollWinkel = 0.0;
  }
}

Credits

Infineon Team

90 projects • 135 followers

CO2 Bird - an animatronic CO2 indicator

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Sensor - CO2 3 Click

Sensor - TLE5012 magnetic angle sensor

Power board - BLDC-SHIELD IFX007T

Controller - XMC4200 Platform 2Go

Wire things up

Mechanics

System setup

Custom parts and enclosures

mounting bird

mounting motor

mounting sensor

Schematics

TLE5012 round PCB

Code

CO2 Bird

Infineon TLE5012 Library

Credits

Infineon Team

Comments

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CO2 Bird - an animatronic CO2 indicator

CO2 Bird - an animatronic CO2 indicator

Things used in this project

Hardware components

Software apps and online services

Hand tools and fabrication machines

Story

Sensor - CO2 3 Click

Sensor - TLE5012 magnetic angle sensor

Power board - BLDC-SHIELD IFX007T

Controller - XMC4200 Platform 2Go

Wire things up

Mechanics

System setup

Custom parts and enclosures

mounting bird

mounting motor

mounting sensor

Schematics

TLE5012 round PCB

Code

CO2 Bird

Infineon TLE5012 Library

Credits

Infineon Team

Comments

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