File content as of revision 12:459af534d1ee:

//  DC motor control program using H-bridge driver (ex. TA7291P) and 360 resolution rotary encoder with A, B phase.
//      ver. 121224 by Kosaka lab.
#include "mbed.h"
#include "rtos.h"

#include "controller.h"
#include "Hbridge.h"


Serial pc2(USBTX, USBRX);        // Display on tera term in PC 
LocalFileSystem local("mbedUSBdrive"); // save data to mbed USB disk drive in PC
Ticker TickerTimerTS0;          // Timer interrupt using TIMER3, TS<0.001 is OK. Priority is higher than rtosTimer.
unsigned char   fTimerTS2ON=0, fTimerTS3ON=0, fTimerTS4ON=0;  // ON/OFF flag for timerTS2, 3, 4.
//DigitalOut  debug_p24(p24); // p17 for debug

extern "C" void mbed_reset();

void CallTimerTS2(void const *argument) {   // make sampling time TS3 timer (priority 3: precision 4ms)
    int ms;
    unsigned long c;
    while (true) {
        c = _count;
        if( fTimerTS2ON ){
            timerTS2();  // timerTS2() is called every TS2[s].
        }
        if( (ms=(int)(TS2*1000-(_count-c)*TS0*1000))<=0 ){    ms=1;}
        Thread::wait(ms);
    }
}
void CallTimerTS3(void const *argument) {   // make sampling time TS3 timer (priority 3: precision 4ms)
    int ms;
    unsigned long c;
    while (true) {
        c = _count;
        if( fTimerTS3ON ){
            timerTS3();  // timerTS3() is called every TS3[s].
        }
        if( (ms=(int)(TS3*1000-(_count-c)*TS0*1000))<=0 ){    ms=1;}
        Thread::wait(ms);
    }
}

void CallTimerTS4(void const *argument) {   // make sampling time TS4 timer (priority 4: precision 4ms)
    int ms;
    unsigned long c;
    while (true) {
        c = _count;
        if( fTimerTS4ON ){
            timerTS4();  // timerTS4() is called every TS4[s].
        }
        if( (ms=(int)(TS4*1000-(_count-c)*TS0*1000))<=0 ){    ms=1;}
        Thread::wait(ms);
    }
}

//#define OLD
int main(){
    unsigned short  i;
    FILE *fp = fopen("/mbedUSBdrive/data.csv", "w");    // save data to PC
    RtosTimer RtosTimerTS1(timerTS1);  // RtosTimer priority is osPriorityAboveNormal, just one above main()
    Thread ThreadTimerTS3(CallTimerTS3,NULL,osPriorityBelowNormal);
    Thread ThreadTimerTS4(CallTimerTS4,NULL,osPriorityLow);
// Priority of Thread (RtosTimer is osPriorityAboveNormal)
//  osPriorityIdle          = -3,          ///< priority: idle (lowest)--> then, mbed ERROR!!
//  osPriorityLow           = -2,          ///< priority: low
//  osPriorityBelowNormal   = -1,          ///< priority: below normal
//  osPriorityNormal        =  0,          ///< priority: normal (default)
//  osPriorityAboveNormal   = +1,          ///< priority: above normal
//  osPriorityHigh          = +2,          ///< priority: high 
//  osPriorityRealtime      = +3,          ///< priority: realtime (highest)
//  osPriorityError         =  0x84        ///< system cannot determine priority or thread has illegal priority

    // 指令速度
    float  w_ref_req[2] = {2* 2*PI, 4* 2*PI};        // [rad/s]（第2要素は指令速度急変後の指令速度）
    float  t;   // current time

    // IPMSMの機器定数等の設定, 制御器の初期化
    init_parameters();

    // シミュレーション開始
    pc2.printf("Simulation start!!\r\n");
#ifndef OLD
    // start control (ON)
    start_pwm();
    TickerTimerTS0.attach(&timerTS0, TS0 ); // Sampling period[s] of i_controller
    RtosTimerTS1.start((unsigned int)(TS1*1000.));   // Sampling period[ms] of th controller
    fTimerTS3ON = 1;    // timerTS3 start
    fTimerTS4ON = 1;    // timerTS3 start
#endif

    while( (t = _count*TS0) < TMAX ){
//        debug_p24 = 1;

        // 速度急変
        if( 0.26<=t && t<2.3 ){
            vl.w_ref=w_ref_req[1];   // 目標速度をメインルーチンから速度制御メインループへ渡す。
        }else{
            vl.w_ref=w_ref_req[0];
        }
#ifdef SIMULATION
        // 負荷トルク急変
        if( t<3.4 ){
            p.TL = 1;
        }else{
            p.TL = 2;
        }
#endif

#ifdef OLD
        if( (++i2)>=(int)(TS1/TS0) ){  i2=0;
            timerTS1(&j);   //velocity_loop();    // 速度制御メインループ(w_ref&beta_ref to idq_ref)
        }
#endif

#ifdef OLD
        timerTS0();
#endif

//        debug_p24 = 0;
        Thread::wait(1);
    }
    // stop timers (OFF)
    stop_pwm();
    TickerTimerTS0.detach(); // timer interrupt stop
    RtosTimerTS1.stop();    // rtos timer stop
    fTimerTS3ON=0;//ThreadTimerTS3.terminate();   // 
    fTimerTS4ON=0;//ThreadTimerTS4.terminate();   // 

    // save data to mbed USB drive
    for(i=0;i<_count_data;i++){
        fprintf( fp, "%f, %f, %f, %f, %f\r\n", 
        data[i][0],data[i][1],data[i][2],data[i][3],data[i][4]);  // save data to PC (para, y, time, u)
    }
    fclose( fp );               // release mbed USB drive
    
    Thread::wait(100);
    pc2.printf("Control completed!!\r\n\r\n");
}