modified 0511
Dependencies: mbed-dev FastPWM3
main.cpp@2:8724412ad628, 2016-02-19 (annotated)
- Committer:
- benkatz
- Date:
- Fri Feb 19 04:13:06 2016 +0000
- Revision:
- 2:8724412ad628
- Parent:
- 1:b8bceb4daed5
- Child:
- 3:6a0015d88d06
now uses TIM1 for PWM - makes layout for micro-on-board version much easier
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 0:4e1c4df6aabd | 1 | #include "mbed.h" |
benkatz | 0:4e1c4df6aabd | 2 | #include "PositionSensor.h" |
benkatz | 0:4e1c4df6aabd | 3 | #include "Inverter.h" |
benkatz | 0:4e1c4df6aabd | 4 | #include "SVM.h" |
benkatz | 0:4e1c4df6aabd | 5 | #include "FastMath.h" |
benkatz | 0:4e1c4df6aabd | 6 | #include "Transforms.h" |
benkatz | 0:4e1c4df6aabd | 7 | #include "CurrentRegulator.h" |
benkatz | 0:4e1c4df6aabd | 8 | |
benkatz | 0:4e1c4df6aabd | 9 | PositionSensorEncoder encoder(8192,0); |
benkatz | 2:8724412ad628 | 10 | //Inverter inverter(PA_5, PB_10, PB_3, PB_7, 0.02014160156, 0.00005); |
benkatz | 2:8724412ad628 | 11 | Inverter inverter(PA_8, PA_9, PA_10, PB_7, 0.02014160156, 0.00005); |
benkatz | 0:4e1c4df6aabd | 12 | CurrentRegulator foc(&inverter, &encoder, .005, .5); |
benkatz | 0:4e1c4df6aabd | 13 | |
benkatz | 0:4e1c4df6aabd | 14 | Ticker testing; |
benkatz | 0:4e1c4df6aabd | 15 | |
benkatz | 2:8724412ad628 | 16 | |
benkatz | 0:4e1c4df6aabd | 17 | using namespace FastMath; |
benkatz | 0:4e1c4df6aabd | 18 | using namespace Transforms; |
benkatz | 0:4e1c4df6aabd | 19 | |
benkatz | 1:b8bceb4daed5 | 20 | //float offset = 0;//-0.24; |
benkatz | 0:4e1c4df6aabd | 21 | |
benkatz | 1:b8bceb4daed5 | 22 | // Current Sampling IRQ |
benkatz | 2:8724412ad628 | 23 | /* |
benkatz | 0:4e1c4df6aabd | 24 | extern "C" void TIM2_IRQHandler(void) { |
benkatz | 0:4e1c4df6aabd | 25 | // flash on update event |
benkatz | 0:4e1c4df6aabd | 26 | if (TIM2->SR & TIM_SR_UIF & TIM2->CNT>0x465) { |
benkatz | 0:4e1c4df6aabd | 27 | inverter.SampleCurrent(); |
benkatz | 0:4e1c4df6aabd | 28 | } |
benkatz | 0:4e1c4df6aabd | 29 | TIM2->SR = 0x0; // reset the status register |
benkatz | 0:4e1c4df6aabd | 30 | } |
benkatz | 2:8724412ad628 | 31 | */ |
benkatz | 2:8724412ad628 | 32 | extern "C" void TIM1_UP_TIM10_IRQHandler(void) { |
benkatz | 2:8724412ad628 | 33 | // toggle on update event |
benkatz | 2:8724412ad628 | 34 | if (TIM1->SR & TIM_SR_UIF ) { |
benkatz | 2:8724412ad628 | 35 | inverter.SampleCurrent(); |
benkatz | 2:8724412ad628 | 36 | } |
benkatz | 2:8724412ad628 | 37 | TIM1->SR = 0x0; // reset the status register |
benkatz | 2:8724412ad628 | 38 | //GPIOC->ODR ^= (1 << 4); //Toggle pin for debugging |
benkatz | 2:8724412ad628 | 39 | } |
benkatz | 0:4e1c4df6aabd | 40 | |
benkatz | 0:4e1c4df6aabd | 41 | |
benkatz | 0:4e1c4df6aabd | 42 | void Loop(void){ |
benkatz | 0:4e1c4df6aabd | 43 | foc.Commutate(); |
benkatz | 0:4e1c4df6aabd | 44 | } |
benkatz | 0:4e1c4df6aabd | 45 | /* |
benkatz | 0:4e1c4df6aabd | 46 | void voltage_foc(void){ |
benkatz | 0:4e1c4df6aabd | 47 | theta = encoder.GetElecPosition() + offset; |
benkatz | 0:4e1c4df6aabd | 48 | InvPark(v_d, v_q, theta, &v_alpha, &v_beta); |
benkatz | 0:4e1c4df6aabd | 49 | spwm.Update_DTC(v_alpha, v_beta); |
benkatz | 0:4e1c4df6aabd | 50 | //output.write(theta/6.28318530718f); |
benkatz | 0:4e1c4df6aabd | 51 | } |
benkatz | 0:4e1c4df6aabd | 52 | */ |
benkatz | 1:b8bceb4daed5 | 53 | |
benkatz | 0:4e1c4df6aabd | 54 | |
benkatz | 0:4e1c4df6aabd | 55 | int main() { |
benkatz | 0:4e1c4df6aabd | 56 | wait(1); |
benkatz | 0:4e1c4df6aabd | 57 | |
benkatz | 0:4e1c4df6aabd | 58 | testing.attach(&Loop, .0001); |
benkatz | 2:8724412ad628 | 59 | //inverter.SetDTC(.2, .5, .97); |
benkatz | 0:4e1c4df6aabd | 60 | //inverter.EnableInverter(); |
benkatz | 0:4e1c4df6aabd | 61 | |
benkatz | 0:4e1c4df6aabd | 62 | while(1) { |
benkatz | 2:8724412ad628 | 63 | |
benkatz | 0:4e1c4df6aabd | 64 | } |
benkatz | 0:4e1c4df6aabd | 65 | } |