Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_F334

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   CANnucleo FastPWM3 mbed

Fork of Hobbyking_Cheetah_Compact by Ben Katz

foc.cpp@20:bf9ea5125d52, 2017-03-02 (annotated)

Committer:
benkatz
Date:
Thu Mar 02 15:31:23 2017 +0000
Revision:
20:bf9ea5125d52
Child:
22:c8a1f2071bb0
Compact version works.;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 20:bf9ea5125d52 1
benkatz 20:bf9ea5125d52 2 #include "foc.h"
benkatz 20:bf9ea5125d52 3 #include "mbed.h"
benkatz 20:bf9ea5125d52 4 #include "hw_config.h"
benkatz 20:bf9ea5125d52 5 #include "math.h"
benkatz 20:bf9ea5125d52 6 #include "math_ops.h"
benkatz 20:bf9ea5125d52 7 //#include "FastMath.h"
benkatz 20:bf9ea5125d52 8 //using namespace FastMath;
benkatz 20:bf9ea5125d52 9
benkatz 20:bf9ea5125d52 10
benkatz 20:bf9ea5125d52 11 void abc( float theta, float d, float q, float *a, float *b, float *c){
benkatz 20:bf9ea5125d52 12 ///Phase current amplitude = lengh of dq vector///
benkatz 20:bf9ea5125d52 13 ///i.e. iq = 1, id = 0, peak phase current of 1///
benkatz 20:bf9ea5125d52 14
benkatz 20:bf9ea5125d52 15 *a = d*cosf(-theta) + q*sinf(-theta);
benkatz 20:bf9ea5125d52 16 *b = d*cosf((2.0f*PI/3.0f)-theta) + q*sinf((2.0f*PI/3.0f)-theta);
benkatz 20:bf9ea5125d52 17 *c = d*cosf((-2.0f*PI/3.0f)-theta) + q*sinf((-2.0f*PI/3.0f)-theta);
benkatz 20:bf9ea5125d52 18 }
benkatz 20:bf9ea5125d52 19
benkatz 20:bf9ea5125d52 20 void dq0(float theta, float a, float b, float c, float *d, float *q){
benkatz 20:bf9ea5125d52 21 ///Phase current amplitude = lengh of dq vector///
benkatz 20:bf9ea5125d52 22 ///i.e. iq = 1, id = 0, peak phase current of 1///
benkatz 20:bf9ea5125d52 23
benkatz 20:bf9ea5125d52 24 *d = (2.0f/3.0f)*(a*cosf(-theta) + b*cosf((2.0f*PI/3.0f)-theta) + c*cosf((-2.0f*PI/3.0f)-theta));
benkatz 20:bf9ea5125d52 25 *q = (2.0f/3.0f)*(a*sinf(-theta) + b*sinf((2.0f*PI/3.0f)-theta) + c*sinf((-2.0f*PI/3.0f)-theta));
benkatz 20:bf9ea5125d52 26 }
benkatz 20:bf9ea5125d52 27
benkatz 20:bf9ea5125d52 28 void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w){
benkatz 20:bf9ea5125d52 29 ///u,v,w amplitude = v_bus for full modulation depth///
benkatz 20:bf9ea5125d52 30
benkatz 20:bf9ea5125d52 31 float v_offset = (fminf3(u, v, w) + fmaxf3(u, v, w))/2.0f;
benkatz 20:bf9ea5125d52 32 *dtc_u = fminf(fmaxf(((u - v_offset)*0.5f/v_bus + 0.5f), DTC_MIN), DTC_MAX);
benkatz 20:bf9ea5125d52 33 *dtc_v = fminf(fmaxf(((v - v_offset)*0.5f/v_bus + 0.5f), DTC_MIN), DTC_MAX);
benkatz 20:bf9ea5125d52 34 *dtc_w = fminf(fmaxf(((w - v_offset)*0.5f/v_bus + 0.5f), DTC_MIN), DTC_MAX);
benkatz 20:bf9ea5125d52 35
benkatz 20:bf9ea5125d52 36 }
benkatz 20:bf9ea5125d52 37
benkatz 20:bf9ea5125d52 38 void zero_current(int *offset_1, int *offset_2){
benkatz 20:bf9ea5125d52 39 int adc1_offset = 0;
benkatz 20:bf9ea5125d52 40 int adc2_offset = 0;
benkatz 20:bf9ea5125d52 41 int n = 1024;
benkatz 20:bf9ea5125d52 42 for (int i = 0; i<n; i++){
benkatz 20:bf9ea5125d52 43 ADC1->CR2 |= 0x40000000;
benkatz 20:bf9ea5125d52 44 wait(.001);
benkatz 20:bf9ea5125d52 45 adc2_offset += ADC2->DR;
benkatz 20:bf9ea5125d52 46 adc1_offset += ADC1->DR;
benkatz 20:bf9ea5125d52 47 }
benkatz 20:bf9ea5125d52 48 *offset_1 = adc1_offset/n;
benkatz 20:bf9ea5125d52 49 *offset_2 = adc2_offset/n;
benkatz 20:bf9ea5125d52 50 }
benkatz 20:bf9ea5125d52 51
benkatz 20:bf9ea5125d52 52 void reset_foc(ControllerStruct *controller){
benkatz 20:bf9ea5125d52 53 controller->q_int = 0;
benkatz 20:bf9ea5125d52 54 controller->d_int = 0;
benkatz 20:bf9ea5125d52 55 }