Diff: foc.cpp

Revision:

22:c8a1f2071bb0

Parent:

20:bf9ea5125d52

--- a/foc.cpp	Thu Mar 02 15:31:45 2017 +0000
+++ b/foc.cpp	Thu Nov 02 22:28:09 2017 +0000
@@ -4,25 +4,27 @@
 #include "hw_config.h"
 #include "math.h"
 #include "math_ops.h"
-//#include "FastMath.h"
-//using namespace FastMath;
+#include "motor_config.h"
+#include "current_controller_config.h"
+#include "FastMath.h"
+using namespace FastMath;
 
 
 void abc( float theta, float d, float q, float *a, float *b, float *c){
     ///Phase current amplitude = lengh of dq vector///
     ///i.e. iq = 1, id = 0, peak phase current of 1///
 
-    *a = d*cosf(-theta) + q*sinf(-theta);
-    *b = d*cosf((2.0f*PI/3.0f)-theta) + q*sinf((2.0f*PI/3.0f)-theta);
-    *c =  d*cosf((-2.0f*PI/3.0f)-theta) + q*sinf((-2.0f*PI/3.0f)-theta);
+    *a = d*FastCos(-theta) + q*FastSin(-theta);
+    *b = d*FastCos((2.0f*PI/3.0f)-theta) + q*FastSin((2.0f*PI/3.0f)-theta);
+    *c =  d*FastCos((-2.0f*PI/3.0f)-theta) + q*FastSin((-2.0f*PI/3.0f)-theta);
     }
     
 void dq0(float theta, float a, float b, float c, float *d, float *q){
     ///Phase current amplitude = lengh of dq vector///
     ///i.e. iq = 1, id = 0, peak phase current of 1///
     
-    *d = (2.0f/3.0f)*(a*cosf(-theta) + b*cosf((2.0f*PI/3.0f)-theta) + c*cosf((-2.0f*PI/3.0f)-theta));
-    *q = (2.0f/3.0f)*(a*sinf(-theta) + b*sinf((2.0f*PI/3.0f)-theta) + c*sinf((-2.0f*PI/3.0f)-theta));
+    *d = (2.0f/3.0f)*(a*FastCos(-theta) + b*FastCos((2.0f*PI/3.0f)-theta) + c*FastCos((-2.0f*PI/3.0f)-theta));
+    *q = (2.0f/3.0f)*(a*FastSin(-theta) + b*FastSin((2.0f*PI/3.0f)-theta) + c*FastSin((-2.0f*PI/3.0f)-theta));
     }
     
 void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w){
@@ -40,8 +42,11 @@
     int adc2_offset = 0;
     int n = 1024;
     for (int i = 0; i<n; i++){
-        ADC1->CR2  |= 0x40000000; 
-        wait(.001);
+        ADC1->CR  |= ADC_CR_ADSTART;  
+        volatile int eoc;
+        while(!eoc){
+            eoc = ADC1->ISR & ADC_ISR_EOC;
+            }
         adc2_offset += ADC2->DR;
         adc1_offset += ADC1->DR;
         }
@@ -53,3 +58,69 @@
     controller->q_int = 0;
     controller->d_int = 0;
     }
+
+
+void commutate(ControllerStruct *controller, GPIOStruct *gpio, float theta){
+       
+       controller->loop_count ++;
+       controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset);    //Calculate phase currents from ADC readings
+       controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
+       controller->i_a = -controller->i_b - controller->i_c;
+       
+       
+       dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q);    //dq0 transform on currents
+       
+       ///Controller///
+       float i_d_error = controller->i_d_ref - controller->i_d;
+       float i_q_error = controller->i_q_ref - controller->i_q;
+       //float v_d_ff = 2.0f*(2*controller->i_d_ref*R_PHASE);   //feed-forward voltage
+       //float v_q_ff = 2.0f*(2*controller->i_q_ref*R_PHASE + controller->dtheta_elec*WB*0.8165f);
+       controller->d_int += i_d_error;   
+       controller->q_int += i_q_error;
+       
+       //v_d_ff = 0;
+       //v_q_ff = 0;
+       
+       limit_norm(&controller->d_int, &controller->q_int, V_BUS/(K_Q*KI_Q));
+       //controller->d_int = fminf(fmaxf(controller->d_int, -D_INT_LIM), D_INT_LIM);
+       //controller->q_int = fminf(fmaxf(controller->q_int, -Q_INT_LIM), Q_INT_LIM);
+       
+       
+       controller->v_d = K_D*i_d_error + K_D*KI_D*controller->d_int;// + v_d_ff;  
+       controller->v_q = K_Q*i_q_error + K_Q*KI_Q*controller->q_int;// + v_q_ff; 
+       
+       //controller->v_d = v_d_ff;
+       //controller->v_q = v_q_ff; 
+       
+       limit_norm(&controller->v_d, &controller->v_q, controller->v_bus);
+       
+       abc(controller->theta_elec, controller->v_d, controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages
+       svm(controller->v_bus, controller->v_u, controller->v_v, controller->v_w, &controller->dtc_u, &controller->dtc_v, &controller->dtc_w); //space vector modulation
+
+       //gpio->pwm_u->write(1.0f-controller->dtc_u);  //write duty cycles
+       //gpio->pwm_v->write(1.0f-controller->dtc_v);
+       //gpio->pwm_w->write(1.0f-controller->dtc_w);  
+       
+        //TIM1->CCR1 = 0x708*(1.0f-controller->dtc_u);
+        //TIM1->CCR2 = 0x708*(1.0f-controller->dtc_v);
+        //TIM1->CCR3 = 0x708*(1.0f-controller->dtc_w);
+       
+       controller->theta_elec = theta;   //For some reason putting this at the front breaks thins
+       
+
+       //if(controller->loop_count >1000){
+           //controller->i_q_ref = -controller->i_q_ref;
+       //    controller->loop_count  = 0;
+           
+           //printf("%f\n\r", controller->dtheta_elec);
+           //printf("%f\n\r", controller->theta_elec);
+           //pc.printf("%f    %f    %f\n\r", controller->i_a, controller->i_b, controller->i_c);
+           //pc.printf("%f    %f\n\r", controller->i_d, controller->i_q);
+           //pc.printf("%d    %d\n\r", controller->adc1_raw, controller->adc2_raw);
+        //    }
+    }
+/*    
+void zero_encoder(ControllerStruct *controller, GPIOStruct *gpio, ){
+    
+    }
+*/    
\ No newline at end of file