f334
Dependencies: CANnucleo FastPWM3 mbed
Fork of Hobbyking_Cheetah_Compact by
foc.cpp
- Committer:
- benkatz
- Date:
- 2017-03-02
- Revision:
- 20:bf9ea5125d52
- Child:
- 22:c8a1f2071bb0
File content as of revision 20:bf9ea5125d52:
#include "foc.h" #include "mbed.h" #include "hw_config.h" #include "math.h" #include "math_ops.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); } 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)); } void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w){ ///u,v,w amplitude = v_bus for full modulation depth/// float v_offset = (fminf3(u, v, w) + fmaxf3(u, v, w))/2.0f; *dtc_u = fminf(fmaxf(((u - v_offset)*0.5f/v_bus + 0.5f), DTC_MIN), DTC_MAX); *dtc_v = fminf(fmaxf(((v - v_offset)*0.5f/v_bus + 0.5f), DTC_MIN), DTC_MAX); *dtc_w = fminf(fmaxf(((w - v_offset)*0.5f/v_bus + 0.5f), DTC_MIN), DTC_MAX); } void zero_current(int *offset_1, int *offset_2){ int adc1_offset = 0; int adc2_offset = 0; int n = 1024; for (int i = 0; i<n; i++){ ADC1->CR2 |= 0x40000000; wait(.001); adc2_offset += ADC2->DR; adc1_offset += ADC1->DR; } *offset_1 = adc1_offset/n; *offset_2 = adc2_offset/n; } void reset_foc(ControllerStruct *controller){ controller->q_int = 0; controller->d_int = 0; }