Diff: isr.cpp

Revision:

0:9753f3c2e5ca

Child:

1:70eed554399b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/isr.cpp	Mon Feb 16 20:16:01 2015 +0000
@@ -0,0 +1,54 @@
+#include "isr.h"
+#include "mbed.h"
+#include "shared.h"
+#include "constants.h"
+
+/*
+void commutate() {
+    if(BROCK_COMMUTATE){
+        motor->hall = (halla.read() << 2) + (hallb.read() << 1) + hallc.read();
+        if (motor->hall != HNext[motor->last_hall] && motor->last_hall != 0) {
+            motor->reverses++;
+            if (motor->reverses < 2) return;
+        }
+        motor->reverses = 0;
+        motor->last_hall = motor->hall;
+        motor->last_time = motor->ticks;
+        motor->major_pos = 60.0f * ATable[motor->hall];
+        motor->ticks = 0.0f;
+    }
+    else{
+        
+    }
+}
+*/
+
+
+
+void dtc_update() {
+    
+    float angle = motor->whangle;
+    
+      
+    float ia = angle - motor->sensor_phase;
+    if (ia < 0) ia += 360.0f;
+    if (ia >= 360.0f) ia -= 360.0f;    
+    float ib = ia - 120.0f;
+    if (ib < 0) ib += 360.0f;
+    float ic = ia + 120.0f;
+    if (ic >= 360.0f) ic -= 360.0f;
+      
+    motor->dtc_a = sinetab[(int) (ia)] * motor->throttle;
+    motor->dtc_b = sinetab[(int) (ib)] * motor->throttle;
+    motor->dtc_c = sinetab[(int) (ic)] * motor->throttle;
+    
+    if (motor->halt) {
+        pha = 0.0f;
+        phb = 1.0f;
+        phc = 0.0f;
+    } else {
+        pha = DB_COEFF * motor->dtc_a + DB_OFFSET;
+        phb = DB_COEFF * (1.0f - motor->dtc_b) + DB_OFFSET;
+        phc = DB_COEFF * motor->dtc_c + DB_OFFSET;
+    }
+}
\ No newline at end of file