Revision 4:f18f6bc5e1fd, committed 2015-02-26

Comitter:

bwang

Date:

Thu Feb 26 04:49:21 2015 +0000

Parent:

3:86ccde39f61b

Commit message:

latest;

Changed in this revision

--- a/constants.h	Wed Feb 25 04:44:05 2015 +0000
+++ b/constants.h	Thu Feb 26 04:49:21 2015 +0000
@@ -5,11 +5,14 @@
 
 #undef __NATIVE
 #define __USE_THROTTLE
-#define __SVM
-#define __DEBUG
+#undef __SVM
+
+#undef __DEBUG
+#define SKIP 200
+#define DBG_BUF_SZ 2000
 
 //sensor phase in degrees
-#define SENSOR_PHASE 230
+#define SENSOR_PHASE 205
 
 //prius brick specific quirks
 #define DB_COEFF 0.9f

--- a/isr.cpp	Wed Feb 25 04:44:05 2015 +0000
+++ b/isr.cpp	Thu Feb 26 04:49:21 2015 +0000
@@ -75,34 +75,38 @@
 }
 
 void pos_update() {
-    float ascaled = 2 *(((float) analoga - 0.143f)/(0.618f - 0.143f) - 0.5f);
-    float bscaled = 2 *(((float) analogb - 0.202f)/(0.542f - 0.202f) - 0.5f);
-   
+    float ascaled = 2*(((float)analoga-0.256f)/(0.484f-0.256f)-0.5f);
+    float bscaled = 2*(((float)analogb-0.254f)/(0.474f-0.254f)-0.5f);
+    
     float x = bscaled / ascaled;
     
     unsigned int index = (abs(x) / ATAN_UPPER_BOUND)* ATAN_TABLE_SIZE;
     
     if(index >= ATAN_TABLE_SIZE) index = ATAN_TABLE_SIZE - 1;
-    
-    if(bscaled < 0){
-        if(ascaled < 0) motor->angle = arctan[index];
-        if(ascaled > 0) motor->angle = 180.0f - arctan[index];
-    } 
-    
-    if(bscaled > 0){
-        if(ascaled > 0) motor->angle = 180.0f + arctan[index];
-        if(ascaled < 0) motor->angle = 360.0f - arctan[index];
-    }
+
+    if(ascaled<0){
+           if(bscaled<0) motor->angle = 90 - arctan[index];
+           if(bscaled>0) motor->angle = 90 + arctan[index];
+   } 
+       
+   if(ascaled>0){
+           if(bscaled>0) motor->angle = 270 - arctan[index];
+           if(bscaled<0) motor->angle = 270 + arctan[index];
+   }
     
     if(motor->angle > 360.0f) motor->angle = 360.0f;
     if(motor->angle < 0) motor->angle = 0;
     
 #ifdef __DEBUG
-    if (!motor->halt) {
-        fbuffer[bufidx] = motor->angle;
-        bufidx++;
+    skipidx++;
+    if (skipidx == SKIP) {
+        skipidx = 0;
+        if (!motor->halt) {
+            fbuffer[bufidx] = motor->angle;
+            bufidx++;
+        }
     }
-    if (bufidx == 10000) {
+    if (bufidx == DBG_BUF_SZ) {
         motor->debug_stop = 1;
     }
 #endif

--- a/main.cpp	Wed Feb 25 04:44:05 2015 +0000
+++ b/main.cpp	Thu Feb 26 04:49:21 2015 +0000
@@ -26,6 +26,7 @@
 #ifdef __DEBUG
 float *fbuffer;
 int bufidx = 0;
+int skipidx = 0;
 #endif
 #ifdef __USE_THROTTLE
     Ticker dtc_upd_ticker;
@@ -34,10 +35,13 @@
 
 float throttle_read;
 
-int main() {    
+int main() {
+#ifdef __DEBUG
+    pc.printf("%s\n", "Debug mode ON");
+#endif
     en = 1;
 #ifdef __DEBUG
-    fbuffer = (float*)malloc(10000*sizeof(float));
+    fbuffer = (float*)malloc(DBG_BUF_SZ*sizeof(float));
 #endif
     initTimers();
     initPins();
@@ -56,7 +60,7 @@
 #endif
     }
 #ifdef __DEBUG
-    for (int i = 0; i < 10000; i++) {
+    for (int i = 0; i < DBG_BUF_SZ; i++) {
         pc.printf("%f,", fbuffer[i]);
     }
 #endif

--- a/shared.h	Wed Feb 25 04:44:05 2015 +0000
+++ b/shared.h	Thu Feb 26 04:49:21 2015 +0000
@@ -13,7 +13,7 @@
 extern float throttle_read;
 #ifdef __DEBUG
 extern float *fbuffer;
-extern int bufidx;
+extern int bufidx, skipidx;
 #endif
 
 #endif
\ No newline at end of file