Bayley Wang / Mbed 2 deprecated priustroller

Prius IPM controller

Dependencies:   mbed

Fork of analoghalls5_5 by N K

main.cpp@32:4e1a223fad52, 2015-03-16 (annotated)

Committer:
nki
Date:
Mon Mar 16 02:43:19 2015 +0000
Revision:
32:4e1a223fad52
Parent:
31:86b87913d8e1
Child:
33:e7b132029bae
Crunchy motor, temp commit for reverting

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:54cf32d35f4d 1 #include "includes.h"
bwang 11:dccbaa9274c5 2 #include "transforms.h"
bwang 11:dccbaa9274c5 3 #include "filters.h"
bwang 11:dccbaa9274c5 4 #include "context.h"
bwang 1:1f58bdcf2956 5 #include "core.h"
bwang 1:1f58bdcf2956 6 #include "meta.h"
bwang 11:dccbaa9274c5 7 #include "sensors.h"
bwang 11:dccbaa9274c5 8 #include "callbacks.h"
bwang 31:86b87913d8e1 9 #include "isr.h"
nki 4:fdadf4a3577a 10
nki 30:2b6d426f3bfc 11 volatile unsigned short global_ib, global_ic;
nki 30:2b6d426f3bfc 12 uint32_t channel_ib, channel_ic;
nki 27:846c08fb3697 13
bwang 11:dccbaa9274c5 14 int main() {
nki 27:846c08fb3697 15 NVIC_EnableIRQ(TIM2_IRQn);
bwang 31:86b87913d8e1 16 NVIC_SetVector(TIM2_IRQn, (uint32_t)TIM2_IRQn_Handler);
nki 29:cb03760ba9ea 17
bwang 11:dccbaa9274c5 18 Context *context = new Context();
bwang 11:dccbaa9274c5 19 context->ConfigureOutputs(D6, D13, D3, D8);
nki 29:cb03760ba9ea 20 context->ConfigurePositionSensor(A4, A5, 0.249f, 0.497f, 0.231f, 0.499f, 205.0f);
nki 32:4e1a223fad52 21 context->ConfigureIdPidController(0.0001f, 0.0f, 0.0f, 5.0f, -5.0f);
nki 32:4e1a223fad52 22 context->ConfigureIqPidController(0.00001f, 0.1f, 0.0f, 5.0f, -5.0f);
bwang 11:dccbaa9274c5 23 context->ConfigureThrottle(A0, 0.8f, 3.0f);
nki 29:cb03760ba9ea 24 context->ConfigureCurrentSensors(A1, A2, 0.01f, 0.7f); // I guess this configures the ADCs or something
bwang 24:f1ff9c7256b5 25 context->ConfigureReference(5.0f);
bwang 24:f1ff9c7256b5 26 context->ConfigureDebugger(2, 1000);
bwang 11:dccbaa9274c5 27 context->AttachCallBack(&fast, 5000);
bwang 11:dccbaa9274c5 28 context->AttachCallBack(&slow, 10);
bwang 11:dccbaa9274c5 29 context->AttachCallBack(&debug, 10);
bwang 24:f1ff9c7256b5 30 context->AttachCallBack(&log, 500);
nki 29:cb03760ba9ea 31 context->InitData();
bwang 11:dccbaa9274c5 32 context->Start();
bwang 0:54cf32d35f4d 33 }