Bayley Wang / Mbed 2 deprecated priustroller

Prius IPM controller

Dependencies:   mbed

Fork of analoghalls5_5 by N K

callbacks.cpp@11:dccbaa9274c5, 2015-03-08 (annotated)

Committer:
bwang
Date:
Sun Mar 08 08:37:38 2015 +0000
Revision:
11:dccbaa9274c5
Child:
12:c35ad58f6620
--Initial Commit: 03-08-2015 new context-based code; no more timers (=easier debugging)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 11:dccbaa9274c5 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 11:dccbaa9274c5 5 #include "core.h"
bwang 11:dccbaa9274c5 6 #include "meta.h"
bwang 11:dccbaa9274c5 7 #include "sensors.h"
bwang 11:dccbaa9274c5 8
bwang 11:dccbaa9274c5 9 void fast(Context *c) {
bwang 11:dccbaa9274c5 10 float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
bwang 11:dccbaa9274c5 11 float I_b, I_c, angle;
bwang 11:dccbaa9274c5 12 I_b = c->motor->GetCurrentB();
bwang 11:dccbaa9274c5 13 I_c = c->motor->GetCurrentC();
bwang 11:dccbaa9274c5 14 angle = c->motor->GetPosition();
bwang 11:dccbaa9274c5 15
bwang 11:dccbaa9274c5 16 Clarke(-(I_b + I_c), I_b, &alpha, &beta);
bwang 11:dccbaa9274c5 17 Parke(alpha, beta, angle, &d, &q);
bwang 11:dccbaa9274c5 18
bwang 11:dccbaa9274c5 19 float d_filtered = c->filter_d->Update(d);
bwang 11:dccbaa9274c5 20 float q_filtered = c->filter_q->Update(d);
bwang 11:dccbaa9274c5 21
bwang 11:dccbaa9274c5 22 c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
bwang 11:dccbaa9274c5 23
bwang 11:dccbaa9274c5 24 float vd = c->pid_d->Update(ref_d, d_filtered);
bwang 11:dccbaa9274c5 25 float vq = c->pid_q->Update(ref_q, q_filtered);
bwang 11:dccbaa9274c5 26
bwang 11:dccbaa9274c5 27 vd = 0.0f;
bwang 11:dccbaa9274c5 28 vq = c->user->throttle;
bwang 11:dccbaa9274c5 29
bwang 11:dccbaa9274c5 30 InverseParke(vd, vq, angle, &valpha, &vbeta);
bwang 11:dccbaa9274c5 31
bwang 11:dccbaa9274c5 32 c->modulator->Update(valpha, vbeta);
bwang 11:dccbaa9274c5 33 }
bwang 11:dccbaa9274c5 34
bwang 11:dccbaa9274c5 35 void slow(Context *c) {
bwang 11:dccbaa9274c5 36 c->user->UpdateThrottle();
bwang 11:dccbaa9274c5 37 }
bwang 11:dccbaa9274c5 38
bwang 11:dccbaa9274c5 39 void debug(Context *c) {
bwang 11:dccbaa9274c5 40 }