Bayley Wang
/
priustroller
Prius IPM controller
Fork of analoghalls5_5 by
Diff: callbacks.cpp
- Revision:
- 12:c35ad58f6620
- Parent:
- 11:dccbaa9274c5
- Child:
- 13:79e247e54d78
--- a/callbacks.cpp Sun Mar 08 08:37:38 2015 +0000 +++ b/callbacks.cpp Sun Mar 08 09:02:59 2015 +0000 @@ -6,6 +6,9 @@ #include "meta.h" #include "sensors.h" +#define dbg_d_filtered debug_registers[0] +#define dbg_q_filtered debug_registers[1] + void fast(Context *c) { float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; float I_b, I_c, angle; @@ -13,11 +16,14 @@ I_c = c->motor->GetCurrentC(); angle = c->motor->GetPosition(); - Clarke(-(I_b + I_c), I_b, &alpha, &beta); + Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform Parke(alpha, beta, angle, &d, &q); float d_filtered = c->filter_d->Update(d); - float q_filtered = c->filter_q->Update(d); + float q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal + + c->dbg_d_filtered = d_filtered; + c->dbg_q_filtered = q_filtered; c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); @@ -37,4 +43,5 @@ } void debug(Context *c) { + c->serial->printf("%f %f\n\r", c->dbg_d_filtered, c->dbg_q_filtered); } \ No newline at end of file