Bayley Wang
/
priustroller
Prius IPM controller
Fork of analoghalls5_5 by
Diff: callbacks.cpp
- Revision:
- 24:f1ff9c7256b5
- Parent:
- 22:46d164aa4f1c
- Child:
- 25:0003b824dd7d
--- a/callbacks.cpp Mon Mar 09 08:28:22 2015 +0000 +++ b/callbacks.cpp Mon Mar 09 11:33:14 2015 +0000 @@ -5,25 +5,27 @@ #include "core.h" #include "meta.h" #include "sensors.h" +#include "debug.h" void fast(Context *c) { float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta; float I_b, I_c, angle, d_filtered, q_filtered, vd, vq; - I_b = c->motor->GetCurrentB(); - I_c = c->motor->GetCurrentC(); - angle = c->motor->GetPosition(); - dbg_angle = angle; - - Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform + dbg_ib = I_b = c->motor->GetCurrentB(); + dbg_ic = I_c = c->motor->GetCurrentC(); + dbg_angle = angle = c->motor->GetPosition(); + + Clarke(-(I_b + I_c), I_b, &alpha, &beta); Parke(alpha, beta, angle, &d, &q); - d_filtered = c->filter_d->Update(d); - q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal + dbg_d_filtered = d_filtered = c->filter_d->Update(d); + dbg_q_filtered = q_filtered = c->filter_q->Update(q); c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q); - - vd = c->pid_d->Update(ref_d, d_filtered); - vq = c->pid_q->Update(ref_q, q_filtered); + + dbg_ref_d = ref_d; + dbg_ref_q = ref_q; + dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered); + dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered); vd = 0.0f; vq = c->user->throttle; @@ -38,5 +40,10 @@ } void debug(Context *c) { - //c->serial->printf("%f %f %f %f %f %f\n\r", dbg_angle, dbg_dtcA, dbg_dtcB, dbg_dtcC, dbg_t1, dbg_t2); + //c->serial->printf("%f %f\n\r", dbg_d_filtered, dbg_q_filtered); +} + +void log(Context *c) { + //c->debugger->Write(0, dbg_ib); + //c->debugger->Write(1, dbg_ic); } \ No newline at end of file