File content as of revision 27:846c08fb3697:

#include "includes.h"
#include "transforms.h"
#include "filters.h"
#include "context.h"
#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;
    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);
    
    dbg_ialpha = alpha;
    dbg_ibeta = beta;
    
    d_filtered = c->filter_d->Update(d);
    q_filtered = c->filter_q->Update(q);
    
    /*
    
    //these envelope d and q about 0.  the envelope looks like this:
    // X= -1 0 1 
    // ____| | |____  
    //     \___/      
    if(d_filtered < 1.0f & d_filtered > -1.0f) d_filtered = 0.0f;
    if(d_filtered < 2.0f & d_filtered >= 1.0f) d_filtered = (d_filtered-1.0f)*d_filtered;
    if(d_filtered > -2.0f & d_filtered <= -1.0f) d_filtered = (-d_filtered-1.0f)*d_filtered;
    
    if(q_filtered < 1.0f & q_filtered > -1.0f) q_filtered = 0.0f;
    if(q_filtered < 2.0f & q_filtered >= 1.0f) q_filtered = (q_filtered-1.0f)*q_filtered;
    if(q_filtered > -2.0f & q_filtered <= -1.0f) q_filtered = (-q_filtered-1.0f)*q_filtered;
    */
    
    dbg_d_filtered = d_filtered;
    dbg_q_filtered = q_filtered;
    

    c->reference->GetReference(angle, -c->user->throttle, &ref_d, &ref_q);
    
    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;
    */
    
    vd = 0.05f;
    vq = 0.95f;
    

    InverseParke(vd, vq, angle, &valpha, &vbeta);
    
    c->modulator->Update(valpha, vbeta); 
}

void slow(Context *c) {
    c->user->UpdateThrottle();
}

void debug(Context *c) {
    //c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q);
    //c->serial->printf("%f %f %f\n\r", dbg_angle, dbg_d_filtered, dbg_q_filtered);
    int temp = TIM2->SR & 1;  //this checks to see if the UIF (update interrupt flag) is set high.  (page 287)
    //c->serial->printf("%d %d %d %d %d\n\r", A0, A1, A2, PA_1, PA_4); 
    c->serial->printf("%d %d\n\r", current1, current2); 
}

void log(Context *c) {
    //c->debugger->Write(0, dbg_ib);
    //c->debugger->Write(1, dbg_ic);
}