Diff: loopdriver.cpp

Revision:

3:0a2396597e0d

Parent:

1:1f58bdcf2956

Child:

4:fdadf4a3577a

diff -r 8696a62a4077 -r 0a2396597e0d loopdriver.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/loopdriver.cpp	Mon Mar 02 01:24:37 2015 +0000
@@ -0,0 +1,69 @@
+#include "includes.h"
+#include "core.h"
+#include "sensors.h"
+#include "meta.h"
+#include "lut.h"
+
+Inverter* LoopDriver::_inverter;
+Motor* LoopDriver::_motor;
+User* LoopDriver::_user;
+PidController* LoopDriver::_pid_d;
+PidController* LoopDriver::_pid_q;
+ReferenceSynthesizer* LoopDriver::_reference;
+Modulator* LoopDriver::_modulator;
+
+LoopDriver::LoopDriver(Inverter *inverter, Motor *motor, User *user, PidController *pid_d, 
+                       PidController *pid_q, Modulator *modulator, float max_phase_current, int update_frequency) {
+    _inverter = inverter;
+    _motor = motor;
+    _user = user;
+    _pid_d = pid_d;
+    _pid_q = pid_q;
+    _reference = new SynchronousReferenceSynthesizer(max_phase_current);;
+    _modulator = modulator;
+    _max_phase_current = max_phase_current;
+    _update_frequency = update_frequency;
+}
+
+void LoopDriver::Start() {
+    _upd_ticker.attach_us(&update, 1000000 / _update_frequency);
+}
+
+void LoopDriver::Clarke(float a, float b, float *alpha, float *beta) {
+    *alpha = a;
+    *beta = 1.0f / sqrt(3.0f) * a + 2.0f / sqrt(3.0f) * b;
+}
+
+void LoopDriver::Parke(float alpha, float beta, float theta, float *d, float *q) {
+    float cos = LutCos(theta);
+    float sin = LutSin(theta);
+    *d = alpha * cos + beta * sin;
+    *q = -alpha * sin + beta * cos;
+}
+
+void LoopDriver::InverseParke(float d, float q, float theta, float *alpha, float *beta) {
+    float cos = LutCos(theta);
+    float sin = LutSin(theta);
+    *alpha = cos * d - sin * q;
+    *beta = sin * d + cos * q;                                     
+}
+
+float LoopDriver::LutSin(float theta) {
+    if (theta < 0.0f) theta += 360.0f;
+    if (theta >= 360.0f) theta -= 360.0f;
+    return sinetab[(int) theta];
+}
+
+float LoopDriver::LutCos(float theta) {
+    return LutSin(90.0f - theta);
+}
+
+void LoopDriver::update() {
+    float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
+    Clarke(_motor->I_a, _motor->I_b, &alpha, &beta);
+    Parke(alpha, beta, _motor->angle, &d, &q);
+    _reference->GetReference(_motor->angle, &ref_d, &ref_q);
+    float vd = _pid_d->Update(ref_d, d);
+    float vq = _pid_q->Update(ref_q, q);
+    InverseParke(vd, vq, _motor->angle, &valpha, &vbeta);
+}