Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
context.cpp@19:280c62c71cf8, 2015-03-09 (annotated)
- Committer:
- bwang
- Date:
- Mon Mar 09 03:32:32 2015 +0000
- Revision:
- 19:280c62c71cf8
- Parent:
- 17:fd6771a6685a
- Child:
- 24:f1ff9c7256b5
stylistic changes (SVM code in the right class now); NOTE: SinusoidalModulator currently does nothing
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 11:dccbaa9274c5 | 1 | #include "includes.h" |
bwang | 11:dccbaa9274c5 | 2 | #include "core.h" |
bwang | 11:dccbaa9274c5 | 3 | #include "meta.h" |
bwang | 11:dccbaa9274c5 | 4 | #include "sensors.h" |
bwang | 11:dccbaa9274c5 | 5 | #include "filters.h" |
bwang | 11:dccbaa9274c5 | 6 | #include "context.h" |
bwang | 11:dccbaa9274c5 | 7 | |
bwang | 17:fd6771a6685a | 8 | float debug_registers[16]; |
bwang | 16:c10d0aa3c0e1 | 9 | |
bwang | 11:dccbaa9274c5 | 10 | Context::Context() { |
bwang | 11:dccbaa9274c5 | 11 | _index = 0; |
bwang | 11:dccbaa9274c5 | 12 | _time_upd_ticker = new Ticker(); |
bwang | 11:dccbaa9274c5 | 13 | _time_upd_ticker->attach_us(this, &Context::upd_function, 50); |
bwang | 11:dccbaa9274c5 | 14 | } |
bwang | 11:dccbaa9274c5 | 15 | |
bwang | 11:dccbaa9274c5 | 16 | void Context::ConfigureOutputs(PinName oa, PinName ob, PinName oc, PinName en) { |
bwang | 11:dccbaa9274c5 | 17 | _oa = oa; |
bwang | 11:dccbaa9274c5 | 18 | _ob = ob; |
bwang | 11:dccbaa9274c5 | 19 | _oc = oc; |
bwang | 11:dccbaa9274c5 | 20 | _en = en; |
bwang | 11:dccbaa9274c5 | 21 | } |
bwang | 11:dccbaa9274c5 | 22 | |
bwang | 11:dccbaa9274c5 | 23 | void Context::ConfigureCurrentSensors(PinName ib_pin, PinName ic_pin, float scale, float filter_strength) { |
bwang | 11:dccbaa9274c5 | 24 | _ib_pin = ib_pin; |
bwang | 11:dccbaa9274c5 | 25 | _ic_pin = ic_pin; |
bwang | 11:dccbaa9274c5 | 26 | _scale = scale; |
bwang | 11:dccbaa9274c5 | 27 | _filter_strength = filter_strength; |
bwang | 11:dccbaa9274c5 | 28 | } |
bwang | 11:dccbaa9274c5 | 29 | |
bwang | 11:dccbaa9274c5 | 30 | void Context::ConfigurePidControllers(float ki, float kp, float kd, float pidmax, float pidmin) { |
bwang | 11:dccbaa9274c5 | 31 | _ki = ki; |
bwang | 11:dccbaa9274c5 | 32 | _kp = kp; |
bwang | 11:dccbaa9274c5 | 33 | _kd = kd; |
bwang | 11:dccbaa9274c5 | 34 | _pidmax = pidmax; |
bwang | 11:dccbaa9274c5 | 35 | _pidmin = pidmin; |
bwang | 11:dccbaa9274c5 | 36 | } |
bwang | 11:dccbaa9274c5 | 37 | |
bwang | 11:dccbaa9274c5 | 38 | void Context::ConfigureThrottle(PinName throttle_pin, float min, float max) { |
bwang | 11:dccbaa9274c5 | 39 | _throttle_pin = throttle_pin; |
bwang | 11:dccbaa9274c5 | 40 | _min = min; |
bwang | 11:dccbaa9274c5 | 41 | _max = max; |
bwang | 11:dccbaa9274c5 | 42 | } |
bwang | 11:dccbaa9274c5 | 43 | |
bwang | 11:dccbaa9274c5 | 44 | void Context::ConfigurePositionSensor(PinName pos_a_pin, PinName pos_b_pin, float cal1_a, float cal2_a, float cal1_b, float cal2_b, float offset) { |
bwang | 11:dccbaa9274c5 | 45 | _pos_a_pin = pos_a_pin; |
bwang | 11:dccbaa9274c5 | 46 | _pos_b_pin = pos_b_pin; |
bwang | 11:dccbaa9274c5 | 47 | _cal1_a = cal1_a; |
bwang | 13:79e247e54d78 | 48 | _cal2_a = cal2_a; |
bwang | 11:dccbaa9274c5 | 49 | _cal1_b = cal1_b; |
bwang | 11:dccbaa9274c5 | 50 | _cal2_b = cal2_b; |
bwang | 11:dccbaa9274c5 | 51 | _offset = offset; |
bwang | 11:dccbaa9274c5 | 52 | } |
bwang | 11:dccbaa9274c5 | 53 | |
bwang | 11:dccbaa9274c5 | 54 | void Context::ConfigureReference(float max_current) { |
bwang | 11:dccbaa9274c5 | 55 | _max_current = max_current; |
bwang | 11:dccbaa9274c5 | 56 | } |
bwang | 11:dccbaa9274c5 | 57 | |
bwang | 11:dccbaa9274c5 | 58 | void Context::AttachCallBack(void (*f)(Context *), int freq) { |
bwang | 11:dccbaa9274c5 | 59 | _call_times[_index] = 0; |
bwang | 11:dccbaa9274c5 | 60 | _call_periods[_index] = 1000000 / freq; |
bwang | 11:dccbaa9274c5 | 61 | _callbacks[_index++] = f; |
bwang | 11:dccbaa9274c5 | 62 | } |
bwang | 11:dccbaa9274c5 | 63 | |
bwang | 11:dccbaa9274c5 | 64 | void Context::Start() { |
bwang | 11:dccbaa9274c5 | 65 | InitData(); |
bwang | 11:dccbaa9274c5 | 66 | |
bwang | 11:dccbaa9274c5 | 67 | for (;;) { |
bwang | 11:dccbaa9274c5 | 68 | for (int i = 0; i < _index; i++) { |
bwang | 11:dccbaa9274c5 | 69 | if (_time - _call_times[i] >= _call_periods[i]) { |
bwang | 11:dccbaa9274c5 | 70 | (*_callbacks[i])(this); |
bwang | 11:dccbaa9274c5 | 71 | _call_times[i] = _time; |
bwang | 11:dccbaa9274c5 | 72 | } |
bwang | 11:dccbaa9274c5 | 73 | } |
bwang | 11:dccbaa9274c5 | 74 | } |
bwang | 11:dccbaa9274c5 | 75 | } |
bwang | 11:dccbaa9274c5 | 76 | |
bwang | 11:dccbaa9274c5 | 77 | void Context::InitData() { |
bwang | 13:79e247e54d78 | 78 | sense_p = new AnalogHallPositionSensor(_pos_a_pin, _pos_b_pin, _cal1_a, _cal2_a, _cal1_b, _cal2_b, _offset); |
bwang | 11:dccbaa9274c5 | 79 | sense_ib = new AnalogCurrentSensor(_ib_pin, _scale); |
bwang | 11:dccbaa9274c5 | 80 | sense_ic = new AnalogCurrentSensor(_ic_pin, _scale); |
bwang | 11:dccbaa9274c5 | 81 | throttle = new Throttle(_throttle_pin, _min, _max); |
bwang | 11:dccbaa9274c5 | 82 | sense_bus = new VoltageSensor(); |
bwang | 11:dccbaa9274c5 | 83 | sense_t_motor = new TempSensor(); |
bwang | 11:dccbaa9274c5 | 84 | sense_t_inverter = new TempSensor(); |
bwang | 11:dccbaa9274c5 | 85 | |
bwang | 11:dccbaa9274c5 | 86 | pid_d = new PidController(_ki, _kd, _kp, _pidmax, _pidmin); |
bwang | 11:dccbaa9274c5 | 87 | pid_q = new PidController(_ki, _kd, _kp, _pidmax, _pidmin); |
bwang | 11:dccbaa9274c5 | 88 | |
bwang | 11:dccbaa9274c5 | 89 | motor = new Motor(sense_ic, sense_ib, sense_p, sense_t_motor); |
bwang | 11:dccbaa9274c5 | 90 | inverter = new Inverter(_oa, _ob, _oc, _en, sense_bus, sense_t_inverter); |
bwang | 11:dccbaa9274c5 | 91 | user = new User(throttle); |
bwang | 19:280c62c71cf8 | 92 | modulator = new SvmModulator(inverter); |
bwang | 11:dccbaa9274c5 | 93 | reference = new SynchronousReferenceSynthesizer(_max_current); |
bwang | 11:dccbaa9274c5 | 94 | filter_d = new MeanFilter(_filter_strength); |
bwang | 11:dccbaa9274c5 | 95 | filter_q = new MeanFilter(_filter_strength); |
bwang | 17:fd6771a6685a | 96 | |
bwang | 17:fd6771a6685a | 97 | serial = new Serial(USBTX, USBRX); |
bwang | 11:dccbaa9274c5 | 98 | serial->baud(115200); |
bwang | 11:dccbaa9274c5 | 99 | } |
bwang | 11:dccbaa9274c5 | 100 | |
bwang | 11:dccbaa9274c5 | 101 | void Context::upd_function() { |
bwang | 11:dccbaa9274c5 | 102 | _time += 50; |
bwang | 11:dccbaa9274c5 | 103 | } |