Bayley Wang
/
priustroller_3
temp repo
Fork of priustroller_2 by
context.cpp
- Committer:
- nki
- Date:
- 2015-03-16
- Revision:
- 33:e7b132029bae
- Parent:
- 31:86b87913d8e1
File content as of revision 33:e7b132029bae:
#include "includes.h" #include "core.h" #include "meta.h" #include "sensors.h" #include "filters.h" #include "context.h" #include "debug.h" float debug_registers[32]; Context::Context() { _index = 0; _time_upd_ticker = new Ticker(); _time_upd_ticker->attach_us(this, &Context::upd_function, 50); } void Context::ConfigureOutputs(PinName oa, PinName ob, PinName oc, PinName en) { _oa = oa; _ob = ob; _oc = oc; _en = en; } void Context::ConfigureCurrentSensors(PinName ib_pin, PinName ic_pin, float scale, float filter_strength) { _ib_pin = ib_pin; _ic_pin = ic_pin; _scale = scale; _filter_strength = filter_strength; } void Context::ConfigureIdPidController(float ki, float kp, float kd, float pidmax, float pidmin) { _dki = ki; _dkp = kp; _dkd = kd; _dpidmax = pidmax; _dpidmin = pidmin; } void Context::ConfigureIqPidController(float ki, float kp, float kd, float pidmax, float pidmin) { _qki = ki; _qkp = kp; _qkd = kd; _qpidmax = pidmax; _qpidmin = pidmin; } void Context::ConfigureThrottle(PinName throttle_pin, float min, float max) { _throttle_pin = throttle_pin; _min = min; _max = max; } 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) { _pos_a_pin = pos_a_pin; _pos_b_pin = pos_b_pin; _cal1_a = cal1_a; _cal2_a = cal2_a; _cal1_b = cal1_b; _cal2_b = cal2_b; _offset = offset; } void Context::ConfigureReference(float max_current) { _max_current = max_current; } void Context::AttachCallBack(void (*f)(Context *), int freq) { _call_times[_index] = 0; _call_periods[_index] = 1000000 / freq; _callbacks[_index++] = f; } void Context::Start() { InitData(); for (;;) { for (int i = 0; i < _index; i++) { if (_time - _call_times[i] >= _call_periods[i]) { (*_callbacks[i])(this); _call_times[i] = _time; } } } } void Context::ConfigureDebugger(int debugger_channels, int debugger_size) { _debugger_channels = debugger_channels; _debugger_size = debugger_size; } void Context::InitData() { sense_p = new AnalogHallPositionSensor(_pos_a_pin, _pos_b_pin, _cal1_a, _cal2_a, _cal1_b, _cal2_b, _offset); sense_ib = new AnalogCurrentSensor(_ib_pin, _scale); sense_ic = new AnalogCurrentSensor(_ic_pin, _scale); throttle = new Throttle(_throttle_pin, _min, _max); sense_bus = new VoltageSensor(); sense_t_motor = new TempSensor(); sense_t_inverter = new TempSensor(); pid_d = new PidController(_dki, _dkp, _dkd, _dpidmax, _dpidmin); pid_q = new PidController(_qki, _qkp, _qkd, _qpidmax, _qpidmin); motor = new Motor(sense_ic, sense_ib, sense_p, sense_t_motor); inverter = new Inverter(_oa, _ob, _oc, _en, sense_bus, sense_t_inverter); user = new User(throttle); modulator = new SvmModulator(inverter); reference = new SynchronousReferenceSynthesizer(_max_current); filter_d = new MeanFilter(_filter_strength); filter_q = new MeanFilter(_filter_strength); serial = new Serial(USBTX, USBRX); serial->baud(115200); serial->printf("%s\n\r", "Init Serial Communications"); debugger = new BufferedDebugger(this, _debugger_channels, _debugger_size); } void Context::upd_function() { _time += 50; }