Diff: main.cpp

Revision:

9:4812c9e932ea

Parent:

8:314074b56470

Child:

10:7624146c5945

Child:

20:b22bf7e14871

--- a/main.cpp	Mon Apr 04 09:02:59 2016 +0000
+++ b/main.cpp	Tue Apr 05 04:05:21 2016 +0000
@@ -25,7 +25,7 @@
 #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
 
 #define K_LOOP 0.02
-#define KI_BASE 0.008
+#define KI_BASE 0.08//0.008
 #define BUS_VOLTAGE 20.0
 
 #define KP (K_LOOP / BUS_VOLTAGE)
@@ -43,7 +43,7 @@
 
 int adval1, adval2;
 float ia, ib, ic, alpha, beta, q;
-double vq = 0.0, q_integral = 0.0, last_q = 0.0, q_ref = 250.0, q_filtered = 0.0;
+double vq = 0.0, q_integral = 0.0, last_q = 0.0, q_ref = 0.0, q_filtered = 0.0;
  
 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
     if (TIM1->SR & TIM_SR_UIF) {
@@ -75,9 +75,9 @@
         q = -alpha * sin_p - beta * cos_p;
         q_filtered = 0.1 * (double) q + 0.9 * q_filtered;
         
-        DAC->DHR12R2 = (unsigned int) (q_filtered * 20 + 2048);
+        DAC->DHR12R2 = (unsigned int) (q * 20 + 2048);
         
-        double q_err = q_ref - q_filtered;
+        double q_err = q_ref - q;//_filtered;
         
         q_integral += q_err * KI;
         if (q_integral > INTEGRAL_MAX) q_integral = INTEGRAL_MAX;
@@ -86,7 +86,9 @@
         vq = KP * q_err + q_integral;
         if (vq < -1.0f) vq = -1.0f;
         if (vq > 1.0f) vq = 1.0f;
-            
+        
+        //DAC->DHR12R2 = (unsigned int) (vq * 2000 + 2048);
+                    
         *a = 0.5f + 0.5f * vq * sinf(p);
         *b = 0.5f + 0.5f * vq * sinf(p + 2 * PI / 3);
         *c = 0.5f + 0.5f * vq * sinf(p - 2 * PI / 3);
@@ -161,5 +163,9 @@
     en = 1;
     
     for (;;) {
+        q_ref = 0.0f;
+        wait_ms(2000);
+        q_ref = 20.0f;
+        wait_ms(2000);
     }
 }