Diff: main.cpp

Revision:

1:7b61790f6be9

Parent:

0:bac9c3a3a6ca

Child:

2:eabe8feaaabb

--- a/main.cpp	Wed Mar 09 06:44:51 2016 +0000
+++ b/main.cpp	Wed Mar 09 17:21:01 2016 +0000
@@ -5,12 +5,12 @@
 #include "Transforms.h"
 #include "config.h"
 
-FastPWM a(PWMA);
-FastPWM b(PWMB);
-FastPWM c(PWMC);
+FastPWM *a;
+FastPWM *b;
+FastPWM *c;
 DigitalOut en(EN);
+DigitalOut toggle(PC_10);
 
-AnalogOut test(TEST_DAC);
 AnalogIn Ia(IA);
 AnalogIn Ib(IB);
 
@@ -18,18 +18,103 @@
 
 Serial pc(USBTX, USBRX);
 
-using namespace Transforms;
+int state = 0;
+int adval1, adval2;
+float ia, ib;
+float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV)
+
+extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
+    if (TIM1->SR & TIM_SR_UIF ) {
+        adval1 = ADC1->DR;
+        adval2 = ADC2->DR;
+        ADC1->CR2  |= 0x40000000; 
+    }
+    TIM1->SR = 0x00;
+    toggle = state;
+    state = !state;
+}
+
+void zero_current(){
+    for (int i = 0; i < 1000; i++){
+        ia_supp_offset += (float) (ADC1->DR);
+        ib_supp_offset += (float) (ADC2->DR);
+        ADC1->CR2  |= 0x40000000;
+        wait_us(100); 
+    }
+    ia_supp_offset /= 1000.0f;
+    ib_supp_offset /= 1000.0f;
+    ia_supp_offset = ia_supp_offset / 4096.0f * AVDD - I_OFFSET;
+    ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET;
+}
 
 void config_globals() {
     pc.baud(115200);
     
-    a.period_us(200);
-    b.period_us(200);
-    c.period_us(200);
-    a = 1.0f;
-    b = 1.0f;
-    c = 1.0f;
+    //Enable clocks for GPIOs
+    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
+    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
+    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+    
+    RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
+    
+    a = new FastPWM(PWMA);
+    b = new FastPWM(PWMB);
+    c = new FastPWM(PWMC);
+    
+    NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
+
+    TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
+    TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
+    TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on, 
+    TIM1->RCR |= 0x01; //update event once per up/down count of tim1 
+    TIM1->EGR |= TIM_EGR_UG;
+    
+    TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
+    TIM1->ARR = 0x4650; //5 Khz
+    TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
+    TIM1->CR1 |= TIM_CR1_CEN;
+    
+    //ADC Setup
+    RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
+    RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
+    
+    ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
+    
+    ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
+    ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
     
+    ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
+    ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
+    
+    GPIOA->MODER |= (1 << 8);
+    GPIOA->MODER |= (1 << 9);
+    
+    GPIOA->MODER |= (1 << 2);
+    GPIOA->MODER |= (1 << 3);
+    
+    GPIOA->MODER |= (1 << 0);
+    GPIOA->MODER |= (1 << 1);
+    
+    GPIOB->MODER |= (1 << 0);
+    GPIOB->MODER |= (1 << 1);
+    
+    GPIOC->MODER |= (1 << 2);
+    GPIOC->MODER |= (1 << 3);
+    
+    //DAC setup
+    RCC->APB1ENR |= 0x20000000;
+    DAC->CR |= DAC_CR_EN2;
+    
+    GPIOA->MODER |= (1 << 10);
+    GPIOA->MODER |= (1 << 11);
+    
+    //Zero duty cycles
+    set_dtc(a, 0.0f);
+    set_dtc(b, 0.0f);
+    set_dtc(c, 0.0f);
+    
+    wait_ms(250);
+    zero_current();
     en = 1;
 }
 
@@ -41,6 +126,8 @@
     pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
     pc.printf("Loop KP: %f\n\r", KP);
     pc.printf("Loop KI: %f\n\r", KI);
+    pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
+    pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
     pc.printf("\n\r");
 }    
 
@@ -49,14 +136,10 @@
     if (p < 0) p += 2 * PI;
     
     float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
-    
-    float v_ia = Ia.read() * AVDD;
-    float v_ib = Ib.read() * AVDD;
+    DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
     
-    float ia = (v_ia - I_OFFSET) / I_SCALE;
-    float ib = (v_ia - I_OFFSET) / I_SCALE;
-    
-    test = pos_dac;
+    ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
+    ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
     
     set_dtc(a, 0.5f + 0.5f * cosf(p));
     set_dtc(b, 0.5f + 0.5f * cosf(p + 2 * PI / 3));