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derp
Diff: main.cpp
- Revision:
- 7:caebf421f288
- Parent:
- 4:a6669248ce4d
- Child:
- 8:314074b56470
--- a/main.cpp Fri Mar 18 12:07:14 2016 +0000 +++ b/main.cpp Wed Mar 30 06:50:11 2016 +0000 @@ -9,7 +9,7 @@ FastPWM *b; FastPWM *c; DigitalOut en(EN); -DigitalOut toggle(PC_10); +//DigitalOut toggle(PC_10); PositionSensorEncoder pos(CPR, 0); @@ -17,13 +17,13 @@ int state = 0; int adval1, adval2; -float ia, ib, ic, alpha, beta, d, q, vd, vq, p; +float ia, ib, ic, alpha, beta, d, q, vd, vq, p = 0.0f; float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV) float d_integral = 0.0f, q_integral = 0.0f; float last_d = 0.0f, last_q = 0.0f; -float d_ref = -0.0f, q_ref = -50.0f; +float d_ref = -0.0f, q_ref = 30.0f; void commutate(); void zero_current(); @@ -32,11 +32,11 @@ extern "C" void TIM1_UP_TIM10_IRQHandler(void) { if (TIM1->SR & TIM_SR_UIF ) { - toggle = 1; + //toggle = 1; ADC1->CR2 |= 0x40000000; volatile int delay; for (delay = 0; delay < 35; delay++); - toggle = 0; + //toggle = 0; adval1 = ADC1->DR; adval2 = ADC2->DR; commutate(); @@ -80,7 +80,7 @@ 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->ARR = 0x1770; //15 Khz TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on. TIM1->CR1 |= TIM_CR1_CEN; @@ -143,12 +143,14 @@ void commutate() { p = pos.GetElecPosition() - POS_OFFSET; + if (p < 0) p += 2 * PI; + if (p > 2 * PI) p -= 2 * PI; float sin_p = sinf(p); float cos_p = cosf(p); - //float pos_dac = 0.85f * p / (2 * PI) + 0.05f; + //float pos_dac = 0.8f * p / (2 * PI) + 0.1f; //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096); ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE; @@ -183,11 +185,11 @@ if (vq < -1.0f) vq = -1.0f; if (vq > 1.0f) vq = 1.0f; - DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048); + //DAC->DHR12R2 = (unsigned int) (q * 20 + 2048); //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048); //vd = 0.0f; - //vq = -1.0f; + //vq = 1.0f; float valpha = vd * cos_p - vq * sin_p; float vbeta = vd * sin_p + vq * cos_p; @@ -196,6 +198,8 @@ float vb = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta; float vc = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta; + //DAC->DHR12R2 = (unsigned int) (-va * 1500 + 2048); + set_dtc(a, 0.5f + 0.5f * va); set_dtc(b, 0.5f + 0.5f * vb); set_dtc(c, 0.5f + 0.5f * vc); @@ -206,6 +210,8 @@ startup_msg(); for (;;) { + //pc.printf("%f\n\r", p); + //wait_ms(100); /* q_ref = 0.0f; wait(3);