Bayley Wang
derp
Diff: main.cpp
- Revision:
- 5:efd3838b79a6
- Parent:
- 4:a6669248ce4d
- Child:
- 6:561d8ab80424
--- a/main.cpp Fri Mar 18 12:07:14 2016 +0000
+++ b/main.cpp Sun Mar 27 03:40:52 2016 +0000
@@ -25,25 +25,133 @@
float last_d = 0.0f, last_q = 0.0f;
float d_ref = -0.0f, q_ref = -50.0f;
+float d_filtered = 0.0f, q_filtered = 0.0f;
+
void commutate();
void zero_current();
void config_globals();
void startup_msg();
+unsigned char clip_var(float var, float scale, float offset);
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;
adval1 = ADC1->DR;
adval2 = ADC2->DR;
+ //toggle = 0;
commutate();
}
TIM1->SR = 0x00;
}
+void commutate() {
+ p = pos.GetElecPosition() - POS_OFFSET;
+ if (p < 0) p += 2 * PI;
+
+ float sin_p = sinf(p);
+ float cos_p = cosf(p);
+
+ //float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
+ //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
+
+ 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;
+ ic = -ia - ib;
+
+ /*
+ a,b stall
+ a,c low torque
+ b,a lots of amps
+ b,c extra amps
+
+ */
+ float u = ib;//ib;
+ float v = ic;//ic;
+
+ alpha = u;
+ beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
+
+ d = alpha * cos_p - beta * sin_p;
+ q = -alpha * sin_p - beta * cos_p;
+
+ d_filtered = 0.0f * d_filtered + 1.0f * d;
+ q_filtered = 0.0f * q_filtered + 1.0f * q;
+
+ float d_err = d_ref - d_filtered;
+ float q_err = q_ref - q_filtered;
+
+ d_integral += d_err * KI;
+ q_integral += q_err * KI;
+
+ if (q_integral > INTEGRAL_MAX) q_integral = INTEGRAL_MAX;
+ if (d_integral > INTEGRAL_MAX) d_integral = INTEGRAL_MAX;
+ if (q_integral < -INTEGRAL_MAX) q_integral = -INTEGRAL_MAX;
+ if (d_integral < -INTEGRAL_MAX) d_integral = -INTEGRAL_MAX;
+
+ vd = KP * d_err + d_integral;
+ vq = KP * q_err + q_integral;
+
+ if (vd < -1.0f) vd = -1.0f;
+ if (vd > 1.0f) vd = 1.0f;
+ if (vq < -1.0f) vq = -1.0f;
+ if (vq > 1.0f) vq = 1.0f;
+
+ //vd = 0.0f;
+ //vq = 1.0f;
+
+ //DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048);
+ //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048);
+
+ float valpha = vd * cos_p - vq * sin_p;
+ float vbeta = vd * sin_p + vq * cos_p;
+
+ float va = valpha;
+ float vb = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
+ float vc = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
+
+ set_dtc(a, 0.5f + 0.5f * va);
+ set_dtc(b, 0.5f + 0.5f * vb);
+ set_dtc(c, 0.5f + 0.5f * vc);
+}
+
+int main() {
+ config_globals();
+ startup_msg();
+
+ for (;;) {
+ /*
+ toggle = state;
+ state = !state;
+ //pc.printf("01234567890123456789");
+ pc.putc(clip_var(p, 30.0f, 0.0f));
+ pc.putc(clip_var(ia, 10.0f, 128.0f));
+ pc.putc(clip_var(ib, 10.0f, 128.0f));
+ pc.putc(clip_var(d, 10.0f, 128.0f));
+ pc.putc(clip_var(q, 10.0f, 128.0f));
+ pc.putc(clip_var(alpha, 10.0f, 128.0f));
+ pc.putc(clip_var(beta, 10.0f, 128.0f));
+ pc.putc(clip_var(0.0f, 100.0f, 128.0f));
+ pc.putc(clip_var(0.0f, 100.0f, 128.0f));
+ pc.putc(0xff);
+ */
+ //pc.printf("%f\n\r", p);
+ //wait_ms(100);
+ /*
+ q_ref = 0.0f;
+ wait(3);
+ toggle = state;
+ state = !state;
+ q_ref = -50.0f;
+ wait(3);
+ toggle = state;
+ state = !state;
+ */
+ }
+}
+
void zero_current(){
for (int i = 0; i < 1000; i++){
ia_supp_offset += (float) (ADC1->DR);
@@ -80,7 +188,7 @@
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 = 0x2328; //15 Khz
TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
TIM1->CR1 |= TIM_CR1_CEN;
@@ -131,6 +239,8 @@
void startup_msg() {
pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
pc.printf("%s\n\r", "====Config Data====");
+ pc.printf("Number of pole pairs: %d\n\r", (int) POLE_PAIRS);
+ pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
@@ -141,80 +251,9 @@
pc.printf("\n\r");
}
-void commutate() {
- p = pos.GetElecPosition() - POS_OFFSET;
- if (p < 0) p += 2 * PI;
-
- float sin_p = sinf(p);
- float cos_p = cosf(p);
-
- //float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
- //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
-
- 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;
- ic = -ia - ib;
-
- float u = ib;
- float v = ic;
-
- alpha = u;
- beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
-
- d = alpha * cos_p - beta * sin_p;
- q = -alpha * sin_p - beta * cos_p;
-
- float d_err = d_ref - d;
- float q_err = q_ref - q;
-
- d_integral += d_err * KI;
- q_integral += q_err * KI;
-
- if (q_integral > INTEGRAL_MAX) q_integral = INTEGRAL_MAX;
- if (d_integral > INTEGRAL_MAX) d_integral = INTEGRAL_MAX;
- if (q_integral < -INTEGRAL_MAX) q_integral = -INTEGRAL_MAX;
- if (d_integral < -INTEGRAL_MAX) d_integral = -INTEGRAL_MAX;
-
- vd = KP * d_err + d_integral;
- vq = KP * q_err + q_integral;
-
- if (vd < -1.0f) vd = -1.0f;
- if (vd > 1.0f) vd = 1.0f;
- 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) (-vd * 2000 + 2048);
-
- //vd = 0.0f;
- //vq = -1.0f;
-
- float valpha = vd * cos_p - vq * sin_p;
- float vbeta = vd * sin_p + vq * cos_p;
-
- float va = valpha;
- float vb = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
- float vc = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
-
- set_dtc(a, 0.5f + 0.5f * va);
- set_dtc(b, 0.5f + 0.5f * vb);
- set_dtc(c, 0.5f + 0.5f * vc);
-}
-
-int main() {
- config_globals();
- startup_msg();
-
- for (;;) {
- /*
- q_ref = 0.0f;
- wait(3);
- toggle = state;
- state = !state;
- q_ref = -50.0f;
- wait(3);
- toggle = state;
- state = !state;
- */
- }
-}
+unsigned char clip_var(float var, float scale, float offset) {
+ float x = var * scale + offset;
+ if (x < 0.0f) x = 0.0f;
+ if (x > 254.0f) x = 254.0f;
+ return (unsigned char) x;
+}
\ No newline at end of file