Revision 1:b8bceb4daed5, committed 2016-02-05

Comitter:

benkatz

Date:

Fri Feb 05 01:04:57 2016 +0000

Parent:

0:4e1c4df6aabd

Child:

2:8724412ad628

Commit message:

Added some comments, cleaned things up a bit

Changed in this revision

--- a/CurrentRegulator/CurrentRegulator.cpp	Fri Feb 05 00:52:53 2016 +0000
+++ b/CurrentRegulator/CurrentRegulator.cpp	Fri Feb 05 01:04:57 2016 +0000
@@ -24,7 +24,7 @@
     I_C = 0;
     I_Alpha = 0;
     I_Beta = 0;
-    count = 0;
+    //count = 0;
     _Kp = Kp;
     _Ki = Ki;
     Q_Integral = 0;
@@ -44,12 +44,12 @@
     _Inverter->GetCurrent(&I_A, &I_B, &I_C);
     Clarke(I_A, I_B, &I_Alpha, &I_Beta);
     Park(I_Alpha, I_Beta, theta_elec, &I_D, &I_Q);
-    count += 1;
-    if(count > 10000) {
-        count=0;
+    //count += 1;
+    //if(count > 10000) {
+    //    count=0;
     //    printf("I_A:  %f        I_C:  %f       I_C:  %f\n\r", I_A, I_B, I_C);
-    IQ_Ref = -IQ_Ref;
-        }
+    //IQ_Ref = -IQ_Ref;
+    //    }
 
     DAC->DHR12R1 = (int) (I_Q*490.648f) + 2048;
     //DAC->DHR12R1 = (int) (I_Alpha*4096.0f) + 2048;
@@ -79,8 +79,7 @@
     
 void CurrentRegulator::Commutate(){
     theta_elec = _PositionSensor->GetElecPosition();
-    SampleCurrent();
-    //Run control loop
-    Update();
-    SetVoltage();
+    SampleCurrent(); //Grab most recent current sample
+    Update();   //Run control loop
+    SetVoltage();   //Set inverter duty cycles
     }
\ No newline at end of file

--- a/FOC/FOC.cpp	Fri Feb 05 00:52:53 2016 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,2 +0,0 @@
-#include "FOC.h"
-

--- a/Inverter/Inverter.cpp	Fri Feb 05 00:52:53 2016 +0000
+++ b/Inverter/Inverter.cpp	Fri Feb 05 01:04:57 2016 +0000
@@ -8,8 +8,6 @@
 
     
     Enable = new DigitalOut(PinEnable);
-    //Current_B = new AnalogIn(BSense);
-    //Current_C = new AnalogIn(CSense);
     
     RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // enable the clock to GPIOA
     RCC->APB1ENR |= 0x00000001; // enable TIM2 clock
@@ -53,7 +51,7 @@
     // DAC set-up
      RCC->APB1ENR |= 0x20000000; // Enable clock for DAC
      DAC->CR |= 0x00000001; // DAC control reg, both channels ON
-     GPIOA->MODER |= 0x00000300; // PA04 as analog outputs   
+     GPIOA->MODER |= 0x00000300; // PA04 as analog output   
      
      EnableInverter();
      SetDTC(0.0f, 0.0f, 0.0f);
@@ -96,17 +94,13 @@
 
 void Inverter::SampleCurrent(void){
  //   Dbg->write(1);
-    GPIOC->ODR ^= (1 << 4);
+    GPIOC->ODR ^= (1 << 4); //Toggle pin for debugging
     I_B = _I_Scale*((float) (ADC1->DR) -  I_B_Offset);
     I_C = _I_Scale*((float) (ADC2->DR)-  I_C_Offset);
     I_A = -I_B - I_C;
     //DAC->DHR12R1 = ADC2->DR; 
     //DAC->DHR12R1 = TIM3->CNT>>2;//ADC2->DR; // pass ADC -> DAC, also clears EOC flag
     ADC1->CR2  |= 0x40000000; 
-
-    //I_B = Current_B->read()*_I_Scale;
-    //I_C = Current_C->read()*_I_Scale;
-    GPIOC->ODR ^= (1 << 4);
- //   Dbg->write(0);
+    GPIOC->ODR ^= (1 << 4); //toggle pin for debugging
     }
     

--- a/PositionSensor/PositionSensor.cpp	Fri Feb 05 00:52:53 2016 +0000
+++ b/PositionSensor/PositionSensor.cpp	Fri Feb 05 01:04:57 2016 +0000
@@ -25,7 +25,7 @@
  
     TIM3->CR1   = 0x0001;     // CEN(Counter ENable)='1'     < TIM control register 1
     TIM3->SMCR  = TIM_ENCODERMODE_TI12;     // SMS='011' (Encoder mode 3)  < TIM slave mode control register
-    TIM3->CCMR1 = 0xf1f1;     // CC1S='01' CC2S='01'         < TIM capture/compare mode register 1
+    TIM3->CCMR1 = 0xf1f1;     // CC1S='01' CC2S='01'         < TIM capture/compare mode register 1, maximum digital filtering
     TIM3->CCMR2 = 0x0000;     //                             < TIM capture/compare mode register 2
     TIM3->CCER  = 0x0011;     // CC1P CC2P                   < TIM capture/compare enable register
     TIM3->PSC   = 0x0000;     // Prescaler = (0+1)           < TIM prescaler
@@ -38,12 +38,10 @@
     ZPulse->enable_irq();
     ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
     ZPulse->mode(PullDown);
-    //TIM5->CCMR1 = 0xf1f1;     // CC1S='01' CC2S='01'         < TIM capture/compare mode register 1
 
     
-    ZTest = new DigitalOut(PC_2);
-    ZTest->write(1);
-    //int state = 0;
+    //ZTest = new DigitalOut(PC_2);
+    //ZTest->write(1);
     
     
 }
@@ -73,8 +71,8 @@
     if (ZSense->read() == 1){
         if (ZSense->read() == 1){
             TIM3->CNT=0x8000;
-            state = !state;
-            ZTest->write(state);
+            //state = !state;
+            //ZTest->write(state);
         }
         }
     }
\ No newline at end of file

--- a/PositionSensor/PositionSensor.h	Fri Feb 05 00:52:53 2016 +0000
+++ b/PositionSensor/PositionSensor.h	Fri Feb 05 01:04:57 2016 +0000
@@ -16,10 +16,10 @@
 private:
     InterruptIn *ZPulse;
     DigitalIn *ZSense;
-    DigitalOut *ZTest;
+    //DigitalOut *ZTest;
     virtual void ZeroEncoderCount(void);
     int _CPR;
-    int state;
+    //int state;
     float _offset;
 };
 

--- a/Transforms/Transforms.cpp	Fri Feb 05 00:52:53 2016 +0000
+++ b/Transforms/Transforms.cpp	Fri Feb 05 01:04:57 2016 +0000
@@ -7,8 +7,6 @@
 void Transforms::Park(float alpha, float beta, float theta, float *d, float *q){
     float cosine = cos(theta);
     float sine = sin(theta);
-    //float a = sine;
-    //float b = cosine;
     *d = alpha*cosine - beta*sine;
     *q = -beta*cosine - alpha*sine;
     //DAC->DHR12R1 = (int) (*q*49.648f) + 2048;

--- a/main.cpp	Fri Feb 05 00:52:53 2016 +0000
+++ b/main.cpp	Fri Feb 05 01:04:57 2016 +0000
@@ -8,29 +8,16 @@
 
 PositionSensorEncoder encoder(8192,0);
 Inverter inverter(PA_5, PB_10, PB_3, PB_7, 0.02014160156, 0.00005);
-
 CurrentRegulator foc(&inverter, &encoder, .005, .5);
 
 Ticker  testing;
-//SPWM spwm(&inverter, 2.0);
-
-//DigitalOut Dbg_pin(PA_15);
 
 using namespace FastMath;
 using namespace Transforms;
 
-float offset = 0;//-0.24;
-/*
-float v_alpha = 0;
-float v_beta = 0;
+//float offset = 0;//-0.24;
 
-float i_d = 0;
-float i_q = 1;
-float v_d = 0;
-float v_q = -.2;
-float f;
-float theta;
- */  
+// Current Sampling IRQ
 extern "C" void TIM2_IRQHandler(void) {
   // flash on update event
   if (TIM2->SR & TIM_SR_UIF & TIM2->CNT>0x465) {
@@ -39,14 +26,6 @@
   TIM2->SR = 0x0; // reset the status register
 }
 
-/*
-void PrintEncoder(void){
-    printf("%f\n\r", encoder.GetElecPosition());
-    //printf("%f\n\r", encoder.GetMechPosition());
-
-    //printf("%d\n\r", TIM3->CNT-0x8000);
-    }
-*/
     
 void Loop(void){
     foc.Commutate();
@@ -59,20 +38,12 @@
     //output.write(theta/6.28318530718f);
     }
  */
-/*
-void open_loop(void){
-    f = t.read();
-    v_alpha = 0.1f*sin(10.0f*f);
-    v_beta = 0.1f*cos(10.0f*f);
-    spwm.Update_DTC(v_alpha, v_beta);
-    }
-    */
+
        
 int main() {
     wait(1);
 
     testing.attach(&Loop, .0001);
-    
     //inverter.EnableInverter();
 
     while(1) {