isr.cpp

00001 #include "isr.h"
00002 #include "mbed.h"
00003 #include "shared.h"
00004 #include "constants.h"
00005 
00006 /*
00007 void commutate() {
00008     if(BROCK_COMMUTATE){
00009         motor->hall = (halla.read() << 2) + (hallb.read() << 1) + hallc.read();
00010         if (motor->hall != HNext[motor->last_hall] && motor->last_hall != 0) {
00011             motor->reverses++;
00012             if (motor->reverses < 2) return;
00013         }
00014         motor->reverses = 0;
00015         motor->last_hall = motor->hall;
00016         motor->last_time = motor->ticks;
00017         motor->major_pos = 60.0f * ATable[motor->hall];
00018         motor->ticks = 0.0f;
00019     }
00020     else{
00021         
00022     }
00023 }
00024 */
00025 
00026 
00027 
00028 void dtc_update() {
00029     
00030     float angle = motor->whangle;
00031     
00032       
00033     float ia = angle - motor->sensor_phase;
00034     if (ia < 0) ia += 360.0f;
00035     if (ia >= 360.0f) ia -= 360.0f;    
00036     float ib = ia - 120.0f;
00037     if (ib < 0) ib += 360.0f;
00038     float ic = ia + 120.0f;
00039     if (ic >= 360.0f) ic -= 360.0f;
00040       
00041     motor->dtc_a = sinetab[(int) (ia)] * motor->throttle;
00042     motor->dtc_b = sinetab[(int) (ib)] * motor->throttle;
00043     motor->dtc_c = sinetab[(int) (ic)] * motor->throttle;
00044     
00045     if (motor->halt) {
00046         pha = 0.0f;
00047         phb = 1.0f;
00048         phc = 0.0f;
00049     } else {
00050         pha = DB_COEFF * motor->dtc_a + DB_OFFSET;
00051         phb = DB_COEFF * (1.0f - motor->dtc_b) + DB_OFFSET;
00052         phc = DB_COEFF * motor->dtc_c + DB_OFFSET;
00053     }
00054 }