File content as of revision 4:fdadf4a3577a:

#include "includes.h"
#include "core.h"
#include "sensors.h"
#include "meta.h"
#include "lut.h"

Inverter* LoopDriver::_inverter;
Motor* LoopDriver::_motor;
User* LoopDriver::_user;
PidController* LoopDriver::_pid_d;
PidController* LoopDriver::_pid_q;
ReferenceSynthesizer* LoopDriver::_reference;
Modulator* LoopDriver::_modulator;
int LoopDriver::_blinky_toggle;

LoopDriver::LoopDriver(Inverter *inverter, Motor *motor, User *user, PidController *pid_d, 
                       PidController *pid_q, Modulator *modulator, float max_phase_current, int update_frequency) {
    _inverter = inverter;
    _motor = motor;
    _user = user;
    _pid_d = pid_d;
    _pid_q = pid_q;
    _reference = new SynchronousReferenceSynthesizer(max_phase_current);;
    _modulator = modulator;
    _max_phase_current = max_phase_current;
    _update_frequency = update_frequency;
}

void LoopDriver::Start() {
    _upd_ticker.attach_us(&update, 1000000 / _update_frequency);
}

void LoopDriver::Clarke(float a, float b, float *alpha, float *beta) {
    *alpha = a;
    *beta = 1.0f / sqrt(3.0f) * a + 2.0f / sqrt(3.0f) * b;
}

void LoopDriver::Parke(float alpha, float beta, float theta, float *d, float *q) {
    float cos = LutCos(theta);
    float sin = LutSin(theta);
    *d = alpha * cos + beta * sin;
    *q = -alpha * sin + beta * cos;
}

void LoopDriver::InverseParke(float d, float q, float theta, float *alpha, float *beta) {
    float cos = LutCos(theta);
    float sin = LutSin(theta);
    *alpha = cos * d - sin * q;
    *beta = sin * d + cos * q;                                     
}

float LoopDriver::LutSin(float theta) {
    if (theta < 0.0f) theta += 360.0f;
    if (theta >= 360.0f) theta -= 360.0f;
    return sinetab[(int) theta];
}

float LoopDriver::LutCos(float theta) {
    return LutSin(90.0f - theta);
}

void LoopDriver::update() {
    _blinky_toggle = !_blinky_toggle;
    
    _inverter->SetDtcA(LutSin(_motor->angle));
    _inverter->SetDtcB(LutSin(_motor->angle - 120.0f));
    _inverter->SetDtcC(LutSin(_motor->angle + 120.0f));
    
    float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
    Clarke(_motor->I_a, _motor->I_b, &alpha, &beta);
    Parke(alpha, beta, _motor->angle, &d, &q);
    _reference->GetReference(_motor->angle, &ref_d, &ref_q);
    float vd = _pid_d->Update(ref_d, d);
    float vq = _pid_q->Update(ref_q, q);
    InverseParke(vd, vq, _motor->angle, &valpha, &vbeta);
}