meta.h

00001 #ifndef __META_H
00002 #define __META_H
00003 
00004 #include "includes.h"
00005 #include "core.h"
00006 #include "sensors.h"
00007 
00008 class Modulator {
00009 public:
00010     Modulator(Inverter *inverter) {_inverter = inverter;}
00011     virtual void Update(float va, float vb) = 0;
00012 protected:
00013     Inverter* _inverter;
00014 };
00015 
00016 class SinusoidalModulator: public Modulator {
00017 public:
00018     SinusoidalModulator(Inverter *inverter):Modulator(inverter) {}
00019     virtual void Update(float va, float vb);
00020 };
00021 
00022 class PidController {
00023 public:
00024     PidController(float ki, float kp, float kd, float out_max, float out_min);
00025     float Update(float ref, float in);
00026 private:
00027     float _ki, _kp, _kd;
00028     float _last_in, _integral;
00029     float _out_max, _out_min;
00030 }; 
00031 
00032 class ReferenceSynthesizer {
00033 public:
00034     ReferenceSynthesizer(float max_phase_current) {_max_phase_current = max_phase_current;}
00035     virtual void GetReference(float angle, float *ref_d, float *ref_q) {*ref_d = 0; *ref_q = 0;}
00036 protected:
00037     static float LutSin(float theta);
00038     static float LutCos(float theta);
00039 protected:
00040     float _max_phase_current;
00041 };
00042 
00043 class SynchronousReferenceSynthesizer : public ReferenceSynthesizer {
00044 public:
00045     SynchronousReferenceSynthesizer(float max_phase_current):ReferenceSynthesizer(max_phase_current) {}
00046     virtual void GetReference(float angle, float *ref_d, float *ref_q);
00047 };
00048 
00049 class StatusUpdater {
00050 public:
00051     StatusUpdater(Inverter *inverter, Motor *motor, User *user);
00052     void Config(int fast_sample_rate, int slow_sample_rate);
00053     void Start();
00054 private:
00055     static void time_upd_isr();
00056     static float LutSin(float theta);
00057     static float LutCos(float theta);
00058 private:
00059     Inverter *_inverter;
00060     Motor *_motor;
00061     User *_user;
00062     int _fast_sample_rate;
00063     int _slow_sample_rate;
00064     
00065     static unsigned long _time;
00066     Ticker _time_ticker;
00067 };
00068 
00069 class LoopDriver {
00070 public:
00071     LoopDriver(Inverter *inverter, Motor *motor, User *user, PidController *pid_d, PidController *pid_q,  
00072                Modulator *modulator, float max_phase_current, int update_frequency);
00073     void Start();
00074 private:
00075     static void Clarke(float a, float b, float *alpha, float *beta);
00076     static void Parke(float alpha, float beta, float theta, float *d, float *q);
00077     static void InverseParke(float d, float q, float theta, float *alpha, float *beta);
00078 private:
00079     static void update();
00080 private:
00081     static float LutSin(float theta);
00082     static float LutCos(float theta);
00083 private:
00084     static Inverter *_inverter;
00085     static Motor *_motor;
00086     static User *_user;
00087     static PidController *_pid_d, *_pid_q;
00088     static ReferenceSynthesizer *_reference;
00089     static Modulator *_modulator;
00090     
00091     Ticker _upd_ticker;
00092     float _max_phase_current;
00093     int _update_frequency;
00094     static int _blinky_toggle;
00095 };
00096 
00097 #endif
00098