statusupdater.cpp

00001 #include "includes.h"
00002 #include "core.h"
00003 #include "sensors.h"
00004 #include "meta.h"
00005 #include "lut.h"
00006 
00007 unsigned long StatusUpdater::_time;
00008 
00009 StatusUpdater::StatusUpdater(Inverter *inverter, Motor *motor, User *user) {
00010     _inverter = inverter;
00011     _motor = motor;
00012     _user = user;
00013     _fast_sample_rate = 5000;
00014     _slow_sample_rate = 10;
00015     
00016     _time_ticker.attach_us(&time_upd_isr, 50);
00017 }
00018 
00019 void StatusUpdater::Config(int fast_sample_rate, int slow_sample_rate) {
00020     _fast_sample_rate = fast_sample_rate;
00021     _slow_sample_rate = slow_sample_rate;
00022 }
00023 
00024 void StatusUpdater::time_upd_isr() {
00025     _time+= 50;
00026 }
00027 
00028 float StatusUpdater::LutSin(float theta) {
00029     if (theta < 0.0f) theta += 360.0f;
00030     if (theta >= 360.0f) theta -= 360.0f;
00031     return sinetab[(int) theta];
00032 }
00033 
00034 float StatusUpdater::LutCos(float theta) {
00035     return LutSin(90.0f - theta);
00036 }
00037 
00038 void StatusUpdater::Start() {
00039     _time = 0;
00040     int fast_us = 1000000 / _fast_sample_rate;
00041     int slow_us = 1000000 / _slow_sample_rate;
00042     
00043     int last_fast = 0;
00044     int last_slow = 0;
00045     
00046     for(;;) {
00047         if (_time - last_fast > fast_us) {
00048             
00049             _motor->UpdateState();
00050             _inverter->UpdateVbus();
00051             last_fast = _time;
00052             
00053             pc->printf("%f %f %f %f %f\n\r", _motor->angle, _motor->I_c, _motor->I_b, test_alpha, test_beta);
00054             //pc->printf("%f %f %f %f\n\r", _motor->angle);
00055                                     
00056         }
00057         
00058         if (_time - last_slow > slow_us) {
00059             
00060             _user->UpdateState();
00061             _motor->UpdateTemp();
00062             _inverter->UpdateTemp();
00063             last_slow = _time;
00064                                   
00065             //pc->printf("%f %f\n\r", _inverter->va, _inverter->vb);
00066         }
00067     }
00068 }