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Diff: isr.cpp
- Revision:
- 2:b5c19d4eddcc
- Parent:
- 1:70eed554399b
- Child:
- 3:86ccde39f61b
--- a/isr.cpp Sat Feb 21 21:39:33 2015 +0000 +++ b/isr.cpp Mon Feb 23 19:42:50 2015 +0000 @@ -2,8 +2,10 @@ #include "mbed.h" #include "shared.h" #include "constants.h" +#include "util.h" void dtc_update() { +#ifndef __SVM float ia = motor->angle - motor->sensor_phase; if (ia < 0) ia += 360.0f; if (ia >= 360.0f) ia -= 360.0f; @@ -15,15 +17,60 @@ motor->dtc_a = sinetab[(int) (ia)] * motor->throttle; motor->dtc_b = sinetab[(int) (ib)] * motor->throttle; motor->dtc_c = sinetab[(int) (ic)] * motor->throttle; +#else + float ix = 120.0f - motor->angle; + if (ix < 0) ix += 360.0f; + if (ix >= 360.0f) ix -= 360.0f; + float dx = sinetab[(int) ix]; + float iy = motor->angle; + if (iy < 0) iy += 360.0f; + if (iy >= 360.0f) iy -= 360.0f; + float dy = sinetab[(int) iy]; + int sector = (int) (iy / 60.0f) + 1; + switch(sector) { + case 1: + motor->dtc_a = 1.0f - dx - dy; + motor->dtc_b = 1.0f + dx - dy; + motor->dtc_c = 1.0f + dx + dy; + break; + case 2: + motor->dtc_a = 1.0f - dx + dy; + motor->dtc_b = 1.0f - dx - dy; + motor->dtc_c = 1.0f + dx + dy; + break; + case 3: + motor->dtc_a = 1.0f + dx + dy; + motor->dtc_b = 1.0f - dx - dy; + motor->dtc_c = 1.0f + dx - dy; + break; + case 4: + motor->dtc_a = 1.0f + dx + dy; + motor->dtc_b = 1.0f - dx + dy; + motor->dtc_c = 1.0f - dx + dy; //suspect + break; + case 5: + motor->dtc_a = 1.0f + dx - dy; + motor->dtc_b = 1.0f + dx + dy; + motor->dtc_c = 1.0f - dx - dy; + break; + case 6: + motor->dtc_a = 1.0f - dx - dy; + motor->dtc_b = 1.0f + dx + dy; + motor->dtc_c = 1.0f - dx + dy; + break; + default: + break; + } +#endif if (motor->halt) { - pha = 0.0f; - phb = 1.0f; - phc = 0.0f; + setDtcA(0); + setDtcB(1.0f); + setDtcC(0); } else { - pha = DB_COEFF * motor->dtc_a + DB_OFFSET; - phb = DB_COEFF * (1.0f - motor->dtc_b) + DB_OFFSET; - phc = DB_COEFF * motor->dtc_c + DB_OFFSET; + setDtcA(DB_COEFF * motor->dtc_a + DB_OFFSET); + setDtcB(DB_COEFF * (1.0f - motor->dtc_b) + DB_OFFSET); + setDtcC(DB_COEFF * motor->dtc_c + DB_OFFSET); } } @@ -48,7 +95,7 @@ } if(motor->angle > 360.0f) motor->angle = 360.0f; - if(motor->angle < 0) motor->angle=0; + if(motor->angle < 0) motor->angle = 0; } void throttle_update() {