Diff: main.cpp

Revision:

5:efd3838b79a6

Parent:

4:a6669248ce4d

Child:

6:561d8ab80424

--- a/main.cpp	Fri Mar 18 12:07:14 2016 +0000
+++ b/main.cpp	Sun Mar 27 03:40:52 2016 +0000
@@ -25,25 +25,133 @@
 float last_d = 0.0f, last_q = 0.0f;
 float d_ref = -0.0f, q_ref = -50.0f;
 
+float d_filtered = 0.0f, q_filtered = 0.0f;
+
 void commutate();
 void zero_current();
 void config_globals();
 void startup_msg();
+unsigned char clip_var(float var, float scale, float offset);
 
 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
     if (TIM1->SR & TIM_SR_UIF ) {
-        toggle = 1;
+        //toggle = 1;
         ADC1->CR2  |= 0x40000000; 
         volatile int delay;
         for (delay = 0; delay < 35; delay++);
-        toggle = 0;
         adval1 = ADC1->DR;
         adval2 = ADC2->DR;
+        //toggle = 0;
         commutate();
     }
     TIM1->SR = 0x00;
 }
 
+void commutate() {
+    p = pos.GetElecPosition() - POS_OFFSET;
+    if (p < 0) p += 2 * PI;
+    
+    float sin_p = sinf(p);
+    float cos_p = cosf(p);
+    
+    //float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
+    //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
+    
+    ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
+    ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
+    ic = -ia - ib;
+    
+    /*
+    a,b stall
+    a,c low torque
+    b,a lots of amps
+    b,c extra amps
+    
+    */
+    float u = ib;//ib;
+    float v = ic;//ic;
+    
+    alpha = u;
+    beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
+    
+    d = alpha * cos_p - beta * sin_p;
+    q = -alpha * sin_p - beta * cos_p;
+    
+    d_filtered = 0.0f * d_filtered + 1.0f * d;
+    q_filtered = 0.0f * q_filtered + 1.0f * q;
+
+    float d_err = d_ref - d_filtered;
+    float q_err = q_ref - q_filtered;
+    
+    d_integral += d_err * KI;
+    q_integral += q_err * KI;
+    
+    if (q_integral > INTEGRAL_MAX) q_integral = INTEGRAL_MAX;
+    if (d_integral > INTEGRAL_MAX) d_integral = INTEGRAL_MAX;
+    if (q_integral < -INTEGRAL_MAX) q_integral = -INTEGRAL_MAX;
+    if (d_integral < -INTEGRAL_MAX) d_integral = -INTEGRAL_MAX;
+    
+    vd = KP * d_err + d_integral;
+    vq = KP * q_err + q_integral;
+    
+    if (vd < -1.0f) vd = -1.0f;
+    if (vd > 1.0f) vd = 1.0f;
+    if (vq < -1.0f) vq = -1.0f;
+    if (vq > 1.0f) vq = 1.0f;
+    
+    //vd = 0.0f;
+    //vq = 1.0f;
+    
+    //DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048);
+    //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048);
+    
+    float valpha = vd * cos_p - vq * sin_p;
+    float vbeta = vd * sin_p + vq * cos_p;
+    
+    float va = valpha;
+    float vb = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
+    float vc = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
+    
+    set_dtc(a, 0.5f + 0.5f * va);
+    set_dtc(b, 0.5f + 0.5f * vb);
+    set_dtc(c, 0.5f + 0.5f * vc);
+}
+    
+int main() {
+    config_globals();
+    startup_msg();
+    
+    for (;;) {
+        /*
+        toggle = state;
+        state = !state;
+        //pc.printf("01234567890123456789");
+        pc.putc(clip_var(p, 30.0f, 0.0f));
+        pc.putc(clip_var(ia, 10.0f, 128.0f));
+        pc.putc(clip_var(ib, 10.0f, 128.0f));
+        pc.putc(clip_var(d, 10.0f, 128.0f));
+        pc.putc(clip_var(q, 10.0f, 128.0f));
+        pc.putc(clip_var(alpha, 10.0f, 128.0f));
+        pc.putc(clip_var(beta, 10.0f, 128.0f));
+        pc.putc(clip_var(0.0f, 100.0f, 128.0f));
+        pc.putc(clip_var(0.0f, 100.0f, 128.0f));
+        pc.putc(0xff);
+        */
+        //pc.printf("%f\n\r", p);
+        //wait_ms(100);
+        /*
+        q_ref = 0.0f;
+        wait(3);
+        toggle = state;
+        state = !state;
+        q_ref = -50.0f;
+        wait(3);
+        toggle = state;
+        state = !state;
+        */
+    }
+}
+
 void zero_current(){
     for (int i = 0; i < 1000; i++){
         ia_supp_offset += (float) (ADC1->DR);
@@ -80,7 +188,7 @@
     TIM1->EGR |= TIM_EGR_UG;
     
     TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
-    TIM1->ARR = 0x4650; //5 Khz
+    TIM1->ARR = 0x2328; //15 Khz
     TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
     TIM1->CR1 |= TIM_CR1_CEN;
     
@@ -131,6 +239,8 @@
 void startup_msg() {
     pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
     pc.printf("%s\n\r", "====Config Data====");
+    pc.printf("Number of pole pairs: %d\n\r", (int) POLE_PAIRS);
+    pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
     pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
     pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
     pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
@@ -141,80 +251,9 @@
     pc.printf("\n\r");
 }    
 
-void commutate() {
-    p = pos.GetElecPosition() - POS_OFFSET;
-    if (p < 0) p += 2 * PI;
-    
-    float sin_p = sinf(p);
-    float cos_p = cosf(p);
-    
-    //float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
-    //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
-    
-    ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
-    ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
-    ic = -ia - ib;
-    
-    float u = ib;
-    float v = ic;
-    
-    alpha = u;
-    beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
-    
-    d = alpha * cos_p - beta * sin_p;
-    q = -alpha * sin_p - beta * cos_p;
-    
-    float d_err = d_ref - d;
-    float q_err = q_ref - q;
-    
-    d_integral += d_err * KI;
-    q_integral += q_err * KI;
-    
-    if (q_integral > INTEGRAL_MAX) q_integral = INTEGRAL_MAX;
-    if (d_integral > INTEGRAL_MAX) d_integral = INTEGRAL_MAX;
-    if (q_integral < -INTEGRAL_MAX) q_integral = -INTEGRAL_MAX;
-    if (d_integral < -INTEGRAL_MAX) d_integral = -INTEGRAL_MAX;
-    
-    vd = KP * d_err + d_integral;
-    vq = KP * q_err + q_integral;
-    
-    if (vd < -1.0f) vd = -1.0f;
-    if (vd > 1.0f) vd = 1.0f;
-    if (vq < -1.0f) vq = -1.0f;
-    if (vq > 1.0f) vq = 1.0f;
-    
-    DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048);
-    //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048);
-    
-    //vd = 0.0f;
-    //vq = -1.0f;
-    
-    float valpha = vd * cos_p - vq * sin_p;
-    float vbeta = vd * sin_p + vq * cos_p;
-    
-    float va = valpha;
-    float vb = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
-    float vc = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
-    
-    set_dtc(a, 0.5f + 0.5f * va);
-    set_dtc(b, 0.5f + 0.5f * vb);
-    set_dtc(c, 0.5f + 0.5f * vc);
-}
-    
-int main() {
-    config_globals();
-    startup_msg();
-    
-    for (;;) {
-        /*
-        q_ref = 0.0f;
-        wait(3);
-        toggle = state;
-        state = !state;
-        q_ref = -50.0f;
-        wait(3);
-        toggle = state;
-        state = !state;
-        */
-    }
-}
+unsigned char clip_var(float var, float scale, float offset) {
+    float x = var * scale + offset;
+    if (x < 0.0f) x = 0.0f;
+    if (x > 254.0f) x = 254.0f;
+    return (unsigned char) x;
+}
\ No newline at end of file