Revision 9:074575151e4b, committed 2016-05-17

Comitter:

bwang

Date:

Tue May 17 06:44:09 2016 +0000

Parent:

4:a6669248ce4d

Child:

10:6829abb438fc

Commit message:

prepping for altermotter operation

Changed in this revision

--- a/PositionSensor/PositionSensor.cpp	Fri Mar 18 12:07:14 2016 +0000
+++ b/PositionSensor/PositionSensor.cpp	Tue May 17 06:44:09 2016 +0000
@@ -1,6 +1,7 @@
 
 #include "mbed.h"
 #include "PositionSensor.h"
+#include "config.h"
 #include <math.h>
 
 /*
@@ -8,8 +9,8 @@
  * offset: mechanical position offset in radians
  */
     
-PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset) {
-    _CPR = CPR;
+PositionSensorEncoder::PositionSensorEncoder(int cpr, float offset) {
+    _cpr = cpr;
     _offset = offset;
     
     __GPIOA_CLK_ENABLE();
@@ -54,9 +55,9 @@
  
 float PositionSensorEncoder::GetMechPosition() {
     int raw = TIM2->CNT;
-    if (raw < 0) raw += _CPR;
-    if (raw >= _CPR) raw -= _CPR;
-    float signed_elec = fmod((1.0f * (6.28318530718f * (raw) / (float)_CPR + _offset)), 6.28318530718f);
+    if (raw < 0) raw += _cpr;
+    if (raw >= _cpr) raw -= _cpr;
+    float signed_elec = fmod(6.28318530718f * (raw) / (float)_cpr + _offset, 6.28318530718f);
     if (signed_elec < 0){
         return signed_elec + 6.28318530718f;
     }
@@ -71,9 +72,9 @@
  
 float PositionSensorEncoder::GetElecPosition() {
     int raw = TIM2->CNT;
-    if (raw < 0) raw += _CPR;
-    if (raw >= _CPR) raw -= _CPR;
-    float signed_elec = fmod((2.0f * (6.28318530718f * (raw) / (float)_CPR + _offset)), 6.28318530718f);
+    if (raw < 0) raw += _cpr;
+    if (raw >= _cpr) raw -= _cpr;
+    float signed_elec = fmod((POLE_PAIRS / RESOLVER_LOBES * (6.28318530718f * (raw) / (float)_cpr + _offset)), 6.28318530718f);
     if (signed_elec < 0) {
         return signed_elec + 6.28318530718f;
     } else {

--- a/PositionSensor/PositionSensor.h	Fri Mar 18 12:07:14 2016 +0000
+++ b/PositionSensor/PositionSensor.h	Tue May 17 06:44:09 2016 +0000
@@ -10,7 +10,7 @@
   
 class PositionSensorEncoder: public PositionSensor {
 public:
-    PositionSensorEncoder(int CPR, float offset);
+    PositionSensorEncoder(int cpr, float offset);
     virtual float GetMechPosition();
     virtual float GetElecPosition();
 private:
@@ -18,7 +18,7 @@
     DigitalIn *ZSense;
     DigitalOut *ZTest;
     void ZeroEncoderCount(void);
-    int _CPR;
+    int _cpr;
     int state;
     float _offset;
 };

--- a/config.h	Fri Mar 18 12:07:14 2016 +0000
+++ b/config.h	Tue May 17 06:44:09 2016 +0000
@@ -1,7 +1,10 @@
 #ifndef __CONFIG_H
 #define __CONFIG_H
 
-#define set_dtc(phase, value) *phase = 1.0f - (value)
+#define CPR 4096
+#define POS_OFFSET 5.3f
+#define POLE_PAIRS 3.0f
+#define RESOLVER_LOBES 3.0f
 
 #define PWMA PA_8
 #define PWMB PA_9
@@ -10,11 +13,6 @@
 
 #define IA PA_4
 #define IB PB_0
-#define TEST_DAC PA_5
-
-#define PI 3.141593f
-#define CPR 4096
-#define POS_OFFSET 5.3f
 
 #define I_SCALE_RAW 25.0f //mv/A
 #define R_UP 12000.0f //ohms
@@ -25,13 +23,16 @@
 #define I_OFFSET (AVDD * R_DOWN * R_UP / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
 #define I_SCALE (R_BIAS * R_DOWN * I_SCALE_RAW / (R_DOWN * R_UP + R_BIAS * (R_DOWN + R_UP)))
 
+#define BUS_VOLTAGE 20.0f
 #define K_LOOP 1.0f
 #define KI_BASE 0.01f
-#define BUS_VOLTAGE 20.0f
 
 #define KP (K_LOOP / BUS_VOLTAGE)
 #define KI (KI_BASE * K_LOOP / BUS_VOLTAGE)
 
 #define INTEGRAL_MAX 1.0f
 
+#define set_dtc(phase, value) *phase = (value)
+#define PI 3.141593f
+
 #endif
\ No newline at end of file

--- a/main.cpp	Fri Mar 18 12:07:14 2016 +0000
+++ b/main.cpp	Tue May 17 06:44:09 2016 +0000
@@ -134,6 +134,8 @@
     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);
+    pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS);
+    pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
     pc.printf("Loop KP: %f\n\r", KP);
     pc.printf("Loop KI: %f\n\r", KI);
     pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
@@ -206,15 +208,5 @@
     startup_msg();
     
     for (;;) {
-        /*
-        q_ref = 0.0f;
-        wait(3);
-        toggle = state;
-        state = !state;
-        q_ref = -50.0f;
-        wait(3);
-        toggle = state;
-        state = !state;
-        */
     }
 }