N K / Mbed 2 deprecated foc-ed_in_the_bot_compact

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Dependencies:   FastPWM3 mbed

Fork of foc-ed_in_the_bot_compact by Bayley Wang

Files at this revision

API Documentation at this revision

Revision 4:a6669248ce4d, committed 2016-03-18

Comitter:
bwang
Date:
Fri Mar 18 12:07:14 2016 +0000
Parent:
3:9b20da3f0055
Child:
5:efd3838b79a6
Child:
7:caebf421f288
Child:
9:074575151e4b
Commit message:
moved commutation to current sampling routine

Changed in this revision

main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/main.cpp	Fri Mar 18 10:52:45 2016 +0000
+++ b/main.cpp	Fri Mar 18 12:07:14 2016 +0000
@@ -25,17 +25,21 @@
 float last_d = 0.0f, last_q = 0.0f;
 float d_ref = -0.0f, q_ref = -50.0f;
 
-void main_loop();
+void commutate();
 void zero_current();
 void config_globals();
 void startup_msg();
 
 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
     if (TIM1->SR & TIM_SR_UIF ) {
+        toggle = 1;
+        ADC1->CR2  |= 0x40000000; 
+        volatile int delay;
+        for (delay = 0; delay < 35; delay++);
+        toggle = 0;
         adval1 = ADC1->DR;
         adval2 = ADC2->DR;
-        ADC1->CR2  |= 0x40000000; 
-        //while((ADC1->SR & ADC_SR_EOC) == 0 || (ADC2->SR & ADC_SR_EOC) == 0) {}
+        commutate();
     }
     TIM1->SR = 0x00;
 }
@@ -137,15 +141,15 @@
     pc.printf("\n\r");
 }    
 
-void main_loop() {
+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);
+    //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;
@@ -179,9 +183,12 @@
     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) (-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;
     
@@ -198,9 +205,6 @@
     config_globals();
     startup_msg();
     
-    Ticker loop;
-    loop.attach_us(main_loop, 200);
-    
     for (;;) {
         /*
         q_ref = 0.0f;