paul cox / Mbed 2 deprecated Nucleo_pmsmfoc

An example of importing Embedded Coder code into the mbed IDE. Currently doesn't connect IO to PWM, ADC, and Encoder, instead provides random inputs and measures execution time.

Dependencies:   mbed-dsp mbed Nucleo_pmsmfoc

Dependents:   Nucleo_pmsmfoc

main.cpp@0:70d27fec6d71, 2014-10-11 (annotated)

Committer:
paulcox
Date:
Sat Oct 11 08:39:22 2014 +0000
Revision:
0:70d27fec6d71
Child:
1:83374f658183
functioning pmsm algorithm with simulated currents and profiling

Who changed what in which revision?

UserRevisionLine numberNew contents of line
paulcox 0:70d27fec6d71 1 #include "mbed.h"
paulcox 0:70d27fec6d71 2 #include "rtwdemo_pmsmfoc.h" /* Model's header file */
paulcox 0:70d27fec6d71 3 #include "rtwtypes.h"
paulcox 0:70d27fec6d71 4
paulcox 0:70d27fec6d71 5 Timer timer1;
paulcox 0:70d27fec6d71 6
paulcox 0:70d27fec6d71 7 /* '<Root>/pwm_compare' */
paulcox 0:70d27fec6d71 8 static uint16_T pwm_compare[3];
paulcox 0:70d27fec6d71 9
paulcox 0:70d27fec6d71 10 /* '<Root>/sensors' */
paulcox 0:70d27fec6d71 11 static SENSORS_STRUCT sensors = {
paulcox 0:70d27fec6d71 12 {
paulcox 0:70d27fec6d71 13 0U, 0U }
paulcox 0:70d27fec6d71 14 , /* adc_phase_currents */
paulcox 0:70d27fec6d71 15 0U, /* encoder_valid */
paulcox 0:70d27fec6d71 16 0U /* encoder_counter */
paulcox 0:70d27fec6d71 17 } ;
paulcox 0:70d27fec6d71 18
paulcox 0:70d27fec6d71 19
paulcox 0:70d27fec6d71 20 void rt_OneStep(void);
paulcox 0:70d27fec6d71 21 void rt_OneStep(void)
paulcox 0:70d27fec6d71 22 {
paulcox 0:70d27fec6d71 23 static boolean_T OverrunFlag = false;
paulcox 0:70d27fec6d71 24
paulcox 0:70d27fec6d71 25 /* '<Root>/motor_on' */
paulcox 0:70d27fec6d71 26 static uint16_T motor_on = 1U;
paulcox 0:70d27fec6d71 27
paulcox 0:70d27fec6d71 28 /* '<Root>/command_type' */
paulcox 0:70d27fec6d71 29 static EnumCommandType command_type = Velocity;
paulcox 0:70d27fec6d71 30
paulcox 0:70d27fec6d71 31 /* '<Root>/command_value' */
paulcox 0:70d27fec6d71 32 static real32_T current_request = 0.0F;
paulcox 0:70d27fec6d71 33
paulcox 0:70d27fec6d71 34 /* '<Root>/error' */
paulcox 0:70d27fec6d71 35 static EnumErrorType error;
paulcox 0:70d27fec6d71 36
paulcox 0:70d27fec6d71 37 /* Disable interrupts here */
paulcox 0:70d27fec6d71 38
paulcox 0:70d27fec6d71 39 /* Check for overrun */
paulcox 0:70d27fec6d71 40 if (OverrunFlag) {
paulcox 0:70d27fec6d71 41 printf("------------------OVERRUN!!\r\n");
paulcox 0:70d27fec6d71 42 return;
paulcox 0:70d27fec6d71 43 }
paulcox 0:70d27fec6d71 44
paulcox 0:70d27fec6d71 45 OverrunFlag = true;
paulcox 0:70d27fec6d71 46
paulcox 0:70d27fec6d71 47 /* Save FPU context here (if necessary) */
paulcox 0:70d27fec6d71 48 /* Re-enable timer or interrupt here */
paulcox 0:70d27fec6d71 49 /* Set model inputs here */
paulcox 0:70d27fec6d71 50
paulcox 0:70d27fec6d71 51 timer1.start();
paulcox 0:70d27fec6d71 52
paulcox 0:70d27fec6d71 53 /* Step the model for base rate */
paulcox 0:70d27fec6d71 54 error = Controller(motor_on, command_type, current_request, &sensors,
paulcox 0:70d27fec6d71 55 pwm_compare);
paulcox 0:70d27fec6d71 56
paulcox 0:70d27fec6d71 57 timer1.stop();
paulcox 0:70d27fec6d71 58
paulcox 0:70d27fec6d71 59 printf("exec us: %d\r\n",timer1.read_us());
paulcox 0:70d27fec6d71 60 timer1.reset();
paulcox 0:70d27fec6d71 61
paulcox 0:70d27fec6d71 62 /* Get model outputs here */
paulcox 0:70d27fec6d71 63
paulcox 0:70d27fec6d71 64 /* Indicate task complete */
paulcox 0:70d27fec6d71 65 OverrunFlag = false;
paulcox 0:70d27fec6d71 66
paulcox 0:70d27fec6d71 67 /* Disable interrupts here */
paulcox 0:70d27fec6d71 68 /* Restore FPU context here (if necessary) */
paulcox 0:70d27fec6d71 69 /* Enable interrupts here */
paulcox 0:70d27fec6d71 70 }
paulcox 0:70d27fec6d71 71
paulcox 0:70d27fec6d71 72
paulcox 0:70d27fec6d71 73 Serial pc(SERIAL_TX, SERIAL_RX);
paulcox 0:70d27fec6d71 74
paulcox 0:70d27fec6d71 75 DigitalOut myled(LED1);
paulcox 0:70d27fec6d71 76
paulcox 0:70d27fec6d71 77 int main() {
paulcox 0:70d27fec6d71 78
paulcox 0:70d27fec6d71 79 /* Initialize model */
paulcox 0:70d27fec6d71 80 Controller_Init();
paulcox 0:70d27fec6d71 81 srand(time(NULL));
paulcox 0:70d27fec6d71 82 int i = 1;
paulcox 0:70d27fec6d71 83 pc.printf("PMSM Init done.\n");
paulcox 0:70d27fec6d71 84
paulcox 0:70d27fec6d71 85 while(1) {
paulcox 0:70d27fec6d71 86 wait(0.5);
paulcox 0:70d27fec6d71 87 sensors.adc_phase_currents[0] = rand()%MAX_uint16_T;
paulcox 0:70d27fec6d71 88 sensors.adc_phase_currents[1] = rand()%MAX_uint16_T;
paulcox 0:70d27fec6d71 89 printf("%d %d\r\n",sensors.adc_phase_currents[0],sensors.adc_phase_currents[1]);
paulcox 0:70d27fec6d71 90 sensors.encoder_valid = 1;
paulcox 0:70d27fec6d71 91 sensors.encoder_counter = i*10;
paulcox 0:70d27fec6d71 92
paulcox 0:70d27fec6d71 93 rt_OneStep();
paulcox 0:70d27fec6d71 94
paulcox 0:70d27fec6d71 95 pc.printf("%d: pwm0: %d\r\n", i++, pwm_compare[0]);
paulcox 0:70d27fec6d71 96 myled = !myled;
paulcox 0:70d27fec6d71 97 }
paulcox 0:70d27fec6d71 98 }
paulcox 0:70d27fec6d71 99