Diff: main.cpp

Revision:

0:70d27fec6d71

Child:

1:83374f658183

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Oct 11 08:39:22 2014 +0000
@@ -0,0 +1,99 @@
+#include "mbed.h"
+#include "rtwdemo_pmsmfoc.h"           /* Model's header file */
+#include "rtwtypes.h"
+
+Timer timer1;
+
+  /* '<Root>/pwm_compare' */
+  static uint16_T pwm_compare[3];
+
+  /* '<Root>/sensors' */
+  static SENSORS_STRUCT sensors = {
+    {
+      0U, 0U }
+    ,                                  /* adc_phase_currents */
+    0U,                                /* encoder_valid */
+    0U                                 /* encoder_counter */
+  } ;
+  
+  
+void rt_OneStep(void);
+void rt_OneStep(void)
+{
+  static boolean_T OverrunFlag = false;
+
+  /* '<Root>/motor_on' */
+  static uint16_T motor_on = 1U;
+
+  /* '<Root>/command_type' */
+  static EnumCommandType command_type = Velocity;
+
+  /* '<Root>/command_value' */
+  static real32_T current_request = 0.0F;
+
+  /* '<Root>/error' */
+  static EnumErrorType error;
+
+  /* Disable interrupts here */
+
+  /* Check for overrun */
+  if (OverrunFlag) {
+    printf("------------------OVERRUN!!\r\n");
+    return;
+  }
+
+  OverrunFlag = true;
+
+  /* Save FPU context here (if necessary) */
+  /* Re-enable timer or interrupt here */
+  /* Set model inputs here */
+
+  timer1.start();
+
+  /* Step the model for base rate */
+  error = Controller(motor_on, command_type, current_request, &sensors,
+                     pwm_compare);
+
+  timer1.stop();
+  
+  printf("exec us: %d\r\n",timer1.read_us());
+  timer1.reset();
+  
+  /* Get model outputs here */
+
+  /* Indicate task complete */
+  OverrunFlag = false;
+
+  /* Disable interrupts here */
+  /* Restore FPU context here (if necessary) */
+  /* Enable interrupts here */
+}
+
+
+Serial pc(SERIAL_TX, SERIAL_RX);
+ 
+DigitalOut myled(LED1);
+ 
+int main() {
+  
+    /* Initialize model */
+  Controller_Init();
+  srand(time(NULL));
+  int i = 1;
+  pc.printf("PMSM Init done.\n");
+  
+  while(1) { 
+      wait(0.5);
+      sensors.adc_phase_currents[0] = rand()%MAX_uint16_T;
+      sensors.adc_phase_currents[1] = rand()%MAX_uint16_T;
+      printf("%d %d\r\n",sensors.adc_phase_currents[0],sensors.adc_phase_currents[1]);
+      sensors.encoder_valid = 1;
+      sensors.encoder_counter = i*10;
+
+      rt_OneStep();
+      
+      pc.printf("%d: pwm0: %d\r\n", i++, pwm_compare[0]);
+      myled = !myled;
+  }
+}
+ 
\ No newline at end of file