Bayley Wang / Mbed 2 deprecated priustroller

Prius IPM controller

Dependencies:   mbed

Fork of analoghalls5_5 by N K

callbacks.cpp@13:79e247e54d78, 2015-03-09 (annotated)

Committer:
bwang
Date:
Mon Mar 09 01:40:43 2015 +0000
Revision:
13:79e247e54d78
Parent:
12:c35ad58f6620
Child:
15:c10d0aa3c0e1
fixed a bug in position sensor initialization + hack in modulators.cpp to make motor turn, 2.19A@20V

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 11:dccbaa9274c5 1 #include "includes.h"
bwang 11:dccbaa9274c5 2 #include "transforms.h"
bwang 11:dccbaa9274c5 3 #include "filters.h"
bwang 11:dccbaa9274c5 4 #include "context.h"
bwang 11:dccbaa9274c5 5 #include "core.h"
bwang 11:dccbaa9274c5 6 #include "meta.h"
bwang 11:dccbaa9274c5 7 #include "sensors.h"
bwang 11:dccbaa9274c5 8
bwang 12:c35ad58f6620 9 #define dbg_d_filtered debug_registers[0]
bwang 12:c35ad58f6620 10 #define dbg_q_filtered debug_registers[1]
bwang 13:79e247e54d78 11 #define dbg_angle debug_registers[3]
bwang 12:c35ad58f6620 12
bwang 11:dccbaa9274c5 13 void fast(Context *c) {
bwang 11:dccbaa9274c5 14 float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
bwang 11:dccbaa9274c5 15 float I_b, I_c, angle;
bwang 11:dccbaa9274c5 16 I_b = c->motor->GetCurrentB();
bwang 11:dccbaa9274c5 17 I_c = c->motor->GetCurrentC();
bwang 11:dccbaa9274c5 18 angle = c->motor->GetPosition();
bwang 13:79e247e54d78 19 c->dbg_angle = angle;
bwang 11:dccbaa9274c5 20
bwang 12:c35ad58f6620 21 Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform
bwang 11:dccbaa9274c5 22 Parke(alpha, beta, angle, &d, &q);
bwang 11:dccbaa9274c5 23
bwang 11:dccbaa9274c5 24 float d_filtered = c->filter_d->Update(d);
bwang 12:c35ad58f6620 25 float q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal
bwang 12:c35ad58f6620 26
bwang 12:c35ad58f6620 27 c->dbg_d_filtered = d_filtered;
bwang 12:c35ad58f6620 28 c->dbg_q_filtered = q_filtered;
bwang 11:dccbaa9274c5 29
bwang 11:dccbaa9274c5 30 c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
bwang 11:dccbaa9274c5 31
bwang 11:dccbaa9274c5 32 float vd = c->pid_d->Update(ref_d, d_filtered);
bwang 11:dccbaa9274c5 33 float vq = c->pid_q->Update(ref_q, q_filtered);
bwang 11:dccbaa9274c5 34
bwang 11:dccbaa9274c5 35 vd = 0.0f;
bwang 11:dccbaa9274c5 36 vq = c->user->throttle;
bwang 11:dccbaa9274c5 37
bwang 11:dccbaa9274c5 38 InverseParke(vd, vq, angle, &valpha, &vbeta);
bwang 11:dccbaa9274c5 39
bwang 11:dccbaa9274c5 40 c->modulator->Update(valpha, vbeta);
bwang 11:dccbaa9274c5 41 }
bwang 11:dccbaa9274c5 42
bwang 11:dccbaa9274c5 43 void slow(Context *c) {
bwang 11:dccbaa9274c5 44 c->user->UpdateThrottle();
bwang 11:dccbaa9274c5 45 }
bwang 11:dccbaa9274c5 46
bwang 11:dccbaa9274c5 47 void debug(Context *c) {
bwang 13:79e247e54d78 48 //c->serial->printf("%f \n\r", c->dbg_angle);
bwang 11:dccbaa9274c5 49 }