Bayley Wang / Mbed 2 deprecated priustroller

Prius IPM controller

Dependencies:   mbed

Fork of analoghalls5_5 by N K

callbacks.cpp@27:846c08fb3697, 2015-03-14 (annotated)

Committer:
nki
Date:
Sat Mar 14 18:51:36 2015 +0000
Revision:
27:846c08fb3697
Parent:
25:0003b824dd7d
Child:
29:cb03760ba9ea
NONWORKING: debugging native ADC reading

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 24:f1ff9c7256b5 8 #include "debug.h"
bwang 11:dccbaa9274c5 9
bwang 11:dccbaa9274c5 10 void fast(Context *c) {
bwang 11:dccbaa9274c5 11 float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
nki 21:da41c08e51bc 12 float I_b, I_c, angle, d_filtered, q_filtered, vd, vq;
bwang 24:f1ff9c7256b5 13 dbg_ib = I_b = c->motor->GetCurrentB();
bwang 24:f1ff9c7256b5 14 dbg_ic = I_c = c->motor->GetCurrentC();
bwang 24:f1ff9c7256b5 15 dbg_angle = angle = c->motor->GetPosition();
bwang 24:f1ff9c7256b5 16
bwang 24:f1ff9c7256b5 17 Clarke(-(I_b + I_c), I_b, &alpha, &beta);
bwang 11:dccbaa9274c5 18 Parke(alpha, beta, angle, &d, &q);
bwang 11:dccbaa9274c5 19
nki 27:846c08fb3697 20 dbg_ialpha = alpha;
nki 27:846c08fb3697 21 dbg_ibeta = beta;
nki 27:846c08fb3697 22
nki 27:846c08fb3697 23 d_filtered = c->filter_d->Update(d);
nki 27:846c08fb3697 24 q_filtered = c->filter_q->Update(q);
nki 27:846c08fb3697 25
nki 27:846c08fb3697 26 /*
nki 27:846c08fb3697 27
nki 27:846c08fb3697 28 //these envelope d and q about 0. the envelope looks like this:
nki 27:846c08fb3697 29 // X= -1 0 1
nki 27:846c08fb3697 30 // ____| | |____
nki 27:846c08fb3697 31 // \___/
nki 27:846c08fb3697 32 if(d_filtered < 1.0f & d_filtered > -1.0f) d_filtered = 0.0f;
nki 27:846c08fb3697 33 if(d_filtered < 2.0f & d_filtered >= 1.0f) d_filtered = (d_filtered-1.0f)*d_filtered;
nki 27:846c08fb3697 34 if(d_filtered > -2.0f & d_filtered <= -1.0f) d_filtered = (-d_filtered-1.0f)*d_filtered;
nki 27:846c08fb3697 35
nki 27:846c08fb3697 36 if(q_filtered < 1.0f & q_filtered > -1.0f) q_filtered = 0.0f;
nki 27:846c08fb3697 37 if(q_filtered < 2.0f & q_filtered >= 1.0f) q_filtered = (q_filtered-1.0f)*q_filtered;
nki 27:846c08fb3697 38 if(q_filtered > -2.0f & q_filtered <= -1.0f) q_filtered = (-q_filtered-1.0f)*q_filtered;
nki 27:846c08fb3697 39 */
nki 27:846c08fb3697 40
nki 27:846c08fb3697 41 dbg_d_filtered = d_filtered;
nki 27:846c08fb3697 42 dbg_q_filtered = q_filtered;
nki 27:846c08fb3697 43
bwang 11:dccbaa9274c5 44
nki 27:846c08fb3697 45 c->reference->GetReference(angle, -c->user->throttle, &ref_d, &ref_q);
bwang 24:f1ff9c7256b5 46
bwang 24:f1ff9c7256b5 47 dbg_ref_d = ref_d;
bwang 24:f1ff9c7256b5 48 dbg_ref_q = ref_q;
bwang 24:f1ff9c7256b5 49 dbg_loop_d = vd = c->pid_d->Update(ref_d, d_filtered);
bwang 24:f1ff9c7256b5 50 dbg_loop_q = vq = c->pid_q->Update(ref_q, q_filtered);
bwang 11:dccbaa9274c5 51
nki 25:0003b824dd7d 52 /*
bwang 11:dccbaa9274c5 53 vd = 0.0f;
bwang 11:dccbaa9274c5 54 vq = c->user->throttle;
nki 25:0003b824dd7d 55 */
nki 27:846c08fb3697 56
nki 25:0003b824dd7d 57 vd = 0.05f;
nki 25:0003b824dd7d 58 vq = 0.95f;
nki 27:846c08fb3697 59
nki 27:846c08fb3697 60
bwang 11:dccbaa9274c5 61 InverseParke(vd, vq, angle, &valpha, &vbeta);
bwang 11:dccbaa9274c5 62
bwang 11:dccbaa9274c5 63 c->modulator->Update(valpha, vbeta);
bwang 11:dccbaa9274c5 64 }
bwang 11:dccbaa9274c5 65
bwang 11:dccbaa9274c5 66 void slow(Context *c) {
bwang 11:dccbaa9274c5 67 c->user->UpdateThrottle();
bwang 11:dccbaa9274c5 68 }
bwang 11:dccbaa9274c5 69
bwang 11:dccbaa9274c5 70 void debug(Context *c) {
nki 27:846c08fb3697 71 //c->serial->printf("%f %f %f %f %f %f\n\r", dbg_d_filtered, dbg_q_filtered, dbg_ref_d, dbg_ref_q, dbg_loop_d, dbg_loop_q);
nki 27:846c08fb3697 72 //c->serial->printf("%f %f %f\n\r", dbg_angle, dbg_d_filtered, dbg_q_filtered);
nki 27:846c08fb3697 73 int temp = TIM2->SR & 1; //this checks to see if the UIF (update interrupt flag) is set high. (page 287)
nki 27:846c08fb3697 74 //c->serial->printf("%d %d %d %d %d\n\r", A0, A1, A2, PA_1, PA_4);
nki 27:846c08fb3697 75 c->serial->printf("%d %d\n\r", current1, current2);
bwang 24:f1ff9c7256b5 76 }
bwang 24:f1ff9c7256b5 77
bwang 24:f1ff9c7256b5 78 void log(Context *c) {
bwang 24:f1ff9c7256b5 79 //c->debugger->Write(0, dbg_ib);
bwang 24:f1ff9c7256b5 80 //c->debugger->Write(1, dbg_ic);
bwang 11:dccbaa9274c5 81 }