Bayley Wang / Mbed 2 deprecated priustroller

Prius IPM controller

Dependencies:   mbed

Fork of analoghalls5_5 by N K

callbacks.cpp@21:da41c08e51bc, 2015-03-09 (annotated)

Committer:
nki
Date:
Mon Mar 09 05:07:49 2015 +0000
Revision:
21:da41c08e51bc
Parent:
16:fd6771a6685a
Child:
22:46d164aa4f1c
fixed an issue with the debug output

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 11:dccbaa9274c5 9 void fast(Context *c) {
bwang 11:dccbaa9274c5 10 float alpha, beta, d, q, ref_d, ref_q, valpha, vbeta;
nki 21:da41c08e51bc 11 float I_b, I_c, angle, d_filtered, q_filtered, vd, vq;
bwang 11:dccbaa9274c5 12 I_b = c->motor->GetCurrentB();
bwang 11:dccbaa9274c5 13 I_c = c->motor->GetCurrentC();
bwang 11:dccbaa9274c5 14 angle = c->motor->GetPosition();
bwang 16:fd6771a6685a 15 dbg_angle = angle;
nki 21:da41c08e51bc 16
bwang 12:c35ad58f6620 17 Clarke(-(I_b + I_c), I_b, &alpha, &beta); //--switched to standard clarke transform
bwang 11:dccbaa9274c5 18 Parke(alpha, beta, angle, &d, &q);
bwang 11:dccbaa9274c5 19
nki 21:da41c08e51bc 20 d_filtered = c->filter_d->Update(d);
nki 21:da41c08e51bc 21 q_filtered = c->filter_q->Update(q); //--was Update(d), not sure if my typo or orignal
bwang 11:dccbaa9274c5 22
bwang 11:dccbaa9274c5 23 c->reference->GetReference(angle, c->user->throttle, &ref_d, &ref_q);
nki 21:da41c08e51bc 24
nki 21:da41c08e51bc 25 vd = c->pid_d->Update(ref_d, d_filtered);
nki 21:da41c08e51bc 26 vq = c->pid_q->Update(ref_q, q_filtered);
bwang 11:dccbaa9274c5 27
bwang 11:dccbaa9274c5 28 vd = 0.0f;
bwang 11:dccbaa9274c5 29 vq = c->user->throttle;
bwang 11:dccbaa9274c5 30
bwang 11:dccbaa9274c5 31 InverseParke(vd, vq, angle, &valpha, &vbeta);
bwang 11:dccbaa9274c5 32
bwang 11:dccbaa9274c5 33 c->modulator->Update(valpha, vbeta);
bwang 11:dccbaa9274c5 34 }
bwang 11:dccbaa9274c5 35
bwang 11:dccbaa9274c5 36 void slow(Context *c) {
bwang 11:dccbaa9274c5 37 c->user->UpdateThrottle();
bwang 11:dccbaa9274c5 38 }
bwang 11:dccbaa9274c5 39
bwang 11:dccbaa9274c5 40 void debug(Context *c) {
nki 21:da41c08e51bc 41 c->serial->printf("%f %f %f %f\n\r", dbg_angle, dbg_dtcA, dbg_dtcB, dbg_dtcC);
bwang 11:dccbaa9274c5 42 }