Diff: context.cpp

Revision:

11:dccbaa9274c5

Child:

13:79e247e54d78

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/context.cpp	Sun Mar 08 08:37:38 2015 +0000
@@ -0,0 +1,101 @@
+#include "includes.h"
+#include "core.h"
+#include "meta.h"
+#include "sensors.h"
+#include "filters.h"
+#include "context.h"
+
+Context::Context() {
+    _index = 0;
+    _time_upd_ticker = new Ticker();
+    _time_upd_ticker->attach_us(this, &Context::upd_function, 50);
+}
+
+void Context::ConfigureOutputs(PinName oa, PinName ob, PinName oc, PinName en) {
+    _oa = oa;
+    _ob = ob;
+    _oc = oc;
+    _en = en;
+}
+
+void Context::ConfigureCurrentSensors(PinName ib_pin, PinName ic_pin, float scale, float filter_strength) {
+    _ib_pin = ib_pin;
+    _ic_pin = ic_pin;
+    _scale = scale;
+    _filter_strength = filter_strength;
+}
+
+void Context::ConfigurePidControllers(float ki, float kp, float kd, float pidmax, float pidmin) {
+    _ki = ki;
+    _kp = kp;
+    _kd = kd;
+    _pidmax = pidmax;
+    _pidmin = pidmin;
+}
+
+void Context::ConfigureThrottle(PinName throttle_pin, float min, float max) {
+    _throttle_pin = throttle_pin;
+    _min = min;
+    _max = max;
+}
+
+void Context::ConfigurePositionSensor(PinName pos_a_pin, PinName pos_b_pin, float cal1_a, float cal2_a, float cal1_b, float cal2_b, float offset) {
+    _pos_a_pin = pos_a_pin;
+    _pos_b_pin = pos_b_pin;
+    _cal1_a = cal1_a;
+    _cal2_a = cal2_b;
+    _cal1_b = cal1_b;
+    _cal2_b = cal2_b;
+    _offset = offset;
+}
+
+void Context::ConfigureReference(float max_current) {
+    _max_current = max_current;
+}
+
+void Context::AttachCallBack(void (*f)(Context *), int freq) {
+    _call_times[_index] = 0;
+    _call_periods[_index] = 1000000 / freq;
+    _callbacks[_index++] = f;
+}
+
+void Context::Start() {
+    InitData();
+    
+    for (;;) {
+        for (int i = 0; i < _index; i++) {
+            if (_time - _call_times[i] >= _call_periods[i]) {
+                (*_callbacks[i])(this);
+                _call_times[i] = _time;
+            }
+        }
+    }
+}
+
+void Context::InitData() {
+    sense_p = new AnalogHallPositionSensor(_pos_a_pin, _pos_b_pin, _cal1_a, _cal1_b, _cal2_a, _cal2_b, _offset);
+    sense_ib = new AnalogCurrentSensor(_ib_pin, _scale);
+    sense_ic = new AnalogCurrentSensor(_ic_pin, _scale);
+    throttle = new Throttle(_throttle_pin, _min, _max);
+    sense_bus = new VoltageSensor();
+    sense_t_motor = new TempSensor();
+    sense_t_inverter = new TempSensor();
+    
+    pid_d = new PidController(_ki, _kd, _kp, _pidmax, _pidmin);
+    pid_q = new PidController(_ki, _kd, _kp, _pidmax, _pidmin);
+    
+    motor = new Motor(sense_ic, sense_ib, sense_p, sense_t_motor);
+    inverter = new Inverter(_oa, _ob, _oc, _en, sense_bus, sense_t_inverter);
+    user = new User(throttle);
+    modulator = new SinusoidalModulator(inverter);
+    reference = new SynchronousReferenceSynthesizer(_max_current);
+    filter_d = new MeanFilter(_filter_strength);
+    filter_q = new MeanFilter(_filter_strength);
+    
+    serial = new Serial(USBTX, USBRX);
+    serial->baud(115200);
+}
+
+void Context::upd_function() {
+    _time += 50;
+}
\ No newline at end of file