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Rene Hopf
2015-09-09 19:26:27 +02:00
parent 72d03eda66
commit 0b97a3f9dc
3 changed files with 30 additions and 27 deletions
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src/comps/adc.comp
+22 -20
View File
@@ -1,5 +1,17 @@
COMP(adc);
#define AREF 3.3// analog reference voltage
#define ARES 4096.0// analog resolution, 12 bit
#define R15 1000.0
#define R22 3900.0
#define R21 180.0
#define R19 470.0
#define V_REF 5.0
#define INPUT_REF (V_REF * R21 / (R19 + R21))
#define INPUT_GAIN (R22 / R15 * R21 / (R19 + R21))
#define V_DIFF(ADC) ((ADC/ADC_ANZ/ARES*AREF-INPUT_REF)/INPUT_GAIN)
HAL_PIN(sin) = 0.0;
HAL_PIN(cos) = 0.0;
HAL_PIN(sin3) = 0.0;
@@ -14,8 +26,8 @@ HAL_PIN(sin_offset) = 0.0;
HAL_PIN(cos_offset) = 0.0;
RT(
uint32_t si[PID_WAVES];
uint32_t co[PID_WAVES];
float si[PID_WAVES];
float co[PID_WAVES];
uint32_t sc[PID_WAVES];
float s_o = PIN(sin_offset);
@@ -23,9 +35,6 @@ RT(
float s_g = PIN(sin_gain);
float c_g = PIN(cos_gain);
float s = 0.0;
float c = 0.0;
for(int i = 0; i < PID_WAVES; i++){
sc[i] = 0.0;
for(int j = 0; j < ADC_ANZ; j++){
@@ -40,29 +49,22 @@ RT(
si[i] = 0.0;
co[i] = 0.0;
si[i] = sc[i] & 0x0000ffff;
co[i] = sc[i] >> 16;
si[i] = s_g * V_DIFF((sc[i] & 0x0000ffff)) + s_o;
co[i] = c_g * V_DIFF((sc[i] >> 16)) + c_o;
}
s = s_g * (si[3] + s_o);
c = c_g * (co[3] + c_o);
PIN(sin3) = s;
PIN(cos3) = c;
PIN(sin3) = si[3];
PIN(cos3) = co[3];
if(PIN(res_en) > 0.0){
s = s_g * (0.5 * si[3] - 0.25 * si[2] + 0.125 * si[1] - 0.125 * si[0] + 0.25 * s_o);
c = c_g * (0.5 * co[3] - 0.25 * co[2] + 0.125 * co[1] - 0.125 * co[0] + 0.25 * c_o);
PIN(sin) = 0.5 * si[3] - 0.25 * si[2] + 0.125 * si[1] - 0.125 * si[0] + 0.25;
PIN(cos) = 0.5 * co[3] - 0.25 * co[2] + 0.125 * co[1] - 0.125 * co[0] + 0.25;
}
else{
s = s_g * (0.5 * si[3] + 0.25 * si[2] + 0.125 * si[1] + 0.125 * si[0] + s_o);
c = c_g * (0.5 * co[3] + 0.25 * co[2] + 0.125 * co[1] + 0.125 * co[0] + c_o);
PIN(sin) = 0.5 * si[3] + 0.25 * si[2] + 0.125 * si[1] + 0.125 * si[0];
PIN(cos) = 0.5 * co[3] + 0.25 * co[2] + 0.125 * co[1] + 0.125 * co[0];
}
PIN(sin) = s;
PIN(cos) = c;
);
ENDCOMP;
src/comps/enc_fb.comp
+4 -3
View File
@@ -74,13 +74,14 @@ RT(
float s = PIN(sin);
float c = PIN(cos);
float a = s * s + c * c;
float a = sqrtf(s * s + c * c);
PIN(amp) = a;
p = mod(TIM_GetCounter(ENC1_TIM) * 2.0f * M_PI / (float)e_res);
PIN(pos) = p;
if(a < 0.3 * 0.3){
if(a < 0.15){
PIN(error) = 1.0;
}
else{
src/main.c
+4 -4
View File
@@ -206,10 +206,10 @@ int main(void)
HAL_PIN(out_rev) = 0.0;
HAL_PIN(fb_res) = 1.0;
HAL_PIN(cmd_res) = 2000.0;
HAL_PIN(sin_offset) = -17600.0;
HAL_PIN(cos_offset) = -17661.0;
HAL_PIN(sin_gain) = 0.0001515;
HAL_PIN(cos_gain) = 0.00015;
HAL_PIN(sin_offset) = 0.0;
HAL_PIN(cos_offset) = 0.0;
HAL_PIN(sin_gain) = 1.0;
HAL_PIN(cos_gain) = 1.0;
HAL_PIN(max_dc_volt) = 370.0;
HAL_PIN(max_hv_temp) = 90.0;