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mitte messen

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Rene Hopf
2014-07-27 23:59:10 +02:00
parent fbb5db3b3e
commit 2fc9104284
1 changed files with 28 additions and 10 deletions
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src/main.c
+28 -10
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@@ -39,9 +39,11 @@ volatile float mag_pos;
volatile float current_scale = 1.0;
volatile int t1, t2;//rohdaten sin/cos
volatile int t1_mid = 0,t2_mid = 0;//mittelpunkt sin/cos
volatile float res_pos1;//winkel vom resolver, -pi bsi +pi
volatile float res_pos2;//winkel vom resolver, -pi bsi +pi
volatile int erreger = 1;
volatile int erreger = 0;
volatile int erreger_enable = NO;
float minus(float a, float b){
if(ABS(a - b) < pi){
@@ -89,24 +91,40 @@ void ADC_IRQHandler(void)
t1 = ADC_GetConversionValue(ADC1);
t2 = ADC_GetConversionValue(ADC2);
if(erreger == 1){
GPIO_SetBits(GPIOC,GPIO_Pin_2);//toggle erreger
res_pos1 = atan2f(t1-3111, t2-3111);
}else{
GPIO_ResetBits(GPIOC,GPIO_Pin_2);//toggle erreger
res_pos2 = atan2f(3111-t1, 3111-t2);
if(erreger_enable){//erreger signal aktiv
if(erreger){//eine halbwelle
GPIO_SetBits(GPIOC,GPIO_Pin_2);//erreger
res_pos1 = atan2f(t1-t1_mid, t2-t2_mid);
}else{//andere halbwelle
GPIO_ResetBits(GPIOC,GPIO_Pin_2);//toggle erreger
res_pos2 = atan2f(t1_mid-t1, t2_mid-t2);
}
}else{//mittelpunkt messen
if(t1_mid == 0 && t2_mid == 0){//erster durchlauf
t1_mid = t1;
t2_mid = t2;
}else{//restliche durchläufe
t1_mid = t1_mid * 0.99 + (t1 - t1_mid) * 0.01;
t2_mid = t2_mid * 0.99 + (t2 - t2_mid) * 0.01;
}
}
erreger*=-1;
erreger = !erreger;
}
int main(void)
{
setup();
GPIO_ResetBits(GPIOC,GPIO_Pin_2);//reset erreger
TIM_Cmd(TIM4, ENABLE);//PWM
TIM_Cmd(TIM2, ENABLE);//int
Wait(10);
erreger_enable = NO;
Wait(50);
erreger_enable = YES;
GPIO_SetBits(GPIOD,GPIO_Pin_14);//enable
GPIO_ResetBits(GPIOC,GPIO_Pin_2);//reset erreger
while(1) // Do not exit
{
printf_("%f %f diff: %f",RAD(res_pos1),RAD(res_pos2),RAD(res_pos1-res_pos2));