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resolver - dac

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Rene Hopf
2014-04-15 18:25:36 +02:00
parent 2794fd0774
commit 5f87e4ed23
2 changed files with 30 additions and 50 deletions
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src/main.c
+20 -47
View File
@@ -41,7 +41,7 @@ volatile int res2_pos;
volatile int res1_neg;
volatile int res2_neg;
volatile int res_avg;
volatile int res_avg_tmp;
//volatile int res_avg_tmp;
volatile int followe;
@@ -225,45 +225,9 @@ void TIM2_IRQHandler(void){//PWM int handler, 10KHz
void TIM7_IRQHandler(void){//DAC int handler
TIM_ClearITPendingBit(TIM7, TIM_IT_Update);
dacpos++;//DMA fragen?
if(dacpos >= 32){
dacpos = 0;
}
if((dacpos >= read_pos - read_w && dacpos <= read_pos + read_w) || (dacpos >= read_neg - read_w || dacpos <= (read_neg + read_w) % 32)){// phase shift 2
ADC_SoftwareStartConv(ADC1);
ADC_SoftwareStartConv(ADC2);
//ADC_SoftwareStartConv(ADC3);
}
if(dacpos == read_pos - read_w - 1){
res_avg = (res_avg_tmp/(read_w*4+2)/2)*0.2f+res_avg*0.8f;
res_avg_tmp = 0;
}
if(dacpos == read_pos + read_w + 1){
res_pos_pos.y = res1_pos;
res_pos_pos.x = res2_pos;
res_pos_pos = norm(res_pos_pos);
res1_pos = 0;
res2_pos = 0;
}
if(dacpos == (read_neg + read_w + 1) % 32){
res_neg_pos.y = res1_neg;
res_neg_pos.x = res2_neg;
res_neg_pos = norm(res_neg_pos);
res1_neg = 0;
res2_neg = 0;
res_pos = res_pos_pos;//mid(res_pos_pos, res_neg_pos);
mot_pos = new_ang(DEG(UB_ENCODER_TIM3_ReadPos() * 360.0 / 2000.0 * 1.0));
pid();
//mag_offset = new_ang(DEG(0));
mag_pos = res_pos;//plus(mag_pos, new_ang(DEG(0.01)));
output_pwm();
}
GPIO_SetBits(GPIOD,GPIO_Pin_11);
ADC_SoftwareStartConv(ADC1);
ADC_SoftwareStartConv(ADC2);
}
@@ -272,14 +236,27 @@ void ADC_IRQHandler(void)
int t1, t2;
while(!ADC_GetFlagStatus(ADC2, ADC_FLAG_EOC));
ADC_ClearITPendingBit(ADC1, ADC_IT_EOC);
GPIO_SetBits(GPIOD,GPIO_Pin_11);
GPIO_ResetBits(GPIOD,GPIO_Pin_11);
t1 = ADC_GetConversionValue(ADC1);
t2 = ADC_GetConversionValue(ADC2);
res_avg_tmp += t1+t2;
res_avg = res_avg * 0.95 + (t1 + t2) * 0.05;
t1 -= res_avg;
t2 -= res_avg;
if(dacpos % 4 == 0 || dacpos % 4 == 1){
GPIO_SetBits(GPIOA,GPIO_Pin_7);
}else{
GPIO_ResetBits(GPIOA,GPIO_Pin_7);
}
if(dacpos >= 3){
dacpos = 0;
}else{
dacpos++;
}
float max = 930;
if(dacpos >= read_pos - read_w && dacpos <= read_pos + read_w){
res1_pos += t1;
@@ -289,9 +266,6 @@ void ADC_IRQHandler(void)
res1_neg -= t1;
res2_neg -= t2;
}
GPIO_ResetBits(GPIOD,GPIO_Pin_11);
}
/*void findoff(void){
@@ -415,8 +389,7 @@ int main(void)
offsetc = new_ang(DEG(240));
res_avg = 2051;
res_avg_tmp = 0;
dacpos = 31;
dacpos = 0;
init_pid();
param_init();
setup();
src/setup.c
+10 -3
View File
@@ -12,7 +12,7 @@ void setup(){
//TIM7: DAC krams, auf PA5
UB_DAC_DMA_Init(SINGLE_DAC2_DMA);
UB_DAC_DMA_SetWaveform2(DAC_WAVE1_SINUS);
UB_DAC_DMA_SetFrq2(0,1312);
UB_DAC_DMA_SetFrq2(0,4199);
//PC6 PB5
UB_ENCODER_TIM3_Init(ENC_T3_MODE_4AB, ENC_T3_A, 2000);
@@ -59,6 +59,13 @@ void setup(){
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOD, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_7; //neuer res erreger
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource12, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource13, GPIO_AF_TIM4);
GPIO_PinAFConfig(GPIOD, GPIO_PinSource14, GPIO_AF_TIM4);
@@ -97,11 +104,11 @@ void setup(){
ADC_Cmd(ADC3,ENABLE);
//Select the channel to be read from
ADC_RegularChannelConfig(ADC1,ADC_Channel_1,1,ADC_SampleTime_84Cycles);
ADC_RegularChannelConfig(ADC1,ADC_Channel_1,1,ADC_SampleTime_480Cycles);
ADC_ITConfig(ADC1,ADC_IT_EOC,ENABLE);
ADC_EOCOnEachRegularChannelCmd(ADC1,ENABLE);
ADC_RegularChannelConfig(ADC2,ADC_Channel_2,1,ADC_SampleTime_84Cycles);
ADC_RegularChannelConfig(ADC2,ADC_Channel_2,1,ADC_SampleTime_480Cycles);
ADC_ITConfig(ADC2,ADC_IT_EOC,DISABLE);
ADC_EOCOnEachRegularChannelCmd(ADC2,DISABLE);