mirror of https://github.com/rusefi/bldc.git
110 lines
2.3 KiB
C
110 lines
2.3 KiB
C
/*
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Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* app_rccar.c
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*
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* Created on: 18 apr 2014
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* Author: benjamin
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*/
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#include "app.h"
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#ifdef USE_APP_RCCAR
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#include "ch.h"
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#include "hal.h"
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#include "stm32f4xx_conf.h"
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#include "servo_dec.h"
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#include "mcpwm.h"
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#include <math.h>
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// Threads
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static msg_t rccar_thread(void *arg);
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static WORKING_AREA(rccar_thread_wa, 1024);
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static Thread *rccar_tp;
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static VirtualTimer vt;
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// Private functions
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static void servodec_func(void);
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static void trig_func(void *p);
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void app_rccar_init(void) {
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chThdCreateStatic(rccar_thread_wa, sizeof(rccar_thread_wa), NORMALPRIO, rccar_thread, NULL);
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}
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static void trig_func(void *p) {
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(void)p;
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chSysLock();
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chVTSetI(&vt, MS2ST(10), trig_func, NULL);
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chSysUnlock();
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chEvtSignalI(rccar_tp, (eventmask_t) 1);
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}
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static void servodec_func(void) {
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chSysLockFromIsr();
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chEvtSignalI(rccar_tp, (eventmask_t) 1);
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chSysUnlockFromIsr();
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}
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static msg_t rccar_thread(void *arg) {
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(void)arg;
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chRegSetThreadName("APP_RCCAR");
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rccar_tp = chThdSelf();
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servodec_init(servodec_func);
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chSysLock();
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chVTSetI(&vt, MS2ST(10), trig_func, NULL);
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chSysUnlock();
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for(;;) {
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chEvtWaitAny((eventmask_t) 1);
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#define HYST 0.15
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#define USE_PID 0
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#define PID_MAX_RPM 15000
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if (servodec_get_time_since_update() < 500) {
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float servo_val = servodec_get_servo_as_float(0);
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servo_val /= (1.0 - HYST);
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if (servo_val > HYST) {
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servo_val -= HYST;
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} else if (servo_val < -HYST) {
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servo_val += HYST;
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} else {
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servo_val = 0.0;
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}
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#if USE_PID
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mcpwm_set_pid_speed(servo_val * PID_MAX_RPM);
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#else
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mcpwm_set_current(servo_val * MCPWM_CURRENT_MAX);
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#endif
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} else {
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mcpwm_set_current(0.0);
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}
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}
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return 0;
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}
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#endif
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