void tim1_up_tim10_isr(void)
{
//Clear the update interrupt flag
timer_clear_flag(TIM1,TIM_SR_UIF);
float voltage_joint_0 = 0.0f;
float voltage_joint_1 = 0.0f;
float voltage_joint_2 = 0.0f;
float joint_0_angle = 0.0f;
float joint_1_angle = 0.0f;
//float joint_2_angle = 0.0f;
static int counter = 0;
counter +=1 ;
if(counter >=1500)// Print frequency each n cycles
{
voltage_joint_0 = voltage_measure (ADC1,ADC_CHANNEL1);
voltage_joint_1 = voltage_measure (ADC1,ADC_CHANNEL2);
voltage_joint_2 = voltage_measure (ADC1,ADC_CHANNEL3);
joint_0_angle = CONVERSION_FACTOR_JOINT_0*voltage_joint_0;
joint_1_angle = CONVERSION_FACTOR_JOINT_1*voltage_joint_1;
joint_2_angle = CONVERSION_FACTOR_JOINT_2*voltage_joint_2;
printf("%6.2f \n",joint_2_angle);
counter=0;
}
}
void tim1_up_tim10_isr(void)
{
//oscilloscope flag: start of interrupt
gpio_set(GPIOD, GPIO11);
//Clear the update interrupt flag
timer_clear_flag(TIM1, TIM_SR_UIF);
calc_freq();
// /* ORIGINAL
if (center_aligned_state==FIRST_HALF)
{
//oscilloscope flag: start of First HALF
gpio_set(GPIOB, GPIO15);
voltage_measure (ADC1,ADC_CHANNEL1);
}
else
{
//oscilloscope flag: start of second half
gpio_set(GPIOD, GPIO9);
DTC_SVM();
collecting_floating_data();
colllecting_flux_linkage();
gpio_clear(GPIOD, GPIO11);
}
//oscilloscope flag: start of halves
//gpio_clear(GPIOB, GPIO15);
//oscilloscope flag: end of interrupt
gpio_clear(GPIOD, GPIO9);
}
int main(void)
{
system_init();
while (1)
{
float voltage_joint_0 = 0.0f;
//float voltage_joint_1 = 0.0f;
//float voltage_joint_2 = 0.0f;
//float voltage_joint_3 = 0.0f;
float joint_0_angle = 0.0f;
//float joint_1_angle = 0.0f;
//float joint_2_angle = 0.0f;
//float joint_3_angle = 0.0f;
voltage_joint_0 = voltage_measure (ADC1,ADC_CHANNEL1);
//voltage_joint_1 = voltage_measure (ADC1,ADC_CHANNEL2);
//voltage_joint_2 = voltage_measure (ADC1,ADC_CHANNEL3);
//voltage_joint_3 = voltage_measure (ADC1,ADC_CHANNEL4);
joint_0_angle = CONVERSION_FACTOR_JOINT_0*voltage_joint_0;
//joint_1_angle = CONVERSION_FACTOR_JOINT_1*voltage_joint_1;
//joint_2_angle = CONVERSION_FACTOR_JOINT_2*voltage_joint_2;
//joint_3_angle = CONVERSION_FACTOR_JOINT_3*voltage_joint_3;
static int counter0 = 0;
counter0+=1;
if(counter0>=50000){
//printf("%6.2f %6.2f %6.2f %6.2f \n",joint_0_angle,joint_1_angle,joint_2_angle, joint_3_angle);
printf("%6.2f \n",joint_0_angle);
counter0 =0;
}
}
}
void adc_isr(void)
{
static int adc_counter=0;
static float V_stm32_A = 0.0f;
static float V_stm32_B = 0.0f;
static float V_stm32_strain_gauge = 0.0f;
float V_stm32_Ud = 0.0f;
float V_shunt_A = 0.0f;
float V_shunt_B = 0.0f;
float V_strain_gauge =0.0f;
// /* ORIGINAL
if (adc_counter==0)
{
V_stm32_A = adc_read_regular(ADC1);
voltage_measure (ADC1,ADC_CHANNEL2);
adc_counter++;
}
else if (adc_counter==1)
{
V_stm32_B = adc_read_regular(ADC1);
voltage_measure (ADC1,ADC_CHANNEL15);
adc_counter++;
}
else if (adc_counter==2)
{
V_stm32_strain_gauge = adc_read_regular(ADC1);
voltage_measure (ADC1,ADC_CHANNEL3);
adc_counter++;
}
// */
//V_stm32_A = adc_read_regular(ADC1);//agregada
//V_stm32_B = adc_read_regular(ADC2);//agregada
//V_stm32_strain_gauge = adc_read_regular(ADC3);//agregada
//Porque si lo hago asi, no tengo que llamar a voltage_measure() despues de cada asignacion de adc_read_regular()??
else //quitado
{ //quitado
V_stm32_Ud = adc_read_regular(ADC1)*(VREF/ADC_CONVERSION_FACTOR);
U_d = V_stm32_Ud*BATTERY_VOLTAGE_CONVERTION_FACTOR;
V_shunt_A = (V_stm32_A*(VREF/ADC_CONVERSION_FACTOR)-V_DIFFERENTIAL_AMPLIFIER_REFFERENCE_A)/G_OP_AMP_A;
i_sA = V_shunt_A/R_SHUNT_A;
V_shunt_B = (V_stm32_B*(VREF/ADC_CONVERSION_FACTOR)-V_DIFFERENTIAL_AMPLIFIER_REFFERENCE_B)/G_OP_AMP_B;
i_sB = V_shunt_B/R_SHUNT_B;
//V_strain_gauge=V_stm32_strain_gauge*(VREF/ADC_CONVERSION_FACTOR);
//strain_gauge = V_strain_gauge-strain_gauge_reference;
V_strain_gauge=V_stm32_strain_gauge*(VREF/ADC_CONVERSION_FACTOR)-strain_gauge_reference;
V_strain_gauge=te_moving_average_filter(V_strain_gauge);
strain_gauge = V_strain_gauge*STRAIN_GAUGE_CONVERSION_FACTOR;
//strain_gauge =te_moving_average_filter(strain_gauge);
if (reset_strain_gauge_reference==true)
{
/*
strain_gauge_reference=strain_gauge_reference+strain_gauge;
strain_gauge=0.0f;
reset_strain_gauge_reference=false;
*/
strain_gauge_reference=strain_gauge_reference+V_strain_gauge;
V_strain_gauge=0.0f;
reset_strain_gauge_reference=false;
}
//filtering currents
//i_sA = isA_moving_average_filter(i_sA);
//i_sB = isB_moving_average_filter(i_sB);
adc_counter=0;
DTC_SVM();
//collecting_data();
//oscilloscope flag: start of halves
gpio_clear(GPIOB, GPIO15);
//gpio_clear(GPIOD, GPIO14); //agregada
//oscilloscope flag: end of interrupt
gpio_clear(GPIOD, GPIO9);
//gpio_clear(GPIOD, GPIO11);
}
