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лимит угла теперь не сатурирует, а начинается отсчет от него

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плюс всякое по матлаб
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Razvalyaev
2025-12-02 16:26:23 +03:00
parent eb6979aa27
commit 3750d579fa
6 changed files with 46 additions and 13 deletions
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44
MATLAB/app_wrapper/app_io.c
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@@ -9,6 +9,24 @@
float dbg[16];
#define PIN_READ(_verbname_) (_verbname_##_GPIO_Port->ODR & (_verbname_##_Pin)) ? 1 : 0
void pwm_wtf(PWM_State_t state1, PWM_State_t state2, int* pwm_pin)
{
if ((*pwm_pin == 0) && (state1 == PWM_THYR_TIM_ACTIVE))
{
*pwm_pin = 1;
}
else if ((*pwm_pin == 1) && (state2 == PWM_THYR_TIM_ACTIVE))
{
*pwm_pin = 0;
}
}
int pwm1_pin = 0;
int pwm2_pin = 0;
int pwm3_pin = 0;
int pwm4_pin = 0;
int pwm5_pin = 0;
int pwm6_pin = 0;
void Write_UPP_Outputs(real_T* Buffer, int ind_port)
{
//int pwm1_pin = PIN_READ(PWM1);
@@ -23,6 +41,13 @@ void Write_UPP_Outputs(real_T* Buffer, int ind_port)
int pwm4_pin = (upp.hpwm.AllPhases[PHASE_B_NEG].State == PWM_THYR_TIM_ACTIVE);
int pwm5_pin = (upp.hpwm.AllPhases[PHASE_C_POS].State == PWM_THYR_TIM_ACTIVE);
int pwm6_pin = (upp.hpwm.AllPhases[PHASE_C_NEG].State == PWM_THYR_TIM_ACTIVE);
//pwm_wtf(upp.hpwm.AllPhases[PHASE_A_POS].State, upp.hpwm.AllPhases[PHASE_A_NEG].State, &pwm1_pin);
//pwm_wtf(upp.hpwm.AllPhases[PHASE_A_NEG].State, upp.hpwm.AllPhases[PHASE_A_POS].State, &pwm2_pin);
//pwm_wtf(upp.hpwm.AllPhases[PHASE_B_POS].State, upp.hpwm.AllPhases[PHASE_B_NEG].State, &pwm3_pin);
//pwm_wtf(upp.hpwm.AllPhases[PHASE_B_NEG].State, upp.hpwm.AllPhases[PHASE_B_POS].State, &pwm4_pin);
//pwm_wtf(upp.hpwm.AllPhases[PHASE_C_POS].State, upp.hpwm.AllPhases[PHASE_C_NEG].State, &pwm5_pin);
//pwm_wtf(upp.hpwm.AllPhases[PHASE_C_NEG].State, upp.hpwm.AllPhases[PHASE_C_POS].State, &pwm6_pin);
int err = PIN_READ(RDO1);
int work = PIN_READ(RDO2);
int ready = PIN_READ(RDO3);
@@ -140,14 +165,19 @@ void app_readInputs(const real_T* Buffer) {
MB_DATA.HoldRegs.pui_params.Tdelay = ReadInputArray(1, 8);
MB_DATA.HoldRegs.pui_params.Interlace = ReadInputArray(1, 9);
MB_INTERNAL.param.angle.Angle_Max = ReadInputArray(2, 0) * 65535;
MB_INTERNAL.param.angle.Angle_Min = ReadInputArray(2, 1) * 65535;
MB_INTERNAL.param.angle.PID_Kp = ReadInputArray(2, 2) * 10000;
MB_INTERNAL.param.angle.PID_Ki = ReadInputArray(2, 3) * 10000;
MB_INTERNAL.param.angle.PID_Kd = ReadInputArray(2, 4) * 10000;
MB_INTERNAL.param.adc.ADC_Max[ADC_CHANNEL_UAC] = ReadInputArray(2, 0) * 10;
MB_INTERNAL.param.adc.ADC_Max[ADC_CHANNEL_UBA] = ReadInputArray(2, 0) * 10;
MB_INTERNAL.param.adc.ADC_Max[ADC_CHANNEL_IA] = ReadInputArray(2, 1) * 10;
MB_INTERNAL.param.adc.ADC_Max[ADC_CHANNEL_IC] = ReadInputArray(2, 1) * 10;
MB_INTERNAL.param.nominal.U = ReadInputArray(2, 2) * 10;
MB_INTERNAL.param.nominal.I = ReadInputArray(2, 3) * 10;
MB_INTERNAL.param.angle.PID_Kp = ReadInputArray(2, 4) * 10000;
MB_INTERNAL.param.angle.PID_Ki = ReadInputArray(2, 5) * 10000;
MB_INTERNAL.param.angle.PID_Kd = ReadInputArray(2, 6) * 10000;
MB_INTERNAL.param.angle.PulseLengthReserve = ReadInputArray(2, 7);
MB_INTERNAL.param.nominal.U = ReadInputArray(2, 5) * 10;
MB_INTERNAL.param.nominal.I = ReadInputArray(2, 6) * 10;
}
// USER APP INPUT END
}