Made sampling work

Northeastern-Electric-Racing · Nov 12, 2024 · 1dfeed6 · 1dfeed6
1 parent 3555a67
commit 1dfeed6
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Showing 6 changed files with 39 additions and 37 deletions.
diff --git a/CM4/Core/Src/main.c b/CM4/Core/Src/main.c
@@ -504,22 +504,21 @@ void StartDefaultTask(void *argument)
   /* Infinite loop */
   for (;;)
   {
-    //printf("BALLS");
-
-    // ipcc_transfer(&ipcc, &msg);
-    // ipcc_signal(&ipcc);
-    // osDelay(1000);
+    HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_15);
+    ipcc_transfer(&ipcc, &msg);
+    ipcc_signal(&ipcc);
+    osDelay(1000);
 
     // Take the semaphore and notify Cortex-M7
-    // uint32_t sem_id = 0; // Use semaphore 0
-    // uint32_t core_mask = HSEM_CR_COREID_Msk; // Notify Cortex-M7 core
+    uint32_t sem_id = 0; // Use semaphore 0
+    uint32_t core_mask = HSEM_CR_COREID_Msk; // Notify Cortex-M7 core
 
-    // if (HAL_HSEM_Take(sem_id, core_mask) == HAL_OK) {
-    //     // Successfully took semaphore, Cortex-M7 will be notified
-    // }
-    // HAL_HSEM_Release(sem_id, core_mask);
+    if (HAL_HSEM_Take(sem_id, core_mask) == HAL_OK) {
+        // Successfully took semaphore, Cortex-M7 will be notified
+    }
+    HAL_HSEM_Release(sem_id, core_mask);
 
-    // i++;
+    i++;
   }
   /* USER CODE END 5 */
 }

diff --git a/CM7/Core/Inc/gatedriver.h b/CM7/Core/Inc/gatedriver.h
@@ -7,7 +7,7 @@
 #include "foc_ctrl.h"
 #include <stdbool.h>
 #include <stdint.h>
-#define NUM_SAMPLES 100
+#define NUM_SAMPLES 3000
 /*
  * Note that these phases readings should ALWAYS be mapped to the corresponding indices
  * Ensure the ADC DMA is mapped the same across boards
@@ -54,7 +54,7 @@ typedef struct {
 
     uint32_t time_first_sample;
     uint32_t timing_data_index;
-    gatedriver_timing_t timing_data[NUM_SAMPLES];
+    gatedriver_timing_t* timing_data;
 } gatedriver_t;
 
 

diff --git a/CM7/Core/Src/foc_ctrl.c b/CM7/Core/Src/foc_ctrl.c
@@ -31,7 +31,7 @@ enum {
 
 void foc_ctrl_init(foc_ctrl_t *controller)
 {
-	printf("FOC INIT \r\n");
+	// printf("FOC INIT \r\n");
 	controller->data_queue = osMessageQueueNew(INBOUND_QUEUE_SIZE, sizeof(foc_data_t), NULL);
 	controller->command_queue = osMessageQueueNew(OUTBOUND_QUEUE_SIZE, sizeof(pwm_signal_t[3]), NULL);
 

diff --git a/CM7/Core/Src/gatedriver.c b/CM7/Core/Src/gatedriver.c
@@ -71,6 +71,7 @@ void gatedrv_init(gatedriver_t *gatedriver, TIM_HandleTypeDef* tim, ADC_HandleTy
 	/* Start Fake PWM signal for ADC timing */
 	assert(HAL_TIM_PWM_Start(gatedriver->tim, TIM_CHANNEL_4) == HAL_OK);
 
+	gatedriver->timing_data = (gatedriver_timing_t*)malloc(sizeof(gatedriver_timing_t) * NUM_SAMPLES);
 	gatedriver->time_first_sample = 0;
 	gatedriver->timing_data_index = 0;
 	gatedriver->initial_reading_taken = 0;
@@ -110,7 +111,7 @@ void gatedrv_get_phase_currents(gatedriver_t *drv, float phase_currents[3])
 		drv->time_first_sample = us_timer_get();
 		drv->timing_data[drv->timing_data_index].time = 0;
 	}
-	if(!(drv->timing_data_index < NUM_SAMPLES))
+	else if(!(drv->timing_data_index < NUM_SAMPLES))
 	{
 		uint64_t total_time_interval = 0;
 		for(int i = 0; i < NUM_SAMPLES - 1; i++)
@@ -119,14 +120,21 @@ void gatedrv_get_phase_currents(gatedriver_t *drv, float phase_currents[3])
 			total_time_interval += time_interval;
 		}
 		float avg_period = (float)total_time_interval / (float)4999;
-		float adc_sampling_frequency = 1 / (avg_period * pow(10, -6));
-		printf("Average sampling frequency measured over %ld samples: %ld Hz", NUM_SAMPLES, adc_sampling_frequency);
+		uint16_t adc_sampling_frequency = (uint16_t)(1 / (avg_period * pow(10, -6)));
+		printf("Average sampling frequency measured over %i samples: %i Hz\r\n", NUM_SAMPLES, adc_sampling_frequency);
+		free(drv->timing_data);
+		drv->timing_data = (gatedriver_timing_t*)malloc(sizeof(gatedriver_timing_t) * NUM_SAMPLES);
+		drv->timing_data_index = 0;
 	}
-	drv->timing_data[drv->timing_data_index].time = us_timer_get() - drv->time_first_sample;
-	drv->timing_data[drv->timing_data_index].phase_data[0] = phase_currents[0];
-	drv->timing_data[drv->timing_data_index].phase_data[1] = phase_currents[1];
-	drv->timing_data[drv->timing_data_index].phase_data[2] = phase_currents[2];
-	drv->timing_data_index++;
+	else
+	{
+		drv->timing_data[drv->timing_data_index].time = us_timer_get() - drv->time_first_sample;
+		drv->timing_data[drv->timing_data_index].phase_data[0] = phase_currents[0];
+		drv->timing_data[drv->timing_data_index].phase_data[1] = phase_currents[1];
+		drv->timing_data[drv->timing_data_index].phase_data[2] = phase_currents[2];
+		drv->timing_data_index++;
+	}
+
 }
 
 int16_t gatedrv_read_igbt_temp(gatedriver_t* drv)

diff --git a/CM7/Core/Src/main.c b/CM7/Core/Src/main.c
@@ -306,7 +306,7 @@ int main(void)
   while (1)
   {
     /* USER CODE END WHILE */
-    printf("COOKED");
+    // printf("COOKED");
     /* USER CODE BEGIN 3 */
   }
   /* USER CODE END 3 */
@@ -1395,24 +1395,20 @@ void StartDefaultTask(void *argument)
   /* Infinite loop */
   for (;;)
   {
-    printf(" BALLS \r \n");
-    HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_14);
-    printf("BALLS 2 \r \n");
-    // osDelay(500);
-    printf("BALLS 3: %ld \r \n", (uint32_t)(duty_cycles[0]));
-    // printf("U: %ld A, V: %ld A, W: %ld A, Time: %ld us\r\n",
-    //        (uint32_t)(duty_cycles[0] * 100),
-    //        (uint32_t)(duty_cycles[1] * 100),
-    //        (uint32_t)(duty_cycles[2] * 100),
-    //        us_timer_get() - curr_time);
+    HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
+    osDelay(500);
+    printf("U: %ld A, V: %ld A, W: %ld A, Time: %ld us\r\n",
+           (uint32_t)(duty_cycles[0] * 100),
+           (uint32_t)(duty_cycles[1] * 100),
+           (uint32_t)(duty_cycles[2] * 100),
+           us_timer_get() - curr_time);
     duty_cycles[0] = duty_cycles[0] + 0.01 >= 1.0 ? 0.0 : duty_cycles[0] + 0.01;
-    printf("BALLS 4 \r \n");
     duty_cycles[1] = duty_cycles[1] + 0.01 >= 1.0 ? 0.0 : duty_cycles[1] + 0.01;
     duty_cycles[2] = duty_cycles[2] + 0.01 >= 1.0 ? 0.0 : duty_cycles[2] + 0.01;
     gatedrv_write_pwm(&gatedrv_left, duty_cycles);
     gatedrv_write_pwm(&gatedrv_right, duty_cycles);
     curr_time = us_timer_get();
-    printf("Failure: %d\r\n", ipcc_transfer(&ipcc, &msg));
+    // printf("Failure: %d\r\n", ipcc_transfer(&ipcc, &msg));
   }
   /* USER CODE END 5 */
 }

diff --git a/Test/devkit-freertos/Core/Src/gatedriver.c b/Test/devkit-freertos/Core/Src/gatedriver.c
@@ -15,7 +15,6 @@ void gatedrv_init(gatedriver_t *gatedriver, TIM_HandleTypeDef* tim, ADC_HandleTy
 	/* Assert hardware params */
 	assert(tim);
 	assert(phase_adc);
-	printf("GATE DRIVER INIT\r\n");
 	/* Set interfaces */
 	gatedriver->tim			= tim;
 	gatedriver->phase_adc	= phase_adc;