Some more microsecond timer stuff, janky timing

Northeastern-Electric-Racing · Jun 4, 2024 · d944ebd · d944ebd
1 parent 81fe9c1
commit d944ebd
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Showing 5 changed files with 16 additions and 14 deletions.
diff --git a/CM7/Core/Src/foc_ctrl.c b/CM7/Core/Src/foc_ctrl.c
@@ -76,6 +76,8 @@ static void open_loop_ctrl(foc_ctrl_t *controller)
 	uint32_t dt = (uint32_t) ((uint32_t)current_time_us - (uint32_t) controller->last_run_us);
 	if ((int32_t)dt < 0) dt = 180; /* Account for wrap around of timer */
 
+	//printf("Time us: %ld\r\n", dt);
+
 	/* Ramp amplitude */
 	controller->open_loop_amplitude += ((OPEN_LOOP_MAX_AMPLITUDE ) / OPEN_LOOP_RAMP_TIME) * (dt / 1000000.0);
 
@@ -126,7 +128,7 @@ static void closed_loop_ctrl(foc_ctrl_t *controller, foc_data_t *msg)
 			PID_run_parallel(&controller->q_pid, 0, id_iq[D], 0, &id_iq_pid[D]);
 			PID_run_parallel(&controller->d_pid, controller->ref_current, id_iq[Q], 0, &id_iq_pid[Q]);
 
-			//IPARK_run(controller->ipark_transform, id_iq, alpha_beta);
+			IPARK_run(&controller->ipark_transform, id_iq, alpha_beta);
 			SVGEN_run(&controller->svm, alpha_beta, v_abc_pu);
 
 			calc_cmd[0] = (v_abc_pu[0] + 1.0) / 2.0;
@@ -215,10 +217,10 @@ void vFOCctrl(void *pv_params)
 					/* Unknown State */
 					break;
 			}
-			//uint32_t first_time = us_timer_get();
+			uint32_t first_time = us_timer_get();
 			//closed_loop_ctrl(controller, &msg);
-			open_loop_ctrl(controller);
-			//printf("Time us:%ld\r\n", us_timer_get() - first_time);
+			//open_loop_ctrl(controller);
+			printf("Time us:%ld\r\n", us_timer_get() - first_time);
 		}
 
 		/* Yield to other tasks */

diff --git a/CM7/Core/Src/main.c b/CM7/Core/Src/main.c
@@ -1387,7 +1387,7 @@ static void MX_GPIO_Init(void)
 void StartDefaultTask(void *argument)
 {
   /* USER CODE BEGIN 5 */
-  int curr_time = HAL_GetTick();
+  int curr_time = us_timer_get();
   float duty_cycles[3] = {0.5, 0.5, 0.5};
   gatedrv_write_pwm(&gatedrv_left, duty_cycles);
   gatedrv_write_pwm(&gatedrv_right, duty_cycles);
@@ -1397,17 +1397,17 @@ void StartDefaultTask(void *argument)
   {
     HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
     osDelay(500);
-    //printf("U: %ld A, V: %ld A, W: %ld A, Time: %ld ms\r\n",
-    //       (uint32_t)(duty_cycles[0] * 100),
-    //       (uint32_t)(duty_cycles[1] * 100),
-    //       (uint32_t)(duty_cycles[2] * 100),
-    //       HAL_GetTick() - curr_time);
+    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;
     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 = HAL_GetTick();
+    curr_time = us_timer_get();
     //printf("Failure: %d\r\n", ipcc_transfer(&ipcc, &msg));
   }
   /* USER CODE END 5 */

diff --git a/CM7/Core/Src/us_timer.c b/CM7/Core/Src/us_timer.c
@@ -14,5 +14,5 @@ void us_timer_init(TIM_HandleTypeDef *htim)
 uint32_t us_timer_get()
 {
     // the count is prescaled in CubeMX to increment once per microsecond, so the count corresponds to microseconds
-    return timer->Instance->CNT;
+    return timer->Instance->CNT / 2;
 }
diff --git a/Makefile/CM4/Makefile b/Makefile/CM4/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Mon Jun 03 20:13:34 EDT 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Mon Jun 03 20:45:16 EDT 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------

diff --git a/Makefile/CM7/Makefile b/Makefile/CM7/Makefile
@@ -1,5 +1,5 @@
 ##########################################################################################################################
-# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Mon Jun 03 20:13:35 EDT 2024] 
+# File automatically-generated by tool: [projectgenerator] version: [4.2.0-B44] date: [Mon Jun 03 20:45:16 EDT 2024] 
 ##########################################################################################################################
 
 # ------------------------------------------------