zebra
/
ZebraJointController
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Diff: main.cpp
- Revision:
- 28:8c7e29f719c5
- Parent:
- 27:501fee691e0e
- Child:
- 30:db9081ac5658
- Child:
- 32:ccac5da77844
--- a/main.cpp Wed May 17 14:53:22 2017 +0000
+++ b/main.cpp Sun Jun 04 19:00:22 2017 +0000
@@ -10,18 +10,6 @@
#define SETUP_MODE 4
#define ENCODER_MODE 5
-#define P_MASK
-#define D_MASK
-#define KP_MASK
-#define KD_MASK
-#define TFF_MASK
-
-/*
-const unsigned int BOARDNUM = 0x2;
-//const unsigned int a_id =
-const unsigned int cmd_ID = (BOARDNUM<<8) + 0x7;
-*/
-const unsigned int TX_ID = 0x01;
float __float_reg[64]; // Floats stored in flash
@@ -78,7 +66,7 @@
#define KP_MIN 0.0f
#define KP_MAX 500.0f
#define KD_MIN 0.0f
- #define KD_MAX 100.0f
+ #define KD_MAX 5.0f
#define T_MIN -18.0f
#define T_MAX 18.0f
@@ -98,11 +86,12 @@
int p_int = float_to_uint(p, P_MIN, P_MAX, 16);
int v_int = float_to_uint(v, V_MIN, V_MAX, 12);
int i_int = float_to_uint(i, -I_MAX, I_MAX, 12);
- msg->data[0] = p_int>>8;
- msg->data[1] = p_int&0xFF;
- msg->data[2] = v_int>>4;
- msg->data[3] = ((v_int&0xF)<<4) + (i_int>>8);
- msg->data[4] = i_int&0xFF;
+ msg->data[0] = CAN_ID;
+ msg->data[1] = p_int>>8;
+ msg->data[2] = p_int&0xFF;
+ msg->data[3] = v_int>>4;
+ msg->data[4] = ((v_int&0xF)<<4) + (i_int>>8);
+ msg->data[5] = i_int&0xFF;
}
/// CAN Command Packet Structure ///
@@ -122,23 +111,23 @@
/// 6: [kd[3-0], torque[11-8]]
/// 7: [torque[7-0]]
void unpack_cmd(CANMessage msg, ControllerStruct * controller){
- int p_int = (msg.data[0]<<8)|msg.data[1];
- int v_int = (msg.data[2]<<4)|(msg.data[3]>>4);
- int kp_int = ((msg.data[3]&0xF)<<8)|msg.data[4];
- int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4);
- int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];
+ int p_int = (msg.data[0]<<8)|msg.data[1];
+ int v_int = (msg.data[2]<<4)|(msg.data[3]>>4);
+ int kp_int = ((msg.data[3]&0xF)<<8)|msg.data[4];
+ int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4);
+ int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];
+
+ controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);
+ controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
+ controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
+ controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);
+ controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
- controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);
- controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
- controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
- controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);
- controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
- /*
- printf("Received ");
- printf("%.3f %.3f %.3f %.3f %.3f %.3f", controller->p_des, controller->v_des, controller->kp, controller->kd, controller->t_ff, controller->i_q_ref);
- printf("\n\r");
- */
+ //printf("Received ");
+ //printf("%.3f %.3f %.3f %.3f %.3f %.3f", controller->p_des, controller->v_des, controller->kp, controller->kd, controller->t_ff, controller->i_q_ref);
+ //printf("\n\r");
+
}
@@ -146,11 +135,27 @@
//msgAvailable = true;
//printf("%.3f %.3f %.3f\n\r", controller.theta_mech, controller.dtheta_mech, controller.i_q);
can.read(rxMsg);
- if((rxMsg.id == CAN_ID) && (state == MOTOR_MODE)){
- unpack_cmd(rxMsg, &controller);
- pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q);
- can.write(txMsg);
- }
+
+ if((rxMsg.id == CAN_ID)){
+ controller.timeout = 0;
+ if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) & (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFC))){
+ state = MOTOR_MODE;
+ state_change = 1;
+ }
+ else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFD))){
+ state = REST_MODE;
+ state_change = 1;
+ GPIOC->ODR &= !(1 << 5);
+ }
+ else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFE))){
+ spi.ZeroPosition();
+ }
+ else if(state == MOTOR_MODE){
+ unpack_cmd(rxMsg, &controller);
+ pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q);
+ can.write(txMsg);
+ }
+ }
}
@@ -168,22 +173,25 @@
void enter_setup_state(void){
printf("\n\r\n\r Configuration Options \n\r\n\n");
- printf(" %-7s %-25s %-5s %-5s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
- printf(" %-7s %-25s %-5s %-5s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
- printf(" %-7s %-25s %-5s %-5s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
- printf(" %-7s %-25s %-5s %-5s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
- printf(" %-7s %-25s %-5s %-5s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
+ printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
+ printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
+ printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
+ printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
+ printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
+ printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
state_change = 0;
}
void enter_torque_mode(void){
+ gpio.enable->write(1); // Enable gate drive
+ reset_foc(&controller); // Tesets integrators, and other control loop parameters
+ wait(.001);
controller.i_d_ref = 0;
- controller.i_q_ref = 6; // Current Setpoints
- reset_foc(&controller); // Tesets integrators, and other control loop parameters
- gpio.enable->write(1); // Enable gate drive
+ controller.i_q_ref = 0; // Current Setpoints
GPIOC->ODR |= (1 << 5); // Turn on status LED
state_change = 0;
+ printf("\n\r Entering Motor Mode \n\r");
}
void calibrate(void){
@@ -238,27 +246,38 @@
case MOTOR_MODE: // Run torque control
if(state_change){
enter_torque_mode();
+ count = 0;
}
+ else{
count++;
- toggle.write(1);
+ //toggle.write(1);
controller.theta_elec = spi.GetElecPosition();
- controller.theta_mech = spi.GetMechPosition();
- controller.dtheta_mech = spi.GetMechVelocity();
+ controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
+ controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
//TIM1->CCR3 = 0x708*(1.0f);
//TIM1->CCR1 = 0x708*(1.0f);
//TIM1->CCR2 = 0x708*(1.0f);
//controller.i_q_ref = controller.t_ff/KT_OUT;
- torque_control(&controller);
- //controller.i_q_ref = 1;
+
+ torque_control(&controller);
+ if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
+ controller.i_d_ref = 0;
+ controller.i_q_ref = 0;
+ }
+ //controller.i_q_ref = .5;
commutate(&controller, &gpio, controller.theta_elec); // Run current loop
spi.Sample(); // Sample position sensor
- toggle.write(0);
+ //toggle.write(0);
+ controller.timeout += 1;
- if(count > 100){
- count = 0;
- //printf("%d %d\n\r", controller.adc1_raw, controller.adc2_raw);
+ if(count == 1){
+ //count = 0;
+ wait(.001);
+ //printf(" Started commutating\n\r");
}
+ }
+
break;
case SETUP_MODE:
if(state_change){
@@ -327,6 +346,9 @@
case 'l':
TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
break;
+ case 't':
+ CAN_TIMEOUT = atoi(cmd_val);
+ break;
default:
printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
break;
@@ -388,8 +410,8 @@
can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
//can.filter(CAN_ID, 0xF, CANStandard, 0);
can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
- txMsg.id = TX_ID;
- txMsg.len = 5;
+ txMsg.id = CAN_MASTER;
+ txMsg.len = 6;
rxMsg.len = 8;
prefs.load(); // Read flash