Gu Jasper / Motor_200Nm_V0

1

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@56:d34e4540ec12, 2020-08-14 (annotated)

Committer:
Jasper_gu
Date:
Fri Aug 14 07:22:11 2020 +0000
Revision:
56:d34e4540ec12
Parent:
52:91a42bd0fe2e 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 22:60276ba87ac6 1 /// high-bandwidth 3-phase motor control, for robots
benkatz 45:26801179208e 2 /// Written by benkatz, with much inspiration from Bayley Wang, Nick Kirkby, Shane Colton, David Otten, and others
benkatz 22:60276ba87ac6 3 /// Hardware documentation can be found at build-its.blogspot.com
benkatz 22:60276ba87ac6 4 /// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling
benkatz 47:e1196a851f76 5 /// Version for the TI DRV8323 Everything Chip
benkatz 22:60276ba87ac6 6
benkatz 23:2adf23ee0305 7 #define REST_MODE 0
benkatz 23:2adf23ee0305 8 #define CALIBRATION_MODE 1
benkatz 26:2b865c00d7e9 9 #define MOTOR_MODE 2
benkatz 23:2adf23ee0305 10 #define SETUP_MODE 4
benkatz 23:2adf23ee0305 11 #define ENCODER_MODE 5
benkatz 22:60276ba87ac6 12
Rushu 51:b0a3ef66ea3d 13 #define VERSION_NUM "0.1"
benkatz 26:2b865c00d7e9 14
benkatz 18:f1d56f4acb39 15
benkatz 26:2b865c00d7e9 16 float __float_reg[64]; // Floats stored in flash
benkatz 26:2b865c00d7e9 17 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 18
benkatz 0:4e1c4df6aabd 19 #include "mbed.h"
benkatz 0:4e1c4df6aabd 20 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 21 #include "structs.h"
benkatz 20:bf9ea5125d52 22 #include "foc.h"
benkatz 22:60276ba87ac6 23 #include "calibration.h"
benkatz 20:bf9ea5125d52 24 #include "hw_setup.h"
benkatz 23:2adf23ee0305 25 #include "math_ops.h"
benkatz 20:bf9ea5125d52 26 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 27 #include "hw_config.h"
benkatz 20:bf9ea5125d52 28 #include "motor_config.h"
benkatz 23:2adf23ee0305 29 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 30 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 31 #include "user_config.h"
benkatz 23:2adf23ee0305 32 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 33 #include "CAN_com.h"
benkatz 44:8040fa2fcb0d 34 #include "DRV.h"
benkatz 26:2b865c00d7e9 35
benkatz 23:2adf23ee0305 36 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 37
benkatz 20:bf9ea5125d52 38 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 39 ControllerStruct controller;
benkatz 48:74a40481740c 40 ObserverStruct observer;
benkatz 20:bf9ea5125d52 41 COMStruct com;
benkatz 43:dfb72608639c 42 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 43
benkatz 17:3c5df2982199 44
benkatz 45:26801179208e 45 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 46 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 47 CANMessage txMsg;
benkatz 23:2adf23ee0305 48
Jasper_gu 56:d34e4540ec12 49 PositionSensorAM5147 spi(16384, 0.0, NPP); //resolution is 0.02197265625 deg
benkatz 20:bf9ea5125d52 50
Jasper_gu 56:d34e4540ec12 51 //drv8323 SPI 设置 改为PC12\11\10 SPI3,片选改为PA15
Jasper_gu 56:d34e4540ec12 52 SPI drv_spi(PC_12, PC_11, PC_10);
benkatz 8:10ae7bc88d6e 53
Jasper_gu 56:d34e4540ec12 54 // GPIOC->AFR[1]&=0xfff000ff;
Jasper_gu 56:d34e4540ec12 55 // GPIOC->AFR[1]|=0x00055500;
Jasper_gu 56:d34e4540ec12 56 DigitalOut drv_cs(PA_15);
Jasper_gu 56:d34e4540ec12 57
Jasper_gu 56:d34e4540ec12 58 DRV832x drv(&drv_spi, &drv_cs);
Jasper_gu 56:d34e4540ec12 59
Jasper_gu 56:d34e4540ec12 60
benkatz 20:bf9ea5125d52 61
benkatz 23:2adf23ee0305 62 volatile int count = 0;
benkatz 23:2adf23ee0305 63 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 64 volatile int state_change;
benkatz 20:bf9ea5125d52 65
Rushu 51:b0a3ef66ea3d 66 //================HJB=============added==========
Rushu 51:b0a3ef66ea3d 67 using namespace FastMath;
Rushu 51:b0a3ef66ea3d 68 volatile float Init_pos = 0;
Rushu 51:b0a3ef66ea3d 69 volatile float Pmag = 1;
Rushu 51:b0a3ef66ea3d 70 volatile float Tperiod = 25;
Rushu 51:b0a3ef66ea3d 71 volatile float p_des_HJB=0;
Rushu 51:b0a3ef66ea3d 72 volatile float v_des_HJB=0;
Rushu 51:b0a3ef66ea3d 73
Rushu 51:b0a3ef66ea3d 74 //===================HJB end===================
Rushu 51:b0a3ef66ea3d 75
benkatz 26:2b865c00d7e9 76 void onMsgReceived() {
benkatz 26:2b865c00d7e9 77 //msgAvailable = true;
benkatz 47:e1196a851f76 78 printf("%df\n\r", rxMsg.id);
benkatz 26:2b865c00d7e9 79 can.read(rxMsg);
benkatz 28:8c7e29f719c5 80 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 81 controller.timeout = 0;
benkatz 28:8c7e29f719c5 82 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))){
benkatz 28:8c7e29f719c5 83 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 84 state_change = 1;
benkatz 28:8c7e29f719c5 85 }
benkatz 28:8c7e29f719c5 86 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))){
benkatz 28:8c7e29f719c5 87 state = REST_MODE;
benkatz 28:8c7e29f719c5 88 state_change = 1;
benkatz 37:c0f352d6e8e3 89 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 90 }
benkatz 28:8c7e29f719c5 91 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))){
benkatz 28:8c7e29f719c5 92 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 93 }
benkatz 28:8c7e29f719c5 94 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 95 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 96 }
benkatz 37:c0f352d6e8e3 97 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 98 can.write(txMsg);
benkatz 28:8c7e29f719c5 99 }
benkatz 26:2b865c00d7e9 100
benkatz 26:2b865c00d7e9 101 }
benkatz 26:2b865c00d7e9 102
benkatz 23:2adf23ee0305 103 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 104 drv.disable_gd();
benkatz 47:e1196a851f76 105 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 106 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 107 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 108 wait_us(10);
benkatz 26:2b865c00d7e9 109 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 110 wait_us(10);
benkatz 23:2adf23ee0305 111 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 112 wait_us(10);
benkatz 23:2adf23ee0305 113 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 114 wait_us(10);
benkatz 23:2adf23ee0305 115 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 116 wait_us(10);
benkatz 37:c0f352d6e8e3 117 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 118 wait_us(10);
benkatz 23:2adf23ee0305 119 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 120 wait_us(10);
benkatz 23:2adf23ee0305 121 state_change = 0;
benkatz 37:c0f352d6e8e3 122 gpio.led->write(0);
benkatz 23:2adf23ee0305 123 }
benkatz 24:58c2d7571207 124
benkatz 24:58c2d7571207 125 void enter_setup_state(void){
benkatz 24:58c2d7571207 126 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 127 wait_us(10);
benkatz 28:8c7e29f719c5 128 printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 129 wait_us(10);
benkatz 28:8c7e29f719c5 130 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 131 wait_us(10);
benkatz 28:8c7e29f719c5 132 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 133 wait_us(10);
benkatz 28:8c7e29f719c5 134 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 135 wait_us(10);
benkatz 28:8c7e29f719c5 136 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
benkatz 44:8040fa2fcb0d 137 wait_us(10);
benkatz 28:8c7e29f719c5 138 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 139 wait_us(10);
benkatz 24:58c2d7571207 140 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 141 wait_us(10);
benkatz 24:58c2d7571207 142 state_change = 0;
benkatz 24:58c2d7571207 143 }
benkatz 22:60276ba87ac6 144
benkatz 23:2adf23ee0305 145 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 146 drv.enable_gd();
benkatz 47:e1196a851f76 147 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 148 controller.ovp_flag = 0;
Rushu 51:b0a3ef66ea3d 149 controller.init_flag = 0; //HJB added. The flag of fastest way to go to the desire position, state change or CAN time off.
Jasper_gu 56:d34e4540ec12 150 reset_foc(&controller); // Resets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 151 wait(.001);
benkatz 23:2adf23ee0305 152 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 153 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 154 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 155 state_change = 0;
benkatz 28:8c7e29f719c5 156 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 157 }
benkatz 22:60276ba87ac6 158
benkatz 23:2adf23ee0305 159 void calibrate(void){
benkatz 44:8040fa2fcb0d 160 drv.enable_gd();
benkatz 47:e1196a851f76 161 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 162 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 163 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 164 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 165 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 166 wait(.2);
benkatz 23:2adf23ee0305 167 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 168 drv.disable_gd();
benkatz 47:e1196a851f76 169 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 170 state_change = 0;
benkatz 23:2adf23ee0305 171 }
benkatz 23:2adf23ee0305 172
benkatz 23:2adf23ee0305 173 void print_encoder(void){
Rushu 51:b0a3ef66ea3d 174 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition()); //spi.GetMechPosition
Jasper_gu 56:d34e4540ec12 175 // printf("%d %d %d \n\r",controller.adc1_raw,controller.adc2_raw,controller.adc3_raw);
benkatz 48:74a40481740c 176 //printf("%d\n\r", spi.GetRawPosition());
Jasper_gu 56:d34e4540ec12 177 // can.write(txMsg);
benkatz 47:e1196a851f76 178 wait(.001);
benkatz 22:60276ba87ac6 179 }
benkatz 20:bf9ea5125d52 180
benkatz 23:2adf23ee0305 181 /// Current Sampling Interrupt ///
Rushu 51:b0a3ef66ea3d 182 /// This runs at 40 kHz, 25us, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 183 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 184 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 185
benkatz 23:2adf23ee0305 186 ///Sample current always ///
benkatz 25:f5741040c4bb 187 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 188 //volatile int delay;
benkatz 20:bf9ea5125d52 189 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 190
benkatz 47:e1196a851f76 191 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 192 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 193 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 194 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 195 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 196 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 197 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 198 controller.dtheta_elec = spi.GetElecVelocity();
Rushu 51:b0a3ef66ea3d 199 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //HJB find, new ADC? V_SCALE 0.012890625f
benkatz 23:2adf23ee0305 200 ///
benkatz 20:bf9ea5125d52 201
benkatz 23:2adf23ee0305 202 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 203 switch(state){
benkatz 37:c0f352d6e8e3 204 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 205 if(state_change){
benkatz 23:2adf23ee0305 206 enter_menu_state();
benkatz 23:2adf23ee0305 207 }
benkatz 23:2adf23ee0305 208 break;
benkatz 22:60276ba87ac6 209
benkatz 23:2adf23ee0305 210 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 211 if(state_change){
benkatz 23:2adf23ee0305 212 calibrate();
benkatz 23:2adf23ee0305 213 }
benkatz 23:2adf23ee0305 214 break;
benkatz 23:2adf23ee0305 215
benkatz 26:2b865c00d7e9 216 case MOTOR_MODE: // Run torque control
Jasper_gu 56:d34e4540ec12 217 if(state_change){//Initiate Torque control parameters
benkatz 25:f5741040c4bb 218 enter_torque_mode();
benkatz 28:8c7e29f719c5 219 count = 0;
Rushu 51:b0a3ef66ea3d 220 //===============================================HJB added====================================================//
Rushu 51:b0a3ef66ea3d 221 Init_pos = controller.theta_mech;
Rushu 51:b0a3ef66ea3d 222 // printf(" Mechanical Angle: %f \n\r", Init_pos); //spi.GetMechPosition
benkatz 25:f5741040c4bb 223 }
benkatz 28:8c7e29f719c5 224 else{
benkatz 37:c0f352d6e8e3 225 /*
benkatz 37:c0f352d6e8e3 226 if(controller.v_bus>28.0f){ //Turn of gate drive if bus voltage is too high, to prevent FETsplosion if the bus is cut during regen
benkatz 47:e1196a851f76 227 gpio.
benkatz 47:e1196a851f76 228 ->write(0);
benkatz 37:c0f352d6e8e3 229 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 230 state = REST_MODE;
benkatz 37:c0f352d6e8e3 231 state_change = 1;
benkatz 37:c0f352d6e8e3 232 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 233 }
benkatz 37:c0f352d6e8e3 234 */
Rushu 51:b0a3ef66ea3d 235 //========================================HJB added for trajectory input=========================================//
Rushu 51:b0a3ef66ea3d 236 Pmag = controller.PmagIn;
Rushu 51:b0a3ef66ea3d 237 Tperiod = controller.TperiodIn;
Rushu 51:b0a3ef66ea3d 238 p_des_HJB = Init_pos + Pmag*FastSin(2*PI*count/(Tperiod*40000));//Pmag*FastSin(2*PI*count/(Tperiod*40000));
Rushu 51:b0a3ef66ea3d 239 v_des_HJB = 2*PI*Pmag*FastCos(2*PI*count/(Tperiod*40000))/Tperiod;
Rushu 52:91a42bd0fe2e 240 // controller.p_des = p_des_HJB;//uint_to_float(p_des_HJB, -15.f, 15.f, 16);
Rushu 52:91a42bd0fe2e 241 // controller.v_des = v_des_HJB;
Rushu 51:b0a3ef66ea3d 242 if(count>=(Tperiod*40000))
Rushu 51:b0a3ef66ea3d 243 {count = 0;}
Rushu 51:b0a3ef66ea3d 244
Rushu 51:b0a3ef66ea3d 245 //========================================HJB end=========================================//
benkatz 28:8c7e29f719c5 246 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 247 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 248 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 249 controller.kp = 0;
benkatz 37:c0f352d6e8e3 250 controller.kd = 0;
benkatz 37:c0f352d6e8e3 251 controller.t_ff = 0;
Rushu 51:b0a3ef66ea3d 252 //controller.init_flag = 0; //HJB added. The flag of fastest way to go to the desire position, state change or CAN time off.
Rushu 51:b0a3ef66ea3d 253 controller.v_des = 0; //HJB added
benkatz 28:8c7e29f719c5 254 }
Rushu 51:b0a3ef66ea3d 255
Jasper_gu 56:d34e4540ec12 256 torque_control(&controller);//Calculate the desire torque for current loop
benkatz 49:83d83040ea51 257 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 258
benkatz 49:83d83040ea51 259 controller.timeout++;
benkatz 49:83d83040ea51 260 count++;
benkatz 37:c0f352d6e8e3 261
benkatz 37:c0f352d6e8e3 262 }
benkatz 23:2adf23ee0305 263 break;
benkatz 23:2adf23ee0305 264 case SETUP_MODE:
benkatz 23:2adf23ee0305 265 if(state_change){
benkatz 24:58c2d7571207 266 enter_setup_state();
benkatz 23:2adf23ee0305 267 }
benkatz 23:2adf23ee0305 268 break;
benkatz 23:2adf23ee0305 269 case ENCODER_MODE:
benkatz 23:2adf23ee0305 270 print_encoder();
benkatz 23:2adf23ee0305 271 break;
benkatz 37:c0f352d6e8e3 272 }
benkatz 2:8724412ad628 273 }
benkatz 23:2adf23ee0305 274 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 275 }
benkatz 0:4e1c4df6aabd 276
benkatz 25:f5741040c4bb 277
benkatz 24:58c2d7571207 278 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 279 char cmd_id = 0;
benkatz 25:f5741040c4bb 280 char char_count = 0;
benkatz 24:58c2d7571207 281
benkatz 25:f5741040c4bb 282 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 283 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 284 void serial_interrupt(void){
benkatz 23:2adf23ee0305 285 while(pc.readable()){
benkatz 23:2adf23ee0305 286 char c = pc.getc();
Jasper_gu 56:d34e4540ec12 287 if(c == 27){ //return to default mode
Rushu 51:b0a3ef66ea3d 288 //===============================================HJB added====================================================//
Rushu 51:b0a3ef66ea3d 289 wait_us(100); //HJB add, to clear fault
Rushu 51:b0a3ef66ea3d 290 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1); //HJB add, to clear fault
Rushu 51:b0a3ef66ea3d 291 Init_pos = controller.theta_mech; //Input the local mechanical theta
Rushu 51:b0a3ef66ea3d 292 //===============================================HJB ended====================================================//
benkatz 25:f5741040c4bb 293 state = REST_MODE;
benkatz 25:f5741040c4bb 294 state_change = 1;
benkatz 25:f5741040c4bb 295 char_count = 0;
benkatz 25:f5741040c4bb 296 cmd_id = 0;
benkatz 37:c0f352d6e8e3 297 gpio.led->write(0);;
benkatz 25:f5741040c4bb 298 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 299 }
benkatz 24:58c2d7571207 300 if(state == REST_MODE){
benkatz 23:2adf23ee0305 301 switch (c){
benkatz 23:2adf23ee0305 302 case 'c':
benkatz 23:2adf23ee0305 303 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 304 state_change = 1;
benkatz 23:2adf23ee0305 305 break;
benkatz 26:2b865c00d7e9 306 case 'm':
benkatz 26:2b865c00d7e9 307 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 308 state_change = 1;
benkatz 23:2adf23ee0305 309 break;
benkatz 23:2adf23ee0305 310 case 'e':
benkatz 23:2adf23ee0305 311 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 312 state_change = 1;
benkatz 23:2adf23ee0305 313 break;
Jasper_gu 56:d34e4540ec12 314 case 's'://
benkatz 23:2adf23ee0305 315 state = SETUP_MODE;
benkatz 23:2adf23ee0305 316 state_change = 1;
benkatz 23:2adf23ee0305 317 break;
Jasper_gu 56:d34e4540ec12 318 case 'z'://set zero position
benkatz 37:c0f352d6e8e3 319 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 320 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 321 wait_us(20);
benkatz 37:c0f352d6e8e3 322 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 323 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 324 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 325 prefs.close();
benkatz 37:c0f352d6e8e3 326 prefs.load();
benkatz 37:c0f352d6e8e3 327 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 328 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 329
benkatz 37:c0f352d6e8e3 330 break;
benkatz 37:c0f352d6e8e3 331 }
benkatz 37:c0f352d6e8e3 332
benkatz 24:58c2d7571207 333 }
benkatz 24:58c2d7571207 334 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 335 if(c == 13){
benkatz 24:58c2d7571207 336 switch (cmd_id){
benkatz 24:58c2d7571207 337 case 'b':
benkatz 24:58c2d7571207 338 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 339 break;
benkatz 24:58c2d7571207 340 case 'i':
benkatz 24:58c2d7571207 341 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 342 break;
benkatz 26:2b865c00d7e9 343 case 'm':
benkatz 26:2b865c00d7e9 344 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 345 break;
benkatz 24:58c2d7571207 346 case 'l':
benkatz 24:58c2d7571207 347 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 24:58c2d7571207 348 break;
benkatz 28:8c7e29f719c5 349 case 't':
Rushu 51:b0a3ef66ea3d 350 CAN_TIMEOUT = atoi(cmd_val); //100000*25us= 2.5s
benkatz 28:8c7e29f719c5 351 break;
benkatz 24:58c2d7571207 352 default:
benkatz 24:58c2d7571207 353 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 354 break;
benkatz 24:58c2d7571207 355 }
benkatz 24:58c2d7571207 356
benkatz 24:58c2d7571207 357 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 358 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 359 prefs.close();
benkatz 24:58c2d7571207 360 prefs.load();
benkatz 24:58c2d7571207 361 state_change = 1;
benkatz 24:58c2d7571207 362 char_count = 0;
benkatz 24:58c2d7571207 363 cmd_id = 0;
benkatz 24:58c2d7571207 364 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 365 }
benkatz 24:58c2d7571207 366 else{
benkatz 24:58c2d7571207 367 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 368 else{
benkatz 24:58c2d7571207 369 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 370
benkatz 24:58c2d7571207 371 }
benkatz 24:58c2d7571207 372 pc.putc(c);
benkatz 24:58c2d7571207 373 char_count++;
benkatz 23:2adf23ee0305 374 }
benkatz 23:2adf23ee0305 375 }
benkatz 24:58c2d7571207 376 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 377 switch (c){
benkatz 24:58c2d7571207 378 case 27:
benkatz 24:58c2d7571207 379 state = REST_MODE;
benkatz 24:58c2d7571207 380 state_change = 1;
benkatz 24:58c2d7571207 381 break;
benkatz 24:58c2d7571207 382 }
benkatz 24:58c2d7571207 383 }
benkatz 49:83d83040ea51 384 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 385 switch (c){
benkatz 49:83d83040ea51 386 case 'd':
benkatz 49:83d83040ea51 387 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 388 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 389 }
benkatz 49:83d83040ea51 390 }
benkatz 24:58c2d7571207 391
benkatz 24:58c2d7571207 392 }
benkatz 22:60276ba87ac6 393 }
benkatz 0:4e1c4df6aabd 394
benkatz 0:4e1c4df6aabd 395 int main() {
Rushu 51:b0a3ef66ea3d 396 wait(1);
benkatz 20:bf9ea5125d52 397 controller.v_bus = V_BUS;
Rushu 51:b0a3ef66ea3d 398 controller.PmagIn = 1;
Rushu 51:b0a3ef66ea3d 399 controller.TperiodIn = 10;
benkatz 22:60276ba87ac6 400 controller.mode = 0;
benkatz 23:2adf23ee0305 401 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 402 wait(.1);
benkatz 44:8040fa2fcb0d 403
Rushu 51:b0a3ef66ea3d 404 gpio.enable->write(1); //enable!
benkatz 44:8040fa2fcb0d 405 wait_us(100);
Jasper_gu 56:d34e4540ec12 406 drv.calibrate(); //calibrete and initialize the Drv8323 Chip
benkatz 45:26801179208e 407 wait_us(100);
benkatz 44:8040fa2fcb0d 408 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 409 wait_us(100);
Rushu 51:b0a3ef66ea3d 410 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0); //SEN_LVL_1_0 0x3
benkatz 44:8040fa2fcb0d 411 wait_us(100);
benkatz 49:83d83040ea51 412 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
Rushu 51:b0a3ef66ea3d 413
benkatz 45:26801179208e 414 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 415 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
Rushu 51:b0a3ef66ea3d 416 drv.disable_gd(); //all mosfets in the Hi-z state
benkatz 20:bf9ea5125d52 417
benkatz 44:8040fa2fcb0d 418
benkatz 44:8040fa2fcb0d 419
benkatz 44:8040fa2fcb0d 420
benkatz 9:d7eb815cb057 421 wait(.1);
benkatz 44:8040fa2fcb0d 422 /*
benkatz 26:2b865c00d7e9 423 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 424 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 425 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 426 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 427 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 428 */
Jasper_gu 56:d34e4540ec12 429 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 430 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 431 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 432 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 433
benkatz 20:bf9ea5125d52 434 wait(.1);
benkatz 37:c0f352d6e8e3 435 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 436
benkatz 37:c0f352d6e8e3 437 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 438 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 439
benkatz 28:8c7e29f719c5 440 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 441 txMsg.len = 6;
benkatz 26:2b865c00d7e9 442 rxMsg.len = 8;
benkatz 43:dfb72608639c 443 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 444
benkatz 48:74a40481740c 445 // If preferences haven't been user configured yet, set defaults
benkatz 25:f5741040c4bb 446 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 447 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 448 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 449 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 48:74a40481740c 450 if(isnan(TORQUE_LIMIT) || TORQUE_LIMIT ==-1){TORQUE_LIMIT=18;}
benkatz 48:74a40481740c 451 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 452 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 453 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
benkatz 25:f5741040c4bb 454 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 455 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 456 int lut[128] = {0};
benkatz 23:2adf23ee0305 457 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 458 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 459 init_controller_params(&controller);
benkatz 45:26801179208e 460
Rushu 51:b0a3ef66ea3d 461 pc.baud(115200); // set serial baud rate
benkatz 20:bf9ea5125d52 462 wait(.01);
Rushu 51:b0a3ef66ea3d 463 pc.printf("\n\r\n\r High-integated Joint tobe Better\n\r\n\r");
benkatz 20:bf9ea5125d52 464 wait(.01);
benkatz 23:2adf23ee0305 465 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 466 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 467 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 468 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 469 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 470 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 471
benkatz 44:8040fa2fcb0d 472
benkatz 44:8040fa2fcb0d 473
benkatz 44:8040fa2fcb0d 474
benkatz 47:e1196a851f76 475 //printf(" %d\n\r", drv.read_register(DCR));
benkatz 47:e1196a851f76 476 //wait_us(100);
benkatz 47:e1196a851f76 477 //printf(" %d\n\r", drv.read_register(CSACR));
benkatz 47:e1196a851f76 478 //wait_us(100);
benkatz 47:e1196a851f76 479 //printf(" %d\n\r", drv.read_register(OCPCR));
benkatz 47:e1196a851f76 480 //drv.disable_gd();
benkatz 44:8040fa2fcb0d 481
benkatz 23:2adf23ee0305 482 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 483
benkatz 23:2adf23ee0305 484 state_change = 1;
benkatz 50:ba72df25d10f 485
benkatz 20:bf9ea5125d52 486
Jasper_gu 56:d34e4540ec12 487 // int counter = 0;
Rushu 51:b0a3ef66ea3d 488 //===============================================HJB added====================================================//
Rushu 51:b0a3ef66ea3d 489 wait_us(100); //HJB add, to clear fault
Rushu 51:b0a3ef66ea3d 490 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1); //HJB add, to clear fault
Rushu 51:b0a3ef66ea3d 491 //Init_pos = controller.theta_mech; //Input the local mechanical theta
Rushu 51:b0a3ef66ea3d 492 //===============================================HJB ended====================================================//
benkatz 0:4e1c4df6aabd 493 while(1) {
benkatz 47:e1196a851f76 494 drv.print_faults();
Jasper_gu 56:d34e4540ec12 495 wait(.1);
benkatz 48:74a40481740c 496 //printf("%.4f\n\r", controller.v_bus);
Rushu 51:b0a3ef66ea3d 497
benkatz 47:e1196a851f76 498 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 499 {
Rushu 52:91a42bd0fe2e 500 //printf(" %.3f %.3f %.3f \n\r", controller.p_des,controller.p_des-controller.theta_mech,controller.v_des-controller.dtheta_mech); //spi.GetMechPosition
Jasper_gu 56:d34e4540ec12 501 printf(" %.3f %d %d \n\r", controller.v_bus,controller.adc1_raw,controller.adc2_raw); //spi.GetMechPosition
Rushu 51:b0a3ef66ea3d 502 // printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 503 //printf("%.3f %.3f %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.dtheta_elec);
Rushu 51:b0a3ef66ea3d 504 // printf("%.3f\n\r", controller.dtheta_mech);
Rushu 51:b0a3ef66ea3d 505 wait(.002);
Rushu 51:b0a3ef66ea3d 506 }
Jasper_gu 56:d34e4540ec12 507 // spi.Sample(DT);
Jasper_gu 56:d34e4540ec12 508 // print_encoder();
Jasper_gu 56:d34e4540ec12 509 wait(0.01);
Jasper_gu 56:d34e4540ec12 510 // printf(" %d\n\r", drv.read_register(DCR));
Rushu 51:b0a3ef66ea3d 511 /*
Rushu 51:b0a3ef66ea3d 512 if(state == MOTOR_MODE)
Rushu 51:b0a3ef66ea3d 513 {
Rushu 51:b0a3ef66ea3d 514 //================HJB added=======================================================================================
Rushu 51:b0a3ef66ea3d 515 printf("\n\Temperature Observer\n\r");
Rushu 51:b0a3ef66ea3d 516 printf("%f %f \n\r\n\r", observer->temperature , observer->resistance);
Rushu 51:b0a3ef66ea3d 517 //====HJB added end=================================================================================================
Rushu 51:b0a3ef66ea3d 518 //========HJB added==================================================================================
Rushu 51:b0a3ef66ea3d 519 float current = sqrt(pow(controller->i_d, 2) + pow(controller->i_q, 2));
Rushu 51:b0a3ef66ea3d 520 printf("\n\rCurrent\n\r");
Rushu 51:b0a3ef66ea3d 521 printf("%f %f %f\n\r\n\r", controller->i_d_filt, controller->i_q_filt, current);
Rushu 51:b0a3ef66ea3d 522 //====HJB added end======================================================================================
Rushu 51:b0a3ef66ea3d 523 //================HJB added=======================================================================================
Rushu 51:b0a3ef66ea3d 524 printf("\n\Id Iq refrence input Observer\n\r");
Rushu 51:b0a3ef66ea3d 525 printf("%f %f %f\n\r\n\r", controller->i_d_ref , controller->i_q_ref, controller->v_bus);
Rushu 51:b0a3ef66ea3d 526 //====HJB added end=================================================================================================
Rushu 51:b0a3ef66ea3d 527 wait(.002);
benkatz 47:e1196a851f76 528 }
benkatz 50:ba72df25d10f 529 */
benkatz 0:4e1c4df6aabd 530 }
benkatz 0:4e1c4df6aabd 531 }