Tony Stark / BLDC_V2_JYB

motor control code by JYB

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@47:f4ecf3e0576a, 2020-05-13 (annotated)

Committer:
Wooden
Date:
Wed May 13 09:53:27 2020 +0000
Revision:
47:f4ecf3e0576a
Parent:
45:aadebe074af6
Child:
48:e9f6441bacf5
bldc firmware based on hobbyking cheetah compact

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 22:60276ba87ac6 1 /// high-bandwidth 3-phase motor control, for robots
benkatz 22:60276ba87ac6 2 /// Written by benkatz, with much inspiration from bayleyw, nkirkby, scolton, 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 22:60276ba87ac6 5
benkatz 23:2adf23ee0305 6 #define REST_MODE 0
benkatz 23:2adf23ee0305 7 #define CALIBRATION_MODE 1
benkatz 26:2b865c00d7e9 8 #define MOTOR_MODE 2
benkatz 23:2adf23ee0305 9 #define SETUP_MODE 4
benkatz 23:2adf23ee0305 10 #define ENCODER_MODE 5
Wooden 47:f4ecf3e0576a 11 #define TEST_MODE 6 // this mode is used to test motor, which allow user control motor's torque directly on the GUI software
benkatz 22:60276ba87ac6 12
benkatz 44:efcde0af8390 13 #define VERSION_NUM "1.6"
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"
Wooden 47:f4ecf3e0576a 34 #include <string>
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 20:bf9ea5125d52 40 COMStruct com;
benkatz 37:c0f352d6e8e3 41 ObserverStruct observer;
benkatz 9:d7eb815cb057 42
Wooden 47:f4ecf3e0576a 43 // Serial pc(PA_2, PA_3);
Wooden 47:f4ecf3e0576a 44 Serial pc(PC_6, PC_7);
Wooden 47:f4ecf3e0576a 45
Wooden 47:f4ecf3e0576a 46 DataPackage datapackage;
benkatz 17:3c5df2982199 47
benkatz 44:efcde0af8390 48 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 49 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 50 CANMessage txMsg;
benkatz 23:2adf23ee0305 51
Wooden 47:f4ecf3e0576a 52 DigitalOut led_debug(PB_1);
benkatz 8:10ae7bc88d6e 53
benkatz 26:2b865c00d7e9 54 PositionSensorAM5147 spi(16384, 0.0, NPP);
benkatz 20:bf9ea5125d52 55
Wooden 47:f4ecf3e0576a 56 //volatile int count = 0;
benkatz 23:2adf23ee0305 57 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 58 volatile int state_change;
benkatz 20:bf9ea5125d52 59
Wooden 47:f4ecf3e0576a 60 volatile float test_tff,test_kp,test_kd,test_pos_des,test_vel_des;
Wooden 47:f4ecf3e0576a 61 volatile float test_ia,test_ib,test_ic,test_id,test_iq;
Wooden 47:f4ecf3e0576a 62 volatile float test_mech_angle,test_mech_speed;
Wooden 47:f4ecf3e0576a 63
benkatz 26:2b865c00d7e9 64 void onMsgReceived() {
benkatz 26:2b865c00d7e9 65 //msgAvailable = true;
Wooden 47:f4ecf3e0576a 66
benkatz 26:2b865c00d7e9 67 can.read(rxMsg);
benkatz 28:8c7e29f719c5 68 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 69 controller.timeout = 0;
benkatz 28:8c7e29f719c5 70 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 71 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 72 state_change = 1;
benkatz 28:8c7e29f719c5 73 }
benkatz 28:8c7e29f719c5 74 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 75 state = REST_MODE;
benkatz 28:8c7e29f719c5 76 state_change = 1;
Wooden 47:f4ecf3e0576a 77 gpio.led->write(0);
benkatz 28:8c7e29f719c5 78 }
benkatz 28:8c7e29f719c5 79 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 80 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 81 }
benkatz 28:8c7e29f719c5 82 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 83 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 84 }
benkatz 37:c0f352d6e8e3 85 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 86 can.write(txMsg);
benkatz 28:8c7e29f719c5 87 }
benkatz 26:2b865c00d7e9 88
benkatz 26:2b865c00d7e9 89 }
benkatz 26:2b865c00d7e9 90
benkatz 23:2adf23ee0305 91 void enter_menu_state(void){
Wooden 47:f4ecf3e0576a 92 pc.printf("\n\r\n\r\n\r");
Wooden 47:f4ecf3e0576a 93 pc.printf(" Commands:\n\r");
benkatz 44:efcde0af8390 94 wait_us(10);
Wooden 47:f4ecf3e0576a 95 pc.printf(" m - Motor Mode\n\r");
benkatz 44:efcde0af8390 96 wait_us(10);
Wooden 47:f4ecf3e0576a 97 pc.printf(" c - Calibrate Encoder\n\r");
benkatz 44:efcde0af8390 98 wait_us(10);
Wooden 47:f4ecf3e0576a 99 pc.printf(" s - Setup\n\r");
benkatz 44:efcde0af8390 100 wait_us(10);
Wooden 47:f4ecf3e0576a 101 pc.printf(" e - Display Encoder\n\r");
benkatz 44:efcde0af8390 102 wait_us(10);
Wooden 47:f4ecf3e0576a 103 pc.printf(" z - Set Zero Position\n\r");
benkatz 44:efcde0af8390 104 wait_us(10);
Wooden 47:f4ecf3e0576a 105 pc.printf(" t - Motor Test Mode\n\r");
Wooden 47:f4ecf3e0576a 106 wait_us(10);
Wooden 47:f4ecf3e0576a 107 pc.printf(" esc - Exit to Menu\n\r");
benkatz 44:efcde0af8390 108 wait_us(10);
benkatz 23:2adf23ee0305 109 state_change = 0;
benkatz 25:f5741040c4bb 110 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 111 gpio.led->write(0);
benkatz 23:2adf23ee0305 112 }
benkatz 24:58c2d7571207 113
benkatz 24:58c2d7571207 114 void enter_setup_state(void){
Wooden 47:f4ecf3e0576a 115 pc.printf("\n\r\n\r Configuration Options \n\r\n\n");
Wooden 47:f4ecf3e0576a 116 wait_us(10);
Wooden 47:f4ecf3e0576a 117 pc.printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:efcde0af8390 118 wait_us(10);
Wooden 47:f4ecf3e0576a 119 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
Wooden 47:f4ecf3e0576a 120 wait_us(10);
Wooden 47:f4ecf3e0576a 121 pc.printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:efcde0af8390 122 wait_us(10);
Wooden 47:f4ecf3e0576a 123 pc.printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
Wooden 47:f4ecf3e0576a 124 wait_us(10);
Wooden 47:f4ecf3e0576a 125 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
benkatz 44:efcde0af8390 126 wait_us(10);
Wooden 47:f4ecf3e0576a 127 pc.printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
Wooden 47:f4ecf3e0576a 128 wait_us(10);
Wooden 47:f4ecf3e0576a 129 pc.printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:efcde0af8390 130 wait_us(10);
Wooden 47:f4ecf3e0576a 131 state_change = 0;
Wooden 47:f4ecf3e0576a 132 }
Wooden 47:f4ecf3e0576a 133
Wooden 47:f4ecf3e0576a 134 void enter_test_state(void){
Wooden 47:f4ecf3e0576a 135 pc.printf("\n\r\n\r Control Options \n\r\n\n");
benkatz 44:efcde0af8390 136 wait_us(10);
Wooden 47:f4ecf3e0576a 137 pc.printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:efcde0af8390 138 wait_us(10);
Wooden 47:f4ecf3e0576a 139 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "t", "Torque", "-18", "18", controller.t_ff);
Wooden 47:f4ecf3e0576a 140 wait_us(10);
Wooden 47:f4ecf3e0576a 141 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "k", "Stiffness", "0", "500", controller.kp);
benkatz 44:efcde0af8390 142 wait_us(10);
Wooden 47:f4ecf3e0576a 143 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "d", "Damping", "0", "5.0", controller.kd);
Wooden 47:f4ecf3e0576a 144 wait_us(10);
Wooden 47:f4ecf3e0576a 145 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "p", "Position", "-12.5", "12.5", controller.p_des);
Wooden 47:f4ecf3e0576a 146 wait_us(10);
Wooden 47:f4ecf3e0576a 147 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "v", "Velocity", "-45", "45", controller.v_des);
benkatz 44:efcde0af8390 148 wait_us(10);
benkatz 24:58c2d7571207 149 state_change = 0;
benkatz 24:58c2d7571207 150 }
benkatz 22:60276ba87ac6 151
benkatz 23:2adf23ee0305 152 void enter_torque_mode(void){
benkatz 37:c0f352d6e8e3 153 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 154 gpio.enable->write(1); // Enable gate drive
benkatz 28:8c7e29f719c5 155 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 156 wait(.001);
benkatz 23:2adf23ee0305 157 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 158 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 159 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 160 state_change = 0;
Wooden 47:f4ecf3e0576a 161 pc.printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 162 }
benkatz 22:60276ba87ac6 163
benkatz 23:2adf23ee0305 164 void calibrate(void){
benkatz 25:f5741040c4bb 165 gpio.enable->write(1); // Enable gate drive
benkatz 37:c0f352d6e8e3 166 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 167 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 168 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 169 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 170 wait(.2);
benkatz 25:f5741040c4bb 171 gpio.enable->write(0); // Turn off gate drive
Wooden 47:f4ecf3e0576a 172 pc.printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 23:2adf23ee0305 173 state_change = 0;
benkatz 23:2adf23ee0305 174 }
benkatz 23:2adf23ee0305 175
benkatz 23:2adf23ee0305 176 void print_encoder(void){
Wooden 47:f4ecf3e0576a 177 pc.printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 23:2adf23ee0305 178 wait(.05);
benkatz 22:60276ba87ac6 179 }
benkatz 20:bf9ea5125d52 180
benkatz 23:2adf23ee0305 181 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 182 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
Wooden 47:f4ecf3e0576a 183 int LLLL = 0;
Wooden 47:f4ecf3e0576a 184 bool led_flag = 0;
Wooden 47:f4ecf3e0576a 185 bool flag_test_first = true;
Wooden 47:f4ecf3e0576a 186
benkatz 2:8724412ad628 187 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 188 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 189
benkatz 23:2adf23ee0305 190 ///Sample current always ///
benkatz 25:f5741040c4bb 191 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 192 //volatile int delay;
benkatz 20:bf9ea5125d52 193 //for (delay = 0; delay < 55; delay++);
benkatz 37:c0f352d6e8e3 194 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 195 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 196 controller.adc3_raw = ADC3->DR;
benkatz 45:aadebe074af6 197 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 198 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 199 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 200 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 201 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 37:c0f352d6e8e3 202 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE;
benkatz 23:2adf23ee0305 203 ///
Wooden 47:f4ecf3e0576a 204 LLLL ++;
Wooden 47:f4ecf3e0576a 205 if(LLLL==10000){
Wooden 47:f4ecf3e0576a 206 LLLL=0;
Wooden 47:f4ecf3e0576a 207 led_flag = 1-led_flag;
Wooden 47:f4ecf3e0576a 208 led_debug=(led_flag);
Wooden 47:f4ecf3e0576a 209 // pc.printf("in interrupt\n\r");
Wooden 47:f4ecf3e0576a 210 }
benkatz 20:bf9ea5125d52 211
benkatz 23:2adf23ee0305 212 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 213 switch(state){
benkatz 37:c0f352d6e8e3 214 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 215 if(state_change){
benkatz 23:2adf23ee0305 216 enter_menu_state();
Wooden 47:f4ecf3e0576a 217 flag_test_first = true;
benkatz 23:2adf23ee0305 218 }
benkatz 23:2adf23ee0305 219 break;
benkatz 22:60276ba87ac6 220
benkatz 23:2adf23ee0305 221 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 222 if(state_change){
benkatz 23:2adf23ee0305 223 calibrate();
benkatz 23:2adf23ee0305 224 }
benkatz 23:2adf23ee0305 225 break;
benkatz 23:2adf23ee0305 226
benkatz 26:2b865c00d7e9 227 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 228 if(state_change){
benkatz 25:f5741040c4bb 229 enter_torque_mode();
Wooden 47:f4ecf3e0576a 230 // count = 0;
benkatz 25:f5741040c4bb 231 }
benkatz 28:8c7e29f719c5 232 else{
benkatz 37:c0f352d6e8e3 233 /*
benkatz 37:c0f352d6e8e3 234 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 37:c0f352d6e8e3 235 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 236 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 237 state = REST_MODE;
benkatz 37:c0f352d6e8e3 238 state_change = 1;
benkatz 37:c0f352d6e8e3 239 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 240 }
benkatz 37:c0f352d6e8e3 241 */
Wooden 47:f4ecf3e0576a 242 // controller.t_ff = 1;
benkatz 40:cd7e837b2b93 243 torque_control(&controller);
benkatz 28:8c7e29f719c5 244 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 245 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 246 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 247 controller.kp = 0;
benkatz 37:c0f352d6e8e3 248 controller.kd = 0;
benkatz 37:c0f352d6e8e3 249 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 250 }
benkatz 37:c0f352d6e8e3 251 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 28:8c7e29f719c5 252 controller.timeout += 1;
benkatz 38:67e4e1453a4b 253
benkatz 39:3580a907ef93 254 /*
benkatz 37:c0f352d6e8e3 255 count++;
benkatz 40:cd7e837b2b93 256 if(count == 4000){
benkatz 40:cd7e837b2b93 257 printf("%.4f\n\r", controller.dtheta_mech);
benkatz 32:ccac5da77844 258 count = 0;
benkatz 23:2adf23ee0305 259 }
benkatz 39:3580a907ef93 260 */
benkatz 38:67e4e1453a4b 261
benkatz 37:c0f352d6e8e3 262
benkatz 37:c0f352d6e8e3 263 }
benkatz 23:2adf23ee0305 264 break;
benkatz 23:2adf23ee0305 265 case SETUP_MODE:
benkatz 23:2adf23ee0305 266 if(state_change){
benkatz 24:58c2d7571207 267 enter_setup_state();
benkatz 23:2adf23ee0305 268 }
benkatz 23:2adf23ee0305 269 break;
Wooden 47:f4ecf3e0576a 270
Wooden 47:f4ecf3e0576a 271 case TEST_MODE:
Wooden 47:f4ecf3e0576a 272 if(flag_test_first){
Wooden 47:f4ecf3e0576a 273 // enter_test_state();
Wooden 47:f4ecf3e0576a 274 // enter_torque_mode();
Wooden 47:f4ecf3e0576a 275 controller.ovp_flag = 0;
Wooden 47:f4ecf3e0576a 276 gpio.enable->write(1); // Enable gate drive
Wooden 47:f4ecf3e0576a 277 reset_foc(&controller); // Tesets integrators, and other control loop parameters
Wooden 47:f4ecf3e0576a 278 wait(.001);
Wooden 47:f4ecf3e0576a 279 controller.i_d_ref = 0;
Wooden 47:f4ecf3e0576a 280 controller.i_q_ref = 0; // Current Setpoints
Wooden 47:f4ecf3e0576a 281 gpio.led->write(1);
Wooden 47:f4ecf3e0576a 282 flag_test_first = false; // Turn on status LED
Wooden 47:f4ecf3e0576a 283 }
Wooden 47:f4ecf3e0576a 284 else{
Wooden 47:f4ecf3e0576a 285 controller.t_ff = test_tff;
Wooden 47:f4ecf3e0576a 286 controller.kp = test_kp;
Wooden 47:f4ecf3e0576a 287 controller.p_des = test_pos_des;
Wooden 47:f4ecf3e0576a 288 controller.kd = test_kd;
Wooden 47:f4ecf3e0576a 289 controller.v_des = test_vel_des;
Wooden 47:f4ecf3e0576a 290
Wooden 47:f4ecf3e0576a 291 torque_control(&controller);
Wooden 47:f4ecf3e0576a 292 commutate(&controller, &observer, &gpio, controller.theta_elec);
Wooden 47:f4ecf3e0576a 293 test_mech_angle = controller.theta_mech;
Wooden 47:f4ecf3e0576a 294 test_mech_speed = controller.dtheta_mech;
Wooden 47:f4ecf3e0576a 295 test_ia = controller.i_a;
Wooden 47:f4ecf3e0576a 296 test_ib = controller.i_b;
Wooden 47:f4ecf3e0576a 297 test_ic = controller.i_c;
Wooden 47:f4ecf3e0576a 298 // test_ia = observer.i_q_est;
Wooden 47:f4ecf3e0576a 299 // test_ib = controller.v_d;
Wooden 47:f4ecf3e0576a 300 // test_ic = controller.v_q;
Wooden 47:f4ecf3e0576a 301 test_id = controller.i_d;
Wooden 47:f4ecf3e0576a 302 test_iq = controller.i_q;
Wooden 47:f4ecf3e0576a 303 // test_iq = observer.i_q_est;
Wooden 47:f4ecf3e0576a 304 // test_id = observer.i_d_est;
Wooden 47:f4ecf3e0576a 305 // test_iq = controller->i_q_filt；
Wooden 47:f4ecf3e0576a 306 }
Wooden 47:f4ecf3e0576a 307 break;
Wooden 47:f4ecf3e0576a 308
benkatz 23:2adf23ee0305 309 case ENCODER_MODE:
benkatz 23:2adf23ee0305 310 print_encoder();
benkatz 23:2adf23ee0305 311 break;
benkatz 37:c0f352d6e8e3 312 }
benkatz 2:8724412ad628 313 }
benkatz 23:2adf23ee0305 314 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 315 }
benkatz 0:4e1c4df6aabd 316
benkatz 25:f5741040c4bb 317
benkatz 24:58c2d7571207 318 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 319 char cmd_id = 0;
benkatz 25:f5741040c4bb 320 char char_count = 0;
benkatz 24:58c2d7571207 321
benkatz 25:f5741040c4bb 322 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 323 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 324 void serial_interrupt(void){
benkatz 23:2adf23ee0305 325 while(pc.readable()){
benkatz 23:2adf23ee0305 326 char c = pc.getc();
benkatz 25:f5741040c4bb 327 if(c == 27){
benkatz 25:f5741040c4bb 328 state = REST_MODE;
benkatz 25:f5741040c4bb 329 state_change = 1;
benkatz 25:f5741040c4bb 330 char_count = 0;
benkatz 25:f5741040c4bb 331 cmd_id = 0;
benkatz 37:c0f352d6e8e3 332 gpio.led->write(0);;
benkatz 25:f5741040c4bb 333 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 334 }
benkatz 24:58c2d7571207 335 if(state == REST_MODE){
benkatz 23:2adf23ee0305 336 switch (c){
benkatz 23:2adf23ee0305 337 case 'c':
benkatz 23:2adf23ee0305 338 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 339 state_change = 1;
benkatz 23:2adf23ee0305 340 break;
benkatz 26:2b865c00d7e9 341 case 'm':
benkatz 26:2b865c00d7e9 342 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 343 state_change = 1;
benkatz 23:2adf23ee0305 344 break;
benkatz 23:2adf23ee0305 345 case 'e':
benkatz 23:2adf23ee0305 346 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 347 state_change = 1;
benkatz 23:2adf23ee0305 348 break;
benkatz 23:2adf23ee0305 349 case 's':
benkatz 23:2adf23ee0305 350 state = SETUP_MODE;
benkatz 23:2adf23ee0305 351 state_change = 1;
benkatz 23:2adf23ee0305 352 break;
benkatz 37:c0f352d6e8e3 353 case 'z':
benkatz 37:c0f352d6e8e3 354 spi.SetMechOffset(0);
benkatz 45:aadebe074af6 355 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 356 wait_us(20);
benkatz 37:c0f352d6e8e3 357 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 358 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 359 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 360 prefs.close();
benkatz 37:c0f352d6e8e3 361 prefs.load();
benkatz 37:c0f352d6e8e3 362 spi.SetMechOffset(M_OFFSET);
Wooden 47:f4ecf3e0576a 363 pc.printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 364
benkatz 37:c0f352d6e8e3 365 break;
Wooden 47:f4ecf3e0576a 366 case 't':
Wooden 47:f4ecf3e0576a 367 // this state is used to test motor through GUI
Wooden 47:f4ecf3e0576a 368 state = TEST_MODE;
Wooden 47:f4ecf3e0576a 369 state_change = 1;
benkatz 37:c0f352d6e8e3 370 }
benkatz 37:c0f352d6e8e3 371
benkatz 24:58c2d7571207 372 }
benkatz 24:58c2d7571207 373 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 374 if(c == 13){
benkatz 24:58c2d7571207 375 switch (cmd_id){
benkatz 24:58c2d7571207 376 case 'b':
benkatz 24:58c2d7571207 377 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 378 break;
benkatz 24:58c2d7571207 379 case 'i':
benkatz 24:58c2d7571207 380 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 381 break;
benkatz 26:2b865c00d7e9 382 case 'm':
benkatz 26:2b865c00d7e9 383 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 384 break;
benkatz 24:58c2d7571207 385 case 'l':
benkatz 24:58c2d7571207 386 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 24:58c2d7571207 387 break;
benkatz 28:8c7e29f719c5 388 case 't':
benkatz 28:8c7e29f719c5 389 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 390 break;
benkatz 24:58c2d7571207 391 default:
Wooden 47:f4ecf3e0576a 392 pc.printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 393 break;
benkatz 24:58c2d7571207 394 }
benkatz 24:58c2d7571207 395
benkatz 24:58c2d7571207 396 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 397 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 398 prefs.close();
benkatz 24:58c2d7571207 399 prefs.load();
benkatz 24:58c2d7571207 400 state_change = 1;
benkatz 24:58c2d7571207 401 char_count = 0;
benkatz 24:58c2d7571207 402 cmd_id = 0;
benkatz 24:58c2d7571207 403 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 404 }
benkatz 24:58c2d7571207 405 else{
benkatz 24:58c2d7571207 406 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 407 else{
benkatz 24:58c2d7571207 408 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 409
benkatz 24:58c2d7571207 410 }
benkatz 24:58c2d7571207 411 pc.putc(c);
benkatz 24:58c2d7571207 412 char_count++;
benkatz 23:2adf23ee0305 413 }
benkatz 23:2adf23ee0305 414 }
benkatz 24:58c2d7571207 415 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 416 switch (c){
benkatz 24:58c2d7571207 417 case 27:
benkatz 24:58c2d7571207 418 state = REST_MODE;
benkatz 24:58c2d7571207 419 state_change = 1;
benkatz 24:58c2d7571207 420 break;
benkatz 24:58c2d7571207 421 }
benkatz 24:58c2d7571207 422 }
Wooden 47:f4ecf3e0576a 423 else if(state == TEST_MODE){
Wooden 47:f4ecf3e0576a 424 if(c == 13){
Wooden 47:f4ecf3e0576a 425 switch(cmd_id){
Wooden 47:f4ecf3e0576a 426 case 't':
Wooden 47:f4ecf3e0576a 427 // controller.t_ff = fmaxf(fminf(atof(cmd_val), TORQUE_LIMIT), -TORQUE_LIMIT);
Wooden 47:f4ecf3e0576a 428 test_tff = fmaxf(fminf(atof(cmd_val), TORQUE_LIMIT), -TORQUE_LIMIT);
Wooden 47:f4ecf3e0576a 429 break;
Wooden 47:f4ecf3e0576a 430 case 'k':
Wooden 47:f4ecf3e0576a 431 // controller.kp = fmaxf(fminf(atof(cmd_val), KP_MAX), KP_MIN);
Wooden 47:f4ecf3e0576a 432 test_kp = fmaxf(fminf(atof(cmd_val), KP_MAX), KP_MIN);
Wooden 47:f4ecf3e0576a 433 break;
Wooden 47:f4ecf3e0576a 434 case 'd':
Wooden 47:f4ecf3e0576a 435 // controller.kd = fmaxf(fminf(atof(cmd_val), KD_MAX), KD_MIN);
Wooden 47:f4ecf3e0576a 436 test_kd = fmaxf(fminf(atof(cmd_val), KD_MAX), KD_MIN);
Wooden 47:f4ecf3e0576a 437 break;
Wooden 47:f4ecf3e0576a 438 case 'p':
Wooden 47:f4ecf3e0576a 439 // controller.p_des = fmaxf(fminf(atof(cmd_val), P_MAX), P_MIN);
Wooden 47:f4ecf3e0576a 440 test_pos_des = fmaxf(fminf(atof(cmd_val), P_MAX), P_MIN);
Wooden 47:f4ecf3e0576a 441 break;
Wooden 47:f4ecf3e0576a 442 case 'v':
Wooden 47:f4ecf3e0576a 443 // controller.v_des = fmaxf(fminf(atof(cmd_val), V_MAX), V_MIN);
Wooden 47:f4ecf3e0576a 444 test_vel_des = fmaxf(fminf(atof(cmd_val), V_MAX), V_MIN);
Wooden 47:f4ecf3e0576a 445 break;
Wooden 47:f4ecf3e0576a 446 default:
Wooden 47:f4ecf3e0576a 447 // pc.printf("\n\r '%c' Not a valid command prefix\n\r", cmd_id);
Wooden 47:f4ecf3e0576a 448 break;
Wooden 47:f4ecf3e0576a 449 }
Wooden 47:f4ecf3e0576a 450 state_change = 1;
Wooden 47:f4ecf3e0576a 451 char_count = 0;
Wooden 47:f4ecf3e0576a 452 cmd_id = 0;
Wooden 47:f4ecf3e0576a 453 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
Wooden 47:f4ecf3e0576a 454 }
Wooden 47:f4ecf3e0576a 455 else{
Wooden 47:f4ecf3e0576a 456 if(char_count == 0){cmd_id = c;}
Wooden 47:f4ecf3e0576a 457 else{
Wooden 47:f4ecf3e0576a 458 cmd_val[char_count-1] = c;
Wooden 47:f4ecf3e0576a 459
Wooden 47:f4ecf3e0576a 460 }
Wooden 47:f4ecf3e0576a 461 // pc.putc(c);
Wooden 47:f4ecf3e0576a 462 char_count++;
Wooden 47:f4ecf3e0576a 463 }
Wooden 47:f4ecf3e0576a 464 }
benkatz 24:58c2d7571207 465 }
benkatz 22:60276ba87ac6 466 }
benkatz 0:4e1c4df6aabd 467
benkatz 0:4e1c4df6aabd 468 int main() {
benkatz 45:aadebe074af6 469
benkatz 20:bf9ea5125d52 470 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 471 controller.mode = 0;
benkatz 23:2adf23ee0305 472 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 20:bf9ea5125d52 473
benkatz 9:d7eb815cb057 474 wait(.1);
benkatz 26:2b865c00d7e9 475 gpio.enable->write(1);
benkatz 45:aadebe074af6 476 TIM1->CCR3 = PWM_ARR*(1.0f); // Write duty cycles
benkatz 45:aadebe074af6 477 TIM1->CCR2 = PWM_ARR*(1.0f);
benkatz 45:aadebe074af6 478 TIM1->CCR1 = PWM_ARR*(1.0f);
benkatz 23:2adf23ee0305 479 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 26:2b865c00d7e9 480 gpio.enable->write(0);
benkatz 23:2adf23ee0305 481 reset_foc(&controller); // Reset current controller
benkatz 26:2b865c00d7e9 482 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 483 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 484
benkatz 20:bf9ea5125d52 485 wait(.1);
benkatz 37:c0f352d6e8e3 486 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 487
benkatz 37:c0f352d6e8e3 488 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 489 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 490
benkatz 28:8c7e29f719c5 491 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 492 txMsg.len = 6;
benkatz 26:2b865c00d7e9 493 rxMsg.len = 8;
benkatz 43:dfb72608639c 494 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 495
benkatz 25:f5741040c4bb 496 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 497 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 498 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 25:f5741040c4bb 499 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 500 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 501 int lut[128] = {0};
benkatz 23:2adf23ee0305 502 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 503 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 23:2adf23ee0305 504
benkatz 26:2b865c00d7e9 505 pc.baud(921600); // set serial baud rate
Wooden 47:f4ecf3e0576a 506 // pc.baud(460800);
Wooden 47:f4ecf3e0576a 507
benkatz 20:bf9ea5125d52 508 wait(.01);
Wooden 47:f4ecf3e0576a 509 pc.printf("\n\r\n\r 3.3, With obs, vdff, no cogging\n\r\n\r");
benkatz 20:bf9ea5125d52 510 wait(.01);
Wooden 47:f4ecf3e0576a 511 pc.printf("\n\r Debug Info:\n\r");
Wooden 47:f4ecf3e0576a 512 pc.printf(" Firmware Version: %s\n\r", VERSION_NUM);
Wooden 47:f4ecf3e0576a 513 pc.printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
Wooden 47:f4ecf3e0576a 514 pc.printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
Wooden 47:f4ecf3e0576a 515 pc.printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
Wooden 47:f4ecf3e0576a 516 pc.printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 23:2adf23ee0305 517
benkatz 23:2adf23ee0305 518 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 519
Wooden 47:f4ecf3e0576a 520 // =============================================================================================================
Wooden 47:f4ecf3e0576a 521 // add watch dog here
Wooden 47:f4ecf3e0576a 522 // Watchdog &watchdog = Watchdog::get_instance();
Wooden 47:f4ecf3e0576a 523 // =============================================================================================================
Wooden 47:f4ecf3e0576a 524
benkatz 23:2adf23ee0305 525 state_change = 1;
benkatz 20:bf9ea5125d52 526
Wooden 47:f4ecf3e0576a 527 datapackage.info.init_flag1 = 0xffffffff;
Wooden 47:f4ecf3e0576a 528 datapackage.info.init_flag2 = 0xfffefdfc;
Wooden 47:f4ecf3e0576a 529 datapackage.info.check_num = 0;
benkatz 0:4e1c4df6aabd 530 while(1) {
Wooden 47:f4ecf3e0576a 531 // pc.printf("hello_wooden");
Wooden 47:f4ecf3e0576a 532 // pc.printf("I's still working\n\r");
Wooden 47:f4ecf3e0576a 533 // pc.printf("adc1: %d, adc2: %d, adc3: %d",controller.adc1_raw,controller.adc2_raw,controller.adc3_raw);
Wooden 47:f4ecf3e0576a 534 if(state == TEST_MODE){
Wooden 47:f4ecf3e0576a 535 // datapackage.info.I_a = controller.i_a;
Wooden 47:f4ecf3e0576a 536 // datapackage.info.I_b = controller.i_b;
Wooden 47:f4ecf3e0576a 537 // datapackage.info.I_c = controller.i_c;
Wooden 47:f4ecf3e0576a 538 // datapackage.info.I_q = controller.i_q;
Wooden 47:f4ecf3e0576a 539 // datapackage.info.I_d = controller.i_d;
Wooden 47:f4ecf3e0576a 540 // datapackage.info.Angle_mech = controller.theta_mech;
Wooden 47:f4ecf3e0576a 541 // datapackage.info.Angle_elec = controller.theta_elec;
Wooden 47:f4ecf3e0576a 542 // datapackage.info.Control_tff = controller.t_ff;
Wooden 47:f4ecf3e0576a 543 // datapackage.info.Control_kp = controller.kp;
Wooden 47:f4ecf3e0576a 544 // datapackage.info.Control_p = controller.theta_mech;
Wooden 47:f4ecf3e0576a 545 // datapackage.info.Control_kd = controller.kd;
Wooden 47:f4ecf3e0576a 546 // datapackage.info.Control_v = controller.dtheta_mech;
Wooden 47:f4ecf3e0576a 547
Wooden 47:f4ecf3e0576a 548 datapackage.info.I_a = test_ia;
Wooden 47:f4ecf3e0576a 549 datapackage.info.I_b = test_ib;
Wooden 47:f4ecf3e0576a 550 datapackage.info.I_c = test_ic;
Wooden 47:f4ecf3e0576a 551 datapackage.info.I_q = test_iq;
Wooden 47:f4ecf3e0576a 552 datapackage.info.I_d = test_id;
Wooden 47:f4ecf3e0576a 553 datapackage.info.Angle_mech = test_mech_angle;
Wooden 47:f4ecf3e0576a 554 datapackage.info.Angle_elec = test_mech_speed; // actually this return the speed
Wooden 47:f4ecf3e0576a 555 datapackage.info.Control_tff = test_tff;
Wooden 47:f4ecf3e0576a 556 datapackage.info.Control_kp = test_kp;
Wooden 47:f4ecf3e0576a 557 datapackage.info.Control_p = test_pos_des;
Wooden 47:f4ecf3e0576a 558 datapackage.info.Control_kd = test_kd;
Wooden 47:f4ecf3e0576a 559 datapackage.info.Control_v = test_vel_des;
Wooden 47:f4ecf3e0576a 560
Wooden 47:f4ecf3e0576a 561 // pc.write(datapackage.decode, 60);
Wooden 47:f4ecf3e0576a 562 // string s(datapackage.decode);
Wooden 47:f4ecf3e0576a 563 // pc.printf((const char *)datapackage.decode );wait_us(900);
Wooden 47:f4ecf3e0576a 564
Wooden 47:f4ecf3e0576a 565 for(int i=0;i<60;i++){
Wooden 47:f4ecf3e0576a 566 pc.putc(datapackage.decode[i]);
Wooden 47:f4ecf3e0576a 567 // wait_us(30);
Wooden 47:f4ecf3e0576a 568 wait_us(300);
Wooden 47:f4ecf3e0576a 569 }
Wooden 47:f4ecf3e0576a 570 //wait_us(5000);
Wooden 47:f4ecf3e0576a 571 }
Wooden 47:f4ecf3e0576a 572 else{
Wooden 47:f4ecf3e0576a 573 // can.write(txMsg);
Wooden 47:f4ecf3e0576a 574 wait(1.0);
Wooden 47:f4ecf3e0576a 575 ;
Wooden 47:f4ecf3e0576a 576 }
benkatz 11:c83b18d41e54 577
benkatz 0:4e1c4df6aabd 578 }
benkatz 0:4e1c4df6aabd 579 }