Winnie Liu / Hobbyking_Cheetah_0511

modified 0511

Dependencies:   mbed-dev FastPWM3

main.cpp@58:636e46484432, 2021-06-18 (annotated)

Committer:
WinnieLiu
Date:
Fri Jun 18 15:58:03 2021 +0000
Revision:
58:636e46484432
Parent:
57:ae8105f28fbf
Child:
59:d53a7ccaae9a
refresh motor pid parameters after modifying on the setup menu and reload from the register

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
benkatz 51:6cd89bd6fcaa 13 #define VERSION_NUM "1.9"
benkatz 26:2b865c00d7e9 14
benkatz 18:f1d56f4acb39 15
WinnieLiu 55:b97b90d06ffa 16 //float __float_reg[64]; // Floats stored in flash
WinnieLiu 55:b97b90d06ffa 17 float __float_reg[67]; // Floats stored in flash(add three floats: kp, ki, kd)
benkatz 26:2b865c00d7e9 18 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 19
benkatz 0:4e1c4df6aabd 20 #include "mbed.h"
benkatz 0:4e1c4df6aabd 21 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 22 #include "structs.h"
benkatz 20:bf9ea5125d52 23 #include "foc.h"
benkatz 22:60276ba87ac6 24 #include "calibration.h"
benkatz 20:bf9ea5125d52 25 #include "hw_setup.h"
benkatz 23:2adf23ee0305 26 #include "math_ops.h"
benkatz 20:bf9ea5125d52 27 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 28 #include "hw_config.h"
benkatz 20:bf9ea5125d52 29 #include "motor_config.h"
benkatz 23:2adf23ee0305 30 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 31 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 32 #include "user_config.h"
benkatz 23:2adf23ee0305 33 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 34 #include "CAN_com.h"
benkatz 44:8040fa2fcb0d 35 #include "DRV.h"
benkatz 26:2b865c00d7e9 36
benkatz 23:2adf23ee0305 37 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 38
benkatz 20:bf9ea5125d52 39 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 40 ControllerStruct controller;
benkatz 48:74a40481740c 41 ObserverStruct observer;
benkatz 20:bf9ea5125d52 42 COMStruct com;
benkatz 43:dfb72608639c 43 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 44
benkatz 17:3c5df2982199 45
benkatz 45:26801179208e 46 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 47 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 48 CANMessage txMsg;
benkatz 23:2adf23ee0305 49
benkatz 20:bf9ea5125d52 50
benkatz 44:8040fa2fcb0d 51 SPI drv_spi(PA_7, PA_6, PA_5);
benkatz 44:8040fa2fcb0d 52 DigitalOut drv_cs(PA_4);
benkatz 44:8040fa2fcb0d 53 //DigitalOut drv_en_gate(PA_11);
benkatz 44:8040fa2fcb0d 54 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 55
benkatz 26:2b865c00d7e9 56 PositionSensorAM5147 spi(16384, 0.0, NPP);
benkatz 20:bf9ea5125d52 57
benkatz 23:2adf23ee0305 58 volatile int count = 0;
benkatz 23:2adf23ee0305 59 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 60 volatile int state_change;
benkatz 20:bf9ea5125d52 61
benkatz 26:2b865c00d7e9 62 void onMsgReceived() {
benkatz 26:2b865c00d7e9 63 //msgAvailable = true;
benkatz 53:e85efce8c1eb 64 //printf("%d\n\r", rxMsg.id);
benkatz 26:2b865c00d7e9 65 can.read(rxMsg);
benkatz 28:8c7e29f719c5 66 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 67 controller.timeout = 0;
benkatz 28:8c7e29f719c5 68 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 69 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 70 state_change = 1;
benkatz 28:8c7e29f719c5 71 }
benkatz 28:8c7e29f719c5 72 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 73 state = REST_MODE;
benkatz 28:8c7e29f719c5 74 state_change = 1;
benkatz 37:c0f352d6e8e3 75 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 76 }
benkatz 28:8c7e29f719c5 77 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 78 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 79 }
benkatz 28:8c7e29f719c5 80 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 81 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 82 }
benkatz 37:c0f352d6e8e3 83 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 84 can.write(txMsg);
benkatz 28:8c7e29f719c5 85 }
benkatz 26:2b865c00d7e9 86
benkatz 26:2b865c00d7e9 87 }
benkatz 26:2b865c00d7e9 88
benkatz 23:2adf23ee0305 89 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 90 drv.disable_gd();
benkatz 47:e1196a851f76 91 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 92 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 93 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 94 wait_us(10);
benkatz 26:2b865c00d7e9 95 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 96 wait_us(10);
benkatz 23:2adf23ee0305 97 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 98 wait_us(10);
benkatz 23:2adf23ee0305 99 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 100 wait_us(10);
benkatz 23:2adf23ee0305 101 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 102 wait_us(10);
benkatz 37:c0f352d6e8e3 103 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 104 wait_us(10);
benkatz 23:2adf23ee0305 105 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 106 wait_us(10);
benkatz 23:2adf23ee0305 107 state_change = 0;
benkatz 37:c0f352d6e8e3 108 gpio.led->write(0);
benkatz 23:2adf23ee0305 109 }
benkatz 24:58c2d7571207 110
benkatz 24:58c2d7571207 111 void enter_setup_state(void){
benkatz 24:58c2d7571207 112 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 113 wait_us(10);
benkatz 51:6cd89bd6fcaa 114 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 115 wait_us(10);
benkatz 28:8c7e29f719c5 116 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 117 wait_us(10);
WinnieLiu 55:b97b90d06ffa 118 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "o", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 119 wait_us(10);
benkatz 28:8c7e29f719c5 120 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 121 wait_us(10);
benkatz 51:6cd89bd6fcaa 122 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
benkatz 51:6cd89bd6fcaa 123 wait_us(10);
benkatz 51:6cd89bd6fcaa 124 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 125 wait_us(10);
benkatz 28:8c7e29f719c5 126 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 127 wait_us(10);
WinnieLiu 55:b97b90d06ffa 128
WinnieLiu 57:ae8105f28fbf 129 //printf(" %-4s %-31s %-5s %-6s %.2f\n\r", "p", "MOTOR_KP", "0.0", "500.0", MOTOR_KP);
WinnieLiu 57:ae8105f28fbf 130 //wait_us(10);
WinnieLiu 55:b97b90d06ffa 131 printf(" %-4s %-31s %-5s %-6s %.2f\n\r", "i", "MOTOR_KI", "0.0", "10.0", MOTOR_KI);
WinnieLiu 55:b97b90d06ffa 132 wait_us(10);
WinnieLiu 55:b97b90d06ffa 133 printf(" %-4s %-31s %-5s %-6s %.2f\n\r", "d", "MOTOR_KD", "0.0", "5.0", MOTOR_KD);
WinnieLiu 55:b97b90d06ffa 134 wait_us(10);
WinnieLiu 55:b97b90d06ffa 135
benkatz 24:58c2d7571207 136 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 137 wait_us(10);
benkatz 24:58c2d7571207 138 state_change = 0;
benkatz 24:58c2d7571207 139 }
benkatz 22:60276ba87ac6 140
benkatz 23:2adf23ee0305 141 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 142 drv.enable_gd();
benkatz 47:e1196a851f76 143 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 144 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 145 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 146 wait(.001);
benkatz 23:2adf23ee0305 147 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 148 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 149 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 150 state_change = 0;
benkatz 28:8c7e29f719c5 151 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 152 }
benkatz 22:60276ba87ac6 153
benkatz 23:2adf23ee0305 154 void calibrate(void){
benkatz 44:8040fa2fcb0d 155 drv.enable_gd();
benkatz 47:e1196a851f76 156 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 157 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 158 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 159 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 160 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 161 wait(.2);
benkatz 23:2adf23ee0305 162 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 163 drv.disable_gd();
benkatz 47:e1196a851f76 164 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 165 state_change = 0;
benkatz 23:2adf23ee0305 166 }
benkatz 23:2adf23ee0305 167
benkatz 23:2adf23ee0305 168 void print_encoder(void){
benkatz 48:74a40481740c 169 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 170 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 171 wait(.001);
benkatz 22:60276ba87ac6 172 }
benkatz 20:bf9ea5125d52 173
benkatz 23:2adf23ee0305 174 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 175 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 176 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 177 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 178
benkatz 23:2adf23ee0305 179 ///Sample current always ///
benkatz 25:f5741040c4bb 180 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 181 //volatile int delay;
benkatz 20:bf9ea5125d52 182 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 183
benkatz 47:e1196a851f76 184 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 185 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 186 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 187 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 188 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 189 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 190 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 191 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 192 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
benkatz 23:2adf23ee0305 193 ///
benkatz 20:bf9ea5125d52 194
benkatz 23:2adf23ee0305 195 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 196 switch(state){
benkatz 37:c0f352d6e8e3 197 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 198 if(state_change){
benkatz 23:2adf23ee0305 199 enter_menu_state();
benkatz 23:2adf23ee0305 200 }
benkatz 23:2adf23ee0305 201 break;
benkatz 22:60276ba87ac6 202
benkatz 23:2adf23ee0305 203 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 204 if(state_change){
benkatz 23:2adf23ee0305 205 calibrate();
benkatz 23:2adf23ee0305 206 }
benkatz 23:2adf23ee0305 207 break;
benkatz 23:2adf23ee0305 208
benkatz 26:2b865c00d7e9 209 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 210 if(state_change){
benkatz 25:f5741040c4bb 211 enter_torque_mode();
benkatz 28:8c7e29f719c5 212 count = 0;
benkatz 25:f5741040c4bb 213 }
benkatz 28:8c7e29f719c5 214 else{
benkatz 37:c0f352d6e8e3 215 /*
benkatz 37:c0f352d6e8e3 216 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 217 gpio.
benkatz 47:e1196a851f76 218 ->write(0);
benkatz 37:c0f352d6e8e3 219 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 220 state = REST_MODE;
benkatz 37:c0f352d6e8e3 221 state_change = 1;
benkatz 37:c0f352d6e8e3 222 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 223 }
benkatz 37:c0f352d6e8e3 224 */
benkatz 37:c0f352d6e8e3 225
benkatz 28:8c7e29f719c5 226 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 227 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 228 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 229 controller.kp = 0;
benkatz 37:c0f352d6e8e3 230 controller.kd = 0;
benkatz 37:c0f352d6e8e3 231 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 232 }
benkatz 47:e1196a851f76 233
benkatz 50:ba72df25d10f 234 torque_control(&controller);
benkatz 49:83d83040ea51 235 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 236
benkatz 49:83d83040ea51 237 controller.timeout++;
benkatz 49:83d83040ea51 238 count++;
benkatz 37:c0f352d6e8e3 239
benkatz 37:c0f352d6e8e3 240 }
benkatz 23:2adf23ee0305 241 break;
benkatz 23:2adf23ee0305 242 case SETUP_MODE:
benkatz 23:2adf23ee0305 243 if(state_change){
benkatz 24:58c2d7571207 244 enter_setup_state();
benkatz 23:2adf23ee0305 245 }
benkatz 23:2adf23ee0305 246 break;
benkatz 23:2adf23ee0305 247 case ENCODER_MODE:
benkatz 23:2adf23ee0305 248 print_encoder();
benkatz 23:2adf23ee0305 249 break;
benkatz 37:c0f352d6e8e3 250 }
benkatz 2:8724412ad628 251 }
benkatz 23:2adf23ee0305 252 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 253 }
benkatz 0:4e1c4df6aabd 254
benkatz 25:f5741040c4bb 255
benkatz 24:58c2d7571207 256 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 257 char cmd_id = 0;
benkatz 25:f5741040c4bb 258 char char_count = 0;
benkatz 24:58c2d7571207 259
benkatz 25:f5741040c4bb 260 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 261 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 262 void serial_interrupt(void){
benkatz 23:2adf23ee0305 263 while(pc.readable()){
benkatz 23:2adf23ee0305 264 char c = pc.getc();
benkatz 25:f5741040c4bb 265 if(c == 27){
benkatz 25:f5741040c4bb 266 state = REST_MODE;
benkatz 25:f5741040c4bb 267 state_change = 1;
benkatz 25:f5741040c4bb 268 char_count = 0;
benkatz 25:f5741040c4bb 269 cmd_id = 0;
benkatz 37:c0f352d6e8e3 270 gpio.led->write(0);;
benkatz 25:f5741040c4bb 271 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 272 }
benkatz 24:58c2d7571207 273 if(state == REST_MODE){
benkatz 23:2adf23ee0305 274 switch (c){
benkatz 23:2adf23ee0305 275 case 'c':
benkatz 23:2adf23ee0305 276 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 277 state_change = 1;
benkatz 23:2adf23ee0305 278 break;
benkatz 26:2b865c00d7e9 279 case 'm':
benkatz 26:2b865c00d7e9 280 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 281 state_change = 1;
benkatz 23:2adf23ee0305 282 break;
benkatz 23:2adf23ee0305 283 case 'e':
benkatz 23:2adf23ee0305 284 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 285 state_change = 1;
benkatz 23:2adf23ee0305 286 break;
benkatz 23:2adf23ee0305 287 case 's':
benkatz 23:2adf23ee0305 288 state = SETUP_MODE;
benkatz 23:2adf23ee0305 289 state_change = 1;
benkatz 23:2adf23ee0305 290 break;
benkatz 37:c0f352d6e8e3 291 case 'z':
benkatz 37:c0f352d6e8e3 292 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 293 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 294 wait_us(20);
benkatz 37:c0f352d6e8e3 295 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 296 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 297 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 298 prefs.close();
benkatz 37:c0f352d6e8e3 299 prefs.load();
benkatz 37:c0f352d6e8e3 300 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 301 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 302
benkatz 37:c0f352d6e8e3 303 break;
benkatz 37:c0f352d6e8e3 304 }
benkatz 37:c0f352d6e8e3 305
benkatz 24:58c2d7571207 306 }
benkatz 24:58c2d7571207 307 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 308 if(c == 13){
benkatz 24:58c2d7571207 309 switch (cmd_id){
benkatz 24:58c2d7571207 310 case 'b':
benkatz 24:58c2d7571207 311 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 312 break;
WinnieLiu 55:b97b90d06ffa 313 case 'o':
benkatz 24:58c2d7571207 314 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 315 break;
benkatz 26:2b865c00d7e9 316 case 'm':
benkatz 26:2b865c00d7e9 317 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 318 break;
benkatz 24:58c2d7571207 319 case 'l':
benkatz 51:6cd89bd6fcaa 320 I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 321 break;
benkatz 51:6cd89bd6fcaa 322 case 'f':
benkatz 51:6cd89bd6fcaa 323 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 324 break;
benkatz 28:8c7e29f719c5 325 case 't':
benkatz 28:8c7e29f719c5 326 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 327 break;
WinnieLiu 57:ae8105f28fbf 328 /*
WinnieLiu 55:b97b90d06ffa 329 case 'p':
WinnieLiu 55:b97b90d06ffa 330 MOTOR_KP = fmaxf(fminf(atof(cmd_val), KP_MAX), KP_MIN);;
WinnieLiu 55:b97b90d06ffa 331 break;
WinnieLiu 57:ae8105f28fbf 332 */
WinnieLiu 55:b97b90d06ffa 333 case 'i':
WinnieLiu 55:b97b90d06ffa 334 MOTOR_KI = fmaxf(fminf(atof(cmd_val), KI_MAX), KI_MIN);;
WinnieLiu 55:b97b90d06ffa 335 break;
WinnieLiu 55:b97b90d06ffa 336 case 'd':
WinnieLiu 55:b97b90d06ffa 337 MOTOR_KD = fmaxf(fminf(atof(cmd_val), KD_MAX), KD_MIN);
WinnieLiu 55:b97b90d06ffa 338 break;
benkatz 24:58c2d7571207 339 default:
benkatz 24:58c2d7571207 340 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 341 break;
benkatz 24:58c2d7571207 342 }
benkatz 24:58c2d7571207 343
benkatz 24:58c2d7571207 344 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 345 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 346 prefs.close();
WinnieLiu 58:636e46484432 347 prefs.load();
WinnieLiu 58:636e46484432 348 /*----- change new pid controller parameter -----*/
WinnieLiu 58:636e46484432 349 //controller.kp = MOTOR_KP;
WinnieLiu 58:636e46484432 350 controller.ki = MOTOR_KI;
WinnieLiu 58:636e46484432 351 controller.kd = MOTOR_KD;
WinnieLiu 58:636e46484432 352
benkatz 24:58c2d7571207 353 state_change = 1;
benkatz 24:58c2d7571207 354 char_count = 0;
benkatz 24:58c2d7571207 355 cmd_id = 0;
benkatz 24:58c2d7571207 356 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 357 }
benkatz 24:58c2d7571207 358 else{
benkatz 24:58c2d7571207 359 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 360 else{
benkatz 24:58c2d7571207 361 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 362
benkatz 24:58c2d7571207 363 }
benkatz 24:58c2d7571207 364 pc.putc(c);
benkatz 24:58c2d7571207 365 char_count++;
benkatz 23:2adf23ee0305 366 }
benkatz 23:2adf23ee0305 367 }
benkatz 24:58c2d7571207 368 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 369 switch (c){
benkatz 24:58c2d7571207 370 case 27:
benkatz 24:58c2d7571207 371 state = REST_MODE;
benkatz 24:58c2d7571207 372 state_change = 1;
benkatz 24:58c2d7571207 373 break;
benkatz 24:58c2d7571207 374 }
benkatz 24:58c2d7571207 375 }
benkatz 49:83d83040ea51 376 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 377 switch (c){
benkatz 49:83d83040ea51 378 case 'd':
benkatz 49:83d83040ea51 379 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 380 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 381 }
benkatz 49:83d83040ea51 382 }
benkatz 24:58c2d7571207 383
benkatz 24:58c2d7571207 384 }
benkatz 22:60276ba87ac6 385 }
benkatz 0:4e1c4df6aabd 386
benkatz 0:4e1c4df6aabd 387 int main() {
benkatz 20:bf9ea5125d52 388 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 389 controller.mode = 0;
benkatz 23:2adf23ee0305 390 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 391 wait(.1);
benkatz 44:8040fa2fcb0d 392
benkatz 44:8040fa2fcb0d 393 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 394 wait_us(100);
benkatz 45:26801179208e 395 drv.calibrate();
benkatz 45:26801179208e 396 wait_us(100);
benkatz 44:8040fa2fcb0d 397 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 398 wait_us(100);
benkatz 46:2d4b1dafcfe3 399 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 44:8040fa2fcb0d 400 wait_us(100);
benkatz 49:83d83040ea51 401 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 402
benkatz 45:26801179208e 403 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 404 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 47:e1196a851f76 405 drv.disable_gd();
benkatz 20:bf9ea5125d52 406
benkatz 9:d7eb815cb057 407 wait(.1);
benkatz 44:8040fa2fcb0d 408 /*
benkatz 26:2b865c00d7e9 409 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 410 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 411 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 412 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 413 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 414 */
benkatz 23:2adf23ee0305 415 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 416 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 417 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 418 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 419
benkatz 20:bf9ea5125d52 420 wait(.1);
benkatz 37:c0f352d6e8e3 421 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 422
benkatz 37:c0f352d6e8e3 423 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 53:e85efce8c1eb 424 // attach 'CAN receive-complete' interrupt handler
benkatz 53:e85efce8c1eb 425
benkatz 53:e85efce8c1eb 426 // If preferences haven't been user configured yet, set defaults
benkatz 53:e85efce8c1eb 427 prefs.load(); // Read flash
benkatz 53:e85efce8c1eb 428
benkatz 53:e85efce8c1eb 429 can.filter(CAN_ID , 0xFFF, CANStandard, 0);
benkatz 43:dfb72608639c 430
benkatz 28:8c7e29f719c5 431 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 432 txMsg.len = 6;
benkatz 26:2b865c00d7e9 433 rxMsg.len = 8;
benkatz 53:e85efce8c1eb 434 can.attach(&onMsgReceived);
benkatz 23:2adf23ee0305 435
benkatz 37:c0f352d6e8e3 436 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 437 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 438 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 439 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 51:6cd89bd6fcaa 440 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
benkatz 48:74a40481740c 441 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 442 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 443 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
WinnieLiu 57:ae8105f28fbf 444 //if(isnan(MOTOR_KP) || MOTOR_KP==-1){MOTOR_KP = 50;}
WinnieLiu 55:b97b90d06ffa 445 if(isnan(MOTOR_KI) || MOTOR_KI==-1){MOTOR_KI = 0;}
WinnieLiu 55:b97b90d06ffa 446 if(isnan(MOTOR_KD) || MOTOR_KD==-1){MOTOR_KD = 1.25;}
benkatz 25:f5741040c4bb 447 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 448 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 449 int lut[128] = {0};
benkatz 23:2adf23ee0305 450 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 451 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 452 init_controller_params(&controller);
benkatz 45:26801179208e 453
benkatz 26:2b865c00d7e9 454 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 455 wait(.01);
benkatz 23:2adf23ee0305 456 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 457 wait(.01);
benkatz 23:2adf23ee0305 458 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 459 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 460 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 461 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 462 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 463 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 464
WinnieLiu 55:b97b90d06ffa 465 /*----- set controller parameters -----*/
WinnieLiu 56:542e99ed5565 466 //controller.kp = MOTOR_KP;
WinnieLiu 55:b97b90d06ffa 467 controller.ki = MOTOR_KI;
WinnieLiu 55:b97b90d06ffa 468 controller.kd = MOTOR_KD;
WinnieLiu 55:b97b90d06ffa 469 printf("PID controller parameters \n\r");
WinnieLiu 57:ae8105f28fbf 470 //printf("KP: %.3f, KI: %.3f, KD: %.3f \n\r", controller.kp, controller.ki, controller.kd);
WinnieLiu 57:ae8105f28fbf 471 printf("KI: %.3f, KD: %.3f \n\r", controller.ki, controller.kd);
benkatz 44:8040fa2fcb0d 472
benkatz 47:e1196a851f76 473 //printf(" %d\n\r", drv.read_register(DCR));
benkatz 47:e1196a851f76 474 //wait_us(100);
benkatz 47:e1196a851f76 475 //printf(" %d\n\r", drv.read_register(CSACR));
benkatz 47:e1196a851f76 476 //wait_us(100);
benkatz 47:e1196a851f76 477 //printf(" %d\n\r", drv.read_register(OCPCR));
benkatz 47:e1196a851f76 478 //drv.disable_gd();
benkatz 44:8040fa2fcb0d 479
benkatz 23:2adf23ee0305 480 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 481
benkatz 23:2adf23ee0305 482 state_change = 1;
benkatz 50:ba72df25d10f 483
benkatz 20:bf9ea5125d52 484
benkatz 44:8040fa2fcb0d 485 int counter = 0;
benkatz 0:4e1c4df6aabd 486 while(1) {
benkatz 47:e1196a851f76 487 drv.print_faults();
benkatz 53:e85efce8c1eb 488 wait(.1);
benkatz 48:74a40481740c 489 //printf("%.4f\n\r", controller.v_bus);
benkatz 50:ba72df25d10f 490 /*
benkatz 47:e1196a851f76 491 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 492 {
benkatz 48:74a40481740c 493 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 494 //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);
benkatz 49:83d83040ea51 495 //printf("%.3f\n\r", controller.dtheta_mech);
benkatz 49:83d83040ea51 496 wait(.002);
benkatz 47:e1196a851f76 497 }
benkatz 50:ba72df25d10f 498 */
benkatz 47:e1196a851f76 499
benkatz 0:4e1c4df6aabd 500 }
benkatz 0:4e1c4df6aabd 501 }