modified 0511
Dependencies: mbed-dev FastPWM3
main.cpp@62:d43fcdd2d48b, 2022-03-07 (annotated)
- Committer:
- WinnieLiu
- Date:
- Mon Mar 07 01:39:20 2022 +0000
- Revision:
- 62:d43fcdd2d48b
- Parent:
- 61:29371056a3de
- Child:
- 63:5946297ba2b0
add calibration mode
Who changed what in which revision?
User | Revision | Line number | New 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 |
WinnieLiu | 62:d43fcdd2d48b | 8 | #define MOTOR_MODE 1 |
WinnieLiu | 62:d43fcdd2d48b | 9 | #define HALL_CALIBRATE 2 //hall sensor calibration |
WinnieLiu | 62:d43fcdd2d48b | 10 | #define SETUP_MODE 3 |
WinnieLiu | 62:d43fcdd2d48b | 11 | #define CALIBRATION_MODE 4 |
benkatz | 23:2adf23ee0305 | 12 | #define ENCODER_MODE 5 |
benkatz | 22:60276ba87ac6 | 13 | |
WinnieLiu | 61:29371056a3de | 14 | #define VERSION_NUM 5 |
benkatz | 26:2b865c00d7e9 | 15 | |
benkatz | 18:f1d56f4acb39 | 16 | |
WinnieLiu | 55:b97b90d06ffa | 17 | //float __float_reg[64]; // Floats stored in flash |
WinnieLiu | 55:b97b90d06ffa | 18 | float __float_reg[67]; // Floats stored in flash(add three floats: kp, ki, kd) |
WinnieLiu | 62:d43fcdd2d48b | 19 | int __int_reg[257]; //新增calibrate旋轉方向(+1: 逆時針旋轉、-1: 順時針旋轉) |
WinnieLiu | 62:d43fcdd2d48b | 20 | //int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table |
benkatz | 17:3c5df2982199 | 21 | |
benkatz | 0:4e1c4df6aabd | 22 | #include "mbed.h" |
benkatz | 0:4e1c4df6aabd | 23 | #include "PositionSensor.h" |
benkatz | 20:bf9ea5125d52 | 24 | #include "structs.h" |
benkatz | 20:bf9ea5125d52 | 25 | #include "foc.h" |
benkatz | 22:60276ba87ac6 | 26 | #include "calibration.h" |
benkatz | 20:bf9ea5125d52 | 27 | #include "hw_setup.h" |
benkatz | 23:2adf23ee0305 | 28 | #include "math_ops.h" |
benkatz | 20:bf9ea5125d52 | 29 | #include "current_controller_config.h" |
benkatz | 20:bf9ea5125d52 | 30 | #include "hw_config.h" |
benkatz | 20:bf9ea5125d52 | 31 | #include "motor_config.h" |
benkatz | 23:2adf23ee0305 | 32 | #include "stm32f4xx_flash.h" |
benkatz | 23:2adf23ee0305 | 33 | #include "FlashWriter.h" |
benkatz | 23:2adf23ee0305 | 34 | #include "user_config.h" |
benkatz | 23:2adf23ee0305 | 35 | #include "PreferenceWriter.h" |
benkatz | 42:738fa01b0346 | 36 | #include "CAN_com.h" |
benkatz | 44:8040fa2fcb0d | 37 | #include "DRV.h" |
WinnieLiu | 60:f009e39e913e | 38 | |
WinnieLiu | 60:f009e39e913e | 39 | //DigitalOut *CAN_DEBUG = new DigitalOut(PB_15); |
WinnieLiu | 60:f009e39e913e | 40 | //DigitalOut *GPIO_PID_DEBUG = new DigitalOut(PC_6); |
WinnieLiu | 60:f009e39e913e | 41 | |
WinnieLiu | 60:f009e39e913e | 42 | DigitalIn *HALL_IO = new DigitalIn(PC_6); |
WinnieLiu | 60:f009e39e913e | 43 | |
benkatz | 23:2adf23ee0305 | 44 | PreferenceWriter prefs(6); |
benkatz | 9:d7eb815cb057 | 45 | |
benkatz | 20:bf9ea5125d52 | 46 | GPIOStruct gpio; |
benkatz | 20:bf9ea5125d52 | 47 | ControllerStruct controller; |
benkatz | 48:74a40481740c | 48 | ObserverStruct observer; |
benkatz | 20:bf9ea5125d52 | 49 | COMStruct com; |
benkatz | 43:dfb72608639c | 50 | Serial pc(PA_2, PA_3); |
benkatz | 9:d7eb815cb057 | 51 | |
benkatz | 17:3c5df2982199 | 52 | |
benkatz | 45:26801179208e | 53 | CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name |
benkatz | 26:2b865c00d7e9 | 54 | CANMessage rxMsg; |
benkatz | 26:2b865c00d7e9 | 55 | CANMessage txMsg; |
benkatz | 23:2adf23ee0305 | 56 | |
benkatz | 20:bf9ea5125d52 | 57 | |
benkatz | 44:8040fa2fcb0d | 58 | SPI drv_spi(PA_7, PA_6, PA_5); |
benkatz | 44:8040fa2fcb0d | 59 | DigitalOut drv_cs(PA_4); |
benkatz | 44:8040fa2fcb0d | 60 | //DigitalOut drv_en_gate(PA_11); |
benkatz | 44:8040fa2fcb0d | 61 | DRV832x drv(&drv_spi, &drv_cs); |
benkatz | 8:10ae7bc88d6e | 62 | |
benkatz | 26:2b865c00d7e9 | 63 | PositionSensorAM5147 spi(16384, 0.0, NPP); |
benkatz | 20:bf9ea5125d52 | 64 | |
benkatz | 23:2adf23ee0305 | 65 | volatile int count = 0; |
benkatz | 23:2adf23ee0305 | 66 | volatile int state = REST_MODE; |
benkatz | 23:2adf23ee0305 | 67 | volatile int state_change; |
benkatz | 20:bf9ea5125d52 | 68 | |
WinnieLiu | 60:f009e39e913e | 69 | void ChangeParameter(CANMessage msg) ; |
WinnieLiu | 60:f009e39e913e | 70 | bool complete_changepara = false; |
WinnieLiu | 60:f009e39e913e | 71 | bool set_zero = 0; |
WinnieLiu | 60:f009e39e913e | 72 | |
WinnieLiu | 61:29371056a3de | 73 | /*Hall sensor calibration*/ |
WinnieLiu | 60:f009e39e913e | 74 | volatile int hall_input = 1; |
WinnieLiu | 61:29371056a3de | 75 | volatile int hall_preinput = 1; |
WinnieLiu | 61:29371056a3de | 76 | volatile float cal_pcmd = 0; |
WinnieLiu | 61:29371056a3de | 77 | volatile float calibrate_speed = 0.25; // rad/s |
WinnieLiu | 61:29371056a3de | 78 | volatile float hall_presentpos = 0; //calibrate之前encoder的位置 |
WinnieLiu | 61:29371056a3de | 79 | volatile float hall_in_pos = 0; //讀到1->0的位置(磁鐵進入hall sensor範圍) |
WinnieLiu | 61:29371056a3de | 80 | volatile float hall_out_pos = 0; //讀到0->1的位置(磁鐵出hall sensor範圍) |
WinnieLiu | 61:29371056a3de | 81 | volatile float hall_mid_pos = 0; |
WinnieLiu | 61:29371056a3de | 82 | volatile float calibrate_offset = 0; //rad |
WinnieLiu | 61:29371056a3de | 83 | volatile int calibrate_count = 0; |
WinnieLiu | 62:d43fcdd2d48b | 84 | volatile int calibrate_state = 0; |
WinnieLiu | 62:d43fcdd2d48b | 85 | // |
WinnieLiu | 60:f009e39e913e | 86 | |
benkatz | 26:2b865c00d7e9 | 87 | void onMsgReceived() { |
WinnieLiu | 60:f009e39e913e | 88 | //static int can_state = 0; |
benkatz | 26:2b865c00d7e9 | 89 | //msgAvailable = true; |
benkatz | 53:e85efce8c1eb | 90 | //printf("%d\n\r", rxMsg.id); |
WinnieLiu | 60:f009e39e913e | 91 | //CAN_DEBUG->write(1); |
benkatz | 26:2b865c00d7e9 | 92 | can.read(rxMsg); |
benkatz | 28:8c7e29f719c5 | 93 | if((rxMsg.id == CAN_ID)){ |
benkatz | 28:8c7e29f719c5 | 94 | controller.timeout = 0; |
WinnieLiu | 59:d53a7ccaae9a | 95 | //printf("%X\n\r",0x55); |
benkatz | 28:8c7e29f719c5 | 96 | 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))){ |
WinnieLiu | 62:d43fcdd2d48b | 97 | //printf("can motor\n\r"); |
benkatz | 28:8c7e29f719c5 | 98 | state = MOTOR_MODE; |
benkatz | 28:8c7e29f719c5 | 99 | state_change = 1; |
WinnieLiu | 60:f009e39e913e | 100 | } |
benkatz | 28:8c7e29f719c5 | 101 | 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 | 102 | state = REST_MODE; |
benkatz | 28:8c7e29f719c5 | 103 | state_change = 1; |
WinnieLiu | 60:f009e39e913e | 104 | gpio.led->write(0); |
WinnieLiu | 60:f009e39e913e | 105 | } |
benkatz | 28:8c7e29f719c5 | 106 | 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))){ |
WinnieLiu | 60:f009e39e913e | 107 | set_zero = 1; |
benkatz | 28:8c7e29f719c5 | 108 | spi.ZeroPosition(); |
WinnieLiu | 60:f009e39e913e | 109 | controller.p_des = 0; |
WinnieLiu | 60:f009e39e913e | 110 | set_zero = 0; |
WinnieLiu | 60:f009e39e913e | 111 | } |
WinnieLiu | 60:f009e39e913e | 112 | else if(state == REST_MODE && rxMsg.data[0]==0xFE){ |
WinnieLiu | 60:f009e39e913e | 113 | printf("Change Parameters\n\r"); |
WinnieLiu | 60:f009e39e913e | 114 | ChangeParameter(rxMsg); |
WinnieLiu | 60:f009e39e913e | 115 | complete_changepara = true; |
WinnieLiu | 60:f009e39e913e | 116 | } |
WinnieLiu | 61:29371056a3de | 117 | 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]==0xFA))){ |
WinnieLiu | 62:d43fcdd2d48b | 118 | //printf("Hall Calibration\n\r"); |
WinnieLiu | 62:d43fcdd2d48b | 119 | state = HALL_CALIBRATE; |
WinnieLiu | 62:d43fcdd2d48b | 120 | calibrate_count = 0; |
WinnieLiu | 62:d43fcdd2d48b | 121 | calibrate_state = 1; // calibrating |
WinnieLiu | 61:29371056a3de | 122 | //step1:讀目前位置 |
WinnieLiu | 61:29371056a3de | 123 | /*----- convert theta_mech to 0~359.9999deg -----*/ |
WinnieLiu | 61:29371056a3de | 124 | hall_presentpos = controller.theta_mech; |
WinnieLiu | 62:d43fcdd2d48b | 125 | cal_pcmd = controller.theta_mech; |
WinnieLiu | 61:29371056a3de | 126 | float _f_cal_round; |
WinnieLiu | 62:d43fcdd2d48b | 127 | modf(cal_pcmd/(2*PI),&_f_cal_round); |
WinnieLiu | 62:d43fcdd2d48b | 128 | cal_pcmd = cal_pcmd - _f_cal_round*2*PI; |
WinnieLiu | 62:d43fcdd2d48b | 129 | if(cal_pcmd < 0) |
WinnieLiu | 62:d43fcdd2d48b | 130 | cal_pcmd = cal_pcmd + 2*PI; |
WinnieLiu | 61:29371056a3de | 131 | |
WinnieLiu | 61:29371056a3de | 132 | state_change = 1; |
WinnieLiu | 61:29371056a3de | 133 | } |
benkatz | 28:8c7e29f719c5 | 134 | else if(state == MOTOR_MODE){ |
benkatz | 28:8c7e29f719c5 | 135 | unpack_cmd(rxMsg, &controller); |
WinnieLiu | 60:f009e39e913e | 136 | } |
WinnieLiu | 62:d43fcdd2d48b | 137 | pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT, VERSION_NUM, calibrate_state, state); |
benkatz | 37:c0f352d6e8e3 | 138 | can.write(txMsg); |
WinnieLiu | 60:f009e39e913e | 139 | //can_state = can.write(txMsg); |
WinnieLiu | 60:f009e39e913e | 140 | //CAN_DEBUG->write(0); |
WinnieLiu | 60:f009e39e913e | 141 | //CAN_DEBUG->write(can_state); |
benkatz | 28:8c7e29f719c5 | 142 | } |
benkatz | 26:2b865c00d7e9 | 143 | |
benkatz | 26:2b865c00d7e9 | 144 | } |
benkatz | 26:2b865c00d7e9 | 145 | |
WinnieLiu | 60:f009e39e913e | 146 | //Use CAN Bus to change parameters |
WinnieLiu | 60:f009e39e913e | 147 | void ChangeParameter(CANMessage msg){ |
WinnieLiu | 60:f009e39e913e | 148 | int kp_int = (msg.data[2]<<4)|(msg.data[3]>>4); |
WinnieLiu | 60:f009e39e913e | 149 | int ki_int = ((msg.data[3]&0xF)<<8)|msg.data[4]; |
WinnieLiu | 60:f009e39e913e | 150 | int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4); |
WinnieLiu | 60:f009e39e913e | 151 | |
WinnieLiu | 60:f009e39e913e | 152 | CAN_ID = msg.data[1]; |
WinnieLiu | 60:f009e39e913e | 153 | MOTOR_KP = uint_to_float(kp_int, KP_MIN, KP_MAX, 12); |
WinnieLiu | 60:f009e39e913e | 154 | MOTOR_KI = uint_to_float(ki_int, KI_MIN, KI_MAX, 12); |
WinnieLiu | 60:f009e39e913e | 155 | MOTOR_KD = uint_to_float(kd_int, KD_MIN, KD_MAX, 12); |
WinnieLiu | 60:f009e39e913e | 156 | |
WinnieLiu | 60:f009e39e913e | 157 | // save to flash |
WinnieLiu | 60:f009e39e913e | 158 | if (!prefs.ready()) prefs.open(); |
WinnieLiu | 60:f009e39e913e | 159 | prefs.flush(); // Write new prefs to flash |
WinnieLiu | 60:f009e39e913e | 160 | prefs.close(); |
WinnieLiu | 60:f009e39e913e | 161 | prefs.load(); |
WinnieLiu | 60:f009e39e913e | 162 | /*----- change new pid controller parameter -----*/ |
WinnieLiu | 60:f009e39e913e | 163 | controller.kp = MOTOR_KP; |
WinnieLiu | 60:f009e39e913e | 164 | controller.ki = MOTOR_KI; |
WinnieLiu | 60:f009e39e913e | 165 | controller.kd = MOTOR_KD; |
WinnieLiu | 60:f009e39e913e | 166 | } |
WinnieLiu | 60:f009e39e913e | 167 | |
benkatz | 23:2adf23ee0305 | 168 | void enter_menu_state(void){ |
benkatz | 44:8040fa2fcb0d | 169 | drv.disable_gd(); |
WinnieLiu | 60:f009e39e913e | 170 | gpio.enable->write(0); |
benkatz | 23:2adf23ee0305 | 171 | printf("\n\r\n\r\n\r"); |
benkatz | 23:2adf23ee0305 | 172 | printf(" Commands:\n\r"); |
benkatz | 44:8040fa2fcb0d | 173 | wait_us(10); |
benkatz | 26:2b865c00d7e9 | 174 | printf(" m - Motor Mode\n\r"); |
benkatz | 44:8040fa2fcb0d | 175 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 176 | printf(" c - Calibrate Encoder\n\r"); |
benkatz | 44:8040fa2fcb0d | 177 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 178 | printf(" s - Setup\n\r"); |
benkatz | 44:8040fa2fcb0d | 179 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 180 | printf(" e - Display Encoder\n\r"); |
benkatz | 44:8040fa2fcb0d | 181 | wait_us(10); |
benkatz | 37:c0f352d6e8e3 | 182 | printf(" z - Set Zero Position\n\r"); |
benkatz | 44:8040fa2fcb0d | 183 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 184 | printf(" esc - Exit to Menu\n\r"); |
benkatz | 44:8040fa2fcb0d | 185 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 186 | state_change = 0; |
benkatz | 37:c0f352d6e8e3 | 187 | gpio.led->write(0); |
WinnieLiu | 62:d43fcdd2d48b | 188 | } |
benkatz | 24:58c2d7571207 | 189 | |
benkatz | 24:58c2d7571207 | 190 | void enter_setup_state(void){ |
benkatz | 24:58c2d7571207 | 191 | printf("\n\r\n\r Configuration Options \n\r\n\n"); |
benkatz | 44:8040fa2fcb0d | 192 | wait_us(10); |
benkatz | 51:6cd89bd6fcaa | 193 | printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value"); |
benkatz | 44:8040fa2fcb0d | 194 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 195 | printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW); |
benkatz | 44:8040fa2fcb0d | 196 | wait_us(10); |
WinnieLiu | 55:b97b90d06ffa | 197 | printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "o", "CAN ID", "0", "127", CAN_ID); |
benkatz | 44:8040fa2fcb0d | 198 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 199 | printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER); |
benkatz | 44:8040fa2fcb0d | 200 | wait_us(10); |
benkatz | 51:6cd89bd6fcaa | 201 | printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX); |
benkatz | 51:6cd89bd6fcaa | 202 | wait_us(10); |
benkatz | 51:6cd89bd6fcaa | 203 | printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX); |
benkatz | 44:8040fa2fcb0d | 204 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 205 | printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT); |
benkatz | 44:8040fa2fcb0d | 206 | wait_us(10); |
WinnieLiu | 55:b97b90d06ffa | 207 | |
WinnieLiu | 62:d43fcdd2d48b | 208 | printf(" %-4s %-31s %-5s %-6s %d\n\r", "c", "Calibration Direction", "-1", "1", CALIBRATE_DIR); |
WinnieLiu | 55:b97b90d06ffa | 209 | wait_us(10); |
WinnieLiu | 62:d43fcdd2d48b | 210 | |
WinnieLiu | 62:d43fcdd2d48b | 211 | printf(" %-4s %-31s %.2f %.2f %.2f\n\r", "p", "MOTOR_KP", KP_MIN, KP_MAX, MOTOR_KP); |
WinnieLiu | 60:f009e39e913e | 212 | wait_us(10); |
WinnieLiu | 62:d43fcdd2d48b | 213 | printf(" %-4s %-31s %.2f %.2f %.2f\n\r", "i", "MOTOR_KI", KI_MIN, KI_MAX, MOTOR_KI); |
WinnieLiu | 62:d43fcdd2d48b | 214 | wait_us(10); |
WinnieLiu | 62:d43fcdd2d48b | 215 | printf(" %-4s %-31s %.2f %.2f %.2f\n\r", "d", "MOTOR_KD", KD_MIN, KD_MAX, MOTOR_KD); |
WinnieLiu | 55:b97b90d06ffa | 216 | wait_us(10); |
WinnieLiu | 55:b97b90d06ffa | 217 | |
benkatz | 24:58c2d7571207 | 218 | printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r"); |
benkatz | 44:8040fa2fcb0d | 219 | wait_us(10); |
benkatz | 24:58c2d7571207 | 220 | state_change = 0; |
benkatz | 24:58c2d7571207 | 221 | } |
benkatz | 22:60276ba87ac6 | 222 | |
benkatz | 23:2adf23ee0305 | 223 | void enter_torque_mode(void){ |
benkatz | 44:8040fa2fcb0d | 224 | drv.enable_gd(); |
WinnieLiu | 60:f009e39e913e | 225 | gpio.enable->write(1); |
benkatz | 37:c0f352d6e8e3 | 226 | controller.ovp_flag = 0; |
benkatz | 28:8c7e29f719c5 | 227 | reset_foc(&controller); // Tesets integrators, and other control loop parameters |
benkatz | 28:8c7e29f719c5 | 228 | wait(.001); |
benkatz | 23:2adf23ee0305 | 229 | controller.i_d_ref = 0; |
benkatz | 50:ba72df25d10f | 230 | controller.i_q_ref = 0; // Current Setpoints |
benkatz | 37:c0f352d6e8e3 | 231 | gpio.led->write(1); // Turn on status LED |
benkatz | 25:f5741040c4bb | 232 | state_change = 0; |
benkatz | 28:8c7e29f719c5 | 233 | printf("\n\r Entering Motor Mode \n\r"); |
benkatz | 23:2adf23ee0305 | 234 | } |
benkatz | 22:60276ba87ac6 | 235 | |
benkatz | 23:2adf23ee0305 | 236 | void calibrate(void){ |
benkatz | 44:8040fa2fcb0d | 237 | drv.enable_gd(); |
WinnieLiu | 60:f009e39e913e | 238 | gpio.enable->write(1); |
benkatz | 37:c0f352d6e8e3 | 239 | gpio.led->write(1); // Turn on status LED |
benkatz | 25:f5741040c4bb | 240 | order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering |
benkatz | 25:f5741040c4bb | 241 | calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure |
benkatz | 37:c0f352d6e8e3 | 242 | gpio.led->write(0);; // Turn off status LED |
benkatz | 23:2adf23ee0305 | 243 | wait(.2); |
benkatz | 23:2adf23ee0305 | 244 | printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r"); |
benkatz | 44:8040fa2fcb0d | 245 | drv.disable_gd(); |
WinnieLiu | 60:f009e39e913e | 246 | gpio.enable->write(0); |
benkatz | 23:2adf23ee0305 | 247 | state_change = 0; |
benkatz | 23:2adf23ee0305 | 248 | } |
benkatz | 23:2adf23ee0305 | 249 | |
benkatz | 23:2adf23ee0305 | 250 | void print_encoder(void){ |
benkatz | 48:74a40481740c | 251 | printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition()); |
benkatz | 48:74a40481740c | 252 | //printf("%d\n\r", spi.GetRawPosition()); |
benkatz | 47:e1196a851f76 | 253 | wait(.001); |
benkatz | 22:60276ba87ac6 | 254 | } |
benkatz | 20:bf9ea5125d52 | 255 | |
benkatz | 23:2adf23ee0305 | 256 | /// Current Sampling Interrupt /// |
benkatz | 23:2adf23ee0305 | 257 | /// This runs at 40 kHz, regardless of of the mode the controller is in /// |
benkatz | 2:8724412ad628 | 258 | extern "C" void TIM1_UP_TIM10_IRQHandler(void) { |
benkatz | 2:8724412ad628 | 259 | if (TIM1->SR & TIM_SR_UIF ) { |
WinnieLiu | 61:29371056a3de | 260 | hall_input = HALL_IO->read(); // read hall sensor |
WinnieLiu | 60:f009e39e913e | 261 | //GPIO_PID_DEBUG->write(1); |
benkatz | 23:2adf23ee0305 | 262 | |
benkatz | 23:2adf23ee0305 | 263 | ///Sample current always /// |
benkatz | 25:f5741040c4bb | 264 | ADC1->CR2 |= 0x40000000; // Begin sample and conversion |
benkatz | 22:60276ba87ac6 | 265 | //volatile int delay; |
benkatz | 20:bf9ea5125d52 | 266 | //for (delay = 0; delay < 55; delay++); |
benkatz | 45:26801179208e | 267 | |
benkatz | 47:e1196a851f76 | 268 | spi.Sample(DT); // sample position sensor |
benkatz | 37:c0f352d6e8e3 | 269 | controller.adc2_raw = ADC2->DR; // Read ADC Data Registers |
benkatz | 23:2adf23ee0305 | 270 | controller.adc1_raw = ADC1->DR; |
benkatz | 37:c0f352d6e8e3 | 271 | controller.adc3_raw = ADC3->DR; |
benkatz | 37:c0f352d6e8e3 | 272 | controller.theta_elec = spi.GetElecPosition(); |
benkatz | 37:c0f352d6e8e3 | 273 | controller.theta_mech = (1.0f/GR)*spi.GetMechPosition(); |
benkatz | 37:c0f352d6e8e3 | 274 | controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity(); |
benkatz | 37:c0f352d6e8e3 | 275 | controller.dtheta_elec = spi.GetElecVelocity(); |
benkatz | 51:6cd89bd6fcaa | 276 | 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 | 277 | /// |
benkatz | 20:bf9ea5125d52 | 278 | |
benkatz | 23:2adf23ee0305 | 279 | /// Check state machine state, and run the appropriate function /// |
benkatz | 23:2adf23ee0305 | 280 | switch(state){ |
benkatz | 37:c0f352d6e8e3 | 281 | case REST_MODE: // Do nothing |
benkatz | 23:2adf23ee0305 | 282 | if(state_change){ |
WinnieLiu | 62:d43fcdd2d48b | 283 | if(calibrate_state != 2) //success |
WinnieLiu | 62:d43fcdd2d48b | 284 | enter_menu_state(); |
WinnieLiu | 62:d43fcdd2d48b | 285 | else{ |
WinnieLiu | 62:d43fcdd2d48b | 286 | // if(calibrate_count != 0){ |
WinnieLiu | 62:d43fcdd2d48b | 287 | drv.disable_gd(); |
WinnieLiu | 62:d43fcdd2d48b | 288 | gpio.enable->write(0); |
WinnieLiu | 62:d43fcdd2d48b | 289 | state_change = 0; |
WinnieLiu | 62:d43fcdd2d48b | 290 | gpio.led->write(0); |
WinnieLiu | 62:d43fcdd2d48b | 291 | // } |
WinnieLiu | 62:d43fcdd2d48b | 292 | // state = MOTOR_MODE; |
WinnieLiu | 62:d43fcdd2d48b | 293 | // state_change = 1; |
benkatz | 23:2adf23ee0305 | 294 | } |
WinnieLiu | 62:d43fcdd2d48b | 295 | } |
benkatz | 23:2adf23ee0305 | 296 | break; |
benkatz | 22:60276ba87ac6 | 297 | |
benkatz | 23:2adf23ee0305 | 298 | case CALIBRATION_MODE: // Run encoder calibration procedure |
benkatz | 23:2adf23ee0305 | 299 | if(state_change){ |
benkatz | 23:2adf23ee0305 | 300 | calibrate(); |
benkatz | 23:2adf23ee0305 | 301 | } |
benkatz | 23:2adf23ee0305 | 302 | break; |
benkatz | 23:2adf23ee0305 | 303 | |
benkatz | 26:2b865c00d7e9 | 304 | case MOTOR_MODE: // Run torque control |
benkatz | 25:f5741040c4bb | 305 | if(state_change){ |
benkatz | 25:f5741040c4bb | 306 | enter_torque_mode(); |
benkatz | 28:8c7e29f719c5 | 307 | count = 0; |
benkatz | 25:f5741040c4bb | 308 | } |
benkatz | 28:8c7e29f719c5 | 309 | else{ |
benkatz | 37:c0f352d6e8e3 | 310 | /* |
benkatz | 37:c0f352d6e8e3 | 311 | 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 | 312 | gpio. |
benkatz | 47:e1196a851f76 | 313 | ->write(0); |
benkatz | 37:c0f352d6e8e3 | 314 | controller.ovp_flag = 1; |
benkatz | 37:c0f352d6e8e3 | 315 | state = REST_MODE; |
benkatz | 37:c0f352d6e8e3 | 316 | state_change = 1; |
benkatz | 37:c0f352d6e8e3 | 317 | printf("OVP Triggered!\n\r"); |
benkatz | 37:c0f352d6e8e3 | 318 | } |
benkatz | 37:c0f352d6e8e3 | 319 | */ |
benkatz | 37:c0f352d6e8e3 | 320 | |
WinnieLiu | 60:f009e39e913e | 321 | if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){ |
WinnieLiu | 60:f009e39e913e | 322 | controller.i_d_ref = 0; |
WinnieLiu | 60:f009e39e913e | 323 | controller.i_q_ref = 0; |
WinnieLiu | 60:f009e39e913e | 324 | controller.kp = 0; |
WinnieLiu | 60:f009e39e913e | 325 | controller.kd = 0; |
WinnieLiu | 60:f009e39e913e | 326 | controller.t_ff = 0; |
benkatz | 28:8c7e29f719c5 | 327 | } |
benkatz | 47:e1196a851f76 | 328 | |
WinnieLiu | 60:f009e39e913e | 329 | if(!set_zero){ |
WinnieLiu | 60:f009e39e913e | 330 | torque_control(&controller); |
WinnieLiu | 60:f009e39e913e | 331 | commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop |
benkatz | 49:83d83040ea51 | 332 | |
WinnieLiu | 60:f009e39e913e | 333 | controller.timeout++; |
WinnieLiu | 60:f009e39e913e | 334 | count++; |
WinnieLiu | 60:f009e39e913e | 335 | } |
benkatz | 37:c0f352d6e8e3 | 336 | |
benkatz | 37:c0f352d6e8e3 | 337 | } |
benkatz | 23:2adf23ee0305 | 338 | break; |
benkatz | 23:2adf23ee0305 | 339 | case SETUP_MODE: |
benkatz | 23:2adf23ee0305 | 340 | if(state_change){ |
benkatz | 24:58c2d7571207 | 341 | enter_setup_state(); |
benkatz | 23:2adf23ee0305 | 342 | } |
benkatz | 23:2adf23ee0305 | 343 | break; |
WinnieLiu | 61:29371056a3de | 344 | case HALL_CALIBRATE: |
WinnieLiu | 61:29371056a3de | 345 | if(state_change){ |
WinnieLiu | 61:29371056a3de | 346 | //step2:馬達激磁 |
WinnieLiu | 61:29371056a3de | 347 | enter_torque_mode(); |
WinnieLiu | 62:d43fcdd2d48b | 348 | calibrate_state = 1; |
WinnieLiu | 61:29371056a3de | 349 | count = 0; |
WinnieLiu | 61:29371056a3de | 350 | } |
WinnieLiu | 61:29371056a3de | 351 | else{ |
WinnieLiu | 62:d43fcdd2d48b | 352 | //若轉超過一圈就算失敗 |
WinnieLiu | 62:d43fcdd2d48b | 353 | if((CALIBRATE_DIR == 1 && controller.theta_mech >= hall_presentpos + 2*PI) || (CALIBRATE_DIR == -1 && controller.theta_mech <= hall_presentpos - 2*PI)){ |
WinnieLiu | 62:d43fcdd2d48b | 354 | calibrate_state = 3; |
WinnieLiu | 62:d43fcdd2d48b | 355 | state = REST_MODE; |
WinnieLiu | 62:d43fcdd2d48b | 356 | state_change = 1; |
WinnieLiu | 61:29371056a3de | 357 | } |
WinnieLiu | 61:29371056a3de | 358 | else{ |
WinnieLiu | 62:d43fcdd2d48b | 359 | //step3: 馬達正反轉讀hall sensor(1: 沒有感應到磁鐵,0:有感應到磁鐵) |
WinnieLiu | 62:d43fcdd2d48b | 360 | //記住1->0瞬間的位置(in_pos),繼續旋轉 |
WinnieLiu | 62:d43fcdd2d48b | 361 | //記住0->1瞬間的位置(out_pos),停止旋轉,計算in_pos與out_pos的平均值,再讓馬達慢慢轉到位置 |
WinnieLiu | 62:d43fcdd2d48b | 362 | if(hall_input != hall_preinput){ |
WinnieLiu | 62:d43fcdd2d48b | 363 | calibrate_count += 1; |
WinnieLiu | 62:d43fcdd2d48b | 364 | if(hall_input == 0) |
WinnieLiu | 62:d43fcdd2d48b | 365 | hall_in_pos = controller.theta_mech; |
WinnieLiu | 62:d43fcdd2d48b | 366 | else{ |
WinnieLiu | 62:d43fcdd2d48b | 367 | hall_out_pos = controller.theta_mech; |
WinnieLiu | 62:d43fcdd2d48b | 368 | hall_mid_pos = (hall_in_pos + hall_out_pos)/2; |
WinnieLiu | 62:d43fcdd2d48b | 369 | } |
WinnieLiu | 62:d43fcdd2d48b | 370 | } |
WinnieLiu | 62:d43fcdd2d48b | 371 | |
WinnieLiu | 62:d43fcdd2d48b | 372 | if(calibrate_count <= 1){ |
WinnieLiu | 62:d43fcdd2d48b | 373 | cal_pcmd = cal_pcmd + CALIBRATE_DIR*(1.0f/(40000.0f)*calibrate_speed); |
WinnieLiu | 61:29371056a3de | 374 | } |
WinnieLiu | 62:d43fcdd2d48b | 375 | else{ |
WinnieLiu | 62:d43fcdd2d48b | 376 | if(CALIBRATE_DIR == 1){ |
WinnieLiu | 62:d43fcdd2d48b | 377 | if(controller.theta_mech >= hall_mid_pos) //keep turning |
WinnieLiu | 62:d43fcdd2d48b | 378 | cal_pcmd = cal_pcmd - CALIBRATE_DIR*1.0f/40000.0f*calibrate_speed; |
WinnieLiu | 62:d43fcdd2d48b | 379 | else{//stop |
WinnieLiu | 62:d43fcdd2d48b | 380 | cal_pcmd = 0; |
WinnieLiu | 62:d43fcdd2d48b | 381 | calibrate_state = 2; //success |
WinnieLiu | 62:d43fcdd2d48b | 382 | spi.ZeroPosition(); |
WinnieLiu | 62:d43fcdd2d48b | 383 | controller.p_des = 0; |
WinnieLiu | 62:d43fcdd2d48b | 384 | state = REST_MODE; |
WinnieLiu | 62:d43fcdd2d48b | 385 | state_change = 1; |
WinnieLiu | 62:d43fcdd2d48b | 386 | //count = 0; |
WinnieLiu | 62:d43fcdd2d48b | 387 | //歸零 |
WinnieLiu | 62:d43fcdd2d48b | 388 | calibrate_count = 0; |
WinnieLiu | 62:d43fcdd2d48b | 389 | |
WinnieLiu | 62:d43fcdd2d48b | 390 | } |
WinnieLiu | 62:d43fcdd2d48b | 391 | } |
WinnieLiu | 62:d43fcdd2d48b | 392 | else if(CALIBRATE_DIR == -1){ |
WinnieLiu | 62:d43fcdd2d48b | 393 | if(controller.theta_mech <= hall_mid_pos) //keep turning |
WinnieLiu | 62:d43fcdd2d48b | 394 | cal_pcmd = cal_pcmd - CALIBRATE_DIR*(1.0f/(40000.0f)*calibrate_speed); |
WinnieLiu | 62:d43fcdd2d48b | 395 | else{//stop |
WinnieLiu | 62:d43fcdd2d48b | 396 | cal_pcmd = controller.theta_mech; |
WinnieLiu | 62:d43fcdd2d48b | 397 | calibrate_state = 2; //success |
WinnieLiu | 62:d43fcdd2d48b | 398 | spi.ZeroPosition(); |
WinnieLiu | 62:d43fcdd2d48b | 399 | controller.p_des = 0; |
WinnieLiu | 62:d43fcdd2d48b | 400 | //歸零 |
WinnieLiu | 62:d43fcdd2d48b | 401 | calibrate_count = 0; |
WinnieLiu | 62:d43fcdd2d48b | 402 | } |
WinnieLiu | 62:d43fcdd2d48b | 403 | } |
WinnieLiu | 61:29371056a3de | 404 | } |
WinnieLiu | 62:d43fcdd2d48b | 405 | |
WinnieLiu | 62:d43fcdd2d48b | 406 | cal_pcmd = (cal_pcmd>2*PI) ? cal_pcmd-=2*PI : cal_pcmd; |
WinnieLiu | 62:d43fcdd2d48b | 407 | cal_pcmd = (cal_pcmd < 0) ? cal_pcmd+=2*PI : cal_pcmd; |
WinnieLiu | 62:d43fcdd2d48b | 408 | controller.p_des = cal_pcmd; |
WinnieLiu | 62:d43fcdd2d48b | 409 | if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){ |
WinnieLiu | 62:d43fcdd2d48b | 410 | controller.i_d_ref = 0; |
WinnieLiu | 62:d43fcdd2d48b | 411 | controller.i_q_ref = 0; |
WinnieLiu | 62:d43fcdd2d48b | 412 | controller.kp = 0; |
WinnieLiu | 62:d43fcdd2d48b | 413 | controller.ki = 0; |
WinnieLiu | 62:d43fcdd2d48b | 414 | controller.kd = 0; |
WinnieLiu | 62:d43fcdd2d48b | 415 | controller.t_ff = 0; |
WinnieLiu | 62:d43fcdd2d48b | 416 | } |
WinnieLiu | 61:29371056a3de | 417 | |
WinnieLiu | 62:d43fcdd2d48b | 418 | torque_control(&controller); |
WinnieLiu | 62:d43fcdd2d48b | 419 | commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop |
WinnieLiu | 62:d43fcdd2d48b | 420 | |
WinnieLiu | 62:d43fcdd2d48b | 421 | controller.timeout++; |
WinnieLiu | 62:d43fcdd2d48b | 422 | count++; |
WinnieLiu | 61:29371056a3de | 423 | } |
WinnieLiu | 61:29371056a3de | 424 | } |
WinnieLiu | 61:29371056a3de | 425 | break; |
benkatz | 23:2adf23ee0305 | 426 | case ENCODER_MODE: |
benkatz | 23:2adf23ee0305 | 427 | print_encoder(); |
benkatz | 23:2adf23ee0305 | 428 | break; |
benkatz | 37:c0f352d6e8e3 | 429 | } |
benkatz | 2:8724412ad628 | 430 | } |
WinnieLiu | 61:29371056a3de | 431 | TIM1->SR = 0x0; // reset the status register |
WinnieLiu | 61:29371056a3de | 432 | hall_preinput = hall_input; |
WinnieLiu | 60:f009e39e913e | 433 | //GPIO_PID_DEBUG->write(0); |
benkatz | 2:8724412ad628 | 434 | } |
benkatz | 0:4e1c4df6aabd | 435 | |
benkatz | 25:f5741040c4bb | 436 | |
benkatz | 24:58c2d7571207 | 437 | char cmd_val[8] = {0}; |
benkatz | 24:58c2d7571207 | 438 | char cmd_id = 0; |
benkatz | 25:f5741040c4bb | 439 | char char_count = 0; |
benkatz | 24:58c2d7571207 | 440 | |
benkatz | 25:f5741040c4bb | 441 | /// Manage state machine with commands from serial terminal or configurator gui /// |
benkatz | 25:f5741040c4bb | 442 | /// Called when data received over serial /// |
benkatz | 23:2adf23ee0305 | 443 | void serial_interrupt(void){ |
benkatz | 23:2adf23ee0305 | 444 | while(pc.readable()){ |
benkatz | 23:2adf23ee0305 | 445 | char c = pc.getc(); |
benkatz | 25:f5741040c4bb | 446 | if(c == 27){ |
benkatz | 25:f5741040c4bb | 447 | state = REST_MODE; |
benkatz | 25:f5741040c4bb | 448 | state_change = 1; |
benkatz | 25:f5741040c4bb | 449 | char_count = 0; |
benkatz | 25:f5741040c4bb | 450 | cmd_id = 0; |
benkatz | 37:c0f352d6e8e3 | 451 | gpio.led->write(0);; |
benkatz | 25:f5741040c4bb | 452 | for(int i = 0; i<8; i++){cmd_val[i] = 0;} |
benkatz | 25:f5741040c4bb | 453 | } |
benkatz | 24:58c2d7571207 | 454 | if(state == REST_MODE){ |
benkatz | 23:2adf23ee0305 | 455 | switch (c){ |
benkatz | 23:2adf23ee0305 | 456 | case 'c': |
benkatz | 23:2adf23ee0305 | 457 | state = CALIBRATION_MODE; |
benkatz | 23:2adf23ee0305 | 458 | state_change = 1; |
benkatz | 23:2adf23ee0305 | 459 | break; |
benkatz | 26:2b865c00d7e9 | 460 | case 'm': |
benkatz | 26:2b865c00d7e9 | 461 | state = MOTOR_MODE; |
benkatz | 23:2adf23ee0305 | 462 | state_change = 1; |
benkatz | 23:2adf23ee0305 | 463 | break; |
benkatz | 23:2adf23ee0305 | 464 | case 'e': |
benkatz | 23:2adf23ee0305 | 465 | state = ENCODER_MODE; |
benkatz | 23:2adf23ee0305 | 466 | state_change = 1; |
benkatz | 23:2adf23ee0305 | 467 | break; |
benkatz | 23:2adf23ee0305 | 468 | case 's': |
benkatz | 23:2adf23ee0305 | 469 | state = SETUP_MODE; |
benkatz | 23:2adf23ee0305 | 470 | state_change = 1; |
benkatz | 23:2adf23ee0305 | 471 | break; |
benkatz | 37:c0f352d6e8e3 | 472 | case 'z': |
benkatz | 37:c0f352d6e8e3 | 473 | spi.SetMechOffset(0); |
benkatz | 47:e1196a851f76 | 474 | spi.Sample(DT); |
benkatz | 37:c0f352d6e8e3 | 475 | wait_us(20); |
benkatz | 37:c0f352d6e8e3 | 476 | M_OFFSET = spi.GetMechPosition(); |
benkatz | 37:c0f352d6e8e3 | 477 | if (!prefs.ready()) prefs.open(); |
benkatz | 37:c0f352d6e8e3 | 478 | prefs.flush(); // Write new prefs to flash |
benkatz | 37:c0f352d6e8e3 | 479 | prefs.close(); |
benkatz | 37:c0f352d6e8e3 | 480 | prefs.load(); |
benkatz | 37:c0f352d6e8e3 | 481 | spi.SetMechOffset(M_OFFSET); |
benkatz | 37:c0f352d6e8e3 | 482 | printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET); |
benkatz | 37:c0f352d6e8e3 | 483 | |
benkatz | 37:c0f352d6e8e3 | 484 | break; |
benkatz | 37:c0f352d6e8e3 | 485 | } |
benkatz | 37:c0f352d6e8e3 | 486 | |
benkatz | 24:58c2d7571207 | 487 | } |
benkatz | 24:58c2d7571207 | 488 | else if(state == SETUP_MODE){ |
benkatz | 25:f5741040c4bb | 489 | if(c == 13){ |
benkatz | 24:58c2d7571207 | 490 | switch (cmd_id){ |
benkatz | 24:58c2d7571207 | 491 | case 'b': |
benkatz | 24:58c2d7571207 | 492 | I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f); |
benkatz | 24:58c2d7571207 | 493 | break; |
WinnieLiu | 55:b97b90d06ffa | 494 | case 'o': |
benkatz | 24:58c2d7571207 | 495 | CAN_ID = atoi(cmd_val); |
benkatz | 24:58c2d7571207 | 496 | break; |
benkatz | 26:2b865c00d7e9 | 497 | case 'm': |
benkatz | 26:2b865c00d7e9 | 498 | CAN_MASTER = atoi(cmd_val); |
benkatz | 26:2b865c00d7e9 | 499 | break; |
benkatz | 24:58c2d7571207 | 500 | case 'l': |
benkatz | 51:6cd89bd6fcaa | 501 | I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f); |
benkatz | 51:6cd89bd6fcaa | 502 | break; |
benkatz | 51:6cd89bd6fcaa | 503 | case 'f': |
benkatz | 51:6cd89bd6fcaa | 504 | I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f); |
benkatz | 24:58c2d7571207 | 505 | break; |
benkatz | 28:8c7e29f719c5 | 506 | case 't': |
benkatz | 28:8c7e29f719c5 | 507 | CAN_TIMEOUT = atoi(cmd_val); |
benkatz | 28:8c7e29f719c5 | 508 | break; |
WinnieLiu | 62:d43fcdd2d48b | 509 | case 'c': |
WinnieLiu | 62:d43fcdd2d48b | 510 | CALIBRATE_DIR = atoi(cmd_val); |
WinnieLiu | 62:d43fcdd2d48b | 511 | break; |
WinnieLiu | 55:b97b90d06ffa | 512 | case 'p': |
WinnieLiu | 55:b97b90d06ffa | 513 | MOTOR_KP = fmaxf(fminf(atof(cmd_val), KP_MAX), KP_MIN);; |
WinnieLiu | 55:b97b90d06ffa | 514 | break; |
WinnieLiu | 55:b97b90d06ffa | 515 | case 'i': |
WinnieLiu | 55:b97b90d06ffa | 516 | MOTOR_KI = fmaxf(fminf(atof(cmd_val), KI_MAX), KI_MIN);; |
WinnieLiu | 55:b97b90d06ffa | 517 | break; |
WinnieLiu | 55:b97b90d06ffa | 518 | case 'd': |
WinnieLiu | 55:b97b90d06ffa | 519 | MOTOR_KD = fmaxf(fminf(atof(cmd_val), KD_MAX), KD_MIN); |
WinnieLiu | 55:b97b90d06ffa | 520 | break; |
benkatz | 24:58c2d7571207 | 521 | default: |
benkatz | 24:58c2d7571207 | 522 | printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id); |
benkatz | 24:58c2d7571207 | 523 | break; |
benkatz | 24:58c2d7571207 | 524 | } |
benkatz | 24:58c2d7571207 | 525 | |
benkatz | 24:58c2d7571207 | 526 | if (!prefs.ready()) prefs.open(); |
benkatz | 24:58c2d7571207 | 527 | prefs.flush(); // Write new prefs to flash |
benkatz | 24:58c2d7571207 | 528 | prefs.close(); |
WinnieLiu | 58:636e46484432 | 529 | prefs.load(); |
WinnieLiu | 58:636e46484432 | 530 | /*----- change new pid controller parameter -----*/ |
WinnieLiu | 59:d53a7ccaae9a | 531 | controller.kp = MOTOR_KP; |
WinnieLiu | 58:636e46484432 | 532 | controller.ki = MOTOR_KI; |
WinnieLiu | 58:636e46484432 | 533 | controller.kd = MOTOR_KD; |
WinnieLiu | 58:636e46484432 | 534 | |
benkatz | 24:58c2d7571207 | 535 | state_change = 1; |
benkatz | 24:58c2d7571207 | 536 | char_count = 0; |
benkatz | 24:58c2d7571207 | 537 | cmd_id = 0; |
benkatz | 24:58c2d7571207 | 538 | for(int i = 0; i<8; i++){cmd_val[i] = 0;} |
benkatz | 24:58c2d7571207 | 539 | } |
benkatz | 24:58c2d7571207 | 540 | else{ |
benkatz | 24:58c2d7571207 | 541 | if(char_count == 0){cmd_id = c;} |
benkatz | 24:58c2d7571207 | 542 | else{ |
benkatz | 24:58c2d7571207 | 543 | cmd_val[char_count-1] = c; |
benkatz | 24:58c2d7571207 | 544 | |
benkatz | 24:58c2d7571207 | 545 | } |
benkatz | 24:58c2d7571207 | 546 | pc.putc(c); |
benkatz | 24:58c2d7571207 | 547 | char_count++; |
benkatz | 23:2adf23ee0305 | 548 | } |
benkatz | 23:2adf23ee0305 | 549 | } |
benkatz | 24:58c2d7571207 | 550 | else if (state == ENCODER_MODE){ |
benkatz | 24:58c2d7571207 | 551 | switch (c){ |
benkatz | 24:58c2d7571207 | 552 | case 27: |
benkatz | 24:58c2d7571207 | 553 | state = REST_MODE; |
benkatz | 24:58c2d7571207 | 554 | state_change = 1; |
benkatz | 24:58c2d7571207 | 555 | break; |
benkatz | 24:58c2d7571207 | 556 | } |
benkatz | 24:58c2d7571207 | 557 | } |
benkatz | 49:83d83040ea51 | 558 | else if (state == MOTOR_MODE){ |
benkatz | 49:83d83040ea51 | 559 | switch (c){ |
benkatz | 49:83d83040ea51 | 560 | case 'd': |
benkatz | 49:83d83040ea51 | 561 | controller.i_q_ref = 0; |
benkatz | 49:83d83040ea51 | 562 | controller.i_d_ref = 0; |
benkatz | 49:83d83040ea51 | 563 | } |
benkatz | 49:83d83040ea51 | 564 | } |
benkatz | 24:58c2d7571207 | 565 | |
benkatz | 24:58c2d7571207 | 566 | } |
benkatz | 22:60276ba87ac6 | 567 | } |
WinnieLiu | 60:f009e39e913e | 568 | |
WinnieLiu | 60:f009e39e913e | 569 | void GPIO_SETUP(){ |
WinnieLiu | 60:f009e39e913e | 570 | //GPIOB->MODER |= 0x40000000; |
WinnieLiu | 60:f009e39e913e | 571 | //GPIOC->MODER |= 0x0000100f; |
WinnieLiu | 60:f009e39e913e | 572 | GPIOC->MODER |= 0x00000000; |
WinnieLiu | 60:f009e39e913e | 573 | } |
benkatz | 0:4e1c4df6aabd | 574 | |
benkatz | 0:4e1c4df6aabd | 575 | int main() { |
benkatz | 20:bf9ea5125d52 | 576 | controller.v_bus = V_BUS; |
benkatz | 22:60276ba87ac6 | 577 | controller.mode = 0; |
benkatz | 23:2adf23ee0305 | 578 | Init_All_HW(&gpio); // Setup PWM, ADC, GPIO |
WinnieLiu | 60:f009e39e913e | 579 | //DEBUG_GPIO(); |
WinnieLiu | 60:f009e39e913e | 580 | GPIO_SETUP(); |
WinnieLiu | 60:f009e39e913e | 581 | |
benkatz | 44:8040fa2fcb0d | 582 | wait(.1); |
benkatz | 44:8040fa2fcb0d | 583 | |
benkatz | 44:8040fa2fcb0d | 584 | gpio.enable->write(1); |
benkatz | 44:8040fa2fcb0d | 585 | wait_us(100); |
benkatz | 45:26801179208e | 586 | drv.calibrate(); |
benkatz | 45:26801179208e | 587 | wait_us(100); |
benkatz | 44:8040fa2fcb0d | 588 | drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1); |
benkatz | 44:8040fa2fcb0d | 589 | wait_us(100); |
benkatz | 46:2d4b1dafcfe3 | 590 | drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0); |
benkatz | 44:8040fa2fcb0d | 591 | wait_us(100); |
benkatz | 49:83d83040ea51 | 592 | drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88); |
benkatz | 45:26801179208e | 593 | |
benkatz | 45:26801179208e | 594 | //drv.enable_gd(); |
benkatz | 44:8040fa2fcb0d | 595 | zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset |
benkatz | 47:e1196a851f76 | 596 | drv.disable_gd(); |
WinnieLiu | 60:f009e39e913e | 597 | gpio.enable->write(0); |
benkatz | 20:bf9ea5125d52 | 598 | |
benkatz | 9:d7eb815cb057 | 599 | wait(.1); |
benkatz | 44:8040fa2fcb0d | 600 | /* |
benkatz | 26:2b865c00d7e9 | 601 | gpio.enable->write(1); |
benkatz | 26:2b865c00d7e9 | 602 | TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles |
benkatz | 26:2b865c00d7e9 | 603 | TIM1->CCR2 = 0x708*(1.0f); |
benkatz | 26:2b865c00d7e9 | 604 | TIM1->CCR1 = 0x708*(1.0f); |
benkatz | 26:2b865c00d7e9 | 605 | gpio.enable->write(0); |
benkatz | 44:8040fa2fcb0d | 606 | */ |
benkatz | 23:2adf23ee0305 | 607 | reset_foc(&controller); // Reset current controller |
benkatz | 48:74a40481740c | 608 | reset_observer(&observer); // Reset observer |
benkatz | 26:2b865c00d7e9 | 609 | TIM1->CR1 ^= TIM_CR1_UDIS; |
benkatz | 26:2b865c00d7e9 | 610 | //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt |
benkatz | 20:bf9ea5125d52 | 611 | |
benkatz | 20:bf9ea5125d52 | 612 | wait(.1); |
benkatz | 37:c0f352d6e8e3 | 613 | NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication |
benkatz | 43:dfb72608639c | 614 | |
benkatz | 37:c0f352d6e8e3 | 615 | NVIC_SetPriority(CAN1_RX0_IRQn, 3); |
benkatz | 53:e85efce8c1eb | 616 | // attach 'CAN receive-complete' interrupt handler |
benkatz | 53:e85efce8c1eb | 617 | |
benkatz | 53:e85efce8c1eb | 618 | // If preferences haven't been user configured yet, set defaults |
benkatz | 53:e85efce8c1eb | 619 | prefs.load(); // Read flash |
benkatz | 53:e85efce8c1eb | 620 | |
benkatz | 53:e85efce8c1eb | 621 | can.filter(CAN_ID , 0xFFF, CANStandard, 0); |
benkatz | 43:dfb72608639c | 622 | |
benkatz | 28:8c7e29f719c5 | 623 | txMsg.id = CAN_MASTER; |
WinnieLiu | 60:f009e39e913e | 624 | txMsg.len = 8; |
benkatz | 26:2b865c00d7e9 | 625 | rxMsg.len = 8; |
benkatz | 53:e85efce8c1eb | 626 | can.attach(&onMsgReceived); |
benkatz | 23:2adf23ee0305 | 627 | |
benkatz | 37:c0f352d6e8e3 | 628 | if(isnan(E_OFFSET)){E_OFFSET = 0.0f;} |
benkatz | 37:c0f352d6e8e3 | 629 | if(isnan(M_OFFSET)){M_OFFSET = 0.0f;} |
benkatz | 48:74a40481740c | 630 | if(isnan(I_BW) || I_BW==-1){I_BW = 1000;} |
benkatz | 51:6cd89bd6fcaa | 631 | if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;} |
benkatz | 51:6cd89bd6fcaa | 632 | if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;} |
benkatz | 48:74a40481740c | 633 | if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;} |
benkatz | 48:74a40481740c | 634 | if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;} |
benkatz | 48:74a40481740c | 635 | if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;} |
WinnieLiu | 60:f009e39e913e | 636 | if(isnan(MOTOR_KP) || MOTOR_KP==-1){MOTOR_KP = 5;} |
WinnieLiu | 60:f009e39e913e | 637 | if(isnan(MOTOR_KI) || MOTOR_KI==-1){MOTOR_KI = 0;} |
WinnieLiu | 60:f009e39e913e | 638 | if(isnan(MOTOR_KD) || MOTOR_KD==-1){MOTOR_KD = 1.25;} |
WinnieLiu | 62:d43fcdd2d48b | 639 | if(CALIBRATE_DIR != -1 && CALIBRATE_DIR != 1){CALIBRATE_DIR = 1;} |
WinnieLiu | 60:f009e39e913e | 640 | |
benkatz | 25:f5741040c4bb | 641 | spi.SetElecOffset(E_OFFSET); // Set position sensor offset |
benkatz | 37:c0f352d6e8e3 | 642 | spi.SetMechOffset(M_OFFSET); |
benkatz | 23:2adf23ee0305 | 643 | int lut[128] = {0}; |
benkatz | 23:2adf23ee0305 | 644 | memcpy(&lut, &ENCODER_LUT, sizeof(lut)); |
benkatz | 25:f5741040c4bb | 645 | spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table |
benkatz | 45:26801179208e | 646 | init_controller_params(&controller); |
benkatz | 45:26801179208e | 647 | |
WinnieLiu | 59:d53a7ccaae9a | 648 | pc.baud(115200); // set serial baud rate |
benkatz | 20:bf9ea5125d52 | 649 | wait(.01); |
benkatz | 23:2adf23ee0305 | 650 | pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r"); |
benkatz | 20:bf9ea5125d52 | 651 | wait(.01); |
benkatz | 23:2adf23ee0305 | 652 | printf("\n\r Debug Info:\n\r"); |
WinnieLiu | 60:f009e39e913e | 653 | printf(" Firmware Version: %d\n\r", VERSION_NUM); |
benkatz | 23:2adf23ee0305 | 654 | printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset); |
benkatz | 23:2adf23ee0305 | 655 | printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET); |
benkatz | 37:c0f352d6e8e3 | 656 | printf(" Output Zero Position: %.4f\n\r", M_OFFSET); |
benkatz | 24:58c2d7571207 | 657 | printf(" CAN ID: %d\n\r", CAN_ID); |
benkatz | 44:8040fa2fcb0d | 658 | |
WinnieLiu | 55:b97b90d06ffa | 659 | /*----- set controller parameters -----*/ |
WinnieLiu | 60:f009e39e913e | 660 | controller.kp = MOTOR_KP; |
WinnieLiu | 60:f009e39e913e | 661 | controller.ki = MOTOR_KI; |
WinnieLiu | 60:f009e39e913e | 662 | controller.kd = MOTOR_KD; |
WinnieLiu | 62:d43fcdd2d48b | 663 | printf(" PID controller parameters \n\r"); |
WinnieLiu | 62:d43fcdd2d48b | 664 | printf(" KP: %.3f, KI: %.3f, KD: %.3f \n\r", controller.kp, controller.ki, controller.kd); |
WinnieLiu | 62:d43fcdd2d48b | 665 | printf(" Calibrate Direction: %d\n\r", CALIBRATE_DIR); |
benkatz | 44:8040fa2fcb0d | 666 | |
benkatz | 47:e1196a851f76 | 667 | //printf(" %d\n\r", drv.read_register(DCR)); |
benkatz | 47:e1196a851f76 | 668 | //wait_us(100); |
benkatz | 47:e1196a851f76 | 669 | //printf(" %d\n\r", drv.read_register(CSACR)); |
benkatz | 47:e1196a851f76 | 670 | //wait_us(100); |
benkatz | 47:e1196a851f76 | 671 | //printf(" %d\n\r", drv.read_register(OCPCR)); |
benkatz | 47:e1196a851f76 | 672 | //drv.disable_gd(); |
benkatz | 44:8040fa2fcb0d | 673 | |
benkatz | 23:2adf23ee0305 | 674 | pc.attach(&serial_interrupt); // attach serial interrupt |
benkatz | 22:60276ba87ac6 | 675 | |
benkatz | 23:2adf23ee0305 | 676 | state_change = 1; |
WinnieLiu | 62:d43fcdd2d48b | 677 | |
WinnieLiu | 62:d43fcdd2d48b | 678 | // calibrate |
WinnieLiu | 62:d43fcdd2d48b | 679 | calibrate_state = 0; |
benkatz | 50:ba72df25d10f | 680 | |
benkatz | 44:8040fa2fcb0d | 681 | int counter = 0; |
benkatz | 0:4e1c4df6aabd | 682 | while(1) { |
WinnieLiu | 60:f009e39e913e | 683 | if(complete_changepara){ |
WinnieLiu | 60:f009e39e913e | 684 | printf(" %-4s %-31s %d\n\r", "o", "CAN_ID", CAN_ID); |
WinnieLiu | 60:f009e39e913e | 685 | printf(" %-4s %-31s %.2f %.2f %.2f\n\r", "p", "MOTOR_KP", KP_MIN, KP_MAX, MOTOR_KP); |
WinnieLiu | 60:f009e39e913e | 686 | printf(" %-4s %-31s %.2f %.2f %.2f\n\r", "i", "MOTOR_KI", KI_MIN, KI_MAX, MOTOR_KI); |
WinnieLiu | 60:f009e39e913e | 687 | printf(" %-4s %-31s %.2f %.2f %.2f\n\r", "d", "MOTOR_KD", KD_MIN, KD_MAX, MOTOR_KD); |
WinnieLiu | 60:f009e39e913e | 688 | complete_changepara = false; |
WinnieLiu | 60:f009e39e913e | 689 | state = REST_MODE; |
WinnieLiu | 60:f009e39e913e | 690 | state_change = 1; |
WinnieLiu | 60:f009e39e913e | 691 | } |
WinnieLiu | 62:d43fcdd2d48b | 692 | |
WinnieLiu | 60:f009e39e913e | 693 | |
WinnieLiu | 61:29371056a3de | 694 | // printf("Hall_input(PC6): %d\n\r", hall_input); |
WinnieLiu | 61:29371056a3de | 695 | // printf("Hall_preinput(PC6): %d\n\r", hall_preinput); |
WinnieLiu | 61:29371056a3de | 696 | // printf("calibrate count: %d\n\r",calibrate_count); |
WinnieLiu | 61:29371056a3de | 697 | // printf("cal_pcmd: %.4f\n\r",cal_pcmd); |
WinnieLiu | 61:29371056a3de | 698 | // printf("pos_in: %f\n\r",hall_in_pos); |
WinnieLiu | 61:29371056a3de | 699 | // printf("pos_out: %f\n\r",hall_out_pos); |
WinnieLiu | 61:29371056a3de | 700 | // printf("theta_mech: %f\n\r",controller.theta_mech); |
WinnieLiu | 62:d43fcdd2d48b | 701 | // printf("controller.pdes: %f\n\r", controller.p_des); |
WinnieLiu | 61:29371056a3de | 702 | // printf("state: %d\n\r",state); |
WinnieLiu | 61:29371056a3de | 703 | // wait(1); |
WinnieLiu | 60:f009e39e913e | 704 | |
WinnieLiu | 60:f009e39e913e | 705 | /* |
WinnieLiu | 60:f009e39e913e | 706 | CAN_DEBUG->write(1); |
WinnieLiu | 60:f009e39e913e | 707 | pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT, VERSION_NUM); |
WinnieLiu | 60:f009e39e913e | 708 | can_state = can.write(txMsg); |
WinnieLiu | 60:f009e39e913e | 709 | CAN_DEBUG->write(can_state); |
WinnieLiu | 60:f009e39e913e | 710 | printf("helloworld\n\r"); |
WinnieLiu | 60:f009e39e913e | 711 | wait(1); |
WinnieLiu | 60:f009e39e913e | 712 | */ |
WinnieLiu | 60:f009e39e913e | 713 | |
WinnieLiu | 60:f009e39e913e | 714 | /* |
WinnieLiu | 60:f009e39e913e | 715 | CAN_DEBUG->write(1); |
WinnieLiu | 60:f009e39e913e | 716 | wait(0.1); |
WinnieLiu | 60:f009e39e913e | 717 | CAN_DEBUG->write(0); |
WinnieLiu | 60:f009e39e913e | 718 | wait(0.1); |
WinnieLiu | 60:f009e39e913e | 719 | */ |
WinnieLiu | 59:d53a7ccaae9a | 720 | //drv.print_faults(); |
WinnieLiu | 59:d53a7ccaae9a | 721 | //wait(.1); |
benkatz | 48:74a40481740c | 722 | //printf("%.4f\n\r", controller.v_bus); |
benkatz | 50:ba72df25d10f | 723 | /* |
benkatz | 47:e1196a851f76 | 724 | if(state == MOTOR_MODE) |
benkatz | 47:e1196a851f76 | 725 | { |
benkatz | 48:74a40481740c | 726 | //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance); |
benkatz | 49:83d83040ea51 | 727 | //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 | 728 | //printf("%.3f\n\r", controller.dtheta_mech); |
benkatz | 49:83d83040ea51 | 729 | wait(.002); |
benkatz | 47:e1196a851f76 | 730 | } |
benkatz | 50:ba72df25d10f | 731 | */ |
benkatz | 47:e1196a851f76 | 732 | |
benkatz | 0:4e1c4df6aabd | 733 | } |
benkatz | 0:4e1c4df6aabd | 734 | } |