Winnie Liu / Hobbyking_Cheetah_modify1105

hobbyking_cheetah source code modified 2020/12/15

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@55:71a6e5fe5805, 2020-12-15 (annotated)

Committer:
WinnieLiu
Date:
Tue Dec 15 07:28:27 2020 +0000
Revision:
55:71a6e5fe5805
Parent:
53:e85efce8c1eb 
2020/12/15

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
benkatz 26:2b865c00d7e9 16 float __float_reg[64]; // Floats stored in flash
benkatz 26:2b865c00d7e9 17 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 18
benkatz 0:4e1c4df6aabd 19 #include "mbed.h"
benkatz 0:4e1c4df6aabd 20 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 21 #include "structs.h"
benkatz 20:bf9ea5125d52 22 #include "foc.h"
benkatz 22:60276ba87ac6 23 #include "calibration.h"
benkatz 20:bf9ea5125d52 24 #include "hw_setup.h"
benkatz 23:2adf23ee0305 25 #include "math_ops.h"
benkatz 20:bf9ea5125d52 26 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 27 #include "hw_config.h"
benkatz 20:bf9ea5125d52 28 #include "motor_config.h"
benkatz 23:2adf23ee0305 29 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 30 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 31 #include "user_config.h"
benkatz 23:2adf23ee0305 32 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 33 #include "CAN_com.h"
benkatz 44:8040fa2fcb0d 34 #include "DRV.h"
benkatz 26:2b865c00d7e9 35
benkatz 23:2adf23ee0305 36 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 37
benkatz 20:bf9ea5125d52 38 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 39 ControllerStruct controller;
benkatz 48:74a40481740c 40 ObserverStruct observer;
benkatz 20:bf9ea5125d52 41 COMStruct com;
benkatz 43:dfb72608639c 42 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 43
benkatz 17:3c5df2982199 44
benkatz 45:26801179208e 45 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 46 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 47 CANMessage txMsg;
benkatz 23:2adf23ee0305 48
benkatz 20:bf9ea5125d52 49
benkatz 44:8040fa2fcb0d 50 SPI drv_spi(PA_7, PA_6, PA_5);
benkatz 44:8040fa2fcb0d 51 DigitalOut drv_cs(PA_4);
benkatz 44:8040fa2fcb0d 52 //DigitalOut drv_en_gate(PA_11);
benkatz 44:8040fa2fcb0d 53 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 54
benkatz 26:2b865c00d7e9 55 PositionSensorAM5147 spi(16384, 0.0, NPP);
benkatz 20:bf9ea5125d52 56
benkatz 23:2adf23ee0305 57 volatile int count = 0;
benkatz 23:2adf23ee0305 58 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 59 volatile int state_change;
benkatz 20:bf9ea5125d52 60
WinnieLiu 55:71a6e5fe5805 61 Timer t;
WinnieLiu 55:71a6e5fe5805 62
benkatz 26:2b865c00d7e9 63 void onMsgReceived() {
benkatz 26:2b865c00d7e9 64 //msgAvailable = true;
benkatz 53:e85efce8c1eb 65 //printf("%d\n\r", rxMsg.id);
WinnieLiu 55:71a6e5fe5805 66 //t.reset();
WinnieLiu 55:71a6e5fe5805 67 //t.start();
benkatz 26:2b865c00d7e9 68 can.read(rxMsg);
benkatz 28:8c7e29f719c5 69 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 70 controller.timeout = 0;
benkatz 28:8c7e29f719c5 71 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 72 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 73 state_change = 1;
benkatz 28:8c7e29f719c5 74 }
benkatz 28:8c7e29f719c5 75 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 76 state = REST_MODE;
benkatz 28:8c7e29f719c5 77 state_change = 1;
benkatz 37:c0f352d6e8e3 78 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 79 }
benkatz 28:8c7e29f719c5 80 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 55:71a6e5fe5805 81 //t.reset();
WinnieLiu 55:71a6e5fe5805 82 //t.start();
benkatz 28:8c7e29f719c5 83 spi.ZeroPosition();
WinnieLiu 55:71a6e5fe5805 84 //t.stop();
WinnieLiu 55:71a6e5fe5805 85 //printf("Set zero position time taken was %lf seconds\n", t.read());
WinnieLiu 55:71a6e5fe5805 86
benkatz 28:8c7e29f719c5 87 }
benkatz 28:8c7e29f719c5 88 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 89 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 90 }
benkatz 37:c0f352d6e8e3 91 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 92 can.write(txMsg);
WinnieLiu 55:71a6e5fe5805 93 //t.stop();
WinnieLiu 55:71a6e5fe5805 94 //printf("can time taken was %lf seconds\n",t.read());
benkatz 28:8c7e29f719c5 95 }
benkatz 26:2b865c00d7e9 96
benkatz 26:2b865c00d7e9 97 }
benkatz 26:2b865c00d7e9 98
benkatz 23:2adf23ee0305 99 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 100 drv.disable_gd();
benkatz 47:e1196a851f76 101 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 102 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 103 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 104 wait_us(10);
benkatz 26:2b865c00d7e9 105 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 106 wait_us(10);
benkatz 23:2adf23ee0305 107 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 108 wait_us(10);
benkatz 23:2adf23ee0305 109 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 110 wait_us(10);
benkatz 23:2adf23ee0305 111 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 112 wait_us(10);
benkatz 37:c0f352d6e8e3 113 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 114 wait_us(10);
benkatz 23:2adf23ee0305 115 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 116 wait_us(10);
benkatz 23:2adf23ee0305 117 state_change = 0;
benkatz 37:c0f352d6e8e3 118 gpio.led->write(0);
benkatz 23:2adf23ee0305 119 }
benkatz 24:58c2d7571207 120
benkatz 24:58c2d7571207 121 void enter_setup_state(void){
benkatz 24:58c2d7571207 122 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 123 wait_us(10);
benkatz 51:6cd89bd6fcaa 124 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 125 wait_us(10);
benkatz 28:8c7e29f719c5 126 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 127 wait_us(10);
benkatz 28:8c7e29f719c5 128 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 129 wait_us(10);
benkatz 28:8c7e29f719c5 130 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 131 wait_us(10);
benkatz 51:6cd89bd6fcaa 132 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
benkatz 51:6cd89bd6fcaa 133 wait_us(10);
benkatz 51:6cd89bd6fcaa 134 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 135 wait_us(10);
benkatz 28:8c7e29f719c5 136 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 137 wait_us(10);
benkatz 24:58c2d7571207 138 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 139 wait_us(10);
benkatz 24:58c2d7571207 140 state_change = 0;
benkatz 24:58c2d7571207 141 }
benkatz 22:60276ba87ac6 142
benkatz 23:2adf23ee0305 143 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 144 drv.enable_gd();
benkatz 47:e1196a851f76 145 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 146 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 147 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 148 wait(.001);
benkatz 23:2adf23ee0305 149 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 150 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 151 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 152 state_change = 0;
benkatz 28:8c7e29f719c5 153 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 154 }
benkatz 22:60276ba87ac6 155
benkatz 23:2adf23ee0305 156 void calibrate(void){
benkatz 44:8040fa2fcb0d 157 drv.enable_gd();
benkatz 47:e1196a851f76 158 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 159 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 160 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 161 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 162 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 163 wait(.2);
benkatz 23:2adf23ee0305 164 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 165 drv.disable_gd();
benkatz 47:e1196a851f76 166 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 167 state_change = 0;
benkatz 23:2adf23ee0305 168 }
benkatz 23:2adf23ee0305 169
benkatz 23:2adf23ee0305 170 void print_encoder(void){
benkatz 48:74a40481740c 171 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 172 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 173 wait(.001);
benkatz 22:60276ba87ac6 174 }
benkatz 20:bf9ea5125d52 175
benkatz 23:2adf23ee0305 176 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 177 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 178 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 179 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 180
benkatz 23:2adf23ee0305 181 ///Sample current always ///
benkatz 25:f5741040c4bb 182 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 183 //volatile int delay;
benkatz 20:bf9ea5125d52 184 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 185
benkatz 47:e1196a851f76 186 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 187 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 188 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 189 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 190 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 191 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 192 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 193 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 194 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 195 ///
benkatz 20:bf9ea5125d52 196
benkatz 23:2adf23ee0305 197 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 198 switch(state){
benkatz 37:c0f352d6e8e3 199 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 200 if(state_change){
benkatz 23:2adf23ee0305 201 enter_menu_state();
benkatz 23:2adf23ee0305 202 }
benkatz 23:2adf23ee0305 203 break;
benkatz 22:60276ba87ac6 204
benkatz 23:2adf23ee0305 205 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 206 if(state_change){
benkatz 23:2adf23ee0305 207 calibrate();
benkatz 23:2adf23ee0305 208 }
benkatz 23:2adf23ee0305 209 break;
benkatz 23:2adf23ee0305 210
benkatz 26:2b865c00d7e9 211 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 212 if(state_change){
benkatz 25:f5741040c4bb 213 enter_torque_mode();
benkatz 28:8c7e29f719c5 214 count = 0;
benkatz 25:f5741040c4bb 215 }
benkatz 28:8c7e29f719c5 216 else{
benkatz 37:c0f352d6e8e3 217 /*
benkatz 37:c0f352d6e8e3 218 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 219 gpio.
benkatz 47:e1196a851f76 220 ->write(0);
benkatz 37:c0f352d6e8e3 221 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 222 state = REST_MODE;
benkatz 37:c0f352d6e8e3 223 state_change = 1;
benkatz 37:c0f352d6e8e3 224 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 225 }
benkatz 37:c0f352d6e8e3 226 */
benkatz 37:c0f352d6e8e3 227
benkatz 28:8c7e29f719c5 228 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 229 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 230 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 231 controller.kp = 0;
benkatz 37:c0f352d6e8e3 232 controller.kd = 0;
benkatz 37:c0f352d6e8e3 233 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 234 }
benkatz 47:e1196a851f76 235
benkatz 50:ba72df25d10f 236 torque_control(&controller);
benkatz 49:83d83040ea51 237 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 238
benkatz 49:83d83040ea51 239 controller.timeout++;
benkatz 49:83d83040ea51 240 count++;
benkatz 37:c0f352d6e8e3 241
benkatz 37:c0f352d6e8e3 242 }
benkatz 23:2adf23ee0305 243 break;
benkatz 23:2adf23ee0305 244 case SETUP_MODE:
benkatz 23:2adf23ee0305 245 if(state_change){
benkatz 24:58c2d7571207 246 enter_setup_state();
benkatz 23:2adf23ee0305 247 }
benkatz 23:2adf23ee0305 248 break;
benkatz 23:2adf23ee0305 249 case ENCODER_MODE:
benkatz 23:2adf23ee0305 250 print_encoder();
benkatz 23:2adf23ee0305 251 break;
benkatz 37:c0f352d6e8e3 252 }
benkatz 2:8724412ad628 253 }
benkatz 23:2adf23ee0305 254 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 255 }
benkatz 0:4e1c4df6aabd 256
benkatz 25:f5741040c4bb 257
benkatz 24:58c2d7571207 258 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 259 char cmd_id = 0;
benkatz 25:f5741040c4bb 260 char char_count = 0;
benkatz 24:58c2d7571207 261
benkatz 25:f5741040c4bb 262 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 263 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 264 void serial_interrupt(void){
benkatz 23:2adf23ee0305 265 while(pc.readable()){
benkatz 23:2adf23ee0305 266 char c = pc.getc();
benkatz 25:f5741040c4bb 267 if(c == 27){
benkatz 25:f5741040c4bb 268 state = REST_MODE;
benkatz 25:f5741040c4bb 269 state_change = 1;
benkatz 25:f5741040c4bb 270 char_count = 0;
benkatz 25:f5741040c4bb 271 cmd_id = 0;
benkatz 37:c0f352d6e8e3 272 gpio.led->write(0);;
benkatz 25:f5741040c4bb 273 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 274 }
benkatz 24:58c2d7571207 275 if(state == REST_MODE){
benkatz 23:2adf23ee0305 276 switch (c){
benkatz 23:2adf23ee0305 277 case 'c':
benkatz 23:2adf23ee0305 278 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 279 state_change = 1;
benkatz 23:2adf23ee0305 280 break;
benkatz 26:2b865c00d7e9 281 case 'm':
benkatz 26:2b865c00d7e9 282 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 283 state_change = 1;
benkatz 23:2adf23ee0305 284 break;
benkatz 23:2adf23ee0305 285 case 'e':
benkatz 23:2adf23ee0305 286 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 287 state_change = 1;
benkatz 23:2adf23ee0305 288 break;
benkatz 23:2adf23ee0305 289 case 's':
benkatz 23:2adf23ee0305 290 state = SETUP_MODE;
benkatz 23:2adf23ee0305 291 state_change = 1;
benkatz 23:2adf23ee0305 292 break;
benkatz 37:c0f352d6e8e3 293 case 'z':
WinnieLiu 55:71a6e5fe5805 294
benkatz 37:c0f352d6e8e3 295 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 296 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 297 wait_us(20);
benkatz 37:c0f352d6e8e3 298 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 299 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 300 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 301 prefs.close();
benkatz 37:c0f352d6e8e3 302 prefs.load();
benkatz 37:c0f352d6e8e3 303 spi.SetMechOffset(M_OFFSET);
WinnieLiu 55:71a6e5fe5805 304
benkatz 37:c0f352d6e8e3 305 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 306
benkatz 37:c0f352d6e8e3 307 break;
benkatz 37:c0f352d6e8e3 308 }
benkatz 37:c0f352d6e8e3 309
benkatz 24:58c2d7571207 310 }
benkatz 24:58c2d7571207 311 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 312 if(c == 13){
benkatz 24:58c2d7571207 313 switch (cmd_id){
benkatz 24:58c2d7571207 314 case 'b':
benkatz 24:58c2d7571207 315 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 316 break;
benkatz 24:58c2d7571207 317 case 'i':
benkatz 24:58c2d7571207 318 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 319 break;
benkatz 26:2b865c00d7e9 320 case 'm':
benkatz 26:2b865c00d7e9 321 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 322 break;
benkatz 24:58c2d7571207 323 case 'l':
benkatz 51:6cd89bd6fcaa 324 I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 325 break;
benkatz 51:6cd89bd6fcaa 326 case 'f':
benkatz 51:6cd89bd6fcaa 327 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 328 break;
benkatz 28:8c7e29f719c5 329 case 't':
benkatz 28:8c7e29f719c5 330 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 331 break;
benkatz 24:58c2d7571207 332 default:
benkatz 24:58c2d7571207 333 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 334 break;
benkatz 24:58c2d7571207 335 }
benkatz 24:58c2d7571207 336
benkatz 24:58c2d7571207 337 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 338 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 339 prefs.close();
benkatz 24:58c2d7571207 340 prefs.load();
benkatz 24:58c2d7571207 341 state_change = 1;
benkatz 24:58c2d7571207 342 char_count = 0;
benkatz 24:58c2d7571207 343 cmd_id = 0;
benkatz 24:58c2d7571207 344 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 345 }
benkatz 24:58c2d7571207 346 else{
benkatz 24:58c2d7571207 347 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 348 else{
benkatz 24:58c2d7571207 349 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 350
benkatz 24:58c2d7571207 351 }
benkatz 24:58c2d7571207 352 pc.putc(c);
benkatz 24:58c2d7571207 353 char_count++;
benkatz 23:2adf23ee0305 354 }
benkatz 23:2adf23ee0305 355 }
benkatz 24:58c2d7571207 356 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 357 switch (c){
benkatz 24:58c2d7571207 358 case 27:
benkatz 24:58c2d7571207 359 state = REST_MODE;
benkatz 24:58c2d7571207 360 state_change = 1;
benkatz 24:58c2d7571207 361 break;
benkatz 24:58c2d7571207 362 }
benkatz 24:58c2d7571207 363 }
benkatz 49:83d83040ea51 364 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 365 switch (c){
benkatz 49:83d83040ea51 366 case 'd':
benkatz 49:83d83040ea51 367 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 368 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 369 }
benkatz 49:83d83040ea51 370 }
benkatz 24:58c2d7571207 371
benkatz 24:58c2d7571207 372 }
benkatz 22:60276ba87ac6 373 }
WinnieLiu 55:71a6e5fe5805 374
benkatz 0:4e1c4df6aabd 375
benkatz 0:4e1c4df6aabd 376 int main() {
benkatz 20:bf9ea5125d52 377 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 378 controller.mode = 0;
benkatz 23:2adf23ee0305 379 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 380 wait(.1);
benkatz 44:8040fa2fcb0d 381
benkatz 44:8040fa2fcb0d 382 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 383 wait_us(100);
benkatz 45:26801179208e 384 drv.calibrate();
benkatz 45:26801179208e 385 wait_us(100);
benkatz 44:8040fa2fcb0d 386 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 387 wait_us(100);
benkatz 46:2d4b1dafcfe3 388 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 44:8040fa2fcb0d 389 wait_us(100);
benkatz 49:83d83040ea51 390 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 391
benkatz 45:26801179208e 392 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 393 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 47:e1196a851f76 394 drv.disable_gd();
benkatz 20:bf9ea5125d52 395
benkatz 9:d7eb815cb057 396 wait(.1);
benkatz 44:8040fa2fcb0d 397 /*
benkatz 26:2b865c00d7e9 398 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 399 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 400 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 401 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 402 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 403 */
benkatz 23:2adf23ee0305 404 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 405 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 406 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 407 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 408
benkatz 20:bf9ea5125d52 409 wait(.1);
benkatz 37:c0f352d6e8e3 410 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 411
benkatz 37:c0f352d6e8e3 412 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 53:e85efce8c1eb 413 // attach 'CAN receive-complete' interrupt handler
benkatz 53:e85efce8c1eb 414
benkatz 53:e85efce8c1eb 415 // If preferences haven't been user configured yet, set defaults
benkatz 53:e85efce8c1eb 416 prefs.load(); // Read flash
benkatz 53:e85efce8c1eb 417
benkatz 53:e85efce8c1eb 418 can.filter(CAN_ID , 0xFFF, CANStandard, 0);
benkatz 43:dfb72608639c 419
benkatz 28:8c7e29f719c5 420 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 421 txMsg.len = 6;
benkatz 26:2b865c00d7e9 422 rxMsg.len = 8;
benkatz 53:e85efce8c1eb 423 can.attach(&onMsgReceived);
benkatz 23:2adf23ee0305 424
benkatz 37:c0f352d6e8e3 425 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 426 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 427 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 428 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 51:6cd89bd6fcaa 429 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
benkatz 48:74a40481740c 430 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 431 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 432 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
benkatz 25:f5741040c4bb 433 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 434 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 435 int lut[128] = {0};
benkatz 23:2adf23ee0305 436 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 437 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 438 init_controller_params(&controller);
benkatz 45:26801179208e 439
benkatz 26:2b865c00d7e9 440 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 441 wait(.01);
benkatz 23:2adf23ee0305 442 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 443 wait(.01);
benkatz 23:2adf23ee0305 444 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 445 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 446 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 447 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 448 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 449 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 450
WinnieLiu 55:71a6e5fe5805 451
benkatz 47:e1196a851f76 452 //printf(" %d\n\r", drv.read_register(DCR));
benkatz 47:e1196a851f76 453 //wait_us(100);
benkatz 47:e1196a851f76 454 //printf(" %d\n\r", drv.read_register(CSACR));
benkatz 47:e1196a851f76 455 //wait_us(100);
benkatz 47:e1196a851f76 456 //printf(" %d\n\r", drv.read_register(OCPCR));
benkatz 47:e1196a851f76 457 //drv.disable_gd();
benkatz 44:8040fa2fcb0d 458
benkatz 23:2adf23ee0305 459 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 460
benkatz 23:2adf23ee0305 461 state_change = 1;
benkatz 50:ba72df25d10f 462
benkatz 20:bf9ea5125d52 463
benkatz 44:8040fa2fcb0d 464 int counter = 0;
benkatz 0:4e1c4df6aabd 465 while(1) {
benkatz 47:e1196a851f76 466 drv.print_faults();
benkatz 53:e85efce8c1eb 467 wait(.1);
WinnieLiu 55:71a6e5fe5805 468
WinnieLiu 55:71a6e5fe5805 469 //if(state == MOTOR_MODE)
WinnieLiu 55:71a6e5fe5805 470 // printf("i_q*kt_out: %f \n\r",controller.i_q_filt*KT_OUT);
WinnieLiu 55:71a6e5fe5805 471
WinnieLiu 55:71a6e5fe5805 472 //pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
WinnieLiu 55:71a6e5fe5805 473 //can.write(txMsg);
benkatz 48:74a40481740c 474 //printf("%.4f\n\r", controller.v_bus);
WinnieLiu 55:71a6e5fe5805 475
WinnieLiu 55:71a6e5fe5805 476 /*
benkatz 47:e1196a851f76 477 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 478 {
benkatz 48:74a40481740c 479 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 480 //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 481 //printf("%.3f\n\r", controller.dtheta_mech);
WinnieLiu 55:71a6e5fe5805 482 float pos, intpart;
WinnieLiu 55:71a6e5fe5805 483 pos = controller.theta_mech;
WinnieLiu 55:71a6e5fe5805 484 modf(pos/(2*PI),&intpart);
WinnieLiu 55:71a6e5fe5805 485 pos = pos - intpart*2*PI;
WinnieLiu 55:71a6e5fe5805 486
WinnieLiu 55:71a6e5fe5805 487 if(abs(pos) <= 0.001)
WinnieLiu 55:71a6e5fe5805 488 pos = abs(pos);
WinnieLiu 55:71a6e5fe5805 489 else if(pos < 0)
WinnieLiu 55:71a6e5fe5805 490 pos = pos + 2*PI;
WinnieLiu 55:71a6e5fe5805 491
WinnieLiu 55:71a6e5fe5805 492 //printf("intpart: %f\n\r",intpart);
WinnieLiu 55:71a6e5fe5805 493 //printf("theta_mech: %f\n\r",controller.theta_mech);
WinnieLiu 55:71a6e5fe5805 494 printf("pos: %f\n\r",pos);
WinnieLiu 55:71a6e5fe5805 495
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 }