Winnie Liu
hobbyking_cheetah source code modified 2020/12/15
Dependencies: mbed-dev-f303 FastPWM3
Diff: main.cpp.orig
- Revision:
- 35:69b24894c11d
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp.orig Sat Nov 18 18:41:42 2017 +0000
@@ -0,0 +1,442 @@
+/// high-bandwidth 3-phase motor control, for robots
+/// Written by benkatz, with much inspiration from bayleyw, nkirkby, scolton, David Otten, and others
+/// Hardware documentation can be found at build-its.blogspot.com
+
+/// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling
+
+#define REST_MODE 0
+#define CALIBRATION_MODE 1
+#define MOTOR_MODE 2
+#define SETUP_MODE 4
+#define ENCODER_MODE 5
+
+#define VERSION_NUM "1.0.1"
+
+
+float __float_reg[64]; // Floats stored in flash
+int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
+
+
+#include "mbed.h"
+#include "PositionSensor.h"
+#include "structs.h"
+#include "foc.h"
+#include "calibration.h"
+#include "hw_setup.h"
+#include "math_ops.h"
+#include "current_controller_config.h"
+#include "hw_config.h"
+#include "motor_config.h"
+#include "stm32f4xx_flash.h"
+#include "FlashWriter.h"
+#include "user_config.h"
+#include "PreferenceWriter.h"
+
+
+PreferenceWriter prefs(6);
+
+GPIOStruct gpio;
+ControllerStruct controller;
+COMStruct com;
+VelocityEstimatorStruct velocity;
+
+
+//using namespace CANnucleo;
+
+CAN can(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name
+CANMessage rxMsg;
+CANMessage txMsg;
+
+
+Serial pc(PA_2, PA_3);
+
+PositionSensorAM5147 spi(16384, 0.0, NPP);
+PositionSensorEncoder encoder(4096, 0, NPP);
+
+
+DigitalOut toggle(PA_0);
+
+volatile int count = 0;
+volatile int state = REST_MODE;
+volatile int state_change;
+
+ #define P_MIN -12.5f
+ #define P_MAX 12.5f
+ #define V_MIN -30.0f
+ #define V_MAX 30.0f
+ #define KP_MIN 0.0f
+ #define KP_MAX 500.0f
+ #define KD_MIN 0.0f
+ #define KD_MAX 5.0f
+ #define T_MIN -18.0f
+ #define T_MAX 18.0f
+
+
+/// CAN Reply Packet Structure ///
+/// 16 bit position, between -4*pi and 4*pi
+/// 12 bit velocity, between -30 and + 30 rad/s
+/// 12 bit current, between -40 and 40;
+/// CAN Packet is 5 8-bit words
+/// Formatted as follows. For each quantity, bit 0 is LSB
+/// 0: [position[15-8]]
+/// 1: [position[7-0]]
+/// 2: [velocity[11-4]]
+/// 3: [velocity[3-0], current[11-8]]
+/// 4: [current[7-0]]
+void pack_reply(CANMessage *msg, float p, float v, float i){
+ int p_int = float_to_uint(p, P_MIN, P_MAX, 16);
+ int v_int = float_to_uint(v, V_MIN, V_MAX, 12);
+ int i_int = float_to_uint(i, -I_MAX, I_MAX, 12);
+ msg->data[0] = CAN_ID;
+ msg->data[1] = p_int>>8;
+ msg->data[2] = p_int&0xFF;
+ msg->data[3] = v_int>>4;
+ msg->data[4] = ((v_int&0xF)<<4) + (i_int>>8);
+ msg->data[5] = i_int&0xFF;
+ }
+
+/// CAN Command Packet Structure ///
+/// 16 bit position command, between -4*pi and 4*pi
+/// 12 bit velocity command, between -30 and + 30 rad/s
+/// 12 bit kp, between 0 and 500 N-m/rad
+/// 12 bit kd, between 0 and 100 N-m*s/rad
+/// 12 bit feed forward torque, between -18 and 18 N-m
+/// CAN Packet is 8 8-bit words
+/// Formatted as follows. For each quantity, bit 0 is LSB
+/// 0: [position[15-8]]
+/// 1: [position[7-0]]
+/// 2: [velocity[11-4]]
+/// 3: [velocity[3-0], kp[11-8]]
+/// 4: [kp[7-0]]
+/// 5: [kd[11-4]]
+/// 6: [kd[3-0], torque[11-8]]
+/// 7: [torque[7-0]]
+void unpack_cmd(CANMessage msg, ControllerStruct * controller){
+ int p_int = (msg.data[0]<<8)|msg.data[1];
+ int v_int = (msg.data[2]<<4)|(msg.data[3]>>4);
+ int kp_int = ((msg.data[3]&0xF)<<8)|msg.data[4];
+ int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4);
+ int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];
+
+ controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);
+ controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
+ controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
+ controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);
+ controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
+
+
+ //printf("Received ");
+ //printf("%.3f %.3f %.3f %.3f %.3f %.3f", controller->p_des, controller->v_des, controller->kp, controller->kd, controller->t_ff, controller->i_q_ref);
+ //printf("\n\r");
+
+
+ }
+
+void onMsgReceived() {
+ //msgAvailable = true;
+ //printf("%.3f %.3f %.3f\n\r", controller.theta_mech, controller.dtheta_mech, controller.i_q);
+ can.read(rxMsg);
+
+ if((rxMsg.id == CAN_ID)){
+ controller.timeout = 0;
+ 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))){
+ state = MOTOR_MODE;
+ state_change = 1;
+ }
+ 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))){
+ state = REST_MODE;
+ state_change = 1;
+ GPIOC->ODR &= !(1 << 5);
+ }
+ 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))){
+ spi.ZeroPosition();
+ }
+ else if(state == MOTOR_MODE){
+ unpack_cmd(rxMsg, &controller);
+ pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q);
+ can.write(txMsg);
+ }
+ }
+
+}
+
+void enter_menu_state(void){
+ printf("\n\r\n\r\n\r");
+ printf(" Commands:\n\r");
+ printf(" m - Motor Mode\n\r");
+ printf(" c - Calibrate Encoder\n\r");
+ printf(" s - Setup\n\r");
+ printf(" e - Display Encoder\n\r");
+ printf(" esc - Exit to Menu\n\r");
+ state_change = 0;
+ gpio.enable->write(0);
+ }
+
+void enter_setup_state(void){
+ printf("\n\r\n\r Configuration Options \n\r\n\n");
+ printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
+ printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
+ printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
+ printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
+ printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
+ printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
+ printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
+ state_change = 0;
+ }
+
+void enter_torque_mode(void){
+ gpio.enable->write(1); // Enable gate drive
+ reset_foc(&controller); // Tesets integrators, and other control loop parameters
+ wait(.001);
+ controller.i_d_ref = 0;
+ controller.i_q_ref = 0; // Current Setpoints
+ GPIOC->ODR |= (1 << 5); // Turn on status LED
+ state_change = 0;
+ printf("\n\r Entering Motor Mode \n\r");
+ }
+
+void calibrate(void){
+ gpio.enable->write(1); // Enable gate drive
+ GPIOC->ODR |= (1 << 5); // Turn on status LED
+ order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
+ calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
+ GPIOC->ODR &= !(1 << 5); // Turn off status LED
+ wait(.2);
+ gpio.enable->write(0); // Turn off gate drive
+ printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
+ state_change = 0;
+
+ }
+
+void print_encoder(void){
+ spi.Sample();
+ wait(.001);
+ printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
+ wait(.05);
+ }
+
+/// Current Sampling Interrupt ///
+/// This runs at 40 kHz, regardless of of the mode the controller is in ///
+extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
+ if (TIM1->SR & TIM_SR_UIF ) {
+ //toggle = 1;
+
+ ///Sample current always ///
+ ADC1->CR2 |= 0x40000000; // Begin sample and conversion
+ //volatile int delay;
+ //for (delay = 0; delay < 55; delay++);
+ controller.adc2_raw = ADC2->DR; // Read ADC1 and ADC2 Data Registers
+ controller.adc1_raw = ADC1->DR;
+ ///
+
+ /// Check state machine state, and run the appropriate function ///
+ //printf("%d\n\r", state);
+ switch(state){
+ case REST_MODE: // Do nothing until
+ if(state_change){
+ enter_menu_state();
+ }
+ break;
+
+ case CALIBRATION_MODE: // Run encoder calibration procedure
+ if(state_change){
+ calibrate();
+ }
+ break;
+
+ case MOTOR_MODE: // Run torque control
+ if(state_change){
+ enter_torque_mode();
+ count = 0;
+ }
+ else{
+ count++;
+ //toggle.write(1);
+ controller.theta_elec = spi.GetElecPosition();
+ controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
+ controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
+ //TIM1->CCR3 = 0x708*(1.0f);
+ //TIM1->CCR1 = 0x708*(1.0f);
+ //TIM1->CCR2 = 0x708*(1.0f);
+
+ //controller.i_q_ref = controller.t_ff/KT_OUT;
+
+ torque_control(&controller);
+ if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
+ controller.i_d_ref = 0;
+ controller.i_q_ref = 0;
+ }
+ //controller.i_q_ref = .5;
+ commutate(&controller, &gpio, controller.theta_elec); // Run current loop
+ spi.Sample(); // Sample position sensor
+ //toggle.write(0);
+ controller.timeout += 1;
+
+ if(count == 4000){
+ count = 0;
+ //wait(.001);
+ //printf(" %.5f \n\r", controller.theta_mech);
+ }
+ }
+
+ break;
+ case SETUP_MODE:
+ if(state_change){
+ enter_setup_state();
+ }
+ break;
+ case ENCODER_MODE:
+ print_encoder();
+ break;
+ }
+
+ }
+ TIM1->SR = 0x0; // reset the status register
+}
+
+
+char cmd_val[8] = {0};
+char cmd_id = 0;
+char char_count = 0;
+
+/// Manage state machine with commands from serial terminal or configurator gui ///
+/// Called when data received over serial ///
+void serial_interrupt(void){
+ while(pc.readable()){
+ char c = pc.getc();
+ if(c == 27){
+ state = REST_MODE;
+ state_change = 1;
+ char_count = 0;
+ cmd_id = 0;
+ GPIOC->ODR &= !(1 << 5);
+ for(int i = 0; i<8; i++){cmd_val[i] = 0;}
+ }
+ if(state == REST_MODE){
+ switch (c){
+ case 'c':
+ state = CALIBRATION_MODE;
+ state_change = 1;
+ break;
+ case 'm':
+ state = MOTOR_MODE;
+ state_change = 1;
+ break;
+ case 'e':
+ state = ENCODER_MODE;
+ state_change = 1;
+ break;
+ case 's':
+ state = SETUP_MODE;
+ state_change = 1;
+ break;
+ }
+ }
+ else if(state == SETUP_MODE){
+ if(c == 13){
+ switch (cmd_id){
+ case 'b':
+ I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
+ break;
+ case 'i':
+ CAN_ID = atoi(cmd_val);
+ break;
+ case 'm':
+ CAN_MASTER = atoi(cmd_val);
+ break;
+ case 'l':
+ TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
+ break;
+ case 't':
+ CAN_TIMEOUT = atoi(cmd_val);
+ break;
+ default:
+ printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
+ break;
+ }
+
+ if (!prefs.ready()) prefs.open();
+ prefs.flush(); // Write new prefs to flash
+ prefs.close();
+ prefs.load();
+ state_change = 1;
+ char_count = 0;
+ cmd_id = 0;
+ for(int i = 0; i<8; i++){cmd_val[i] = 0;}
+ }
+ else{
+ if(char_count == 0){cmd_id = c;}
+ else{
+ cmd_val[char_count-1] = c;
+
+ }
+ pc.putc(c);
+ char_count++;
+ }
+ }
+ else if (state == ENCODER_MODE){
+ switch (c){
+ case 27:
+ state = REST_MODE;
+ state_change = 1;
+ break;
+ }
+ }
+
+ }
+ }
+
+int main() {
+
+ controller.v_bus = V_BUS;
+ controller.mode = 0;
+ Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
+
+ wait(.1);
+ gpio.enable->write(1);
+ TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
+ TIM1->CCR2 = 0x708*(1.0f);
+ TIM1->CCR1 = 0x708*(1.0f);
+ zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
+ gpio.enable->write(0);
+ reset_foc(&controller); // Reset current controller
+ TIM1->CR1 ^= TIM_CR1_UDIS;
+ //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
+
+ wait(.1);
+ NVIC_SetPriority(TIM5_IRQn, 2); // set interrupt priority
+
+
+ can.frequency(1000000); // set bit rate to 1Mbps
+ can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
+ //can.filter(CAN_ID, 0xF, CANStandard, 0);
+ can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
+ txMsg.id = CAN_MASTER;
+ txMsg.len = 6;
+ rxMsg.len = 8;
+
+ prefs.load(); // Read flash
+ spi.SetElecOffset(E_OFFSET); // Set position sensor offset
+ int lut[128] = {0};
+ memcpy(&lut, &ENCODER_LUT, sizeof(lut));
+ spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
+
+ pc.baud(921600); // set serial baud rate
+ wait(.01);
+ pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
+ wait(.01);
+ printf("\n\r Debug Info:\n\r");
+ printf(" Firmware Version: %s\n\r", VERSION_NUM);
+ printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
+ printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
+ printf(" CAN ID: %d\n\r", CAN_ID);
+
+ pc.attach(&serial_interrupt); // attach serial interrupt
+
+ state_change = 1;
+
+
+ while(1) {
+
+ }
+}