Revision 28:8c7e29f719c5, committed 2017-06-04

Comitter:

benkatz

Date:

Sun Jun 04 19:00:22 2017 +0000

Parent:

27:501fee691e0e

Child:

29:0dbc822dd29a

Commit message:

Use external oscillator

Changed in this revision

--- a/Calibration/calibration.cpp	Wed May 17 14:53:22 2017 +0000
+++ b/Calibration/calibration.cpp	Sun Jun 04 19:00:22 2017 +0000
@@ -8,12 +8,13 @@
 #include "user_config.h"
 
 void order_phases(PositionSensor *ps, GPIOStruct *gpio, ControllerStruct *controller, PreferenceWriter *prefs){   
+    
     ///Checks phase order, to ensure that positive Q current produces
     ///torque in the positive direction wrt the position sensor.
     printf("\n\r Checking phase ordering\n\r");
     float theta_ref = 0;
     float theta_actual = 0;
-    float v_d = .2;                                                             //Put all volts on the D-Axis
+    float v_d = .25;                                                             //Put all volts on the D-Axis
     float v_q = 0.0;
     float v_u, v_v, v_w = 0;
     float dtc_u, dtc_v, dtc_w = .5;
@@ -78,11 +79,14 @@
     float delta = 2*PI*NPP/(n*n2);                                              // change in angle between samples
     float error_f[n] = {0};                                                     // error vector rotating forwards
     float error_b[n] = {0};                                                     // error vector rotating backwards
+    const int  n_lut = 128;
+    int lut[n_lut]= {0};                                                        // clear any old lookup table before starting.
+    ps->WriteLUT(lut); 
     int raw_f[n] = {0};
     int raw_b[n] = {0};
     float theta_ref = 0;
     float theta_actual = 0;
-    float v_d = .2;                                                             // Put volts on the D-Axis
+    float v_d = .25;                                                             // Put volts on the D-Axis
     float v_q = 0.0;
     float v_u, v_v, v_w = 0;
     float dtc_u, dtc_v, dtc_w = .5;
@@ -200,8 +204,8 @@
             mean += error_filt[i]/n;
             }
         int raw_offset = (raw_f[0] + raw_b[n-1])/2;                             //Insensitive to errors in this direction, so 2 points is plenty
-        const int  n_lut = 128;
-        int lut[n_lut];
+        
+        
         printf("\n\r Encoder non-linearity compensation table\n\r");
         printf(" Sample Number : Lookup Index : Lookup Value : Cogging Current Lookup\n\r\n\r");
         for (int i = 0; i<n_lut; i++){                                          // build lookup table

--- a/Config/current_controller_config.h	Wed May 17 14:53:22 2017 +0000
+++ b/Config/current_controller_config.h	Sun Jun 04 19:00:22 2017 +0000
@@ -6,7 +6,7 @@
 #define K_SCALE 0.0001f            // K_loop/Loop BW (Hz)
 #define KI_D 0.06f                  // 1/samples
 #define KI_Q 0.06f                  // 1/samples
-#define V_BUS 17.0f                 // Volts
+#define V_BUS 22.0f                 // Volts
 
 #define D_INT_LIM V_BUS/(K_D*KI_D)  // Amps*samples
 #define Q_INT_LIM V_BUS/(K_Q*KI_Q)  // Amps*samples

--- a/Config/user_config.h	Wed May 17 14:53:22 2017 +0000
+++ b/Config/user_config.h	Sun Jun 04 19:00:22 2017 +0000
@@ -11,11 +11,14 @@
 #define THETA_MIN               __float_reg[4]                                  // Minimum position setpoint
 #define THETA_MAX               __float_reg[5]                                  // Maximum position setpoint
 
+
 #define PHASE_ORDER             __int_reg[0]                                    // Phase swapping during calibration
 #define CAN_ID                  __int_reg[1]                                    // CAN bus ID
 #define CAN_MASTER              __int_reg[2]                                    // CAN bus "master" ID
+#define CAN_TIMEOUT             __int_reg[3]                                    // CAN bus timeout period
 #define ENCODER_LUT             __int_reg[4]                                    // Encoder offset LUT - 128 elements long
 
+
 extern float __float_reg[];
 extern int __int_reg[];
 

--- a/FOC/foc.cpp	Wed May 17 14:53:22 2017 +0000
+++ b/FOC/foc.cpp	Sun Jun 04 19:00:22 2017 +0000
@@ -58,8 +58,17 @@
     }
 
 void reset_foc(ControllerStruct *controller){
+    TIM1->CCR3 = (PWM_ARR>>1)*(0.5f);
+    TIM1->CCR1 = (PWM_ARR>>1)*(0.5f);
+    TIM1->CCR2 = (PWM_ARR>>1)*(0.5f);
+    controller->i_d_ref = 0;
+    controller->i_q_ref = 0;
+    controller->i_d = 0;
+    controller->i_q = 0;
     controller->q_int = 0;
     controller->d_int = 0;
+    controller->v_q = 0;
+    controller->v_d = 0;
     }
 
 
@@ -82,16 +91,14 @@
        //dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q);    //dq0 transform on currents
        controller->i_d = 0.6666667f*(c*controller->i_a + (0.86602540378f*s-.5f*c)*controller->i_b + (-0.86602540378f*s-.5f*c)*controller->i_c);   ///Faster DQ0 Transform
        controller->i_q = 0.6666667f*(-s*controller->i_a - (-0.86602540378f*c-.5f*s)*controller->i_b - (0.86602540378f*c-.5f*s)*controller->i_c);
-       ///Cogging compensation lookup, doesn't actually work yet///
-       //int ind = theta * (128.0f/(2.0f*PI));
-       //float cogging_current = controller->cogging[ind];
+
        float cogging_current = 0.05f*s*controller->i_q_ref;
        
        /// PI Controller ///
        float i_d_error = controller->i_d_ref - controller->i_d;
-       float i_q_error = controller->i_q_ref - controller->i_q;// + cogging_current;
+       float i_q_error = controller->i_q_ref - controller->i_q + cogging_current;
        float v_d_ff = 2.0f*(2*controller->i_d_ref*R_PHASE);   //feed-forward voltage
-       float v_q_ff =  controller->dtheta_elec*WB*1.73205081;
+       float v_q_ff =  controller->dtheta_elec*WB*1.73205081f;
        controller->d_int += i_d_error;   
        controller->q_int += i_q_error;
        
@@ -102,6 +109,9 @@
        controller->v_d = K_SCALE*I_BW*i_d_error + K_SCALE*I_BW*controller->d_int;// + v_d_ff;  
        controller->v_q = K_SCALE*I_BW*i_q_error + K_SCALE*I_BW*controller->q_int;// + v_q_ff; 
        
+       //controller->v_q = 4.0f;;
+       //controller->v_d = 0.0f;
+       
        //controller->v_d = v_d_ff;
        //controller->v_q = v_q_ff; 
        
@@ -128,11 +138,11 @@
        controller->theta_elec = theta;                                          //For some reason putting this at the front breaks thins
        
 
-       if(controller->loop_count >400){
+       if(controller->loop_count >40){
            //controller->i_q_ref = -controller->i_q_ref;
           controller->loop_count  = 0;
            
-           //printf("%.1f  %.1f  %.1f  %.1f  %.1f\n\r", controller->i_d, controller->i_q, controller->v_d, controller->v_q, controller->dtheta_mech);
+           //printf("%.2f  %.2f  %.2f\n\r", controller->i_a, controller->i_b, controller->i_c);
            //printf("%f\n\r", controller->theta_elec);
            //pc.printf("%f    %f    %f\n\r", controller->i_a, controller->i_b, controller->i_c);
            //pc.printf("%f    %f\n\r", controller->i_d, controller->i_q);
@@ -142,7 +152,7 @@
     
     
 void torque_control(ControllerStruct *controller){
-    float torque_ref = -controller->kp*(controller->p_des - controller->theta_mech) + controller->t_ff;// + controller->kd*(controller->v_des - GR*controller->dtheta_mech);
+    float torque_ref = controller->kp*(controller->p_des - controller->theta_mech) + controller->t_ff + controller->kd*(controller->v_des - controller->dtheta_mech);
     //float torque_ref = -.1*(controller->p_des - controller->theta_mech);
     controller->i_q_ref = torque_ref/KT_OUT;    
     controller->i_d_ref = 0;

--- a/PositionSensor/PositionSensor.cpp	Wed May 17 14:53:22 2017 +0000
+++ b/PositionSensor/PositionSensor.cpp	Sun Jun 04 19:00:22 2017 +0000
@@ -92,6 +92,8 @@
 
 void PositionSensorAM5147::ZeroPosition(){
     rotations = 0;
+    MechOffset = 0;
+    Sample();
     MechOffset = GetMechPosition();
     }
     

--- a/hw_setup.cpp	Wed May 17 14:53:22 2017 +0000
+++ b/hw_setup.cpp	Sun Jun 04 19:00:22 2017 +0000
@@ -6,7 +6,7 @@
 #include "FastPWM.h"
 
 void Init_PWM(GPIOStruct *gpio){
-    
+
     RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;                        // enable the clock to GPIOC
     RCC->APB1ENR |= 0x00000001;                                 // enable TIM2 clock
     RCC->APB2ENR |= RCC_APB2ENR_TIM1EN;                         // enable TIM1 clock

--- a/main.cpp	Wed May 17 14:53:22 2017 +0000
+++ b/main.cpp	Sun Jun 04 19:00:22 2017 +0000
@@ -10,18 +10,6 @@
 #define SETUP_MODE 4
 #define ENCODER_MODE 5
 
-#define P_MASK
-#define D_MASK
-#define KP_MASK
-#define KD_MASK
-#define TFF_MASK
-
-/*
-const unsigned int BOARDNUM = 0x2;
-//const unsigned int a_id =                            
-const unsigned int cmd_ID = (BOARDNUM<<8) + 0x7;
-*/
-const unsigned int TX_ID = 0x01;
 
 
 float __float_reg[64];                                                          // Floats stored in flash
@@ -78,7 +66,7 @@
  #define KP_MIN 0.0f
  #define KP_MAX 500.0f
  #define KD_MIN 0.0f
- #define KD_MAX 100.0f
+ #define KD_MAX 5.0f
  #define T_MIN -18.0f
  #define T_MAX 18.0f
  
@@ -98,11 +86,12 @@
     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] = p_int>>8;
-    msg->data[1] = p_int&0xFF;
-    msg->data[2] = v_int>>4;
-    msg->data[3] = ((v_int&0xF)<<4) + (i_int>>8);
-    msg->data[4] = i_int&0xFF;
+    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 ///
@@ -122,23 +111,23 @@
 /// 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];
+        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);
     
-    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");
-    */
+    //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");
+    
     
     }
 
@@ -146,11 +135,27 @@
     //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) && (state == MOTOR_MODE)){
-        unpack_cmd(rxMsg, &controller);
-        pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q);
-        can.write(txMsg);
-    }
+    
+    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);
+            }
+        }
     
 }
 
@@ -168,22 +173,25 @@
 
 void enter_setup_state(void){
     printf("\n\r\n\r Configuration Options \n\r\n\n");
-    printf(" %-7s %-25s %-5s %-5s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
-    printf(" %-7s %-25s %-5s %-5s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
-    printf(" %-7s %-25s %-5s %-5s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
-    printf(" %-7s %-25s %-5s %-5s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
-    printf(" %-7s %-25s %-5s %-5s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
+    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 = 6;                                                     // Current Setpoints
-    reset_foc(&controller);                                                     // Tesets integrators, and other control loop parameters
-    gpio.enable->write(1);                                                      // Enable gate drive
+    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){
@@ -238,27 +246,38 @@
             case MOTOR_MODE:                                                   // Run torque control
                 if(state_change){
                     enter_torque_mode();
+                    count = 0;
                     }
+                else{
                 count++;
-                toggle.write(1);
+                //toggle.write(1);
                 controller.theta_elec = spi.GetElecPosition();
-                controller.theta_mech = spi.GetMechPosition();
-                controller.dtheta_mech = spi.GetMechVelocity();  
+                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);      
-                //controller.i_q_ref = 1; 
+                
+                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);
+                //toggle.write(0);
+                controller.timeout += 1;
                 
-                if(count > 100){
-                     count = 0;
-                     //printf("%d  %d\n\r", controller.adc1_raw, controller.adc2_raw);
+                if(count == 1){
+                     //count = 0;
+                     wait(.001);
+                    //printf(" Started commutating\n\r");
                      }
+                     }
+                     
                 break;
             case SETUP_MODE:
                 if(state_change){
@@ -327,6 +346,9 @@
                     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;
@@ -388,8 +410,8 @@
     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 = TX_ID;
-    txMsg.len = 5;
+    txMsg.id = CAN_MASTER;
+    txMsg.len = 6;
     rxMsg.len = 8;
     
     prefs.load();                                                               // Read flash

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-dev.lib	Sun Jun 04 19:00:22 2017 +0000
@@ -0,0 +1,1 @@
+https://mbed.org/users/mbed_official/code/mbed-dev/#986ec039fa06

--- a/mbed.bld	Wed May 17 14:53:22 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://mbed.org/users/mbed_official/code/mbed/builds/97feb9bacc10
\ No newline at end of file

--- a/structs.h	Wed May 17 14:53:22 2017 +0000
+++ b/structs.h	Sun Jun 04 19:00:22 2017 +0000
@@ -29,6 +29,7 @@
     int adc1_offset, adc2_offset;
     float i_d_ref, i_q_ref;
     int loop_count;
+    int timeout;
     int mode;
     float p_des, v_des, kp, kd, t_ff;
     float cogging[128];