main.cpp

00001 /// high-bandwidth 3-phase motor control, for robots
00002 /// Written by benkatz, with much inspiration from Bayley Wang, Nick Kirkby, Shane Colton, David Otten, and others
00003 /// Hardware documentation can be found at build-its.blogspot.com
00004 /// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling
00005 /// Version for the TI DRV8323 Everything Chip
00006 
00007 #define REST_MODE 0
00008 #define CALIBRATION_MODE 1
00009 #define MOTOR_MODE 2
00010 #define SETUP_MODE 4
00011 #define ENCODER_MODE 5
00012 
00013 #define VERSION_NUM "1.9"
00014 
00015 
00016 float __float_reg[64];                                                          // Floats stored in flash
00017 int __int_reg[256];                                                             // Ints stored in flash.  Includes position sensor calibration lookup table
00018 
00019 #include "mbed.h"
00020 #include "PositionSensor.h"
00021 #include "structs.h"
00022 #include "foc.h"
00023 #include "calibration.h"
00024 #include "hw_setup.h"
00025 #include "math_ops.h" 
00026 #include "current_controller_config.h"
00027 #include "hw_config.h"
00028 #include "motor_config.h"
00029 #include "stm32f4xx_flash.h"
00030 #include "FlashWriter.h"
00031 #include "user_config.h"
00032 #include "PreferenceWriter.h"
00033 #include "CAN_com.h"
00034 #include "DRV.h"
00035  
00036 PreferenceWriter prefs(6);
00037 
00038 GPIOStruct gpio;
00039 ControllerStruct controller;
00040 ObserverStruct observer;
00041 COMStruct com;
00042 Serial pc(PA_2, PA_3);
00043 
00044 
00045 CAN          can(PB_8, PB_9, 1000000);      // CAN Rx pin name, CAN Tx pin name
00046 CANMessage   rxMsg;
00047 CANMessage   txMsg;
00048 
00049 
00050 SPI drv_spi(PA_7, PA_6, PA_5);
00051 DigitalOut drv_cs(PA_4);
00052 //DigitalOut drv_en_gate(PA_11);
00053 DRV832x drv(&drv_spi, &drv_cs);
00054 
00055 PositionSensorAM5147 spi(16384, 0.0, NPP);  
00056 
00057 volatile int count = 0;
00058 volatile int state = REST_MODE;
00059 volatile int state_change;
00060 
00061 Timer t;
00062 
00063 void onMsgReceived() {
00064     //msgAvailable = true;
00065     //printf("%d\n\r", rxMsg.id);
00066     //t.reset();
00067     //t.start();
00068     can.read(rxMsg);  
00069     if((rxMsg.id == CAN_ID)){
00070         controller.timeout = 0;
00071         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))){
00072             state = MOTOR_MODE;
00073             state_change = 1;
00074             }
00075         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))){
00076             state = REST_MODE;
00077             state_change = 1;
00078             gpio.led->write(0);; 
00079             }
00080         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))){
00081             //t.reset();
00082             //t.start();
00083             spi.ZeroPosition();
00084             //t.stop();
00085             //printf("Set zero position time taken was %lf seconds\n", t.read());
00086             
00087             }
00088         else if(state == MOTOR_MODE){
00089             unpack_cmd(rxMsg, &controller);
00090             }
00091         pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
00092         can.write(txMsg);
00093         //t.stop();
00094         //printf("can time taken was %lf seconds\n",t.read());
00095         }
00096     
00097 }
00098 
00099 void enter_menu_state(void){
00100     drv.disable_gd();
00101     //gpio.enable->write(0);
00102     printf("\n\r\n\r\n\r");
00103     printf(" Commands:\n\r");
00104     wait_us(10);
00105     printf(" m - Motor Mode\n\r");
00106     wait_us(10);
00107     printf(" c - Calibrate Encoder\n\r");
00108     wait_us(10);
00109     printf(" s - Setup\n\r");
00110     wait_us(10);
00111     printf(" e - Display Encoder\n\r");
00112     wait_us(10);
00113     printf(" z - Set Zero Position\n\r");
00114     wait_us(10);
00115     printf(" esc - Exit to Menu\n\r");
00116     wait_us(10);
00117     state_change = 0;
00118     gpio.led->write(0);
00119     }
00120 
00121 void enter_setup_state(void){
00122     printf("\n\r\n\r Configuration Options \n\r\n\n");
00123     wait_us(10);
00124     printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
00125     wait_us(10);
00126     printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
00127     wait_us(10);
00128     printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
00129     wait_us(10);
00130     printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
00131     wait_us(10);
00132     printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
00133     wait_us(10);
00134     printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
00135     wait_us(10);
00136     printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
00137     wait_us(10);
00138     printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
00139     wait_us(10);
00140     state_change = 0;
00141     }
00142     
00143 void enter_torque_mode(void){
00144     drv.enable_gd();
00145     //gpio.enable->write(1);
00146     controller.ovp_flag = 0;
00147     reset_foc(&controller);                                                     // Tesets integrators, and other control loop parameters
00148     wait(.001);
00149     controller.i_d_ref = 0;
00150     controller.i_q_ref = 0;                                                     // Current Setpoints
00151     gpio.led->write(1);                                                     // Turn on status LED
00152     state_change = 0;
00153     printf("\n\r Entering Motor Mode \n\r");
00154     }
00155     
00156 void calibrate(void){
00157     drv.enable_gd();
00158     //gpio.enable->write(1);
00159     gpio.led->write(1);                                                    // Turn on status LED
00160     order_phases(&spi, &gpio, &controller, &prefs);                             // Check phase ordering
00161     calibrate(&spi, &gpio, &controller, &prefs);                                // Perform calibration procedure
00162     gpio.led->write(0);;                                                     // Turn off status LED
00163     wait(.2);
00164     printf("\n\r Calibration complete.  Press 'esc' to return to menu\n\r");
00165     drv.disable_gd();
00166     //gpio.enable->write(0);
00167      state_change = 0;
00168     }
00169     
00170 void print_encoder(void){
00171     printf(" Mechanical Angle:  %f    Electrical Angle:  %f    Raw:  %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
00172     //printf("%d\n\r", spi.GetRawPosition());
00173     wait(.001);
00174     }
00175 
00176 /// Current Sampling Interrupt ///
00177 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
00178 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
00179   if (TIM1->SR & TIM_SR_UIF ) {
00180 
00181         ///Sample current always ///
00182         ADC1->CR2  |= 0x40000000;                                               // Begin sample and conversion
00183         //volatile int delay;   
00184         //for (delay = 0; delay < 55; delay++);
00185 
00186         spi.Sample(DT);                                                           // sample position sensor
00187         controller.adc2_raw = ADC2->DR;                                         // Read ADC Data Registers
00188         controller.adc1_raw = ADC1->DR;
00189         controller.adc3_raw = ADC3->DR;
00190         controller.theta_elec = spi.GetElecPosition();
00191         controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
00192         controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();  
00193         controller.dtheta_elec = spi.GetElecVelocity();
00194         controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
00195         ///
00196         
00197         /// Check state machine state, and run the appropriate function ///
00198         switch(state){
00199             case REST_MODE:                                                     // Do nothing
00200                 if(state_change){
00201                     enter_menu_state();
00202                     }
00203                 break;
00204             
00205             case CALIBRATION_MODE:                                              // Run encoder calibration procedure
00206                 if(state_change){
00207                     calibrate();
00208                     }
00209                 break;
00210              
00211             case MOTOR_MODE:                                                   // Run torque control
00212                 if(state_change){
00213                     enter_torque_mode();
00214                     count = 0;
00215                     }
00216                 else{
00217                 /*
00218                 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
00219                     gpio.
00220                     ->write(0);
00221                     controller.ovp_flag = 1;
00222                     state = REST_MODE;
00223                     state_change = 1;
00224                     printf("OVP Triggered!\n\r");
00225                     }
00226                     */  
00227 
00228                 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
00229                     controller.i_d_ref = 0;
00230                     controller.i_q_ref = 0;
00231                     controller.kp = 0;
00232                     controller.kd = 0;
00233                     controller.t_ff = 0;
00234                     } 
00235 
00236                 torque_control(&controller);
00237                 commutate(&controller, &observer, &gpio, controller.theta_elec);           // Run current loop
00238 
00239                 controller.timeout++;
00240                 count++; 
00241             
00242                 }     
00243                 break;
00244             case SETUP_MODE:
00245                 if(state_change){
00246                     enter_setup_state();
00247                 }
00248                 break;
00249             case ENCODER_MODE:
00250                 print_encoder();
00251                 break;
00252                 }                 
00253       }
00254   TIM1->SR = 0x0;                                                               // reset the status register
00255 }
00256 
00257 
00258 char cmd_val[8] = {0};
00259 char cmd_id = 0;
00260 char char_count = 0;
00261 
00262 /// Manage state machine with commands from serial terminal or configurator gui ///
00263 /// Called when data received over serial ///
00264 void serial_interrupt(void){
00265     while(pc.readable()){
00266         char c = pc.getc();
00267         if(c == 27){
00268                 state = REST_MODE;
00269                 state_change = 1;
00270                 char_count = 0;
00271                 cmd_id = 0;
00272                 gpio.led->write(0);; 
00273                 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
00274                 }
00275         if(state == REST_MODE){
00276             switch (c){
00277                 case 'c':
00278                     state = CALIBRATION_MODE;
00279                     state_change = 1;
00280                     break;
00281                 case 'm':
00282                     state = MOTOR_MODE;
00283                     state_change = 1;
00284                     break;
00285                 case 'e':
00286                     state = ENCODER_MODE;
00287                     state_change = 1;
00288                     break;
00289                 case 's':
00290                     state = SETUP_MODE;
00291                     state_change = 1;
00292                     break;
00293                 case 'z':
00294 
00295                     spi.SetMechOffset(0);
00296                     spi.Sample(DT);
00297                     wait_us(20);
00298                     M_OFFSET = spi.GetMechPosition();
00299                     if (!prefs.ready()) prefs.open();
00300                         prefs.flush();                                                  // Write new prefs to flash
00301                         prefs.close();    
00302                         prefs.load(); 
00303                     spi.SetMechOffset(M_OFFSET);
00304 
00305                     printf("\n\r  Saved new zero position:  %.4f\n\r\n\r", M_OFFSET);
00306                     
00307                     break;
00308                 }
00309                 
00310                 }
00311         else if(state == SETUP_MODE){
00312             if(c == 13){
00313                 switch (cmd_id){
00314                     case 'b':
00315                         I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
00316                         break;
00317                     case 'i':
00318                         CAN_ID = atoi(cmd_val);
00319                         break;
00320                     case 'm':
00321                         CAN_MASTER = atoi(cmd_val);
00322                         break;
00323                     case 'l':
00324                         I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
00325                         break;
00326                     case 'f':
00327                         I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
00328                         break;
00329                     case 't':
00330                         CAN_TIMEOUT = atoi(cmd_val);
00331                         break;
00332                     default:
00333                         printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
00334                         break;
00335                     }
00336                     
00337                 if (!prefs.ready()) prefs.open();
00338                 prefs.flush();                                                  // Write new prefs to flash
00339                 prefs.close();    
00340                 prefs.load();                                              
00341                 state_change = 1;
00342                 char_count = 0;
00343                 cmd_id = 0;
00344                 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
00345                 }
00346             else{
00347                 if(char_count == 0){cmd_id = c;}
00348                 else{
00349                     cmd_val[char_count-1] = c;
00350                     
00351                 }
00352                 pc.putc(c);
00353                 char_count++;
00354                 }
00355             }
00356         else if (state == ENCODER_MODE){
00357             switch (c){
00358                 case 27:
00359                     state = REST_MODE;
00360                     state_change = 1;
00361                     break;
00362                     }
00363             }
00364         else if (state == MOTOR_MODE){
00365             switch (c){
00366                 case 'd':
00367                     controller.i_q_ref = 0;
00368                     controller.i_d_ref = 0;
00369                 }
00370             }
00371             
00372         }
00373     }
00374 
00375        
00376 int main() {
00377     controller.v_bus = V_BUS;
00378     controller.mode = 0;
00379     Init_All_HW(&gpio);                                                         // Setup PWM, ADC, GPIO
00380     wait(.1);
00381     
00382     gpio.enable->write(1);
00383     wait_us(100);
00384     drv.calibrate();
00385     wait_us(100);
00386     drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
00387     wait_us(100);
00388     drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
00389     wait_us(100);
00390     drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
00391     
00392     //drv.enable_gd();
00393     zero_current(&controller.adc1_offset, &controller.adc2_offset);             // Measure current sensor zero-offset
00394     drv.disable_gd();
00395 
00396     wait(.1);
00397     /*
00398     gpio.enable->write(1);
00399     TIM1->CCR3 = 0x708*(1.0f);                        // Write duty cycles
00400     TIM1->CCR2 = 0x708*(1.0f);
00401     TIM1->CCR1 = 0x708*(1.0f);
00402     gpio.enable->write(0);
00403     */
00404     reset_foc(&controller);                                                     // Reset current controller
00405     reset_observer(&observer);                                                 // Reset observer
00406     TIM1->CR1 ^= TIM_CR1_UDIS;
00407     //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
00408     
00409     wait(.1);
00410     NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2);                                             // commutation > communication
00411     
00412     NVIC_SetPriority(CAN1_RX0_IRQn, 3);
00413                                    // attach 'CAN receive-complete' interrupt handler    
00414     
00415     // If preferences haven't been user configured yet, set defaults 
00416     prefs.load();                                                               // Read flash
00417     
00418     can.filter(CAN_ID , 0xFFF, CANStandard, 0);
00419                                                                     
00420     txMsg.id = CAN_MASTER;
00421     txMsg.len = 6;
00422     rxMsg.len = 8;
00423     can.attach(&onMsgReceived);  
00424     
00425     if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
00426     if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
00427     if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
00428     if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
00429     if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
00430     if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
00431     if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
00432     if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
00433     spi.SetElecOffset(E_OFFSET);                                                // Set position sensor offset
00434     spi.SetMechOffset(M_OFFSET);
00435     int lut[128] = {0};
00436     memcpy(&lut, &ENCODER_LUT, sizeof(lut));
00437     spi.WriteLUT(lut);                                                          // Set potision sensor nonlinearity lookup table
00438     init_controller_params(&controller);
00439 
00440     pc.baud(921600);                                                            // set serial baud rate
00441     wait(.01);
00442     pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
00443     wait(.01);
00444     printf("\n\r Debug Info:\n\r");
00445     printf(" Firmware Version: %s\n\r", VERSION_NUM);
00446     printf(" ADC1 Offset: %d    ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
00447     printf(" Position Sensor Electrical Offset:   %.4f\n\r", E_OFFSET);
00448     printf(" Output Zero Position:  %.4f\n\r", M_OFFSET);
00449     printf(" CAN ID:  %d\n\r", CAN_ID);
00450     
00451     
00452     //printf(" %d\n\r", drv.read_register(DCR));
00453     //wait_us(100);
00454     //printf(" %d\n\r", drv.read_register(CSACR));
00455     //wait_us(100);
00456     //printf(" %d\n\r", drv.read_register(OCPCR));
00457     //drv.disable_gd();
00458     
00459     pc.attach(&serial_interrupt);                                               // attach serial interrupt
00460     
00461     state_change = 1;
00462 
00463 
00464     int counter = 0;
00465     while(1) {
00466         drv.print_faults();
00467         wait(.1);
00468         
00469         //if(state == MOTOR_MODE)
00470         //    printf("i_q*kt_out: %f \n\r",controller.i_q_filt*KT_OUT);
00471         
00472         //pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
00473         //can.write(txMsg);
00474        //printf("%.4f\n\r", controller.v_bus);
00475 
00476         /*
00477         if(state == MOTOR_MODE)
00478         {
00479             //printf("%.3f  %.3f  %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
00480             //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);
00481             //printf("%.3f\n\r", controller.dtheta_mech);
00482             float pos, intpart;
00483             pos = controller.theta_mech;
00484             modf(pos/(2*PI),&intpart);
00485             pos = pos - intpart*2*PI;
00486             
00487             if(abs(pos) <= 0.001)
00488                 pos = abs(pos);
00489             else if(pos < 0)
00490                 pos = pos + 2*PI;
00491             
00492             //printf("intpart: %f\n\r",intpart);
00493             //printf("theta_mech: %f\n\r",controller.theta_mech);
00494             printf("pos: %f\n\r",pos);
00495             
00496             wait(.002);
00497         }
00498         */
00499 
00500     }
00501 }