Wooden Jin / BLDC_V2

bldc driver firmware based on hobbyking cheetah compact

Dependencies:   BLDC_V2 mbed-dev-f303 FastPWM3

Dependents:   BLDC_V2

main.cpp@48:a74e401a6d84, 2021-04-07 (annotated)

Committer:
Wooden
Date:
Wed Apr 07 10:12:43 2021 +0000
Revision:
48:a74e401a6d84
Parent:
47:f4ecf3e0576a 
wooden_bldc_test

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 22:60276ba87ac6 1 /// high-bandwidth 3-phase motor control, for robots
benkatz 22:60276ba87ac6 2 /// Written by benkatz, with much inspiration from bayleyw, nkirkby, scolton, 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 22:60276ba87ac6 5
benkatz 23:2adf23ee0305 6 #define REST_MODE 0
benkatz 23:2adf23ee0305 7 #define CALIBRATION_MODE 1
benkatz 26:2b865c00d7e9 8 #define MOTOR_MODE 2
benkatz 23:2adf23ee0305 9 #define SETUP_MODE 4
benkatz 23:2adf23ee0305 10 #define ENCODER_MODE 5
Wooden 47:f4ecf3e0576a 11 #define TEST_MODE 6 // this mode is used to test motor, which allow user control motor's torque directly on the GUI software
benkatz 22:60276ba87ac6 12
benkatz 44:efcde0af8390 13 #define VERSION_NUM "1.6"
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"
Wooden 47:f4ecf3e0576a 34 #include <string>
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 20:bf9ea5125d52 40 COMStruct com;
benkatz 37:c0f352d6e8e3 41 ObserverStruct observer;
benkatz 9:d7eb815cb057 42
Wooden 47:f4ecf3e0576a 43 // Serial pc(PA_2, PA_3);
Wooden 47:f4ecf3e0576a 44 Serial pc(PC_6, PC_7);
Wooden 47:f4ecf3e0576a 45
Wooden 47:f4ecf3e0576a 46 DataPackage datapackage;
benkatz 17:3c5df2982199 47
benkatz 44:efcde0af8390 48 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 49 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 50 CANMessage txMsg;
benkatz 23:2adf23ee0305 51
Wooden 47:f4ecf3e0576a 52 DigitalOut led_debug(PB_1);
benkatz 8:10ae7bc88d6e 53
benkatz 26:2b865c00d7e9 54 PositionSensorAM5147 spi(16384, 0.0, NPP);
benkatz 20:bf9ea5125d52 55
Wooden 47:f4ecf3e0576a 56 //volatile int count = 0;
benkatz 23:2adf23ee0305 57 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 58 volatile int state_change;
benkatz 20:bf9ea5125d52 59
Wooden 47:f4ecf3e0576a 60 volatile float test_tff,test_kp,test_kd,test_pos_des,test_vel_des;
Wooden 47:f4ecf3e0576a 61 volatile float test_ia,test_ib,test_ic,test_id,test_iq;
Wooden 47:f4ecf3e0576a 62 volatile float test_mech_angle,test_mech_speed;
Wooden 47:f4ecf3e0576a 63
benkatz 26:2b865c00d7e9 64 void onMsgReceived() {
benkatz 26:2b865c00d7e9 65 //msgAvailable = true;
Wooden 47:f4ecf3e0576a 66
benkatz 26:2b865c00d7e9 67 can.read(rxMsg);
benkatz 28:8c7e29f719c5 68 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 69 controller.timeout = 0;
benkatz 28:8c7e29f719c5 70 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 71 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 72 state_change = 1;
benkatz 28:8c7e29f719c5 73 }
benkatz 28:8c7e29f719c5 74 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 75 state = REST_MODE;
benkatz 28:8c7e29f719c5 76 state_change = 1;
Wooden 47:f4ecf3e0576a 77 gpio.led->write(0);
benkatz 28:8c7e29f719c5 78 }
benkatz 28:8c7e29f719c5 79 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))){
benkatz 28:8c7e29f719c5 80 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 81 }
benkatz 28:8c7e29f719c5 82 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 83 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 84 }
Wooden 48:a74e401a6d84 85 // pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
Wooden 48:a74e401a6d84 86 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q*KT_OUT); //return real torque
Wooden 48:a74e401a6d84 87 // pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.v_bus/2.0f);
benkatz 37:c0f352d6e8e3 88 can.write(txMsg);
benkatz 28:8c7e29f719c5 89 }
benkatz 26:2b865c00d7e9 90
benkatz 26:2b865c00d7e9 91 }
benkatz 26:2b865c00d7e9 92
benkatz 23:2adf23ee0305 93 void enter_menu_state(void){
Wooden 47:f4ecf3e0576a 94 pc.printf("\n\r\n\r\n\r");
Wooden 47:f4ecf3e0576a 95 pc.printf(" Commands:\n\r");
benkatz 44:efcde0af8390 96 wait_us(10);
Wooden 47:f4ecf3e0576a 97 pc.printf(" m - Motor Mode\n\r");
benkatz 44:efcde0af8390 98 wait_us(10);
Wooden 47:f4ecf3e0576a 99 pc.printf(" c - Calibrate Encoder\n\r");
benkatz 44:efcde0af8390 100 wait_us(10);
Wooden 47:f4ecf3e0576a 101 pc.printf(" s - Setup\n\r");
benkatz 44:efcde0af8390 102 wait_us(10);
Wooden 47:f4ecf3e0576a 103 pc.printf(" e - Display Encoder\n\r");
benkatz 44:efcde0af8390 104 wait_us(10);
Wooden 47:f4ecf3e0576a 105 pc.printf(" z - Set Zero Position\n\r");
benkatz 44:efcde0af8390 106 wait_us(10);
Wooden 47:f4ecf3e0576a 107 pc.printf(" t - Motor Test Mode\n\r");
Wooden 47:f4ecf3e0576a 108 wait_us(10);
Wooden 47:f4ecf3e0576a 109 pc.printf(" esc - Exit to Menu\n\r");
benkatz 44:efcde0af8390 110 wait_us(10);
benkatz 23:2adf23ee0305 111 state_change = 0;
benkatz 25:f5741040c4bb 112 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 113 gpio.led->write(0);
benkatz 23:2adf23ee0305 114 }
benkatz 24:58c2d7571207 115
benkatz 24:58c2d7571207 116 void enter_setup_state(void){
Wooden 47:f4ecf3e0576a 117 pc.printf("\n\r\n\r Configuration Options \n\r\n\n");
Wooden 47:f4ecf3e0576a 118 wait_us(10);
Wooden 47:f4ecf3e0576a 119 pc.printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:efcde0af8390 120 wait_us(10);
Wooden 47:f4ecf3e0576a 121 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
Wooden 48:a74e401a6d84 122 //pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "1", "100", I_BW);
Wooden 47:f4ecf3e0576a 123 wait_us(10);
Wooden 47:f4ecf3e0576a 124 pc.printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:efcde0af8390 125 wait_us(10);
Wooden 47:f4ecf3e0576a 126 pc.printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
Wooden 47:f4ecf3e0576a 127 wait_us(10);
Wooden 47:f4ecf3e0576a 128 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
benkatz 44:efcde0af8390 129 wait_us(10);
Wooden 47:f4ecf3e0576a 130 pc.printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
Wooden 47:f4ecf3e0576a 131 wait_us(10);
Wooden 47:f4ecf3e0576a 132 pc.printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:efcde0af8390 133 wait_us(10);
Wooden 47:f4ecf3e0576a 134 state_change = 0;
Wooden 47:f4ecf3e0576a 135 }
Wooden 47:f4ecf3e0576a 136
Wooden 47:f4ecf3e0576a 137 void enter_test_state(void){
Wooden 47:f4ecf3e0576a 138 pc.printf("\n\r\n\r Control Options \n\r\n\n");
benkatz 44:efcde0af8390 139 wait_us(10);
Wooden 47:f4ecf3e0576a 140 pc.printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:efcde0af8390 141 wait_us(10);
Wooden 47:f4ecf3e0576a 142 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "t", "Torque", "-18", "18", controller.t_ff);
Wooden 47:f4ecf3e0576a 143 wait_us(10);
Wooden 47:f4ecf3e0576a 144 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "k", "Stiffness", "0", "500", controller.kp);
benkatz 44:efcde0af8390 145 wait_us(10);
Wooden 47:f4ecf3e0576a 146 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "d", "Damping", "0", "5.0", controller.kd);
Wooden 47:f4ecf3e0576a 147 wait_us(10);
Wooden 47:f4ecf3e0576a 148 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "p", "Position", "-12.5", "12.5", controller.p_des);
Wooden 47:f4ecf3e0576a 149 wait_us(10);
Wooden 47:f4ecf3e0576a 150 pc.printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "v", "Velocity", "-45", "45", controller.v_des);
benkatz 44:efcde0af8390 151 wait_us(10);
benkatz 24:58c2d7571207 152 state_change = 0;
benkatz 24:58c2d7571207 153 }
benkatz 22:60276ba87ac6 154
benkatz 23:2adf23ee0305 155 void enter_torque_mode(void){
benkatz 37:c0f352d6e8e3 156 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 157 gpio.enable->write(1); // Enable gate drive
benkatz 28:8c7e29f719c5 158 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 159 wait(.001);
benkatz 23:2adf23ee0305 160 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 161 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 162 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 163 state_change = 0;
Wooden 47:f4ecf3e0576a 164 pc.printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 165 }
benkatz 22:60276ba87ac6 166
benkatz 23:2adf23ee0305 167 void calibrate(void){
benkatz 25:f5741040c4bb 168 gpio.enable->write(1); // Enable gate drive
benkatz 37:c0f352d6e8e3 169 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 170 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 171 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 172 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 173 wait(.2);
benkatz 25:f5741040c4bb 174 gpio.enable->write(0); // Turn off gate drive
Wooden 47:f4ecf3e0576a 175 pc.printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 23:2adf23ee0305 176 state_change = 0;
benkatz 23:2adf23ee0305 177 }
benkatz 23:2adf23ee0305 178
benkatz 23:2adf23ee0305 179 void print_encoder(void){
Wooden 47:f4ecf3e0576a 180 pc.printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 23:2adf23ee0305 181 wait(.05);
benkatz 22:60276ba87ac6 182 }
benkatz 20:bf9ea5125d52 183
benkatz 23:2adf23ee0305 184 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 185 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
Wooden 47:f4ecf3e0576a 186 int LLLL = 0;
Wooden 47:f4ecf3e0576a 187 bool led_flag = 0;
Wooden 47:f4ecf3e0576a 188 bool flag_test_first = true;
Wooden 47:f4ecf3e0576a 189
benkatz 2:8724412ad628 190 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 191 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 192
benkatz 23:2adf23ee0305 193 ///Sample current always ///
benkatz 25:f5741040c4bb 194 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 195 //volatile int delay;
benkatz 20:bf9ea5125d52 196 //for (delay = 0; delay < 55; delay++);
benkatz 37:c0f352d6e8e3 197 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 198 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 199 controller.adc3_raw = ADC3->DR;
benkatz 45:aadebe074af6 200 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 201 controller.theta_elec = spi.GetElecPosition();
Wooden 48:a74e401a6d84 202 // controller.theta_elec = 0;
benkatz 37:c0f352d6e8e3 203 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 204 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 205 controller.dtheta_elec = spi.GetElecVelocity();
Wooden 48:a74e401a6d84 206 // controller.dtheta_elec = 0;
Wooden 48:a74e401a6d84 207 // controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE;
Wooden 48:a74e401a6d84 208 controller.v_bus = 24.0;
benkatz 23:2adf23ee0305 209 ///
Wooden 47:f4ecf3e0576a 210 LLLL ++;
Wooden 47:f4ecf3e0576a 211 if(LLLL==10000){
Wooden 47:f4ecf3e0576a 212 LLLL=0;
Wooden 47:f4ecf3e0576a 213 led_flag = 1-led_flag;
Wooden 47:f4ecf3e0576a 214 led_debug=(led_flag);
Wooden 47:f4ecf3e0576a 215 // pc.printf("in interrupt\n\r");
Wooden 47:f4ecf3e0576a 216 }
benkatz 20:bf9ea5125d52 217
benkatz 23:2adf23ee0305 218 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 219 switch(state){
benkatz 37:c0f352d6e8e3 220 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 221 if(state_change){
benkatz 23:2adf23ee0305 222 enter_menu_state();
Wooden 47:f4ecf3e0576a 223 flag_test_first = true;
benkatz 23:2adf23ee0305 224 }
benkatz 23:2adf23ee0305 225 break;
benkatz 22:60276ba87ac6 226
benkatz 23:2adf23ee0305 227 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 228 if(state_change){
benkatz 23:2adf23ee0305 229 calibrate();
benkatz 23:2adf23ee0305 230 }
benkatz 23:2adf23ee0305 231 break;
benkatz 23:2adf23ee0305 232
benkatz 26:2b865c00d7e9 233 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 234 if(state_change){
benkatz 25:f5741040c4bb 235 enter_torque_mode();
Wooden 47:f4ecf3e0576a 236 // count = 0;
benkatz 25:f5741040c4bb 237 }
benkatz 28:8c7e29f719c5 238 else{
benkatz 37:c0f352d6e8e3 239 /*
benkatz 37:c0f352d6e8e3 240 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 37:c0f352d6e8e3 241 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 242 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 243 state = REST_MODE;
benkatz 37:c0f352d6e8e3 244 state_change = 1;
benkatz 37:c0f352d6e8e3 245 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 246 }
benkatz 37:c0f352d6e8e3 247 */
Wooden 47:f4ecf3e0576a 248 // controller.t_ff = 1;
benkatz 40:cd7e837b2b93 249 torque_control(&controller);
benkatz 28:8c7e29f719c5 250 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 251 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 252 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 253 controller.kp = 0;
benkatz 37:c0f352d6e8e3 254 controller.kd = 0;
benkatz 37:c0f352d6e8e3 255 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 256 }
benkatz 37:c0f352d6e8e3 257 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 28:8c7e29f719c5 258 controller.timeout += 1;
benkatz 38:67e4e1453a4b 259
benkatz 39:3580a907ef93 260 /*
benkatz 37:c0f352d6e8e3 261 count++;
benkatz 40:cd7e837b2b93 262 if(count == 4000){
benkatz 40:cd7e837b2b93 263 printf("%.4f\n\r", controller.dtheta_mech);
benkatz 32:ccac5da77844 264 count = 0;
benkatz 23:2adf23ee0305 265 }
benkatz 39:3580a907ef93 266 */
benkatz 38:67e4e1453a4b 267
benkatz 37:c0f352d6e8e3 268
benkatz 37:c0f352d6e8e3 269 }
benkatz 23:2adf23ee0305 270 break;
benkatz 23:2adf23ee0305 271 case SETUP_MODE:
benkatz 23:2adf23ee0305 272 if(state_change){
benkatz 24:58c2d7571207 273 enter_setup_state();
benkatz 23:2adf23ee0305 274 }
benkatz 23:2adf23ee0305 275 break;
Wooden 47:f4ecf3e0576a 276
Wooden 47:f4ecf3e0576a 277 case TEST_MODE:
Wooden 47:f4ecf3e0576a 278 if(flag_test_first){
Wooden 47:f4ecf3e0576a 279 // enter_test_state();
Wooden 47:f4ecf3e0576a 280 // enter_torque_mode();
Wooden 47:f4ecf3e0576a 281 controller.ovp_flag = 0;
Wooden 47:f4ecf3e0576a 282 gpio.enable->write(1); // Enable gate drive
Wooden 47:f4ecf3e0576a 283 reset_foc(&controller); // Tesets integrators, and other control loop parameters
Wooden 47:f4ecf3e0576a 284 wait(.001);
Wooden 47:f4ecf3e0576a 285 controller.i_d_ref = 0;
Wooden 47:f4ecf3e0576a 286 controller.i_q_ref = 0; // Current Setpoints
Wooden 47:f4ecf3e0576a 287 gpio.led->write(1);
Wooden 47:f4ecf3e0576a 288 flag_test_first = false; // Turn on status LED
Wooden 47:f4ecf3e0576a 289 }
Wooden 47:f4ecf3e0576a 290 else{
Wooden 47:f4ecf3e0576a 291 controller.t_ff = test_tff;
Wooden 47:f4ecf3e0576a 292 controller.kp = test_kp;
Wooden 47:f4ecf3e0576a 293 controller.p_des = test_pos_des;
Wooden 47:f4ecf3e0576a 294 controller.kd = test_kd;
Wooden 47:f4ecf3e0576a 295 controller.v_des = test_vel_des;
Wooden 47:f4ecf3e0576a 296
Wooden 47:f4ecf3e0576a 297 torque_control(&controller);
Wooden 47:f4ecf3e0576a 298 commutate(&controller, &observer, &gpio, controller.theta_elec);
Wooden 47:f4ecf3e0576a 299 test_mech_angle = controller.theta_mech;
Wooden 47:f4ecf3e0576a 300 test_mech_speed = controller.dtheta_mech;
Wooden 47:f4ecf3e0576a 301 test_ia = controller.i_a;
Wooden 47:f4ecf3e0576a 302 test_ib = controller.i_b;
Wooden 47:f4ecf3e0576a 303 test_ic = controller.i_c;
Wooden 47:f4ecf3e0576a 304 // test_ia = observer.i_q_est;
Wooden 47:f4ecf3e0576a 305 // test_ib = controller.v_d;
Wooden 47:f4ecf3e0576a 306 // test_ic = controller.v_q;
Wooden 47:f4ecf3e0576a 307 test_id = controller.i_d;
Wooden 47:f4ecf3e0576a 308 test_iq = controller.i_q;
Wooden 47:f4ecf3e0576a 309 // test_iq = observer.i_q_est;
Wooden 47:f4ecf3e0576a 310 // test_id = observer.i_d_est;
Wooden 47:f4ecf3e0576a 311 // test_iq = controller->i_q_filt；
Wooden 47:f4ecf3e0576a 312 }
Wooden 47:f4ecf3e0576a 313 break;
Wooden 47:f4ecf3e0576a 314
benkatz 23:2adf23ee0305 315 case ENCODER_MODE:
benkatz 23:2adf23ee0305 316 print_encoder();
benkatz 23:2adf23ee0305 317 break;
benkatz 37:c0f352d6e8e3 318 }
benkatz 2:8724412ad628 319 }
benkatz 23:2adf23ee0305 320 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 321 }
benkatz 0:4e1c4df6aabd 322
benkatz 25:f5741040c4bb 323
benkatz 24:58c2d7571207 324 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 325 char cmd_id = 0;
benkatz 25:f5741040c4bb 326 char char_count = 0;
benkatz 24:58c2d7571207 327
benkatz 25:f5741040c4bb 328 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 329 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 330 void serial_interrupt(void){
benkatz 23:2adf23ee0305 331 while(pc.readable()){
benkatz 23:2adf23ee0305 332 char c = pc.getc();
benkatz 25:f5741040c4bb 333 if(c == 27){
benkatz 25:f5741040c4bb 334 state = REST_MODE;
benkatz 25:f5741040c4bb 335 state_change = 1;
benkatz 25:f5741040c4bb 336 char_count = 0;
benkatz 25:f5741040c4bb 337 cmd_id = 0;
benkatz 37:c0f352d6e8e3 338 gpio.led->write(0);;
benkatz 25:f5741040c4bb 339 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 340 }
benkatz 24:58c2d7571207 341 if(state == REST_MODE){
benkatz 23:2adf23ee0305 342 switch (c){
benkatz 23:2adf23ee0305 343 case 'c':
benkatz 23:2adf23ee0305 344 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 345 state_change = 1;
benkatz 23:2adf23ee0305 346 break;
benkatz 26:2b865c00d7e9 347 case 'm':
benkatz 26:2b865c00d7e9 348 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 349 state_change = 1;
benkatz 23:2adf23ee0305 350 break;
benkatz 23:2adf23ee0305 351 case 'e':
benkatz 23:2adf23ee0305 352 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 353 state_change = 1;
benkatz 23:2adf23ee0305 354 break;
benkatz 23:2adf23ee0305 355 case 's':
benkatz 23:2adf23ee0305 356 state = SETUP_MODE;
benkatz 23:2adf23ee0305 357 state_change = 1;
benkatz 23:2adf23ee0305 358 break;
benkatz 37:c0f352d6e8e3 359 case 'z':
benkatz 37:c0f352d6e8e3 360 spi.SetMechOffset(0);
benkatz 45:aadebe074af6 361 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 362 wait_us(20);
benkatz 37:c0f352d6e8e3 363 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 364 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 365 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 366 prefs.close();
benkatz 37:c0f352d6e8e3 367 prefs.load();
benkatz 37:c0f352d6e8e3 368 spi.SetMechOffset(M_OFFSET);
Wooden 47:f4ecf3e0576a 369 pc.printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 370
benkatz 37:c0f352d6e8e3 371 break;
Wooden 47:f4ecf3e0576a 372 case 't':
Wooden 47:f4ecf3e0576a 373 // this state is used to test motor through GUI
Wooden 47:f4ecf3e0576a 374 state = TEST_MODE;
Wooden 47:f4ecf3e0576a 375 state_change = 1;
benkatz 37:c0f352d6e8e3 376 }
benkatz 37:c0f352d6e8e3 377
benkatz 24:58c2d7571207 378 }
benkatz 24:58c2d7571207 379 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 380 if(c == 13){
benkatz 24:58c2d7571207 381 switch (cmd_id){
benkatz 24:58c2d7571207 382 case 'b':
benkatz 24:58c2d7571207 383 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
Wooden 48:a74e401a6d84 384 //I_BW = fmaxf(fminf(atof(cmd_val), 100.0f), 1.0f);
benkatz 24:58c2d7571207 385 break;
benkatz 24:58c2d7571207 386 case 'i':
benkatz 24:58c2d7571207 387 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 388 break;
benkatz 26:2b865c00d7e9 389 case 'm':
benkatz 26:2b865c00d7e9 390 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 391 break;
benkatz 24:58c2d7571207 392 case 'l':
benkatz 24:58c2d7571207 393 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 24:58c2d7571207 394 break;
benkatz 28:8c7e29f719c5 395 case 't':
benkatz 28:8c7e29f719c5 396 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 397 break;
benkatz 24:58c2d7571207 398 default:
Wooden 47:f4ecf3e0576a 399 pc.printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 400 break;
benkatz 24:58c2d7571207 401 }
benkatz 24:58c2d7571207 402
benkatz 24:58c2d7571207 403 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 404 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 405 prefs.close();
benkatz 24:58c2d7571207 406 prefs.load();
benkatz 24:58c2d7571207 407 state_change = 1;
benkatz 24:58c2d7571207 408 char_count = 0;
benkatz 24:58c2d7571207 409 cmd_id = 0;
benkatz 24:58c2d7571207 410 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 411 }
benkatz 24:58c2d7571207 412 else{
benkatz 24:58c2d7571207 413 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 414 else{
benkatz 24:58c2d7571207 415 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 416
benkatz 24:58c2d7571207 417 }
benkatz 24:58c2d7571207 418 pc.putc(c);
benkatz 24:58c2d7571207 419 char_count++;
benkatz 23:2adf23ee0305 420 }
benkatz 23:2adf23ee0305 421 }
benkatz 24:58c2d7571207 422 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 423 switch (c){
benkatz 24:58c2d7571207 424 case 27:
benkatz 24:58c2d7571207 425 state = REST_MODE;
benkatz 24:58c2d7571207 426 state_change = 1;
benkatz 24:58c2d7571207 427 break;
benkatz 24:58c2d7571207 428 }
benkatz 24:58c2d7571207 429 }
Wooden 47:f4ecf3e0576a 430 else if(state == TEST_MODE){
Wooden 47:f4ecf3e0576a 431 if(c == 13){
Wooden 47:f4ecf3e0576a 432 switch(cmd_id){
Wooden 47:f4ecf3e0576a 433 case 't':
Wooden 47:f4ecf3e0576a 434 // controller.t_ff = fmaxf(fminf(atof(cmd_val), TORQUE_LIMIT), -TORQUE_LIMIT);
Wooden 47:f4ecf3e0576a 435 test_tff = fmaxf(fminf(atof(cmd_val), TORQUE_LIMIT), -TORQUE_LIMIT);
Wooden 47:f4ecf3e0576a 436 break;
Wooden 47:f4ecf3e0576a 437 case 'k':
Wooden 47:f4ecf3e0576a 438 // controller.kp = fmaxf(fminf(atof(cmd_val), KP_MAX), KP_MIN);
Wooden 47:f4ecf3e0576a 439 test_kp = fmaxf(fminf(atof(cmd_val), KP_MAX), KP_MIN);
Wooden 47:f4ecf3e0576a 440 break;
Wooden 47:f4ecf3e0576a 441 case 'd':
Wooden 47:f4ecf3e0576a 442 // controller.kd = fmaxf(fminf(atof(cmd_val), KD_MAX), KD_MIN);
Wooden 47:f4ecf3e0576a 443 test_kd = fmaxf(fminf(atof(cmd_val), KD_MAX), KD_MIN);
Wooden 47:f4ecf3e0576a 444 break;
Wooden 47:f4ecf3e0576a 445 case 'p':
Wooden 47:f4ecf3e0576a 446 // controller.p_des = fmaxf(fminf(atof(cmd_val), P_MAX), P_MIN);
Wooden 47:f4ecf3e0576a 447 test_pos_des = fmaxf(fminf(atof(cmd_val), P_MAX), P_MIN);
Wooden 47:f4ecf3e0576a 448 break;
Wooden 47:f4ecf3e0576a 449 case 'v':
Wooden 47:f4ecf3e0576a 450 // controller.v_des = fmaxf(fminf(atof(cmd_val), V_MAX), V_MIN);
Wooden 47:f4ecf3e0576a 451 test_vel_des = fmaxf(fminf(atof(cmd_val), V_MAX), V_MIN);
Wooden 47:f4ecf3e0576a 452 break;
Wooden 47:f4ecf3e0576a 453 default:
Wooden 47:f4ecf3e0576a 454 // pc.printf("\n\r '%c' Not a valid command prefix\n\r", cmd_id);
Wooden 47:f4ecf3e0576a 455 break;
Wooden 47:f4ecf3e0576a 456 }
Wooden 47:f4ecf3e0576a 457 state_change = 1;
Wooden 47:f4ecf3e0576a 458 char_count = 0;
Wooden 47:f4ecf3e0576a 459 cmd_id = 0;
Wooden 47:f4ecf3e0576a 460 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
Wooden 47:f4ecf3e0576a 461 }
Wooden 47:f4ecf3e0576a 462 else{
Wooden 47:f4ecf3e0576a 463 if(char_count == 0){cmd_id = c;}
Wooden 47:f4ecf3e0576a 464 else{
Wooden 47:f4ecf3e0576a 465 cmd_val[char_count-1] = c;
Wooden 47:f4ecf3e0576a 466
Wooden 47:f4ecf3e0576a 467 }
Wooden 47:f4ecf3e0576a 468 // pc.putc(c);
Wooden 47:f4ecf3e0576a 469 char_count++;
Wooden 47:f4ecf3e0576a 470 }
Wooden 47:f4ecf3e0576a 471 }
benkatz 24:58c2d7571207 472 }
benkatz 22:60276ba87ac6 473 }
benkatz 0:4e1c4df6aabd 474
benkatz 0:4e1c4df6aabd 475 int main() {
benkatz 45:aadebe074af6 476
benkatz 20:bf9ea5125d52 477 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 478 controller.mode = 0;
Wooden 48:a74e401a6d84 479 // controller.kd = 0.1;
benkatz 23:2adf23ee0305 480 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 20:bf9ea5125d52 481
benkatz 9:d7eb815cb057 482 wait(.1);
benkatz 26:2b865c00d7e9 483 gpio.enable->write(1);
benkatz 45:aadebe074af6 484 TIM1->CCR3 = PWM_ARR*(1.0f); // Write duty cycles
benkatz 45:aadebe074af6 485 TIM1->CCR2 = PWM_ARR*(1.0f);
benkatz 45:aadebe074af6 486 TIM1->CCR1 = PWM_ARR*(1.0f);
benkatz 23:2adf23ee0305 487 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 26:2b865c00d7e9 488 gpio.enable->write(0);
benkatz 23:2adf23ee0305 489 reset_foc(&controller); // Reset current controller
benkatz 26:2b865c00d7e9 490 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 491 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 492
benkatz 20:bf9ea5125d52 493 wait(.1);
benkatz 37:c0f352d6e8e3 494 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 495
benkatz 37:c0f352d6e8e3 496 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 497 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 498
benkatz 28:8c7e29f719c5 499 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 500 txMsg.len = 6;
benkatz 26:2b865c00d7e9 501 rxMsg.len = 8;
benkatz 43:dfb72608639c 502 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 503
benkatz 25:f5741040c4bb 504 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 505 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 506 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 25:f5741040c4bb 507 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 508 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 509 int lut[128] = {0};
benkatz 23:2adf23ee0305 510 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 511 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 23:2adf23ee0305 512
Wooden 48:a74e401a6d84 513 // pc.baud(921600); // set serial baud rate
Wooden 48:a74e401a6d84 514 pc.baud(460800);
Wooden 47:f4ecf3e0576a 515
benkatz 20:bf9ea5125d52 516 wait(.01);
Wooden 48:a74e401a6d84 517 //pc.printf("\n\r\n\r 3.3, With obs, vdff, no cogging\n\r\n\r");
Wooden 48:a74e401a6d84 518 // pc.printf("aloha, it do is 48v, low cal");
Wooden 48:a74e401a6d84 519 pc.printf("origin control with current filter 2000hz and current shunt is 1.5mo\n\r");
Wooden 48:a74e401a6d84 520 pc.printf("vdff_cogging_\n\r");
benkatz 20:bf9ea5125d52 521 wait(.01);
Wooden 47:f4ecf3e0576a 522 pc.printf("\n\r Debug Info:\n\r");
Wooden 47:f4ecf3e0576a 523 pc.printf(" Firmware Version: %s\n\r", VERSION_NUM);
Wooden 47:f4ecf3e0576a 524 pc.printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
Wooden 47:f4ecf3e0576a 525 pc.printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
Wooden 47:f4ecf3e0576a 526 pc.printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
Wooden 47:f4ecf3e0576a 527 pc.printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 23:2adf23ee0305 528
benkatz 23:2adf23ee0305 529 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 530
Wooden 47:f4ecf3e0576a 531 // =============================================================================================================
Wooden 47:f4ecf3e0576a 532 // add watch dog here
Wooden 47:f4ecf3e0576a 533 // Watchdog &watchdog = Watchdog::get_instance();
Wooden 47:f4ecf3e0576a 534 // =============================================================================================================
Wooden 47:f4ecf3e0576a 535
benkatz 23:2adf23ee0305 536 state_change = 1;
benkatz 20:bf9ea5125d52 537
Wooden 47:f4ecf3e0576a 538 datapackage.info.init_flag1 = 0xffffffff;
Wooden 47:f4ecf3e0576a 539 datapackage.info.init_flag2 = 0xfffefdfc;
Wooden 47:f4ecf3e0576a 540 datapackage.info.check_num = 0;
benkatz 0:4e1c4df6aabd 541 while(1) {
Wooden 47:f4ecf3e0576a 542 // pc.printf("hello_wooden");
Wooden 47:f4ecf3e0576a 543 // pc.printf("I's still working\n\r");
Wooden 47:f4ecf3e0576a 544 // pc.printf("adc1: %d, adc2: %d, adc3: %d",controller.adc1_raw,controller.adc2_raw,controller.adc3_raw);
Wooden 47:f4ecf3e0576a 545 if(state == TEST_MODE){
Wooden 47:f4ecf3e0576a 546 // datapackage.info.I_a = controller.i_a;
Wooden 47:f4ecf3e0576a 547 // datapackage.info.I_b = controller.i_b;
Wooden 47:f4ecf3e0576a 548 // datapackage.info.I_c = controller.i_c;
Wooden 47:f4ecf3e0576a 549 // datapackage.info.I_q = controller.i_q;
Wooden 47:f4ecf3e0576a 550 // datapackage.info.I_d = controller.i_d;
Wooden 47:f4ecf3e0576a 551 // datapackage.info.Angle_mech = controller.theta_mech;
Wooden 47:f4ecf3e0576a 552 // datapackage.info.Angle_elec = controller.theta_elec;
Wooden 47:f4ecf3e0576a 553 // datapackage.info.Control_tff = controller.t_ff;
Wooden 47:f4ecf3e0576a 554 // datapackage.info.Control_kp = controller.kp;
Wooden 47:f4ecf3e0576a 555 // datapackage.info.Control_p = controller.theta_mech;
Wooden 47:f4ecf3e0576a 556 // datapackage.info.Control_kd = controller.kd;
Wooden 47:f4ecf3e0576a 557 // datapackage.info.Control_v = controller.dtheta_mech;
Wooden 47:f4ecf3e0576a 558
Wooden 47:f4ecf3e0576a 559 datapackage.info.I_a = test_ia;
Wooden 47:f4ecf3e0576a 560 datapackage.info.I_b = test_ib;
Wooden 47:f4ecf3e0576a 561 datapackage.info.I_c = test_ic;
Wooden 47:f4ecf3e0576a 562 datapackage.info.I_q = test_iq;
Wooden 47:f4ecf3e0576a 563 datapackage.info.I_d = test_id;
Wooden 47:f4ecf3e0576a 564 datapackage.info.Angle_mech = test_mech_angle;
Wooden 47:f4ecf3e0576a 565 datapackage.info.Angle_elec = test_mech_speed; // actually this return the speed
Wooden 47:f4ecf3e0576a 566 datapackage.info.Control_tff = test_tff;
Wooden 47:f4ecf3e0576a 567 datapackage.info.Control_kp = test_kp;
Wooden 47:f4ecf3e0576a 568 datapackage.info.Control_p = test_pos_des;
Wooden 47:f4ecf3e0576a 569 datapackage.info.Control_kd = test_kd;
Wooden 47:f4ecf3e0576a 570 datapackage.info.Control_v = test_vel_des;
Wooden 47:f4ecf3e0576a 571
Wooden 47:f4ecf3e0576a 572 // pc.write(datapackage.decode, 60);
Wooden 47:f4ecf3e0576a 573 // string s(datapackage.decode);
Wooden 47:f4ecf3e0576a 574 // pc.printf((const char *)datapackage.decode );wait_us(900);
Wooden 47:f4ecf3e0576a 575
Wooden 47:f4ecf3e0576a 576 for(int i=0;i<60;i++){
Wooden 47:f4ecf3e0576a 577 pc.putc(datapackage.decode[i]);
Wooden 47:f4ecf3e0576a 578 // wait_us(30);
Wooden 47:f4ecf3e0576a 579 wait_us(300);
Wooden 47:f4ecf3e0576a 580 }
Wooden 47:f4ecf3e0576a 581 //wait_us(5000);
Wooden 47:f4ecf3e0576a 582 }
Wooden 47:f4ecf3e0576a 583 else{
Wooden 47:f4ecf3e0576a 584 // can.write(txMsg);
Wooden 47:f4ecf3e0576a 585 wait(1.0);
Wooden 47:f4ecf3e0576a 586 ;
Wooden 47:f4ecf3e0576a 587 }
benkatz 11:c83b18d41e54 588
benkatz 0:4e1c4df6aabd 589 }
benkatz 0:4e1c4df6aabd 590 }