zhang boie / Mbed 2 deprecated Hobbyking_Cheetah_Compact_DRV8323

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Dependencies:   mbed FastPWM3

main.cpp@52:6f4f034f117b, 2022-06-17 (annotated)

Committer:
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4
Date:
Fri Jun 17 07:58:45 2022 +0000
Revision:
52:6f4f034f117b
Parent:
51:6cd89bd6fcaa 
2022--6-17

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
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 52:6f4f034f117b 57 //volatile int count = 0;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 52:6f4f034f117b 58 volatile int count1 = 0;
benkatz 23:2adf23ee0305 59 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 60 volatile int state_change;
benkatz 20:bf9ea5125d52 61
benkatz 26:2b865c00d7e9 62 void onMsgReceived() {
benkatz 26:2b865c00d7e9 63 //msgAvailable = true;
benkatz 47:e1196a851f76 64 printf("%df\n\r", rxMsg.id);
benkatz 26:2b865c00d7e9 65 can.read(rxMsg);
benkatz 28:8c7e29f719c5 66 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 67 controller.timeout = 0;
benkatz 28:8c7e29f719c5 68 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 69 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 70 state_change = 1;
benkatz 28:8c7e29f719c5 71 }
benkatz 28:8c7e29f719c5 72 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 73 state = REST_MODE;
benkatz 28:8c7e29f719c5 74 state_change = 1;
benkatz 37:c0f352d6e8e3 75 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 76 }
benkatz 28:8c7e29f719c5 77 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 78 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 79 }
benkatz 28:8c7e29f719c5 80 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 81 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 82 }
benkatz 37:c0f352d6e8e3 83 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 84 can.write(txMsg);
benkatz 28:8c7e29f719c5 85 }
benkatz 26:2b865c00d7e9 86
benkatz 26:2b865c00d7e9 87 }
benkatz 26:2b865c00d7e9 88
benkatz 23:2adf23ee0305 89 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 90 drv.disable_gd();
benkatz 47:e1196a851f76 91 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 92 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 93 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 94 wait_us(10);
benkatz 26:2b865c00d7e9 95 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 96 wait_us(10);
benkatz 23:2adf23ee0305 97 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 98 wait_us(10);
benkatz 23:2adf23ee0305 99 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 100 wait_us(10);
benkatz 23:2adf23ee0305 101 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 102 wait_us(10);
benkatz 37:c0f352d6e8e3 103 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 104 wait_us(10);
benkatz 23:2adf23ee0305 105 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 106 wait_us(10);
benkatz 23:2adf23ee0305 107 state_change = 0;
benkatz 37:c0f352d6e8e3 108 gpio.led->write(0);
benkatz 23:2adf23ee0305 109 }
benkatz 24:58c2d7571207 110
benkatz 24:58c2d7571207 111 void enter_setup_state(void){
benkatz 24:58c2d7571207 112 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 113 wait_us(10);
benkatz 51:6cd89bd6fcaa 114 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 115 wait_us(10);
benkatz 28:8c7e29f719c5 116 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 117 wait_us(10);
benkatz 28:8c7e29f719c5 118 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 119 wait_us(10);
benkatz 28:8c7e29f719c5 120 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 121 wait_us(10);
benkatz 51:6cd89bd6fcaa 122 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
benkatz 51:6cd89bd6fcaa 123 wait_us(10);
benkatz 51:6cd89bd6fcaa 124 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 125 wait_us(10);
benkatz 28:8c7e29f719c5 126 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 127 wait_us(10);
benkatz 24:58c2d7571207 128 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 129 wait_us(10);
benkatz 24:58c2d7571207 130 state_change = 0;
benkatz 24:58c2d7571207 131 }
benkatz 22:60276ba87ac6 132
benkatz 23:2adf23ee0305 133 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 134 drv.enable_gd();
benkatz 47:e1196a851f76 135 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 136 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 137 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 138 wait(.001);
benkatz 23:2adf23ee0305 139 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 140 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 141 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 142 state_change = 0;
benkatz 28:8c7e29f719c5 143 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 144 }
benkatz 22:60276ba87ac6 145
benkatz 23:2adf23ee0305 146 void calibrate(void){
benkatz 44:8040fa2fcb0d 147 drv.enable_gd();
benkatz 47:e1196a851f76 148 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 149 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 150 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 151 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 152 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 153 wait(.2);
benkatz 23:2adf23ee0305 154 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 155 drv.disable_gd();
benkatz 47:e1196a851f76 156 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 157 state_change = 0;
benkatz 23:2adf23ee0305 158 }
benkatz 23:2adf23ee0305 159
benkatz 23:2adf23ee0305 160 void print_encoder(void){
benkatz 48:74a40481740c 161 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 162 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 163 wait(.001);
benkatz 22:60276ba87ac6 164 }
benkatz 20:bf9ea5125d52 165
benkatz 23:2adf23ee0305 166 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 167 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 168 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 169 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 170
benkatz 23:2adf23ee0305 171 ///Sample current always ///
benkatz 25:f5741040c4bb 172 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 173 //volatile int delay;
benkatz 20:bf9ea5125d52 174 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 175
benkatz 47:e1196a851f76 176 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 177 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 178 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 179 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 180 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 181 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 182 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 183 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 184 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 185 ///
benkatz 20:bf9ea5125d52 186
benkatz 23:2adf23ee0305 187 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 188 switch(state){
benkatz 37:c0f352d6e8e3 189 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 190 if(state_change){
benkatz 23:2adf23ee0305 191 enter_menu_state();
benkatz 23:2adf23ee0305 192 }
benkatz 23:2adf23ee0305 193 break;
benkatz 22:60276ba87ac6 194
benkatz 23:2adf23ee0305 195 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 196 if(state_change){
benkatz 23:2adf23ee0305 197 calibrate();
benkatz 23:2adf23ee0305 198 }
benkatz 23:2adf23ee0305 199 break;
benkatz 23:2adf23ee0305 200
benkatz 26:2b865c00d7e9 201 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 202 if(state_change){
benkatz 25:f5741040c4bb 203 enter_torque_mode();
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 52:6f4f034f117b 204 //count = 0;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 52:6f4f034f117b 205 count1 = 0;
benkatz 25:f5741040c4bb 206 }
benkatz 28:8c7e29f719c5 207 else{
benkatz 37:c0f352d6e8e3 208 /*
benkatz 37:c0f352d6e8e3 209 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 210 gpio.
benkatz 47:e1196a851f76 211 ->write(0);
benkatz 37:c0f352d6e8e3 212 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 213 state = REST_MODE;
benkatz 37:c0f352d6e8e3 214 state_change = 1;
benkatz 37:c0f352d6e8e3 215 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 216 }
benkatz 37:c0f352d6e8e3 217 */
benkatz 37:c0f352d6e8e3 218
benkatz 28:8c7e29f719c5 219 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 220 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 221 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 222 controller.kp = 0;
benkatz 37:c0f352d6e8e3 223 controller.kd = 0;
benkatz 37:c0f352d6e8e3 224 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 225 }
benkatz 47:e1196a851f76 226
benkatz 50:ba72df25d10f 227 torque_control(&controller);
benkatz 49:83d83040ea51 228 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 229
benkatz 49:83d83040ea51 230 controller.timeout++;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 52:6f4f034f117b 231 //count++;
abe5b02d-a2d4-4fe9-818e-c4e57c809ea4 52:6f4f034f117b 232 count1++;
benkatz 37:c0f352d6e8e3 233
benkatz 37:c0f352d6e8e3 234 }
benkatz 23:2adf23ee0305 235 break;
benkatz 23:2adf23ee0305 236 case SETUP_MODE:
benkatz 23:2adf23ee0305 237 if(state_change){
benkatz 24:58c2d7571207 238 enter_setup_state();
benkatz 23:2adf23ee0305 239 }
benkatz 23:2adf23ee0305 240 break;
benkatz 23:2adf23ee0305 241 case ENCODER_MODE:
benkatz 23:2adf23ee0305 242 print_encoder();
benkatz 23:2adf23ee0305 243 break;
benkatz 37:c0f352d6e8e3 244 }
benkatz 2:8724412ad628 245 }
benkatz 23:2adf23ee0305 246 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 247 }
benkatz 0:4e1c4df6aabd 248
benkatz 25:f5741040c4bb 249
benkatz 24:58c2d7571207 250 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 251 char cmd_id = 0;
benkatz 25:f5741040c4bb 252 char char_count = 0;
benkatz 24:58c2d7571207 253
benkatz 25:f5741040c4bb 254 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 255 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 256 void serial_interrupt(void){
benkatz 23:2adf23ee0305 257 while(pc.readable()){
benkatz 23:2adf23ee0305 258 char c = pc.getc();
benkatz 25:f5741040c4bb 259 if(c == 27){
benkatz 25:f5741040c4bb 260 state = REST_MODE;
benkatz 25:f5741040c4bb 261 state_change = 1;
benkatz 25:f5741040c4bb 262 char_count = 0;
benkatz 25:f5741040c4bb 263 cmd_id = 0;
benkatz 37:c0f352d6e8e3 264 gpio.led->write(0);;
benkatz 25:f5741040c4bb 265 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 266 }
benkatz 24:58c2d7571207 267 if(state == REST_MODE){
benkatz 23:2adf23ee0305 268 switch (c){
benkatz 23:2adf23ee0305 269 case 'c':
benkatz 23:2adf23ee0305 270 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 271 state_change = 1;
benkatz 23:2adf23ee0305 272 break;
benkatz 26:2b865c00d7e9 273 case 'm':
benkatz 26:2b865c00d7e9 274 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 275 state_change = 1;
benkatz 23:2adf23ee0305 276 break;
benkatz 23:2adf23ee0305 277 case 'e':
benkatz 23:2adf23ee0305 278 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 279 state_change = 1;
benkatz 23:2adf23ee0305 280 break;
benkatz 23:2adf23ee0305 281 case 's':
benkatz 23:2adf23ee0305 282 state = SETUP_MODE;
benkatz 23:2adf23ee0305 283 state_change = 1;
benkatz 23:2adf23ee0305 284 break;
benkatz 37:c0f352d6e8e3 285 case 'z':
benkatz 37:c0f352d6e8e3 286 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 287 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 288 wait_us(20);
benkatz 37:c0f352d6e8e3 289 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 290 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 291 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 292 prefs.close();
benkatz 37:c0f352d6e8e3 293 prefs.load();
benkatz 37:c0f352d6e8e3 294 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 295 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 296
benkatz 37:c0f352d6e8e3 297 break;
benkatz 37:c0f352d6e8e3 298 }
benkatz 37:c0f352d6e8e3 299
benkatz 24:58c2d7571207 300 }
benkatz 24:58c2d7571207 301 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 302 if(c == 13){
benkatz 24:58c2d7571207 303 switch (cmd_id){
benkatz 24:58c2d7571207 304 case 'b':
benkatz 24:58c2d7571207 305 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 306 break;
benkatz 24:58c2d7571207 307 case 'i':
benkatz 24:58c2d7571207 308 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 309 break;
benkatz 26:2b865c00d7e9 310 case 'm':
benkatz 26:2b865c00d7e9 311 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 312 break;
benkatz 24:58c2d7571207 313 case 'l':
benkatz 51:6cd89bd6fcaa 314 I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 315 break;
benkatz 51:6cd89bd6fcaa 316 case 'f':
benkatz 51:6cd89bd6fcaa 317 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 318 break;
benkatz 28:8c7e29f719c5 319 case 't':
benkatz 28:8c7e29f719c5 320 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 321 break;
benkatz 24:58c2d7571207 322 default:
benkatz 24:58c2d7571207 323 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 324 break;
benkatz 24:58c2d7571207 325 }
benkatz 24:58c2d7571207 326
benkatz 24:58c2d7571207 327 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 328 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 329 prefs.close();
benkatz 24:58c2d7571207 330 prefs.load();
benkatz 24:58c2d7571207 331 state_change = 1;
benkatz 24:58c2d7571207 332 char_count = 0;
benkatz 24:58c2d7571207 333 cmd_id = 0;
benkatz 24:58c2d7571207 334 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 335 }
benkatz 24:58c2d7571207 336 else{
benkatz 24:58c2d7571207 337 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 338 else{
benkatz 24:58c2d7571207 339 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 340
benkatz 24:58c2d7571207 341 }
benkatz 24:58c2d7571207 342 pc.putc(c);
benkatz 24:58c2d7571207 343 char_count++;
benkatz 23:2adf23ee0305 344 }
benkatz 23:2adf23ee0305 345 }
benkatz 24:58c2d7571207 346 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 347 switch (c){
benkatz 24:58c2d7571207 348 case 27:
benkatz 24:58c2d7571207 349 state = REST_MODE;
benkatz 24:58c2d7571207 350 state_change = 1;
benkatz 24:58c2d7571207 351 break;
benkatz 24:58c2d7571207 352 }
benkatz 24:58c2d7571207 353 }
benkatz 49:83d83040ea51 354 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 355 switch (c){
benkatz 49:83d83040ea51 356 case 'd':
benkatz 49:83d83040ea51 357 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 358 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 359 }
benkatz 49:83d83040ea51 360 }
benkatz 24:58c2d7571207 361
benkatz 24:58c2d7571207 362 }
benkatz 22:60276ba87ac6 363 }
benkatz 0:4e1c4df6aabd 364
benkatz 0:4e1c4df6aabd 365 int main() {
benkatz 20:bf9ea5125d52 366 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 367 controller.mode = 0;
benkatz 23:2adf23ee0305 368 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 369 wait(.1);
benkatz 44:8040fa2fcb0d 370
benkatz 44:8040fa2fcb0d 371 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 372 wait_us(100);
benkatz 45:26801179208e 373 drv.calibrate();
benkatz 45:26801179208e 374 wait_us(100);
benkatz 44:8040fa2fcb0d 375 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 376 wait_us(100);
benkatz 46:2d4b1dafcfe3 377 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 44:8040fa2fcb0d 378 wait_us(100);
benkatz 49:83d83040ea51 379 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 380
benkatz 45:26801179208e 381 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 382 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 47:e1196a851f76 383 drv.disable_gd();
benkatz 20:bf9ea5125d52 384
benkatz 9:d7eb815cb057 385 wait(.1);
benkatz 44:8040fa2fcb0d 386 /*
benkatz 26:2b865c00d7e9 387 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 388 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 389 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 390 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 391 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 392 */
benkatz 23:2adf23ee0305 393 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 394 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 395 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 396 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 397
benkatz 20:bf9ea5125d52 398 wait(.1);
benkatz 37:c0f352d6e8e3 399 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 400
benkatz 37:c0f352d6e8e3 401 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 402 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 403
benkatz 28:8c7e29f719c5 404 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 405 txMsg.len = 6;
benkatz 26:2b865c00d7e9 406 rxMsg.len = 8;
benkatz 43:dfb72608639c 407 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 408
benkatz 48:74a40481740c 409 // If preferences haven't been user configured yet, set defaults
benkatz 25:f5741040c4bb 410 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 411 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 412 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 413 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 414 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 51:6cd89bd6fcaa 415 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
benkatz 48:74a40481740c 416 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 417 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 418 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
benkatz 25:f5741040c4bb 419 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 420 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 421 int lut[128] = {0};
benkatz 23:2adf23ee0305 422 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 423 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 424 init_controller_params(&controller);
benkatz 45:26801179208e 425
benkatz 26:2b865c00d7e9 426 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 427 wait(.01);
benkatz 23:2adf23ee0305 428 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 429 wait(.01);
benkatz 23:2adf23ee0305 430 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 431 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 432 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 433 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 434 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 435 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 436
benkatz 44:8040fa2fcb0d 437
benkatz 44:8040fa2fcb0d 438
benkatz 44:8040fa2fcb0d 439
benkatz 47:e1196a851f76 440 //printf(" %d\n\r", drv.read_register(DCR));
benkatz 47:e1196a851f76 441 //wait_us(100);
benkatz 47:e1196a851f76 442 //printf(" %d\n\r", drv.read_register(CSACR));
benkatz 47:e1196a851f76 443 //wait_us(100);
benkatz 47:e1196a851f76 444 //printf(" %d\n\r", drv.read_register(OCPCR));
benkatz 47:e1196a851f76 445 //drv.disable_gd();
benkatz 44:8040fa2fcb0d 446
benkatz 23:2adf23ee0305 447 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 448
benkatz 23:2adf23ee0305 449 state_change = 1;
benkatz 50:ba72df25d10f 450
benkatz 20:bf9ea5125d52 451
benkatz 44:8040fa2fcb0d 452 int counter = 0;
benkatz 0:4e1c4df6aabd 453 while(1) {
benkatz 47:e1196a851f76 454 drv.print_faults();
benkatz 50:ba72df25d10f 455 wait(.1);
benkatz 48:74a40481740c 456 //printf("%.4f\n\r", controller.v_bus);
benkatz 50:ba72df25d10f 457 /*
benkatz 47:e1196a851f76 458 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 459 {
benkatz 48:74a40481740c 460 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 461 //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 462 //printf("%.3f\n\r", controller.dtheta_mech);
benkatz 49:83d83040ea51 463 wait(.002);
benkatz 47:e1196a851f76 464 }
benkatz 50:ba72df25d10f 465 */
benkatz 47:e1196a851f76 466
benkatz 0:4e1c4df6aabd 467 }
benkatz 0:4e1c4df6aabd 468 }