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 void onMsgReceived() {
00062     //msgAvailable = true;
00063     printf("%df\n\r", rxMsg.id);
00064     can.read(rxMsg);  
00065     if((rxMsg.id == CAN_ID)){
00066         controller.timeout = 0;
00067         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))){
00068             state = MOTOR_MODE;
00069             state_change = 1;
00070             }
00071         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))){
00072             state = REST_MODE;
00073             state_change = 1;
00074             gpio.led->write(0);; 
00075             }
00076         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))){
00077             spi.ZeroPosition();
00078             }
00079         else if(state == MOTOR_MODE){
00080             unpack_cmd(rxMsg, &controller);
00081             }
00082         pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
00083         can.write(txMsg);
00084         }
00085     
00086 }
00087 
00088 void enter_menu_state(void){
00089     drv.disable_gd();
00090     //gpio.enable->write(0);
00091     printf("\n\r\n\r\n\r");
00092     printf(" Commands:\n\r");
00093     wait_us(10);
00094     printf(" m - Motor Mode\n\r");
00095     wait_us(10);
00096     printf(" c - Calibrate Encoder\n\r");
00097     wait_us(10);
00098     printf(" s - Setup\n\r");
00099     wait_us(10);
00100     printf(" e - Display Encoder\n\r");
00101     wait_us(10);
00102     printf(" z - Set Zero Position\n\r");
00103     wait_us(10);
00104     printf(" esc - Exit to Menu\n\r");
00105     wait_us(10);
00106     state_change = 0;
00107     gpio.led->write(0);
00108     }
00109 
00110 void enter_setup_state(void){
00111     printf("\n\r\n\r Configuration Options \n\r\n\n");
00112     wait_us(10);
00113     printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
00114     wait_us(10);
00115     printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
00116     wait_us(10);
00117     printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
00118     wait_us(10);
00119     printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
00120     wait_us(10);
00121     printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
00122     wait_us(10);
00123     printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
00124     wait_us(10);
00125     printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
00126     wait_us(10);
00127     printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
00128     wait_us(10);
00129     state_change = 0;
00130     }
00131     
00132 void enter_torque_mode(void){
00133     drv.enable_gd();
00134     //gpio.enable->write(1);
00135     controller.ovp_flag = 0;
00136     reset_foc(&controller);                                                     // Tesets integrators, and other control loop parameters
00137     wait(.001);
00138     controller.i_d_ref = 0;
00139     controller.i_q_ref = 0;                                                     // Current Setpoints
00140     gpio.led->write(1);                                                     // Turn on status LED
00141     state_change = 0;
00142     printf("\n\r Entering Motor Mode \n\r");
00143     }
00144     
00145 void calibrate(void){
00146     drv.enable_gd();
00147     //gpio.enable->write(1);
00148     gpio.led->write(1);                                                    // Turn on status LED
00149     order_phases(&spi, &gpio, &controller, &prefs);                             // Check phase ordering
00150     calibrate(&spi, &gpio, &controller, &prefs);                                // Perform calibration procedure
00151     gpio.led->write(0);;                                                     // Turn off status LED
00152     wait(.2);
00153     printf("\n\r Calibration complete.  Press 'esc' to return to menu\n\r");
00154     drv.disable_gd();
00155     //gpio.enable->write(0);
00156      state_change = 0;
00157     }
00158     
00159 void print_encoder(void){
00160     printf(" Mechanical Angle:  %f    Electrical Angle:  %f    Raw:  %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
00161     //printf("%d\n\r", spi.GetRawPosition());
00162     wait(.001);
00163     }
00164 
00165 /// Current Sampling Interrupt ///
00166 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
00167 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
00168   if (TIM1->SR & TIM_SR_UIF ) {
00169 
00170         ///Sample current always ///
00171         ADC1->CR2  |= 0x40000000;                                               // Begin sample and conversion
00172         //volatile int delay;   
00173         //for (delay = 0; delay < 55; delay++);
00174 
00175         spi.Sample(DT);                                                           // sample position sensor
00176         controller.adc2_raw = ADC2->DR;                                         // Read ADC Data Registers
00177         controller.adc1_raw = ADC1->DR;
00178         controller.adc3_raw = ADC3->DR;
00179         controller.theta_elec = spi.GetElecPosition();
00180         controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
00181         controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();  
00182         controller.dtheta_elec = spi.GetElecVelocity();
00183         controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
00184         ///
00185         
00186         /// Check state machine state, and run the appropriate function ///
00187         switch(state){
00188             case REST_MODE:                                                     // Do nothing
00189                 if(state_change){
00190                     enter_menu_state();
00191                     }
00192                 break;
00193             
00194             case CALIBRATION_MODE:                                              // Run encoder calibration procedure
00195                 if(state_change){
00196                     calibrate();
00197                     }
00198                 break;
00199              
00200             case MOTOR_MODE:                                                   // Run torque control
00201                 if(state_change){
00202                     enter_torque_mode();
00203                     count = 0;
00204                     }
00205                 else{
00206                 /*
00207                 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
00208                     gpio.
00209                     ->write(0);
00210                     controller.ovp_flag = 1;
00211                     state = REST_MODE;
00212                     state_change = 1;
00213                     printf("OVP Triggered!\n\r");
00214                     }
00215                     */  
00216 
00217                 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
00218                     controller.i_d_ref = 0;
00219                     controller.i_q_ref = 0;
00220                     controller.kp = 0;
00221                     controller.kd = 0;
00222                     controller.t_ff = 0;
00223                     } 
00224 
00225                 torque_control(&controller);
00226                 commutate(&controller, &observer, &gpio, controller.theta_elec);           // Run current loop
00227 
00228                 controller.timeout++;
00229                 count++; 
00230             
00231                 }     
00232                 break;
00233             case SETUP_MODE:
00234                 if(state_change){
00235                     enter_setup_state();
00236                 }
00237                 break;
00238             case ENCODER_MODE:
00239                 print_encoder();
00240                 break;
00241                 }                 
00242       }
00243   TIM1->SR = 0x0;                                                               // reset the status register
00244 }
00245 
00246 
00247 char cmd_val[8] = {0};
00248 char cmd_id = 0;
00249 char char_count = 0;
00250 
00251 /// Manage state machine with commands from serial terminal or configurator gui ///
00252 /// Called when data received over serial ///
00253 void serial_interrupt(void){
00254     while(pc.readable()){
00255         char c = pc.getc();
00256         if(c == 27){
00257                 state = REST_MODE;
00258                 state_change = 1;
00259                 char_count = 0;
00260                 cmd_id = 0;
00261                 gpio.led->write(0);; 
00262                 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
00263                 }
00264         if(state == REST_MODE){
00265             switch (c){
00266                 case 'c':
00267                     state = CALIBRATION_MODE;
00268                     state_change = 1;
00269                     break;
00270                 case 'm':
00271                     state = MOTOR_MODE;
00272                     state_change = 1;
00273                     break;
00274                 case 'e':
00275                     state = ENCODER_MODE;
00276                     state_change = 1;
00277                     break;
00278                 case 's':
00279                     state = SETUP_MODE;
00280                     state_change = 1;
00281                     break;
00282                 case 'z':
00283                     spi.SetMechOffset(0);
00284                     spi.Sample(DT);
00285                     wait_us(20);
00286                     M_OFFSET = spi.GetMechPosition();
00287                     if (!prefs.ready()) prefs.open();
00288                         prefs.flush();                                                  // Write new prefs to flash
00289                         prefs.close();    
00290                         prefs.load(); 
00291                     spi.SetMechOffset(M_OFFSET);
00292                     printf("\n\r  Saved new zero position:  %.4f\n\r\n\r", M_OFFSET);
00293                     
00294                     break;
00295                 }
00296                 
00297                 }
00298         else if(state == SETUP_MODE){
00299             if(c == 13){
00300                 switch (cmd_id){
00301                     case 'b':
00302                         I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
00303                         break;
00304                     case 'i':
00305                         CAN_ID = atoi(cmd_val);
00306                         break;
00307                     case 'm':
00308                         CAN_MASTER = atoi(cmd_val);
00309                         break;
00310                     case 'l':
00311                         I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
00312                         break;
00313                     case 'f':
00314                         I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
00315                         break;
00316                     case 't':
00317                         CAN_TIMEOUT = atoi(cmd_val);
00318                         break;
00319                     default:
00320                         printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
00321                         break;
00322                     }
00323                     
00324                 if (!prefs.ready()) prefs.open();
00325                 prefs.flush();                                                  // Write new prefs to flash
00326                 prefs.close();    
00327                 prefs.load();                                              
00328                 state_change = 1;
00329                 char_count = 0;
00330                 cmd_id = 0;
00331                 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
00332                 }
00333             else{
00334                 if(char_count == 0){cmd_id = c;}
00335                 else{
00336                     cmd_val[char_count-1] = c;
00337                     
00338                 }
00339                 pc.putc(c);
00340                 char_count++;
00341                 }
00342             }
00343         else if (state == ENCODER_MODE){
00344             switch (c){
00345                 case 27:
00346                     state = REST_MODE;
00347                     state_change = 1;
00348                     break;
00349                     }
00350             }
00351         else if (state == MOTOR_MODE){
00352             switch (c){
00353                 case 'd':
00354                     controller.i_q_ref = 0;
00355                     controller.i_d_ref = 0;
00356                 }
00357             }
00358             
00359         }
00360     }
00361        
00362 int main() {
00363     controller.v_bus = V_BUS;
00364     controller.mode = 0;
00365     Init_All_HW(&gpio);                                                         // Setup PWM, ADC, GPIO
00366     wait(.1);
00367     
00368     gpio.enable->write(1);
00369     wait_us(100);
00370     drv.calibrate();
00371     wait_us(100);
00372     drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
00373     wait_us(100);
00374     drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
00375     wait_us(100);
00376     drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
00377     
00378     //drv.enable_gd();
00379     zero_current(&controller.adc1_offset, &controller.adc2_offset);             // Measure current sensor zero-offset
00380     drv.disable_gd();
00381 
00382     wait(.1);
00383     /*
00384     gpio.enable->write(1);
00385     TIM1->CCR3 = 0x708*(1.0f);                        // Write duty cycles
00386     TIM1->CCR2 = 0x708*(1.0f);
00387     TIM1->CCR1 = 0x708*(1.0f);
00388     gpio.enable->write(0);
00389     */
00390     reset_foc(&controller);                                                     // Reset current controller
00391     reset_observer(&observer);                                                 // Reset observer
00392     TIM1->CR1 ^= TIM_CR1_UDIS;
00393     //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
00394     
00395     wait(.1);
00396     NVIC_SetPriority(TIM1_UP_TIM10_IRQn , 2);                                             // commutation > communication
00397     
00398     NVIC_SetPriority(CAN1_RX0_IRQn , 3);
00399     can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
00400                                                                     
00401     txMsg.id = CAN_MASTER;
00402     txMsg.len = 6;
00403     rxMsg.len = 8;
00404     can.attach(&onMsgReceived);                                     // attach 'CAN receive-complete' interrupt handler    
00405     
00406     // If preferences haven't been user configured yet, set defaults 
00407     prefs.load();                                                               // Read flash
00408     if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
00409     if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
00410     if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
00411     if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
00412     if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
00413     if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
00414     if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
00415     if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
00416     spi.SetElecOffset(E_OFFSET);                                                // Set position sensor offset
00417     spi.SetMechOffset(M_OFFSET);
00418     int lut[128] = {0};
00419     memcpy(&lut, &ENCODER_LUT, sizeof(lut));
00420     spi.WriteLUT(lut);                                                          // Set potision sensor nonlinearity lookup table
00421     init_controller_params(&controller);
00422 
00423     pc.baud(921600);                                                            // set serial baud rate
00424     wait(.01);
00425     pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
00426     wait(.01);
00427     printf("\n\r Debug Info:\n\r");
00428     printf(" Firmware Version: %s\n\r", VERSION_NUM);
00429     printf(" ADC1 Offset: %d    ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
00430     printf(" Position Sensor Electrical Offset:   %.4f\n\r", E_OFFSET);
00431     printf(" Output Zero Position:  %.4f\n\r", M_OFFSET);
00432     printf(" CAN ID:  %d\n\r", CAN_ID);
00433     
00434 
00435 
00436 
00437     //printf(" %d\n\r", drv.read_register(DCR));
00438     //wait_us(100);
00439     //printf(" %d\n\r", drv.read_register(CSACR));
00440     //wait_us(100);
00441     //printf(" %d\n\r", drv.read_register(OCPCR));
00442     //drv.disable_gd();
00443     
00444     pc.attach(&serial_interrupt);                                               // attach serial interrupt
00445     
00446     state_change = 1;
00447 
00448 
00449     int counter = 0;
00450     while(1) {
00451         drv.print_faults();
00452        wait(.1);
00453        //printf("%.4f\n\r", controller.v_bus);
00454        /*
00455         if(state == MOTOR_MODE)
00456         {
00457             //printf("%.3f  %.3f  %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
00458             //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);
00459             //printf("%.3f\n\r", controller.dtheta_mech);
00460             wait(.002);
00461         }
00462         */
00463 
00464     }
00465 }