Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
main.cpp
- Committer:
- elijahsj
- Date:
- 2021-04-01
- Revision:
- 70:2ea6c555a2cb
- Parent:
- 68:edfdbd0db876
- Child:
- 71:b314182de37f
File content as of revision 70:2ea6c555a2cb:
/// high-bandwidth 3-phase motor control, for robots /// Written by benkatz, with much inspiration from Bayley Wang, Nick Kirkby, Shane Colton, David Otten, and others /// Hardware documentation can be found at build-its.blogspot.com /// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling /// Version for the TI DRV8323 Everything Chip #define REST_MODE 0 #define CALIBRATION_MODE 1 #define MOTOR_MODE 2 #define SETUP_MODE 4 #define ENCODER_MODE 5 #define INIT_TEMP_MODE 6 #define VERSION_NUM "1.10" float __float_reg[64]; // Floats stored in flash int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table #include "mbed.h" #include "PositionSensor.h" #include "structs.h" #include "foc.h" #include "calibration.h" #include "hw_setup.h" #include "math_ops.h" #include "current_controller_config.h" #include "hw_config.h" #include "motor_config_U12.h" // need to choose between two files here, one for U10 and one for U12 #include "stm32f4xx_flash.h" #include "FlashWriter.h" #include "user_config.h" #include "PreferenceWriter.h" #include "CAN_com.h" #include "DRV.h" PreferenceWriter prefs(6); GPIOStruct gpio; ControllerStruct controller; ObserverStruct observer; COMStruct com; Serial pc(PA_2, PA_3); CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name CANMessage rxMsg; CANMessage txMsg; SPI drv_spi(PA_7, PA_6, PA_5); DigitalOut drv_cs(PA_4); //DigitalOut drv_en_gate(PA_11); DRV832x drv(&drv_spi, &drv_cs); //PositionSensoriCMU spi(16777216, 0.0, NPP); // Read 24 bits off the sensor PositionSensoriCMU spi(524288, 0.0, NPP); // Read 24 bits off the sensor, only 19bits are encoder data volatile int count = 0; volatile int state = REST_MODE; volatile int state_change; void onMsgReceived() { //msgAvailable = true; //printf("%d\n\r", rxMsg.id); gpio.led->write(1); can.read(rxMsg); if((rxMsg.id == CAN_ID)){ controller.timeout = 0; if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) & (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFC))){ state = MOTOR_MODE; state_change = 1; } else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFD))){ state = REST_MODE; state_change = 1; gpio.led->write(0);; } else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFE))){ spi.ZeroPosition(); } else if(state == MOTOR_MODE){ unpack_cmd(rxMsg, &controller); } pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT); // multiply theta, dtheta_mech by GR here? //pack_reply(&txMsg, controller.v_q, controller.dtheta_mech, controller.i_q_filt*KT_OUT); //pack_reply(&txMsg, 3.14159f, 6.28318f, 1.00f); // test values can.write(txMsg); } gpio.led->write(0); } void enter_menu_state(void){ drv.disable_gd(); reset_foc(&controller); //gpio.enable->write(0); printf("\n\r\n\r\n\r"); printf(" Commands:\n\r"); wait_us(10); printf(" m - Motor Mode\n\r"); wait_us(10); printf(" c - Calibrate Encoder\n\r"); wait_us(10); printf(" s - Setup\n\r"); wait_us(10); printf(" e - Display Encoder\n\r"); wait_us(10); printf(" z - Set Zero Position\n\r"); wait_us(10); printf(" esc - Exit to Menu\n\r"); wait_us(10); state_change = 0; gpio.led->write(0); } void enter_setup_state(void){ printf("\n\r\n\r Configuration Options \n\r\n\n"); wait_us(10); printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value"); wait_us(10); printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW); wait_us(10); printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID); wait_us(10); printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER); wait_us(10); printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "65.0", I_MAX); wait_us(10); printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX); wait_us(10); printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT); wait_us(10); printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "h", "Temp Cutoff (C) (0 = none)", "0", "150", TEMP_MAX); wait_us(10); printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "c", "Continuous Current (A)", "0", "40.0", I_MAX_CONT); wait_us(10); printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r"); wait_us(10); state_change = 0; } void enter_torque_mode(void){ drv.enable_gd(); //gpio.enable->write(1); controller.ovp_flag = 0; reset_foc(&controller); // Tesets integrators, and other control loop parameters wait(.001); controller.i_d_ref = 0; controller.i_q_ref = 0; // Current Setpoints gpio.led->write(1); // Turn on status LED state_change = 0; printf("\n\r Entering Motor Mode \n\r"); } void calibrate(void){ drv.enable_gd(); //gpio.enable->write(1); gpio.led->write(1); // Turn on status LED order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure gpio.led->write(0);; // Turn off status LED wait(.05); R_NOMINAL = 0; state = INIT_TEMP_MODE; printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r"); //drv.disable_gd(); state_change = 0; } void print_encoder(void){ printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition()); //printf("%d\n\r", spi.GetRawPosition()); wait(.001); } /// Current Sampling Interrupt /// /// This runs at 40 kHz, regardless of of the mode the controller is in /// //float testing[1000]; //float testing2[1000]; extern "C" void TIM1_UP_TIM10_IRQHandler(void) { if (TIM1->SR & TIM_SR_UIF ) { //gpio.led->write(1); ///Sample current always /// ADC1->CR2 |= 0x40000000; // Begin sample and conversion //volatile int delay; //for (delay = 0; delay < 55; delay++); spi.Sample(DT); // sample position sensor /* if(count < 10){printf("%d\n\r", spi.GetRawPosition());} count ++; */ controller.adc2_raw = ADC2->DR; // Read ADC Data Registers controller.adc1_raw = ADC1->DR; controller.adc3_raw = ADC3->DR; controller.theta_elec = spi.GetElecPosition(); controller.theta_mech = (1.0f/GR)*spi.GetMechPosition(); // should these be divided by gear ratio??? controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity(); // mech pos isn't pre-multiplied by GR in position sensor function... controller.dtheta_elec = spi.GetElecVelocity(); controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement /// /// Check state machine state, and run the appropriate function /// switch(state){ case REST_MODE: // Do nothing if(state_change){ enter_menu_state(); } update_observer(&controller, &observer); break; case CALIBRATION_MODE: // Run encoder calibration procedure if(state_change){ calibrate(); } break; case INIT_TEMP_MODE: if(state_change){ enter_torque_mode(); count = 0; observer.resistance = 0.0f; } controller.i_d_ref = -10.0f; controller.i_q_ref = 0.0f; commutate(&controller, &observer, &gpio, controller.theta_elec); if(count > 200) { float r_meas = controller.v_d*(DTC_MAX-DTC_MIN)/(controller.i_d*SQRT3); //testing2[count-100] = controller.i_d; observer.resistance += .001f*r_meas; } if(count > 1200) { count = 0; state = REST_MODE; state_change = 1; gpio.led->write(0); observer.temperature = (double)(T_AMBIENT + ((observer.resistance/R_NOMINAL) - 1.0f)*254.5f); printf("Winding Resistance: %f\n\r", observer.resistance); printf("Winding Temperature: %f\n\r", observer.temperature); if(R_NOMINAL==0) { printf("Saving winding resistance\n\r"); R_NOMINAL = observer.resistance; if (!prefs.ready()) prefs.open(); prefs.flush(); // write offset and lookup table to flash prefs.close(); } //for(int i = 0; i<1000; i++){printf("%f \n\r", testing[i]);} } count++; break; case MOTOR_MODE: // Run torque control if(state_change){ enter_torque_mode(); count = 0; } else{ /* 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 gpio. ->write(0); controller.ovp_flag = 1; state = REST_MODE; state_change = 1; printf("OVP Triggered!\n\r"); } */ if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){ controller.i_d_ref = 0; controller.i_q_ref = 0; controller.kp = 0; controller.kd = 0; controller.t_ff = 0; } torque_control(&controller); update_observer(&controller, &observer); field_weaken(&controller); commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop controller.timeout++; if(controller.otw_flag) { state = REST_MODE; state_change = 1; gpio.led->write(0); } count++; } break; case SETUP_MODE: if(state_change){ enter_setup_state(); } break; case ENCODER_MODE: print_encoder(); break; } } //gpio.led->write(0); TIM1->SR = 0x0; // reset the status register } char cmd_val[8] = {0}; char cmd_id = 0; char char_count = 0; /// Manage state machine with commands from serial terminal or configurator gui /// /// Called when data received over serial /// void serial_interrupt(void){ while(pc.readable()){ char c = pc.getc(); if(c == 27){ state = REST_MODE; state_change = 1; char_count = 0; cmd_id = 0; gpio.led->write(0);; for(int i = 0; i<8; i++){cmd_val[i] = 0;} } if(state == REST_MODE){ switch (c){ case 'c': state = CALIBRATION_MODE; state_change = 1; break; case 'm': state = MOTOR_MODE; state_change = 1; break; case 'e': state = ENCODER_MODE; state_change = 1; break; case 's': state = SETUP_MODE; state_change = 1; break; case 'z': spi.SetMechOffset(0); spi.Sample(DT); wait_us(20); M_OFFSET = spi.GetMechPosition(); if (!prefs.ready()) prefs.open(); prefs.flush(); // Write new prefs to flash prefs.close(); prefs.load(); spi.SetMechOffset(M_OFFSET); printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET); break; } } else if(state == SETUP_MODE){ if(c == 13){ switch (cmd_id){ case 'b': I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f); break; case 'i': CAN_ID = atoi(cmd_val); break; case 'm': CAN_MASTER = atoi(cmd_val); break; case 'l': I_MAX = fmaxf(fminf(atof(cmd_val), 65.0f), 0.0f); break; case 'f': I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f); break; case 't': CAN_TIMEOUT = atoi(cmd_val); break; case 'h': TEMP_MAX = fmaxf(fminf(atof(cmd_val), 150.0f), 0.0f); break; case 'c': I_MAX_CONT = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f); break; default: printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id); break; } if (!prefs.ready()) prefs.open(); prefs.flush(); // Write new prefs to flash prefs.close(); prefs.load(); state_change = 1; char_count = 0; cmd_id = 0; for(int i = 0; i<8; i++){cmd_val[i] = 0;} } else{ if(char_count == 0){cmd_id = c;} else{ cmd_val[char_count-1] = c; } pc.putc(c); char_count++; } } else if (state == ENCODER_MODE){ switch (c){ case 27: state = REST_MODE; state_change = 1; break; } } else if (state == MOTOR_MODE){ switch (c){ case 'd': controller.i_q_ref = 0; controller.i_d_ref = 0; } } } } int main() { controller.v_bus = V_BUS; controller.mode = 0; Init_All_HW(&gpio); // Setup PWM, ADC, GPIO wait_us(100); gpio.enable->write(1); wait_us(100); drv.calibrate(); wait_us(100); drv.write_DCR(0x0, DIS_GDF_DIS, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1); wait_us(100); drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x1, 0x1, 0x1, SEN_LVL_1_0); // calibrate shunt amplifiers wait_us(100); zero_current(&controller.adc1_offset, &controller.adc2_offset); wait_us(100); drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x1, 0x0, 0x0, 0x0, SEN_LVL_1_0); wait_us(100); drv.write_OCPCR(TRETRY_50US, DEADTIME_50NS, OCP_NONE, OCP_DEG_8US, VDS_LVL_1_88); //drv.enable_gd(); drv.disable_gd(); //zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset //drv.enable_gd(); wait_us(100); reset_foc(&controller); // Reset current controller reset_observer(&observer); // Reset observer //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt wait_us(100); NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication NVIC_SetPriority(CAN1_RX0_IRQn, 3); // attach 'CAN receive-complete' interrupt handler // If preferences haven't been user configured yet, set defaults prefs.load(); // Read flash can.filter(CAN_ID , 0xFFF, CANStandard, 0); txMsg.id = CAN_MASTER; txMsg.len = 6; rxMsg.len = 8; can.attach(&onMsgReceived); if(isnan(E_OFFSET)){E_OFFSET = 0.0f;} if(isnan(M_OFFSET)){M_OFFSET = 0.0f;} if(isnan(I_BW) || I_BW==-1){I_BW = 1000;} if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;} if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=12;} if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;} if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;} if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 1000;} if(isnan(R_NOMINAL) || R_NOMINAL==-1){R_NOMINAL = 0.0f;} if(isnan(TEMP_MAX) || TEMP_MAX==-1){TEMP_MAX = 125.0f;} if(isnan(I_MAX_CONT) || I_MAX_CONT==-1){I_MAX_CONT = 14.0f;} spi.SetElecOffset(E_OFFSET); // Set position sensor offset spi.SetMechOffset(M_OFFSET); spi.Sample(1.0f); if(spi.GetMechPosition() > PI){spi.SetMechOffset(M_OFFSET+2.0f*PI);} // now zeroes to +- 30 degrees about nominal, independent of rollover point else if (spi.GetMechPosition() < -PI){spi.SetMechOffset(M_OFFSET-2.0f*PI);} int lut[128] = {0}; memcpy(&lut, &ENCODER_LUT, sizeof(lut)); spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table init_controller_params(&controller); pc.baud(921600); // set serial baud rate wait(.01); pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r"); wait(.01); printf("\n\r Debug Info:\n\r"); printf(" Firmware Version: %s\n\r", VERSION_NUM); printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset); printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET); printf(" Output Zero Position: %.4f\n\r", M_OFFSET); printf(" CAN ID: %d\n\r", CAN_ID); TIM1->CR1 ^= TIM_CR1_UDIS; pc.attach(&serial_interrupt); // attach serial interrupt int counter = 0; while(1) { //drv.print_faults(); wait(.1); if(controller.otw_flag){gpio.led->write(!gpio.led->read());} /* if(state == MOTOR_MODE) { if(controller.otw_flag){gpio.led->write(!gpio.led->read());} //printf("%f %f\n\r", controller.dtheta_mech, controller.i_d_ref); //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance); //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); //printf("%.3f %.3f %.3f %.3f\n\r", controller.dtheta_elec, observer.resistance, observer.temperature, observer.temp_measured); //printf("%.3f %.3f\n\r" , observer.temperature, observer.temp_measured); } */ } }