Aditya Mehrotra / motor_driver_screaming_fix

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

main.cpp@70:2ea6c555a2cb, 2021-04-01 (annotated)

Committer:
elijahsj
Date:
Thu Apr 01 18:23:53 2021 +0000
Revision:
70:2ea6c555a2cb
Parent:
68:edfdbd0db876
Child:
71:b314182de37f
revert dyno changes;

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 55:c4c9fec8539c 7 #define REST_MODE 0
benkatz 55:c4c9fec8539c 8 #define CALIBRATION_MODE 1
benkatz 55:c4c9fec8539c 9 #define MOTOR_MODE 2
benkatz 55:c4c9fec8539c 10 #define SETUP_MODE 4
benkatz 55:c4c9fec8539c 11 #define ENCODER_MODE 5
benkatz 55:c4c9fec8539c 12 #define INIT_TEMP_MODE 6
benkatz 22:60276ba87ac6 13
benkatz 55:c4c9fec8539c 14 #define VERSION_NUM "1.10"
benkatz 26:2b865c00d7e9 15
benkatz 18:f1d56f4acb39 16
benkatz 26:2b865c00d7e9 17 float __float_reg[64]; // Floats stored in flash
benkatz 26:2b865c00d7e9 18 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 19
benkatz 0:4e1c4df6aabd 20 #include "mbed.h"
benkatz 0:4e1c4df6aabd 21 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 22 #include "structs.h"
benkatz 55:c4c9fec8539c 23 #include "foc.h"
benkatz 22:60276ba87ac6 24 #include "calibration.h"
benkatz 20:bf9ea5125d52 25 #include "hw_setup.h"
benkatz 23:2adf23ee0305 26 #include "math_ops.h"
benkatz 20:bf9ea5125d52 27 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 28 #include "hw_config.h"
elijahsj 70:2ea6c555a2cb 29 #include "motor_config_U12.h" // need to choose between two files here, one for U10 and one for U12
benkatz 23:2adf23ee0305 30 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 31 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 32 #include "user_config.h"
benkatz 23:2adf23ee0305 33 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 34 #include "CAN_com.h"
benkatz 44:8040fa2fcb0d 35 #include "DRV.h"
benkatz 26:2b865c00d7e9 36
benkatz 23:2adf23ee0305 37 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 38
benkatz 20:bf9ea5125d52 39 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 40 ControllerStruct controller;
benkatz 48:74a40481740c 41 ObserverStruct observer;
benkatz 20:bf9ea5125d52 42 COMStruct com;
benkatz 43:dfb72608639c 43 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 44
benkatz 17:3c5df2982199 45
benkatz 45:26801179208e 46 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 47 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 48 CANMessage txMsg;
benkatz 23:2adf23ee0305 49
benkatz 20:bf9ea5125d52 50
benkatz 44:8040fa2fcb0d 51 SPI drv_spi(PA_7, PA_6, PA_5);
benkatz 44:8040fa2fcb0d 52 DigitalOut drv_cs(PA_4);
benkatz 44:8040fa2fcb0d 53 //DigitalOut drv_en_gate(PA_11);
benkatz 44:8040fa2fcb0d 54 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 55
saloutos 58:32e8927fe39f 56 //PositionSensoriCMU spi(16777216, 0.0, NPP); // Read 24 bits off the sensor
saloutos 58:32e8927fe39f 57 PositionSensoriCMU spi(524288, 0.0, NPP); // Read 24 bits off the sensor, only 19bits are encoder data
benkatz 20:bf9ea5125d52 58
benkatz 23:2adf23ee0305 59 volatile int count = 0;
benkatz 23:2adf23ee0305 60 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 61 volatile int state_change;
benkatz 20:bf9ea5125d52 62
benkatz 26:2b865c00d7e9 63 void onMsgReceived() {
benkatz 26:2b865c00d7e9 64 //msgAvailable = true;
benkatz 53:e85efce8c1eb 65 //printf("%d\n\r", rxMsg.id);
saloutos 58:32e8927fe39f 66 gpio.led->write(1);
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;
benkatz 37:c0f352d6e8e3 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 }
elijahsj 68:edfdbd0db876 85 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT); // multiply theta, dtheta_mech by GR here?
elijahsj 68:edfdbd0db876 86 //pack_reply(&txMsg, controller.v_q, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
saloutos 58:32e8927fe39f 87 //pack_reply(&txMsg, 3.14159f, 6.28318f, 1.00f); // test values
benkatz 37:c0f352d6e8e3 88 can.write(txMsg);
benkatz 28:8c7e29f719c5 89 }
saloutos 58:32e8927fe39f 90 gpio.led->write(0);
benkatz 26:2b865c00d7e9 91
benkatz 26:2b865c00d7e9 92 }
benkatz 26:2b865c00d7e9 93
benkatz 23:2adf23ee0305 94 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 95 drv.disable_gd();
benkatz 55:c4c9fec8539c 96 reset_foc(&controller);
benkatz 47:e1196a851f76 97 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 98 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 99 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 100 wait_us(10);
benkatz 26:2b865c00d7e9 101 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 102 wait_us(10);
benkatz 23:2adf23ee0305 103 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 104 wait_us(10);
benkatz 23:2adf23ee0305 105 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 106 wait_us(10);
benkatz 23:2adf23ee0305 107 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 108 wait_us(10);
benkatz 37:c0f352d6e8e3 109 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 110 wait_us(10);
benkatz 23:2adf23ee0305 111 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 112 wait_us(10);
benkatz 23:2adf23ee0305 113 state_change = 0;
benkatz 37:c0f352d6e8e3 114 gpio.led->write(0);
benkatz 23:2adf23ee0305 115 }
benkatz 24:58c2d7571207 116
benkatz 24:58c2d7571207 117 void enter_setup_state(void){
benkatz 24:58c2d7571207 118 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 119 wait_us(10);
benkatz 51:6cd89bd6fcaa 120 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 121 wait_us(10);
benkatz 28:8c7e29f719c5 122 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 123 wait_us(10);
benkatz 28:8c7e29f719c5 124 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 125 wait_us(10);
benkatz 28:8c7e29f719c5 126 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 127 wait_us(10);
elijahsj 66:3947255b18c5 128 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "65.0", I_MAX);
benkatz 51:6cd89bd6fcaa 129 wait_us(10);
benkatz 51:6cd89bd6fcaa 130 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 131 wait_us(10);
benkatz 28:8c7e29f719c5 132 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 133 wait_us(10);
benkatz 55:c4c9fec8539c 134 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "h", "Temp Cutoff (C) (0 = none)", "0", "150", TEMP_MAX);
benkatz 55:c4c9fec8539c 135 wait_us(10);
benkatz 55:c4c9fec8539c 136 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "c", "Continuous Current (A)", "0", "40.0", I_MAX_CONT);
benkatz 55:c4c9fec8539c 137 wait_us(10);
benkatz 24:58c2d7571207 138 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 139 wait_us(10);
benkatz 24:58c2d7571207 140 state_change = 0;
benkatz 24:58c2d7571207 141 }
benkatz 22:60276ba87ac6 142
benkatz 23:2adf23ee0305 143 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 144 drv.enable_gd();
benkatz 47:e1196a851f76 145 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 146 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 147 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 148 wait(.001);
benkatz 23:2adf23ee0305 149 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 150 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 151 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 152 state_change = 0;
benkatz 28:8c7e29f719c5 153 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 154 }
benkatz 22:60276ba87ac6 155
benkatz 23:2adf23ee0305 156 void calibrate(void){
benkatz 44:8040fa2fcb0d 157 drv.enable_gd();
benkatz 47:e1196a851f76 158 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 159 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 160 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 161 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 162 gpio.led->write(0);; // Turn off status LED
benkatz 55:c4c9fec8539c 163 wait(.05);
benkatz 55:c4c9fec8539c 164 R_NOMINAL = 0;
benkatz 55:c4c9fec8539c 165 state = INIT_TEMP_MODE;
saloutos 58:32e8927fe39f 166 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 55:c4c9fec8539c 167 //drv.disable_gd();
saloutos 58:32e8927fe39f 168 state_change = 0;
benkatz 55:c4c9fec8539c 169
benkatz 23:2adf23ee0305 170 }
benkatz 23:2adf23ee0305 171
benkatz 23:2adf23ee0305 172 void print_encoder(void){
benkatz 48:74a40481740c 173 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 174 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 175 wait(.001);
benkatz 22:60276ba87ac6 176 }
benkatz 20:bf9ea5125d52 177
benkatz 23:2adf23ee0305 178 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 179 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 55:c4c9fec8539c 180 //float testing[1000];
benkatz 55:c4c9fec8539c 181 //float testing2[1000];
benkatz 2:8724412ad628 182 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 183 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 55:c4c9fec8539c 184 //gpio.led->write(1);
benkatz 23:2adf23ee0305 185 ///Sample current always ///
benkatz 25:f5741040c4bb 186 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 187 //volatile int delay;
benkatz 20:bf9ea5125d52 188 //for (delay = 0; delay < 55; delay++);
benkatz 55:c4c9fec8539c 189
benkatz 47:e1196a851f76 190 spi.Sample(DT); // sample position sensor
benkatz 56:fe5056ac6740 191 /*
benkatz 56:fe5056ac6740 192 if(count < 10){printf("%d\n\r", spi.GetRawPosition());}
benkatz 56:fe5056ac6740 193 count ++;
benkatz 56:fe5056ac6740 194 */
benkatz 37:c0f352d6e8e3 195 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 196 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 197 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 198 controller.theta_elec = spi.GetElecPosition();
saloutos 58:32e8927fe39f 199 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition(); // should these be divided by gear ratio???
saloutos 58:32e8927fe39f 200 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity(); // mech pos isn't pre-multiplied by GR in position sensor function...
benkatz 37:c0f352d6e8e3 201 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 202 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
benkatz 55:c4c9fec8539c 203
benkatz 55:c4c9fec8539c 204
benkatz 55:c4c9fec8539c 205
benkatz 23:2adf23ee0305 206 ///
benkatz 20:bf9ea5125d52 207
benkatz 23:2adf23ee0305 208 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 209 switch(state){
benkatz 37:c0f352d6e8e3 210 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 211 if(state_change){
benkatz 23:2adf23ee0305 212 enter_menu_state();
benkatz 23:2adf23ee0305 213 }
benkatz 55:c4c9fec8539c 214 update_observer(&controller, &observer);
benkatz 23:2adf23ee0305 215 break;
benkatz 22:60276ba87ac6 216
benkatz 23:2adf23ee0305 217 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 218 if(state_change){
benkatz 23:2adf23ee0305 219 calibrate();
benkatz 23:2adf23ee0305 220 }
benkatz 23:2adf23ee0305 221 break;
benkatz 55:c4c9fec8539c 222 case INIT_TEMP_MODE:
benkatz 55:c4c9fec8539c 223 if(state_change){
benkatz 55:c4c9fec8539c 224 enter_torque_mode();
benkatz 55:c4c9fec8539c 225 count = 0;
benkatz 55:c4c9fec8539c 226 observer.resistance = 0.0f;
benkatz 55:c4c9fec8539c 227 }
benkatz 55:c4c9fec8539c 228 controller.i_d_ref = -10.0f;
benkatz 55:c4c9fec8539c 229 controller.i_q_ref = 0.0f;
benkatz 55:c4c9fec8539c 230 commutate(&controller, &observer, &gpio, controller.theta_elec);
benkatz 55:c4c9fec8539c 231
benkatz 55:c4c9fec8539c 232 if(count > 200)
benkatz 55:c4c9fec8539c 233 {
benkatz 55:c4c9fec8539c 234 float r_meas = controller.v_d*(DTC_MAX-DTC_MIN)/(controller.i_d*SQRT3);
benkatz 55:c4c9fec8539c 235 //testing2[count-100] = controller.i_d;
benkatz 55:c4c9fec8539c 236 observer.resistance += .001f*r_meas;
benkatz 55:c4c9fec8539c 237 }
benkatz 55:c4c9fec8539c 238 if(count > 1200)
benkatz 55:c4c9fec8539c 239 {
benkatz 55:c4c9fec8539c 240 count = 0;
benkatz 55:c4c9fec8539c 241 state = REST_MODE;
benkatz 55:c4c9fec8539c 242 state_change = 1;
benkatz 55:c4c9fec8539c 243 gpio.led->write(0);
benkatz 55:c4c9fec8539c 244 observer.temperature = (double)(T_AMBIENT + ((observer.resistance/R_NOMINAL) - 1.0f)*254.5f);
benkatz 55:c4c9fec8539c 245 printf("Winding Resistance: %f\n\r", observer.resistance);
benkatz 55:c4c9fec8539c 246 printf("Winding Temperature: %f\n\r", observer.temperature);
benkatz 55:c4c9fec8539c 247
benkatz 55:c4c9fec8539c 248 if(R_NOMINAL==0)
benkatz 55:c4c9fec8539c 249 {
benkatz 55:c4c9fec8539c 250 printf("Saving winding resistance\n\r");
benkatz 55:c4c9fec8539c 251 R_NOMINAL = observer.resistance;
benkatz 55:c4c9fec8539c 252 if (!prefs.ready()) prefs.open();
benkatz 55:c4c9fec8539c 253 prefs.flush(); // write offset and lookup table to flash
benkatz 55:c4c9fec8539c 254 prefs.close();
benkatz 55:c4c9fec8539c 255 }
benkatz 55:c4c9fec8539c 256 //for(int i = 0; i<1000; i++){printf("%f \n\r", testing[i]);}
benkatz 55:c4c9fec8539c 257 }
benkatz 55:c4c9fec8539c 258
benkatz 55:c4c9fec8539c 259 count++;
benkatz 55:c4c9fec8539c 260 break;
benkatz 26:2b865c00d7e9 261 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 262 if(state_change){
benkatz 25:f5741040c4bb 263 enter_torque_mode();
benkatz 28:8c7e29f719c5 264 count = 0;
benkatz 25:f5741040c4bb 265 }
benkatz 28:8c7e29f719c5 266 else{
benkatz 37:c0f352d6e8e3 267 /*
benkatz 37:c0f352d6e8e3 268 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 269 gpio.
benkatz 47:e1196a851f76 270 ->write(0);
benkatz 37:c0f352d6e8e3 271 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 272 state = REST_MODE;
benkatz 37:c0f352d6e8e3 273 state_change = 1;
benkatz 37:c0f352d6e8e3 274 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 275 }
benkatz 37:c0f352d6e8e3 276 */
benkatz 37:c0f352d6e8e3 277
benkatz 28:8c7e29f719c5 278 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 279 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 280 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 281 controller.kp = 0;
benkatz 37:c0f352d6e8e3 282 controller.kd = 0;
benkatz 37:c0f352d6e8e3 283 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 284 }
benkatz 55:c4c9fec8539c 285
benkatz 50:ba72df25d10f 286 torque_control(&controller);
benkatz 55:c4c9fec8539c 287 update_observer(&controller, &observer);
benkatz 55:c4c9fec8539c 288 field_weaken(&controller);
benkatz 49:83d83040ea51 289 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 290 controller.timeout++;
benkatz 55:c4c9fec8539c 291
benkatz 55:c4c9fec8539c 292 if(controller.otw_flag)
benkatz 55:c4c9fec8539c 293 {
benkatz 55:c4c9fec8539c 294 state = REST_MODE;
benkatz 55:c4c9fec8539c 295 state_change = 1;
benkatz 55:c4c9fec8539c 296 gpio.led->write(0);
benkatz 55:c4c9fec8539c 297 }
benkatz 55:c4c9fec8539c 298
benkatz 49:83d83040ea51 299 count++;
benkatz 55:c4c9fec8539c 300 }
benkatz 55:c4c9fec8539c 301
benkatz 55:c4c9fec8539c 302
benkatz 55:c4c9fec8539c 303 break;
benkatz 37:c0f352d6e8e3 304
benkatz 23:2adf23ee0305 305 case SETUP_MODE:
benkatz 23:2adf23ee0305 306 if(state_change){
benkatz 24:58c2d7571207 307 enter_setup_state();
benkatz 23:2adf23ee0305 308 }
benkatz 23:2adf23ee0305 309 break;
benkatz 23:2adf23ee0305 310 case ENCODER_MODE:
benkatz 23:2adf23ee0305 311 print_encoder();
benkatz 23:2adf23ee0305 312 break;
benkatz 37:c0f352d6e8e3 313 }
benkatz 2:8724412ad628 314 }
benkatz 55:c4c9fec8539c 315 //gpio.led->write(0);
benkatz 23:2adf23ee0305 316 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 317 }
benkatz 0:4e1c4df6aabd 318
benkatz 25:f5741040c4bb 319
benkatz 24:58c2d7571207 320 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 321 char cmd_id = 0;
benkatz 25:f5741040c4bb 322 char char_count = 0;
benkatz 24:58c2d7571207 323
benkatz 25:f5741040c4bb 324 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 325 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 326 void serial_interrupt(void){
benkatz 23:2adf23ee0305 327 while(pc.readable()){
benkatz 23:2adf23ee0305 328 char c = pc.getc();
benkatz 25:f5741040c4bb 329 if(c == 27){
benkatz 25:f5741040c4bb 330 state = REST_MODE;
benkatz 25:f5741040c4bb 331 state_change = 1;
benkatz 25:f5741040c4bb 332 char_count = 0;
benkatz 25:f5741040c4bb 333 cmd_id = 0;
benkatz 55:c4c9fec8539c 334 gpio.led->write(0);;
benkatz 25:f5741040c4bb 335 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 336 }
benkatz 24:58c2d7571207 337 if(state == REST_MODE){
benkatz 23:2adf23ee0305 338 switch (c){
benkatz 23:2adf23ee0305 339 case 'c':
benkatz 23:2adf23ee0305 340 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 341 state_change = 1;
benkatz 23:2adf23ee0305 342 break;
benkatz 26:2b865c00d7e9 343 case 'm':
benkatz 26:2b865c00d7e9 344 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 345 state_change = 1;
benkatz 23:2adf23ee0305 346 break;
benkatz 23:2adf23ee0305 347 case 'e':
benkatz 23:2adf23ee0305 348 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 349 state_change = 1;
benkatz 23:2adf23ee0305 350 break;
benkatz 23:2adf23ee0305 351 case 's':
benkatz 23:2adf23ee0305 352 state = SETUP_MODE;
benkatz 23:2adf23ee0305 353 state_change = 1;
benkatz 23:2adf23ee0305 354 break;
benkatz 37:c0f352d6e8e3 355 case 'z':
benkatz 37:c0f352d6e8e3 356 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 357 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 358 wait_us(20);
benkatz 37:c0f352d6e8e3 359 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 360 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 361 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 362 prefs.close();
benkatz 37:c0f352d6e8e3 363 prefs.load();
benkatz 37:c0f352d6e8e3 364 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 365 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 366
benkatz 37:c0f352d6e8e3 367 break;
benkatz 37:c0f352d6e8e3 368 }
benkatz 37:c0f352d6e8e3 369
benkatz 24:58c2d7571207 370 }
benkatz 24:58c2d7571207 371 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 372 if(c == 13){
benkatz 24:58c2d7571207 373 switch (cmd_id){
benkatz 24:58c2d7571207 374 case 'b':
benkatz 24:58c2d7571207 375 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 376 break;
benkatz 24:58c2d7571207 377 case 'i':
benkatz 24:58c2d7571207 378 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 379 break;
benkatz 26:2b865c00d7e9 380 case 'm':
benkatz 26:2b865c00d7e9 381 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 382 break;
benkatz 24:58c2d7571207 383 case 'l':
elijahsj 66:3947255b18c5 384 I_MAX = fmaxf(fminf(atof(cmd_val), 65.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 385 break;
benkatz 51:6cd89bd6fcaa 386 case 'f':
benkatz 51:6cd89bd6fcaa 387 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 388 break;
benkatz 28:8c7e29f719c5 389 case 't':
benkatz 28:8c7e29f719c5 390 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 391 break;
benkatz 55:c4c9fec8539c 392 case 'h':
benkatz 55:c4c9fec8539c 393 TEMP_MAX = fmaxf(fminf(atof(cmd_val), 150.0f), 0.0f);
benkatz 55:c4c9fec8539c 394 break;
benkatz 55:c4c9fec8539c 395 case 'c':
benkatz 55:c4c9fec8539c 396 I_MAX_CONT = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 55:c4c9fec8539c 397 break;
benkatz 24:58c2d7571207 398 default:
benkatz 24:58c2d7571207 399 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 }
benkatz 49:83d83040ea51 430 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 431 switch (c){
benkatz 49:83d83040ea51 432 case 'd':
benkatz 49:83d83040ea51 433 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 434 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 435 }
benkatz 49:83d83040ea51 436 }
benkatz 24:58c2d7571207 437
benkatz 24:58c2d7571207 438 }
benkatz 22:60276ba87ac6 439 }
benkatz 0:4e1c4df6aabd 440
benkatz 0:4e1c4df6aabd 441 int main() {
benkatz 20:bf9ea5125d52 442 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 443 controller.mode = 0;
benkatz 23:2adf23ee0305 444 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 55:c4c9fec8539c 445 wait_us(100);
benkatz 44:8040fa2fcb0d 446
benkatz 44:8040fa2fcb0d 447 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 448 wait_us(100);
benkatz 45:26801179208e 449 drv.calibrate();
benkatz 45:26801179208e 450 wait_us(100);
benkatz 55:c4c9fec8539c 451 drv.write_DCR(0x0, DIS_GDF_DIS, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 55:c4c9fec8539c 452 wait_us(100);
benkatz 55:c4c9fec8539c 453 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x1, 0x1, 0x1, SEN_LVL_1_0); // calibrate shunt amplifiers
benkatz 44:8040fa2fcb0d 454 wait_us(100);
benkatz 55:c4c9fec8539c 455 zero_current(&controller.adc1_offset, &controller.adc2_offset);
benkatz 44:8040fa2fcb0d 456 wait_us(100);
benkatz 55:c4c9fec8539c 457 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x1, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 55:c4c9fec8539c 458 wait_us(100);
benkatz 55:c4c9fec8539c 459 drv.write_OCPCR(TRETRY_50US, DEADTIME_50NS, OCP_NONE, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 460
benkatz 45:26801179208e 461 //drv.enable_gd();
benkatz 47:e1196a851f76 462 drv.disable_gd();
benkatz 55:c4c9fec8539c 463 //zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 55:c4c9fec8539c 464 //drv.enable_gd();
benkatz 20:bf9ea5125d52 465
benkatz 55:c4c9fec8539c 466 wait_us(100);
benkatz 55:c4c9fec8539c 467
benkatz 23:2adf23ee0305 468 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 469 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 470 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 471
benkatz 55:c4c9fec8539c 472 wait_us(100);
benkatz 37:c0f352d6e8e3 473 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 37:c0f352d6e8e3 474 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 53:e85efce8c1eb 475 // attach 'CAN receive-complete' interrupt handler
benkatz 53:e85efce8c1eb 476
benkatz 53:e85efce8c1eb 477 // If preferences haven't been user configured yet, set defaults
benkatz 53:e85efce8c1eb 478 prefs.load(); // Read flash
benkatz 55:c4c9fec8539c 479 can.filter(CAN_ID , 0xFFF, CANStandard, 0);
benkatz 28:8c7e29f719c5 480 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 481 txMsg.len = 6;
benkatz 26:2b865c00d7e9 482 rxMsg.len = 8;
benkatz 53:e85efce8c1eb 483 can.attach(&onMsgReceived);
benkatz 23:2adf23ee0305 484
benkatz 37:c0f352d6e8e3 485 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 486 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 487 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 488 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 55:c4c9fec8539c 489 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=12;}
benkatz 48:74a40481740c 490 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 491 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 55:c4c9fec8539c 492 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 1000;}
benkatz 55:c4c9fec8539c 493 if(isnan(R_NOMINAL) || R_NOMINAL==-1){R_NOMINAL = 0.0f;}
benkatz 55:c4c9fec8539c 494 if(isnan(TEMP_MAX) || TEMP_MAX==-1){TEMP_MAX = 125.0f;}
benkatz 55:c4c9fec8539c 495 if(isnan(I_MAX_CONT) || I_MAX_CONT==-1){I_MAX_CONT = 14.0f;}
benkatz 25:f5741040c4bb 496 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 497 spi.SetMechOffset(M_OFFSET);
benkatz 56:fe5056ac6740 498 spi.Sample(1.0f);
benkatz 56:fe5056ac6740 499 if(spi.GetMechPosition() > PI){spi.SetMechOffset(M_OFFSET+2.0f*PI);} // now zeroes to +- 30 degrees about nominal, independent of rollover point
benkatz 56:fe5056ac6740 500 else if (spi.GetMechPosition() < -PI){spi.SetMechOffset(M_OFFSET-2.0f*PI);}
benkatz 56:fe5056ac6740 501
benkatz 23:2adf23ee0305 502 int lut[128] = {0};
benkatz 23:2adf23ee0305 503 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 504 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 505 init_controller_params(&controller);
benkatz 55:c4c9fec8539c 506
benkatz 45:26801179208e 507
benkatz 26:2b865c00d7e9 508 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 509 wait(.01);
benkatz 23:2adf23ee0305 510 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 511 wait(.01);
benkatz 23:2adf23ee0305 512 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 513 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 514 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 515 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 516 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 517 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 518
benkatz 44:8040fa2fcb0d 519
benkatz 55:c4c9fec8539c 520 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 44:8040fa2fcb0d 521
benkatz 44:8040fa2fcb0d 522
benkatz 23:2adf23ee0305 523 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 50:ba72df25d10f 524
benkatz 20:bf9ea5125d52 525
benkatz 44:8040fa2fcb0d 526 int counter = 0;
benkatz 0:4e1c4df6aabd 527 while(1) {
benkatz 55:c4c9fec8539c 528 //drv.print_faults();
benkatz 53:e85efce8c1eb 529 wait(.1);
benkatz 57:0795d2add37e 530
benkatz 55:c4c9fec8539c 531 if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
benkatz 55:c4c9fec8539c 532 /*
benkatz 47:e1196a851f76 533 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 534 {
benkatz 55:c4c9fec8539c 535 if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
benkatz 55:c4c9fec8539c 536 //printf("%f %f\n\r", controller.dtheta_mech, controller.i_d_ref);
benkatz 48:74a40481740c 537 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 538 //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 55:c4c9fec8539c 539 //printf("%.3f %.3f %.3f %.3f\n\r", controller.dtheta_elec, observer.resistance, observer.temperature, observer.temp_measured);
benkatz 55:c4c9fec8539c 540 //printf("%.3f %.3f\n\r" , observer.temperature, observer.temp_measured);
benkatz 47:e1196a851f76 541 }
benkatz 55:c4c9fec8539c 542
benkatz 50:ba72df25d10f 543 */
benkatz 47:e1196a851f76 544
benkatz 0:4e1c4df6aabd 545 }
benkatz 0:4e1c4df6aabd 546 }