Aditya Mehrotra / motor_driver_screaming_fix

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

main.cpp@66:3947255b18c5, 2021-01-29 (annotated)

Committer:
elijahsj
Date:
Fri Jan 29 20:39:36 2021 +0000
Revision:
66:3947255b18c5
Parent:
63:10604c39666f
Child:
67:96a4052a1705
update U12 parameters;

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 66:3947255b18c5 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 }
saloutos 58:32e8927fe39f 85 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT); // multiply theta, dtheta_mech by GR here?
saloutos 58:32e8927fe39f 86 //pack_reply(&txMsg, 3.14159f, 6.28318f, 1.00f); // test values
benkatz 37:c0f352d6e8e3 87 can.write(txMsg);
benkatz 28:8c7e29f719c5 88 }
saloutos 58:32e8927fe39f 89 gpio.led->write(0);
benkatz 26:2b865c00d7e9 90
benkatz 26:2b865c00d7e9 91 }
benkatz 26:2b865c00d7e9 92
benkatz 23:2adf23ee0305 93 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 94 drv.disable_gd();
benkatz 55:c4c9fec8539c 95 reset_foc(&controller);
benkatz 47:e1196a851f76 96 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 97 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 98 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 99 wait_us(10);
benkatz 26:2b865c00d7e9 100 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 101 wait_us(10);
benkatz 23:2adf23ee0305 102 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 103 wait_us(10);
benkatz 23:2adf23ee0305 104 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 105 wait_us(10);
benkatz 23:2adf23ee0305 106 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 107 wait_us(10);
benkatz 37:c0f352d6e8e3 108 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 109 wait_us(10);
benkatz 23:2adf23ee0305 110 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 111 wait_us(10);
benkatz 23:2adf23ee0305 112 state_change = 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){
benkatz 24:58c2d7571207 117 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 118 wait_us(10);
benkatz 51:6cd89bd6fcaa 119 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 120 wait_us(10);
benkatz 28:8c7e29f719c5 121 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 122 wait_us(10);
benkatz 28:8c7e29f719c5 123 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 124 wait_us(10);
benkatz 28:8c7e29f719c5 125 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 126 wait_us(10);
elijahsj 66:3947255b18c5 127 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "65.0", I_MAX);
benkatz 51:6cd89bd6fcaa 128 wait_us(10);
benkatz 51:6cd89bd6fcaa 129 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 130 wait_us(10);
benkatz 28:8c7e29f719c5 131 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 132 wait_us(10);
benkatz 55:c4c9fec8539c 133 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "h", "Temp Cutoff (C) (0 = none)", "0", "150", TEMP_MAX);
benkatz 55:c4c9fec8539c 134 wait_us(10);
benkatz 55:c4c9fec8539c 135 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "c", "Continuous Current (A)", "0", "40.0", I_MAX_CONT);
benkatz 55:c4c9fec8539c 136 wait_us(10);
benkatz 24:58c2d7571207 137 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 138 wait_us(10);
benkatz 24:58c2d7571207 139 state_change = 0;
benkatz 24:58c2d7571207 140 }
benkatz 22:60276ba87ac6 141
benkatz 23:2adf23ee0305 142 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 143 drv.enable_gd();
benkatz 47:e1196a851f76 144 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 145 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 146 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 147 wait(.001);
benkatz 23:2adf23ee0305 148 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 149 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 150 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 151 state_change = 0;
benkatz 28:8c7e29f719c5 152 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 153 }
benkatz 22:60276ba87ac6 154
benkatz 23:2adf23ee0305 155 void calibrate(void){
benkatz 44:8040fa2fcb0d 156 drv.enable_gd();
benkatz 47:e1196a851f76 157 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 158 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 159 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 160 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 161 gpio.led->write(0);; // Turn off status LED
benkatz 55:c4c9fec8539c 162 wait(.05);
benkatz 55:c4c9fec8539c 163 R_NOMINAL = 0;
benkatz 55:c4c9fec8539c 164 state = INIT_TEMP_MODE;
saloutos 58:32e8927fe39f 165 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 55:c4c9fec8539c 166 //drv.disable_gd();
saloutos 58:32e8927fe39f 167 state_change = 0;
benkatz 55:c4c9fec8539c 168
benkatz 23:2adf23ee0305 169 }
benkatz 23:2adf23ee0305 170
benkatz 23:2adf23ee0305 171 void print_encoder(void){
benkatz 48:74a40481740c 172 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 173 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 174 wait(.001);
benkatz 22:60276ba87ac6 175 }
benkatz 20:bf9ea5125d52 176
benkatz 23:2adf23ee0305 177 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 178 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 55:c4c9fec8539c 179 //float testing[1000];
benkatz 55:c4c9fec8539c 180 //float testing2[1000];
benkatz 2:8724412ad628 181 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 182 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 55:c4c9fec8539c 183 //gpio.led->write(1);
benkatz 23:2adf23ee0305 184 ///Sample current always ///
benkatz 25:f5741040c4bb 185 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 186 //volatile int delay;
benkatz 20:bf9ea5125d52 187 //for (delay = 0; delay < 55; delay++);
benkatz 55:c4c9fec8539c 188
benkatz 47:e1196a851f76 189 spi.Sample(DT); // sample position sensor
benkatz 56:fe5056ac6740 190 /*
benkatz 56:fe5056ac6740 191 if(count < 10){printf("%d\n\r", spi.GetRawPosition());}
benkatz 56:fe5056ac6740 192 count ++;
benkatz 56:fe5056ac6740 193 */
benkatz 37:c0f352d6e8e3 194 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 195 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 196 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 197 controller.theta_elec = spi.GetElecPosition();
saloutos 58:32e8927fe39f 198 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition(); // should these be divided by gear ratio???
saloutos 58:32e8927fe39f 199 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity(); // mech pos isn't pre-multiplied by GR in position sensor function...
benkatz 37:c0f352d6e8e3 200 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 201 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 202
benkatz 55:c4c9fec8539c 203
benkatz 55:c4c9fec8539c 204
benkatz 23:2adf23ee0305 205 ///
benkatz 20:bf9ea5125d52 206
benkatz 23:2adf23ee0305 207 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 208 switch(state){
benkatz 37:c0f352d6e8e3 209 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 210 if(state_change){
benkatz 23:2adf23ee0305 211 enter_menu_state();
benkatz 23:2adf23ee0305 212 }
benkatz 55:c4c9fec8539c 213 update_observer(&controller, &observer);
benkatz 23:2adf23ee0305 214 break;
benkatz 22:60276ba87ac6 215
benkatz 23:2adf23ee0305 216 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 217 if(state_change){
benkatz 23:2adf23ee0305 218 calibrate();
benkatz 23:2adf23ee0305 219 }
benkatz 23:2adf23ee0305 220 break;
benkatz 55:c4c9fec8539c 221 case INIT_TEMP_MODE:
benkatz 55:c4c9fec8539c 222 if(state_change){
benkatz 55:c4c9fec8539c 223 enter_torque_mode();
benkatz 55:c4c9fec8539c 224 count = 0;
benkatz 55:c4c9fec8539c 225 observer.resistance = 0.0f;
benkatz 55:c4c9fec8539c 226 }
benkatz 55:c4c9fec8539c 227 controller.i_d_ref = -10.0f;
benkatz 55:c4c9fec8539c 228 controller.i_q_ref = 0.0f;
benkatz 55:c4c9fec8539c 229 commutate(&controller, &observer, &gpio, controller.theta_elec);
benkatz 55:c4c9fec8539c 230
benkatz 55:c4c9fec8539c 231 if(count > 200)
benkatz 55:c4c9fec8539c 232 {
benkatz 55:c4c9fec8539c 233 float r_meas = controller.v_d*(DTC_MAX-DTC_MIN)/(controller.i_d*SQRT3);
benkatz 55:c4c9fec8539c 234 //testing2[count-100] = controller.i_d;
benkatz 55:c4c9fec8539c 235 observer.resistance += .001f*r_meas;
benkatz 55:c4c9fec8539c 236 }
benkatz 55:c4c9fec8539c 237 if(count > 1200)
benkatz 55:c4c9fec8539c 238 {
benkatz 55:c4c9fec8539c 239 count = 0;
benkatz 55:c4c9fec8539c 240 state = REST_MODE;
benkatz 55:c4c9fec8539c 241 state_change = 1;
benkatz 55:c4c9fec8539c 242 gpio.led->write(0);
benkatz 55:c4c9fec8539c 243 observer.temperature = (double)(T_AMBIENT + ((observer.resistance/R_NOMINAL) - 1.0f)*254.5f);
benkatz 55:c4c9fec8539c 244 printf("Winding Resistance: %f\n\r", observer.resistance);
benkatz 55:c4c9fec8539c 245 printf("Winding Temperature: %f\n\r", observer.temperature);
benkatz 55:c4c9fec8539c 246
benkatz 55:c4c9fec8539c 247 if(R_NOMINAL==0)
benkatz 55:c4c9fec8539c 248 {
benkatz 55:c4c9fec8539c 249 printf("Saving winding resistance\n\r");
benkatz 55:c4c9fec8539c 250 R_NOMINAL = observer.resistance;
benkatz 55:c4c9fec8539c 251 if (!prefs.ready()) prefs.open();
benkatz 55:c4c9fec8539c 252 prefs.flush(); // write offset and lookup table to flash
benkatz 55:c4c9fec8539c 253 prefs.close();
benkatz 55:c4c9fec8539c 254 }
benkatz 55:c4c9fec8539c 255 //for(int i = 0; i<1000; i++){printf("%f \n\r", testing[i]);}
benkatz 55:c4c9fec8539c 256 }
benkatz 55:c4c9fec8539c 257
benkatz 55:c4c9fec8539c 258 count++;
benkatz 55:c4c9fec8539c 259 break;
benkatz 26:2b865c00d7e9 260 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 261 if(state_change){
benkatz 25:f5741040c4bb 262 enter_torque_mode();
benkatz 28:8c7e29f719c5 263 count = 0;
benkatz 25:f5741040c4bb 264 }
benkatz 28:8c7e29f719c5 265 else{
benkatz 37:c0f352d6e8e3 266 /*
benkatz 37:c0f352d6e8e3 267 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 268 gpio.
benkatz 47:e1196a851f76 269 ->write(0);
benkatz 37:c0f352d6e8e3 270 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 271 state = REST_MODE;
benkatz 37:c0f352d6e8e3 272 state_change = 1;
benkatz 37:c0f352d6e8e3 273 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 274 }
benkatz 37:c0f352d6e8e3 275 */
benkatz 37:c0f352d6e8e3 276
benkatz 28:8c7e29f719c5 277 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 278 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 279 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 280 controller.kp = 0;
benkatz 37:c0f352d6e8e3 281 controller.kd = 0;
benkatz 37:c0f352d6e8e3 282 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 283 }
benkatz 55:c4c9fec8539c 284
benkatz 50:ba72df25d10f 285 torque_control(&controller);
benkatz 55:c4c9fec8539c 286 update_observer(&controller, &observer);
benkatz 55:c4c9fec8539c 287 field_weaken(&controller);
benkatz 49:83d83040ea51 288 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 289 controller.timeout++;
benkatz 55:c4c9fec8539c 290
benkatz 55:c4c9fec8539c 291 if(controller.otw_flag)
benkatz 55:c4c9fec8539c 292 {
benkatz 55:c4c9fec8539c 293 state = REST_MODE;
benkatz 55:c4c9fec8539c 294 state_change = 1;
benkatz 55:c4c9fec8539c 295 gpio.led->write(0);
benkatz 55:c4c9fec8539c 296 }
benkatz 55:c4c9fec8539c 297
benkatz 49:83d83040ea51 298 count++;
benkatz 55:c4c9fec8539c 299 }
benkatz 55:c4c9fec8539c 300
benkatz 55:c4c9fec8539c 301
benkatz 55:c4c9fec8539c 302 break;
benkatz 37:c0f352d6e8e3 303
benkatz 23:2adf23ee0305 304 case SETUP_MODE:
benkatz 23:2adf23ee0305 305 if(state_change){
benkatz 24:58c2d7571207 306 enter_setup_state();
benkatz 23:2adf23ee0305 307 }
benkatz 23:2adf23ee0305 308 break;
benkatz 23:2adf23ee0305 309 case ENCODER_MODE:
benkatz 23:2adf23ee0305 310 print_encoder();
benkatz 23:2adf23ee0305 311 break;
benkatz 37:c0f352d6e8e3 312 }
benkatz 2:8724412ad628 313 }
benkatz 55:c4c9fec8539c 314 //gpio.led->write(0);
benkatz 23:2adf23ee0305 315 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 316 }
benkatz 0:4e1c4df6aabd 317
benkatz 25:f5741040c4bb 318
benkatz 24:58c2d7571207 319 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 320 char cmd_id = 0;
benkatz 25:f5741040c4bb 321 char char_count = 0;
benkatz 24:58c2d7571207 322
benkatz 25:f5741040c4bb 323 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 324 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 325 void serial_interrupt(void){
benkatz 23:2adf23ee0305 326 while(pc.readable()){
benkatz 23:2adf23ee0305 327 char c = pc.getc();
benkatz 25:f5741040c4bb 328 if(c == 27){
benkatz 25:f5741040c4bb 329 state = REST_MODE;
benkatz 25:f5741040c4bb 330 state_change = 1;
benkatz 25:f5741040c4bb 331 char_count = 0;
benkatz 25:f5741040c4bb 332 cmd_id = 0;
benkatz 55:c4c9fec8539c 333 gpio.led->write(0);;
benkatz 25:f5741040c4bb 334 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 335 }
benkatz 24:58c2d7571207 336 if(state == REST_MODE){
benkatz 23:2adf23ee0305 337 switch (c){
benkatz 23:2adf23ee0305 338 case 'c':
benkatz 23:2adf23ee0305 339 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 340 state_change = 1;
benkatz 23:2adf23ee0305 341 break;
benkatz 26:2b865c00d7e9 342 case 'm':
benkatz 26:2b865c00d7e9 343 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 344 state_change = 1;
benkatz 23:2adf23ee0305 345 break;
benkatz 23:2adf23ee0305 346 case 'e':
benkatz 23:2adf23ee0305 347 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 348 state_change = 1;
benkatz 23:2adf23ee0305 349 break;
benkatz 23:2adf23ee0305 350 case 's':
benkatz 23:2adf23ee0305 351 state = SETUP_MODE;
benkatz 23:2adf23ee0305 352 state_change = 1;
benkatz 23:2adf23ee0305 353 break;
benkatz 37:c0f352d6e8e3 354 case 'z':
benkatz 37:c0f352d6e8e3 355 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 356 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 357 wait_us(20);
benkatz 37:c0f352d6e8e3 358 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 359 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 360 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 361 prefs.close();
benkatz 37:c0f352d6e8e3 362 prefs.load();
benkatz 37:c0f352d6e8e3 363 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 364 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 365
benkatz 37:c0f352d6e8e3 366 break;
benkatz 37:c0f352d6e8e3 367 }
benkatz 37:c0f352d6e8e3 368
benkatz 24:58c2d7571207 369 }
benkatz 24:58c2d7571207 370 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 371 if(c == 13){
benkatz 24:58c2d7571207 372 switch (cmd_id){
benkatz 24:58c2d7571207 373 case 'b':
benkatz 24:58c2d7571207 374 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 375 break;
benkatz 24:58c2d7571207 376 case 'i':
benkatz 24:58c2d7571207 377 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 378 break;
benkatz 26:2b865c00d7e9 379 case 'm':
benkatz 26:2b865c00d7e9 380 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 381 break;
benkatz 24:58c2d7571207 382 case 'l':
elijahsj 66:3947255b18c5 383 I_MAX = fmaxf(fminf(atof(cmd_val), 65.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 384 break;
benkatz 51:6cd89bd6fcaa 385 case 'f':
benkatz 51:6cd89bd6fcaa 386 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 387 break;
benkatz 28:8c7e29f719c5 388 case 't':
benkatz 28:8c7e29f719c5 389 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 390 break;
benkatz 55:c4c9fec8539c 391 case 'h':
benkatz 55:c4c9fec8539c 392 TEMP_MAX = fmaxf(fminf(atof(cmd_val), 150.0f), 0.0f);
benkatz 55:c4c9fec8539c 393 break;
benkatz 55:c4c9fec8539c 394 case 'c':
benkatz 55:c4c9fec8539c 395 I_MAX_CONT = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 55:c4c9fec8539c 396 break;
benkatz 24:58c2d7571207 397 default:
benkatz 24:58c2d7571207 398 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 399 break;
benkatz 24:58c2d7571207 400 }
benkatz 24:58c2d7571207 401
benkatz 24:58c2d7571207 402 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 403 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 404 prefs.close();
benkatz 24:58c2d7571207 405 prefs.load();
benkatz 24:58c2d7571207 406 state_change = 1;
benkatz 24:58c2d7571207 407 char_count = 0;
benkatz 24:58c2d7571207 408 cmd_id = 0;
benkatz 24:58c2d7571207 409 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 410 }
benkatz 24:58c2d7571207 411 else{
benkatz 24:58c2d7571207 412 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 413 else{
benkatz 24:58c2d7571207 414 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 415
benkatz 24:58c2d7571207 416 }
benkatz 24:58c2d7571207 417 pc.putc(c);
benkatz 24:58c2d7571207 418 char_count++;
benkatz 23:2adf23ee0305 419 }
benkatz 23:2adf23ee0305 420 }
benkatz 24:58c2d7571207 421 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 422 switch (c){
benkatz 24:58c2d7571207 423 case 27:
benkatz 24:58c2d7571207 424 state = REST_MODE;
benkatz 24:58c2d7571207 425 state_change = 1;
benkatz 24:58c2d7571207 426 break;
benkatz 24:58c2d7571207 427 }
benkatz 24:58c2d7571207 428 }
benkatz 49:83d83040ea51 429 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 430 switch (c){
benkatz 49:83d83040ea51 431 case 'd':
benkatz 49:83d83040ea51 432 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 433 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 434 }
benkatz 49:83d83040ea51 435 }
benkatz 24:58c2d7571207 436
benkatz 24:58c2d7571207 437 }
benkatz 22:60276ba87ac6 438 }
benkatz 0:4e1c4df6aabd 439
benkatz 0:4e1c4df6aabd 440 int main() {
benkatz 20:bf9ea5125d52 441 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 442 controller.mode = 0;
benkatz 23:2adf23ee0305 443 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 55:c4c9fec8539c 444 wait_us(100);
benkatz 44:8040fa2fcb0d 445
benkatz 44:8040fa2fcb0d 446 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 447 wait_us(100);
benkatz 45:26801179208e 448 drv.calibrate();
benkatz 45:26801179208e 449 wait_us(100);
benkatz 55:c4c9fec8539c 450 drv.write_DCR(0x0, DIS_GDF_DIS, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 55:c4c9fec8539c 451 wait_us(100);
benkatz 55:c4c9fec8539c 452 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x1, 0x1, 0x1, SEN_LVL_1_0); // calibrate shunt amplifiers
benkatz 44:8040fa2fcb0d 453 wait_us(100);
benkatz 55:c4c9fec8539c 454 zero_current(&controller.adc1_offset, &controller.adc2_offset);
benkatz 44:8040fa2fcb0d 455 wait_us(100);
benkatz 55:c4c9fec8539c 456 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x1, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 55:c4c9fec8539c 457 wait_us(100);
benkatz 55:c4c9fec8539c 458 drv.write_OCPCR(TRETRY_50US, DEADTIME_50NS, OCP_NONE, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 459
benkatz 45:26801179208e 460 //drv.enable_gd();
benkatz 47:e1196a851f76 461 drv.disable_gd();
benkatz 55:c4c9fec8539c 462 //zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 55:c4c9fec8539c 463 //drv.enable_gd();
benkatz 20:bf9ea5125d52 464
benkatz 55:c4c9fec8539c 465 wait_us(100);
benkatz 55:c4c9fec8539c 466
benkatz 23:2adf23ee0305 467 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 468 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 469 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 470
benkatz 55:c4c9fec8539c 471 wait_us(100);
benkatz 37:c0f352d6e8e3 472 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 37:c0f352d6e8e3 473 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 53:e85efce8c1eb 474 // attach 'CAN receive-complete' interrupt handler
benkatz 53:e85efce8c1eb 475
benkatz 53:e85efce8c1eb 476 // If preferences haven't been user configured yet, set defaults
benkatz 53:e85efce8c1eb 477 prefs.load(); // Read flash
benkatz 55:c4c9fec8539c 478 can.filter(CAN_ID , 0xFFF, CANStandard, 0);
benkatz 28:8c7e29f719c5 479 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 480 txMsg.len = 6;
benkatz 26:2b865c00d7e9 481 rxMsg.len = 8;
benkatz 53:e85efce8c1eb 482 can.attach(&onMsgReceived);
benkatz 23:2adf23ee0305 483
benkatz 37:c0f352d6e8e3 484 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 485 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 486 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 487 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 55:c4c9fec8539c 488 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=12;}
benkatz 48:74a40481740c 489 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 490 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 55:c4c9fec8539c 491 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 1000;}
benkatz 55:c4c9fec8539c 492 if(isnan(R_NOMINAL) || R_NOMINAL==-1){R_NOMINAL = 0.0f;}
benkatz 55:c4c9fec8539c 493 if(isnan(TEMP_MAX) || TEMP_MAX==-1){TEMP_MAX = 125.0f;}
benkatz 55:c4c9fec8539c 494 if(isnan(I_MAX_CONT) || I_MAX_CONT==-1){I_MAX_CONT = 14.0f;}
benkatz 25:f5741040c4bb 495 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 496 spi.SetMechOffset(M_OFFSET);
benkatz 56:fe5056ac6740 497 spi.Sample(1.0f);
benkatz 56:fe5056ac6740 498 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 499 else if (spi.GetMechPosition() < -PI){spi.SetMechOffset(M_OFFSET-2.0f*PI);}
benkatz 56:fe5056ac6740 500
benkatz 23:2adf23ee0305 501 int lut[128] = {0};
benkatz 23:2adf23ee0305 502 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 503 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 504 init_controller_params(&controller);
benkatz 55:c4c9fec8539c 505
benkatz 45:26801179208e 506
benkatz 26:2b865c00d7e9 507 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 508 wait(.01);
benkatz 23:2adf23ee0305 509 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 510 wait(.01);
benkatz 23:2adf23ee0305 511 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 512 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 513 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 514 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 515 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 516 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 517
benkatz 44:8040fa2fcb0d 518
benkatz 55:c4c9fec8539c 519 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 44:8040fa2fcb0d 520
benkatz 44:8040fa2fcb0d 521
benkatz 23:2adf23ee0305 522 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 50:ba72df25d10f 523
benkatz 20:bf9ea5125d52 524
benkatz 44:8040fa2fcb0d 525 int counter = 0;
benkatz 0:4e1c4df6aabd 526 while(1) {
benkatz 55:c4c9fec8539c 527 //drv.print_faults();
benkatz 53:e85efce8c1eb 528 wait(.1);
benkatz 57:0795d2add37e 529
benkatz 55:c4c9fec8539c 530 if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
benkatz 55:c4c9fec8539c 531 /*
benkatz 47:e1196a851f76 532 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 533 {
benkatz 55:c4c9fec8539c 534 if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
benkatz 55:c4c9fec8539c 535 //printf("%f %f\n\r", controller.dtheta_mech, controller.i_d_ref);
benkatz 48:74a40481740c 536 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 537 //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 538 //printf("%.3f %.3f %.3f %.3f\n\r", controller.dtheta_elec, observer.resistance, observer.temperature, observer.temp_measured);
benkatz 55:c4c9fec8539c 539 //printf("%.3f %.3f\n\r" , observer.temperature, observer.temp_measured);
benkatz 47:e1196a851f76 540 }
benkatz 55:c4c9fec8539c 541
benkatz 50:ba72df25d10f 542 */
benkatz 47:e1196a851f76 543
benkatz 0:4e1c4df6aabd 544 }
benkatz 0:4e1c4df6aabd 545 }