Aditya Mehrotra / motor_driver_screaming_fix

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

main.cpp@78:4f481ff040ee, 19 months ago (annotated)

Committer:
adimmit
Date:
Fri Nov 11 16:58:43 2022 +0000
Revision:
78:4f481ff040ee
Parent:
77:81c2cbc5d906 
changes w/ filter @ high speed;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adimmit 77:81c2cbc5d906 1 //SET THESE FOR YOUR MOTOR
adimmit 77:81c2cbc5d906 2 #define V_U12_MIN -65.0f
adimmit 77:81c2cbc5d906 3 #define V_U12_MAX 65.0f
adimmit 77:81c2cbc5d906 4
adimmit 77:81c2cbc5d906 5
adimmit 77:81c2cbc5d906 6
adimmit 77:81c2cbc5d906 7
benkatz 22:60276ba87ac6 8 /// high-bandwidth 3-phase motor control, for robots
benkatz 45:26801179208e 9 /// Written by benkatz, with much inspiration from Bayley Wang, Nick Kirkby, Shane Colton, David Otten, and others
benkatz 22:60276ba87ac6 10 /// Hardware documentation can be found at build-its.blogspot.com
benkatz 22:60276ba87ac6 11 /// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling
benkatz 47:e1196a851f76 12 /// Version for the TI DRV8323 Everything Chip
benkatz 22:60276ba87ac6 13
benkatz 55:c4c9fec8539c 14 #define REST_MODE 0
benkatz 55:c4c9fec8539c 15 #define CALIBRATION_MODE 1
benkatz 55:c4c9fec8539c 16 #define MOTOR_MODE 2
benkatz 55:c4c9fec8539c 17 #define SETUP_MODE 4
benkatz 55:c4c9fec8539c 18 #define ENCODER_MODE 5
benkatz 55:c4c9fec8539c 19 #define INIT_TEMP_MODE 6
benkatz 22:60276ba87ac6 20
adimmit 73:5676f1232a81 21 #define VERSION_NUM "2.0" //changed to 2.0 for flash storage version
benkatz 26:2b865c00d7e9 22
adimmit 76:4fd876d4cf2b 23 #define LOG_POINTS 500
benkatz 18:f1d56f4acb39 24
benkatz 26:2b865c00d7e9 25 float __float_reg[64]; // Floats stored in flash
benkatz 26:2b865c00d7e9 26 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
adimmit 76:4fd876d4cf2b 27 float pos_high_frequency[LOG_POINTS];
benkatz 17:3c5df2982199 28
benkatz 0:4e1c4df6aabd 29 #include "mbed.h"
benkatz 0:4e1c4df6aabd 30 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 31 #include "structs.h"
benkatz 55:c4c9fec8539c 32 #include "foc.h"
benkatz 22:60276ba87ac6 33 #include "calibration.h"
benkatz 20:bf9ea5125d52 34 #include "hw_setup.h"
benkatz 23:2adf23ee0305 35 #include "math_ops.h"
benkatz 20:bf9ea5125d52 36 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 37 #include "hw_config.h"
adimmit 73:5676f1232a81 38 //#include "motor_config_U12.h" // need to choose between two files here, one for U10 and one for U12
benkatz 23:2adf23ee0305 39 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 40 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 41 #include "user_config.h"
benkatz 23:2adf23ee0305 42 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 43 #include "CAN_com.h"
benkatz 44:8040fa2fcb0d 44 #include "DRV.h"
benkatz 26:2b865c00d7e9 45
benkatz 23:2adf23ee0305 46 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 47
benkatz 20:bf9ea5125d52 48 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 49 ControllerStruct controller;
benkatz 48:74a40481740c 50 ObserverStruct observer;
benkatz 20:bf9ea5125d52 51 COMStruct com;
benkatz 43:dfb72608639c 52 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 53
benkatz 17:3c5df2982199 54
benkatz 45:26801179208e 55 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 56 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 57 CANMessage txMsg;
benkatz 23:2adf23ee0305 58
benkatz 20:bf9ea5125d52 59
benkatz 44:8040fa2fcb0d 60 SPI drv_spi(PA_7, PA_6, PA_5);
benkatz 44:8040fa2fcb0d 61 DigitalOut drv_cs(PA_4);
benkatz 44:8040fa2fcb0d 62 //DigitalOut drv_en_gate(PA_11);
benkatz 44:8040fa2fcb0d 63 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 64
saloutos 58:32e8927fe39f 65 //PositionSensoriCMU spi(16777216, 0.0, NPP); // Read 24 bits off the sensor
saloutos 58:32e8927fe39f 66 PositionSensoriCMU spi(524288, 0.0, NPP); // Read 24 bits off the sensor, only 19bits are encoder data
benkatz 20:bf9ea5125d52 67
benkatz 23:2adf23ee0305 68 volatile int count = 0;
benkatz 23:2adf23ee0305 69 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 70 volatile int state_change;
adimmit 77:81c2cbc5d906 71 volatile int logger = 0;
adimmit 78:4f481ff040ee 72 volatile int counter = 0;
adimmit 77:81c2cbc5d906 73
adimmit 77:81c2cbc5d906 74 //Position Sensor Temperature Fix - INITIALIZE THESE IN THE MAIN SETUP
adimmit 77:81c2cbc5d906 75 volatile float prev_mech = 0.0;
adimmit 77:81c2cbc5d906 76 volatile float prev_elec = 0.0;
adimmit 78:4f481ff040ee 77 volatile float prev_dmech = 0.0;
adimmit 78:4f481ff040ee 78 volatile float prev_delec = 0.0;
adimmit 77:81c2cbc5d906 79 volatile int failure_counter = 0;
benkatz 20:bf9ea5125d52 80
benkatz 26:2b865c00d7e9 81 void onMsgReceived() {
benkatz 26:2b865c00d7e9 82 //msgAvailable = true;
benkatz 53:e85efce8c1eb 83 //printf("%d\n\r", rxMsg.id);
saloutos 58:32e8927fe39f 84 gpio.led->write(1);
benkatz 26:2b865c00d7e9 85 can.read(rxMsg);
benkatz 28:8c7e29f719c5 86 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 87 controller.timeout = 0;
benkatz 28:8c7e29f719c5 88 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 89 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 90 state_change = 1;
benkatz 28:8c7e29f719c5 91 }
benkatz 28:8c7e29f719c5 92 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 93 state = REST_MODE;
benkatz 28:8c7e29f719c5 94 state_change = 1;
benkatz 37:c0f352d6e8e3 95 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 96 }
benkatz 28:8c7e29f719c5 97 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 98 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 99 }
benkatz 28:8c7e29f719c5 100 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 101 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 102 }
elijahsj 68:edfdbd0db876 103 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 104 //pack_reply(&txMsg, controller.v_q, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
saloutos 58:32e8927fe39f 105 //pack_reply(&txMsg, 3.14159f, 6.28318f, 1.00f); // test values
benkatz 37:c0f352d6e8e3 106 can.write(txMsg);
benkatz 28:8c7e29f719c5 107 }
saloutos 58:32e8927fe39f 108 gpio.led->write(0);
benkatz 26:2b865c00d7e9 109
benkatz 26:2b865c00d7e9 110 }
benkatz 26:2b865c00d7e9 111
benkatz 23:2adf23ee0305 112 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 113 drv.disable_gd();
benkatz 55:c4c9fec8539c 114 reset_foc(&controller);
benkatz 47:e1196a851f76 115 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 116 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 117 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 118 wait_us(10);
benkatz 26:2b865c00d7e9 119 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 120 wait_us(10);
benkatz 23:2adf23ee0305 121 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 122 wait_us(10);
benkatz 23:2adf23ee0305 123 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 124 wait_us(10);
benkatz 23:2adf23ee0305 125 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 126 wait_us(10);
benkatz 37:c0f352d6e8e3 127 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 128 wait_us(10);
benkatz 23:2adf23ee0305 129 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 130 wait_us(10);
benkatz 23:2adf23ee0305 131 state_change = 0;
benkatz 37:c0f352d6e8e3 132 gpio.led->write(0);
benkatz 23:2adf23ee0305 133 }
benkatz 24:58c2d7571207 134
benkatz 24:58c2d7571207 135 void enter_setup_state(void){
benkatz 24:58c2d7571207 136 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 137 wait_us(10);
benkatz 51:6cd89bd6fcaa 138 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 139 wait_us(10);
adimmit 73:5676f1232a81 140 //MOTOR CONTROLLER PARAMS
adimmit 73:5676f1232a81 141 printf("MOTOR CONTROLLER PARAMS\n\r");
adimmit 73:5676f1232a81 142 wait_us(10);
benkatz 28:8c7e29f719c5 143 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 144 wait_us(10);
benkatz 28:8c7e29f719c5 145 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 146 wait_us(10);
benkatz 28:8c7e29f719c5 147 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 148 wait_us(10);
elijahsj 66:3947255b18c5 149 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "65.0", I_MAX);
benkatz 51:6cd89bd6fcaa 150 wait_us(10);
benkatz 51:6cd89bd6fcaa 151 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 152 wait_us(10);
benkatz 28:8c7e29f719c5 153 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 154 wait_us(10);
benkatz 55:c4c9fec8539c 155 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "h", "Temp Cutoff (C) (0 = none)", "0", "150", TEMP_MAX);
benkatz 55:c4c9fec8539c 156 wait_us(10);
benkatz 55:c4c9fec8539c 157 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "c", "Continuous Current (A)", "0", "40.0", I_MAX_CONT);
benkatz 55:c4c9fec8539c 158 wait_us(10);
adimmit 73:5676f1232a81 159 //CURRENT CONTROLLER PARAMS
adimmit 73:5676f1232a81 160 printf("CURRENT CONTROLLER PARAMS\n\r");
adimmit 73:5676f1232a81 161 wait_us(10);
adimmit 72:3163691b0851 162 printf(" %-4s %-31s %-5s %-6s %f\n\r", "s", "Current Controller K_SCALE", "0", "0.1", K_SCALE); //ADDED --> FOR CURRENT CONTROL GAINS (KP)
adimmit 71:b314182de37f 163 wait_us(10);
adimmit 72:3163691b0851 164 printf(" %-4s %-31s %-5s %-6s %f\n\r", "d", "Current Controller KI_D", "0", "1.0", KI_D); //ADDED --> FOR CURRENT CONTROL GAINS (KI D-Axis)
adimmit 71:b314182de37f 165 wait_us(10);
adimmit 72:3163691b0851 166 printf(" %-4s %-31s %-5s %-6s %f\n\r", "q", "Current Controller KI_Q", "0", "1.0", KI_Q); //ADDED --> FOR CURRENT CONTROL GAINS (KI Q-Axis)
adimmit 71:b314182de37f 167 wait_us(10);
adimmit 73:5676f1232a81 168 //MOTOR PARAMS
adimmit 73:5676f1232a81 169 printf("MOTOR PARAMS\n\r");
adimmit 73:5676f1232a81 170 wait_us(10);
adimmit 73:5676f1232a81 171 printf(" %-4s %-31s %-5s %-6s %f\n\r", "r", "Motor Phase Resistance (ohms)", "0", "1.0", R_PHASE);
adimmit 73:5676f1232a81 172 wait_us(10);
adimmit 73:5676f1232a81 173 printf(" %-4s %-31s %-5s %-6s %f\n\r", "a", "D-axis inductance (H)", "0", "0.1", L_D);
adimmit 73:5676f1232a81 174 wait_us(10);
adimmit 73:5676f1232a81 175 printf(" %-4s %-31s %-5s %-6s %f\n\r", "e", "Q-axis inductance (H)", "0", "0.1", L_Q);
adimmit 73:5676f1232a81 176 wait_us(10);
adimmit 75:c7fbacd92b8f 177 //printf(" %-4s %-31s %-5s %-6s %d\n\r", "n", "Number of Pole Pairs (NPP)", "0", "40", NPP);
adimmit 75:c7fbacd92b8f 178 //wait_us(10);
adimmit 73:5676f1232a81 179 //ACTUATOR PARAMS
adimmit 73:5676f1232a81 180 printf("ACTUATOR PARAMS\n\r");
adimmit 73:5676f1232a81 181 wait_us(10);
adimmit 74:fcc5f8e7f0ef 182 printf(" %-4s %-31s %-5s %-6s %f\n\r", "p", "Torque Constance Nm/amp", "0", "1.0", KT);
adimmit 73:5676f1232a81 183 wait_us(10);
adimmit 73:5676f1232a81 184 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "g", "Module Gear Ratio", "0", "20.0", GR);
adimmit 73:5676f1232a81 185 wait_us(10);
adimmit 73:5676f1232a81 186 printf(" %-4s %-31s %-5s %-6s %.2f\n\r", "k", "KT*GR", "0", "20.0", KT_OUT);
adimmit 73:5676f1232a81 187 wait_us(10);
adimmit 74:fcc5f8e7f0ef 188 printf(" %-4s %-31s %-5s %-6s %f\n\r", "w", "KT = WB*NPP*3/2", "0", "1.0", WB);
adimmit 73:5676f1232a81 189 wait_us(10);
adimmit 73:5676f1232a81 190 //THERMAL PARAMS
adimmit 73:5676f1232a81 191 printf("THERMAL PARAMS\n\r");
adimmit 73:5676f1232a81 192 wait_us(10);
adimmit 73:5676f1232a81 193 printf(" %-4s %-31s %-5s %-6s %.2f\n\r", "x", "Thermal Resistance (K-W/J)", "0", "10.0", R_TH);
adimmit 73:5676f1232a81 194 wait_us(10);
adimmit 73:5676f1232a81 195 printf(" %-4s %-31s %-5s %-6s %f\n\r", "y", "Observer M Matrix (K/J)", "0", "1.0", INV_M_TH);
adimmit 73:5676f1232a81 196 wait_us(10);
adimmit 73:5676f1232a81 197 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "z", "Ambient Temp @ Calibration (C)", "0", "35.0", T_AMBIENT);
adimmit 73:5676f1232a81 198 wait_us(10);
adimmit 73:5676f1232a81 199 //END CONFIGS
benkatz 24:58c2d7571207 200 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 201 wait_us(10);
benkatz 24:58c2d7571207 202 state_change = 0;
benkatz 24:58c2d7571207 203 }
benkatz 22:60276ba87ac6 204
benkatz 23:2adf23ee0305 205 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 206 drv.enable_gd();
benkatz 47:e1196a851f76 207 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 208 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 209 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 210 wait(.001);
benkatz 23:2adf23ee0305 211 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 212 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 213 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 214 state_change = 0;
benkatz 28:8c7e29f719c5 215 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 216 }
benkatz 22:60276ba87ac6 217
benkatz 23:2adf23ee0305 218 void calibrate(void){
benkatz 44:8040fa2fcb0d 219 drv.enable_gd();
benkatz 47:e1196a851f76 220 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 221 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 222 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 223 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 224 gpio.led->write(0);; // Turn off status LED
benkatz 55:c4c9fec8539c 225 wait(.05);
benkatz 55:c4c9fec8539c 226 R_NOMINAL = 0;
benkatz 55:c4c9fec8539c 227 state = INIT_TEMP_MODE;
saloutos 58:32e8927fe39f 228 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 55:c4c9fec8539c 229 //drv.disable_gd();
saloutos 58:32e8927fe39f 230 state_change = 0;
benkatz 55:c4c9fec8539c 231
benkatz 23:2adf23ee0305 232 }
benkatz 23:2adf23ee0305 233
benkatz 23:2adf23ee0305 234 void print_encoder(void){
benkatz 48:74a40481740c 235 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 236 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 237 wait(.001);
benkatz 22:60276ba87ac6 238 }
benkatz 20:bf9ea5125d52 239
benkatz 23:2adf23ee0305 240 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 241 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 55:c4c9fec8539c 242 //float testing[1000];
benkatz 55:c4c9fec8539c 243 //float testing2[1000];
benkatz 2:8724412ad628 244 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 245 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 55:c4c9fec8539c 246 //gpio.led->write(1);
benkatz 23:2adf23ee0305 247 ///Sample current always ///
benkatz 25:f5741040c4bb 248 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 249 //volatile int delay;
benkatz 20:bf9ea5125d52 250 //for (delay = 0; delay < 55; delay++);
benkatz 55:c4c9fec8539c 251
benkatz 47:e1196a851f76 252 spi.Sample(DT); // sample position sensor
benkatz 56:fe5056ac6740 253 /*
benkatz 56:fe5056ac6740 254 if(count < 10){printf("%d\n\r", spi.GetRawPosition());}
benkatz 56:fe5056ac6740 255 count ++;
adimmit 77:81c2cbc5d906 256 */
adimmit 77:81c2cbc5d906 257
adimmit 77:81c2cbc5d906 258 //FILTER
adimmit 77:81c2cbc5d906 259 float velocity = (1.0f/GR)*spi.GetMechVelocity();
adimmit 77:81c2cbc5d906 260
benkatz 37:c0f352d6e8e3 261 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 262 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 263 controller.adc3_raw = ADC3->DR;
adimmit 77:81c2cbc5d906 264
adimmit 78:4f481ff040ee 265 if (velocity > V_U12_MAX || velocity < V_U12_MIN) {
adimmit 78:4f481ff040ee 266 controller.dtheta_mech = 0.0; //previous velocity?
adimmit 77:81c2cbc5d906 267 controller.dtheta_elec = 0.0;
adimmit 77:81c2cbc5d906 268 controller.theta_elec = prev_elec;
adimmit 77:81c2cbc5d906 269 controller.theta_mech = prev_mech;
adimmit 77:81c2cbc5d906 270 failure_counter++;
adimmit 78:4f481ff040ee 271 //pc.printf("FAILURE\n\r");
adimmit 77:81c2cbc5d906 272 } else {
adimmit 77:81c2cbc5d906 273 controller.theta_elec = spi.GetElecPosition();
adimmit 77:81c2cbc5d906 274 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition(); // should these be divided by gear ratio???
adimmit 77:81c2cbc5d906 275 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity(); // mech pos isn't pre-multiplied by GR in position sensor function...
adimmit 77:81c2cbc5d906 276 controller.dtheta_elec = spi.GetElecVelocity();
adimmit 77:81c2cbc5d906 277 prev_elec = controller.theta_elec;
adimmit 77:81c2cbc5d906 278 prev_mech = controller.theta_mech;
adimmit 78:4f481ff040ee 279 prev_dmech = controller.dtheta_mech;
adimmit 78:4f481ff040ee 280 prev_delec = controller.dtheta_elec;
adimmit 77:81c2cbc5d906 281 }
adimmit 77:81c2cbc5d906 282
benkatz 51:6cd89bd6fcaa 283 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 284
benkatz 55:c4c9fec8539c 285
benkatz 55:c4c9fec8539c 286
benkatz 23:2adf23ee0305 287 ///
benkatz 20:bf9ea5125d52 288
benkatz 23:2adf23ee0305 289 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 290 switch(state){
benkatz 37:c0f352d6e8e3 291 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 292 if(state_change){
benkatz 23:2adf23ee0305 293 enter_menu_state();
benkatz 23:2adf23ee0305 294 }
benkatz 55:c4c9fec8539c 295 update_observer(&controller, &observer);
benkatz 23:2adf23ee0305 296 break;
benkatz 22:60276ba87ac6 297
benkatz 23:2adf23ee0305 298 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 299 if(state_change){
benkatz 23:2adf23ee0305 300 calibrate();
benkatz 23:2adf23ee0305 301 }
benkatz 23:2adf23ee0305 302 break;
benkatz 55:c4c9fec8539c 303 case INIT_TEMP_MODE:
benkatz 55:c4c9fec8539c 304 if(state_change){
benkatz 55:c4c9fec8539c 305 enter_torque_mode();
benkatz 55:c4c9fec8539c 306 count = 0;
benkatz 55:c4c9fec8539c 307 observer.resistance = 0.0f;
benkatz 55:c4c9fec8539c 308 }
benkatz 55:c4c9fec8539c 309 controller.i_d_ref = -10.0f;
benkatz 55:c4c9fec8539c 310 controller.i_q_ref = 0.0f;
benkatz 55:c4c9fec8539c 311 commutate(&controller, &observer, &gpio, controller.theta_elec);
benkatz 55:c4c9fec8539c 312
benkatz 55:c4c9fec8539c 313 if(count > 200)
benkatz 55:c4c9fec8539c 314 {
benkatz 55:c4c9fec8539c 315 float r_meas = controller.v_d*(DTC_MAX-DTC_MIN)/(controller.i_d*SQRT3);
benkatz 55:c4c9fec8539c 316 //testing2[count-100] = controller.i_d;
benkatz 55:c4c9fec8539c 317 observer.resistance += .001f*r_meas;
benkatz 55:c4c9fec8539c 318 }
benkatz 55:c4c9fec8539c 319 if(count > 1200)
benkatz 55:c4c9fec8539c 320 {
benkatz 55:c4c9fec8539c 321 count = 0;
benkatz 55:c4c9fec8539c 322 state = REST_MODE;
benkatz 55:c4c9fec8539c 323 state_change = 1;
benkatz 55:c4c9fec8539c 324 gpio.led->write(0);
benkatz 55:c4c9fec8539c 325 observer.temperature = (double)(T_AMBIENT + ((observer.resistance/R_NOMINAL) - 1.0f)*254.5f);
benkatz 55:c4c9fec8539c 326 printf("Winding Resistance: %f\n\r", observer.resistance);
benkatz 55:c4c9fec8539c 327 printf("Winding Temperature: %f\n\r", observer.temperature);
benkatz 55:c4c9fec8539c 328
benkatz 55:c4c9fec8539c 329 if(R_NOMINAL==0)
benkatz 55:c4c9fec8539c 330 {
benkatz 55:c4c9fec8539c 331 printf("Saving winding resistance\n\r");
benkatz 55:c4c9fec8539c 332 R_NOMINAL = observer.resistance;
benkatz 55:c4c9fec8539c 333 if (!prefs.ready()) prefs.open();
benkatz 55:c4c9fec8539c 334 prefs.flush(); // write offset and lookup table to flash
benkatz 55:c4c9fec8539c 335 prefs.close();
benkatz 55:c4c9fec8539c 336 }
benkatz 55:c4c9fec8539c 337 //for(int i = 0; i<1000; i++){printf("%f \n\r", testing[i]);}
benkatz 55:c4c9fec8539c 338 }
benkatz 55:c4c9fec8539c 339
benkatz 55:c4c9fec8539c 340 count++;
benkatz 55:c4c9fec8539c 341 break;
benkatz 26:2b865c00d7e9 342 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 343 if(state_change){
benkatz 25:f5741040c4bb 344 enter_torque_mode();
benkatz 28:8c7e29f719c5 345 count = 0;
adimmit 77:81c2cbc5d906 346 counter = 0;
benkatz 25:f5741040c4bb 347 }
benkatz 28:8c7e29f719c5 348 else{
benkatz 37:c0f352d6e8e3 349 /*
benkatz 37:c0f352d6e8e3 350 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 351 gpio.
benkatz 47:e1196a851f76 352 ->write(0);
benkatz 37:c0f352d6e8e3 353 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 354 state = REST_MODE;
benkatz 37:c0f352d6e8e3 355 state_change = 1;
benkatz 37:c0f352d6e8e3 356 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 357 }
benkatz 37:c0f352d6e8e3 358 */
benkatz 37:c0f352d6e8e3 359
benkatz 28:8c7e29f719c5 360 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 361 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 362 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 363 controller.kp = 0;
benkatz 37:c0f352d6e8e3 364 controller.kd = 0;
benkatz 37:c0f352d6e8e3 365 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 366 }
benkatz 55:c4c9fec8539c 367
benkatz 50:ba72df25d10f 368 torque_control(&controller);
benkatz 55:c4c9fec8539c 369 update_observer(&controller, &observer);
benkatz 55:c4c9fec8539c 370 field_weaken(&controller);
benkatz 49:83d83040ea51 371 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
adimmit 77:81c2cbc5d906 372
adimmit 77:81c2cbc5d906 373 //LOG THE POSITION AND ADD TO THE STACK
adimmit 77:81c2cbc5d906 374 for( int i = 0; i<LOG_POINTS-1; i++) {
adimmit 77:81c2cbc5d906 375 pos_high_frequency[i] = pos_high_frequency[i+1];
adimmit 77:81c2cbc5d906 376 }
adimmit 77:81c2cbc5d906 377 pos_high_frequency[LOG_POINTS-1] = spi.GetMechPosition();
adimmit 77:81c2cbc5d906 378
adimmit 77:81c2cbc5d906 379 if (counter == 1000000) {
adimmit 77:81c2cbc5d906 380 pc.printf("Num Failure: %d\n\r", failure_counter);
adimmit 77:81c2cbc5d906 381 counter = 0;
adimmit 77:81c2cbc5d906 382 }
adimmit 77:81c2cbc5d906 383
benkatz 49:83d83040ea51 384 controller.timeout++;
benkatz 55:c4c9fec8539c 385
benkatz 55:c4c9fec8539c 386 if(controller.otw_flag)
benkatz 55:c4c9fec8539c 387 {
benkatz 55:c4c9fec8539c 388 state = REST_MODE;
benkatz 55:c4c9fec8539c 389 state_change = 1;
benkatz 55:c4c9fec8539c 390 gpio.led->write(0);
benkatz 55:c4c9fec8539c 391 }
benkatz 55:c4c9fec8539c 392
benkatz 49:83d83040ea51 393 count++;
adimmit 77:81c2cbc5d906 394 counter++;
benkatz 55:c4c9fec8539c 395 }
benkatz 55:c4c9fec8539c 396
benkatz 55:c4c9fec8539c 397
benkatz 55:c4c9fec8539c 398 break;
benkatz 37:c0f352d6e8e3 399
benkatz 23:2adf23ee0305 400 case SETUP_MODE:
benkatz 23:2adf23ee0305 401 if(state_change){
benkatz 24:58c2d7571207 402 enter_setup_state();
benkatz 23:2adf23ee0305 403 }
benkatz 23:2adf23ee0305 404 break;
benkatz 23:2adf23ee0305 405 case ENCODER_MODE:
benkatz 23:2adf23ee0305 406 print_encoder();
benkatz 23:2adf23ee0305 407 break;
benkatz 37:c0f352d6e8e3 408 }
benkatz 2:8724412ad628 409 }
benkatz 55:c4c9fec8539c 410 //gpio.led->write(0);
benkatz 23:2adf23ee0305 411 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 412 }
benkatz 0:4e1c4df6aabd 413
benkatz 25:f5741040c4bb 414
benkatz 24:58c2d7571207 415 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 416 char cmd_id = 0;
benkatz 25:f5741040c4bb 417 char char_count = 0;
benkatz 24:58c2d7571207 418
benkatz 25:f5741040c4bb 419 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 420 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 421 void serial_interrupt(void){
benkatz 23:2adf23ee0305 422 while(pc.readable()){
benkatz 23:2adf23ee0305 423 char c = pc.getc();
benkatz 25:f5741040c4bb 424 if(c == 27){
benkatz 25:f5741040c4bb 425 state = REST_MODE;
benkatz 25:f5741040c4bb 426 state_change = 1;
benkatz 25:f5741040c4bb 427 char_count = 0;
benkatz 25:f5741040c4bb 428 cmd_id = 0;
benkatz 55:c4c9fec8539c 429 gpio.led->write(0);;
benkatz 25:f5741040c4bb 430 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 431 }
benkatz 24:58c2d7571207 432 if(state == REST_MODE){
benkatz 23:2adf23ee0305 433 switch (c){
benkatz 23:2adf23ee0305 434 case 'c':
benkatz 23:2adf23ee0305 435 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 436 state_change = 1;
benkatz 23:2adf23ee0305 437 break;
benkatz 26:2b865c00d7e9 438 case 'm':
benkatz 26:2b865c00d7e9 439 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 440 state_change = 1;
benkatz 23:2adf23ee0305 441 break;
benkatz 23:2adf23ee0305 442 case 'e':
benkatz 23:2adf23ee0305 443 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 444 state_change = 1;
benkatz 23:2adf23ee0305 445 break;
benkatz 23:2adf23ee0305 446 case 's':
benkatz 23:2adf23ee0305 447 state = SETUP_MODE;
benkatz 23:2adf23ee0305 448 state_change = 1;
benkatz 23:2adf23ee0305 449 break;
benkatz 37:c0f352d6e8e3 450 case 'z':
benkatz 37:c0f352d6e8e3 451 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 452 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 453 wait_us(20);
benkatz 37:c0f352d6e8e3 454 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 455 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 456 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 457 prefs.close();
benkatz 37:c0f352d6e8e3 458 prefs.load();
benkatz 37:c0f352d6e8e3 459 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 460 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 461
benkatz 37:c0f352d6e8e3 462 break;
adimmit 77:81c2cbc5d906 463 case 'p':
adimmit 77:81c2cbc5d906 464 //turn off switching
adimmit 77:81c2cbc5d906 465 state = REST_MODE;
adimmit 77:81c2cbc5d906 466 state_change = 1;
adimmit 77:81c2cbc5d906 467 //print the characters to terminal
adimmit 77:81c2cbc5d906 468 for (int i=0; i< LOG_POINTS; i++) {
adimmit 77:81c2cbc5d906 469 printf("%f\n\r", pos_high_frequency[i]); //return carrige
adimmit 77:81c2cbc5d906 470 }
adimmit 77:81c2cbc5d906 471 break;
benkatz 37:c0f352d6e8e3 472 }
benkatz 37:c0f352d6e8e3 473
benkatz 24:58c2d7571207 474 }
benkatz 24:58c2d7571207 475 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 476 if(c == 13){
benkatz 24:58c2d7571207 477 switch (cmd_id){
benkatz 24:58c2d7571207 478 case 'b':
benkatz 24:58c2d7571207 479 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 480 break;
benkatz 24:58c2d7571207 481 case 'i':
benkatz 24:58c2d7571207 482 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 483 break;
benkatz 26:2b865c00d7e9 484 case 'm':
benkatz 26:2b865c00d7e9 485 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 486 break;
benkatz 24:58c2d7571207 487 case 'l':
elijahsj 66:3947255b18c5 488 I_MAX = fmaxf(fminf(atof(cmd_val), 65.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 489 break;
benkatz 51:6cd89bd6fcaa 490 case 'f':
benkatz 51:6cd89bd6fcaa 491 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 492 break;
benkatz 28:8c7e29f719c5 493 case 't':
benkatz 28:8c7e29f719c5 494 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 495 break;
benkatz 55:c4c9fec8539c 496 case 'h':
benkatz 55:c4c9fec8539c 497 TEMP_MAX = fmaxf(fminf(atof(cmd_val), 150.0f), 0.0f);
benkatz 55:c4c9fec8539c 498 break;
benkatz 55:c4c9fec8539c 499 case 'c':
benkatz 55:c4c9fec8539c 500 I_MAX_CONT = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 55:c4c9fec8539c 501 break;
adimmit 71:b314182de37f 502 case 's': //CURRENT CONTROL K_SCALE
adimmit 71:b314182de37f 503 K_SCALE = fmaxf(fminf(atof(cmd_val), 0.1f), 0.0f);
adimmit 71:b314182de37f 504 break;
adimmit 71:b314182de37f 505 case 'd': //CURRENT CONTORL KI_D
adimmit 71:b314182de37f 506 KI_D = fmaxf(fminf(atof(cmd_val), 1.0f), 0.0f);
adimmit 71:b314182de37f 507 break;
adimmit 71:b314182de37f 508 case 'q': //CURRENT CONTORL KI_Q
adimmit 71:b314182de37f 509 KI_Q = fmaxf(fminf(atof(cmd_val), 1.0f), 0.0f);
adimmit 71:b314182de37f 510 break;
adimmit 73:5676f1232a81 511 case 'r':
adimmit 73:5676f1232a81 512 R_PHASE = fmaxf(fminf(atof(cmd_val), 1.0f), 0.0f);
adimmit 73:5676f1232a81 513 break;
adimmit 73:5676f1232a81 514 case 'a':
adimmit 73:5676f1232a81 515 L_D = fmaxf(fminf(atof(cmd_val), 0.1f), 0.0f);
adimmit 73:5676f1232a81 516 break;
adimmit 73:5676f1232a81 517 case 'e':
adimmit 73:5676f1232a81 518 L_Q = fmaxf(fminf(atof(cmd_val), 0.1f), 0.0f);
adimmit 73:5676f1232a81 519 break;
adimmit 75:c7fbacd92b8f 520 //case 'n':
adimmit 75:c7fbacd92b8f 521 //NPP = atoi(cmd_val);
adimmit 75:c7fbacd92b8f 522 //break;
adimmit 73:5676f1232a81 523 case 'p':
adimmit 73:5676f1232a81 524 KT = fmaxf(fminf(atof(cmd_val), 1.0f), 0.0f);
adimmit 73:5676f1232a81 525 break;
adimmit 73:5676f1232a81 526 case 'g':
adimmit 73:5676f1232a81 527 GR = fmaxf(fminf(atof(cmd_val), 20.0f), 0.0f);
adimmit 73:5676f1232a81 528 break;
adimmit 73:5676f1232a81 529 case 'k':
adimmit 73:5676f1232a81 530 KT_OUT = fmaxf(fminf(atof(cmd_val), 20.0f), 0.0f);
adimmit 73:5676f1232a81 531 break;
adimmit 73:5676f1232a81 532 case 'w':
adimmit 73:5676f1232a81 533 WB = fmaxf(fminf(atof(cmd_val), 1.0f), 0.0f);
adimmit 73:5676f1232a81 534 break;
adimmit 73:5676f1232a81 535 case 'x':
adimmit 73:5676f1232a81 536 R_TH = fmaxf(fminf(atof(cmd_val), 10.0f), 0.0f);
adimmit 73:5676f1232a81 537 break;
adimmit 73:5676f1232a81 538 case 'y':
adimmit 73:5676f1232a81 539 INV_M_TH = fmaxf(fminf(atof(cmd_val), 1.0f), 0.0f);
adimmit 73:5676f1232a81 540 break;
adimmit 73:5676f1232a81 541 case 'z':
adimmit 73:5676f1232a81 542 T_AMBIENT = fmaxf(fminf(atof(cmd_val), 35.0f), 0.0f);
adimmit 73:5676f1232a81 543 break;
benkatz 24:58c2d7571207 544 default:
benkatz 24:58c2d7571207 545 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 546 break;
benkatz 24:58c2d7571207 547 }
benkatz 24:58c2d7571207 548
benkatz 24:58c2d7571207 549 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 550 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 551 prefs.close();
benkatz 24:58c2d7571207 552 prefs.load();
benkatz 24:58c2d7571207 553 state_change = 1;
benkatz 24:58c2d7571207 554 char_count = 0;
benkatz 24:58c2d7571207 555 cmd_id = 0;
benkatz 24:58c2d7571207 556 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 557 }
benkatz 24:58c2d7571207 558 else{
benkatz 24:58c2d7571207 559 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 560 else{
benkatz 24:58c2d7571207 561 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 562
benkatz 24:58c2d7571207 563 }
benkatz 24:58c2d7571207 564 pc.putc(c);
benkatz 24:58c2d7571207 565 char_count++;
benkatz 23:2adf23ee0305 566 }
benkatz 23:2adf23ee0305 567 }
benkatz 24:58c2d7571207 568 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 569 switch (c){
benkatz 24:58c2d7571207 570 case 27:
benkatz 24:58c2d7571207 571 state = REST_MODE;
benkatz 24:58c2d7571207 572 state_change = 1;
benkatz 24:58c2d7571207 573 break;
benkatz 24:58c2d7571207 574 }
benkatz 24:58c2d7571207 575 }
benkatz 49:83d83040ea51 576 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 577 switch (c){
benkatz 49:83d83040ea51 578 case 'd':
benkatz 49:83d83040ea51 579 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 580 controller.i_d_ref = 0;
adimmit 77:81c2cbc5d906 581 break;
adimmit 76:4fd876d4cf2b 582 case 'p':
adimmit 76:4fd876d4cf2b 583 //turn off switching
adimmit 76:4fd876d4cf2b 584 state = REST_MODE;
adimmit 76:4fd876d4cf2b 585 state_change = 1;
adimmit 76:4fd876d4cf2b 586 //print the characters to terminal
adimmit 76:4fd876d4cf2b 587 for (int i=0; i< LOG_POINTS; i++) {
adimmit 76:4fd876d4cf2b 588 printf("%f\n\r", pos_high_frequency[i]); //return carrige
adimmit 76:4fd876d4cf2b 589 }
adimmit 77:81c2cbc5d906 590 break;
benkatz 49:83d83040ea51 591 }
benkatz 49:83d83040ea51 592 }
benkatz 24:58c2d7571207 593
benkatz 24:58c2d7571207 594 }
benkatz 22:60276ba87ac6 595 }
benkatz 0:4e1c4df6aabd 596
benkatz 0:4e1c4df6aabd 597 int main() {
benkatz 20:bf9ea5125d52 598 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 599 controller.mode = 0;
benkatz 23:2adf23ee0305 600 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 55:c4c9fec8539c 601 wait_us(100);
benkatz 44:8040fa2fcb0d 602
benkatz 44:8040fa2fcb0d 603 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 604 wait_us(100);
benkatz 45:26801179208e 605 drv.calibrate();
benkatz 45:26801179208e 606 wait_us(100);
benkatz 55:c4c9fec8539c 607 drv.write_DCR(0x0, DIS_GDF_DIS, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 55:c4c9fec8539c 608 wait_us(100);
benkatz 55:c4c9fec8539c 609 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x1, 0x1, 0x1, SEN_LVL_1_0); // calibrate shunt amplifiers
benkatz 44:8040fa2fcb0d 610 wait_us(100);
benkatz 55:c4c9fec8539c 611 zero_current(&controller.adc1_offset, &controller.adc2_offset);
benkatz 44:8040fa2fcb0d 612 wait_us(100);
benkatz 55:c4c9fec8539c 613 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x1, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 55:c4c9fec8539c 614 wait_us(100);
benkatz 55:c4c9fec8539c 615 drv.write_OCPCR(TRETRY_50US, DEADTIME_50NS, OCP_NONE, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 616
benkatz 45:26801179208e 617 //drv.enable_gd();
benkatz 47:e1196a851f76 618 drv.disable_gd();
benkatz 55:c4c9fec8539c 619 //zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 55:c4c9fec8539c 620 //drv.enable_gd();
benkatz 20:bf9ea5125d52 621
benkatz 55:c4c9fec8539c 622 wait_us(100);
benkatz 55:c4c9fec8539c 623
benkatz 23:2adf23ee0305 624 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 625 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 626 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 627
benkatz 55:c4c9fec8539c 628 wait_us(100);
benkatz 37:c0f352d6e8e3 629 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 37:c0f352d6e8e3 630 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 53:e85efce8c1eb 631 // attach 'CAN receive-complete' interrupt handler
benkatz 53:e85efce8c1eb 632
benkatz 53:e85efce8c1eb 633 // If preferences haven't been user configured yet, set defaults
benkatz 53:e85efce8c1eb 634 prefs.load(); // Read flash
benkatz 55:c4c9fec8539c 635 can.filter(CAN_ID , 0xFFF, CANStandard, 0);
benkatz 28:8c7e29f719c5 636 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 637 txMsg.len = 6;
benkatz 26:2b865c00d7e9 638 rxMsg.len = 8;
benkatz 53:e85efce8c1eb 639 can.attach(&onMsgReceived);
benkatz 23:2adf23ee0305 640
adimmit 73:5676f1232a81 641 //SETUP ALL FLASH VALUES
benkatz 37:c0f352d6e8e3 642 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 643 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 644 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 645 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 55:c4c9fec8539c 646 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=12;}
benkatz 48:74a40481740c 647 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 648 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 55:c4c9fec8539c 649 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 1000;}
benkatz 55:c4c9fec8539c 650 if(isnan(R_NOMINAL) || R_NOMINAL==-1){R_NOMINAL = 0.0f;}
benkatz 55:c4c9fec8539c 651 if(isnan(TEMP_MAX) || TEMP_MAX==-1){TEMP_MAX = 125.0f;}
benkatz 55:c4c9fec8539c 652 if(isnan(I_MAX_CONT) || I_MAX_CONT==-1){I_MAX_CONT = 14.0f;}
adimmit 73:5676f1232a81 653 //CURRENT CONTROLLER
adimmit 71:b314182de37f 654 if(isnan(K_SCALE) || K_SCALE==-1){K_SCALE = 0.00013310f;} //CURRENT CONTROLLER K_SCALE
adimmit 71:b314182de37f 655 if(isnan(KI_D) || KI_D==-1){KI_D = 0.0373f;} //CURRENT CONTROLLER KI_D
adimmit 71:b314182de37f 656 if(isnan(KI_Q) || KI_Q==-1){KI_Q = 0.0373f;} //CURRENT CONTROLLER KI_Q
adimmit 73:5676f1232a81 657
adimmit 73:5676f1232a81 658 //DEFAULT MOTOR PARAMS ARE FOR THE U12 MODULE BELOW
adimmit 73:5676f1232a81 659 //MOTOR PARAMS
adimmit 73:5676f1232a81 660 if(isnan(R_PHASE) || R_PHASE==-1){R_PHASE = 0.158f;}
adimmit 73:5676f1232a81 661 if(isnan(L_D) || L_D==-1){L_D = 0.000084f;}
adimmit 73:5676f1232a81 662 if(isnan(L_Q) || L_Q==-1){L_Q = 0.000084f;}
adimmit 75:c7fbacd92b8f 663 //if(isnan(NPP) || NPP==-1){NPP = 21;}
adimmit 73:5676f1232a81 664 //ACTUATOR PARAMS
adimmit 73:5676f1232a81 665 if(isnan(KT) || KT==-1){KT = 0.1916f;}
adimmit 73:5676f1232a81 666 if(isnan(GR) || GR==-1){GR = 6.0f;}
adimmit 73:5676f1232a81 667 if(isnan(KT_OUT) || KT_OUT==-1){KT_OUT = 1.15f;}
adimmit 73:5676f1232a81 668 if(isnan(WB) || WB==-1){WB = 0.00608f;}
adimmit 73:5676f1232a81 669 //THERMAL OBSERVER
adimmit 73:5676f1232a81 670 if(isnan(R_TH) || R_TH==-1){R_TH = 1.25f;}
adimmit 73:5676f1232a81 671 if(isnan(INV_M_TH) || INV_M_TH==-1){INV_M_TH = 0.02825f;}
adimmit 73:5676f1232a81 672 if(isnan(T_AMBIENT) || T_AMBIENT==-1){T_AMBIENT = 25.0f;}
adimmit 73:5676f1232a81 673
benkatz 25:f5741040c4bb 674 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 675 spi.SetMechOffset(M_OFFSET);
benkatz 56:fe5056ac6740 676 spi.Sample(1.0f);
benkatz 56:fe5056ac6740 677 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 678 else if (spi.GetMechPosition() < -PI){spi.SetMechOffset(M_OFFSET-2.0f*PI);}
benkatz 56:fe5056ac6740 679
adimmit 77:81c2cbc5d906 680 //INITIALIZE THE PREVIOUS ANGLES FOR FILTER
adimmit 77:81c2cbc5d906 681 prev_mech = spi.GetMechPosition();
adimmit 77:81c2cbc5d906 682 prev_elec = spi.GetElecPosition();
adimmit 77:81c2cbc5d906 683
benkatz 23:2adf23ee0305 684 int lut[128] = {0};
benkatz 23:2adf23ee0305 685 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 686 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 687 init_controller_params(&controller);
benkatz 55:c4c9fec8539c 688
benkatz 45:26801179208e 689
benkatz 26:2b865c00d7e9 690 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 691 wait(.01);
adimmit 73:5676f1232a81 692 pc.printf("\n\r\n\r MIT Biomimetics Motor Driver\n\r\n\r");
benkatz 20:bf9ea5125d52 693 wait(.01);
benkatz 23:2adf23ee0305 694 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 695 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 696 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 697 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 698 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 699 printf(" CAN ID: %d\n\r", CAN_ID);
adimmit 75:c7fbacd92b8f 700 printf(" POLE PAIRS: %d\n\r", NPP);
benkatz 44:8040fa2fcb0d 701
benkatz 44:8040fa2fcb0d 702
benkatz 55:c4c9fec8539c 703 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 44:8040fa2fcb0d 704
benkatz 44:8040fa2fcb0d 705
benkatz 23:2adf23ee0305 706 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 50:ba72df25d10f 707
benkatz 20:bf9ea5125d52 708
adimmit 77:81c2cbc5d906 709 int counter = 0;
benkatz 0:4e1c4df6aabd 710 while(1) {
benkatz 55:c4c9fec8539c 711 //drv.print_faults();
benkatz 53:e85efce8c1eb 712 wait(.1);
benkatz 57:0795d2add37e 713
benkatz 55:c4c9fec8539c 714 if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
benkatz 55:c4c9fec8539c 715 /*
benkatz 47:e1196a851f76 716 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 717 {
benkatz 55:c4c9fec8539c 718 if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
benkatz 55:c4c9fec8539c 719 //printf("%f %f\n\r", controller.dtheta_mech, controller.i_d_ref);
benkatz 48:74a40481740c 720 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 721 //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 722 //printf("%.3f %.3f %.3f %.3f\n\r", controller.dtheta_elec, observer.resistance, observer.temperature, observer.temp_measured);
benkatz 55:c4c9fec8539c 723 //printf("%.3f %.3f\n\r" , observer.temperature, observer.temp_measured);
benkatz 47:e1196a851f76 724 }
benkatz 55:c4c9fec8539c 725
benkatz 50:ba72df25d10f 726 */
benkatz 47:e1196a851f76 727
benkatz 0:4e1c4df6aabd 728 }
benkatz 0:4e1c4df6aabd 729 }