Aditya Mehrotra / motor_driver_screaming_fix

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

main.cpp@76:4fd876d4cf2b, 2022-10-18 (annotated)

Committer:
adimmit
Date:
Tue Oct 18 16:22:24 2022 +0000
Revision:
76:4fd876d4cf2b
Parent:
75:c7fbacd92b8f
Child:
77:81c2cbc5d906
added some position data logging;

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