Aditya Mehrotra / motor_driver_screaming_fix

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

main.cpp@77:81c2cbc5d906, 21 months ago (annotated)

Committer:
adimmit
Date:
Thu Nov 10 15:35:33 2022 +0000
Revision:
77:81c2cbc5d906
Parent:
76:4fd876d4cf2b
Child:
78:4f481ff040ee
fix for screaming?;

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