Aditya Mehrotra / motor_driver_screaming_fix

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

main.cpp@71:b314182de37f, 24 months ago (annotated)

Committer:
adimmit
Date:
Fri Aug 26 21:44:23 2022 +0000
Revision:
71:b314182de37f
Parent:
70:2ea6c555a2cb
Child:
72:3163691b0851
modified by adding current controller gains in flash;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 22:60276ba87ac6 1 /// high-bandwidth 3-phase motor control, for robots
benkatz 45:26801179208e 2 /// Written by benkatz, with much inspiration from Bayley Wang, Nick Kirkby, Shane Colton, David Otten, and others
benkatz 22:60276ba87ac6 3 /// Hardware documentation can be found at build-its.blogspot.com
benkatz 22:60276ba87ac6 4 /// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling
benkatz 47:e1196a851f76 5 /// Version for the TI DRV8323 Everything Chip
benkatz 22:60276ba87ac6 6
benkatz 55:c4c9fec8539c 7 #define REST_MODE 0
benkatz 55:c4c9fec8539c 8 #define CALIBRATION_MODE 1
benkatz 55:c4c9fec8539c 9 #define MOTOR_MODE 2
benkatz 55:c4c9fec8539c 10 #define SETUP_MODE 4
benkatz 55:c4c9fec8539c 11 #define ENCODER_MODE 5
benkatz 55:c4c9fec8539c 12 #define INIT_TEMP_MODE 6
benkatz 22:60276ba87ac6 13
benkatz 55:c4c9fec8539c 14 #define VERSION_NUM "1.10"
benkatz 26:2b865c00d7e9 15
benkatz 18:f1d56f4acb39 16
benkatz 26:2b865c00d7e9 17 float __float_reg[64]; // Floats stored in flash
benkatz 26:2b865c00d7e9 18 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 19
benkatz 0:4e1c4df6aabd 20 #include "mbed.h"
benkatz 0:4e1c4df6aabd 21 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 22 #include "structs.h"
benkatz 55:c4c9fec8539c 23 #include "foc.h"
benkatz 22:60276ba87ac6 24 #include "calibration.h"
benkatz 20:bf9ea5125d52 25 #include "hw_setup.h"
benkatz 23:2adf23ee0305 26 #include "math_ops.h"
benkatz 20:bf9ea5125d52 27 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 28 #include "hw_config.h"
elijahsj 70:2ea6c555a2cb 29 #include "motor_config_U12.h" // need to choose between two files here, one for U10 and one for U12
benkatz 23:2adf23ee0305 30 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 31 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 32 #include "user_config.h"
benkatz 23:2adf23ee0305 33 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 34 #include "CAN_com.h"
benkatz 44:8040fa2fcb0d 35 #include "DRV.h"
benkatz 26:2b865c00d7e9 36
benkatz 23:2adf23ee0305 37 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 38
benkatz 20:bf9ea5125d52 39 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 40 ControllerStruct controller;
benkatz 48:74a40481740c 41 ObserverStruct observer;
benkatz 20:bf9ea5125d52 42 COMStruct com;
benkatz 43:dfb72608639c 43 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 44
benkatz 17:3c5df2982199 45
benkatz 45:26801179208e 46 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 47 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 48 CANMessage txMsg;
benkatz 23:2adf23ee0305 49
benkatz 20:bf9ea5125d52 50
benkatz 44:8040fa2fcb0d 51 SPI drv_spi(PA_7, PA_6, PA_5);
benkatz 44:8040fa2fcb0d 52 DigitalOut drv_cs(PA_4);
benkatz 44:8040fa2fcb0d 53 //DigitalOut drv_en_gate(PA_11);
benkatz 44:8040fa2fcb0d 54 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 55
saloutos 58:32e8927fe39f 56 //PositionSensoriCMU spi(16777216, 0.0, NPP); // Read 24 bits off the sensor
saloutos 58:32e8927fe39f 57 PositionSensoriCMU spi(524288, 0.0, NPP); // Read 24 bits off the sensor, only 19bits are encoder data
benkatz 20:bf9ea5125d52 58
benkatz 23:2adf23ee0305 59 volatile int count = 0;
benkatz 23:2adf23ee0305 60 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 61 volatile int state_change;
benkatz 20:bf9ea5125d52 62
benkatz 26:2b865c00d7e9 63 void onMsgReceived() {
benkatz 26:2b865c00d7e9 64 //msgAvailable = true;
benkatz 53:e85efce8c1eb 65 //printf("%d\n\r", rxMsg.id);
saloutos 58:32e8927fe39f 66 gpio.led->write(1);
benkatz 26:2b865c00d7e9 67 can.read(rxMsg);
benkatz 28:8c7e29f719c5 68 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 69 controller.timeout = 0;
benkatz 28:8c7e29f719c5 70 if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) & (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFC))){
benkatz 28:8c7e29f719c5 71 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 72 state_change = 1;
benkatz 28:8c7e29f719c5 73 }
benkatz 28:8c7e29f719c5 74 else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFD))){
benkatz 28:8c7e29f719c5 75 state = REST_MODE;
benkatz 28:8c7e29f719c5 76 state_change = 1;
benkatz 37:c0f352d6e8e3 77 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 78 }
benkatz 28:8c7e29f719c5 79 else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFE))){
benkatz 28:8c7e29f719c5 80 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 81 }
benkatz 28:8c7e29f719c5 82 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 83 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 84 }
elijahsj 68:edfdbd0db876 85 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT); // multiply theta, dtheta_mech by GR here?
elijahsj 68:edfdbd0db876 86 //pack_reply(&txMsg, controller.v_q, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
saloutos 58:32e8927fe39f 87 //pack_reply(&txMsg, 3.14159f, 6.28318f, 1.00f); // test values
benkatz 37:c0f352d6e8e3 88 can.write(txMsg);
benkatz 28:8c7e29f719c5 89 }
saloutos 58:32e8927fe39f 90 gpio.led->write(0);
benkatz 26:2b865c00d7e9 91
benkatz 26:2b865c00d7e9 92 }
benkatz 26:2b865c00d7e9 93
benkatz 23:2adf23ee0305 94 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 95 drv.disable_gd();
benkatz 55:c4c9fec8539c 96 reset_foc(&controller);
benkatz 47:e1196a851f76 97 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 98 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 99 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 100 wait_us(10);
benkatz 26:2b865c00d7e9 101 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 102 wait_us(10);
benkatz 23:2adf23ee0305 103 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 104 wait_us(10);
benkatz 23:2adf23ee0305 105 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 106 wait_us(10);
benkatz 23:2adf23ee0305 107 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 108 wait_us(10);
benkatz 37:c0f352d6e8e3 109 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 110 wait_us(10);
benkatz 23:2adf23ee0305 111 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 112 wait_us(10);
benkatz 23:2adf23ee0305 113 state_change = 0;
benkatz 37:c0f352d6e8e3 114 gpio.led->write(0);
benkatz 23:2adf23ee0305 115 }
benkatz 24:58c2d7571207 116
benkatz 24:58c2d7571207 117 void enter_setup_state(void){
benkatz 24:58c2d7571207 118 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 119 wait_us(10);
benkatz 51:6cd89bd6fcaa 120 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 121 wait_us(10);
benkatz 28:8c7e29f719c5 122 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 123 wait_us(10);
benkatz 28:8c7e29f719c5 124 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 125 wait_us(10);
benkatz 28:8c7e29f719c5 126 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 127 wait_us(10);
elijahsj 66:3947255b18c5 128 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "65.0", I_MAX);
benkatz 51:6cd89bd6fcaa 129 wait_us(10);
benkatz 51:6cd89bd6fcaa 130 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 131 wait_us(10);
benkatz 28:8c7e29f719c5 132 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 133 wait_us(10);
benkatz 55:c4c9fec8539c 134 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "h", "Temp Cutoff (C) (0 = none)", "0", "150", TEMP_MAX);
benkatz 55:c4c9fec8539c 135 wait_us(10);
benkatz 55:c4c9fec8539c 136 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "c", "Continuous Current (A)", "0", "40.0", I_MAX_CONT);
benkatz 55:c4c9fec8539c 137 wait_us(10);
adimmit 71:b314182de37f 138 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "s", "Current Controller K_SCALE", "0", "0.1", K_SCALE); //ADDED --> FOR CURRENT CONTROL GAINS (KP)
adimmit 71:b314182de37f 139 wait_us(10);
adimmit 71:b314182de37f 140 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "d", "Current Controller KI_D", "0", "1.0", KI_D); //ADDED --> FOR CURRENT CONTROL GAINS (KI D-Axis)
adimmit 71:b314182de37f 141 wait_us(10);
adimmit 71:b314182de37f 142 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "q", "Current Controller KI_Q", "0", "1.0", KI_Q); //ADDED --> FOR CURRENT CONTROL GAINS (KI Q-Axis)
adimmit 71:b314182de37f 143 wait_us(10);
benkatz 24:58c2d7571207 144 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 145 wait_us(10);
benkatz 24:58c2d7571207 146 state_change = 0;
benkatz 24:58c2d7571207 147 }
benkatz 22:60276ba87ac6 148
benkatz 23:2adf23ee0305 149 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 150 drv.enable_gd();
benkatz 47:e1196a851f76 151 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 152 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 153 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 154 wait(.001);
benkatz 23:2adf23ee0305 155 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 156 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 157 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 158 state_change = 0;
benkatz 28:8c7e29f719c5 159 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 160 }
benkatz 22:60276ba87ac6 161
benkatz 23:2adf23ee0305 162 void calibrate(void){
benkatz 44:8040fa2fcb0d 163 drv.enable_gd();
benkatz 47:e1196a851f76 164 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 165 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 166 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 167 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 168 gpio.led->write(0);; // Turn off status LED
benkatz 55:c4c9fec8539c 169 wait(.05);
benkatz 55:c4c9fec8539c 170 R_NOMINAL = 0;
benkatz 55:c4c9fec8539c 171 state = INIT_TEMP_MODE;
saloutos 58:32e8927fe39f 172 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 55:c4c9fec8539c 173 //drv.disable_gd();
saloutos 58:32e8927fe39f 174 state_change = 0;
benkatz 55:c4c9fec8539c 175
benkatz 23:2adf23ee0305 176 }
benkatz 23:2adf23ee0305 177
benkatz 23:2adf23ee0305 178 void print_encoder(void){
benkatz 48:74a40481740c 179 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 180 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 181 wait(.001);
benkatz 22:60276ba87ac6 182 }
benkatz 20:bf9ea5125d52 183
benkatz 23:2adf23ee0305 184 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 185 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 55:c4c9fec8539c 186 //float testing[1000];
benkatz 55:c4c9fec8539c 187 //float testing2[1000];
benkatz 2:8724412ad628 188 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 189 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 55:c4c9fec8539c 190 //gpio.led->write(1);
benkatz 23:2adf23ee0305 191 ///Sample current always ///
benkatz 25:f5741040c4bb 192 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 193 //volatile int delay;
benkatz 20:bf9ea5125d52 194 //for (delay = 0; delay < 55; delay++);
benkatz 55:c4c9fec8539c 195
benkatz 47:e1196a851f76 196 spi.Sample(DT); // sample position sensor
benkatz 56:fe5056ac6740 197 /*
benkatz 56:fe5056ac6740 198 if(count < 10){printf("%d\n\r", spi.GetRawPosition());}
benkatz 56:fe5056ac6740 199 count ++;
benkatz 56:fe5056ac6740 200 */
benkatz 37:c0f352d6e8e3 201 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 202 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 203 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 204 controller.theta_elec = spi.GetElecPosition();
saloutos 58:32e8927fe39f 205 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition(); // should these be divided by gear ratio???
saloutos 58:32e8927fe39f 206 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity(); // mech pos isn't pre-multiplied by GR in position sensor function...
benkatz 37:c0f352d6e8e3 207 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 208 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 209
benkatz 55:c4c9fec8539c 210
benkatz 55:c4c9fec8539c 211
benkatz 23:2adf23ee0305 212 ///
benkatz 20:bf9ea5125d52 213
benkatz 23:2adf23ee0305 214 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 215 switch(state){
benkatz 37:c0f352d6e8e3 216 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 217 if(state_change){
benkatz 23:2adf23ee0305 218 enter_menu_state();
benkatz 23:2adf23ee0305 219 }
benkatz 55:c4c9fec8539c 220 update_observer(&controller, &observer);
benkatz 23:2adf23ee0305 221 break;
benkatz 22:60276ba87ac6 222
benkatz 23:2adf23ee0305 223 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 224 if(state_change){
benkatz 23:2adf23ee0305 225 calibrate();
benkatz 23:2adf23ee0305 226 }
benkatz 23:2adf23ee0305 227 break;
benkatz 55:c4c9fec8539c 228 case INIT_TEMP_MODE:
benkatz 55:c4c9fec8539c 229 if(state_change){
benkatz 55:c4c9fec8539c 230 enter_torque_mode();
benkatz 55:c4c9fec8539c 231 count = 0;
benkatz 55:c4c9fec8539c 232 observer.resistance = 0.0f;
benkatz 55:c4c9fec8539c 233 }
benkatz 55:c4c9fec8539c 234 controller.i_d_ref = -10.0f;
benkatz 55:c4c9fec8539c 235 controller.i_q_ref = 0.0f;
benkatz 55:c4c9fec8539c 236 commutate(&controller, &observer, &gpio, controller.theta_elec);
benkatz 55:c4c9fec8539c 237
benkatz 55:c4c9fec8539c 238 if(count > 200)
benkatz 55:c4c9fec8539c 239 {
benkatz 55:c4c9fec8539c 240 float r_meas = controller.v_d*(DTC_MAX-DTC_MIN)/(controller.i_d*SQRT3);
benkatz 55:c4c9fec8539c 241 //testing2[count-100] = controller.i_d;
benkatz 55:c4c9fec8539c 242 observer.resistance += .001f*r_meas;
benkatz 55:c4c9fec8539c 243 }
benkatz 55:c4c9fec8539c 244 if(count > 1200)
benkatz 55:c4c9fec8539c 245 {
benkatz 55:c4c9fec8539c 246 count = 0;
benkatz 55:c4c9fec8539c 247 state = REST_MODE;
benkatz 55:c4c9fec8539c 248 state_change = 1;
benkatz 55:c4c9fec8539c 249 gpio.led->write(0);
benkatz 55:c4c9fec8539c 250 observer.temperature = (double)(T_AMBIENT + ((observer.resistance/R_NOMINAL) - 1.0f)*254.5f);
benkatz 55:c4c9fec8539c 251 printf("Winding Resistance: %f\n\r", observer.resistance);
benkatz 55:c4c9fec8539c 252 printf("Winding Temperature: %f\n\r", observer.temperature);
benkatz 55:c4c9fec8539c 253
benkatz 55:c4c9fec8539c 254 if(R_NOMINAL==0)
benkatz 55:c4c9fec8539c 255 {
benkatz 55:c4c9fec8539c 256 printf("Saving winding resistance\n\r");
benkatz 55:c4c9fec8539c 257 R_NOMINAL = observer.resistance;
benkatz 55:c4c9fec8539c 258 if (!prefs.ready()) prefs.open();
benkatz 55:c4c9fec8539c 259 prefs.flush(); // write offset and lookup table to flash
benkatz 55:c4c9fec8539c 260 prefs.close();
benkatz 55:c4c9fec8539c 261 }
benkatz 55:c4c9fec8539c 262 //for(int i = 0; i<1000; i++){printf("%f \n\r", testing[i]);}
benkatz 55:c4c9fec8539c 263 }
benkatz 55:c4c9fec8539c 264
benkatz 55:c4c9fec8539c 265 count++;
benkatz 55:c4c9fec8539c 266 break;
benkatz 26:2b865c00d7e9 267 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 268 if(state_change){
benkatz 25:f5741040c4bb 269 enter_torque_mode();
benkatz 28:8c7e29f719c5 270 count = 0;
benkatz 25:f5741040c4bb 271 }
benkatz 28:8c7e29f719c5 272 else{
benkatz 37:c0f352d6e8e3 273 /*
benkatz 37:c0f352d6e8e3 274 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 275 gpio.
benkatz 47:e1196a851f76 276 ->write(0);
benkatz 37:c0f352d6e8e3 277 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 278 state = REST_MODE;
benkatz 37:c0f352d6e8e3 279 state_change = 1;
benkatz 37:c0f352d6e8e3 280 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 281 }
benkatz 37:c0f352d6e8e3 282 */
benkatz 37:c0f352d6e8e3 283
benkatz 28:8c7e29f719c5 284 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 285 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 286 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 287 controller.kp = 0;
benkatz 37:c0f352d6e8e3 288 controller.kd = 0;
benkatz 37:c0f352d6e8e3 289 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 290 }
benkatz 55:c4c9fec8539c 291
benkatz 50:ba72df25d10f 292 torque_control(&controller);
benkatz 55:c4c9fec8539c 293 update_observer(&controller, &observer);
benkatz 55:c4c9fec8539c 294 field_weaken(&controller);
benkatz 49:83d83040ea51 295 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 296 controller.timeout++;
benkatz 55:c4c9fec8539c 297
benkatz 55:c4c9fec8539c 298 if(controller.otw_flag)
benkatz 55:c4c9fec8539c 299 {
benkatz 55:c4c9fec8539c 300 state = REST_MODE;
benkatz 55:c4c9fec8539c 301 state_change = 1;
benkatz 55:c4c9fec8539c 302 gpio.led->write(0);
benkatz 55:c4c9fec8539c 303 }
benkatz 55:c4c9fec8539c 304
benkatz 49:83d83040ea51 305 count++;
benkatz 55:c4c9fec8539c 306 }
benkatz 55:c4c9fec8539c 307
benkatz 55:c4c9fec8539c 308
benkatz 55:c4c9fec8539c 309 break;
benkatz 37:c0f352d6e8e3 310
benkatz 23:2adf23ee0305 311 case SETUP_MODE:
benkatz 23:2adf23ee0305 312 if(state_change){
benkatz 24:58c2d7571207 313 enter_setup_state();
benkatz 23:2adf23ee0305 314 }
benkatz 23:2adf23ee0305 315 break;
benkatz 23:2adf23ee0305 316 case ENCODER_MODE:
benkatz 23:2adf23ee0305 317 print_encoder();
benkatz 23:2adf23ee0305 318 break;
benkatz 37:c0f352d6e8e3 319 }
benkatz 2:8724412ad628 320 }
benkatz 55:c4c9fec8539c 321 //gpio.led->write(0);
benkatz 23:2adf23ee0305 322 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 323 }
benkatz 0:4e1c4df6aabd 324
benkatz 25:f5741040c4bb 325
benkatz 24:58c2d7571207 326 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 327 char cmd_id = 0;
benkatz 25:f5741040c4bb 328 char char_count = 0;
benkatz 24:58c2d7571207 329
benkatz 25:f5741040c4bb 330 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 331 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 332 void serial_interrupt(void){
benkatz 23:2adf23ee0305 333 while(pc.readable()){
benkatz 23:2adf23ee0305 334 char c = pc.getc();
benkatz 25:f5741040c4bb 335 if(c == 27){
benkatz 25:f5741040c4bb 336 state = REST_MODE;
benkatz 25:f5741040c4bb 337 state_change = 1;
benkatz 25:f5741040c4bb 338 char_count = 0;
benkatz 25:f5741040c4bb 339 cmd_id = 0;
benkatz 55:c4c9fec8539c 340 gpio.led->write(0);;
benkatz 25:f5741040c4bb 341 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 342 }
benkatz 24:58c2d7571207 343 if(state == REST_MODE){
benkatz 23:2adf23ee0305 344 switch (c){
benkatz 23:2adf23ee0305 345 case 'c':
benkatz 23:2adf23ee0305 346 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 347 state_change = 1;
benkatz 23:2adf23ee0305 348 break;
benkatz 26:2b865c00d7e9 349 case 'm':
benkatz 26:2b865c00d7e9 350 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 351 state_change = 1;
benkatz 23:2adf23ee0305 352 break;
benkatz 23:2adf23ee0305 353 case 'e':
benkatz 23:2adf23ee0305 354 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 355 state_change = 1;
benkatz 23:2adf23ee0305 356 break;
benkatz 23:2adf23ee0305 357 case 's':
benkatz 23:2adf23ee0305 358 state = SETUP_MODE;
benkatz 23:2adf23ee0305 359 state_change = 1;
benkatz 23:2adf23ee0305 360 break;
benkatz 37:c0f352d6e8e3 361 case 'z':
benkatz 37:c0f352d6e8e3 362 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 363 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 364 wait_us(20);
benkatz 37:c0f352d6e8e3 365 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 366 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 367 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 368 prefs.close();
benkatz 37:c0f352d6e8e3 369 prefs.load();
benkatz 37:c0f352d6e8e3 370 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 371 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 372
benkatz 37:c0f352d6e8e3 373 break;
benkatz 37:c0f352d6e8e3 374 }
benkatz 37:c0f352d6e8e3 375
benkatz 24:58c2d7571207 376 }
benkatz 24:58c2d7571207 377 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 378 if(c == 13){
benkatz 24:58c2d7571207 379 switch (cmd_id){
benkatz 24:58c2d7571207 380 case 'b':
benkatz 24:58c2d7571207 381 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 382 break;
benkatz 24:58c2d7571207 383 case 'i':
benkatz 24:58c2d7571207 384 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 385 break;
benkatz 26:2b865c00d7e9 386 case 'm':
benkatz 26:2b865c00d7e9 387 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 388 break;
benkatz 24:58c2d7571207 389 case 'l':
elijahsj 66:3947255b18c5 390 I_MAX = fmaxf(fminf(atof(cmd_val), 65.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 391 break;
benkatz 51:6cd89bd6fcaa 392 case 'f':
benkatz 51:6cd89bd6fcaa 393 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 394 break;
benkatz 28:8c7e29f719c5 395 case 't':
benkatz 28:8c7e29f719c5 396 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 397 break;
benkatz 55:c4c9fec8539c 398 case 'h':
benkatz 55:c4c9fec8539c 399 TEMP_MAX = fmaxf(fminf(atof(cmd_val), 150.0f), 0.0f);
benkatz 55:c4c9fec8539c 400 break;
benkatz 55:c4c9fec8539c 401 case 'c':
benkatz 55:c4c9fec8539c 402 I_MAX_CONT = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 55:c4c9fec8539c 403 break;
adimmit 71:b314182de37f 404 case 's': //CURRENT CONTROL K_SCALE
adimmit 71:b314182de37f 405 K_SCALE = fmaxf(fminf(atof(cmd_val), 0.1f), 0.0f);
adimmit 71:b314182de37f 406 break;
adimmit 71:b314182de37f 407 case 'd': //CURRENT CONTORL KI_D
adimmit 71:b314182de37f 408 KI_D = fmaxf(fminf(atof(cmd_val), 1.0f), 0.0f);
adimmit 71:b314182de37f 409 break;
adimmit 71:b314182de37f 410 case 'q': //CURRENT CONTORL KI_Q
adimmit 71:b314182de37f 411 KI_Q = fmaxf(fminf(atof(cmd_val), 1.0f), 0.0f);
adimmit 71:b314182de37f 412 break;
benkatz 24:58c2d7571207 413 default:
benkatz 24:58c2d7571207 414 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 415 break;
benkatz 24:58c2d7571207 416 }
benkatz 24:58c2d7571207 417
benkatz 24:58c2d7571207 418 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 419 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 420 prefs.close();
benkatz 24:58c2d7571207 421 prefs.load();
benkatz 24:58c2d7571207 422 state_change = 1;
benkatz 24:58c2d7571207 423 char_count = 0;
benkatz 24:58c2d7571207 424 cmd_id = 0;
benkatz 24:58c2d7571207 425 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 426 }
benkatz 24:58c2d7571207 427 else{
benkatz 24:58c2d7571207 428 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 429 else{
benkatz 24:58c2d7571207 430 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 431
benkatz 24:58c2d7571207 432 }
benkatz 24:58c2d7571207 433 pc.putc(c);
benkatz 24:58c2d7571207 434 char_count++;
benkatz 23:2adf23ee0305 435 }
benkatz 23:2adf23ee0305 436 }
benkatz 24:58c2d7571207 437 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 438 switch (c){
benkatz 24:58c2d7571207 439 case 27:
benkatz 24:58c2d7571207 440 state = REST_MODE;
benkatz 24:58c2d7571207 441 state_change = 1;
benkatz 24:58c2d7571207 442 break;
benkatz 24:58c2d7571207 443 }
benkatz 24:58c2d7571207 444 }
benkatz 49:83d83040ea51 445 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 446 switch (c){
benkatz 49:83d83040ea51 447 case 'd':
benkatz 49:83d83040ea51 448 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 449 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 450 }
benkatz 49:83d83040ea51 451 }
benkatz 24:58c2d7571207 452
benkatz 24:58c2d7571207 453 }
benkatz 22:60276ba87ac6 454 }
benkatz 0:4e1c4df6aabd 455
benkatz 0:4e1c4df6aabd 456 int main() {
benkatz 20:bf9ea5125d52 457 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 458 controller.mode = 0;
benkatz 23:2adf23ee0305 459 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 55:c4c9fec8539c 460 wait_us(100);
benkatz 44:8040fa2fcb0d 461
benkatz 44:8040fa2fcb0d 462 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 463 wait_us(100);
benkatz 45:26801179208e 464 drv.calibrate();
benkatz 45:26801179208e 465 wait_us(100);
benkatz 55:c4c9fec8539c 466 drv.write_DCR(0x0, DIS_GDF_DIS, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 55:c4c9fec8539c 467 wait_us(100);
benkatz 55:c4c9fec8539c 468 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x1, 0x1, 0x1, SEN_LVL_1_0); // calibrate shunt amplifiers
benkatz 44:8040fa2fcb0d 469 wait_us(100);
benkatz 55:c4c9fec8539c 470 zero_current(&controller.adc1_offset, &controller.adc2_offset);
benkatz 44:8040fa2fcb0d 471 wait_us(100);
benkatz 55:c4c9fec8539c 472 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x1, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 55:c4c9fec8539c 473 wait_us(100);
benkatz 55:c4c9fec8539c 474 drv.write_OCPCR(TRETRY_50US, DEADTIME_50NS, OCP_NONE, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 475
benkatz 45:26801179208e 476 //drv.enable_gd();
benkatz 47:e1196a851f76 477 drv.disable_gd();
benkatz 55:c4c9fec8539c 478 //zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 55:c4c9fec8539c 479 //drv.enable_gd();
benkatz 20:bf9ea5125d52 480
benkatz 55:c4c9fec8539c 481 wait_us(100);
benkatz 55:c4c9fec8539c 482
benkatz 23:2adf23ee0305 483 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 484 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 485 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 486
benkatz 55:c4c9fec8539c 487 wait_us(100);
benkatz 37:c0f352d6e8e3 488 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 37:c0f352d6e8e3 489 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 53:e85efce8c1eb 490 // attach 'CAN receive-complete' interrupt handler
benkatz 53:e85efce8c1eb 491
benkatz 53:e85efce8c1eb 492 // If preferences haven't been user configured yet, set defaults
benkatz 53:e85efce8c1eb 493 prefs.load(); // Read flash
benkatz 55:c4c9fec8539c 494 can.filter(CAN_ID , 0xFFF, CANStandard, 0);
benkatz 28:8c7e29f719c5 495 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 496 txMsg.len = 6;
benkatz 26:2b865c00d7e9 497 rxMsg.len = 8;
benkatz 53:e85efce8c1eb 498 can.attach(&onMsgReceived);
benkatz 23:2adf23ee0305 499
benkatz 37:c0f352d6e8e3 500 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 501 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 502 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 503 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 55:c4c9fec8539c 504 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=12;}
benkatz 48:74a40481740c 505 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 506 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 55:c4c9fec8539c 507 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 1000;}
benkatz 55:c4c9fec8539c 508 if(isnan(R_NOMINAL) || R_NOMINAL==-1){R_NOMINAL = 0.0f;}
benkatz 55:c4c9fec8539c 509 if(isnan(TEMP_MAX) || TEMP_MAX==-1){TEMP_MAX = 125.0f;}
benkatz 55:c4c9fec8539c 510 if(isnan(I_MAX_CONT) || I_MAX_CONT==-1){I_MAX_CONT = 14.0f;}
adimmit 71:b314182de37f 511 if(isnan(K_SCALE) || K_SCALE==-1){K_SCALE = 0.00013310f;} //CURRENT CONTROLLER K_SCALE
adimmit 71:b314182de37f 512 if(isnan(KI_D) || KI_D==-1){KI_D = 0.0373f;} //CURRENT CONTROLLER KI_D
adimmit 71:b314182de37f 513 if(isnan(KI_Q) || KI_Q==-1){KI_Q = 0.0373f;} //CURRENT CONTROLLER KI_Q
benkatz 25:f5741040c4bb 514 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 515 spi.SetMechOffset(M_OFFSET);
benkatz 56:fe5056ac6740 516 spi.Sample(1.0f);
benkatz 56:fe5056ac6740 517 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 518 else if (spi.GetMechPosition() < -PI){spi.SetMechOffset(M_OFFSET-2.0f*PI);}
benkatz 56:fe5056ac6740 519
benkatz 23:2adf23ee0305 520 int lut[128] = {0};
benkatz 23:2adf23ee0305 521 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 522 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 523 init_controller_params(&controller);
benkatz 55:c4c9fec8539c 524
benkatz 45:26801179208e 525
benkatz 26:2b865c00d7e9 526 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 527 wait(.01);
benkatz 23:2adf23ee0305 528 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 529 wait(.01);
benkatz 23:2adf23ee0305 530 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 531 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 532 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 533 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 534 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 535 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 536
benkatz 44:8040fa2fcb0d 537
benkatz 55:c4c9fec8539c 538 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 44:8040fa2fcb0d 539
benkatz 44:8040fa2fcb0d 540
benkatz 23:2adf23ee0305 541 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 50:ba72df25d10f 542
benkatz 20:bf9ea5125d52 543
benkatz 44:8040fa2fcb0d 544 int counter = 0;
benkatz 0:4e1c4df6aabd 545 while(1) {
benkatz 55:c4c9fec8539c 546 //drv.print_faults();
benkatz 53:e85efce8c1eb 547 wait(.1);
benkatz 57:0795d2add37e 548
benkatz 55:c4c9fec8539c 549 if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
benkatz 55:c4c9fec8539c 550 /*
benkatz 47:e1196a851f76 551 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 552 {
benkatz 55:c4c9fec8539c 553 if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
benkatz 55:c4c9fec8539c 554 //printf("%f %f\n\r", controller.dtheta_mech, controller.i_d_ref);
benkatz 48:74a40481740c 555 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 556 //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 557 //printf("%.3f %.3f %.3f %.3f\n\r", controller.dtheta_elec, observer.resistance, observer.temperature, observer.temp_measured);
benkatz 55:c4c9fec8539c 558 //printf("%.3f %.3f\n\r" , observer.temperature, observer.temp_measured);
benkatz 47:e1196a851f76 559 }
benkatz 55:c4c9fec8539c 560
benkatz 50:ba72df25d10f 561 */
benkatz 47:e1196a851f76 562
benkatz 0:4e1c4df6aabd 563 }
benkatz 0:4e1c4df6aabd 564 }