Aditya Mehrotra
Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
Revision 71:b314182de37f, committed 2022-08-26
- Comitter:
- adimmit
- Date:
- Fri Aug 26 21:44:23 2022 +0000
- Parent:
- 70:2ea6c555a2cb
- Child:
- 72:3163691b0851
- Commit message:
- modified by adding current controller gains in flash;
Changed in this revision
--- a/Config/current_controller_config.h Thu Apr 01 18:23:53 2021 +0000 +++ b/Config/current_controller_config.h Fri Aug 26 21:44:23 2022 +0000 @@ -2,11 +2,11 @@ #define CURRENT_CONTROLLER_CONFIG_H // Current controller/// -#define K_D 0.13319f // Loop gain, Volts/Amp -#define K_Q 0.13319f // Loop gain, Volts/Amp -#define K_SCALE 0.00013310f // K_loop/Loop BW (Hz) 0.0042 -#define KI_D 0.0373f // PI zero, in radians per sample -#define KI_Q 0.0373f // PI zero, in radians per sample +// #define K_D 0.13319f // Loop gain, Volts/Amp +// #define K_Q 0.13319f // Loop gain, Volts/Amp +// #define K_SCALE 0.00013310f // K_loop/Loop BW (Hz) 0.0042 +// #define KI_D 0.0373f // PI zero, in radians per sample +// #define KI_Q 0.0373f // PI zero, in radians per sample #define V_BUS 48.0f // Volts #define OVERMODULATION 1.15f // 1.0 = no overmodulation
--- a/Config/user_config.h Thu Apr 01 18:23:53 2021 +0000 +++ b/Config/user_config.h Fri Aug 26 21:44:23 2022 +0000 @@ -14,12 +14,15 @@ #define R_NOMINAL __float_reg[7] // Nominal motor resistance, set during calibration #define TEMP_MAX __float_reg[8] // Temperature safety lmit #define I_MAX_CONT __float_reg[9] // Continuous max current +#define K_SCALE __float_reg[10] // Current Controller KP scaled w/ BW +#define KI_D __float_reg[11] // Current Controller KI D-Axis +#define KI_Q __float_reg[12] // Current Controller KI Q-Axis #define PHASE_ORDER __int_reg[0] // Phase swapping during calibration #define CAN_ID __int_reg[1] // CAN bus ID #define CAN_MASTER __int_reg[2] // CAN bus "master" ID #define CAN_TIMEOUT __int_reg[3] // CAN bus timeout period -#define ENCODER_LUT __int_reg[5] // Encoder offset LUT - 128 elements long +#define ENCODER_LUT __int_reg[5] // Encoder offset LUT - 128 elements long
--- a/main.cpp Thu Apr 01 18:23:53 2021 +0000
+++ b/main.cpp Fri Aug 26 21:44:23 2022 +0000
@@ -135,6 +135,12 @@
wait_us(10);
printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "c", "Continuous Current (A)", "0", "40.0", I_MAX_CONT);
wait_us(10);
+ printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "s", "Current Controller K_SCALE", "0", "0.1", K_SCALE); //ADDED --> FOR CURRENT CONTROL GAINS (KP)
+ wait_us(10);
+ 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)
+ wait_us(10);
+ 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)
+ wait_us(10);
printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
wait_us(10);
state_change = 0;
@@ -395,6 +401,15 @@
case 'c':
I_MAX_CONT = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
break;
+ case 's': //CURRENT CONTROL K_SCALE
+ K_SCALE = fmaxf(fminf(atof(cmd_val), 0.1f), 0.0f);
+ break;
+ case 'd': //CURRENT CONTORL KI_D
+ KI_D = fmaxf(fminf(atof(cmd_val), 1.0f), 0.0f);
+ break;
+ case 'q': //CURRENT CONTORL KI_Q
+ KI_Q = fmaxf(fminf(atof(cmd_val), 1.0f), 0.0f);
+ break;
default:
printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
break;
@@ -493,6 +508,9 @@
if(isnan(R_NOMINAL) || R_NOMINAL==-1){R_NOMINAL = 0.0f;}
if(isnan(TEMP_MAX) || TEMP_MAX==-1){TEMP_MAX = 125.0f;}
if(isnan(I_MAX_CONT) || I_MAX_CONT==-1){I_MAX_CONT = 14.0f;}
+ if(isnan(K_SCALE) || K_SCALE==-1){K_SCALE = 0.00013310f;} //CURRENT CONTROLLER K_SCALE
+ if(isnan(KI_D) || KI_D==-1){KI_D = 0.0373f;} //CURRENT CONTROLLER KI_D
+ if(isnan(KI_Q) || KI_Q==-1){KI_Q = 0.0373f;} //CURRENT CONTROLLER KI_Q
spi.SetElecOffset(E_OFFSET); // Set position sensor offset
spi.SetMechOffset(M_OFFSET);
spi.Sample(1.0f);