nhan pham an / Hobbyking_Cheetah_Compact_DRV8323_StepDir

Fork and fix for mwork

Dependencies:   mbed-dev-f303 FastPWM3 millis

main.cpp@46:2d4b1dafcfe3, 2018-07-12 (annotated)

Committer:
benkatz
Date:
Thu Jul 12 02:50:34 2018 +0000
Revision:
46:2d4b1dafcfe3
Parent:
45:26801179208e
Child:
47:e1196a851f76
calibration frees up memory when done;

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 22:60276ba87ac6 5
benkatz 23:2adf23ee0305 6 #define REST_MODE 0
benkatz 23:2adf23ee0305 7 #define CALIBRATION_MODE 1
benkatz 26:2b865c00d7e9 8 #define MOTOR_MODE 2
benkatz 23:2adf23ee0305 9 #define SETUP_MODE 4
benkatz 23:2adf23ee0305 10 #define ENCODER_MODE 5
benkatz 22:60276ba87ac6 11
benkatz 45:26801179208e 12 #define VERSION_NUM "1.7"
benkatz 26:2b865c00d7e9 13
benkatz 18:f1d56f4acb39 14
benkatz 26:2b865c00d7e9 15 float __float_reg[64]; // Floats stored in flash
benkatz 26:2b865c00d7e9 16 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 17
benkatz 0:4e1c4df6aabd 18 #include "mbed.h"
benkatz 0:4e1c4df6aabd 19 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 20 #include "structs.h"
benkatz 20:bf9ea5125d52 21 #include "foc.h"
benkatz 22:60276ba87ac6 22 #include "calibration.h"
benkatz 20:bf9ea5125d52 23 #include "hw_setup.h"
benkatz 23:2adf23ee0305 24 #include "math_ops.h"
benkatz 20:bf9ea5125d52 25 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 26 #include "hw_config.h"
benkatz 20:bf9ea5125d52 27 #include "motor_config.h"
benkatz 23:2adf23ee0305 28 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 29 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 30 #include "user_config.h"
benkatz 23:2adf23ee0305 31 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 32 #include "CAN_com.h"
benkatz 44:8040fa2fcb0d 33 #include "DRV.h"
benkatz 26:2b865c00d7e9 34
benkatz 23:2adf23ee0305 35 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 36
benkatz 20:bf9ea5125d52 37 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 38 ControllerStruct controller;
benkatz 20:bf9ea5125d52 39 COMStruct com;
benkatz 37:c0f352d6e8e3 40 ObserverStruct observer;
benkatz 43:dfb72608639c 41 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 42
benkatz 17:3c5df2982199 43
benkatz 45:26801179208e 44 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 45 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 46 CANMessage txMsg;
benkatz 23:2adf23ee0305 47
benkatz 20:bf9ea5125d52 48
benkatz 44:8040fa2fcb0d 49 SPI drv_spi(PA_7, PA_6, PA_5);
benkatz 44:8040fa2fcb0d 50 DigitalOut drv_cs(PA_4);
benkatz 44:8040fa2fcb0d 51 //DigitalOut drv_en_gate(PA_11);
benkatz 44:8040fa2fcb0d 52 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 53
benkatz 26:2b865c00d7e9 54 PositionSensorAM5147 spi(16384, 0.0, NPP);
benkatz 20:bf9ea5125d52 55
benkatz 23:2adf23ee0305 56 volatile int count = 0;
benkatz 23:2adf23ee0305 57 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 58 volatile int state_change;
benkatz 20:bf9ea5125d52 59
benkatz 26:2b865c00d7e9 60 void onMsgReceived() {
benkatz 26:2b865c00d7e9 61 //msgAvailable = true;
benkatz 26:2b865c00d7e9 62 //printf("%.3f %.3f %.3f\n\r", controller.theta_mech, controller.dtheta_mech, controller.i_q);
benkatz 26:2b865c00d7e9 63 can.read(rxMsg);
benkatz 28:8c7e29f719c5 64 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 65 controller.timeout = 0;
benkatz 28:8c7e29f719c5 66 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 67 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 68 state_change = 1;
benkatz 28:8c7e29f719c5 69 }
benkatz 28:8c7e29f719c5 70 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 71 state = REST_MODE;
benkatz 28:8c7e29f719c5 72 state_change = 1;
benkatz 37:c0f352d6e8e3 73 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 74 }
benkatz 28:8c7e29f719c5 75 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 76 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 77 }
benkatz 28:8c7e29f719c5 78 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 79 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 80 }
benkatz 37:c0f352d6e8e3 81 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 82 can.write(txMsg);
benkatz 28:8c7e29f719c5 83 }
benkatz 26:2b865c00d7e9 84
benkatz 26:2b865c00d7e9 85 }
benkatz 26:2b865c00d7e9 86
benkatz 23:2adf23ee0305 87 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 88 drv.disable_gd();
benkatz 23:2adf23ee0305 89 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 90 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 91 wait_us(10);
benkatz 26:2b865c00d7e9 92 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 93 wait_us(10);
benkatz 23:2adf23ee0305 94 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 95 wait_us(10);
benkatz 23:2adf23ee0305 96 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 97 wait_us(10);
benkatz 23:2adf23ee0305 98 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 99 wait_us(10);
benkatz 37:c0f352d6e8e3 100 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 101 wait_us(10);
benkatz 23:2adf23ee0305 102 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 103 wait_us(10);
benkatz 23:2adf23ee0305 104 state_change = 0;
benkatz 44:8040fa2fcb0d 105 //gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 106 gpio.led->write(0);
benkatz 23:2adf23ee0305 107 }
benkatz 24:58c2d7571207 108
benkatz 24:58c2d7571207 109 void enter_setup_state(void){
benkatz 24:58c2d7571207 110 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 111 wait_us(10);
benkatz 28:8c7e29f719c5 112 printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 113 wait_us(10);
benkatz 28:8c7e29f719c5 114 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 115 wait_us(10);
benkatz 28:8c7e29f719c5 116 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 117 wait_us(10);
benkatz 28:8c7e29f719c5 118 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 119 wait_us(10);
benkatz 28:8c7e29f719c5 120 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
benkatz 44:8040fa2fcb0d 121 wait_us(10);
benkatz 28:8c7e29f719c5 122 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 123 wait_us(10);
benkatz 24:58c2d7571207 124 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 125 wait_us(10);
benkatz 24:58c2d7571207 126 state_change = 0;
benkatz 24:58c2d7571207 127 }
benkatz 22:60276ba87ac6 128
benkatz 23:2adf23ee0305 129 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 130 drv.enable_gd();
benkatz 37:c0f352d6e8e3 131 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 132 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 133 wait(.001);
benkatz 23:2adf23ee0305 134 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 135 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 136 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 137 state_change = 0;
benkatz 28:8c7e29f719c5 138 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 139 }
benkatz 22:60276ba87ac6 140
benkatz 23:2adf23ee0305 141 void calibrate(void){
benkatz 44:8040fa2fcb0d 142 drv.enable_gd();
benkatz 37:c0f352d6e8e3 143 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 144 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 145 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 146 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 147 wait(.2);
benkatz 23:2adf23ee0305 148 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 149 drv.disable_gd();
benkatz 23:2adf23ee0305 150 state_change = 0;
benkatz 23:2adf23ee0305 151 }
benkatz 23:2adf23ee0305 152
benkatz 23:2adf23ee0305 153 void print_encoder(void){
benkatz 23:2adf23ee0305 154 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 23:2adf23ee0305 155 wait(.05);
benkatz 22:60276ba87ac6 156 }
benkatz 20:bf9ea5125d52 157
benkatz 23:2adf23ee0305 158 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 159 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 160 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 161 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 162
benkatz 23:2adf23ee0305 163 ///Sample current always ///
benkatz 25:f5741040c4bb 164 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 165 //volatile int delay;
benkatz 20:bf9ea5125d52 166 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 167
benkatz 45:26801179208e 168 spi.Sample(); // sample position sensor
benkatz 37:c0f352d6e8e3 169 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 170 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 171 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 172 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 173 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 174 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 175 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 45:26801179208e 176 controller.v_bus = 24.0f;//0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE;
benkatz 23:2adf23ee0305 177 ///
benkatz 20:bf9ea5125d52 178
benkatz 23:2adf23ee0305 179 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 180 switch(state){
benkatz 37:c0f352d6e8e3 181 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 182 if(state_change){
benkatz 23:2adf23ee0305 183 enter_menu_state();
benkatz 23:2adf23ee0305 184 }
benkatz 23:2adf23ee0305 185 break;
benkatz 22:60276ba87ac6 186
benkatz 23:2adf23ee0305 187 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 188 if(state_change){
benkatz 23:2adf23ee0305 189 calibrate();
benkatz 23:2adf23ee0305 190 }
benkatz 23:2adf23ee0305 191 break;
benkatz 23:2adf23ee0305 192
benkatz 26:2b865c00d7e9 193 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 194 if(state_change){
benkatz 25:f5741040c4bb 195 enter_torque_mode();
benkatz 28:8c7e29f719c5 196 count = 0;
benkatz 25:f5741040c4bb 197 }
benkatz 28:8c7e29f719c5 198 else{
benkatz 37:c0f352d6e8e3 199 /*
benkatz 37:c0f352d6e8e3 200 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 37:c0f352d6e8e3 201 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 202 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 203 state = REST_MODE;
benkatz 37:c0f352d6e8e3 204 state_change = 1;
benkatz 37:c0f352d6e8e3 205 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 206 }
benkatz 37:c0f352d6e8e3 207 */
benkatz 37:c0f352d6e8e3 208
benkatz 40:cd7e837b2b93 209 torque_control(&controller);
benkatz 28:8c7e29f719c5 210 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 211 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 212 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 213 controller.kp = 0;
benkatz 37:c0f352d6e8e3 214 controller.kd = 0;
benkatz 37:c0f352d6e8e3 215 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 216 }
benkatz 46:2d4b1dafcfe3 217 //controller.i_q_ref = 2.0f;
benkatz 46:2d4b1dafcfe3 218 //controller.i_d_ref = 30.0f;
benkatz 45:26801179208e 219 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 45:26801179208e 220 //TIM1->CCR3 = (PWM_ARR)*(0.5f); // Write duty cycles
benkatz 45:26801179208e 221 //TIM1->CCR2 = (PWM_ARR)*(0.5f);
benkatz 45:26801179208e 222 //TIM1->CCR1 = (PWM_ARR)*(0.5f);
benkatz 28:8c7e29f719c5 223 controller.timeout += 1;
benkatz 38:67e4e1453a4b 224
benkatz 46:2d4b1dafcfe3 225
benkatz 46:2d4b1dafcfe3 226 count++;
benkatz 39:3580a907ef93 227 /*
benkatz 40:cd7e837b2b93 228 if(count == 4000){
benkatz 46:2d4b1dafcfe3 229 //printf("%d %d %.4f %.4f %.4f\n\r", controller.adc1_raw, controller.adc2_raw, controller.i_a, controller.i_b, controller.i_c);
benkatz 46:2d4b1dafcfe3 230 printf("%.3f\n\r", controller.dtheta_mech);
benkatz 32:ccac5da77844 231 count = 0;
benkatz 23:2adf23ee0305 232 }
benkatz 45:26801179208e 233 */
benkatz 46:2d4b1dafcfe3 234
benkatz 45:26801179208e 235
benkatz 38:67e4e1453a4b 236
benkatz 37:c0f352d6e8e3 237
benkatz 37:c0f352d6e8e3 238 }
benkatz 23:2adf23ee0305 239 break;
benkatz 23:2adf23ee0305 240 case SETUP_MODE:
benkatz 23:2adf23ee0305 241 if(state_change){
benkatz 24:58c2d7571207 242 enter_setup_state();
benkatz 23:2adf23ee0305 243 }
benkatz 23:2adf23ee0305 244 break;
benkatz 23:2adf23ee0305 245 case ENCODER_MODE:
benkatz 23:2adf23ee0305 246 print_encoder();
benkatz 23:2adf23ee0305 247 break;
benkatz 37:c0f352d6e8e3 248 }
benkatz 2:8724412ad628 249 }
benkatz 23:2adf23ee0305 250 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 251 }
benkatz 0:4e1c4df6aabd 252
benkatz 25:f5741040c4bb 253
benkatz 24:58c2d7571207 254 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 255 char cmd_id = 0;
benkatz 25:f5741040c4bb 256 char char_count = 0;
benkatz 24:58c2d7571207 257
benkatz 25:f5741040c4bb 258 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 259 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 260 void serial_interrupt(void){
benkatz 23:2adf23ee0305 261 while(pc.readable()){
benkatz 23:2adf23ee0305 262 char c = pc.getc();
benkatz 25:f5741040c4bb 263 if(c == 27){
benkatz 25:f5741040c4bb 264 state = REST_MODE;
benkatz 25:f5741040c4bb 265 state_change = 1;
benkatz 25:f5741040c4bb 266 char_count = 0;
benkatz 25:f5741040c4bb 267 cmd_id = 0;
benkatz 37:c0f352d6e8e3 268 gpio.led->write(0);;
benkatz 25:f5741040c4bb 269 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 270 }
benkatz 24:58c2d7571207 271 if(state == REST_MODE){
benkatz 23:2adf23ee0305 272 switch (c){
benkatz 23:2adf23ee0305 273 case 'c':
benkatz 23:2adf23ee0305 274 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 275 state_change = 1;
benkatz 23:2adf23ee0305 276 break;
benkatz 26:2b865c00d7e9 277 case 'm':
benkatz 26:2b865c00d7e9 278 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 279 state_change = 1;
benkatz 23:2adf23ee0305 280 break;
benkatz 23:2adf23ee0305 281 case 'e':
benkatz 23:2adf23ee0305 282 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 283 state_change = 1;
benkatz 23:2adf23ee0305 284 break;
benkatz 23:2adf23ee0305 285 case 's':
benkatz 23:2adf23ee0305 286 state = SETUP_MODE;
benkatz 23:2adf23ee0305 287 state_change = 1;
benkatz 23:2adf23ee0305 288 break;
benkatz 37:c0f352d6e8e3 289 case 'z':
benkatz 37:c0f352d6e8e3 290 spi.SetMechOffset(0);
benkatz 37:c0f352d6e8e3 291 spi.Sample();
benkatz 37:c0f352d6e8e3 292 wait_us(20);
benkatz 37:c0f352d6e8e3 293 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 294 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 295 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 296 prefs.close();
benkatz 37:c0f352d6e8e3 297 prefs.load();
benkatz 37:c0f352d6e8e3 298 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 299 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 300
benkatz 37:c0f352d6e8e3 301 break;
benkatz 37:c0f352d6e8e3 302 }
benkatz 37:c0f352d6e8e3 303
benkatz 24:58c2d7571207 304 }
benkatz 24:58c2d7571207 305 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 306 if(c == 13){
benkatz 24:58c2d7571207 307 switch (cmd_id){
benkatz 24:58c2d7571207 308 case 'b':
benkatz 24:58c2d7571207 309 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 310 break;
benkatz 24:58c2d7571207 311 case 'i':
benkatz 24:58c2d7571207 312 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 313 break;
benkatz 26:2b865c00d7e9 314 case 'm':
benkatz 26:2b865c00d7e9 315 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 316 break;
benkatz 24:58c2d7571207 317 case 'l':
benkatz 24:58c2d7571207 318 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 24:58c2d7571207 319 break;
benkatz 28:8c7e29f719c5 320 case 't':
benkatz 28:8c7e29f719c5 321 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 322 break;
benkatz 24:58c2d7571207 323 default:
benkatz 24:58c2d7571207 324 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 325 break;
benkatz 24:58c2d7571207 326 }
benkatz 24:58c2d7571207 327
benkatz 24:58c2d7571207 328 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 329 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 330 prefs.close();
benkatz 24:58c2d7571207 331 prefs.load();
benkatz 24:58c2d7571207 332 state_change = 1;
benkatz 24:58c2d7571207 333 char_count = 0;
benkatz 24:58c2d7571207 334 cmd_id = 0;
benkatz 24:58c2d7571207 335 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 336 }
benkatz 24:58c2d7571207 337 else{
benkatz 24:58c2d7571207 338 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 339 else{
benkatz 24:58c2d7571207 340 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 341
benkatz 24:58c2d7571207 342 }
benkatz 24:58c2d7571207 343 pc.putc(c);
benkatz 24:58c2d7571207 344 char_count++;
benkatz 23:2adf23ee0305 345 }
benkatz 23:2adf23ee0305 346 }
benkatz 24:58c2d7571207 347 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 348 switch (c){
benkatz 24:58c2d7571207 349 case 27:
benkatz 24:58c2d7571207 350 state = REST_MODE;
benkatz 24:58c2d7571207 351 state_change = 1;
benkatz 24:58c2d7571207 352 break;
benkatz 24:58c2d7571207 353 }
benkatz 24:58c2d7571207 354 }
benkatz 24:58c2d7571207 355
benkatz 24:58c2d7571207 356 }
benkatz 22:60276ba87ac6 357 }
benkatz 0:4e1c4df6aabd 358
benkatz 0:4e1c4df6aabd 359 int main() {
benkatz 20:bf9ea5125d52 360 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 361 controller.mode = 0;
benkatz 23:2adf23ee0305 362 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 363 wait(.1);
benkatz 44:8040fa2fcb0d 364
benkatz 44:8040fa2fcb0d 365 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 366 wait_us(100);
benkatz 45:26801179208e 367 drv.calibrate();
benkatz 45:26801179208e 368 wait_us(100);
benkatz 44:8040fa2fcb0d 369 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 370 wait_us(100);
benkatz 46:2d4b1dafcfe3 371 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 44:8040fa2fcb0d 372 wait_us(100);
benkatz 46:2d4b1dafcfe3 373 drv.write_OCPCR(TRETRY_4MS, DEADTIME_100NS, OCP_RETRY, OCP_DEG_4US, VDS_LVL_0_75);
benkatz 45:26801179208e 374
benkatz 45:26801179208e 375 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 376 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 45:26801179208e 377 //drv.disable_gd();
benkatz 20:bf9ea5125d52 378
benkatz 44:8040fa2fcb0d 379
benkatz 44:8040fa2fcb0d 380
benkatz 44:8040fa2fcb0d 381
benkatz 9:d7eb815cb057 382 wait(.1);
benkatz 44:8040fa2fcb0d 383 /*
benkatz 26:2b865c00d7e9 384 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 385 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 386 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 387 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 388 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 389 */
benkatz 23:2adf23ee0305 390 reset_foc(&controller); // Reset current controller
benkatz 26:2b865c00d7e9 391 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 392 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 393
benkatz 20:bf9ea5125d52 394 wait(.1);
benkatz 37:c0f352d6e8e3 395 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 396
benkatz 37:c0f352d6e8e3 397 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 398 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 399
benkatz 28:8c7e29f719c5 400 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 401 txMsg.len = 6;
benkatz 26:2b865c00d7e9 402 rxMsg.len = 8;
benkatz 43:dfb72608639c 403 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 404
benkatz 25:f5741040c4bb 405 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 406 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 407 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 25:f5741040c4bb 408 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 409 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 410 int lut[128] = {0};
benkatz 23:2adf23ee0305 411 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 412 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 413 init_controller_params(&controller);
benkatz 45:26801179208e 414
benkatz 26:2b865c00d7e9 415 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 416 wait(.01);
benkatz 23:2adf23ee0305 417 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 418 wait(.01);
benkatz 23:2adf23ee0305 419 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 420 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 421 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 422 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 423 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 424 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 425
benkatz 44:8040fa2fcb0d 426
benkatz 44:8040fa2fcb0d 427
benkatz 44:8040fa2fcb0d 428
benkatz 44:8040fa2fcb0d 429 printf(" %d\n\r", drv.read_register(DCR));
benkatz 44:8040fa2fcb0d 430 wait_us(100);
benkatz 44:8040fa2fcb0d 431 printf(" %d\n\r", drv.read_register(CSACR));
benkatz 46:2d4b1dafcfe3 432 wait_us(100);
benkatz 46:2d4b1dafcfe3 433 printf(" %d\n\r", drv.read_register(OCPCR));
benkatz 44:8040fa2fcb0d 434 drv.disable_gd();
benkatz 44:8040fa2fcb0d 435
benkatz 23:2adf23ee0305 436 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 437
benkatz 23:2adf23ee0305 438 state_change = 1;
benkatz 44:8040fa2fcb0d 439
benkatz 20:bf9ea5125d52 440
benkatz 44:8040fa2fcb0d 441 int counter = 0;
benkatz 0:4e1c4df6aabd 442 while(1) {
benkatz 0:4e1c4df6aabd 443 }
benkatz 0:4e1c4df6aabd 444 }