nhan pham an / Hobbyking_Cheetah_Compact_DRV8323_StepDir

Fork and fix for mwork

Dependencies:   mbed-dev-f303 FastPWM3 millis

main.cpp@59:568e7be5232f, 2020-06-29 (annotated)

Committer:
annhandt09
Date:
Mon Jun 29 09:36:26 2020 +0000
Revision:
59:568e7be5232f
Parent:
58:fb799e99a5f7 
add controller.p_des = controller.theta_mech - (controller.t_ff / controller.kp) ;  for first enable.

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
annhandt09 57:c26b0093783b 6 #define mWorkDebug
benkatz 23:2adf23ee0305 7 #define REST_MODE 0
benkatz 23:2adf23ee0305 8 #define CALIBRATION_MODE 1
benkatz 26:2b865c00d7e9 9 #define MOTOR_MODE 2
benkatz 23:2adf23ee0305 10 #define SETUP_MODE 4
benkatz 23:2adf23ee0305 11 #define ENCODER_MODE 5
benkatz 22:60276ba87ac6 12
bdring 54:3e056b097c52 13 #define VERSION_NUM "2.0.0"
benkatz 26:2b865c00d7e9 14
bdring 54:3e056b097c52 15 // this sets up the 2 IO modes of the UART connector (UART and Step/Dir)
annhandt09 55:fee62d8fd8fb 16
bdring 54:3e056b097c52 17 #define UART_TX PA_2 // define the pins on the connector
bdring 54:3e056b097c52 18 #define UART_RX PA_3 // define the pins on the connector
bdring 54:3e056b097c52 19 #define UART_BAUD 230400
annhandt09 55:fee62d8fd8fb 20 // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 21
benkatz 0:4e1c4df6aabd 22 #include "mbed.h"
benkatz 0:4e1c4df6aabd 23 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 24 #include "structs.h"
benkatz 20:bf9ea5125d52 25 #include "foc.h"
benkatz 22:60276ba87ac6 26 #include "calibration.h"
benkatz 20:bf9ea5125d52 27 #include "hw_setup.h"
benkatz 23:2adf23ee0305 28 #include "math_ops.h"
benkatz 20:bf9ea5125d52 29 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 30 #include "hw_config.h"
benkatz 20:bf9ea5125d52 31 #include "motor_config.h"
benkatz 23:2adf23ee0305 32 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 33 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 34 #include "user_config.h"
benkatz 23:2adf23ee0305 35 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 36 #include "CAN_com.h"
benkatz 44:8040fa2fcb0d 37 #include "DRV.h"
annhandt09 55:fee62d8fd8fb 38 #include "mode.h"
annhandt09 58:fb799e99a5f7 39
annhandt09 55:fee62d8fd8fb 40 int io_mode = IO_MODE_NONE; // the default mode is serial
annhandt09 55:fee62d8fd8fb 41
annhandt09 55:fee62d8fd8fb 42 float __float_reg[64]; // Floats stored in flash
annhandt09 55:fee62d8fd8fb 43 int __int_reg[256];
benkatz 23:2adf23ee0305 44 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 45
benkatz 20:bf9ea5125d52 46 GPIOStruct gpio;
annhandt09 57:c26b0093783b 47 ControllerStruct controller = {
annhandt09 59:568e7be5232f 48 .kp = 250.0 ,
annhandt09 59:568e7be5232f 49 .kd = 2.5 ,
annhandt09 57:c26b0093783b 50 .t_ff = -17.0
annhandt09 57:c26b0093783b 51 };
benkatz 48:74a40481740c 52 ObserverStruct observer;
benkatz 20:bf9ea5125d52 53 COMStruct com;
bdring 54:3e056b097c52 54
bdring 54:3e056b097c52 55
bdring 54:3e056b097c52 56 Serial *pc = NULL;
bdring 54:3e056b097c52 57 InterruptIn *step = NULL;
bdring 54:3e056b097c52 58 DigitalIn *dir = NULL;
benkatz 9:d7eb815cb057 59
benkatz 17:3c5df2982199 60
benkatz 45:26801179208e 61 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 62 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 63 CANMessage txMsg;
benkatz 23:2adf23ee0305 64
benkatz 44:8040fa2fcb0d 65 SPI drv_spi(PA_7, PA_6, PA_5);
benkatz 44:8040fa2fcb0d 66 DigitalOut drv_cs(PA_4);
benkatz 44:8040fa2fcb0d 67 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 68
benkatz 26:2b865c00d7e9 69 PositionSensorAM5147 spi(16384, 0.0, NPP);
benkatz 20:bf9ea5125d52 70
benkatz 23:2adf23ee0305 71 volatile int count = 0;
benkatz 23:2adf23ee0305 72 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 73 volatile int state_change;
benkatz 20:bf9ea5125d52 74
annhandt09 57:c26b0093783b 75 volatile bool state_Led = false;
annhandt09 57:c26b0093783b 76 volatile uint32_t timeSche = 0;
annhandt09 57:c26b0093783b 77
bdring 54:3e056b097c52 78
bdring 54:3e056b097c52 79 void serial_interrupt(void);
bdring 54:3e056b097c52 80 void stepInt();
annhandt09 58:fb799e99a5f7 81 extern void cond_printf(const char *format, ...);
bdring 54:3e056b097c52 82
bdring 54:3e056b097c52 83 // set the current mode of the UART connector
bdring 54:3e056b097c52 84 void set_io_mode(int new_io_mode) {
bdring 54:3e056b097c52 85 if (new_io_mode == IO_MODE_SERIAL) {
annhandt09 57:c26b0093783b 86
bdring 54:3e056b097c52 87 io_mode = IO_MODE_SERIAL;
bdring 54:3e056b097c52 88 if (step != NULL)
bdring 54:3e056b097c52 89 step->rise(NULL);
bdring 54:3e056b097c52 90 delete step;
bdring 54:3e056b097c52 91 delete dir;
bdring 54:3e056b097c52 92 pc = new Serial(UART_TX, UART_RX);
bdring 54:3e056b097c52 93 pc->baud(UART_BAUD);
bdring 54:3e056b097c52 94 pc->attach(&serial_interrupt);
bdring 54:3e056b097c52 95 wait(100);
annhandt09 57:c26b0093783b 96 cond_printf("UART Mode\n\r");
bdring 54:3e056b097c52 97 }
bdring 54:3e056b097c52 98 else if (new_io_mode == IO_MODE_STEP_DIR){
annhandt09 57:c26b0093783b 99
bdring 54:3e056b097c52 100 wait(1000);
bdring 54:3e056b097c52 101
bdring 54:3e056b097c52 102 io_mode = IO_MODE_STEP_DIR;
bdring 54:3e056b097c52 103
bdring 54:3e056b097c52 104 if (pc != NULL) {
bdring 54:3e056b097c52 105 pc->attach(NULL);
bdring 54:3e056b097c52 106 }
bdring 54:3e056b097c52 107 delete pc;
bdring 54:3e056b097c52 108
bdring 54:3e056b097c52 109 step = new InterruptIn(UART_RX);
bdring 54:3e056b097c52 110 step->rise(&stepInt);
bdring 54:3e056b097c52 111 dir = new DigitalIn(UART_TX);
annhandt09 57:c26b0093783b 112 cond_printf("STEP/DIR Mode\n\r");
bdring 54:3e056b097c52 113 }
bdring 54:3e056b097c52 114
bdring 54:3e056b097c52 115
bdring 54:3e056b097c52 116 }
bdring 54:3e056b097c52 117
annhandt09 55:fee62d8fd8fb 118 /*
bdring 54:3e056b097c52 119 // Checks to see if in Serial mode before printing
bdring 54:3e056b097c52 120 void cond_printf(const char *format, ...)
bdring 54:3e056b097c52 121 {
bdring 54:3e056b097c52 122 if (io_mode != IO_MODE_SERIAL) {
bdring 54:3e056b097c52 123 return;
bdring 54:3e056b097c52 124 }
bdring 54:3e056b097c52 125 char loc_buf[64];
bdring 54:3e056b097c52 126 char * temp = loc_buf;
bdring 54:3e056b097c52 127 va_list arg;
bdring 54:3e056b097c52 128 va_list copy;
bdring 54:3e056b097c52 129 va_start(arg, format);
bdring 54:3e056b097c52 130 va_copy(copy, arg);
bdring 54:3e056b097c52 131 size_t len = vsnprintf(NULL, 0, format, arg);
bdring 54:3e056b097c52 132 va_end(copy);
bdring 54:3e056b097c52 133 if(len >= sizeof(loc_buf)){
bdring 54:3e056b097c52 134 temp = new char[len+1];
bdring 54:3e056b097c52 135 if(temp == NULL) {
bdring 54:3e056b097c52 136 return;
bdring 54:3e056b097c52 137 }
bdring 54:3e056b097c52 138 }
bdring 54:3e056b097c52 139 len = vsnprintf(temp, len+1, format, arg);
bdring 54:3e056b097c52 140 pc->printf( temp);
bdring 54:3e056b097c52 141 va_end(arg);
bdring 54:3e056b097c52 142 if(len > 64){
bdring 54:3e056b097c52 143 delete[] temp;
bdring 54:3e056b097c52 144 }
bdring 54:3e056b097c52 145 }
bdring 54:3e056b097c52 146
annhandt09 55:fee62d8fd8fb 147 */
annhandt09 55:fee62d8fd8fb 148
bdring 54:3e056b097c52 149 // Interupt function for receiving step signal
bdring 54:3e056b097c52 150 void stepInt() {
annhandt09 57:c26b0093783b 151 state_Led = !state_Led ;
annhandt09 57:c26b0093783b 152 gpio.led->write(state_Led);
bdring 54:3e056b097c52 153 if (dir) {
bdring 54:3e056b097c52 154 controller.p_des += RADS_PER_STEP;
bdring 54:3e056b097c52 155 } else {
bdring 54:3e056b097c52 156 controller.p_des -= RADS_PER_STEP;
bdring 54:3e056b097c52 157 }
bdring 54:3e056b097c52 158 }
bdring 54:3e056b097c52 159
annhandt09 57:c26b0093783b 160 void sendSche() {
annhandt09 57:c26b0093783b 161 if (timeSche > 40000){
annhandt09 57:c26b0093783b 162 timeSche = 0 ;
annhandt09 57:c26b0093783b 163 state_Led = !state_Led ;
annhandt09 57:c26b0093783b 164 gpio.led->write(state_Led);
annhandt09 57:c26b0093783b 165 /* replySche(&txMsg, controller.p_des, 0, 0);
annhandt09 57:c26b0093783b 166 can.write(txMsg); */
annhandt09 57:c26b0093783b 167 }
annhandt09 57:c26b0093783b 168 }
bdring 54:3e056b097c52 169 // CAN message received
annhandt09 56:eaf75bcad361 170 /*
annhandt09 56:eaf75bcad361 171 FD REST_MODE
annhandt09 56:eaf75bcad361 172 FC MOTORMODE
annhandt09 56:eaf75bcad361 173 FE ZeroPosition
annhandt09 56:eaf75bcad361 174 FB SteoDir
annhandt09 56:eaf75bcad361 175 FA Serial
annhandt09 56:eaf75bcad361 176 F0 Calib
annhandt09 56:eaf75bcad361 177 */
benkatz 26:2b865c00d7e9 178 void onMsgReceived() {
annhandt09 55:fee62d8fd8fb 179 //msgAvailable = true; //0A FF FF FF FF FF
bdring 54:3e056b097c52 180 //cond_printf("%df\n\r", rxMsg.id);
benkatz 26:2b865c00d7e9 181 can.read(rxMsg);
benkatz 28:8c7e29f719c5 182 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 183 controller.timeout = 0;
benkatz 28:8c7e29f719c5 184 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 185 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 186 state_change = 1;
benkatz 28:8c7e29f719c5 187 }
benkatz 28:8c7e29f719c5 188 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 189 state = REST_MODE;
benkatz 28:8c7e29f719c5 190 state_change = 1;
annhandt09 56:eaf75bcad361 191 gpio.led->write(0);
annhandt09 56:eaf75bcad361 192 }
annhandt09 56:eaf75bcad361 193 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]==0xF0))){
annhandt09 56:eaf75bcad361 194 state = CALIBRATION_MODE;
annhandt09 56:eaf75bcad361 195 state_change = 1;
annhandt09 56:eaf75bcad361 196 //gpio.led->write(0);
benkatz 28:8c7e29f719c5 197 }
benkatz 28:8c7e29f719c5 198 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 199 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 200 }
bdring 54:3e056b097c52 201 // new commands ....
bdring 54:3e056b097c52 202 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]==0xFB))){
bdring 54:3e056b097c52 203 io_mode = IO_MODE_STEP_DIR;
bdring 54:3e056b097c52 204 //if (pc != NULL) {
bdring 54:3e056b097c52 205 pc->attach(NULL);
bdring 54:3e056b097c52 206 //}
bdring 54:3e056b097c52 207 step = new InterruptIn(UART_RX);
bdring 54:3e056b097c52 208 step->rise(&stepInt);
bdring 54:3e056b097c52 209 dir = new DigitalIn(UART_TX);
bdring 54:3e056b097c52 210 }
bdring 54:3e056b097c52 211 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]==0xFA))){
bdring 54:3e056b097c52 212 io_mode = IO_MODE_SERIAL;
bdring 54:3e056b097c52 213 if (step != NULL)
bdring 54:3e056b097c52 214 step->rise(NULL);
bdring 54:3e056b097c52 215 delete step;
bdring 54:3e056b097c52 216 delete dir;
bdring 54:3e056b097c52 217 pc = new Serial(UART_TX, UART_RX);
bdring 54:3e056b097c52 218 pc->baud(UART_BAUD);
bdring 54:3e056b097c52 219 pc->attach(&serial_interrupt);
annhandt09 57:c26b0093783b 220 wait_ms(100);
bdring 54:3e056b097c52 221 }
benkatz 28:8c7e29f719c5 222 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 223 unpack_cmd(rxMsg, &controller);
annhandt09 55:fee62d8fd8fb 224 }
annhandt09 55:fee62d8fd8fb 225 cond_printf("CAN BUS: %f ,%f, %f\n\r", rxMsg.data[0], rxMsg.data[1], rxMsg.data[2]);
benkatz 37:c0f352d6e8e3 226 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 227 can.write(txMsg);
bdring 54:3e056b097c52 228 }
benkatz 26:2b865c00d7e9 229 }
benkatz 26:2b865c00d7e9 230
benkatz 23:2adf23ee0305 231 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 232 drv.disable_gd();
benkatz 47:e1196a851f76 233 //gpio.enable->write(0);
bdring 54:3e056b097c52 234 cond_printf("\n\r\n\r\n\r");
bdring 54:3e056b097c52 235 cond_printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 236 wait_us(10);
bdring 54:3e056b097c52 237 cond_printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 238 wait_us(10);
bdring 54:3e056b097c52 239 cond_printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 240 wait_us(10);
bdring 54:3e056b097c52 241 cond_printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 242 wait_us(10);
bdring 54:3e056b097c52 243 cond_printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 244 wait_us(10);
bdring 54:3e056b097c52 245 cond_printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 246 wait_us(10);
bdring 54:3e056b097c52 247 cond_printf(" f - Move Forward\n\r");
bdring 53:349304b6d937 248 wait_us(10);
bdring 54:3e056b097c52 249 cond_printf(" b - Move Back\n\r");
bdring 53:349304b6d937 250 wait_us(10);
bdring 54:3e056b097c52 251 cond_printf(" p - current posiiton\n\r");
bdring 52:cf8b2abf811d 252 wait_us(10);
bdring 54:3e056b097c52 253 cond_printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 254 wait_us(10);
benkatz 23:2adf23ee0305 255 state_change = 0;
benkatz 37:c0f352d6e8e3 256 gpio.led->write(0);
benkatz 23:2adf23ee0305 257 }
benkatz 24:58c2d7571207 258
benkatz 24:58c2d7571207 259 void enter_setup_state(void){
bdring 54:3e056b097c52 260 cond_printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 261 wait_us(10);
bdring 54:3e056b097c52 262 cond_printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 263 wait_us(10);
bdring 54:3e056b097c52 264 cond_printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 265 wait_us(10);
bdring 54:3e056b097c52 266 cond_printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 267 wait_us(10);
bdring 54:3e056b097c52 268 cond_printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 269 wait_us(10);
bdring 54:3e056b097c52 270 cond_printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
benkatz 51:6cd89bd6fcaa 271 wait_us(10);
bdring 54:3e056b097c52 272 cond_printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 273 wait_us(10);
bdring 54:3e056b097c52 274 cond_printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 275 wait_us(10);
bdring 54:3e056b097c52 276 cond_printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 277 wait_us(10);
benkatz 24:58c2d7571207 278 state_change = 0;
benkatz 24:58c2d7571207 279 }
annhandt09 58:fb799e99a5f7 280 void printFirmwareVer(){
annhandt09 58:fb799e99a5f7 281 cond_printf("\n\r\n\r Hobby King Cheetah\n\r\n\r");
annhandt09 58:fb799e99a5f7 282 wait_us(10);
annhandt09 58:fb799e99a5f7 283 cond_printf("\n\r Debug Info:\n\r");
annhandt09 58:fb799e99a5f7 284 cond_printf(" Firmware Version: %s\n\r", VERSION_NUM);
annhandt09 58:fb799e99a5f7 285 cond_printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
annhandt09 58:fb799e99a5f7 286 cond_printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
annhandt09 58:fb799e99a5f7 287 cond_printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
annhandt09 58:fb799e99a5f7 288 cond_printf(" Gear Ratio %.4f:1\r\n", GR);
annhandt09 58:fb799e99a5f7 289 cond_printf(" Mapped Position %.4f to %.4f Radians\n\r", P_MIN, P_MAX);
annhandt09 58:fb799e99a5f7 290 cond_printf(" PHASE_ORDER %d \r\n", PHASE_ORDER);
annhandt09 59:568e7be5232f 291 cond_printf(" alpha: %.4f Kd: %.4f\n\r", controller.alpha, controller.k_d);
annhandt09 59:568e7be5232f 292 cond_printf(" theta_mech: %.4f theta_elec: %.4f\n\r", controller.theta_mech, controller.theta_elec);
annhandt09 59:568e7be5232f 293 cond_printf(" dtheta_mech: %.4f Dtheta_elec: %.4f\n\r", controller.dtheta_mech, controller.dtheta_elec);
annhandt09 59:568e7be5232f 294 cond_printf(" pdes: %.4f vdes: %.4f\n\r", controller.p_des, controller.v_des);
annhandt09 59:568e7be5232f 295 cond_printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
annhandt09 59:568e7be5232f 296 cond_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);
annhandt09 58:fb799e99a5f7 297 cond_printf(" CAN ID: %d\n\r", CAN_ID);
annhandt09 58:fb799e99a5f7 298 }
benkatz 23:2adf23ee0305 299 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 300 drv.enable_gd();
benkatz 47:e1196a851f76 301 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 302 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 303 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 304 wait(.001);
benkatz 23:2adf23ee0305 305 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 306 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 307 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 308 state_change = 0;
bdring 54:3e056b097c52 309 cond_printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 310 }
benkatz 22:60276ba87ac6 311
benkatz 23:2adf23ee0305 312 void calibrate(void){
benkatz 44:8040fa2fcb0d 313 drv.enable_gd();
benkatz 47:e1196a851f76 314 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 315 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 316 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 317 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 318 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 319 wait(.2);
bdring 54:3e056b097c52 320 cond_printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 321 drv.disable_gd();
benkatz 47:e1196a851f76 322 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 323 state_change = 0;
benkatz 23:2adf23ee0305 324 }
benkatz 23:2adf23ee0305 325
benkatz 23:2adf23ee0305 326 void print_encoder(void){
bdring 54:3e056b097c52 327 cond_printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
bdring 54:3e056b097c52 328 //cond_printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 329 wait(.001);
benkatz 22:60276ba87ac6 330 }
benkatz 20:bf9ea5125d52 331
benkatz 23:2adf23ee0305 332 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 333 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 334 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 335 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 336
benkatz 23:2adf23ee0305 337 ///Sample current always ///
benkatz 25:f5741040c4bb 338 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 339 //volatile int delay;
benkatz 20:bf9ea5125d52 340 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 341
benkatz 47:e1196a851f76 342 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 343 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 344 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 345 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 346 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 347 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 348 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 349 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 350 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
benkatz 23:2adf23ee0305 351 ///
annhandt09 57:c26b0093783b 352 timeSche = timeSche +1 ;
benkatz 23:2adf23ee0305 353 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 354 switch(state){
benkatz 37:c0f352d6e8e3 355 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 356 if(state_change){
benkatz 23:2adf23ee0305 357 enter_menu_state();
benkatz 23:2adf23ee0305 358 }
benkatz 23:2adf23ee0305 359 break;
benkatz 22:60276ba87ac6 360
benkatz 23:2adf23ee0305 361 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 362 if(state_change){
benkatz 23:2adf23ee0305 363 calibrate();
benkatz 23:2adf23ee0305 364 }
benkatz 23:2adf23ee0305 365 break;
benkatz 23:2adf23ee0305 366
benkatz 26:2b865c00d7e9 367 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 368 if(state_change){
annhandt09 59:568e7be5232f 369 controller.p_des = controller.theta_mech - (controller.t_ff / controller.kp) ;
benkatz 25:f5741040c4bb 370 enter_torque_mode();
benkatz 28:8c7e29f719c5 371 count = 0;
benkatz 25:f5741040c4bb 372 }
benkatz 28:8c7e29f719c5 373 else{
benkatz 37:c0f352d6e8e3 374 /*
benkatz 37:c0f352d6e8e3 375 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 376 gpio.
benkatz 47:e1196a851f76 377 ->write(0);
benkatz 37:c0f352d6e8e3 378 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 379 state = REST_MODE;
benkatz 37:c0f352d6e8e3 380 state_change = 1;
bdring 54:3e056b097c52 381 cond_printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 382 }
benkatz 37:c0f352d6e8e3 383 */
benkatz 37:c0f352d6e8e3 384
benkatz 28:8c7e29f719c5 385 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 386 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 387 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 388 controller.kp = 0;
benkatz 37:c0f352d6e8e3 389 controller.kd = 0;
benkatz 37:c0f352d6e8e3 390 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 391 }
benkatz 47:e1196a851f76 392
benkatz 50:ba72df25d10f 393 torque_control(&controller);
benkatz 49:83d83040ea51 394 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 395
benkatz 49:83d83040ea51 396 controller.timeout++;
benkatz 49:83d83040ea51 397 count++;
benkatz 37:c0f352d6e8e3 398
benkatz 37:c0f352d6e8e3 399 }
benkatz 23:2adf23ee0305 400 break;
benkatz 23:2adf23ee0305 401 case SETUP_MODE:
benkatz 23:2adf23ee0305 402 if(state_change){
benkatz 24:58c2d7571207 403 enter_setup_state();
benkatz 23:2adf23ee0305 404 }
benkatz 23:2adf23ee0305 405 break;
benkatz 23:2adf23ee0305 406 case ENCODER_MODE:
benkatz 23:2adf23ee0305 407 print_encoder();
benkatz 23:2adf23ee0305 408 break;
benkatz 37:c0f352d6e8e3 409 }
benkatz 2:8724412ad628 410 }
benkatz 23:2adf23ee0305 411 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 412 }
benkatz 0:4e1c4df6aabd 413
benkatz 25:f5741040c4bb 414
benkatz 24:58c2d7571207 415 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 416 char cmd_id = 0;
benkatz 25:f5741040c4bb 417 char char_count = 0;
benkatz 24:58c2d7571207 418
benkatz 25:f5741040c4bb 419 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 420 /// Called when data received over serial ///
bdring 54:3e056b097c52 421
benkatz 23:2adf23ee0305 422 void serial_interrupt(void){
bdring 54:3e056b097c52 423 while(pc->readable()){
bdring 54:3e056b097c52 424 char c = pc->getc();
benkatz 25:f5741040c4bb 425 if(c == 27){
benkatz 25:f5741040c4bb 426 state = REST_MODE;
benkatz 25:f5741040c4bb 427 state_change = 1;
benkatz 25:f5741040c4bb 428 char_count = 0;
benkatz 25:f5741040c4bb 429 cmd_id = 0;
benkatz 37:c0f352d6e8e3 430 gpio.led->write(0);;
benkatz 25:f5741040c4bb 431 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 432 }
annhandt09 59:568e7be5232f 433 if(c == 't'){cond_printf("Pos: %.3f Vel: %.3f Cur: %.3f\r\n", controller.theta_mech, controller.theta_elec, controller.i_q_filt*KT_OUT);}
annhandt09 59:568e7be5232f 434 else if(c == 'y'){printFirmwareVer();}
benkatz 24:58c2d7571207 435 if(state == REST_MODE){
benkatz 23:2adf23ee0305 436 switch (c){
benkatz 23:2adf23ee0305 437 case 'c':
benkatz 23:2adf23ee0305 438 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 439 state_change = 1;
benkatz 23:2adf23ee0305 440 break;
benkatz 26:2b865c00d7e9 441 case 'm':
benkatz 26:2b865c00d7e9 442 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 443 state_change = 1;
benkatz 23:2adf23ee0305 444 break;
benkatz 23:2adf23ee0305 445 case 'e':
benkatz 23:2adf23ee0305 446 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 447 state_change = 1;
bdring 53:349304b6d937 448 break;
benkatz 23:2adf23ee0305 449 case 's':
benkatz 23:2adf23ee0305 450 state = SETUP_MODE;
benkatz 23:2adf23ee0305 451 state_change = 1;
benkatz 23:2adf23ee0305 452 break;
benkatz 37:c0f352d6e8e3 453 case 'z':
benkatz 37:c0f352d6e8e3 454 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 455 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 456 wait_us(20);
benkatz 37:c0f352d6e8e3 457 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 458 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 459 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 460 prefs.close();
benkatz 37:c0f352d6e8e3 461 prefs.load();
benkatz 37:c0f352d6e8e3 462 spi.SetMechOffset(M_OFFSET);
bdring 54:3e056b097c52 463 cond_printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 464
benkatz 37:c0f352d6e8e3 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':
benkatz 51:6cd89bd6fcaa 482 I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 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 24:58c2d7571207 490 default:
bdring 54:3e056b097c52 491 cond_printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 492 break;
benkatz 24:58c2d7571207 493 }
benkatz 24:58c2d7571207 494
benkatz 24:58c2d7571207 495 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 496 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 497 prefs.close();
benkatz 24:58c2d7571207 498 prefs.load();
benkatz 24:58c2d7571207 499 state_change = 1;
benkatz 24:58c2d7571207 500 char_count = 0;
benkatz 24:58c2d7571207 501 cmd_id = 0;
benkatz 24:58c2d7571207 502 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 503 }
benkatz 24:58c2d7571207 504 else{
benkatz 24:58c2d7571207 505 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 506 else{
benkatz 24:58c2d7571207 507 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 508
benkatz 24:58c2d7571207 509 }
bdring 54:3e056b097c52 510 pc->putc(c);
benkatz 24:58c2d7571207 511 char_count++;
benkatz 23:2adf23ee0305 512 }
benkatz 23:2adf23ee0305 513 }
benkatz 24:58c2d7571207 514 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 515 switch (c){
benkatz 24:58c2d7571207 516 case 27:
benkatz 24:58c2d7571207 517 state = REST_MODE;
benkatz 24:58c2d7571207 518 state_change = 1;
benkatz 24:58c2d7571207 519 break;
benkatz 24:58c2d7571207 520 }
benkatz 24:58c2d7571207 521 }
benkatz 49:83d83040ea51 522 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 523 switch (c){
benkatz 49:83d83040ea51 524 case 'd':
benkatz 49:83d83040ea51 525 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 526 controller.i_d_ref = 0;
bdring 53:349304b6d937 527 break;
bdring 53:349304b6d937 528 case 'f': // move forward
annhandt09 57:c26b0093783b 529 controller.p_des += 0.02f;
bdring 54:3e056b097c52 530 cond_printf("p_des: %.3f\r\n", controller.p_des);
bdring 53:349304b6d937 531 break;
annhandt09 55:fee62d8fd8fb 532 case 'b': // move back
annhandt09 57:c26b0093783b 533 controller.p_des -= 0.02f;
bdring 54:3e056b097c52 534 cond_printf("p_des: %.3f\r\n", controller.p_des);
bdring 53:349304b6d937 535 break;
bdring 53:349304b6d937 536 case 'p': // show posiiton
annhandt09 57:c26b0093783b 537 cond_printf("Kp: %.3f Kd: %.3f ff: %.3f\r\n", controller.kp, controller.kd, controller.t_ff);
bdring 53:349304b6d937 538 break;
annhandt09 55:fee62d8fd8fb 539 case 's': // show posiiton
annhandt09 55:fee62d8fd8fb 540 pack_reply(&txMsg, 0, 0 ,1);
annhandt09 55:fee62d8fd8fb 541 can.write(txMsg);
annhandt09 55:fee62d8fd8fb 542 break;
benkatz 49:83d83040ea51 543 }
bdring 53:349304b6d937 544
benkatz 49:83d83040ea51 545 }
benkatz 24:58c2d7571207 546
benkatz 24:58c2d7571207 547 }
benkatz 22:60276ba87ac6 548 }
annhandt09 58:fb799e99a5f7 549 /*
annhandt09 58:fb799e99a5f7 550 Khi
annhandt09 58:fb799e99a5f7 551 Controller.P_des = Controller.theta_mech + ( - 0.710)
bdring 54:3e056b097c52 552
annhandt09 58:fb799e99a5f7 553 -0.710 là ???
annhandt09 58:fb799e99a5f7 554
annhandt09 58:fb799e99a5f7 555 -> khi enable motor set controller.p_des =
annhandt09 58:fb799e99a5f7 556
annhandt09 58:fb799e99a5f7 557
annhandt09 58:fb799e99a5f7 558
annhandt09 58:fb799e99a5f7 559
annhandt09 58:fb799e99a5f7 560 */
annhandt09 58:fb799e99a5f7 561
benkatz 0:4e1c4df6aabd 562
benkatz 0:4e1c4df6aabd 563 int main() {
benkatz 20:bf9ea5125d52 564 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 565 controller.mode = 0;
benkatz 23:2adf23ee0305 566 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 567 wait(.1);
benkatz 44:8040fa2fcb0d 568
benkatz 44:8040fa2fcb0d 569 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 570 wait_us(100);
benkatz 45:26801179208e 571 drv.calibrate();
benkatz 45:26801179208e 572 wait_us(100);
benkatz 44:8040fa2fcb0d 573 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 574 wait_us(100);
benkatz 46:2d4b1dafcfe3 575 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 44:8040fa2fcb0d 576 wait_us(100);
benkatz 49:83d83040ea51 577 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 578
benkatz 45:26801179208e 579 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 580 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 47:e1196a851f76 581 drv.disable_gd();
benkatz 20:bf9ea5125d52 582
benkatz 9:d7eb815cb057 583 wait(.1);
benkatz 44:8040fa2fcb0d 584 /*
benkatz 26:2b865c00d7e9 585 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 586 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 587 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 588 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 589 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 590 */
benkatz 23:2adf23ee0305 591 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 592 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 593 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 594 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 595
benkatz 20:bf9ea5125d52 596 wait(.1);
benkatz 37:c0f352d6e8e3 597 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 598
benkatz 37:c0f352d6e8e3 599 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 600 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 601
benkatz 28:8c7e29f719c5 602 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 603 txMsg.len = 6;
benkatz 26:2b865c00d7e9 604 rxMsg.len = 8;
benkatz 43:dfb72608639c 605 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 606
benkatz 48:74a40481740c 607 // If preferences haven't been user configured yet, set defaults
benkatz 25:f5741040c4bb 608 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 609 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 610 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 611 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 612 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 51:6cd89bd6fcaa 613 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
benkatz 48:74a40481740c 614 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 615 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 616 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
benkatz 25:f5741040c4bb 617 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 618 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 619 int lut[128] = {0};
benkatz 23:2adf23ee0305 620 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 621 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 622 init_controller_params(&controller);
benkatz 45:26801179208e 623
bdring 54:3e056b097c52 624
annhandt09 57:c26b0093783b 625 set_io_mode(IO_MODE_SERIAL);
annhandt09 57:c26b0093783b 626 //set_io_mode(IO_MODE_STEP_DIR);
annhandt09 58:fb799e99a5f7 627 wait_us(1000);
annhandt09 58:fb799e99a5f7 628 printFirmwareVer();
benkatz 23:2adf23ee0305 629 state_change = 1;
annhandt09 57:c26b0093783b 630 timeSche = 0 ;
benkatz 0:4e1c4df6aabd 631 while(1) {
annhandt09 57:c26b0093783b 632 drv.print_faults();
annhandt09 57:c26b0093783b 633 //sendSche();
annhandt09 59:568e7be5232f 634 wait(.1);
benkatz 0:4e1c4df6aabd 635 }
benkatz 0:4e1c4df6aabd 636 }