Barton Dring / Hobbyking_Cheetah_Compact_DRV8323

Bart's version for testing step/dir control

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@54:3e056b097c52, 2020-03-03 (annotated)

Committer:
bdring
Date:
Tue Mar 03 00:53:49 2020 +0000
Revision:
54:3e056b097c52
Parent:
53:349304b6d937 
Working on step/dir

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 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)
bdring 54:3e056b097c52 16 #define IO_MODE_NONE 0
bdring 54:3e056b097c52 17 #define IO_MODE_SERIAL 1
bdring 54:3e056b097c52 18 #define IO_MODE_STEP_DIR 2
bdring 54:3e056b097c52 19 #define UART_TX PA_2 // define the pins on the connector
bdring 54:3e056b097c52 20 #define UART_RX PA_3 // define the pins on the connector
bdring 54:3e056b097c52 21 #define UART_BAUD 230400
bdring 54:3e056b097c52 22 int io_mode = IO_MODE_NONE; // the default mode is serial
benkatz 18:f1d56f4acb39 23
benkatz 26:2b865c00d7e9 24 float __float_reg[64]; // Floats stored in flash
bdring 54:3e056b097c52 25 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 26
benkatz 0:4e1c4df6aabd 27 #include "mbed.h"
benkatz 0:4e1c4df6aabd 28 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 29 #include "structs.h"
benkatz 20:bf9ea5125d52 30 #include "foc.h"
benkatz 22:60276ba87ac6 31 #include "calibration.h"
benkatz 20:bf9ea5125d52 32 #include "hw_setup.h"
benkatz 23:2adf23ee0305 33 #include "math_ops.h"
benkatz 20:bf9ea5125d52 34 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 35 #include "hw_config.h"
benkatz 20:bf9ea5125d52 36 #include "motor_config.h"
benkatz 23:2adf23ee0305 37 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 38 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 39 #include "user_config.h"
benkatz 23:2adf23ee0305 40 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 41 #include "CAN_com.h"
benkatz 44:8040fa2fcb0d 42 #include "DRV.h"
benkatz 26:2b865c00d7e9 43
benkatz 23:2adf23ee0305 44 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 45
benkatz 20:bf9ea5125d52 46 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 47 ControllerStruct controller;
benkatz 48:74a40481740c 48 ObserverStruct observer;
benkatz 20:bf9ea5125d52 49 COMStruct com;
bdring 54:3e056b097c52 50
bdring 54:3e056b097c52 51
bdring 54:3e056b097c52 52 Serial *pc = NULL;
bdring 54:3e056b097c52 53 InterruptIn *step = NULL;
bdring 54:3e056b097c52 54 DigitalIn *dir = NULL;
benkatz 9:d7eb815cb057 55
benkatz 17:3c5df2982199 56
benkatz 45:26801179208e 57 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 58 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 59 CANMessage txMsg;
benkatz 23:2adf23ee0305 60
benkatz 44:8040fa2fcb0d 61 SPI drv_spi(PA_7, PA_6, PA_5);
benkatz 44:8040fa2fcb0d 62 DigitalOut drv_cs(PA_4);
benkatz 44:8040fa2fcb0d 63 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 64
benkatz 26:2b865c00d7e9 65 PositionSensorAM5147 spi(16384, 0.0, NPP);
benkatz 20:bf9ea5125d52 66
benkatz 23:2adf23ee0305 67 volatile int count = 0;
benkatz 23:2adf23ee0305 68 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 69 volatile int state_change;
benkatz 20:bf9ea5125d52 70
bdring 54:3e056b097c52 71
bdring 54:3e056b097c52 72 void serial_interrupt(void);
bdring 54:3e056b097c52 73 void stepInt();
bdring 54:3e056b097c52 74 void cond_printf(const char *format, ...);
bdring 54:3e056b097c52 75
bdring 54:3e056b097c52 76 // set the current mode of the UART connector
bdring 54:3e056b097c52 77 void set_io_mode(int new_io_mode) {
bdring 54:3e056b097c52 78 if (new_io_mode == IO_MODE_SERIAL) {
bdring 54:3e056b097c52 79 cond_printf("UART Mode\n\r");
bdring 54:3e056b097c52 80 io_mode = IO_MODE_SERIAL;
bdring 54:3e056b097c52 81 if (step != NULL)
bdring 54:3e056b097c52 82 step->rise(NULL);
bdring 54:3e056b097c52 83 delete step;
bdring 54:3e056b097c52 84 delete dir;
bdring 54:3e056b097c52 85 pc = new Serial(UART_TX, UART_RX);
bdring 54:3e056b097c52 86 pc->baud(UART_BAUD);
bdring 54:3e056b097c52 87 pc->attach(&serial_interrupt);
bdring 54:3e056b097c52 88 wait(100);
bdring 54:3e056b097c52 89
bdring 54:3e056b097c52 90 }
bdring 54:3e056b097c52 91 else if (new_io_mode == IO_MODE_STEP_DIR){
bdring 54:3e056b097c52 92 cond_printf("STEP/DIR Mode\n\r");
bdring 54:3e056b097c52 93 wait(1000);
bdring 54:3e056b097c52 94
bdring 54:3e056b097c52 95 io_mode = IO_MODE_STEP_DIR;
bdring 54:3e056b097c52 96
bdring 54:3e056b097c52 97 if (pc != NULL) {
bdring 54:3e056b097c52 98 pc->attach(NULL);
bdring 54:3e056b097c52 99 }
bdring 54:3e056b097c52 100 delete pc;
bdring 54:3e056b097c52 101
bdring 54:3e056b097c52 102 step = new InterruptIn(UART_RX);
bdring 54:3e056b097c52 103 step->rise(&stepInt);
bdring 54:3e056b097c52 104 dir = new DigitalIn(UART_TX);
bdring 54:3e056b097c52 105 }
bdring 54:3e056b097c52 106
bdring 54:3e056b097c52 107
bdring 54:3e056b097c52 108 }
bdring 54:3e056b097c52 109
bdring 54:3e056b097c52 110 // Checks to see if in Serial mode before printing
bdring 54:3e056b097c52 111 void cond_printf(const char *format, ...)
bdring 54:3e056b097c52 112 {
bdring 54:3e056b097c52 113 if (io_mode != IO_MODE_SERIAL) {
bdring 54:3e056b097c52 114 return;
bdring 54:3e056b097c52 115 }
bdring 54:3e056b097c52 116
bdring 54:3e056b097c52 117 char loc_buf[64];
bdring 54:3e056b097c52 118 char * temp = loc_buf;
bdring 54:3e056b097c52 119 va_list arg;
bdring 54:3e056b097c52 120 va_list copy;
bdring 54:3e056b097c52 121 va_start(arg, format);
bdring 54:3e056b097c52 122 va_copy(copy, arg);
bdring 54:3e056b097c52 123 size_t len = vsnprintf(NULL, 0, format, arg);
bdring 54:3e056b097c52 124 va_end(copy);
bdring 54:3e056b097c52 125 if(len >= sizeof(loc_buf)){
bdring 54:3e056b097c52 126 temp = new char[len+1];
bdring 54:3e056b097c52 127 if(temp == NULL) {
bdring 54:3e056b097c52 128 return;
bdring 54:3e056b097c52 129 }
bdring 54:3e056b097c52 130 }
bdring 54:3e056b097c52 131 len = vsnprintf(temp, len+1, format, arg);
bdring 54:3e056b097c52 132 pc->printf( temp);
bdring 54:3e056b097c52 133 va_end(arg);
bdring 54:3e056b097c52 134 if(len > 64){
bdring 54:3e056b097c52 135 delete[] temp;
bdring 54:3e056b097c52 136 }
bdring 54:3e056b097c52 137 }
bdring 54:3e056b097c52 138
bdring 54:3e056b097c52 139 // Interupt function for receiving step signal
bdring 54:3e056b097c52 140 void stepInt() {
bdring 54:3e056b097c52 141 if (dir) {
bdring 54:3e056b097c52 142 controller.p_des += RADS_PER_STEP;
bdring 54:3e056b097c52 143 } else {
bdring 54:3e056b097c52 144 controller.p_des -= RADS_PER_STEP;
bdring 54:3e056b097c52 145 }
bdring 54:3e056b097c52 146 }
bdring 54:3e056b097c52 147
bdring 54:3e056b097c52 148 // CAN message received
benkatz 26:2b865c00d7e9 149 void onMsgReceived() {
benkatz 26:2b865c00d7e9 150 //msgAvailable = true;
bdring 54:3e056b097c52 151 //cond_printf("%df\n\r", rxMsg.id);
benkatz 26:2b865c00d7e9 152 can.read(rxMsg);
benkatz 28:8c7e29f719c5 153 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 154 controller.timeout = 0;
benkatz 28:8c7e29f719c5 155 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 156 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 157 state_change = 1;
benkatz 28:8c7e29f719c5 158 }
benkatz 28:8c7e29f719c5 159 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 160 state = REST_MODE;
benkatz 28:8c7e29f719c5 161 state_change = 1;
benkatz 37:c0f352d6e8e3 162 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 163 }
benkatz 28:8c7e29f719c5 164 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 165 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 166 }
bdring 54:3e056b097c52 167 // new commands ....
bdring 54:3e056b097c52 168 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 169 io_mode = IO_MODE_STEP_DIR;
bdring 54:3e056b097c52 170 //if (pc != NULL) {
bdring 54:3e056b097c52 171 pc->attach(NULL);
bdring 54:3e056b097c52 172 //}
bdring 54:3e056b097c52 173 step = new InterruptIn(UART_RX);
bdring 54:3e056b097c52 174 step->rise(&stepInt);
bdring 54:3e056b097c52 175 dir = new DigitalIn(UART_TX);
bdring 54:3e056b097c52 176 }
bdring 54:3e056b097c52 177 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 178 io_mode = IO_MODE_SERIAL;
bdring 54:3e056b097c52 179 if (step != NULL)
bdring 54:3e056b097c52 180 step->rise(NULL);
bdring 54:3e056b097c52 181 delete step;
bdring 54:3e056b097c52 182 delete dir;
bdring 54:3e056b097c52 183 pc = new Serial(UART_TX, UART_RX);
bdring 54:3e056b097c52 184 pc->baud(UART_BAUD);
bdring 54:3e056b097c52 185 pc->attach(&serial_interrupt);
bdring 54:3e056b097c52 186 wait(100);
bdring 54:3e056b097c52 187 }
benkatz 28:8c7e29f719c5 188 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 189 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 190 }
bdring 54:3e056b097c52 191
benkatz 37:c0f352d6e8e3 192 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 193 can.write(txMsg);
bdring 54:3e056b097c52 194 }
benkatz 26:2b865c00d7e9 195 }
benkatz 26:2b865c00d7e9 196
benkatz 23:2adf23ee0305 197 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 198 drv.disable_gd();
benkatz 47:e1196a851f76 199 //gpio.enable->write(0);
bdring 54:3e056b097c52 200 cond_printf("\n\r\n\r\n\r");
bdring 54:3e056b097c52 201 cond_printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 202 wait_us(10);
bdring 54:3e056b097c52 203 cond_printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 204 wait_us(10);
bdring 54:3e056b097c52 205 cond_printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 206 wait_us(10);
bdring 54:3e056b097c52 207 cond_printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 208 wait_us(10);
bdring 54:3e056b097c52 209 cond_printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 210 wait_us(10);
bdring 54:3e056b097c52 211 cond_printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 212 wait_us(10);
bdring 54:3e056b097c52 213 cond_printf(" f - Move Forward\n\r");
bdring 53:349304b6d937 214 wait_us(10);
bdring 54:3e056b097c52 215 cond_printf(" b - Move Back\n\r");
bdring 53:349304b6d937 216 wait_us(10);
bdring 54:3e056b097c52 217 cond_printf(" p - current posiiton\n\r");
bdring 52:cf8b2abf811d 218 wait_us(10);
bdring 54:3e056b097c52 219 cond_printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 220 wait_us(10);
benkatz 23:2adf23ee0305 221 state_change = 0;
benkatz 37:c0f352d6e8e3 222 gpio.led->write(0);
benkatz 23:2adf23ee0305 223 }
benkatz 24:58c2d7571207 224
benkatz 24:58c2d7571207 225 void enter_setup_state(void){
bdring 54:3e056b097c52 226 cond_printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 227 wait_us(10);
bdring 54:3e056b097c52 228 cond_printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 229 wait_us(10);
bdring 54:3e056b097c52 230 cond_printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 231 wait_us(10);
bdring 54:3e056b097c52 232 cond_printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 233 wait_us(10);
bdring 54:3e056b097c52 234 cond_printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 235 wait_us(10);
bdring 54:3e056b097c52 236 cond_printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
benkatz 51:6cd89bd6fcaa 237 wait_us(10);
bdring 54:3e056b097c52 238 cond_printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 239 wait_us(10);
bdring 54:3e056b097c52 240 cond_printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 241 wait_us(10);
bdring 54:3e056b097c52 242 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 243 wait_us(10);
benkatz 24:58c2d7571207 244 state_change = 0;
benkatz 24:58c2d7571207 245 }
benkatz 22:60276ba87ac6 246
benkatz 23:2adf23ee0305 247 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 248 drv.enable_gd();
benkatz 47:e1196a851f76 249 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 250 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 251 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 252 wait(.001);
benkatz 23:2adf23ee0305 253 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 254 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 255 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 256 state_change = 0;
bdring 54:3e056b097c52 257 cond_printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 258 }
benkatz 22:60276ba87ac6 259
benkatz 23:2adf23ee0305 260 void calibrate(void){
benkatz 44:8040fa2fcb0d 261 drv.enable_gd();
benkatz 47:e1196a851f76 262 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 263 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 264 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 265 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 266 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 267 wait(.2);
bdring 54:3e056b097c52 268 cond_printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 269 drv.disable_gd();
benkatz 47:e1196a851f76 270 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 271 state_change = 0;
benkatz 23:2adf23ee0305 272 }
benkatz 23:2adf23ee0305 273
benkatz 23:2adf23ee0305 274 void print_encoder(void){
bdring 54:3e056b097c52 275 cond_printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
bdring 54:3e056b097c52 276 //cond_printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 277 wait(.001);
benkatz 22:60276ba87ac6 278 }
benkatz 20:bf9ea5125d52 279
benkatz 23:2adf23ee0305 280 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 281 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 282 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 283 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 284
benkatz 23:2adf23ee0305 285 ///Sample current always ///
benkatz 25:f5741040c4bb 286 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 287 //volatile int delay;
benkatz 20:bf9ea5125d52 288 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 289
benkatz 47:e1196a851f76 290 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 291 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 292 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 293 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 294 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 295 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 296 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 297 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 298 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 299 ///
benkatz 20:bf9ea5125d52 300
benkatz 23:2adf23ee0305 301 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 302 switch(state){
benkatz 37:c0f352d6e8e3 303 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 304 if(state_change){
benkatz 23:2adf23ee0305 305 enter_menu_state();
benkatz 23:2adf23ee0305 306 }
benkatz 23:2adf23ee0305 307 break;
benkatz 22:60276ba87ac6 308
benkatz 23:2adf23ee0305 309 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 310 if(state_change){
benkatz 23:2adf23ee0305 311 calibrate();
benkatz 23:2adf23ee0305 312 }
benkatz 23:2adf23ee0305 313 break;
benkatz 23:2adf23ee0305 314
benkatz 26:2b865c00d7e9 315 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 316 if(state_change){
benkatz 25:f5741040c4bb 317 enter_torque_mode();
benkatz 28:8c7e29f719c5 318 count = 0;
benkatz 25:f5741040c4bb 319 }
benkatz 28:8c7e29f719c5 320 else{
benkatz 37:c0f352d6e8e3 321 /*
benkatz 37:c0f352d6e8e3 322 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 323 gpio.
benkatz 47:e1196a851f76 324 ->write(0);
benkatz 37:c0f352d6e8e3 325 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 326 state = REST_MODE;
benkatz 37:c0f352d6e8e3 327 state_change = 1;
bdring 54:3e056b097c52 328 cond_printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 329 }
benkatz 37:c0f352d6e8e3 330 */
benkatz 37:c0f352d6e8e3 331
benkatz 28:8c7e29f719c5 332 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 333 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 334 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 335 controller.kp = 0;
benkatz 37:c0f352d6e8e3 336 controller.kd = 0;
benkatz 37:c0f352d6e8e3 337 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 338 }
benkatz 47:e1196a851f76 339
benkatz 50:ba72df25d10f 340 torque_control(&controller);
benkatz 49:83d83040ea51 341 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 342
benkatz 49:83d83040ea51 343 controller.timeout++;
benkatz 49:83d83040ea51 344 count++;
benkatz 37:c0f352d6e8e3 345
benkatz 37:c0f352d6e8e3 346 }
benkatz 23:2adf23ee0305 347 break;
benkatz 23:2adf23ee0305 348 case SETUP_MODE:
benkatz 23:2adf23ee0305 349 if(state_change){
benkatz 24:58c2d7571207 350 enter_setup_state();
benkatz 23:2adf23ee0305 351 }
benkatz 23:2adf23ee0305 352 break;
benkatz 23:2adf23ee0305 353 case ENCODER_MODE:
benkatz 23:2adf23ee0305 354 print_encoder();
benkatz 23:2adf23ee0305 355 break;
benkatz 37:c0f352d6e8e3 356 }
benkatz 2:8724412ad628 357 }
benkatz 23:2adf23ee0305 358 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 359 }
benkatz 0:4e1c4df6aabd 360
benkatz 25:f5741040c4bb 361
benkatz 24:58c2d7571207 362 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 363 char cmd_id = 0;
benkatz 25:f5741040c4bb 364 char char_count = 0;
benkatz 24:58c2d7571207 365
benkatz 25:f5741040c4bb 366 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 367 /// Called when data received over serial ///
bdring 54:3e056b097c52 368
benkatz 23:2adf23ee0305 369 void serial_interrupt(void){
bdring 54:3e056b097c52 370 while(pc->readable()){
bdring 54:3e056b097c52 371 char c = pc->getc();
benkatz 25:f5741040c4bb 372 if(c == 27){
benkatz 25:f5741040c4bb 373 state = REST_MODE;
benkatz 25:f5741040c4bb 374 state_change = 1;
benkatz 25:f5741040c4bb 375 char_count = 0;
benkatz 25:f5741040c4bb 376 cmd_id = 0;
benkatz 37:c0f352d6e8e3 377 gpio.led->write(0);;
benkatz 25:f5741040c4bb 378 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 379 }
benkatz 24:58c2d7571207 380 if(state == REST_MODE){
benkatz 23:2adf23ee0305 381 switch (c){
benkatz 23:2adf23ee0305 382 case 'c':
benkatz 23:2adf23ee0305 383 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 384 state_change = 1;
benkatz 23:2adf23ee0305 385 break;
benkatz 26:2b865c00d7e9 386 case 'm':
benkatz 26:2b865c00d7e9 387 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 388 state_change = 1;
benkatz 23:2adf23ee0305 389 break;
benkatz 23:2adf23ee0305 390 case 'e':
benkatz 23:2adf23ee0305 391 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 392 state_change = 1;
bdring 53:349304b6d937 393 break;
benkatz 23:2adf23ee0305 394 case 's':
benkatz 23:2adf23ee0305 395 state = SETUP_MODE;
benkatz 23:2adf23ee0305 396 state_change = 1;
benkatz 23:2adf23ee0305 397 break;
benkatz 37:c0f352d6e8e3 398 case 'z':
benkatz 37:c0f352d6e8e3 399 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 400 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 401 wait_us(20);
benkatz 37:c0f352d6e8e3 402 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 403 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 404 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 405 prefs.close();
benkatz 37:c0f352d6e8e3 406 prefs.load();
benkatz 37:c0f352d6e8e3 407 spi.SetMechOffset(M_OFFSET);
bdring 54:3e056b097c52 408 cond_printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 409
benkatz 37:c0f352d6e8e3 410 break;
benkatz 37:c0f352d6e8e3 411 }
benkatz 37:c0f352d6e8e3 412
benkatz 24:58c2d7571207 413 }
benkatz 24:58c2d7571207 414 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 415 if(c == 13){
benkatz 24:58c2d7571207 416 switch (cmd_id){
benkatz 24:58c2d7571207 417 case 'b':
benkatz 24:58c2d7571207 418 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 419 break;
benkatz 24:58c2d7571207 420 case 'i':
benkatz 24:58c2d7571207 421 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 422 break;
benkatz 26:2b865c00d7e9 423 case 'm':
benkatz 26:2b865c00d7e9 424 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 425 break;
benkatz 24:58c2d7571207 426 case 'l':
benkatz 51:6cd89bd6fcaa 427 I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 428 break;
benkatz 51:6cd89bd6fcaa 429 case 'f':
benkatz 51:6cd89bd6fcaa 430 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 431 break;
benkatz 28:8c7e29f719c5 432 case 't':
benkatz 28:8c7e29f719c5 433 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 434 break;
benkatz 24:58c2d7571207 435 default:
bdring 54:3e056b097c52 436 cond_printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 437 break;
benkatz 24:58c2d7571207 438 }
benkatz 24:58c2d7571207 439
benkatz 24:58c2d7571207 440 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 441 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 442 prefs.close();
benkatz 24:58c2d7571207 443 prefs.load();
benkatz 24:58c2d7571207 444 state_change = 1;
benkatz 24:58c2d7571207 445 char_count = 0;
benkatz 24:58c2d7571207 446 cmd_id = 0;
benkatz 24:58c2d7571207 447 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 448 }
benkatz 24:58c2d7571207 449 else{
benkatz 24:58c2d7571207 450 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 451 else{
benkatz 24:58c2d7571207 452 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 453
benkatz 24:58c2d7571207 454 }
bdring 54:3e056b097c52 455 pc->putc(c);
benkatz 24:58c2d7571207 456 char_count++;
benkatz 23:2adf23ee0305 457 }
benkatz 23:2adf23ee0305 458 }
benkatz 24:58c2d7571207 459 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 460 switch (c){
benkatz 24:58c2d7571207 461 case 27:
benkatz 24:58c2d7571207 462 state = REST_MODE;
benkatz 24:58c2d7571207 463 state_change = 1;
benkatz 24:58c2d7571207 464 break;
benkatz 24:58c2d7571207 465 }
benkatz 24:58c2d7571207 466 }
benkatz 49:83d83040ea51 467 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 468 switch (c){
benkatz 49:83d83040ea51 469 case 'd':
benkatz 49:83d83040ea51 470 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 471 controller.i_d_ref = 0;
bdring 53:349304b6d937 472 break;
bdring 53:349304b6d937 473 case 'f': // move forward
bdring 53:349304b6d937 474 controller.p_des += 0.02f;
bdring 54:3e056b097c52 475 cond_printf("p_des: %.3f\r\n", controller.p_des);
bdring 53:349304b6d937 476 break;
bdring 53:349304b6d937 477 case 'r': // move back
bdring 53:349304b6d937 478 controller.p_des -= 0.02f;
bdring 54:3e056b097c52 479 cond_printf("p_des: %.3f\r\n", controller.p_des);
bdring 53:349304b6d937 480 break;
bdring 53:349304b6d937 481 case 'p': // show posiiton
bdring 54:3e056b097c52 482 cond_printf("Pos: %.3f Vel: %.3f Cur: %.3f\r\n", controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
bdring 53:349304b6d937 483 break;
benkatz 49:83d83040ea51 484 }
bdring 53:349304b6d937 485
benkatz 49:83d83040ea51 486 }
benkatz 24:58c2d7571207 487
benkatz 24:58c2d7571207 488 }
benkatz 22:60276ba87ac6 489 }
bdring 54:3e056b097c52 490
benkatz 0:4e1c4df6aabd 491
benkatz 0:4e1c4df6aabd 492 int main() {
benkatz 20:bf9ea5125d52 493 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 494 controller.mode = 0;
benkatz 23:2adf23ee0305 495 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 496 wait(.1);
benkatz 44:8040fa2fcb0d 497
benkatz 44:8040fa2fcb0d 498 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 499 wait_us(100);
benkatz 45:26801179208e 500 drv.calibrate();
benkatz 45:26801179208e 501 wait_us(100);
benkatz 44:8040fa2fcb0d 502 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 503 wait_us(100);
benkatz 46:2d4b1dafcfe3 504 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 44:8040fa2fcb0d 505 wait_us(100);
benkatz 49:83d83040ea51 506 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 507
benkatz 45:26801179208e 508 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 509 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 47:e1196a851f76 510 drv.disable_gd();
benkatz 20:bf9ea5125d52 511
benkatz 9:d7eb815cb057 512 wait(.1);
benkatz 44:8040fa2fcb0d 513 /*
benkatz 26:2b865c00d7e9 514 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 515 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 516 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 517 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 518 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 519 */
benkatz 23:2adf23ee0305 520 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 521 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 522 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 523 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 524
benkatz 20:bf9ea5125d52 525 wait(.1);
benkatz 37:c0f352d6e8e3 526 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 527
benkatz 37:c0f352d6e8e3 528 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 529 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 530
benkatz 28:8c7e29f719c5 531 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 532 txMsg.len = 6;
benkatz 26:2b865c00d7e9 533 rxMsg.len = 8;
benkatz 43:dfb72608639c 534 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 535
benkatz 48:74a40481740c 536 // If preferences haven't been user configured yet, set defaults
benkatz 25:f5741040c4bb 537 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 538 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 539 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 540 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 541 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 51:6cd89bd6fcaa 542 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
benkatz 48:74a40481740c 543 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 544 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 545 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
benkatz 25:f5741040c4bb 546 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 547 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 548 int lut[128] = {0};
benkatz 23:2adf23ee0305 549 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 550 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 551 init_controller_params(&controller);
benkatz 45:26801179208e 552
bdring 54:3e056b097c52 553
bdring 54:3e056b097c52 554 set_io_mode(IO_MODE_SERIAL);
bdring 52:cf8b2abf811d 555 wait_us(100);
bdring 54:3e056b097c52 556 cond_printf("\n\r\n\r Hobby King Cheetah\n\r\n\r");
bdring 52:cf8b2abf811d 557 wait_us(10);
bdring 54:3e056b097c52 558 cond_printf("\n\r Debug Info:\n\r");
bdring 54:3e056b097c52 559 cond_printf(" Firmware Version: %s\n\r", VERSION_NUM);
bdring 54:3e056b097c52 560 cond_printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
bdring 54:3e056b097c52 561 cond_printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
bdring 54:3e056b097c52 562 cond_printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
bdring 54:3e056b097c52 563 cond_printf(" Gear Ratio %.4f:1\r\n", GR);
bdring 54:3e056b097c52 564 cond_printf(" Mapped Position %.4f to %.4f Radians\n\r", P_MIN, P_MAX);
bdring 54:3e056b097c52 565 cond_printf(" CAN ID: %d\n\r", CAN_ID);
bdring 54:3e056b097c52 566
benkatz 23:2adf23ee0305 567 state_change = 1;
benkatz 50:ba72df25d10f 568
bdring 54:3e056b097c52 569 //int counter = 0;
benkatz 0:4e1c4df6aabd 570 while(1) {
benkatz 47:e1196a851f76 571 drv.print_faults();
benkatz 50:ba72df25d10f 572 wait(.1);
bdring 54:3e056b097c52 573
benkatz 47:e1196a851f76 574
benkatz 0:4e1c4df6aabd 575 }
benkatz 0:4e1c4df6aabd 576 }