Motor control for robots. More compact, less object-oriented revision.

Dependencies:   FastPWM3 mbed-dev-f303

Fork of Hobbyking_Cheetah_V1 by Ben Katz

Committer:
benkatz
Date:
Mon Jul 30 20:33:23 2018 +0000
Revision:
46:6cc428f3431d
Parent:
35:69b24894c11d
fixed dumb bug in float_to_uint (already fixed in SPIne)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 35:69b24894c11d 1 /// high-bandwidth 3-phase motor control, for robots
benkatz 35:69b24894c11d 2 /// Written by benkatz, with much inspiration from bayleyw, nkirkby, scolton, David Otten, and others
benkatz 35:69b24894c11d 3 /// Hardware documentation can be found at build-its.blogspot.com
benkatz 35:69b24894c11d 4
benkatz 35:69b24894c11d 5 /// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling
benkatz 35:69b24894c11d 6
benkatz 35:69b24894c11d 7 #define REST_MODE 0
benkatz 35:69b24894c11d 8 #define CALIBRATION_MODE 1
benkatz 35:69b24894c11d 9 #define MOTOR_MODE 2
benkatz 35:69b24894c11d 10 #define SETUP_MODE 4
benkatz 35:69b24894c11d 11 #define ENCODER_MODE 5
benkatz 35:69b24894c11d 12
benkatz 35:69b24894c11d 13 #define VERSION_NUM "1.0.1"
benkatz 35:69b24894c11d 14
benkatz 35:69b24894c11d 15
benkatz 35:69b24894c11d 16 float __float_reg[64]; // Floats stored in flash
benkatz 35:69b24894c11d 17 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 35:69b24894c11d 18
benkatz 35:69b24894c11d 19
benkatz 35:69b24894c11d 20 #include "mbed.h"
benkatz 35:69b24894c11d 21 #include "PositionSensor.h"
benkatz 35:69b24894c11d 22 #include "structs.h"
benkatz 35:69b24894c11d 23 #include "foc.h"
benkatz 35:69b24894c11d 24 #include "calibration.h"
benkatz 35:69b24894c11d 25 #include "hw_setup.h"
benkatz 35:69b24894c11d 26 #include "math_ops.h"
benkatz 35:69b24894c11d 27 #include "current_controller_config.h"
benkatz 35:69b24894c11d 28 #include "hw_config.h"
benkatz 35:69b24894c11d 29 #include "motor_config.h"
benkatz 35:69b24894c11d 30 #include "stm32f4xx_flash.h"
benkatz 35:69b24894c11d 31 #include "FlashWriter.h"
benkatz 35:69b24894c11d 32 #include "user_config.h"
benkatz 35:69b24894c11d 33 #include "PreferenceWriter.h"
benkatz 35:69b24894c11d 34
benkatz 35:69b24894c11d 35
benkatz 35:69b24894c11d 36 PreferenceWriter prefs(6);
benkatz 35:69b24894c11d 37
benkatz 35:69b24894c11d 38 GPIOStruct gpio;
benkatz 35:69b24894c11d 39 ControllerStruct controller;
benkatz 35:69b24894c11d 40 COMStruct com;
benkatz 35:69b24894c11d 41 VelocityEstimatorStruct velocity;
benkatz 35:69b24894c11d 42
benkatz 35:69b24894c11d 43
benkatz 35:69b24894c11d 44 //using namespace CANnucleo;
benkatz 35:69b24894c11d 45
benkatz 35:69b24894c11d 46 CAN can(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name
benkatz 35:69b24894c11d 47 CANMessage rxMsg;
benkatz 35:69b24894c11d 48 CANMessage txMsg;
benkatz 35:69b24894c11d 49
benkatz 35:69b24894c11d 50
benkatz 35:69b24894c11d 51 Serial pc(PA_2, PA_3);
benkatz 35:69b24894c11d 52
benkatz 35:69b24894c11d 53 PositionSensorAM5147 spi(16384, 0.0, NPP);
benkatz 35:69b24894c11d 54 PositionSensorEncoder encoder(4096, 0, NPP);
benkatz 35:69b24894c11d 55
benkatz 35:69b24894c11d 56
benkatz 35:69b24894c11d 57 DigitalOut toggle(PA_0);
benkatz 35:69b24894c11d 58
benkatz 35:69b24894c11d 59 volatile int count = 0;
benkatz 35:69b24894c11d 60 volatile int state = REST_MODE;
benkatz 35:69b24894c11d 61 volatile int state_change;
benkatz 35:69b24894c11d 62
benkatz 35:69b24894c11d 63 #define P_MIN -12.5f
benkatz 35:69b24894c11d 64 #define P_MAX 12.5f
benkatz 35:69b24894c11d 65 #define V_MIN -30.0f
benkatz 35:69b24894c11d 66 #define V_MAX 30.0f
benkatz 35:69b24894c11d 67 #define KP_MIN 0.0f
benkatz 35:69b24894c11d 68 #define KP_MAX 500.0f
benkatz 35:69b24894c11d 69 #define KD_MIN 0.0f
benkatz 35:69b24894c11d 70 #define KD_MAX 5.0f
benkatz 35:69b24894c11d 71 #define T_MIN -18.0f
benkatz 35:69b24894c11d 72 #define T_MAX 18.0f
benkatz 35:69b24894c11d 73
benkatz 35:69b24894c11d 74
benkatz 35:69b24894c11d 75 /// CAN Reply Packet Structure ///
benkatz 35:69b24894c11d 76 /// 16 bit position, between -4*pi and 4*pi
benkatz 35:69b24894c11d 77 /// 12 bit velocity, between -30 and + 30 rad/s
benkatz 35:69b24894c11d 78 /// 12 bit current, between -40 and 40;
benkatz 35:69b24894c11d 79 /// CAN Packet is 5 8-bit words
benkatz 35:69b24894c11d 80 /// Formatted as follows. For each quantity, bit 0 is LSB
benkatz 35:69b24894c11d 81 /// 0: [position[15-8]]
benkatz 35:69b24894c11d 82 /// 1: [position[7-0]]
benkatz 35:69b24894c11d 83 /// 2: [velocity[11-4]]
benkatz 35:69b24894c11d 84 /// 3: [velocity[3-0], current[11-8]]
benkatz 35:69b24894c11d 85 /// 4: [current[7-0]]
benkatz 35:69b24894c11d 86 void pack_reply(CANMessage *msg, float p, float v, float i){
benkatz 35:69b24894c11d 87 int p_int = float_to_uint(p, P_MIN, P_MAX, 16);
benkatz 35:69b24894c11d 88 int v_int = float_to_uint(v, V_MIN, V_MAX, 12);
benkatz 35:69b24894c11d 89 int i_int = float_to_uint(i, -I_MAX, I_MAX, 12);
benkatz 35:69b24894c11d 90 msg->data[0] = CAN_ID;
benkatz 35:69b24894c11d 91 msg->data[1] = p_int>>8;
benkatz 35:69b24894c11d 92 msg->data[2] = p_int&0xFF;
benkatz 35:69b24894c11d 93 msg->data[3] = v_int>>4;
benkatz 35:69b24894c11d 94 msg->data[4] = ((v_int&0xF)<<4) + (i_int>>8);
benkatz 35:69b24894c11d 95 msg->data[5] = i_int&0xFF;
benkatz 35:69b24894c11d 96 }
benkatz 35:69b24894c11d 97
benkatz 35:69b24894c11d 98 /// CAN Command Packet Structure ///
benkatz 35:69b24894c11d 99 /// 16 bit position command, between -4*pi and 4*pi
benkatz 35:69b24894c11d 100 /// 12 bit velocity command, between -30 and + 30 rad/s
benkatz 35:69b24894c11d 101 /// 12 bit kp, between 0 and 500 N-m/rad
benkatz 35:69b24894c11d 102 /// 12 bit kd, between 0 and 100 N-m*s/rad
benkatz 35:69b24894c11d 103 /// 12 bit feed forward torque, between -18 and 18 N-m
benkatz 35:69b24894c11d 104 /// CAN Packet is 8 8-bit words
benkatz 35:69b24894c11d 105 /// Formatted as follows. For each quantity, bit 0 is LSB
benkatz 35:69b24894c11d 106 /// 0: [position[15-8]]
benkatz 35:69b24894c11d 107 /// 1: [position[7-0]]
benkatz 35:69b24894c11d 108 /// 2: [velocity[11-4]]
benkatz 35:69b24894c11d 109 /// 3: [velocity[3-0], kp[11-8]]
benkatz 35:69b24894c11d 110 /// 4: [kp[7-0]]
benkatz 35:69b24894c11d 111 /// 5: [kd[11-4]]
benkatz 35:69b24894c11d 112 /// 6: [kd[3-0], torque[11-8]]
benkatz 35:69b24894c11d 113 /// 7: [torque[7-0]]
benkatz 35:69b24894c11d 114 void unpack_cmd(CANMessage msg, ControllerStruct * controller){
benkatz 35:69b24894c11d 115 int p_int = (msg.data[0]<<8)|msg.data[1];
benkatz 35:69b24894c11d 116 int v_int = (msg.data[2]<<4)|(msg.data[3]>>4);
benkatz 35:69b24894c11d 117 int kp_int = ((msg.data[3]&0xF)<<8)|msg.data[4];
benkatz 35:69b24894c11d 118 int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4);
benkatz 35:69b24894c11d 119 int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];
benkatz 35:69b24894c11d 120
benkatz 35:69b24894c11d 121 controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);
benkatz 35:69b24894c11d 122 controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
benkatz 35:69b24894c11d 123 controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
benkatz 35:69b24894c11d 124 controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);
benkatz 35:69b24894c11d 125 controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
benkatz 35:69b24894c11d 126
benkatz 35:69b24894c11d 127
benkatz 35:69b24894c11d 128 //printf("Received ");
benkatz 35:69b24894c11d 129 //printf("%.3f %.3f %.3f %.3f %.3f %.3f", controller->p_des, controller->v_des, controller->kp, controller->kd, controller->t_ff, controller->i_q_ref);
benkatz 35:69b24894c11d 130 //printf("\n\r");
benkatz 35:69b24894c11d 131
benkatz 35:69b24894c11d 132
benkatz 35:69b24894c11d 133 }
benkatz 35:69b24894c11d 134
benkatz 35:69b24894c11d 135 void onMsgReceived() {
benkatz 35:69b24894c11d 136 //msgAvailable = true;
benkatz 35:69b24894c11d 137 //printf("%.3f %.3f %.3f\n\r", controller.theta_mech, controller.dtheta_mech, controller.i_q);
benkatz 35:69b24894c11d 138 can.read(rxMsg);
benkatz 35:69b24894c11d 139
benkatz 35:69b24894c11d 140 if((rxMsg.id == CAN_ID)){
benkatz 35:69b24894c11d 141 controller.timeout = 0;
benkatz 35:69b24894c11d 142 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 35:69b24894c11d 143 state = MOTOR_MODE;
benkatz 35:69b24894c11d 144 state_change = 1;
benkatz 35:69b24894c11d 145 }
benkatz 35:69b24894c11d 146 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 35:69b24894c11d 147 state = REST_MODE;
benkatz 35:69b24894c11d 148 state_change = 1;
benkatz 35:69b24894c11d 149 GPIOC->ODR &= !(1 << 5);
benkatz 35:69b24894c11d 150 }
benkatz 35:69b24894c11d 151 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 35:69b24894c11d 152 spi.ZeroPosition();
benkatz 35:69b24894c11d 153 }
benkatz 35:69b24894c11d 154 else if(state == MOTOR_MODE){
benkatz 35:69b24894c11d 155 unpack_cmd(rxMsg, &controller);
benkatz 35:69b24894c11d 156 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q);
benkatz 35:69b24894c11d 157 can.write(txMsg);
benkatz 35:69b24894c11d 158 }
benkatz 35:69b24894c11d 159 }
benkatz 35:69b24894c11d 160
benkatz 35:69b24894c11d 161 }
benkatz 35:69b24894c11d 162
benkatz 35:69b24894c11d 163 void enter_menu_state(void){
benkatz 35:69b24894c11d 164 printf("\n\r\n\r\n\r");
benkatz 35:69b24894c11d 165 printf(" Commands:\n\r");
benkatz 35:69b24894c11d 166 printf(" m - Motor Mode\n\r");
benkatz 35:69b24894c11d 167 printf(" c - Calibrate Encoder\n\r");
benkatz 35:69b24894c11d 168 printf(" s - Setup\n\r");
benkatz 35:69b24894c11d 169 printf(" e - Display Encoder\n\r");
benkatz 35:69b24894c11d 170 printf(" esc - Exit to Menu\n\r");
benkatz 35:69b24894c11d 171 state_change = 0;
benkatz 35:69b24894c11d 172 gpio.enable->write(0);
benkatz 35:69b24894c11d 173 }
benkatz 35:69b24894c11d 174
benkatz 35:69b24894c11d 175 void enter_setup_state(void){
benkatz 35:69b24894c11d 176 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 35:69b24894c11d 177 printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 35:69b24894c11d 178 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 35:69b24894c11d 179 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 35:69b24894c11d 180 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 35:69b24894c11d 181 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
benkatz 35:69b24894c11d 182 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 35:69b24894c11d 183 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 35:69b24894c11d 184 state_change = 0;
benkatz 35:69b24894c11d 185 }
benkatz 35:69b24894c11d 186
benkatz 35:69b24894c11d 187 void enter_torque_mode(void){
benkatz 35:69b24894c11d 188 gpio.enable->write(1); // Enable gate drive
benkatz 35:69b24894c11d 189 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 35:69b24894c11d 190 wait(.001);
benkatz 35:69b24894c11d 191 controller.i_d_ref = 0;
benkatz 35:69b24894c11d 192 controller.i_q_ref = 0; // Current Setpoints
benkatz 35:69b24894c11d 193 GPIOC->ODR |= (1 << 5); // Turn on status LED
benkatz 35:69b24894c11d 194 state_change = 0;
benkatz 35:69b24894c11d 195 printf("\n\r Entering Motor Mode \n\r");
benkatz 35:69b24894c11d 196 }
benkatz 35:69b24894c11d 197
benkatz 35:69b24894c11d 198 void calibrate(void){
benkatz 35:69b24894c11d 199 gpio.enable->write(1); // Enable gate drive
benkatz 35:69b24894c11d 200 GPIOC->ODR |= (1 << 5); // Turn on status LED
benkatz 35:69b24894c11d 201 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 35:69b24894c11d 202 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 35:69b24894c11d 203 GPIOC->ODR &= !(1 << 5); // Turn off status LED
benkatz 35:69b24894c11d 204 wait(.2);
benkatz 35:69b24894c11d 205 gpio.enable->write(0); // Turn off gate drive
benkatz 35:69b24894c11d 206 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 35:69b24894c11d 207 state_change = 0;
benkatz 35:69b24894c11d 208
benkatz 35:69b24894c11d 209 }
benkatz 35:69b24894c11d 210
benkatz 35:69b24894c11d 211 void print_encoder(void){
benkatz 35:69b24894c11d 212 spi.Sample();
benkatz 35:69b24894c11d 213 wait(.001);
benkatz 35:69b24894c11d 214 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 35:69b24894c11d 215 wait(.05);
benkatz 35:69b24894c11d 216 }
benkatz 35:69b24894c11d 217
benkatz 35:69b24894c11d 218 /// Current Sampling Interrupt ///
benkatz 35:69b24894c11d 219 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 35:69b24894c11d 220 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 35:69b24894c11d 221 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 35:69b24894c11d 222 //toggle = 1;
benkatz 35:69b24894c11d 223
benkatz 35:69b24894c11d 224 ///Sample current always ///
benkatz 35:69b24894c11d 225 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 35:69b24894c11d 226 //volatile int delay;
benkatz 35:69b24894c11d 227 //for (delay = 0; delay < 55; delay++);
benkatz 35:69b24894c11d 228 controller.adc2_raw = ADC2->DR; // Read ADC1 and ADC2 Data Registers
benkatz 35:69b24894c11d 229 controller.adc1_raw = ADC1->DR;
benkatz 35:69b24894c11d 230 ///
benkatz 35:69b24894c11d 231
benkatz 35:69b24894c11d 232 /// Check state machine state, and run the appropriate function ///
benkatz 35:69b24894c11d 233 //printf("%d\n\r", state);
benkatz 35:69b24894c11d 234 switch(state){
benkatz 35:69b24894c11d 235 case REST_MODE: // Do nothing until
benkatz 35:69b24894c11d 236 if(state_change){
benkatz 35:69b24894c11d 237 enter_menu_state();
benkatz 35:69b24894c11d 238 }
benkatz 35:69b24894c11d 239 break;
benkatz 35:69b24894c11d 240
benkatz 35:69b24894c11d 241 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 35:69b24894c11d 242 if(state_change){
benkatz 35:69b24894c11d 243 calibrate();
benkatz 35:69b24894c11d 244 }
benkatz 35:69b24894c11d 245 break;
benkatz 35:69b24894c11d 246
benkatz 35:69b24894c11d 247 case MOTOR_MODE: // Run torque control
benkatz 35:69b24894c11d 248 if(state_change){
benkatz 35:69b24894c11d 249 enter_torque_mode();
benkatz 35:69b24894c11d 250 count = 0;
benkatz 35:69b24894c11d 251 }
benkatz 35:69b24894c11d 252 else{
benkatz 35:69b24894c11d 253 count++;
benkatz 35:69b24894c11d 254 //toggle.write(1);
benkatz 35:69b24894c11d 255 controller.theta_elec = spi.GetElecPosition();
benkatz 35:69b24894c11d 256 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 35:69b24894c11d 257 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 35:69b24894c11d 258 //TIM1->CCR3 = 0x708*(1.0f);
benkatz 35:69b24894c11d 259 //TIM1->CCR1 = 0x708*(1.0f);
benkatz 35:69b24894c11d 260 //TIM1->CCR2 = 0x708*(1.0f);
benkatz 35:69b24894c11d 261
benkatz 35:69b24894c11d 262 //controller.i_q_ref = controller.t_ff/KT_OUT;
benkatz 35:69b24894c11d 263
benkatz 35:69b24894c11d 264 torque_control(&controller);
benkatz 35:69b24894c11d 265 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 35:69b24894c11d 266 controller.i_d_ref = 0;
benkatz 35:69b24894c11d 267 controller.i_q_ref = 0;
benkatz 35:69b24894c11d 268 }
benkatz 35:69b24894c11d 269 //controller.i_q_ref = .5;
benkatz 35:69b24894c11d 270 commutate(&controller, &gpio, controller.theta_elec); // Run current loop
benkatz 35:69b24894c11d 271 spi.Sample(); // Sample position sensor
benkatz 35:69b24894c11d 272 //toggle.write(0);
benkatz 35:69b24894c11d 273 controller.timeout += 1;
benkatz 35:69b24894c11d 274
benkatz 35:69b24894c11d 275 if(count == 4000){
benkatz 35:69b24894c11d 276 count = 0;
benkatz 35:69b24894c11d 277 //wait(.001);
benkatz 35:69b24894c11d 278 //printf(" %.5f \n\r", controller.theta_mech);
benkatz 35:69b24894c11d 279 }
benkatz 35:69b24894c11d 280 }
benkatz 35:69b24894c11d 281
benkatz 35:69b24894c11d 282 break;
benkatz 35:69b24894c11d 283 case SETUP_MODE:
benkatz 35:69b24894c11d 284 if(state_change){
benkatz 35:69b24894c11d 285 enter_setup_state();
benkatz 35:69b24894c11d 286 }
benkatz 35:69b24894c11d 287 break;
benkatz 35:69b24894c11d 288 case ENCODER_MODE:
benkatz 35:69b24894c11d 289 print_encoder();
benkatz 35:69b24894c11d 290 break;
benkatz 35:69b24894c11d 291 }
benkatz 35:69b24894c11d 292
benkatz 35:69b24894c11d 293 }
benkatz 35:69b24894c11d 294 TIM1->SR = 0x0; // reset the status register
benkatz 35:69b24894c11d 295 }
benkatz 35:69b24894c11d 296
benkatz 35:69b24894c11d 297
benkatz 35:69b24894c11d 298 char cmd_val[8] = {0};
benkatz 35:69b24894c11d 299 char cmd_id = 0;
benkatz 35:69b24894c11d 300 char char_count = 0;
benkatz 35:69b24894c11d 301
benkatz 35:69b24894c11d 302 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 35:69b24894c11d 303 /// Called when data received over serial ///
benkatz 35:69b24894c11d 304 void serial_interrupt(void){
benkatz 35:69b24894c11d 305 while(pc.readable()){
benkatz 35:69b24894c11d 306 char c = pc.getc();
benkatz 35:69b24894c11d 307 if(c == 27){
benkatz 35:69b24894c11d 308 state = REST_MODE;
benkatz 35:69b24894c11d 309 state_change = 1;
benkatz 35:69b24894c11d 310 char_count = 0;
benkatz 35:69b24894c11d 311 cmd_id = 0;
benkatz 35:69b24894c11d 312 GPIOC->ODR &= !(1 << 5);
benkatz 35:69b24894c11d 313 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 35:69b24894c11d 314 }
benkatz 35:69b24894c11d 315 if(state == REST_MODE){
benkatz 35:69b24894c11d 316 switch (c){
benkatz 35:69b24894c11d 317 case 'c':
benkatz 35:69b24894c11d 318 state = CALIBRATION_MODE;
benkatz 35:69b24894c11d 319 state_change = 1;
benkatz 35:69b24894c11d 320 break;
benkatz 35:69b24894c11d 321 case 'm':
benkatz 35:69b24894c11d 322 state = MOTOR_MODE;
benkatz 35:69b24894c11d 323 state_change = 1;
benkatz 35:69b24894c11d 324 break;
benkatz 35:69b24894c11d 325 case 'e':
benkatz 35:69b24894c11d 326 state = ENCODER_MODE;
benkatz 35:69b24894c11d 327 state_change = 1;
benkatz 35:69b24894c11d 328 break;
benkatz 35:69b24894c11d 329 case 's':
benkatz 35:69b24894c11d 330 state = SETUP_MODE;
benkatz 35:69b24894c11d 331 state_change = 1;
benkatz 35:69b24894c11d 332 break;
benkatz 35:69b24894c11d 333 }
benkatz 35:69b24894c11d 334 }
benkatz 35:69b24894c11d 335 else if(state == SETUP_MODE){
benkatz 35:69b24894c11d 336 if(c == 13){
benkatz 35:69b24894c11d 337 switch (cmd_id){
benkatz 35:69b24894c11d 338 case 'b':
benkatz 35:69b24894c11d 339 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 35:69b24894c11d 340 break;
benkatz 35:69b24894c11d 341 case 'i':
benkatz 35:69b24894c11d 342 CAN_ID = atoi(cmd_val);
benkatz 35:69b24894c11d 343 break;
benkatz 35:69b24894c11d 344 case 'm':
benkatz 35:69b24894c11d 345 CAN_MASTER = atoi(cmd_val);
benkatz 35:69b24894c11d 346 break;
benkatz 35:69b24894c11d 347 case 'l':
benkatz 35:69b24894c11d 348 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 35:69b24894c11d 349 break;
benkatz 35:69b24894c11d 350 case 't':
benkatz 35:69b24894c11d 351 CAN_TIMEOUT = atoi(cmd_val);
benkatz 35:69b24894c11d 352 break;
benkatz 35:69b24894c11d 353 default:
benkatz 35:69b24894c11d 354 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 35:69b24894c11d 355 break;
benkatz 35:69b24894c11d 356 }
benkatz 35:69b24894c11d 357
benkatz 35:69b24894c11d 358 if (!prefs.ready()) prefs.open();
benkatz 35:69b24894c11d 359 prefs.flush(); // Write new prefs to flash
benkatz 35:69b24894c11d 360 prefs.close();
benkatz 35:69b24894c11d 361 prefs.load();
benkatz 35:69b24894c11d 362 state_change = 1;
benkatz 35:69b24894c11d 363 char_count = 0;
benkatz 35:69b24894c11d 364 cmd_id = 0;
benkatz 35:69b24894c11d 365 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 35:69b24894c11d 366 }
benkatz 35:69b24894c11d 367 else{
benkatz 35:69b24894c11d 368 if(char_count == 0){cmd_id = c;}
benkatz 35:69b24894c11d 369 else{
benkatz 35:69b24894c11d 370 cmd_val[char_count-1] = c;
benkatz 35:69b24894c11d 371
benkatz 35:69b24894c11d 372 }
benkatz 35:69b24894c11d 373 pc.putc(c);
benkatz 35:69b24894c11d 374 char_count++;
benkatz 35:69b24894c11d 375 }
benkatz 35:69b24894c11d 376 }
benkatz 35:69b24894c11d 377 else if (state == ENCODER_MODE){
benkatz 35:69b24894c11d 378 switch (c){
benkatz 35:69b24894c11d 379 case 27:
benkatz 35:69b24894c11d 380 state = REST_MODE;
benkatz 35:69b24894c11d 381 state_change = 1;
benkatz 35:69b24894c11d 382 break;
benkatz 35:69b24894c11d 383 }
benkatz 35:69b24894c11d 384 }
benkatz 35:69b24894c11d 385
benkatz 35:69b24894c11d 386 }
benkatz 35:69b24894c11d 387 }
benkatz 35:69b24894c11d 388
benkatz 35:69b24894c11d 389 int main() {
benkatz 35:69b24894c11d 390
benkatz 35:69b24894c11d 391 controller.v_bus = V_BUS;
benkatz 35:69b24894c11d 392 controller.mode = 0;
benkatz 35:69b24894c11d 393 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 35:69b24894c11d 394
benkatz 35:69b24894c11d 395 wait(.1);
benkatz 35:69b24894c11d 396 gpio.enable->write(1);
benkatz 35:69b24894c11d 397 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 35:69b24894c11d 398 TIM1->CCR2 = 0x708*(1.0f);
benkatz 35:69b24894c11d 399 TIM1->CCR1 = 0x708*(1.0f);
benkatz 35:69b24894c11d 400 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 35:69b24894c11d 401 gpio.enable->write(0);
benkatz 35:69b24894c11d 402 reset_foc(&controller); // Reset current controller
benkatz 35:69b24894c11d 403 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 35:69b24894c11d 404 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 35:69b24894c11d 405
benkatz 35:69b24894c11d 406 wait(.1);
benkatz 35:69b24894c11d 407 NVIC_SetPriority(TIM5_IRQn, 2); // set interrupt priority
benkatz 35:69b24894c11d 408
benkatz 35:69b24894c11d 409
benkatz 35:69b24894c11d 410 can.frequency(1000000); // set bit rate to 1Mbps
benkatz 35:69b24894c11d 411 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 35:69b24894c11d 412 //can.filter(CAN_ID, 0xF, CANStandard, 0);
benkatz 35:69b24894c11d 413 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 35:69b24894c11d 414 txMsg.id = CAN_MASTER;
benkatz 35:69b24894c11d 415 txMsg.len = 6;
benkatz 35:69b24894c11d 416 rxMsg.len = 8;
benkatz 35:69b24894c11d 417
benkatz 35:69b24894c11d 418 prefs.load(); // Read flash
benkatz 35:69b24894c11d 419 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 35:69b24894c11d 420 int lut[128] = {0};
benkatz 35:69b24894c11d 421 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 35:69b24894c11d 422 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 35:69b24894c11d 423
benkatz 35:69b24894c11d 424 pc.baud(921600); // set serial baud rate
benkatz 35:69b24894c11d 425 wait(.01);
benkatz 35:69b24894c11d 426 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 35:69b24894c11d 427 wait(.01);
benkatz 35:69b24894c11d 428 printf("\n\r Debug Info:\n\r");
benkatz 35:69b24894c11d 429 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 35:69b24894c11d 430 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 35:69b24894c11d 431 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 35:69b24894c11d 432 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 35:69b24894c11d 433
benkatz 35:69b24894c11d 434 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 35:69b24894c11d 435
benkatz 35:69b24894c11d 436 state_change = 1;
benkatz 35:69b24894c11d 437
benkatz 35:69b24894c11d 438
benkatz 35:69b24894c11d 439 while(1) {
benkatz 35:69b24894c11d 440
benkatz 35:69b24894c11d 441 }
benkatz 35:69b24894c11d 442 }