DRV8323RS Version
Dependencies: mbed-dev-f303 FastPWM3
Diff: main.cpp
- Revision:
- 48:74a40481740c
- Parent:
- 47:e1196a851f76
- Child:
- 49:83d83040ea51
diff -r e1196a851f76 -r 74a40481740c main.cpp --- a/main.cpp Wed Dec 05 04:07:46 2018 +0000 +++ b/main.cpp Sun Mar 03 02:51:51 2019 +0000 @@ -37,6 +37,7 @@ GPIOStruct gpio; ControllerStruct controller; +ObserverStruct observer; COMStruct com; Serial pc(PA_2, PA_3); @@ -154,8 +155,8 @@ } void print_encoder(void){ - //printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition()); - printf("%d\n\r", spi.GetRawPosition()); + printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition()); + //printf("%d\n\r", spi.GetRawPosition()); wait(.001); } @@ -177,7 +178,7 @@ controller.theta_mech = (1.0f/GR)*spi.GetMechPosition(); controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity(); controller.dtheta_elec = spi.GetElecVelocity(); - controller.v_bus = V_BUS;//b0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; + controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; /// /// Check state machine state, and run the appropriate function /// @@ -224,16 +225,24 @@ //controller.i_q_ref = 2.0f; //controller.i_d_ref = -30.0f; - //controller.kd = .1; + //controller.kp = 1; + //controller.kd = .1f; //controller.v_des = 25; - torque_control(&controller); - //controller.i_q_ref = 2.0f; - //controller.i_d_ref = -20.0f; - commutate(&controller, &gpio, controller.theta_elec); // Run current loop + //torque_control(&controller); + controller.i_q_ref = 40.0f; + // + //controller.i_q_ref += .00025f; + //if(count>80000) + //{ + // controller.i_q_ref = 0.0f; + // count = 0; + // } + //controller.i_d_ref = -10.0f; + commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop //TIM1->CCR3 = (PWM_ARR)*(0.5f); // Write duty cycles //TIM1->CCR2 = (PWM_ARR)*(0.5f); //TIM1->CCR1 = (PWM_ARR)*(0.5f); - controller.timeout += 1; + controller.timeout++; //pc.putc(iq); //pc.putc(id); @@ -244,15 +253,21 @@ count++; /* - if(count == 400){ + if(count == 10000){ //printf("%d %d %.4f %.4f %.4f\n\r", controller.adc1_raw, controller.adc2_raw, controller.i_a, controller.i_b, controller.i_c); - printf("%.2f\n\r", 1000.0f*controller.h1_iq_afc_int1); + //printf("%.2f\n\r", 1000.0f*controller.h1_iq_afc_int1); //pc.putc(id); //pc.putc(iq); //pc.putc(ang); //pc.putc('\n'); //pc.putc('\r'); //printf("%.1f\n", controller.k_q*controller.ki_q*controller.q_int); + if(controller.i_d_ref< 10.0f) + { + controller.i_d_ref += .05f; + } + else{controller.i_d_ref = 0;} + count = 0; } */ @@ -415,6 +430,7 @@ gpio.enable->write(0); */ reset_foc(&controller); // Reset current controller + reset_observer(&observer); // Reset observer TIM1->CR1 ^= TIM_CR1_UDIS; //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt @@ -429,9 +445,15 @@ rxMsg.len = 8; can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler + // If preferences haven't been user configured yet, set defaults prefs.load(); // Read flash if(isnan(E_OFFSET)){E_OFFSET = 0.0f;} if(isnan(M_OFFSET)){M_OFFSET = 0.0f;} + if(isnan(I_BW) || I_BW==-1){I_BW = 1000;} + if(isnan(TORQUE_LIMIT) || TORQUE_LIMIT ==-1){TORQUE_LIMIT=18;} + if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;} + if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;} + if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;} spi.SetElecOffset(E_OFFSET); // Set position sensor offset spi.SetMechOffset(M_OFFSET); int lut[128] = {0}; @@ -463,16 +485,27 @@ pc.attach(&serial_interrupt); // attach serial interrupt state_change = 1; - + /* + for(int i = 0; i< 1000; i++){ + float dtc_in = .001f*(float)i; + printf("%f ", dtc_in); + linearize_dtc(&dtc_in); + printf("%f\n\r", dtc_in); + wait(.001); + } + */ int counter = 0; while(1) { drv.print_faults(); - wait(.1); + wait(.001); + //printf("%.4f\n\r", controller.v_bus); if(state == MOTOR_MODE) { - //printf("%.3f\n\r", controller.dtheta_mech); - //wait(.001); + //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance); + //printf("%.3f %.3f %.3f\n\r", controller.v_q/controller.v_bus, controller.i_q, observer.resistance); + printf("%.3f\n\r", controller.dtheta_mech); + wait(.001); } }