Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_F334

f334

Dependencies:   CANnucleo FastPWM3 mbed

Fork of Hobbyking_Cheetah_Compact by Ben Katz

foc.cpp@23:db1263aae417, 2017-11-02 (annotated)

Committer:
benkatz
Date:
Thu Nov 02 22:28:25 2017 +0000
Revision:
23:db1263aae417
Parent:
22:c8a1f2071bb0 
derp;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 20:bf9ea5125d52 1
benkatz 20:bf9ea5125d52 2 #include "foc.h"
benkatz 20:bf9ea5125d52 3 #include "mbed.h"
benkatz 20:bf9ea5125d52 4 #include "hw_config.h"
benkatz 20:bf9ea5125d52 5 #include "math.h"
benkatz 20:bf9ea5125d52 6 #include "math_ops.h"
benkatz 22:c8a1f2071bb0 7 #include "motor_config.h"
benkatz 22:c8a1f2071bb0 8 #include "current_controller_config.h"
benkatz 22:c8a1f2071bb0 9 #include "FastMath.h"
benkatz 22:c8a1f2071bb0 10 using namespace FastMath;
benkatz 20:bf9ea5125d52 11
benkatz 20:bf9ea5125d52 12
benkatz 20:bf9ea5125d52 13 void abc( float theta, float d, float q, float *a, float *b, float *c){
benkatz 20:bf9ea5125d52 14 ///Phase current amplitude = lengh of dq vector///
benkatz 20:bf9ea5125d52 15 ///i.e. iq = 1, id = 0, peak phase current of 1///
benkatz 20:bf9ea5125d52 16
benkatz 22:c8a1f2071bb0 17 *a = d*FastCos(-theta) + q*FastSin(-theta);
benkatz 22:c8a1f2071bb0 18 *b = d*FastCos((2.0f*PI/3.0f)-theta) + q*FastSin((2.0f*PI/3.0f)-theta);
benkatz 22:c8a1f2071bb0 19 *c = d*FastCos((-2.0f*PI/3.0f)-theta) + q*FastSin((-2.0f*PI/3.0f)-theta);
benkatz 20:bf9ea5125d52 20 }
benkatz 20:bf9ea5125d52 21
benkatz 20:bf9ea5125d52 22 void dq0(float theta, float a, float b, float c, float *d, float *q){
benkatz 20:bf9ea5125d52 23 ///Phase current amplitude = lengh of dq vector///
benkatz 20:bf9ea5125d52 24 ///i.e. iq = 1, id = 0, peak phase current of 1///
benkatz 20:bf9ea5125d52 25
benkatz 22:c8a1f2071bb0 26 *d = (2.0f/3.0f)*(a*FastCos(-theta) + b*FastCos((2.0f*PI/3.0f)-theta) + c*FastCos((-2.0f*PI/3.0f)-theta));
benkatz 22:c8a1f2071bb0 27 *q = (2.0f/3.0f)*(a*FastSin(-theta) + b*FastSin((2.0f*PI/3.0f)-theta) + c*FastSin((-2.0f*PI/3.0f)-theta));
benkatz 20:bf9ea5125d52 28 }
benkatz 20:bf9ea5125d52 29
benkatz 20:bf9ea5125d52 30 void svm(float v_bus, float u, float v, float w, float *dtc_u, float *dtc_v, float *dtc_w){
benkatz 20:bf9ea5125d52 31 ///u,v,w amplitude = v_bus for full modulation depth///
benkatz 20:bf9ea5125d52 32
benkatz 20:bf9ea5125d52 33 float v_offset = (fminf3(u, v, w) + fmaxf3(u, v, w))/2.0f;
benkatz 20:bf9ea5125d52 34 *dtc_u = fminf(fmaxf(((u - v_offset)*0.5f/v_bus + 0.5f), DTC_MIN), DTC_MAX);
benkatz 20:bf9ea5125d52 35 *dtc_v = fminf(fmaxf(((v - v_offset)*0.5f/v_bus + 0.5f), DTC_MIN), DTC_MAX);
benkatz 20:bf9ea5125d52 36 *dtc_w = fminf(fmaxf(((w - v_offset)*0.5f/v_bus + 0.5f), DTC_MIN), DTC_MAX);
benkatz 20:bf9ea5125d52 37
benkatz 20:bf9ea5125d52 38 }
benkatz 20:bf9ea5125d52 39
benkatz 20:bf9ea5125d52 40 void zero_current(int *offset_1, int *offset_2){
benkatz 20:bf9ea5125d52 41 int adc1_offset = 0;
benkatz 20:bf9ea5125d52 42 int adc2_offset = 0;
benkatz 20:bf9ea5125d52 43 int n = 1024;
benkatz 20:bf9ea5125d52 44 for (int i = 0; i<n; i++){
benkatz 22:c8a1f2071bb0 45 ADC1->CR |= ADC_CR_ADSTART;
benkatz 22:c8a1f2071bb0 46 volatile int eoc;
benkatz 22:c8a1f2071bb0 47 while(!eoc){
benkatz 22:c8a1f2071bb0 48 eoc = ADC1->ISR & ADC_ISR_EOC;
benkatz 22:c8a1f2071bb0 49 }
benkatz 20:bf9ea5125d52 50 adc2_offset += ADC2->DR;
benkatz 20:bf9ea5125d52 51 adc1_offset += ADC1->DR;
benkatz 20:bf9ea5125d52 52 }
benkatz 20:bf9ea5125d52 53 *offset_1 = adc1_offset/n;
benkatz 20:bf9ea5125d52 54 *offset_2 = adc2_offset/n;
benkatz 20:bf9ea5125d52 55 }
benkatz 20:bf9ea5125d52 56
benkatz 20:bf9ea5125d52 57 void reset_foc(ControllerStruct *controller){
benkatz 20:bf9ea5125d52 58 controller->q_int = 0;
benkatz 20:bf9ea5125d52 59 controller->d_int = 0;
benkatz 20:bf9ea5125d52 60 }
benkatz 22:c8a1f2071bb0 61
benkatz 22:c8a1f2071bb0 62
benkatz 22:c8a1f2071bb0 63 void commutate(ControllerStruct *controller, GPIOStruct *gpio, float theta){
benkatz 22:c8a1f2071bb0 64
benkatz 22:c8a1f2071bb0 65 controller->loop_count ++;
benkatz 22:c8a1f2071bb0 66 controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); //Calculate phase currents from ADC readings
benkatz 22:c8a1f2071bb0 67 controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
benkatz 22:c8a1f2071bb0 68 controller->i_a = -controller->i_b - controller->i_c;
benkatz 22:c8a1f2071bb0 69
benkatz 22:c8a1f2071bb0 70
benkatz 22:c8a1f2071bb0 71 dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
benkatz 22:c8a1f2071bb0 72
benkatz 22:c8a1f2071bb0 73 ///Controller///
benkatz 22:c8a1f2071bb0 74 float i_d_error = controller->i_d_ref - controller->i_d;
benkatz 22:c8a1f2071bb0 75 float i_q_error = controller->i_q_ref - controller->i_q;
benkatz 22:c8a1f2071bb0 76 //float v_d_ff = 2.0f*(2*controller->i_d_ref*R_PHASE); //feed-forward voltage
benkatz 22:c8a1f2071bb0 77 //float v_q_ff = 2.0f*(2*controller->i_q_ref*R_PHASE + controller->dtheta_elec*WB*0.8165f);
benkatz 22:c8a1f2071bb0 78 controller->d_int += i_d_error;
benkatz 22:c8a1f2071bb0 79 controller->q_int += i_q_error;
benkatz 22:c8a1f2071bb0 80
benkatz 22:c8a1f2071bb0 81 //v_d_ff = 0;
benkatz 22:c8a1f2071bb0 82 //v_q_ff = 0;
benkatz 22:c8a1f2071bb0 83
benkatz 22:c8a1f2071bb0 84 limit_norm(&controller->d_int, &controller->q_int, V_BUS/(K_Q*KI_Q));
benkatz 22:c8a1f2071bb0 85 //controller->d_int = fminf(fmaxf(controller->d_int, -D_INT_LIM), D_INT_LIM);
benkatz 22:c8a1f2071bb0 86 //controller->q_int = fminf(fmaxf(controller->q_int, -Q_INT_LIM), Q_INT_LIM);
benkatz 22:c8a1f2071bb0 87
benkatz 22:c8a1f2071bb0 88
benkatz 22:c8a1f2071bb0 89 controller->v_d = K_D*i_d_error + K_D*KI_D*controller->d_int;// + v_d_ff;
benkatz 22:c8a1f2071bb0 90 controller->v_q = K_Q*i_q_error + K_Q*KI_Q*controller->q_int;// + v_q_ff;
benkatz 22:c8a1f2071bb0 91
benkatz 22:c8a1f2071bb0 92 //controller->v_d = v_d_ff;
benkatz 22:c8a1f2071bb0 93 //controller->v_q = v_q_ff;
benkatz 22:c8a1f2071bb0 94
benkatz 22:c8a1f2071bb0 95 limit_norm(&controller->v_d, &controller->v_q, controller->v_bus);
benkatz 22:c8a1f2071bb0 96
benkatz 22:c8a1f2071bb0 97 abc(controller->theta_elec, controller->v_d, controller->v_q, &controller->v_u, &controller->v_v, &controller->v_w); //inverse dq0 transform on voltages
benkatz 22:c8a1f2071bb0 98 svm(controller->v_bus, controller->v_u, controller->v_v, controller->v_w, &controller->dtc_u, &controller->dtc_v, &controller->dtc_w); //space vector modulation
benkatz 22:c8a1f2071bb0 99
benkatz 22:c8a1f2071bb0 100 //gpio->pwm_u->write(1.0f-controller->dtc_u); //write duty cycles
benkatz 22:c8a1f2071bb0 101 //gpio->pwm_v->write(1.0f-controller->dtc_v);
benkatz 22:c8a1f2071bb0 102 //gpio->pwm_w->write(1.0f-controller->dtc_w);
benkatz 22:c8a1f2071bb0 103
benkatz 22:c8a1f2071bb0 104 //TIM1->CCR1 = 0x708*(1.0f-controller->dtc_u);
benkatz 22:c8a1f2071bb0 105 //TIM1->CCR2 = 0x708*(1.0f-controller->dtc_v);
benkatz 22:c8a1f2071bb0 106 //TIM1->CCR3 = 0x708*(1.0f-controller->dtc_w);
benkatz 22:c8a1f2071bb0 107
benkatz 22:c8a1f2071bb0 108 controller->theta_elec = theta; //For some reason putting this at the front breaks thins
benkatz 22:c8a1f2071bb0 109
benkatz 22:c8a1f2071bb0 110
benkatz 22:c8a1f2071bb0 111 //if(controller->loop_count >1000){
benkatz 22:c8a1f2071bb0 112 //controller->i_q_ref = -controller->i_q_ref;
benkatz 22:c8a1f2071bb0 113 // controller->loop_count = 0;
benkatz 22:c8a1f2071bb0 114
benkatz 22:c8a1f2071bb0 115 //printf("%f\n\r", controller->dtheta_elec);
benkatz 22:c8a1f2071bb0 116 //printf("%f\n\r", controller->theta_elec);
benkatz 22:c8a1f2071bb0 117 //pc.printf("%f %f %f\n\r", controller->i_a, controller->i_b, controller->i_c);
benkatz 22:c8a1f2071bb0 118 //pc.printf("%f %f\n\r", controller->i_d, controller->i_q);
benkatz 22:c8a1f2071bb0 119 //pc.printf("%d %d\n\r", controller->adc1_raw, controller->adc2_raw);
benkatz 22:c8a1f2071bb0 120 // }
benkatz 22:c8a1f2071bb0 121 }
benkatz 22:c8a1f2071bb0 122 /*
benkatz 22:c8a1f2071bb0 123 void zero_encoder(ControllerStruct *controller, GPIOStruct *gpio, ){
benkatz 22:c8a1f2071bb0 124
benkatz 22:c8a1f2071bb0 125 }
benkatz 22:c8a1f2071bb0 126 */