Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

Inverter/Inverter.cpp@0:4e1c4df6aabd, 2016-02-05 (annotated)

Committer:
benkatz
Date:
Fri Feb 05 00:52:53 2016 +0000
Revision:
0:4e1c4df6aabd
Child:
1:b8bceb4daed5
It works!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:4e1c4df6aabd 1 #include "mbed.h"
benkatz 0:4e1c4df6aabd 2 #include "FastPWM.h"
benkatz 0:4e1c4df6aabd 3 #include "Inverter.h"
benkatz 0:4e1c4df6aabd 4
benkatz 0:4e1c4df6aabd 5 Inverter::Inverter(PinName PinA, PinName PinB, PinName PinC, PinName PinEnable, float I_Scale, float Period){
benkatz 0:4e1c4df6aabd 6
benkatz 0:4e1c4df6aabd 7 _I_Scale = I_Scale;
benkatz 0:4e1c4df6aabd 8
benkatz 0:4e1c4df6aabd 9
benkatz 0:4e1c4df6aabd 10 Enable = new DigitalOut(PinEnable);
benkatz 0:4e1c4df6aabd 11 //Current_B = new AnalogIn(BSense);
benkatz 0:4e1c4df6aabd 12 //Current_C = new AnalogIn(CSense);
benkatz 0:4e1c4df6aabd 13
benkatz 0:4e1c4df6aabd 14 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // enable the clock to GPIOA
benkatz 0:4e1c4df6aabd 15 RCC->APB1ENR |= 0x00000001; // enable TIM2 clock
benkatz 0:4e1c4df6aabd 16
benkatz 0:4e1c4df6aabd 17 GPIOC->MODER = (1 << 8); // set pin 4 to be general purpose output
benkatz 0:4e1c4df6aabd 18
benkatz 0:4e1c4df6aabd 19 PWM_A = new FastPWM(PinA);
benkatz 0:4e1c4df6aabd 20 PWM_B = new FastPWM(PinB);
benkatz 0:4e1c4df6aabd 21 PWM_C = new FastPWM(PinC);
benkatz 0:4e1c4df6aabd 22
benkatz 0:4e1c4df6aabd 23 TIM2->CR1 &= ~(TIM_CR1_CEN);
benkatz 0:4e1c4df6aabd 24 TIM2->CR1 |= TIM_CR1_CMS;
benkatz 0:4e1c4df6aabd 25 TIM2->CR1 |= TIM_CR1_CEN;
benkatz 0:4e1c4df6aabd 26
benkatz 0:4e1c4df6aabd 27 //PWM_A->period(Period);
benkatz 0:4e1c4df6aabd 28
benkatz 0:4e1c4df6aabd 29 //PWM Setup
benkatz 0:4e1c4df6aabd 30 TIM2->PSC = 0x0; // no prescaler, timer counts up in sync with the peripheral clock
benkatz 0:4e1c4df6aabd 31 TIM2->ARR = 0x8CA; //
benkatz 0:4e1c4df6aabd 32 TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 0:4e1c4df6aabd 33
benkatz 0:4e1c4df6aabd 34 //ISR Setup
benkatz 0:4e1c4df6aabd 35 NVIC->ISER[0] |= 1<< (TIM2_IRQn); // enable the TIM2 IRQ
benkatz 0:4e1c4df6aabd 36
benkatz 0:4e1c4df6aabd 37 TIM2->DIER |= TIM_DIER_UIE; // enable update interrupt
benkatz 0:4e1c4df6aabd 38 TIM2->CR1 |= TIM_CR1_ARPE; // autoreload on,
benkatz 0:4e1c4df6aabd 39 TIM2->EGR |= TIM_EGR_UG;
benkatz 0:4e1c4df6aabd 40
benkatz 0:4e1c4df6aabd 41 // ADC Setup
benkatz 0:4e1c4df6aabd 42 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
benkatz 0:4e1c4df6aabd 43 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
benkatz 0:4e1c4df6aabd 44 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;//0x0000002; // Enable clock for GPIOC
benkatz 0:4e1c4df6aabd 45
benkatz 0:4e1c4df6aabd 46 ADC->CCR = 0x00000006; // Regular simultaneous mode only
benkatz 0:4e1c4df6aabd 47 ADC1->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON
benkatz 0:4e1c4df6aabd 48 ADC1->SQR3 = 0x000000A; // use PC_0 as input
benkatz 0:4e1c4df6aabd 49 ADC2->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON
benkatz 0:4e1c4df6aabd 50 ADC2->SQR3 = 0x0000000B; // use PC_1 as input
benkatz 0:4e1c4df6aabd 51 GPIOC->MODER |= 0x0000000f; // PC_0, PC_1 are analog inputs
benkatz 0:4e1c4df6aabd 52
benkatz 0:4e1c4df6aabd 53 // DAC set-up
benkatz 0:4e1c4df6aabd 54 RCC->APB1ENR |= 0x20000000; // Enable clock for DAC
benkatz 0:4e1c4df6aabd 55 DAC->CR |= 0x00000001; // DAC control reg, both channels ON
benkatz 0:4e1c4df6aabd 56 GPIOA->MODER |= 0x00000300; // PA04 as analog outputs
benkatz 0:4e1c4df6aabd 57
benkatz 0:4e1c4df6aabd 58 EnableInverter();
benkatz 0:4e1c4df6aabd 59 SetDTC(0.0f, 0.0f, 0.0f);
benkatz 0:4e1c4df6aabd 60 wait(.2);
benkatz 0:4e1c4df6aabd 61 ZeroCurrent();
benkatz 0:4e1c4df6aabd 62 }
benkatz 0:4e1c4df6aabd 63
benkatz 0:4e1c4df6aabd 64 void Inverter::SetDTC(float DTC_A, float DTC_B, float DTC_C){
benkatz 0:4e1c4df6aabd 65 PWM_A->write(DTC_A);
benkatz 0:4e1c4df6aabd 66 PWM_B->write(DTC_B);
benkatz 0:4e1c4df6aabd 67 PWM_C->write(DTC_C);
benkatz 0:4e1c4df6aabd 68 }
benkatz 0:4e1c4df6aabd 69
benkatz 0:4e1c4df6aabd 70 void Inverter::EnableInverter(){
benkatz 0:4e1c4df6aabd 71 Enable->write(1);
benkatz 0:4e1c4df6aabd 72 }
benkatz 0:4e1c4df6aabd 73
benkatz 0:4e1c4df6aabd 74 void Inverter::DisableInverter(){
benkatz 0:4e1c4df6aabd 75 Enable->write(0);
benkatz 0:4e1c4df6aabd 76 }
benkatz 0:4e1c4df6aabd 77
benkatz 0:4e1c4df6aabd 78 void Inverter::ZeroCurrent(){
benkatz 0:4e1c4df6aabd 79 I_B_Offset = 0;
benkatz 0:4e1c4df6aabd 80 I_C_Offset = 0;
benkatz 0:4e1c4df6aabd 81 for (int i=0; i < 1000; i++){
benkatz 0:4e1c4df6aabd 82 I_B_Offset += ADC1->DR;
benkatz 0:4e1c4df6aabd 83 I_C_Offset += ADC2->DR;
benkatz 0:4e1c4df6aabd 84 ADC1->CR2 |= 0x40000000;
benkatz 0:4e1c4df6aabd 85 }
benkatz 0:4e1c4df6aabd 86 I_B_Offset = I_B_Offset/1000.0f;
benkatz 0:4e1c4df6aabd 87 I_C_Offset = I_C_Offset/1000.0f;
benkatz 0:4e1c4df6aabd 88 printf("B_Offset: %f C_Offset: %f\n\r", I_B_Offset, I_C_Offset);
benkatz 0:4e1c4df6aabd 89 }
benkatz 0:4e1c4df6aabd 90
benkatz 0:4e1c4df6aabd 91 void Inverter::GetCurrent(float *A, float *B, float *C){
benkatz 0:4e1c4df6aabd 92 *A = I_A;
benkatz 0:4e1c4df6aabd 93 *B = I_B;
benkatz 0:4e1c4df6aabd 94 *C = I_C;
benkatz 0:4e1c4df6aabd 95 }
benkatz 0:4e1c4df6aabd 96
benkatz 0:4e1c4df6aabd 97 void Inverter::SampleCurrent(void){
benkatz 0:4e1c4df6aabd 98 // Dbg->write(1);
benkatz 0:4e1c4df6aabd 99 GPIOC->ODR ^= (1 << 4);
benkatz 0:4e1c4df6aabd 100 I_B = _I_Scale*((float) (ADC1->DR) - I_B_Offset);
benkatz 0:4e1c4df6aabd 101 I_C = _I_Scale*((float) (ADC2->DR)- I_C_Offset);
benkatz 0:4e1c4df6aabd 102 I_A = -I_B - I_C;
benkatz 0:4e1c4df6aabd 103 //DAC->DHR12R1 = ADC2->DR;
benkatz 0:4e1c4df6aabd 104 //DAC->DHR12R1 = TIM3->CNT>>2;//ADC2->DR; // pass ADC -> DAC, also clears EOC flag
benkatz 0:4e1c4df6aabd 105 ADC1->CR2 |= 0x40000000;
benkatz 0:4e1c4df6aabd 106
benkatz 0:4e1c4df6aabd 107 //I_B = Current_B->read()*_I_Scale;
benkatz 0:4e1c4df6aabd 108 //I_C = Current_C->read()*_I_Scale;
benkatz 0:4e1c4df6aabd 109 GPIOC->ODR ^= (1 << 4);
benkatz 0:4e1c4df6aabd 110 // Dbg->write(0);
benkatz 0:4e1c4df6aabd 111 }
benkatz 0:4e1c4df6aabd 112