Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

Inverter/Inverter.cpp@1:b8bceb4daed5, 2016-02-05 (annotated)

Committer:
benkatz
Date:
Fri Feb 05 01:04:57 2016 +0000
Revision:
1:b8bceb4daed5
Parent:
0:4e1c4df6aabd
Child:
2:8724412ad628
Added some comments, cleaned things up a bit

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
benkatz 0:4e1c4df6aabd 12 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; // enable the clock to GPIOA
benkatz 0:4e1c4df6aabd 13 RCC->APB1ENR |= 0x00000001; // enable TIM2 clock
benkatz 0:4e1c4df6aabd 14
benkatz 0:4e1c4df6aabd 15 GPIOC->MODER = (1 << 8); // set pin 4 to be general purpose output
benkatz 0:4e1c4df6aabd 16
benkatz 0:4e1c4df6aabd 17 PWM_A = new FastPWM(PinA);
benkatz 0:4e1c4df6aabd 18 PWM_B = new FastPWM(PinB);
benkatz 0:4e1c4df6aabd 19 PWM_C = new FastPWM(PinC);
benkatz 0:4e1c4df6aabd 20
benkatz 0:4e1c4df6aabd 21 TIM2->CR1 &= ~(TIM_CR1_CEN);
benkatz 0:4e1c4df6aabd 22 TIM2->CR1 |= TIM_CR1_CMS;
benkatz 0:4e1c4df6aabd 23 TIM2->CR1 |= TIM_CR1_CEN;
benkatz 0:4e1c4df6aabd 24
benkatz 0:4e1c4df6aabd 25 //PWM_A->period(Period);
benkatz 0:4e1c4df6aabd 26
benkatz 0:4e1c4df6aabd 27 //PWM Setup
benkatz 0:4e1c4df6aabd 28 TIM2->PSC = 0x0; // no prescaler, timer counts up in sync with the peripheral clock
benkatz 0:4e1c4df6aabd 29 TIM2->ARR = 0x8CA; //
benkatz 0:4e1c4df6aabd 30 TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 0:4e1c4df6aabd 31
benkatz 0:4e1c4df6aabd 32 //ISR Setup
benkatz 0:4e1c4df6aabd 33 NVIC->ISER[0] |= 1<< (TIM2_IRQn); // enable the TIM2 IRQ
benkatz 0:4e1c4df6aabd 34
benkatz 0:4e1c4df6aabd 35 TIM2->DIER |= TIM_DIER_UIE; // enable update interrupt
benkatz 0:4e1c4df6aabd 36 TIM2->CR1 |= TIM_CR1_ARPE; // autoreload on,
benkatz 0:4e1c4df6aabd 37 TIM2->EGR |= TIM_EGR_UG;
benkatz 0:4e1c4df6aabd 38
benkatz 0:4e1c4df6aabd 39 // ADC Setup
benkatz 0:4e1c4df6aabd 40 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
benkatz 0:4e1c4df6aabd 41 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
benkatz 0:4e1c4df6aabd 42 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;//0x0000002; // Enable clock for GPIOC
benkatz 0:4e1c4df6aabd 43
benkatz 0:4e1c4df6aabd 44 ADC->CCR = 0x00000006; // Regular simultaneous mode only
benkatz 0:4e1c4df6aabd 45 ADC1->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON
benkatz 0:4e1c4df6aabd 46 ADC1->SQR3 = 0x000000A; // use PC_0 as input
benkatz 0:4e1c4df6aabd 47 ADC2->CR2 |= ADC_CR2_ADON;//0x00000001; // ADC1 ON
benkatz 0:4e1c4df6aabd 48 ADC2->SQR3 = 0x0000000B; // use PC_1 as input
benkatz 0:4e1c4df6aabd 49 GPIOC->MODER |= 0x0000000f; // PC_0, PC_1 are analog inputs
benkatz 0:4e1c4df6aabd 50
benkatz 0:4e1c4df6aabd 51 // DAC set-up
benkatz 0:4e1c4df6aabd 52 RCC->APB1ENR |= 0x20000000; // Enable clock for DAC
benkatz 0:4e1c4df6aabd 53 DAC->CR |= 0x00000001; // DAC control reg, both channels ON
benkatz 1:b8bceb4daed5 54 GPIOA->MODER |= 0x00000300; // PA04 as analog output
benkatz 0:4e1c4df6aabd 55
benkatz 0:4e1c4df6aabd 56 EnableInverter();
benkatz 0:4e1c4df6aabd 57 SetDTC(0.0f, 0.0f, 0.0f);
benkatz 0:4e1c4df6aabd 58 wait(.2);
benkatz 0:4e1c4df6aabd 59 ZeroCurrent();
benkatz 0:4e1c4df6aabd 60 }
benkatz 0:4e1c4df6aabd 61
benkatz 0:4e1c4df6aabd 62 void Inverter::SetDTC(float DTC_A, float DTC_B, float DTC_C){
benkatz 0:4e1c4df6aabd 63 PWM_A->write(DTC_A);
benkatz 0:4e1c4df6aabd 64 PWM_B->write(DTC_B);
benkatz 0:4e1c4df6aabd 65 PWM_C->write(DTC_C);
benkatz 0:4e1c4df6aabd 66 }
benkatz 0:4e1c4df6aabd 67
benkatz 0:4e1c4df6aabd 68 void Inverter::EnableInverter(){
benkatz 0:4e1c4df6aabd 69 Enable->write(1);
benkatz 0:4e1c4df6aabd 70 }
benkatz 0:4e1c4df6aabd 71
benkatz 0:4e1c4df6aabd 72 void Inverter::DisableInverter(){
benkatz 0:4e1c4df6aabd 73 Enable->write(0);
benkatz 0:4e1c4df6aabd 74 }
benkatz 0:4e1c4df6aabd 75
benkatz 0:4e1c4df6aabd 76 void Inverter::ZeroCurrent(){
benkatz 0:4e1c4df6aabd 77 I_B_Offset = 0;
benkatz 0:4e1c4df6aabd 78 I_C_Offset = 0;
benkatz 0:4e1c4df6aabd 79 for (int i=0; i < 1000; i++){
benkatz 0:4e1c4df6aabd 80 I_B_Offset += ADC1->DR;
benkatz 0:4e1c4df6aabd 81 I_C_Offset += ADC2->DR;
benkatz 0:4e1c4df6aabd 82 ADC1->CR2 |= 0x40000000;
benkatz 0:4e1c4df6aabd 83 }
benkatz 0:4e1c4df6aabd 84 I_B_Offset = I_B_Offset/1000.0f;
benkatz 0:4e1c4df6aabd 85 I_C_Offset = I_C_Offset/1000.0f;
benkatz 0:4e1c4df6aabd 86 printf("B_Offset: %f C_Offset: %f\n\r", I_B_Offset, I_C_Offset);
benkatz 0:4e1c4df6aabd 87 }
benkatz 0:4e1c4df6aabd 88
benkatz 0:4e1c4df6aabd 89 void Inverter::GetCurrent(float *A, float *B, float *C){
benkatz 0:4e1c4df6aabd 90 *A = I_A;
benkatz 0:4e1c4df6aabd 91 *B = I_B;
benkatz 0:4e1c4df6aabd 92 *C = I_C;
benkatz 0:4e1c4df6aabd 93 }
benkatz 0:4e1c4df6aabd 94
benkatz 0:4e1c4df6aabd 95 void Inverter::SampleCurrent(void){
benkatz 0:4e1c4df6aabd 96 // Dbg->write(1);
benkatz 1:b8bceb4daed5 97 GPIOC->ODR ^= (1 << 4); //Toggle pin for debugging
benkatz 0:4e1c4df6aabd 98 I_B = _I_Scale*((float) (ADC1->DR) - I_B_Offset);
benkatz 0:4e1c4df6aabd 99 I_C = _I_Scale*((float) (ADC2->DR)- I_C_Offset);
benkatz 0:4e1c4df6aabd 100 I_A = -I_B - I_C;
benkatz 0:4e1c4df6aabd 101 //DAC->DHR12R1 = ADC2->DR;
benkatz 0:4e1c4df6aabd 102 //DAC->DHR12R1 = TIM3->CNT>>2;//ADC2->DR; // pass ADC -> DAC, also clears EOC flag
benkatz 0:4e1c4df6aabd 103 ADC1->CR2 |= 0x40000000;
benkatz 1:b8bceb4daed5 104 GPIOC->ODR ^= (1 << 4); //toggle pin for debugging
benkatz 0:4e1c4df6aabd 105 }
benkatz 0:4e1c4df6aabd 106