Ben Katz / Hobbyking_Cheetah_general

auto-measurements

Dependencies:   FastPWM3 mbed-dev

Fork of Hobbyking_Cheetah_Compact by Ben Katz

main.cpp@34:47a55f96fbc4, 2017-10-02 (annotated)

Committer:
benkatz
Date:
Mon Oct 02 00:55:39 2017 +0000
Revision:
34:47a55f96fbc4
Parent:
32:ccac5da77844 
Auto-measurement

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 22:60276ba87ac6 1 /// high-bandwidth 3-phase motor control, for robots
benkatz 22:60276ba87ac6 2 /// Written by benkatz, with much inspiration from bayleyw, nkirkby, scolton, David Otten, and others
benkatz 22:60276ba87ac6 3 /// Hardware documentation can be found at build-its.blogspot.com
benkatz 22:60276ba87ac6 4
benkatz 22:60276ba87ac6 5 /// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling
benkatz 22:60276ba87ac6 6
benkatz 23:2adf23ee0305 7 #define REST_MODE 0
benkatz 23:2adf23ee0305 8 #define CALIBRATION_MODE 1
benkatz 26:2b865c00d7e9 9 #define MOTOR_MODE 2
benkatz 23:2adf23ee0305 10 #define SETUP_MODE 4
benkatz 23:2adf23ee0305 11 #define ENCODER_MODE 5
benkatz 22:60276ba87ac6 12
benkatz 34:47a55f96fbc4 13 #define VERSION_NUM "TEST_MODE"
benkatz 26:2b865c00d7e9 14
benkatz 18:f1d56f4acb39 15
benkatz 26:2b865c00d7e9 16 float __float_reg[64]; // Floats stored in flash
benkatz 26:2b865c00d7e9 17 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 18
benkatz 0:4e1c4df6aabd 19 #include "mbed.h"
benkatz 0:4e1c4df6aabd 20 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 21 #include "structs.h"
benkatz 20:bf9ea5125d52 22 #include "foc.h"
benkatz 22:60276ba87ac6 23 #include "calibration.h"
benkatz 20:bf9ea5125d52 24 #include "hw_setup.h"
benkatz 23:2adf23ee0305 25 #include "math_ops.h"
benkatz 20:bf9ea5125d52 26 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 27 #include "hw_config.h"
benkatz 20:bf9ea5125d52 28 #include "motor_config.h"
benkatz 23:2adf23ee0305 29 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 30 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 31 #include "user_config.h"
benkatz 23:2adf23ee0305 32 #include "PreferenceWriter.h"
benkatz 34:47a55f96fbc4 33 #include "FastMath.h"
benkatz 34:47a55f96fbc4 34 using namespace FastMath;
benkatz 26:2b865c00d7e9 35
benkatz 23:2adf23ee0305 36 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 37
benkatz 20:bf9ea5125d52 38 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 39 ControllerStruct controller;
benkatz 20:bf9ea5125d52 40 COMStruct com;
benkatz 22:60276ba87ac6 41 VelocityEstimatorStruct velocity;
benkatz 17:3c5df2982199 42
benkatz 9:d7eb815cb057 43
benkatz 26:2b865c00d7e9 44 //using namespace CANnucleo;
benkatz 17:3c5df2982199 45
benkatz 26:2b865c00d7e9 46 CAN can(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 47 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 48 CANMessage txMsg;
benkatz 23:2adf23ee0305 49
benkatz 20:bf9ea5125d52 50
benkatz 9:d7eb815cb057 51 Serial pc(PA_2, PA_3);
benkatz 8:10ae7bc88d6e 52
benkatz 26:2b865c00d7e9 53 PositionSensorAM5147 spi(16384, 0.0, NPP);
benkatz 26:2b865c00d7e9 54 PositionSensorEncoder encoder(4096, 0, NPP);
benkatz 26:2b865c00d7e9 55
benkatz 26:2b865c00d7e9 56
benkatz 26:2b865c00d7e9 57 DigitalOut toggle(PA_0);
benkatz 20:bf9ea5125d52 58
benkatz 23:2adf23ee0305 59 volatile int count = 0;
benkatz 23:2adf23ee0305 60 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 61 volatile int state_change;
benkatz 34:47a55f96fbc4 62 volatile int cal_counter = 0;
benkatz 34:47a55f96fbc4 63 volatile float rise = 0;
benkatz 34:47a55f96fbc4 64 volatile float avg_current = 0;
benkatz 20:bf9ea5125d52 65
benkatz 26:2b865c00d7e9 66 #define P_MIN -12.5f
benkatz 26:2b865c00d7e9 67 #define P_MAX 12.5f
benkatz 26:2b865c00d7e9 68 #define V_MIN -30.0f
benkatz 26:2b865c00d7e9 69 #define V_MAX 30.0f
benkatz 26:2b865c00d7e9 70 #define KP_MIN 0.0f
benkatz 26:2b865c00d7e9 71 #define KP_MAX 500.0f
benkatz 26:2b865c00d7e9 72 #define KD_MIN 0.0f
benkatz 28:8c7e29f719c5 73 #define KD_MAX 5.0f
benkatz 26:2b865c00d7e9 74 #define T_MIN -18.0f
benkatz 26:2b865c00d7e9 75 #define T_MAX 18.0f
benkatz 26:2b865c00d7e9 76
benkatz 26:2b865c00d7e9 77
benkatz 26:2b865c00d7e9 78 /// CAN Reply Packet Structure ///
benkatz 26:2b865c00d7e9 79 /// 16 bit position, between -4*pi and 4*pi
benkatz 26:2b865c00d7e9 80 /// 12 bit velocity, between -30 and + 30 rad/s
benkatz 26:2b865c00d7e9 81 /// 12 bit current, between -40 and 40;
benkatz 26:2b865c00d7e9 82 /// CAN Packet is 5 8-bit words
benkatz 26:2b865c00d7e9 83 /// Formatted as follows. For each quantity, bit 0 is LSB
benkatz 26:2b865c00d7e9 84 /// 0: [position[15-8]]
benkatz 26:2b865c00d7e9 85 /// 1: [position[7-0]]
benkatz 26:2b865c00d7e9 86 /// 2: [velocity[11-4]]
benkatz 26:2b865c00d7e9 87 /// 3: [velocity[3-0], current[11-8]]
benkatz 26:2b865c00d7e9 88 /// 4: [current[7-0]]
benkatz 26:2b865c00d7e9 89 void pack_reply(CANMessage *msg, float p, float v, float i){
benkatz 26:2b865c00d7e9 90 int p_int = float_to_uint(p, P_MIN, P_MAX, 16);
benkatz 26:2b865c00d7e9 91 int v_int = float_to_uint(v, V_MIN, V_MAX, 12);
benkatz 26:2b865c00d7e9 92 int i_int = float_to_uint(i, -I_MAX, I_MAX, 12);
benkatz 28:8c7e29f719c5 93 msg->data[0] = CAN_ID;
benkatz 28:8c7e29f719c5 94 msg->data[1] = p_int>>8;
benkatz 28:8c7e29f719c5 95 msg->data[2] = p_int&0xFF;
benkatz 28:8c7e29f719c5 96 msg->data[3] = v_int>>4;
benkatz 28:8c7e29f719c5 97 msg->data[4] = ((v_int&0xF)<<4) + (i_int>>8);
benkatz 28:8c7e29f719c5 98 msg->data[5] = i_int&0xFF;
benkatz 26:2b865c00d7e9 99 }
benkatz 26:2b865c00d7e9 100
benkatz 26:2b865c00d7e9 101 /// CAN Command Packet Structure ///
benkatz 26:2b865c00d7e9 102 /// 16 bit position command, between -4*pi and 4*pi
benkatz 26:2b865c00d7e9 103 /// 12 bit velocity command, between -30 and + 30 rad/s
benkatz 26:2b865c00d7e9 104 /// 12 bit kp, between 0 and 500 N-m/rad
benkatz 26:2b865c00d7e9 105 /// 12 bit kd, between 0 and 100 N-m*s/rad
benkatz 26:2b865c00d7e9 106 /// 12 bit feed forward torque, between -18 and 18 N-m
benkatz 26:2b865c00d7e9 107 /// CAN Packet is 8 8-bit words
benkatz 26:2b865c00d7e9 108 /// Formatted as follows. For each quantity, bit 0 is LSB
benkatz 26:2b865c00d7e9 109 /// 0: [position[15-8]]
benkatz 26:2b865c00d7e9 110 /// 1: [position[7-0]]
benkatz 26:2b865c00d7e9 111 /// 2: [velocity[11-4]]
benkatz 26:2b865c00d7e9 112 /// 3: [velocity[3-0], kp[11-8]]
benkatz 26:2b865c00d7e9 113 /// 4: [kp[7-0]]
benkatz 26:2b865c00d7e9 114 /// 5: [kd[11-4]]
benkatz 26:2b865c00d7e9 115 /// 6: [kd[3-0], torque[11-8]]
benkatz 26:2b865c00d7e9 116 /// 7: [torque[7-0]]
benkatz 26:2b865c00d7e9 117 void unpack_cmd(CANMessage msg, ControllerStruct * controller){
benkatz 28:8c7e29f719c5 118 int p_int = (msg.data[0]<<8)|msg.data[1];
benkatz 28:8c7e29f719c5 119 int v_int = (msg.data[2]<<4)|(msg.data[3]>>4);
benkatz 28:8c7e29f719c5 120 int kp_int = ((msg.data[3]&0xF)<<8)|msg.data[4];
benkatz 28:8c7e29f719c5 121 int kd_int = (msg.data[5]<<4)|(msg.data[6]>>4);
benkatz 28:8c7e29f719c5 122 int t_int = ((msg.data[6]&0xF)<<8)|msg.data[7];
benkatz 28:8c7e29f719c5 123
benkatz 28:8c7e29f719c5 124 controller->p_des = uint_to_float(p_int, P_MIN, P_MAX, 16);
benkatz 28:8c7e29f719c5 125 controller->v_des = uint_to_float(v_int, V_MIN, V_MAX, 12);
benkatz 28:8c7e29f719c5 126 controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
benkatz 28:8c7e29f719c5 127 controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);
benkatz 28:8c7e29f719c5 128 controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
benkatz 26:2b865c00d7e9 129
benkatz 26:2b865c00d7e9 130
benkatz 28:8c7e29f719c5 131 //printf("Received ");
benkatz 28:8c7e29f719c5 132 //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 28:8c7e29f719c5 133 //printf("\n\r");
benkatz 28:8c7e29f719c5 134
benkatz 26:2b865c00d7e9 135
benkatz 26:2b865c00d7e9 136 }
benkatz 26:2b865c00d7e9 137
benkatz 26:2b865c00d7e9 138 void onMsgReceived() {
benkatz 26:2b865c00d7e9 139 //msgAvailable = true;
benkatz 26:2b865c00d7e9 140 //printf("%.3f %.3f %.3f\n\r", controller.theta_mech, controller.dtheta_mech, controller.i_q);
benkatz 26:2b865c00d7e9 141 can.read(rxMsg);
benkatz 28:8c7e29f719c5 142
benkatz 28:8c7e29f719c5 143 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 144 controller.timeout = 0;
benkatz 28:8c7e29f719c5 145 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 28:8c7e29f719c5 146 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 147 state_change = 1;
benkatz 28:8c7e29f719c5 148 }
benkatz 28:8c7e29f719c5 149 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 28:8c7e29f719c5 150 state = REST_MODE;
benkatz 28:8c7e29f719c5 151 state_change = 1;
benkatz 28:8c7e29f719c5 152 GPIOC->ODR &= !(1 << 5);
benkatz 28:8c7e29f719c5 153 }
benkatz 28:8c7e29f719c5 154 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 28:8c7e29f719c5 155 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 156 }
benkatz 28:8c7e29f719c5 157 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 158 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 159 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q);
benkatz 28:8c7e29f719c5 160 can.write(txMsg);
benkatz 28:8c7e29f719c5 161 }
benkatz 28:8c7e29f719c5 162 }
benkatz 26:2b865c00d7e9 163
benkatz 26:2b865c00d7e9 164 }
benkatz 26:2b865c00d7e9 165
benkatz 23:2adf23ee0305 166 void enter_menu_state(void){
benkatz 23:2adf23ee0305 167 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 168 printf(" Commands:\n\r");
benkatz 26:2b865c00d7e9 169 printf(" m - Motor Mode\n\r");
benkatz 23:2adf23ee0305 170 printf(" c - Calibrate Encoder\n\r");
benkatz 23:2adf23ee0305 171 printf(" s - Setup\n\r");
benkatz 23:2adf23ee0305 172 printf(" e - Display Encoder\n\r");
benkatz 23:2adf23ee0305 173 printf(" esc - Exit to Menu\n\r");
benkatz 23:2adf23ee0305 174 state_change = 0;
benkatz 25:f5741040c4bb 175 gpio.enable->write(0);
benkatz 23:2adf23ee0305 176 }
benkatz 24:58c2d7571207 177
benkatz 24:58c2d7571207 178 void enter_setup_state(void){
benkatz 24:58c2d7571207 179 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 28:8c7e29f719c5 180 printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 28:8c7e29f719c5 181 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 28:8c7e29f719c5 182 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 28:8c7e29f719c5 183 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 28:8c7e29f719c5 184 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
benkatz 28:8c7e29f719c5 185 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 24:58c2d7571207 186 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 24:58c2d7571207 187 state_change = 0;
benkatz 24:58c2d7571207 188 }
benkatz 22:60276ba87ac6 189
benkatz 23:2adf23ee0305 190 void enter_torque_mode(void){
benkatz 28:8c7e29f719c5 191 gpio.enable->write(1); // Enable gate drive
benkatz 28:8c7e29f719c5 192 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 193 wait(.001);
benkatz 23:2adf23ee0305 194 controller.i_d_ref = 0;
benkatz 34:47a55f96fbc4 195 controller.i_q_ref = 2; // Current Setpoints
benkatz 26:2b865c00d7e9 196 GPIOC->ODR |= (1 << 5); // Turn on status LED
benkatz 25:f5741040c4bb 197 state_change = 0;
benkatz 28:8c7e29f719c5 198 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 199 }
benkatz 22:60276ba87ac6 200
benkatz 23:2adf23ee0305 201 void calibrate(void){
benkatz 25:f5741040c4bb 202 gpio.enable->write(1); // Enable gate drive
benkatz 26:2b865c00d7e9 203 GPIOC->ODR |= (1 << 5); // Turn on status LED
benkatz 25:f5741040c4bb 204 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 205 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 26:2b865c00d7e9 206 GPIOC->ODR &= !(1 << 5); // Turn off status LED
benkatz 23:2adf23ee0305 207 wait(.2);
benkatz 25:f5741040c4bb 208 gpio.enable->write(0); // Turn off gate drive
benkatz 23:2adf23ee0305 209 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 23:2adf23ee0305 210 state_change = 0;
benkatz 23:2adf23ee0305 211
benkatz 23:2adf23ee0305 212 }
benkatz 23:2adf23ee0305 213
benkatz 23:2adf23ee0305 214 void print_encoder(void){
benkatz 23:2adf23ee0305 215 spi.Sample();
benkatz 23:2adf23ee0305 216 wait(.001);
benkatz 23:2adf23ee0305 217 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 23:2adf23ee0305 218 wait(.05);
benkatz 22:60276ba87ac6 219 }
benkatz 20:bf9ea5125d52 220
benkatz 23:2adf23ee0305 221 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 222 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 223 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 224 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 20:bf9ea5125d52 225 //toggle = 1;
benkatz 23:2adf23ee0305 226
benkatz 23:2adf23ee0305 227 ///Sample current always ///
benkatz 25:f5741040c4bb 228 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 229 //volatile int delay;
benkatz 20:bf9ea5125d52 230 //for (delay = 0; delay < 55; delay++);
benkatz 25:f5741040c4bb 231 controller.adc2_raw = ADC2->DR; // Read ADC1 and ADC2 Data Registers
benkatz 23:2adf23ee0305 232 controller.adc1_raw = ADC1->DR;
benkatz 23:2adf23ee0305 233 ///
benkatz 20:bf9ea5125d52 234
benkatz 23:2adf23ee0305 235 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 236 //printf("%d\n\r", state);
benkatz 23:2adf23ee0305 237 switch(state){
benkatz 23:2adf23ee0305 238 case REST_MODE: // Do nothing until
benkatz 23:2adf23ee0305 239 if(state_change){
benkatz 23:2adf23ee0305 240 enter_menu_state();
benkatz 23:2adf23ee0305 241 }
benkatz 23:2adf23ee0305 242 break;
benkatz 22:60276ba87ac6 243
benkatz 23:2adf23ee0305 244 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 245 if(state_change){
benkatz 34:47a55f96fbc4 246 gpio.enable->write(1);
benkatz 34:47a55f96fbc4 247
benkatz 34:47a55f96fbc4 248 //calibrate();
benkatz 34:47a55f96fbc4 249 state_change = 0;
benkatz 34:47a55f96fbc4 250 GPIOC->ODR |= (1 << 5);
benkatz 34:47a55f96fbc4 251 TIM1->CCR3 = (PWM_ARR)*(0.5f); // Set duty cycles
benkatz 34:47a55f96fbc4 252 TIM1->CCR2 = (PWM_ARR)*(0.5f);
benkatz 34:47a55f96fbc4 253 TIM1->CCR1 = (PWM_ARR)*(0.5f);
benkatz 34:47a55f96fbc4 254 wait_us(200);
benkatz 34:47a55f96fbc4 255 cal_counter = 1;
benkatz 34:47a55f96fbc4 256 rise = 0;
benkatz 34:47a55f96fbc4 257 avg_current = 0;
benkatz 34:47a55f96fbc4 258 }
benkatz 34:47a55f96fbc4 259 if(cal_counter>0){
benkatz 34:47a55f96fbc4 260 if(cal_counter<1000){
benkatz 34:47a55f96fbc4 261 TIM1->CCR3 = (PWM_ARR)*(0.5f); // Set duty cycles
benkatz 34:47a55f96fbc4 262 TIM1->CCR2 = (PWM_ARR)*(0.5f);
benkatz 34:47a55f96fbc4 263 TIM1->CCR1 = (PWM_ARR)*(0.5f);
benkatz 34:47a55f96fbc4 264 }
benkatz 34:47a55f96fbc4 265 if(cal_counter>=1000){
benkatz 34:47a55f96fbc4 266 float s = FastSin(0);
benkatz 34:47a55f96fbc4 267 float c = FastCos(0);
benkatz 34:47a55f96fbc4 268 float dtc_u, dtc_v, dtc_w;
benkatz 34:47a55f96fbc4 269 float i_a, i_b, i_c, i_d, i_q = 0.0f;
benkatz 34:47a55f96fbc4 270 controller.v_d = 3.0f;
benkatz 34:47a55f96fbc4 271 controller.v_q = 0.0f;
benkatz 34:47a55f96fbc4 272 float v_u = c*controller.v_d - s*controller.v_q; // Faster Inverse DQ0 transform
benkatz 34:47a55f96fbc4 273 float v_v = (0.86602540378f*s-.5f*c)*controller.v_d - (-0.86602540378f*c-.5f*s)*controller.v_q;
benkatz 34:47a55f96fbc4 274 float v_w = (-0.86602540378f*s-.5f*c)*controller.v_d - (0.86602540378f*c-.5f*s)*controller.v_q;
benkatz 34:47a55f96fbc4 275 svm(V_BUS, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); //space vector modulation
benkatz 34:47a55f96fbc4 276 TIM1->CCR3 = (PWM_ARR)*(1.0f-dtc_u); // Set duty cycles
benkatz 34:47a55f96fbc4 277 TIM1->CCR2 = (PWM_ARR)*(1.0f-dtc_v);
benkatz 34:47a55f96fbc4 278 TIM1->CCR1 = (PWM_ARR)*(1.0f-dtc_w);
benkatz 34:47a55f96fbc4 279 i_b = I_SCALE*(float)(controller.adc2_raw - controller.adc2_offset); // Calculate phase currents from ADC readings
benkatz 34:47a55f96fbc4 280 i_c = I_SCALE*(float)(controller.adc1_raw - controller.adc1_offset);
benkatz 34:47a55f96fbc4 281 i_a = -i_b - i_c;
benkatz 34:47a55f96fbc4 282 i_d = 0.6666667f*(c*i_a + (0.86602540378f*s-.5f*c)*i_b + (-0.86602540378f*s-.5f*c)*i_c); ///Faster DQ0 Transform
benkatz 34:47a55f96fbc4 283 i_q = 0.6666667f*(-s*i_a - (-0.86602540378f*c-.5f*s)*i_b - (0.86602540378f*c-.5f*s)*i_c);
benkatz 34:47a55f96fbc4 284 float current = sqrt(i_d*i_d + i_q*i_q);
benkatz 34:47a55f96fbc4 285 avg_current += .000025f*current;
benkatz 34:47a55f96fbc4 286 if(cal_counter<1020){rise += .05f*current;}
benkatz 34:47a55f96fbc4 287 }
benkatz 34:47a55f96fbc4 288 cal_counter++;
benkatz 34:47a55f96fbc4 289 if(cal_counter>41000){
benkatz 34:47a55f96fbc4 290 cal_counter = 0;
benkatz 34:47a55f96fbc4 291 GPIOC->ODR &= !(1 << 5);
benkatz 34:47a55f96fbc4 292 wait_us(200);
benkatz 34:47a55f96fbc4 293 gpio.enable->write(0);
benkatz 34:47a55f96fbc4 294 float L = controller.v_d*.0005f/(2.0f*rise);
benkatz 34:47a55f96fbc4 295 float R = controller.v_d/avg_current;
benkatz 34:47a55f96fbc4 296 printf("%f \n\r", rise);
benkatz 34:47a55f96fbc4 297 calibrate();
benkatz 34:47a55f96fbc4 298 printf("Inductance: %f\n\r", L);
benkatz 34:47a55f96fbc4 299 printf("Resistance: %f\n\r", R);
benkatz 34:47a55f96fbc4 300
benkatz 34:47a55f96fbc4 301 }
benkatz 34:47a55f96fbc4 302
benkatz 23:2adf23ee0305 303 }
benkatz 23:2adf23ee0305 304 break;
benkatz 23:2adf23ee0305 305
benkatz 26:2b865c00d7e9 306 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 307 if(state_change){
benkatz 25:f5741040c4bb 308 enter_torque_mode();
benkatz 28:8c7e29f719c5 309 count = 0;
benkatz 25:f5741040c4bb 310 }
benkatz 28:8c7e29f719c5 311 else{
benkatz 23:2adf23ee0305 312 count++;
benkatz 28:8c7e29f719c5 313 //toggle.write(1);
benkatz 26:2b865c00d7e9 314 controller.theta_elec = spi.GetElecPosition();
benkatz 28:8c7e29f719c5 315 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 28:8c7e29f719c5 316 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 26:2b865c00d7e9 317 //TIM1->CCR3 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 318 //TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 319 //TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 320
benkatz 26:2b865c00d7e9 321 //controller.i_q_ref = controller.t_ff/KT_OUT;
benkatz 34:47a55f96fbc4 322 if(count >40){
benkatz 34:47a55f96fbc4 323 controller.i_q_ref = 20;
benkatz 34:47a55f96fbc4 324 //wait(.001);
benkatz 34:47a55f96fbc4 325 //printf(" Started commutating\n\r");
benkatz 34:47a55f96fbc4 326 }
benkatz 34:47a55f96fbc4 327 if(count>80){
benkatz 34:47a55f96fbc4 328 controller.i_q_ref = -20;
benkatz 34:47a55f96fbc4 329 count = 0;
benkatz 34:47a55f96fbc4 330 }
benkatz 34:47a55f96fbc4 331 //torque_control(&controller);
benkatz 28:8c7e29f719c5 332 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 333 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 334 controller.i_q_ref = 0;
benkatz 28:8c7e29f719c5 335 }
benkatz 28:8c7e29f719c5 336 //controller.i_q_ref = .5;
benkatz 23:2adf23ee0305 337 commutate(&controller, &gpio, controller.theta_elec); // Run current loop
benkatz 23:2adf23ee0305 338 spi.Sample(); // Sample position sensor
benkatz 28:8c7e29f719c5 339 //toggle.write(0);
benkatz 28:8c7e29f719c5 340 controller.timeout += 1;
benkatz 26:2b865c00d7e9 341
benkatz 34:47a55f96fbc4 342 }
benkatz 28:8c7e29f719c5 343
benkatz 23:2adf23ee0305 344 break;
benkatz 34:47a55f96fbc4 345
benkatz 23:2adf23ee0305 346 case SETUP_MODE:
benkatz 23:2adf23ee0305 347 if(state_change){
benkatz 24:58c2d7571207 348 enter_setup_state();
benkatz 23:2adf23ee0305 349 }
benkatz 23:2adf23ee0305 350 break;
benkatz 23:2adf23ee0305 351 case ENCODER_MODE:
benkatz 23:2adf23ee0305 352 print_encoder();
benkatz 23:2adf23ee0305 353 break;
benkatz 23:2adf23ee0305 354 }
benkatz 34:47a55f96fbc4 355
benkatz 26:2b865c00d7e9 356
benkatz 2:8724412ad628 357 }
benkatz 23:2adf23ee0305 358 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 359 }
benkatz 0:4e1c4df6aabd 360
benkatz 25:f5741040c4bb 361
benkatz 24:58c2d7571207 362 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 363 char cmd_id = 0;
benkatz 25:f5741040c4bb 364 char char_count = 0;
benkatz 24:58c2d7571207 365
benkatz 25:f5741040c4bb 366 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 367 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 368 void serial_interrupt(void){
benkatz 23:2adf23ee0305 369 while(pc.readable()){
benkatz 23:2adf23ee0305 370 char c = pc.getc();
benkatz 25:f5741040c4bb 371 if(c == 27){
benkatz 25:f5741040c4bb 372 state = REST_MODE;
benkatz 25:f5741040c4bb 373 state_change = 1;
benkatz 25:f5741040c4bb 374 char_count = 0;
benkatz 25:f5741040c4bb 375 cmd_id = 0;
benkatz 26:2b865c00d7e9 376 GPIOC->ODR &= !(1 << 5);
benkatz 25:f5741040c4bb 377 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 378 }
benkatz 24:58c2d7571207 379 if(state == REST_MODE){
benkatz 23:2adf23ee0305 380 switch (c){
benkatz 23:2adf23ee0305 381 case 'c':
benkatz 23:2adf23ee0305 382 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 383 state_change = 1;
benkatz 23:2adf23ee0305 384 break;
benkatz 26:2b865c00d7e9 385 case 'm':
benkatz 26:2b865c00d7e9 386 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 387 state_change = 1;
benkatz 23:2adf23ee0305 388 break;
benkatz 23:2adf23ee0305 389 case 'e':
benkatz 23:2adf23ee0305 390 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 391 state_change = 1;
benkatz 23:2adf23ee0305 392 break;
benkatz 23:2adf23ee0305 393 case 's':
benkatz 23:2adf23ee0305 394 state = SETUP_MODE;
benkatz 23:2adf23ee0305 395 state_change = 1;
benkatz 23:2adf23ee0305 396 break;
benkatz 24:58c2d7571207 397 }
benkatz 24:58c2d7571207 398 }
benkatz 24:58c2d7571207 399 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 400 if(c == 13){
benkatz 24:58c2d7571207 401 switch (cmd_id){
benkatz 24:58c2d7571207 402 case 'b':
benkatz 24:58c2d7571207 403 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 404 break;
benkatz 24:58c2d7571207 405 case 'i':
benkatz 24:58c2d7571207 406 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 407 break;
benkatz 26:2b865c00d7e9 408 case 'm':
benkatz 26:2b865c00d7e9 409 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 410 break;
benkatz 24:58c2d7571207 411 case 'l':
benkatz 24:58c2d7571207 412 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 24:58c2d7571207 413 break;
benkatz 28:8c7e29f719c5 414 case 't':
benkatz 28:8c7e29f719c5 415 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 416 break;
benkatz 24:58c2d7571207 417 default:
benkatz 24:58c2d7571207 418 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 419 break;
benkatz 24:58c2d7571207 420 }
benkatz 24:58c2d7571207 421
benkatz 24:58c2d7571207 422 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 423 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 424 prefs.close();
benkatz 24:58c2d7571207 425 prefs.load();
benkatz 24:58c2d7571207 426 state_change = 1;
benkatz 24:58c2d7571207 427 char_count = 0;
benkatz 24:58c2d7571207 428 cmd_id = 0;
benkatz 24:58c2d7571207 429 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 430 }
benkatz 24:58c2d7571207 431 else{
benkatz 24:58c2d7571207 432 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 433 else{
benkatz 24:58c2d7571207 434 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 435
benkatz 24:58c2d7571207 436 }
benkatz 24:58c2d7571207 437 pc.putc(c);
benkatz 24:58c2d7571207 438 char_count++;
benkatz 23:2adf23ee0305 439 }
benkatz 23:2adf23ee0305 440 }
benkatz 24:58c2d7571207 441 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 442 switch (c){
benkatz 24:58c2d7571207 443 case 27:
benkatz 24:58c2d7571207 444 state = REST_MODE;
benkatz 24:58c2d7571207 445 state_change = 1;
benkatz 24:58c2d7571207 446 break;
benkatz 24:58c2d7571207 447 }
benkatz 24:58c2d7571207 448 }
benkatz 24:58c2d7571207 449
benkatz 24:58c2d7571207 450 }
benkatz 22:60276ba87ac6 451 }
benkatz 0:4e1c4df6aabd 452
benkatz 0:4e1c4df6aabd 453 int main() {
benkatz 23:2adf23ee0305 454
benkatz 20:bf9ea5125d52 455 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 456 controller.mode = 0;
benkatz 23:2adf23ee0305 457 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 20:bf9ea5125d52 458
benkatz 9:d7eb815cb057 459 wait(.1);
benkatz 26:2b865c00d7e9 460 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 461 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 462 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 463 TIM1->CCR1 = 0x708*(1.0f);
benkatz 23:2adf23ee0305 464 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 26:2b865c00d7e9 465 gpio.enable->write(0);
benkatz 23:2adf23ee0305 466 reset_foc(&controller); // Reset current controller
benkatz 26:2b865c00d7e9 467 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 468 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 469
benkatz 20:bf9ea5125d52 470 wait(.1);
benkatz 23:2adf23ee0305 471 NVIC_SetPriority(TIM5_IRQn, 2); // set interrupt priority
benkatz 22:60276ba87ac6 472
benkatz 26:2b865c00d7e9 473
benkatz 23:2adf23ee0305 474 can.frequency(1000000); // set bit rate to 1Mbps
benkatz 26:2b865c00d7e9 475 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 26:2b865c00d7e9 476 //can.filter(CAN_ID, 0xF, CANStandard, 0);
benkatz 26:2b865c00d7e9 477 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 28:8c7e29f719c5 478 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 479 txMsg.len = 6;
benkatz 26:2b865c00d7e9 480 rxMsg.len = 8;
benkatz 23:2adf23ee0305 481
benkatz 25:f5741040c4bb 482 prefs.load(); // Read flash
benkatz 25:f5741040c4bb 483 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 23:2adf23ee0305 484 int lut[128] = {0};
benkatz 23:2adf23ee0305 485 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 486 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 23:2adf23ee0305 487
benkatz 26:2b865c00d7e9 488 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 489 wait(.01);
benkatz 23:2adf23ee0305 490 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 491 wait(.01);
benkatz 23:2adf23ee0305 492 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 493 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 494 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 495 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 24:58c2d7571207 496 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 23:2adf23ee0305 497
benkatz 23:2adf23ee0305 498 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 499
benkatz 23:2adf23ee0305 500 state_change = 1;
benkatz 20:bf9ea5125d52 501
benkatz 22:60276ba87ac6 502
benkatz 0:4e1c4df6aabd 503 while(1) {
benkatz 11:c83b18d41e54 504
benkatz 0:4e1c4df6aabd 505 }
benkatz 0:4e1c4df6aabd 506 }