Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@202:1baff0df86d1, 2018-02-12 (annotated)

Committer:
bwang
Date:
Mon Feb 12 01:13:52 2018 +0000
Revision:
202:1baff0df86d1
Parent:
201:5d1a3aa50fe0
Child:
203:cb2a3ea31dce
02/11/2017 20:13 - scrambled the mode and error handling code in commutate() to be cleaner

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:bac9c3a3a6ca 1 #include "mbed.h"
bwang 0:bac9c3a3a6ca 2 #include "math.h"
bwang 19:a6cf15f89f3d 3
bwang 0:bac9c3a3a6ca 4 #include "PositionSensor.h"
bwang 0:bac9c3a3a6ca 5 #include "FastPWM.h"
bwang 18:3863ca45cf26 6 #include "PwmIn.h"
bwang 19:a6cf15f89f3d 7 #include "MathHelpers.h"
bwang 42:030e0ec4eac5 8 #include "Transforms.h"
bwang 42:030e0ec4eac5 9 #include "DQMapper.h"
bwang 42:030e0ec4eac5 10 #include "ThrottleMapper.h"
bwang 118:2b6dab10b69d 11 #include "Calibration.h"
bwang 150:08c13bfc7417 12 #include "Filter.h"
bwang 42:030e0ec4eac5 13
bwang 42:030e0ec4eac5 14 #include "BREMSStructs.h"
bwang 42:030e0ec4eac5 15 #include "BREMSConfig.h"
bwang 30:c25c5bf0d951 16
bwang 194:05e119bc5a78 17 #include "prefs.h"
bwang 196:7172e6e28867 18 #include "hardware.h"
bwang 185:5c102874b490 19 #include "derived.h"
bwang 42:030e0ec4eac5 20 #include "main.h"
bwang 0:bac9c3a3a6ca 21
bwang 42:030e0ec4eac5 22 IOStruct io;
bwang 42:030e0ec4eac5 23 ReadDataStruct read;
bwang 42:030e0ec4eac5 24 FOCStruct foc;
bwang 42:030e0ec4eac5 25 ControlStruct control;
bwang 2:eabe8feaaabb 26
bwang 42:030e0ec4eac5 27 DQMapper *dq;
bwang 42:030e0ec4eac5 28 ThrottleMapper *th;
bwang 2:eabe8feaaabb 29
bwang 44:3fd6a43b91f0 30 int loop_counter = 0;
bwang 2:eabe8feaaabb 31
bwang 118:2b6dab10b69d 32 void commutate() {
bwang 56:c681001dfa46 33 /*safety checks, do we do anything this cycle?*/
bwang 198:7ee146427a0d 34 if (checks_passed()) {
bwang 52:fd3d8df99287 35 go_enabled();
bwang 52:fd3d8df99287 36 }
bwang 42:030e0ec4eac5 37
bwang 42:030e0ec4eac5 38 /*update velocity, references*/
bwang 42:030e0ec4eac5 39 update_velocity();
bwang 44:3fd6a43b91f0 40 if (loop_counter % SLOW_LOOP_COUNTER == 0) {
bwang 44:3fd6a43b91f0 41 loop_counter = 0;
bwang 44:3fd6a43b91f0 42 slow_loop();
bwang 44:3fd6a43b91f0 43 }
bwang 44:3fd6a43b91f0 44 loop_counter++;
bwang 42:030e0ec4eac5 45
bwang 42:030e0ec4eac5 46 /*update position, sin, cos*/
bwang 193:3abadeecf908 47 foc.p = io.pos->GetElecPosition() - _POS_OFFSET;
bwang 42:030e0ec4eac5 48 float sin_p = sinf(foc.p);
bwang 42:030e0ec4eac5 49 float cos_p = cosf(foc.p);
bwang 42:030e0ec4eac5 50
bwang 49:da8604278d76 51 /*scale and offset currents (adval1, 2 are updated in ISR)*/
bwang 42:030e0ec4eac5 52 foc.ia = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ia_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 53 foc.ib = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ib_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 54
bwang 42:030e0ec4eac5 55 /*compute d, q*/
bwang 42:030e0ec4eac5 56 clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta);
bwang 42:030e0ec4eac5 57 park(foc.alpha, foc.beta, sin_p, cos_p, &foc.d, &foc.q);
bwang 42:030e0ec4eac5 58
bwang 42:030e0ec4eac5 59 /*PI controller*/
bwang 193:3abadeecf908 60 control.d_filtered = update_filter(control.d_filtered, foc.d, _DQ_FILTER_STRENGTH);
bwang 193:3abadeecf908 61 control.q_filtered = update_filter(control.q_filtered, foc.q, _DQ_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 62
bwang 42:030e0ec4eac5 63 float d_err = control.d_ref - control.d_filtered;
bwang 42:030e0ec4eac5 64 float q_err = control.q_ref - control.q_filtered;
bwang 42:030e0ec4eac5 65
bwang 58:7316c5a4c417 66 control.d_integral += d_err * KI_D;
bwang 58:7316c5a4c417 67 control.q_integral += q_err * KI_Q;
bwang 42:030e0ec4eac5 68
bwang 193:3abadeecf908 69 constrain_norm(&control.d_integral, &control.q_integral, 1.0f, 1.0f, _INTEGRAL_MAX);
bwang 131:031df63c7dbc 70
bwang 193:3abadeecf908 71 foc.vd_decouple = -_Lq * _POLE_PAIRS * read.w * foc.q / _BUS_VOLTAGE / 2.0f;
bwang 193:3abadeecf908 72 foc.vq_decouple = _Ld * _POLE_PAIRS * read.w * foc.d / _BUS_VOLTAGE / 2.0f;
bwang 42:030e0ec4eac5 73
bwang 158:882f9c208378 74 constrain_norm(&foc.vd_decouple, &foc.vq_decouple, 1.0f, 1.0f, 1.0f);
bwang 131:031df63c7dbc 75
bwang 131:031df63c7dbc 76 foc.vd = KP_D * d_err + control.d_integral;// + foc.vd_decouple;
bwang 131:031df63c7dbc 77 foc.vq = KP_Q * q_err + control.q_integral;// + foc.vq_decouple;
bwang 42:030e0ec4eac5 78
bwang 193:3abadeecf908 79 constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f + _OVERMODULATION_FACTOR);
bwang 42:030e0ec4eac5 80
bwang 193:3abadeecf908 81 float pv = foc.p + read.w / _V_PHASE_SWIZZLE;
bwang 124:e70ca81676fc 82 float sin_pv = sinf(pv);
bwang 124:e70ca81676fc 83 float cos_pv = cosf(pv);
bwang 124:e70ca81676fc 84
bwang 42:030e0ec4eac5 85 /*inverse transforms*/
bwang 124:e70ca81676fc 86 invpark(foc.vd, foc.vq, sin_pv, cos_pv, &foc.valpha, &foc.vbeta);
bwang 202:1baff0df86d1 87
bwang 202:1baff0df86d1 88 /*set outputs*/
bwang 42:030e0ec4eac5 89 float va, vb, vc, voff;
bwang 201:5d1a3aa50fe0 90 switch (BREMS_mode) {
bwang 201:5d1a3aa50fe0 91 case MODE_CFG:
bwang 201:5d1a3aa50fe0 92 va = 0.0f;
bwang 201:5d1a3aa50fe0 93 vb = 0.0f;
bwang 201:5d1a3aa50fe0 94 vc = 0.0f;
bwang 201:5d1a3aa50fe0 95 break;
bwang 201:5d1a3aa50fe0 96 case MODE_RUN:
bwang 201:5d1a3aa50fe0 97 invclarke(foc.valpha, foc.vbeta, &va, &vb);
bwang 201:5d1a3aa50fe0 98 vc = -va - vb;
bwang 201:5d1a3aa50fe0 99 /*SVPWM*/
bwang 201:5d1a3aa50fe0 100 voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
bwang 201:5d1a3aa50fe0 101 va = va - voff;
bwang 201:5d1a3aa50fe0 102 vb = vb - voff;
bwang 201:5d1a3aa50fe0 103 vc = vc - voff;
bwang 201:5d1a3aa50fe0 104 break;
bwang 201:5d1a3aa50fe0 105 case MODE_ZERO:
bwang 201:5d1a3aa50fe0 106 va = 0.9f;
bwang 201:5d1a3aa50fe0 107 vb = -0.9f;
bwang 201:5d1a3aa50fe0 108 vc = -0.9f;
bwang 201:5d1a3aa50fe0 109 break;
bwang 201:5d1a3aa50fe0 110 case MODE_CHR:
bwang 201:5d1a3aa50fe0 111 //i have no idea lol;
bwang 201:5d1a3aa50fe0 112 break;
bwang 201:5d1a3aa50fe0 113 }
bwang 42:030e0ec4eac5 114
bwang 56:c681001dfa46 115 /*safety checks, reset integral*/
bwang 193:3abadeecf908 116 if (!checks_passed()) {
bwang 56:c681001dfa46 117 /*do this even in disabled state, to keep integral down*/
bwang 56:c681001dfa46 118 go_disabled();
bwang 56:c681001dfa46 119 }
bwang 56:c681001dfa46 120
bwang 198:7ee146427a0d 121 /*some modes disable output*/
bwang 198:7ee146427a0d 122 switch (BREMS_mode) {
bwang 198:7ee146427a0d 123 case MODE_CFG:
bwang 198:7ee146427a0d 124 go_disabled();
bwang 198:7ee146427a0d 125 break;
bwang 198:7ee146427a0d 126 case MODE_RUN:
bwang 198:7ee146427a0d 127 case MODE_ZERO:
bwang 198:7ee146427a0d 128 case MODE_CHR:
bwang 198:7ee146427a0d 129 break;
bwang 198:7ee146427a0d 130 default:
bwang 198:7ee146427a0d 131 go_disabled();
bwang 198:7ee146427a0d 132 break;
bwang 198:7ee146427a0d 133 }
bwang 198:7ee146427a0d 134
bwang 180:a783a972a867 135 /*log data*/
bwang 198:7ee146427a0d 136 if (_ENABLE_LOGGING) {
bwang 198:7ee146427a0d 137 switch (BREMS_mode) {
bwang 198:7ee146427a0d 138 case MODE_RUN:
bwang 198:7ee146427a0d 139 log();
bwang 198:7ee146427a0d 140 break;
bwang 198:7ee146427a0d 141 case MODE_CFG:
bwang 198:7ee146427a0d 142 case MODE_ZERO:
bwang 198:7ee146427a0d 143 case MODE_CHR:
bwang 198:7ee146427a0d 144 default:
bwang 198:7ee146427a0d 145 break;
bwang 198:7ee146427a0d 146 }
bwang 198:7ee146427a0d 147 }
bwang 201:5d1a3aa50fe0 148
bwang 202:1baff0df86d1 149 /*disable outputs if necessary*/
bwang 201:5d1a3aa50fe0 150 if (!control.enabled) {
bwang 201:5d1a3aa50fe0 151 va = 0.0f; vb = 0.0f; vc = 0.0f;
bwang 201:5d1a3aa50fe0 152 }
bwang 201:5d1a3aa50fe0 153
bwang 201:5d1a3aa50fe0 154 //output to timers
bwang 201:5d1a3aa50fe0 155 set_dtc(io.a, 0.5f + 0.5f * va * LINEAR_MODULATION_MAX);
bwang 201:5d1a3aa50fe0 156 set_dtc(io.b, 0.5f + 0.5f * vb * LINEAR_MODULATION_MAX);
bwang 201:5d1a3aa50fe0 157 set_dtc(io.c, 0.5f + 0.5f * vc * LINEAR_MODULATION_MAX);
bwang 42:030e0ec4eac5 158 }
bwang 42:030e0ec4eac5 159
bwang 44:3fd6a43b91f0 160 void slow_loop() {
bwang 194:05e119bc5a78 161 switch (BREMS_src) {
bwang 194:05e119bc5a78 162 case CMD_SRC_RC:
bwang 194:05e119bc5a78 163 control.user_cmd = control.throttle_filter->update(io.throttle_in->get_throttle());
bwang 194:05e119bc5a78 164 break;
bwang 194:05e119bc5a78 165 case CMD_SRC_ANALOG:
bwang 194:05e119bc5a78 166 //handle analog throttle here
bwang 194:05e119bc5a78 167 break;
bwang 194:05e119bc5a78 168 case CMD_SRC_TERMINAL:
bwang 194:05e119bc5a78 169 case CMD_SRC_SERIAL:
bwang 194:05e119bc5a78 170 case CMD_SRC_CAN:
bwang 194:05e119bc5a78 171 case CMD_SRC_INTERNAL:
bwang 194:05e119bc5a78 172 //these sources are updated by callbacks
bwang 194:05e119bc5a78 173 break;
bwang 194:05e119bc5a78 174 default:
bwang 194:05e119bc5a78 175 //this should never happen!
bwang 199:c160a2c03781 176 control.user_cmd = 0.0f;
bwang 194:05e119bc5a78 177 break;
bwang 194:05e119bc5a78 178 }
bwang 194:05e119bc5a78 179
bwang 194:05e119bc5a78 180 control.torque_percent = th->map(control.user_cmd, read.w);
bwang 70:5e39beeb4a21 181 dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref);
bwang 44:3fd6a43b91f0 182 }
bwang 44:3fd6a43b91f0 183
bwang 72:5f1da97d62e1 184 void log() {
bwang 180:a783a972a867 185 float packet[8];
bwang 180:a783a972a867 186 packet[0] = read.w / 8.0f;
bwang 180:a783a972a867 187 packet[1] = control.d_ref / 2.0f + 128.0f;
bwang 180:a783a972a867 188 packet[2] = control.d_filtered / 2.0f + 128.0f;
bwang 180:a783a972a867 189 packet[3] = control.q_ref / 2.0f + 128.0f;
bwang 180:a783a972a867 190 packet[4] = control.q_filtered / 2.0f + 128.0f;
bwang 180:a783a972a867 191 packet[5] = 255.0f * control.torque_percent;
bwang 193:3abadeecf908 192 packet[6] = 255.0f / (1.0f + _OVERMODULATION_FACTOR) * foc.vd / 2.0f + 128.0f;
bwang 193:3abadeecf908 193 packet[7] = 255.0f / (1.0f + _OVERMODULATION_FACTOR) * foc.vq / 2.0f + 128.0f;
bwang 180:a783a972a867 194 io.logger->log(packet);
bwang 70:5e39beeb4a21 195 }
bwang 1:7b61790f6be9 196
bwang 166:4637785ba01e 197 int main() {
bwang 172:3d7196b71afd 198 dq = new InterpolatingLutMapper();
bwang 174:3872516b0d04 199 th = new LimitingThrottleMapper(1500.0f);
bwang 180:a783a972a867 200
bwang 47:1c9868e226d0 201 BREMSInit(&io, &read, &foc, &control, false);
bwang 181:d3510c8beab6 202 io.pc->attach(rxCallback);
bwang 48:a1a09c83d42c 203
bwang 0:bac9c3a3a6ca 204 for (;;) {
bwang 180:a783a972a867 205 io.logger->flush();
bwang 0:bac9c3a3a6ca 206 }
bwang 42:030e0ec4eac5 207 }