Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@240:2aaffa217627, 2018-11-11 (annotated)

Committer:
bwang
Date:
Sun Nov 11 12:34:19 2018 +0000
Revision:
240:2aaffa217627
Parent:
234:ad68d7f8eff1
Child:
242:ac30f04fd6f7
added speed mode (untested), other changes - see CHANGELOG

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 223:b986e7cee521 13 #include "LedBlinker.h"
bwang 42:030e0ec4eac5 14
bwang 42:030e0ec4eac5 15 #include "BREMSStructs.h"
bwang 42:030e0ec4eac5 16 #include "BREMSConfig.h"
bwang 30:c25c5bf0d951 17
bwang 194:05e119bc5a78 18 #include "prefs.h"
bwang 196:7172e6e28867 19 #include "hardware.h"
bwang 185:5c102874b490 20 #include "derived.h"
bwang 42:030e0ec4eac5 21 #include "main.h"
bwang 0:bac9c3a3a6ca 22
bwang 232:47f6cf4f9126 23 #include "errors.h"
bwang 232:47f6cf4f9126 24
bwang 42:030e0ec4eac5 25 IOStruct io;
bwang 42:030e0ec4eac5 26 ReadDataStruct read;
bwang 42:030e0ec4eac5 27 FOCStruct foc;
bwang 42:030e0ec4eac5 28 ControlStruct control;
bwang 2:eabe8feaaabb 29
bwang 42:030e0ec4eac5 30 DQMapper *dq;
bwang 42:030e0ec4eac5 31 ThrottleMapper *th;
bwang 2:eabe8feaaabb 32
bwang 44:3fd6a43b91f0 33 int loop_counter = 0;
bwang 2:eabe8feaaabb 34
bwang 118:2b6dab10b69d 35 void commutate() {
bwang 56:c681001dfa46 36 /*safety checks, do we do anything this cycle?*/
bwang 198:7ee146427a0d 37 if (checks_passed()) {
bwang 52:fd3d8df99287 38 go_enabled();
bwang 52:fd3d8df99287 39 }
bwang 42:030e0ec4eac5 40
bwang 240:2aaffa217627 41 /*update velocity, user command*/
bwang 42:030e0ec4eac5 42 update_velocity();
bwang 44:3fd6a43b91f0 43 if (loop_counter % SLOW_LOOP_COUNTER == 0) {
bwang 44:3fd6a43b91f0 44 loop_counter = 0;
bwang 44:3fd6a43b91f0 45 slow_loop();
bwang 44:3fd6a43b91f0 46 }
bwang 44:3fd6a43b91f0 47 loop_counter++;
bwang 223:b986e7cee521 48 io.blink->update();
bwang 240:2aaffa217627 49
bwang 240:2aaffa217627 50 /*generate torque command from user command*/
bwang 240:2aaffa217627 51 float w_ref, w_err;
bwang 240:2aaffa217627 52 switch (BREMS_op) {
bwang 240:2aaffa217627 53 case OP_TORQUE:
bwang 240:2aaffa217627 54 control.w_integral = 0.0f;
bwang 240:2aaffa217627 55 control.torque_percent = control.user_cmd;
bwang 240:2aaffa217627 56 break;
bwang 240:2aaffa217627 57 case OP_DRIVING:
bwang 240:2aaffa217627 58 control.w_integral = 0.0f;
bwang 240:2aaffa217627 59 control.torque_percent = th->map(control.user_cmd, read.w);
bwang 240:2aaffa217627 60 break;
bwang 240:2aaffa217627 61 case OP_SPEED:
bwang 240:2aaffa217627 62 w_ref = control.user_cmd * _W_SETPOINT_MAX;
bwang 240:2aaffa217627 63 w_err = w_ref - read.w;
bwang 240:2aaffa217627 64 control.w_integral += w_err * KI_W;
bwang 240:2aaffa217627 65 control.w_integral = constrain(control.w_integral, -1.0f, 1.0f);
bwang 240:2aaffa217627 66 control.torque_percent = KP_W * w_err + control.w_integral;
bwang 240:2aaffa217627 67 control.torque_percent = constrain(control.torque_percent, -1.0f, 1.0f);
bwang 240:2aaffa217627 68 break;
bwang 240:2aaffa217627 69 case OP_POSITION:
bwang 240:2aaffa217627 70 break;
bwang 240:2aaffa217627 71 default:
bwang 240:2aaffa217627 72 //this should never happen!
bwang 240:2aaffa217627 73 control.torque_percent = 0.0f;
bwang 240:2aaffa217627 74 break;
bwang 240:2aaffa217627 75 }
bwang 240:2aaffa217627 76
bwang 240:2aaffa217627 77 /*update references*/
bwang 240:2aaffa217627 78 dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref);
bwang 223:b986e7cee521 79
bwang 42:030e0ec4eac5 80 /*update position, sin, cos*/
bwang 193:3abadeecf908 81 foc.p = io.pos->GetElecPosition() - _POS_OFFSET;
bwang 42:030e0ec4eac5 82 float sin_p = sinf(foc.p);
bwang 42:030e0ec4eac5 83 float cos_p = cosf(foc.p);
bwang 42:030e0ec4eac5 84
bwang 49:da8604278d76 85 /*scale and offset currents (adval1, 2 are updated in ISR)*/
bwang 231:753ec371b153 86 foc.ia = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ad1_supp_offset) / I_SCALE;
bwang 231:753ec371b153 87 foc.ib = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ad2_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 88
bwang 42:030e0ec4eac5 89 /*compute d, q*/
bwang 42:030e0ec4eac5 90 clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta);
bwang 42:030e0ec4eac5 91 park(foc.alpha, foc.beta, sin_p, cos_p, &foc.d, &foc.q);
bwang 42:030e0ec4eac5 92
bwang 42:030e0ec4eac5 93 /*PI controller*/
bwang 193:3abadeecf908 94 control.d_filtered = update_filter(control.d_filtered, foc.d, _DQ_FILTER_STRENGTH);
bwang 193:3abadeecf908 95 control.q_filtered = update_filter(control.q_filtered, foc.q, _DQ_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 96
bwang 42:030e0ec4eac5 97 float d_err = control.d_ref - control.d_filtered;
bwang 42:030e0ec4eac5 98 float q_err = control.q_ref - control.q_filtered;
bwang 42:030e0ec4eac5 99
bwang 58:7316c5a4c417 100 control.d_integral += d_err * KI_D;
bwang 58:7316c5a4c417 101 control.q_integral += q_err * KI_Q;
bwang 42:030e0ec4eac5 102
bwang 193:3abadeecf908 103 constrain_norm(&control.d_integral, &control.q_integral, 1.0f, 1.0f, _INTEGRAL_MAX);
bwang 131:031df63c7dbc 104
bwang 193:3abadeecf908 105 foc.vd_decouple = -_Lq * _POLE_PAIRS * read.w * foc.q / _BUS_VOLTAGE / 2.0f;
bwang 193:3abadeecf908 106 foc.vq_decouple = _Ld * _POLE_PAIRS * read.w * foc.d / _BUS_VOLTAGE / 2.0f;
bwang 42:030e0ec4eac5 107
bwang 158:882f9c208378 108 constrain_norm(&foc.vd_decouple, &foc.vq_decouple, 1.0f, 1.0f, 1.0f);
bwang 131:031df63c7dbc 109
bwang 131:031df63c7dbc 110 foc.vd = KP_D * d_err + control.d_integral;// + foc.vd_decouple;
bwang 131:031df63c7dbc 111 foc.vq = KP_Q * q_err + control.q_integral;// + foc.vq_decouple;
bwang 42:030e0ec4eac5 112
bwang 193:3abadeecf908 113 constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f + _OVERMODULATION_FACTOR);
bwang 42:030e0ec4eac5 114
bwang 193:3abadeecf908 115 float pv = foc.p + read.w / _V_PHASE_SWIZZLE;
bwang 124:e70ca81676fc 116 float sin_pv = sinf(pv);
bwang 124:e70ca81676fc 117 float cos_pv = cosf(pv);
bwang 124:e70ca81676fc 118
bwang 42:030e0ec4eac5 119 /*inverse transforms*/
bwang 124:e70ca81676fc 120 invpark(foc.vd, foc.vq, sin_pv, cos_pv, &foc.valpha, &foc.vbeta);
bwang 202:1baff0df86d1 121
bwang 202:1baff0df86d1 122 /*set outputs*/
bwang 42:030e0ec4eac5 123 float va, vb, vc, voff;
bwang 204:74714d52a936 124
bwang 204:74714d52a936 125 invclarke(foc.valpha, foc.vbeta, &va, &vb);
bwang 204:74714d52a936 126 vc = -va - vb;
bwang 204:74714d52a936 127
bwang 204:74714d52a936 128 /*SVPWM*/
bwang 204:74714d52a936 129 voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
bwang 204:74714d52a936 130 va = va - voff;
bwang 204:74714d52a936 131 vb = vb - voff;
bwang 204:74714d52a936 132 vc = vc - voff;
bwang 205:5cfe6d7e08a3 133
bwang 56:c681001dfa46 134 /*safety checks, reset integral*/
bwang 204:74714d52a936 135 if (!checks_passed() || !mode_enables_output()) {
bwang 198:7ee146427a0d 136 go_disabled();
bwang 198:7ee146427a0d 137 }
bwang 198:7ee146427a0d 138
bwang 180:a783a972a867 139 /*log data*/
bwang 204:74714d52a936 140 if (_ENABLE_LOGGING && mode_enables_logging()) log();
bwang 201:5d1a3aa50fe0 141
bwang 202:1baff0df86d1 142 /*disable outputs if necessary*/
bwang 201:5d1a3aa50fe0 143 if (!control.enabled) {
bwang 201:5d1a3aa50fe0 144 va = 0.0f; vb = 0.0f; vc = 0.0f;
bwang 201:5d1a3aa50fe0 145 }
bwang 201:5d1a3aa50fe0 146
bwang 232:47f6cf4f9126 147 //output to timers (some of the calibration modes may want to override this)
bwang 234:ad68d7f8eff1 148 //CFG does not override timers - the PWM outputs need to be set to 0 somewhere
bwang 232:47f6cf4f9126 149 if (!mode_overrides_timers()) {
bwang 232:47f6cf4f9126 150 set_dtc(io.a, 0.5f + 0.5f * va * LINEAR_MODULATION_MAX);
bwang 232:47f6cf4f9126 151 set_dtc(io.b, 0.5f + 0.5f * vb * LINEAR_MODULATION_MAX);
bwang 232:47f6cf4f9126 152 set_dtc(io.c, 0.5f + 0.5f * vc * LINEAR_MODULATION_MAX);
bwang 232:47f6cf4f9126 153 }
bwang 42:030e0ec4eac5 154 }
bwang 42:030e0ec4eac5 155
bwang 44:3fd6a43b91f0 156 void slow_loop() {
bwang 194:05e119bc5a78 157 switch (BREMS_src) {
bwang 194:05e119bc5a78 158 case CMD_SRC_RC:
bwang 194:05e119bc5a78 159 control.user_cmd = control.throttle_filter->update(io.throttle_in->get_throttle());
bwang 194:05e119bc5a78 160 break;
bwang 194:05e119bc5a78 161 case CMD_SRC_ANALOG:
bwang 194:05e119bc5a78 162 //handle analog throttle here
bwang 194:05e119bc5a78 163 break;
bwang 194:05e119bc5a78 164 case CMD_SRC_TERMINAL:
bwang 194:05e119bc5a78 165 case CMD_SRC_SERIAL:
bwang 194:05e119bc5a78 166 case CMD_SRC_CAN:
bwang 194:05e119bc5a78 167 case CMD_SRC_INTERNAL:
bwang 194:05e119bc5a78 168 //these sources are updated by callbacks
bwang 194:05e119bc5a78 169 break;
bwang 194:05e119bc5a78 170 default:
bwang 194:05e119bc5a78 171 //this should never happen!
bwang 199:c160a2c03781 172 control.user_cmd = 0.0f;
bwang 194:05e119bc5a78 173 break;
bwang 194:05e119bc5a78 174 }
bwang 44:3fd6a43b91f0 175 }
bwang 44:3fd6a43b91f0 176
bwang 72:5f1da97d62e1 177 void log() {
bwang 180:a783a972a867 178 float packet[8];
bwang 180:a783a972a867 179 packet[0] = read.w / 8.0f;
bwang 180:a783a972a867 180 packet[1] = control.d_ref / 2.0f + 128.0f;
bwang 180:a783a972a867 181 packet[2] = control.d_filtered / 2.0f + 128.0f;
bwang 180:a783a972a867 182 packet[3] = control.q_ref / 2.0f + 128.0f;
bwang 180:a783a972a867 183 packet[4] = control.q_filtered / 2.0f + 128.0f;
bwang 180:a783a972a867 184 packet[5] = 255.0f * control.torque_percent;
bwang 193:3abadeecf908 185 packet[6] = 255.0f / (1.0f + _OVERMODULATION_FACTOR) * foc.vd / 2.0f + 128.0f;
bwang 193:3abadeecf908 186 packet[7] = 255.0f / (1.0f + _OVERMODULATION_FACTOR) * foc.vq / 2.0f + 128.0f;
bwang 180:a783a972a867 187 io.logger->log(packet);
bwang 70:5e39beeb4a21 188 }
bwang 1:7b61790f6be9 189
bwang 166:4637785ba01e 190 int main() {
bwang 213:2218bab57355 191 dq = new InterpolatingLutMapper();
bwang 174:3872516b0d04 192 th = new LimitingThrottleMapper(1500.0f);
bwang 180:a783a972a867 193
bwang 47:1c9868e226d0 194 BREMSInit(&io, &read, &foc, &control, false);
bwang 181:d3510c8beab6 195 io.pc->attach(rxCallback);
bwang 223:b986e7cee521 196
bwang 0:bac9c3a3a6ca 197 for (;;) {
bwang 180:a783a972a867 198 io.logger->flush();
bwang 0:bac9c3a3a6ca 199 }
bwang 42:030e0ec4eac5 200 }