Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@193:3abadeecf908, 2018-02-10 (annotated)

Committer:
bwang
Date:
Sat Feb 10 05:35:49 2018 +0000
Revision:
193:3abadeecf908
Parent:
188:43f50a4cc040
Child:
194:05e119bc5a78
02/10/2018 00:35 - added fancy masked error system

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 184:633119bb0b77 17 #include "layout.h"
bwang 185:5c102874b490 18 #include "derived.h"
bwang 42:030e0ec4eac5 19 #include "main.h"
bwang 0:bac9c3a3a6ca 20
bwang 42:030e0ec4eac5 21 IOStruct io;
bwang 42:030e0ec4eac5 22 ReadDataStruct read;
bwang 42:030e0ec4eac5 23 FOCStruct foc;
bwang 42:030e0ec4eac5 24 ControlStruct control;
bwang 2:eabe8feaaabb 25
bwang 42:030e0ec4eac5 26 DQMapper *dq;
bwang 42:030e0ec4eac5 27 ThrottleMapper *th;
bwang 2:eabe8feaaabb 28
bwang 44:3fd6a43b91f0 29 int loop_counter = 0;
bwang 2:eabe8feaaabb 30
bwang 118:2b6dab10b69d 31 void commutate() {
bwang 56:c681001dfa46 32 /*safety checks, do we do anything this cycle?*/
bwang 193:3abadeecf908 33 //if (!control.enabled && io.throttle_in->get_enabled() && io.pos->IsValid() && is_driving()) {
bwang 193:3abadeecf908 34 if (!control.enabled && 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 187:523cf8c962e4 81 if (!control.enabled) {
bwang 42:030e0ec4eac5 82 foc.vd = 0.0f;
bwang 42:030e0ec4eac5 83 foc.vq = 0.0f;
bwang 42:030e0ec4eac5 84 }
bwang 42:030e0ec4eac5 85
bwang 193:3abadeecf908 86 float pv = foc.p + read.w / _V_PHASE_SWIZZLE;
bwang 124:e70ca81676fc 87 float sin_pv = sinf(pv);
bwang 124:e70ca81676fc 88 float cos_pv = cosf(pv);
bwang 124:e70ca81676fc 89
bwang 42:030e0ec4eac5 90 /*inverse transforms*/
bwang 124:e70ca81676fc 91 invpark(foc.vd, foc.vq, sin_pv, cos_pv, &foc.valpha, &foc.vbeta);
bwang 42:030e0ec4eac5 92
bwang 42:030e0ec4eac5 93 float va, vb, vc, voff;
bwang 42:030e0ec4eac5 94
bwang 42:030e0ec4eac5 95 invclarke(foc.valpha, foc.vbeta, &va, &vb);
bwang 42:030e0ec4eac5 96 vc = -va - vb;
bwang 42:030e0ec4eac5 97
bwang 42:030e0ec4eac5 98 /*SVPWM*/
bwang 44:3fd6a43b91f0 99 voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
bwang 42:030e0ec4eac5 100 va = va - voff;
bwang 42:030e0ec4eac5 101 vb = vb - voff;
bwang 42:030e0ec4eac5 102 vc = vc - voff;
bwang 42:030e0ec4eac5 103
bwang 56:c681001dfa46 104 /*safety checks, reset integral*/
bwang 193:3abadeecf908 105 //if (!io.throttle_in->get_enabled() || !io.pos->IsValid() || !is_driving()) {
bwang 193:3abadeecf908 106 if (!checks_passed()) {
bwang 56:c681001dfa46 107 /*do this even in disabled state, to keep integral down*/
bwang 56:c681001dfa46 108 go_disabled();
bwang 56:c681001dfa46 109 }
bwang 56:c681001dfa46 110
bwang 42:030e0ec4eac5 111 /*output to timers*/
bwang 157:a9b2002994d5 112 set_dtc(io.a, 0.5f + 0.5f * va * LINEAR_MODULATION_MAX);
bwang 157:a9b2002994d5 113 set_dtc(io.b, 0.5f + 0.5f * vb * LINEAR_MODULATION_MAX);
bwang 157:a9b2002994d5 114 set_dtc(io.c, 0.5f + 0.5f * vc * LINEAR_MODULATION_MAX);
bwang 180:a783a972a867 115
bwang 180:a783a972a867 116 /*log data*/
bwang 193:3abadeecf908 117 if (_ENABLE_LOGGING) log();
bwang 42:030e0ec4eac5 118 }
bwang 42:030e0ec4eac5 119
bwang 44:3fd6a43b91f0 120 void slow_loop() {
bwang 74:f10cb573d7ca 121 float x = io.throttle_in->get_throttle();
bwang 154:0a22dcf91577 122 x = control.throttle_filter->update(x);
bwang 193:3abadeecf908 123 control.user_cmd = io.throttle_in->get_usecs();
bwang 152:6877dceec871 124 control.torque_percent = th->map(x, read.w);
bwang 70:5e39beeb4a21 125 dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref);
bwang 44:3fd6a43b91f0 126 }
bwang 44:3fd6a43b91f0 127
bwang 72:5f1da97d62e1 128 void log() {
bwang 180:a783a972a867 129 float packet[8];
bwang 180:a783a972a867 130 packet[0] = read.w / 8.0f;
bwang 180:a783a972a867 131 packet[1] = control.d_ref / 2.0f + 128.0f;
bwang 180:a783a972a867 132 packet[2] = control.d_filtered / 2.0f + 128.0f;
bwang 180:a783a972a867 133 packet[3] = control.q_ref / 2.0f + 128.0f;
bwang 180:a783a972a867 134 packet[4] = control.q_filtered / 2.0f + 128.0f;
bwang 180:a783a972a867 135 packet[5] = 255.0f * control.torque_percent;
bwang 193:3abadeecf908 136 packet[6] = 255.0f / (1.0f + _OVERMODULATION_FACTOR) * foc.vd / 2.0f + 128.0f;
bwang 193:3abadeecf908 137 packet[7] = 255.0f / (1.0f + _OVERMODULATION_FACTOR) * foc.vq / 2.0f + 128.0f;
bwang 180:a783a972a867 138 io.logger->log(packet);
bwang 70:5e39beeb4a21 139 }
bwang 1:7b61790f6be9 140
bwang 166:4637785ba01e 141 int main() {
bwang 172:3d7196b71afd 142 dq = new InterpolatingLutMapper();
bwang 174:3872516b0d04 143 th = new LimitingThrottleMapper(1500.0f);
bwang 180:a783a972a867 144
bwang 47:1c9868e226d0 145 BREMSInit(&io, &read, &foc, &control, false);
bwang 181:d3510c8beab6 146 io.pc->attach(rxCallback);
bwang 48:a1a09c83d42c 147
bwang 0:bac9c3a3a6ca 148 for (;;) {
bwang 180:a783a972a867 149 io.logger->flush();
bwang 0:bac9c3a3a6ca 150 }
bwang 42:030e0ec4eac5 151 }