Bayley Wang
/
foc-ed_in_the_bot_compact
robot
main.cpp@188:43f50a4cc040, 2018-02-10 (annotated)
- Committer:
- bwang
- Date:
- Sat Feb 10 00:13:04 2018 +0000
- Revision:
- 188:43f50a4cc040
- Parent:
- 187:523cf8c962e4
- Child:
- 193:3abadeecf908
02/09/2018 19:12 - changed object initialization order in BREMSConfig.cpp to read values back from flash first
Who changed what in which revision?
User | Revision | Line number | New 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 "defaults.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 | 187:523cf8c962e4 | 34 | if (!control.enabled && io.throttle_in->get_enabled() && io.pos->IsValid() && is_driving()) { |
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 | 130:639cd8586f86 | 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 | 44:3fd6a43b91f0 | 60 | control.d_filtered = update_filter(control.d_filtered, foc.d, DQ_FILTER_STRENGTH); |
bwang | 44:3fd6a43b91f0 | 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 | 131:031df63c7dbc | 69 | constrain_norm(&control.d_integral, &control.q_integral, 1.0f, 1.0f, INTEGRAL_MAX); |
bwang | 131:031df63c7dbc | 70 | |
bwang | 131:031df63c7dbc | 71 | foc.vd_decouple = -Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f; |
bwang | 131:031df63c7dbc | 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 | 158:882f9c208378 | 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 | 126:498f56ba051e | 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 | 56:c681001dfa46 | 105 | if (!io.throttle_in->get_enabled() || !io.pos->IsValid() || !is_driving()) { |
bwang | 56:c681001dfa46 | 106 | /*do this even in disabled state, to keep integral down*/ |
bwang | 56:c681001dfa46 | 107 | go_disabled(); |
bwang | 56:c681001dfa46 | 108 | } |
bwang | 56:c681001dfa46 | 109 | |
bwang | 42:030e0ec4eac5 | 110 | /*output to timers*/ |
bwang | 157:a9b2002994d5 | 111 | set_dtc(io.a, 0.5f + 0.5f * va * LINEAR_MODULATION_MAX); |
bwang | 157:a9b2002994d5 | 112 | set_dtc(io.b, 0.5f + 0.5f * vb * LINEAR_MODULATION_MAX); |
bwang | 157:a9b2002994d5 | 113 | set_dtc(io.c, 0.5f + 0.5f * vc * LINEAR_MODULATION_MAX); |
bwang | 180:a783a972a867 | 114 | |
bwang | 180:a783a972a867 | 115 | /*log data*/ |
bwang | 180:a783a972a867 | 116 | if (ENABLE_LOGGING) log(); |
bwang | 42:030e0ec4eac5 | 117 | } |
bwang | 42:030e0ec4eac5 | 118 | |
bwang | 44:3fd6a43b91f0 | 119 | void slow_loop() { |
bwang | 74:f10cb573d7ca | 120 | float x = io.throttle_in->get_throttle(); |
bwang | 154:0a22dcf91577 | 121 | x = control.throttle_filter->update(x); |
bwang | 152:6877dceec871 | 122 | control.torque_percent = th->map(x, read.w); |
bwang | 70:5e39beeb4a21 | 123 | dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref); |
bwang | 44:3fd6a43b91f0 | 124 | } |
bwang | 44:3fd6a43b91f0 | 125 | |
bwang | 72:5f1da97d62e1 | 126 | void log() { |
bwang | 180:a783a972a867 | 127 | float packet[8]; |
bwang | 180:a783a972a867 | 128 | packet[0] = read.w / 8.0f; |
bwang | 180:a783a972a867 | 129 | packet[1] = control.d_ref / 2.0f + 128.0f; |
bwang | 180:a783a972a867 | 130 | packet[2] = control.d_filtered / 2.0f + 128.0f; |
bwang | 180:a783a972a867 | 131 | packet[3] = control.q_ref / 2.0f + 128.0f; |
bwang | 180:a783a972a867 | 132 | packet[4] = control.q_filtered / 2.0f + 128.0f; |
bwang | 180:a783a972a867 | 133 | packet[5] = 255.0f * control.torque_percent; |
bwang | 180:a783a972a867 | 134 | packet[6] = 255.0f / (1.0f + OVERMODULATION_FACTOR) * foc.vd / 2.0f + 128.0f; |
bwang | 180:a783a972a867 | 135 | packet[7] = 255.0f / (1.0f + OVERMODULATION_FACTOR) * foc.vq / 2.0f + 128.0f; |
bwang | 180:a783a972a867 | 136 | io.logger->log(packet); |
bwang | 70:5e39beeb4a21 | 137 | } |
bwang | 1:7b61790f6be9 | 138 | |
bwang | 166:4637785ba01e | 139 | int main() { |
bwang | 172:3d7196b71afd | 140 | dq = new InterpolatingLutMapper(); |
bwang | 174:3872516b0d04 | 141 | th = new LimitingThrottleMapper(1500.0f); |
bwang | 180:a783a972a867 | 142 | |
bwang | 47:1c9868e226d0 | 143 | BREMSInit(&io, &read, &foc, &control, false); |
bwang | 181:d3510c8beab6 | 144 | io.pc->attach(rxCallback); |
bwang | 48:a1a09c83d42c | 145 | |
bwang | 0:bac9c3a3a6ca | 146 | for (;;) { |
bwang | 180:a783a972a867 | 147 | io.logger->flush(); |
bwang | 0:bac9c3a3a6ca | 148 | } |
bwang | 42:030e0ec4eac5 | 149 | } |