Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@187:523cf8c962e4, 2018-02-09 (annotated)

Committer:
bwang
Date:
Fri Feb 09 23:24:25 2018 +0000
Revision:
187:523cf8c962e4
Parent:
186:c18db1e31da6
Child:
188:43f50a4cc040
02/09/2018 18:22 - moved hard-coded config values to defaults.h, started filling out errors.cpp and callbacks.cpp

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 "defaults.h"
bwang 185:5c102874b490 19 #include "derived.h"
bwang 185:5c102874b490 20
bwang 42:030e0ec4eac5 21 #include "main.h"
bwang 0:bac9c3a3a6ca 22
bwang 42:030e0ec4eac5 23 IOStruct io;
bwang 42:030e0ec4eac5 24 ReadDataStruct read;
bwang 42:030e0ec4eac5 25 FOCStruct foc;
bwang 42:030e0ec4eac5 26 ControlStruct control;
bwang 2:eabe8feaaabb 27
bwang 42:030e0ec4eac5 28 DQMapper *dq;
bwang 42:030e0ec4eac5 29 ThrottleMapper *th;
bwang 2:eabe8feaaabb 30
bwang 44:3fd6a43b91f0 31 int loop_counter = 0;
bwang 2:eabe8feaaabb 32
bwang 118:2b6dab10b69d 33 void commutate() {
bwang 56:c681001dfa46 34 /*safety checks, do we do anything this cycle?*/
bwang 187:523cf8c962e4 35 if (!control.enabled && io.throttle_in->get_enabled() && io.pos->IsValid() && is_driving()) {
bwang 52:fd3d8df99287 36 go_enabled();
bwang 52:fd3d8df99287 37 }
bwang 42:030e0ec4eac5 38
bwang 42:030e0ec4eac5 39 /*update velocity, references*/
bwang 42:030e0ec4eac5 40 update_velocity();
bwang 44:3fd6a43b91f0 41 if (loop_counter % SLOW_LOOP_COUNTER == 0) {
bwang 44:3fd6a43b91f0 42 loop_counter = 0;
bwang 44:3fd6a43b91f0 43 slow_loop();
bwang 44:3fd6a43b91f0 44 }
bwang 44:3fd6a43b91f0 45 loop_counter++;
bwang 42:030e0ec4eac5 46
bwang 42:030e0ec4eac5 47 /*update position, sin, cos*/
bwang 130:639cd8586f86 48 foc.p = io.pos->GetElecPosition() - POS_OFFSET;
bwang 42:030e0ec4eac5 49 float sin_p = sinf(foc.p);
bwang 42:030e0ec4eac5 50 float cos_p = cosf(foc.p);
bwang 42:030e0ec4eac5 51
bwang 49:da8604278d76 52 /*scale and offset currents (adval1, 2 are updated in ISR)*/
bwang 42:030e0ec4eac5 53 foc.ia = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ia_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 54 foc.ib = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ib_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 55
bwang 42:030e0ec4eac5 56 /*compute d, q*/
bwang 42:030e0ec4eac5 57 clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta);
bwang 42:030e0ec4eac5 58 park(foc.alpha, foc.beta, sin_p, cos_p, &foc.d, &foc.q);
bwang 42:030e0ec4eac5 59
bwang 42:030e0ec4eac5 60 /*PI controller*/
bwang 44:3fd6a43b91f0 61 control.d_filtered = update_filter(control.d_filtered, foc.d, DQ_FILTER_STRENGTH);
bwang 44:3fd6a43b91f0 62 control.q_filtered = update_filter(control.q_filtered, foc.q, DQ_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 63
bwang 42:030e0ec4eac5 64 float d_err = control.d_ref - control.d_filtered;
bwang 42:030e0ec4eac5 65 float q_err = control.q_ref - control.q_filtered;
bwang 42:030e0ec4eac5 66
bwang 58:7316c5a4c417 67 control.d_integral += d_err * KI_D;
bwang 58:7316c5a4c417 68 control.q_integral += q_err * KI_Q;
bwang 42:030e0ec4eac5 69
bwang 131:031df63c7dbc 70 constrain_norm(&control.d_integral, &control.q_integral, 1.0f, 1.0f, INTEGRAL_MAX);
bwang 131:031df63c7dbc 71
bwang 131:031df63c7dbc 72 foc.vd_decouple = -Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f;
bwang 131:031df63c7dbc 73 foc.vq_decouple = Ld * POLE_PAIRS * read.w * foc.d / BUS_VOLTAGE / 2.0f;
bwang 42:030e0ec4eac5 74
bwang 158:882f9c208378 75 constrain_norm(&foc.vd_decouple, &foc.vq_decouple, 1.0f, 1.0f, 1.0f);
bwang 131:031df63c7dbc 76
bwang 131:031df63c7dbc 77 foc.vd = KP_D * d_err + control.d_integral;// + foc.vd_decouple;
bwang 131:031df63c7dbc 78 foc.vq = KP_Q * q_err + control.q_integral;// + foc.vq_decouple;
bwang 42:030e0ec4eac5 79
bwang 158:882f9c208378 80 constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f + OVERMODULATION_FACTOR);
bwang 42:030e0ec4eac5 81
bwang 187:523cf8c962e4 82 if (!control.enabled) {
bwang 42:030e0ec4eac5 83 foc.vd = 0.0f;
bwang 42:030e0ec4eac5 84 foc.vq = 0.0f;
bwang 42:030e0ec4eac5 85 }
bwang 42:030e0ec4eac5 86
bwang 126:498f56ba051e 87 float pv = foc.p + read.w / V_PHASE_SWIZZLE;
bwang 124:e70ca81676fc 88 float sin_pv = sinf(pv);
bwang 124:e70ca81676fc 89 float cos_pv = cosf(pv);
bwang 124:e70ca81676fc 90
bwang 42:030e0ec4eac5 91 /*inverse transforms*/
bwang 124:e70ca81676fc 92 invpark(foc.vd, foc.vq, sin_pv, cos_pv, &foc.valpha, &foc.vbeta);
bwang 42:030e0ec4eac5 93
bwang 42:030e0ec4eac5 94 float va, vb, vc, voff;
bwang 42:030e0ec4eac5 95
bwang 42:030e0ec4eac5 96 invclarke(foc.valpha, foc.vbeta, &va, &vb);
bwang 42:030e0ec4eac5 97 vc = -va - vb;
bwang 42:030e0ec4eac5 98
bwang 42:030e0ec4eac5 99 /*SVPWM*/
bwang 44:3fd6a43b91f0 100 voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
bwang 42:030e0ec4eac5 101 va = va - voff;
bwang 42:030e0ec4eac5 102 vb = vb - voff;
bwang 42:030e0ec4eac5 103 vc = vc - voff;
bwang 42:030e0ec4eac5 104
bwang 56:c681001dfa46 105 /*safety checks, reset integral*/
bwang 56:c681001dfa46 106 if (!io.throttle_in->get_enabled() || !io.pos->IsValid() || !is_driving()) {
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 180:a783a972a867 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 152:6877dceec871 123 control.torque_percent = th->map(x, read.w);
bwang 70:5e39beeb4a21 124 dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref);
bwang 44:3fd6a43b91f0 125 }
bwang 44:3fd6a43b91f0 126
bwang 72:5f1da97d62e1 127 void log() {
bwang 180:a783a972a867 128 float packet[8];
bwang 180:a783a972a867 129 packet[0] = read.w / 8.0f;
bwang 180:a783a972a867 130 packet[1] = control.d_ref / 2.0f + 128.0f;
bwang 180:a783a972a867 131 packet[2] = control.d_filtered / 2.0f + 128.0f;
bwang 180:a783a972a867 132 packet[3] = control.q_ref / 2.0f + 128.0f;
bwang 180:a783a972a867 133 packet[4] = control.q_filtered / 2.0f + 128.0f;
bwang 180:a783a972a867 134 packet[5] = 255.0f * control.torque_percent;
bwang 180:a783a972a867 135 packet[6] = 255.0f / (1.0f + OVERMODULATION_FACTOR) * foc.vd / 2.0f + 128.0f;
bwang 180:a783a972a867 136 packet[7] = 255.0f / (1.0f + OVERMODULATION_FACTOR) * foc.vq / 2.0f + 128.0f;
bwang 180:a783a972a867 137 io.logger->log(packet);
bwang 70:5e39beeb4a21 138 }
bwang 1:7b61790f6be9 139
bwang 166:4637785ba01e 140 int main() {
bwang 172:3d7196b71afd 141 dq = new InterpolatingLutMapper();
bwang 174:3872516b0d04 142 th = new LimitingThrottleMapper(1500.0f);
bwang 180:a783a972a867 143
bwang 47:1c9868e226d0 144 BREMSInit(&io, &read, &foc, &control, false);
bwang 181:d3510c8beab6 145 io.pc->attach(rxCallback);
bwang 48:a1a09c83d42c 146
bwang 0:bac9c3a3a6ca 147 for (;;) {
bwang 180:a783a972a867 148 io.logger->flush();
bwang 0:bac9c3a3a6ca 149 }
bwang 42:030e0ec4eac5 150 }