Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@230:7ac00598d366, 2018-11-10 (annotated)

Committer:
bwang
Date:
Sat Nov 10 06:33:07 2018 +0000
Revision:
230:7ac00598d366
Parent:
229:90c6892f4d3b
Child:
231:753ec371b153
11/10/2018 01:32 - new pin mapping for new hardware

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 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 198:7ee146427a0d 35 if (checks_passed()) {
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 223:b986e7cee521 46 io.blink->update();
bwang 223:b986e7cee521 47
bwang 42:030e0ec4eac5 48 /*update position, sin, cos*/
bwang 193:3abadeecf908 49 foc.p = io.pos->GetElecPosition() - _POS_OFFSET;
bwang 42:030e0ec4eac5 50 float sin_p = sinf(foc.p);
bwang 42:030e0ec4eac5 51 float cos_p = cosf(foc.p);
bwang 42:030e0ec4eac5 52
bwang 49:da8604278d76 53 /*scale and offset currents (adval1, 2 are updated in ISR)*/
bwang 230:7ac00598d366 54 foc.ia = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ad2_supp_offset) / I_SCALE;
bwang 230:7ac00598d366 55 foc.ib = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ad1_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 56
bwang 42:030e0ec4eac5 57 /*compute d, q*/
bwang 42:030e0ec4eac5 58 clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta);
bwang 42:030e0ec4eac5 59 park(foc.alpha, foc.beta, sin_p, cos_p, &foc.d, &foc.q);
bwang 42:030e0ec4eac5 60
bwang 42:030e0ec4eac5 61 /*PI controller*/
bwang 193:3abadeecf908 62 control.d_filtered = update_filter(control.d_filtered, foc.d, _DQ_FILTER_STRENGTH);
bwang 193:3abadeecf908 63 control.q_filtered = update_filter(control.q_filtered, foc.q, _DQ_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 64
bwang 42:030e0ec4eac5 65 float d_err = control.d_ref - control.d_filtered;
bwang 42:030e0ec4eac5 66 float q_err = control.q_ref - control.q_filtered;
bwang 42:030e0ec4eac5 67
bwang 58:7316c5a4c417 68 control.d_integral += d_err * KI_D;
bwang 58:7316c5a4c417 69 control.q_integral += q_err * KI_Q;
bwang 42:030e0ec4eac5 70
bwang 193:3abadeecf908 71 constrain_norm(&control.d_integral, &control.q_integral, 1.0f, 1.0f, _INTEGRAL_MAX);
bwang 131:031df63c7dbc 72
bwang 193:3abadeecf908 73 foc.vd_decouple = -_Lq * _POLE_PAIRS * read.w * foc.q / _BUS_VOLTAGE / 2.0f;
bwang 193:3abadeecf908 74 foc.vq_decouple = _Ld * _POLE_PAIRS * read.w * foc.d / _BUS_VOLTAGE / 2.0f;
bwang 42:030e0ec4eac5 75
bwang 158:882f9c208378 76 constrain_norm(&foc.vd_decouple, &foc.vq_decouple, 1.0f, 1.0f, 1.0f);
bwang 131:031df63c7dbc 77
bwang 131:031df63c7dbc 78 foc.vd = KP_D * d_err + control.d_integral;// + foc.vd_decouple;
bwang 131:031df63c7dbc 79 foc.vq = KP_Q * q_err + control.q_integral;// + foc.vq_decouple;
bwang 42:030e0ec4eac5 80
bwang 193:3abadeecf908 81 constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f + _OVERMODULATION_FACTOR);
bwang 42:030e0ec4eac5 82
bwang 193:3abadeecf908 83 float pv = foc.p + read.w / _V_PHASE_SWIZZLE;
bwang 124:e70ca81676fc 84 float sin_pv = sinf(pv);
bwang 124:e70ca81676fc 85 float cos_pv = cosf(pv);
bwang 124:e70ca81676fc 86
bwang 42:030e0ec4eac5 87 /*inverse transforms*/
bwang 124:e70ca81676fc 88 invpark(foc.vd, foc.vq, sin_pv, cos_pv, &foc.valpha, &foc.vbeta);
bwang 202:1baff0df86d1 89
bwang 202:1baff0df86d1 90 /*set outputs*/
bwang 42:030e0ec4eac5 91 float va, vb, vc, voff;
bwang 204:74714d52a936 92
bwang 204:74714d52a936 93 invclarke(foc.valpha, foc.vbeta, &va, &vb);
bwang 204:74714d52a936 94 vc = -va - vb;
bwang 204:74714d52a936 95
bwang 204:74714d52a936 96 /*SVPWM*/
bwang 204:74714d52a936 97 voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
bwang 204:74714d52a936 98 va = va - voff;
bwang 204:74714d52a936 99 vb = vb - voff;
bwang 204:74714d52a936 100 vc = vc - voff;
bwang 205:5cfe6d7e08a3 101
bwang 205:5cfe6d7e08a3 102 /*some modes override the FOC outputs*/
bwang 201:5d1a3aa50fe0 103 switch (BREMS_mode) {
bwang 201:5d1a3aa50fe0 104 case MODE_CFG:
bwang 201:5d1a3aa50fe0 105 va = 0.0f;
bwang 201:5d1a3aa50fe0 106 vb = 0.0f;
bwang 201:5d1a3aa50fe0 107 vc = 0.0f;
bwang 201:5d1a3aa50fe0 108 break;
bwang 201:5d1a3aa50fe0 109 case MODE_RUN:
bwang 201:5d1a3aa50fe0 110 break;
bwang 201:5d1a3aa50fe0 111 case MODE_ZERO:
bwang 215:7aa534d8ec4e 112 if (control.user_cmd > 0.5f) {
bwang 215:7aa534d8ec4e 113 va = 0.9f; vb = -0.9f; vc = -0.9f;
bwang 215:7aa534d8ec4e 114 } else {
bwang 215:7aa534d8ec4e 115 va = 0.0f; vb = 0.0f; vc = 0.0f;
bwang 215:7aa534d8ec4e 116 }
bwang 201:5d1a3aa50fe0 117 break;
bwang 201:5d1a3aa50fe0 118 case MODE_CHR:
bwang 201:5d1a3aa50fe0 119 //i have no idea lol;
bwang 201:5d1a3aa50fe0 120 break;
bwang 201:5d1a3aa50fe0 121 }
bwang 42:030e0ec4eac5 122
bwang 56:c681001dfa46 123 /*safety checks, reset integral*/
bwang 204:74714d52a936 124 if (!checks_passed() || !mode_enables_output()) {
bwang 198:7ee146427a0d 125 go_disabled();
bwang 198:7ee146427a0d 126 }
bwang 198:7ee146427a0d 127
bwang 180:a783a972a867 128 /*log data*/
bwang 204:74714d52a936 129 if (_ENABLE_LOGGING && mode_enables_logging()) log();
bwang 201:5d1a3aa50fe0 130
bwang 202:1baff0df86d1 131 /*disable outputs if necessary*/
bwang 201:5d1a3aa50fe0 132 if (!control.enabled) {
bwang 201:5d1a3aa50fe0 133 va = 0.0f; vb = 0.0f; vc = 0.0f;
bwang 201:5d1a3aa50fe0 134 }
bwang 201:5d1a3aa50fe0 135
bwang 201:5d1a3aa50fe0 136 //output to timers
bwang 201:5d1a3aa50fe0 137 set_dtc(io.a, 0.5f + 0.5f * va * LINEAR_MODULATION_MAX);
bwang 201:5d1a3aa50fe0 138 set_dtc(io.b, 0.5f + 0.5f * vb * LINEAR_MODULATION_MAX);
bwang 201:5d1a3aa50fe0 139 set_dtc(io.c, 0.5f + 0.5f * vc * LINEAR_MODULATION_MAX);
bwang 42:030e0ec4eac5 140 }
bwang 42:030e0ec4eac5 141
bwang 44:3fd6a43b91f0 142 void slow_loop() {
bwang 194:05e119bc5a78 143 switch (BREMS_src) {
bwang 194:05e119bc5a78 144 case CMD_SRC_RC:
bwang 194:05e119bc5a78 145 control.user_cmd = control.throttle_filter->update(io.throttle_in->get_throttle());
bwang 194:05e119bc5a78 146 break;
bwang 194:05e119bc5a78 147 case CMD_SRC_ANALOG:
bwang 194:05e119bc5a78 148 //handle analog throttle here
bwang 194:05e119bc5a78 149 break;
bwang 194:05e119bc5a78 150 case CMD_SRC_TERMINAL:
bwang 194:05e119bc5a78 151 case CMD_SRC_SERIAL:
bwang 194:05e119bc5a78 152 case CMD_SRC_CAN:
bwang 194:05e119bc5a78 153 case CMD_SRC_INTERNAL:
bwang 194:05e119bc5a78 154 //these sources are updated by callbacks
bwang 194:05e119bc5a78 155 break;
bwang 194:05e119bc5a78 156 default:
bwang 194:05e119bc5a78 157 //this should never happen!
bwang 199:c160a2c03781 158 control.user_cmd = 0.0f;
bwang 194:05e119bc5a78 159 break;
bwang 194:05e119bc5a78 160 }
bwang 194:05e119bc5a78 161
bwang 194:05e119bc5a78 162 control.torque_percent = th->map(control.user_cmd, read.w);
bwang 70:5e39beeb4a21 163 dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref);
bwang 44:3fd6a43b91f0 164 }
bwang 44:3fd6a43b91f0 165
bwang 72:5f1da97d62e1 166 void log() {
bwang 180:a783a972a867 167 float packet[8];
bwang 180:a783a972a867 168 packet[0] = read.w / 8.0f;
bwang 180:a783a972a867 169 packet[1] = control.d_ref / 2.0f + 128.0f;
bwang 180:a783a972a867 170 packet[2] = control.d_filtered / 2.0f + 128.0f;
bwang 180:a783a972a867 171 packet[3] = control.q_ref / 2.0f + 128.0f;
bwang 180:a783a972a867 172 packet[4] = control.q_filtered / 2.0f + 128.0f;
bwang 180:a783a972a867 173 packet[5] = 255.0f * control.torque_percent;
bwang 193:3abadeecf908 174 packet[6] = 255.0f / (1.0f + _OVERMODULATION_FACTOR) * foc.vd / 2.0f + 128.0f;
bwang 193:3abadeecf908 175 packet[7] = 255.0f / (1.0f + _OVERMODULATION_FACTOR) * foc.vq / 2.0f + 128.0f;
bwang 180:a783a972a867 176 io.logger->log(packet);
bwang 70:5e39beeb4a21 177 }
bwang 1:7b61790f6be9 178
bwang 166:4637785ba01e 179 int main() {
bwang 213:2218bab57355 180 dq = new InterpolatingLutMapper();
bwang 174:3872516b0d04 181 th = new LimitingThrottleMapper(1500.0f);
bwang 180:a783a972a867 182
bwang 47:1c9868e226d0 183 BREMSInit(&io, &read, &foc, &control, false);
bwang 181:d3510c8beab6 184 io.pc->attach(rxCallback);
bwang 223:b986e7cee521 185
bwang 0:bac9c3a3a6ca 186 for (;;) {
bwang 180:a783a972a867 187 io.logger->flush();
bwang 0:bac9c3a3a6ca 188 }
bwang 42:030e0ec4eac5 189 }