Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@186:c18db1e31da6, 2018-02-09 (annotated)

Committer:
bwang
Date:
Fri Feb 09 22:25:44 2018 +0000
Revision:
186:c18db1e31da6
Parent:
185:5c102874b490
Child:
187:523cf8c962e4
temp commit while working on moving definitions around

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 25:3f2b585ae72d 32 bool control_enabled = false;
dicarloj 13:41d102a53caf 33
bwang 42:030e0ec4eac5 34 void update_velocity() {
bwang 42:030e0ec4eac5 35 read.last_p_mech = read.p_mech;
bwang 42:030e0ec4eac5 36 read.p_mech = io.pos->GetMechPosition();
bwang 44:3fd6a43b91f0 37
bwang 42:030e0ec4eac5 38 float dp_mech = read.p_mech - read.last_p_mech;
bwang 42:030e0ec4eac5 39 if (dp_mech < -PI) dp_mech += 2 * PI;
bwang 42:030e0ec4eac5 40 if (dp_mech > PI) dp_mech -= 2 * PI;
bwang 44:3fd6a43b91f0 41
bwang 42:030e0ec4eac5 42 float w_raw = dp_mech * F_SW; //rad/s
bwang 44:3fd6a43b91f0 43
bwang 154:0a22dcf91577 44 read.w = control.velocity_filter->update(w_raw);
bwang 42:030e0ec4eac5 45 }
bwang 2:eabe8feaaabb 46
bwang 118:2b6dab10b69d 47 void commutate() {
bwang 56:c681001dfa46 48 /*safety checks, do we do anything this cycle?*/
bwang 56:c681001dfa46 49 if (!control_enabled && io.throttle_in->get_enabled() && io.pos->IsValid() && is_driving()) {
bwang 52:fd3d8df99287 50 go_enabled();
bwang 52:fd3d8df99287 51 }
bwang 42:030e0ec4eac5 52
bwang 42:030e0ec4eac5 53 /*update velocity, references*/
bwang 42:030e0ec4eac5 54 update_velocity();
bwang 44:3fd6a43b91f0 55 if (loop_counter % SLOW_LOOP_COUNTER == 0) {
bwang 44:3fd6a43b91f0 56 loop_counter = 0;
bwang 44:3fd6a43b91f0 57 slow_loop();
bwang 44:3fd6a43b91f0 58 }
bwang 44:3fd6a43b91f0 59 loop_counter++;
bwang 42:030e0ec4eac5 60
bwang 42:030e0ec4eac5 61 /*update position, sin, cos*/
bwang 130:639cd8586f86 62 foc.p = io.pos->GetElecPosition() - POS_OFFSET;
bwang 42:030e0ec4eac5 63 float sin_p = sinf(foc.p);
bwang 42:030e0ec4eac5 64 float cos_p = cosf(foc.p);
bwang 42:030e0ec4eac5 65
bwang 49:da8604278d76 66 /*scale and offset currents (adval1, 2 are updated in ISR)*/
bwang 42:030e0ec4eac5 67 foc.ia = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ia_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 68 foc.ib = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ib_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 69
bwang 42:030e0ec4eac5 70 /*compute d, q*/
bwang 42:030e0ec4eac5 71 clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta);
bwang 42:030e0ec4eac5 72 park(foc.alpha, foc.beta, sin_p, cos_p, &foc.d, &foc.q);
bwang 42:030e0ec4eac5 73
bwang 42:030e0ec4eac5 74 /*PI controller*/
bwang 44:3fd6a43b91f0 75 control.d_filtered = update_filter(control.d_filtered, foc.d, DQ_FILTER_STRENGTH);
bwang 44:3fd6a43b91f0 76 control.q_filtered = update_filter(control.q_filtered, foc.q, DQ_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 77
bwang 42:030e0ec4eac5 78 float d_err = control.d_ref - control.d_filtered;
bwang 42:030e0ec4eac5 79 float q_err = control.q_ref - control.q_filtered;
bwang 42:030e0ec4eac5 80
bwang 58:7316c5a4c417 81 control.d_integral += d_err * KI_D;
bwang 58:7316c5a4c417 82 control.q_integral += q_err * KI_Q;
bwang 42:030e0ec4eac5 83
bwang 131:031df63c7dbc 84 constrain_norm(&control.d_integral, &control.q_integral, 1.0f, 1.0f, INTEGRAL_MAX);
bwang 131:031df63c7dbc 85
bwang 131:031df63c7dbc 86 foc.vd_decouple = -Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f;
bwang 131:031df63c7dbc 87 foc.vq_decouple = Ld * POLE_PAIRS * read.w * foc.d / BUS_VOLTAGE / 2.0f;
bwang 42:030e0ec4eac5 88
bwang 158:882f9c208378 89 constrain_norm(&foc.vd_decouple, &foc.vq_decouple, 1.0f, 1.0f, 1.0f);
bwang 131:031df63c7dbc 90
bwang 131:031df63c7dbc 91 foc.vd = KP_D * d_err + control.d_integral;// + foc.vd_decouple;
bwang 131:031df63c7dbc 92 foc.vq = KP_Q * q_err + control.q_integral;// + foc.vq_decouple;
bwang 42:030e0ec4eac5 93
bwang 158:882f9c208378 94 constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f + OVERMODULATION_FACTOR);
bwang 42:030e0ec4eac5 95
bwang 42:030e0ec4eac5 96 if (!control_enabled) {
bwang 42:030e0ec4eac5 97 foc.vd = 0.0f;
bwang 42:030e0ec4eac5 98 foc.vq = 0.0f;
bwang 42:030e0ec4eac5 99 }
bwang 42:030e0ec4eac5 100
bwang 126:498f56ba051e 101 float pv = foc.p + read.w / V_PHASE_SWIZZLE;
bwang 124:e70ca81676fc 102 float sin_pv = sinf(pv);
bwang 124:e70ca81676fc 103 float cos_pv = cosf(pv);
bwang 124:e70ca81676fc 104
bwang 42:030e0ec4eac5 105 /*inverse transforms*/
bwang 124:e70ca81676fc 106 invpark(foc.vd, foc.vq, sin_pv, cos_pv, &foc.valpha, &foc.vbeta);
bwang 42:030e0ec4eac5 107
bwang 42:030e0ec4eac5 108 float va, vb, vc, voff;
bwang 42:030e0ec4eac5 109
bwang 42:030e0ec4eac5 110 invclarke(foc.valpha, foc.vbeta, &va, &vb);
bwang 42:030e0ec4eac5 111 vc = -va - vb;
bwang 42:030e0ec4eac5 112
bwang 42:030e0ec4eac5 113 /*SVPWM*/
bwang 44:3fd6a43b91f0 114 voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
bwang 42:030e0ec4eac5 115 va = va - voff;
bwang 42:030e0ec4eac5 116 vb = vb - voff;
bwang 42:030e0ec4eac5 117 vc = vc - voff;
bwang 42:030e0ec4eac5 118
bwang 56:c681001dfa46 119 /*safety checks, reset integral*/
bwang 56:c681001dfa46 120 if (!io.throttle_in->get_enabled() || !io.pos->IsValid() || !is_driving()) {
bwang 56:c681001dfa46 121 /*do this even in disabled state, to keep integral down*/
bwang 56:c681001dfa46 122 go_disabled();
bwang 56:c681001dfa46 123 }
bwang 56:c681001dfa46 124
bwang 42:030e0ec4eac5 125 /*output to timers*/
bwang 157:a9b2002994d5 126 set_dtc(io.a, 0.5f + 0.5f * va * LINEAR_MODULATION_MAX);
bwang 157:a9b2002994d5 127 set_dtc(io.b, 0.5f + 0.5f * vb * LINEAR_MODULATION_MAX);
bwang 157:a9b2002994d5 128 set_dtc(io.c, 0.5f + 0.5f * vc * LINEAR_MODULATION_MAX);
bwang 180:a783a972a867 129
bwang 180:a783a972a867 130 /*log data*/
bwang 180:a783a972a867 131 if (ENABLE_LOGGING) log();
bwang 42:030e0ec4eac5 132 }
bwang 42:030e0ec4eac5 133
bwang 44:3fd6a43b91f0 134 void slow_loop() {
bwang 74:f10cb573d7ca 135 float x = io.throttle_in->get_throttle();
bwang 154:0a22dcf91577 136 x = control.throttle_filter->update(x);
bwang 152:6877dceec871 137 control.torque_percent = th->map(x, read.w);
bwang 70:5e39beeb4a21 138 dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref);
bwang 44:3fd6a43b91f0 139 }
bwang 44:3fd6a43b91f0 140
bwang 42:030e0ec4eac5 141 void go_enabled() {
bwang 42:030e0ec4eac5 142 control_enabled = true;
bwang 42:030e0ec4eac5 143 io.en->write(1);
bwang 42:030e0ec4eac5 144 }
bwang 42:030e0ec4eac5 145
bwang 42:030e0ec4eac5 146 void go_disabled() {
bwang 52:fd3d8df99287 147 control.d_integral = 0.0f;
bwang 52:fd3d8df99287 148 control.q_integral = 0.0f;
bwang 42:030e0ec4eac5 149 control_enabled = false;
bwang 42:030e0ec4eac5 150 io.en->write(0);
bwang 42:030e0ec4eac5 151 }
bwang 42:030e0ec4eac5 152
bwang 52:fd3d8df99287 153 bool is_driving() {
bwang 154:0a22dcf91577 154 return control.torque_percent > 0.01f || fabsf(read.w) > W_SAFE;
bwang 52:fd3d8df99287 155 }
bwang 52:fd3d8df99287 156
bwang 72:5f1da97d62e1 157 void log() {
bwang 180:a783a972a867 158 float packet[8];
bwang 180:a783a972a867 159 packet[0] = read.w / 8.0f;
bwang 180:a783a972a867 160 packet[1] = control.d_ref / 2.0f + 128.0f;
bwang 180:a783a972a867 161 packet[2] = control.d_filtered / 2.0f + 128.0f;
bwang 180:a783a972a867 162 packet[3] = control.q_ref / 2.0f + 128.0f;
bwang 180:a783a972a867 163 packet[4] = control.q_filtered / 2.0f + 128.0f;
bwang 180:a783a972a867 164 packet[5] = 255.0f * control.torque_percent;
bwang 180:a783a972a867 165 packet[6] = 255.0f / (1.0f + OVERMODULATION_FACTOR) * foc.vd / 2.0f + 128.0f;
bwang 180:a783a972a867 166 packet[7] = 255.0f / (1.0f + OVERMODULATION_FACTOR) * foc.vq / 2.0f + 128.0f;
bwang 180:a783a972a867 167 io.logger->log(packet);
bwang 70:5e39beeb4a21 168 }
bwang 70:5e39beeb4a21 169
bwang 1:7b61790f6be9 170 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 75:591556ce033d 171 int start_state = io.throttle_in->state();
bwang 91:f58472ac3fae 172
bwang 1:7b61790f6be9 173 if (TIM1->SR & TIM_SR_UIF ) {
bwang 4:a6669248ce4d 174 ADC1->CR2 |= 0x40000000;
bwang 91:f58472ac3fae 175 volatile int delay;
bwang 91:f58472ac3fae 176 for (delay = 0; delay < 35; delay++);
bwang 91:f58472ac3fae 177
bwang 42:030e0ec4eac5 178 read.adval1 = ADC1->DR;
bwang 42:030e0ec4eac5 179 read.adval2 = ADC2->DR;
bwang 91:f58472ac3fae 180
bwang 4:a6669248ce4d 181 commutate();
bwang 1:7b61790f6be9 182 }
bwang 1:7b61790f6be9 183 TIM1->SR = 0x00;
bwang 75:591556ce033d 184 int end_state = io.throttle_in->state();
bwang 75:591556ce033d 185 if (start_state != end_state) io.throttle_in->block();
bwang 1:7b61790f6be9 186 }
bwang 1:7b61790f6be9 187
bwang 166:4637785ba01e 188 int main() {
bwang 172:3d7196b71afd 189 dq = new InterpolatingLutMapper();
bwang 174:3872516b0d04 190 th = new LimitingThrottleMapper(1500.0f);
bwang 180:a783a972a867 191
bwang 47:1c9868e226d0 192 BREMSInit(&io, &read, &foc, &control, false);
bwang 181:d3510c8beab6 193 io.pc->attach(rxCallback);
bwang 48:a1a09c83d42c 194
bwang 0:bac9c3a3a6ca 195 for (;;) {
bwang 180:a783a972a867 196 io.logger->flush();
bwang 0:bac9c3a3a6ca 197 }
bwang 42:030e0ec4eac5 198 }