Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@30:c25c5bf0d951, 2016-11-07 (annotated)

Committer:
bwang
Date:
Mon Nov 07 13:25:35 2016 +0000
Revision:
30:c25c5bf0d951
Parent:
29:50e6e4e46580
Child:
31:ebe42589ab9d
added decoupling; set Ld, Lq to nonzero to enable

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 18:3863ca45cf26 8
bwang 30:c25c5bf0d951 9 #include "driving.h"
bwang 30:c25c5bf0d951 10
bwang 15:b583cd30b063 11 #include "config_motor.h"
bwang 15:b583cd30b063 12 #include "config_loop.h"
bwang 19:a6cf15f89f3d 13 #include "config_pins.h"
bwang 15:b583cd30b063 14 #include "config_inverter.h"
bwang 29:50e6e4e46580 15 #include "config_driving.h"
bwang 0:bac9c3a3a6ca 16
bwang 1:7b61790f6be9 17 FastPWM *a;
bwang 1:7b61790f6be9 18 FastPWM *b;
bwang 1:7b61790f6be9 19 FastPWM *c;
bwang 0:bac9c3a3a6ca 20 DigitalOut en(EN);
bwang 18:3863ca45cf26 21 PwmIn throttle_in(TH_PIN, 1100, 1900);
bwang 0:bac9c3a3a6ca 22 PositionSensorEncoder pos(CPR, 0);
bwang 0:bac9c3a3a6ca 23
bwang 0:bac9c3a3a6ca 24 Serial pc(USBTX, USBRX);
bwang 0:bac9c3a3a6ca 25
bwang 1:7b61790f6be9 26 int adval1, adval2;
bwang 2:eabe8feaaabb 27 float ia, ib, ic, alpha, beta, d, q, vd, vq, p;
bwang 30:c25c5bf0d951 28 float p_mech, last_p_mech, w = 0.0f;
bwang 22:72840d3db788 29 float d_filtered = 0.0f, q_filtered = 0.0f;
bwang 2:eabe8feaaabb 30
bwang 1:7b61790f6be9 31 float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV)
bwang 1:7b61790f6be9 32
bwang 2:eabe8feaaabb 33 float d_integral = 0.0f, q_integral = 0.0f;
bwang 2:eabe8feaaabb 34 float last_d = 0.0f, last_q = 0.0f;
bwang 14:59c4fcc1a4f7 35 float d_ref = 0.0f, q_ref = 0.0f;
bwang 2:eabe8feaaabb 36
bwang 25:3f2b585ae72d 37 bool control_enabled = false;
dicarloj 13:41d102a53caf 38
bwang 4:a6669248ce4d 39 void commutate();
bwang 3:9b20da3f0055 40 void zero_current();
bwang 3:9b20da3f0055 41 void config_globals();
bwang 3:9b20da3f0055 42 void startup_msg();
bwang 2:eabe8feaaabb 43
bwang 16:f283d6032fe5 44 void go_enabled();
bwang 16:f283d6032fe5 45 void go_disabled();
dicarloj 13:41d102a53caf 46
bwang 1:7b61790f6be9 47 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 1:7b61790f6be9 48 if (TIM1->SR & TIM_SR_UIF ) {
bwang 4:a6669248ce4d 49 ADC1->CR2 |= 0x40000000;
bwang 4:a6669248ce4d 50 volatile int delay;
bwang 4:a6669248ce4d 51 for (delay = 0; delay < 35; delay++);
bwang 1:7b61790f6be9 52 adval1 = ADC1->DR;
bwang 1:7b61790f6be9 53 adval2 = ADC2->DR;
bwang 4:a6669248ce4d 54 commutate();
bwang 1:7b61790f6be9 55 }
bwang 1:7b61790f6be9 56 TIM1->SR = 0x00;
bwang 1:7b61790f6be9 57 }
bwang 1:7b61790f6be9 58
bwang 1:7b61790f6be9 59 void zero_current(){
bwang 1:7b61790f6be9 60 for (int i = 0; i < 1000; i++){
bwang 1:7b61790f6be9 61 ia_supp_offset += (float) (ADC1->DR);
bwang 1:7b61790f6be9 62 ib_supp_offset += (float) (ADC2->DR);
bwang 1:7b61790f6be9 63 ADC1->CR2 |= 0x40000000;
bwang 1:7b61790f6be9 64 wait_us(100);
bwang 1:7b61790f6be9 65 }
bwang 1:7b61790f6be9 66 ia_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 67 ib_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 68 ia_supp_offset = ia_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 69 ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 70 }
bwang 0:bac9c3a3a6ca 71
bwang 17:2b852039bb05 72 void update_velocity() {
bwang 15:b583cd30b063 73 last_p_mech = p_mech;
bwang 15:b583cd30b063 74 p_mech = pos.GetMechPosition();
bwang 15:b583cd30b063 75 float dp_mech = p_mech - last_p_mech;
bwang 19:a6cf15f89f3d 76 if (dp_mech < -PI) dp_mech += 2 * PI;
bwang 24:5e18a87a0e95 77 if (dp_mech > PI) dp_mech -= 2 * PI;
bwang 24:5e18a87a0e95 78 float w_raw = dp_mech * F_SW; //rad/s
bwang 29:50e6e4e46580 79 if (w_raw > W_LIMIT) w_raw = w; //with this limiting scheme noise < 0
bwang 29:50e6e4e46580 80 if (w_raw < -W_LIMIT) w_raw = w; //so we need to throw out the large deltas first
bwang 15:b583cd30b063 81 w = W_FILTER_STRENGTH * w + (1.0f - W_FILTER_STRENGTH) * w_raw;
bwang 18:3863ca45cf26 82 }
bwang 18:3863ca45cf26 83
bwang 18:3863ca45cf26 84 float get_torque_cmd(float throttle, float w) {
bwang 30:c25c5bf0d951 85 if (TORQUE_MODE) {
bwang 30:c25c5bf0d951 86 return throttle * FORWARD_TORQUE_MAX;
bwang 30:c25c5bf0d951 87 } else {
bwang 30:c25c5bf0d951 88 return get_driving_torque_cmd(throttle, w);
bwang 30:c25c5bf0d951 89 }
bwang 18:3863ca45cf26 90 }
bwang 18:3863ca45cf26 91
bwang 18:3863ca45cf26 92 //fill in d, q ref based on torque cmd and current velocity
bwang 18:3863ca45cf26 93 void get_dq(float torque, float w, float *d, float *q) {
bwang 18:3863ca45cf26 94 *d = 0.0f;
bwang 29:50e6e4e46580 95 *q = torque / KT;
bwang 29:50e6e4e46580 96 if (*q > IPHASE_MOTOR_LIMIT) *q = IPHASE_MOTOR_LIMIT;
bwang 29:50e6e4e46580 97 if (*q > IPHASE_INVERTER_LIMIT) *q = IPHASE_INVERTER_LIMIT;
bwang 18:3863ca45cf26 98 }
bwang 17:2b852039bb05 99
bwang 17:2b852039bb05 100 void commutate() {
bwang 28:ed9c1ca386fd 101 if (control_enabled && !throttle_in.get_enabled()) go_disabled();
bwang 28:ed9c1ca386fd 102 if (control_enabled && !pos.IsValid()) go_disabled();
bwang 28:ed9c1ca386fd 103 if (!control_enabled && throttle_in.get_enabled()) go_enabled();
bwang 17:2b852039bb05 104
bwang 17:2b852039bb05 105 update_velocity();
bwang 17:2b852039bb05 106
bwang 17:2b852039bb05 107 p = pos.GetElecPosition() - POS_OFFSET;
bwang 15:b583cd30b063 108
bwang 18:3863ca45cf26 109 float torque = get_torque_cmd(throttle_in.get_throttle(), w);
bwang 19:a6cf15f89f3d 110 get_dq(torque, w, &d_ref, &q_ref);
bwang 16:f283d6032fe5 111
bwang 2:eabe8feaaabb 112 float sin_p = sinf(p);
bwang 2:eabe8feaaabb 113 float cos_p = cosf(p);
bwang 2:eabe8feaaabb 114
bwang 1:7b61790f6be9 115 ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
bwang 1:7b61790f6be9 116 ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
bwang 0:bac9c3a3a6ca 117
bwang 27:7e073122ddf8 118 alpha = ia;
bwang 27:7e073122ddf8 119 beta = 1 / sqrtf(3.0f) * ia + 2 / sqrtf(3.0f) * ib;
bwang 2:eabe8feaaabb 120
bwang 24:5e18a87a0e95 121 d = alpha * cos_p + beta * sin_p;
bwang 24:5e18a87a0e95 122 q = -alpha * sin_p + beta * cos_p;
bwang 2:eabe8feaaabb 123
bwang 22:72840d3db788 124 d_filtered = DQ_FILTER_STRENGTH * d_filtered + (1.0f - DQ_FILTER_STRENGTH) * d;
bwang 22:72840d3db788 125 q_filtered = DQ_FILTER_STRENGTH * q_filtered + (1.0f - DQ_FILTER_STRENGTH) * q;
bwang 22:72840d3db788 126
bwang 22:72840d3db788 127 float d_err = d_ref - d_filtered;
bwang 22:72840d3db788 128 float q_err = q_ref - q_filtered;
bwang 2:eabe8feaaabb 129
bwang 2:eabe8feaaabb 130 d_integral += d_err * KI;
bwang 2:eabe8feaaabb 131 q_integral += q_err * KI;
bwang 2:eabe8feaaabb 132
bwang 20:91ae97a811e3 133 q_integral = constrain(q_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 20:91ae97a811e3 134 d_integral = constrain(d_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 2:eabe8feaaabb 135
bwang 30:c25c5bf0d951 136 vd = KP * d_err + d_integral - Lq * POLE_PAIRS * w * q / BUS_VOLTAGE * (float) (1e-6);
bwang 30:c25c5bf0d951 137 vq = KP * q_err + q_integral + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE * (float) (1e-6);
bwang 21:b7fb355c8c2d 138
bwang 20:91ae97a811e3 139 vd = constrain(vd, -1.0f, 1.0f);
bwang 20:91ae97a811e3 140 vq = constrain(vq, -1.0f, 1.0f);
bwang 4:a6669248ce4d 141
bwang 30:c25c5bf0d951 142 if (!control_enabled) {
bwang 30:c25c5bf0d951 143 vd = 0.0f;
bwang 30:c25c5bf0d951 144 vq = 0.0f;
bwang 30:c25c5bf0d951 145 }
bwang 30:c25c5bf0d951 146
bwang 2:eabe8feaaabb 147 float valpha = vd * cos_p - vq * sin_p;
bwang 2:eabe8feaaabb 148 float vbeta = vd * sin_p + vq * cos_p;
bwang 2:eabe8feaaabb 149
bwang 2:eabe8feaaabb 150 float va = valpha;
bwang 24:5e18a87a0e95 151 float vb = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
bwang 24:5e18a87a0e95 152 float vc = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 153
dicarloj 13:41d102a53caf 154 float voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;
dicarloj 13:41d102a53caf 155 va = va - voff;
dicarloj 13:41d102a53caf 156 vb = vb - voff;
dicarloj 13:41d102a53caf 157 vc = vc - voff;
dicarloj 13:41d102a53caf 158
bwang 2:eabe8feaaabb 159 set_dtc(a, 0.5f + 0.5f * va);
bwang 2:eabe8feaaabb 160 set_dtc(b, 0.5f + 0.5f * vb);
bwang 2:eabe8feaaabb 161 set_dtc(c, 0.5f + 0.5f * vc);
bwang 0:bac9c3a3a6ca 162 }
bwang 0:bac9c3a3a6ca 163
bwang 0:bac9c3a3a6ca 164 int main() {
bwang 0:bac9c3a3a6ca 165 config_globals();
bwang 0:bac9c3a3a6ca 166 startup_msg();
bwang 0:bac9c3a3a6ca 167
bwang 0:bac9c3a3a6ca 168 for (;;) {
bwang 0:bac9c3a3a6ca 169 }
bwang 0:bac9c3a3a6ca 170 }
bwang 16:f283d6032fe5 171
bwang 16:f283d6032fe5 172 void go_enabled() {
bwang 16:f283d6032fe5 173 d_integral = 0.0f;
bwang 16:f283d6032fe5 174 q_integral = 0.0f;
bwang 16:f283d6032fe5 175 control_enabled = true;
bwang 16:f283d6032fe5 176 en = 1;
bwang 16:f283d6032fe5 177 }
bwang 16:f283d6032fe5 178
bwang 16:f283d6032fe5 179 void go_disabled() {
bwang 16:f283d6032fe5 180 control_enabled = false;
bwang 16:f283d6032fe5 181 en = 0;
bwang 16:f283d6032fe5 182 }
bwang 16:f283d6032fe5 183
bwang 17:2b852039bb05 184 void startup_msg() {
bwang 17:2b852039bb05 185 pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
bwang 17:2b852039bb05 186 pc.printf("%s\n\r", "====Config Data====");
bwang 17:2b852039bb05 187 pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
bwang 17:2b852039bb05 188 pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
bwang 17:2b852039bb05 189 pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
bwang 23:c77d4b42de17 190 pc.printf("Switching Frequency: %f KHz \n\r", F_SW / 1000.0f);
bwang 17:2b852039bb05 191 pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS);
bwang 17:2b852039bb05 192 pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
bwang 17:2b852039bb05 193 pc.printf("Loop KP: %f\n\r", KP);
bwang 17:2b852039bb05 194 pc.printf("Loop KI: %f\n\r", KI);
bwang 17:2b852039bb05 195 pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
bwang 17:2b852039bb05 196 pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
bwang 17:2b852039bb05 197 pc.printf("\n\r");
bwang 17:2b852039bb05 198 }
bwang 17:2b852039bb05 199
bwang 17:2b852039bb05 200 void config_globals() {
bwang 17:2b852039bb05 201 pc.baud(115200);
bwang 17:2b852039bb05 202
bwang 17:2b852039bb05 203 //Enable clocks for GPIOs
bwang 17:2b852039bb05 204 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
bwang 17:2b852039bb05 205 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
bwang 17:2b852039bb05 206 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
bwang 17:2b852039bb05 207
bwang 17:2b852039bb05 208 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
bwang 17:2b852039bb05 209
bwang 17:2b852039bb05 210 a = new FastPWM(PWMA);
bwang 17:2b852039bb05 211 b = new FastPWM(PWMB);
bwang 17:2b852039bb05 212 c = new FastPWM(PWMC);
bwang 17:2b852039bb05 213
bwang 17:2b852039bb05 214 NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
bwang 17:2b852039bb05 215
bwang 17:2b852039bb05 216 TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
bwang 17:2b852039bb05 217 TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
bwang 17:2b852039bb05 218 TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
bwang 17:2b852039bb05 219 TIM1->RCR |= 0x01; //update event once per up/down count of tim1
bwang 17:2b852039bb05 220 TIM1->EGR |= TIM_EGR_UG;
bwang 17:2b852039bb05 221
bwang 17:2b852039bb05 222 TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
bwang 22:72840d3db788 223 TIM1->ARR = (int) ((float) 9e7 / F_SW);
bwang 17:2b852039bb05 224 TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
bwang 17:2b852039bb05 225 TIM1->CR1 |= TIM_CR1_CEN;
bwang 17:2b852039bb05 226
bwang 17:2b852039bb05 227 //ADC Setup
bwang 17:2b852039bb05 228 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
bwang 17:2b852039bb05 229 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
bwang 17:2b852039bb05 230
bwang 17:2b852039bb05 231 ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
bwang 17:2b852039bb05 232
bwang 17:2b852039bb05 233 ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
bwang 17:2b852039bb05 234 ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
bwang 17:2b852039bb05 235
bwang 17:2b852039bb05 236 ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
bwang 17:2b852039bb05 237 ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
bwang 17:2b852039bb05 238
bwang 17:2b852039bb05 239 GPIOA->MODER |= (1 << 8);
bwang 17:2b852039bb05 240 GPIOA->MODER |= (1 << 9);
bwang 17:2b852039bb05 241
bwang 17:2b852039bb05 242 GPIOA->MODER |= (1 << 2);
bwang 17:2b852039bb05 243 GPIOA->MODER |= (1 << 3);
bwang 17:2b852039bb05 244
bwang 17:2b852039bb05 245 GPIOA->MODER |= (1 << 0);
bwang 17:2b852039bb05 246 GPIOA->MODER |= (1 << 1);
bwang 17:2b852039bb05 247
bwang 17:2b852039bb05 248 GPIOB->MODER |= (1 << 0);
bwang 17:2b852039bb05 249 GPIOB->MODER |= (1 << 1);
bwang 17:2b852039bb05 250
bwang 17:2b852039bb05 251 GPIOC->MODER |= (1 << 2);
bwang 17:2b852039bb05 252 GPIOC->MODER |= (1 << 3);
bwang 17:2b852039bb05 253
bwang 17:2b852039bb05 254 //DAC setup
bwang 17:2b852039bb05 255 RCC->APB1ENR |= 0x20000000;
bwang 17:2b852039bb05 256 DAC->CR |= DAC_CR_EN2;
bwang 17:2b852039bb05 257
bwang 17:2b852039bb05 258 GPIOA->MODER |= (1 << 10);
bwang 17:2b852039bb05 259 GPIOA->MODER |= (1 << 11);
bwang 17:2b852039bb05 260
bwang 17:2b852039bb05 261 //Zero duty cycles
bwang 17:2b852039bb05 262 set_dtc(a, 0.0f);
bwang 17:2b852039bb05 263 set_dtc(b, 0.0f);
bwang 17:2b852039bb05 264 set_dtc(c, 0.0f);
bwang 17:2b852039bb05 265
bwang 17:2b852039bb05 266 wait_ms(250);
bwang 17:2b852039bb05 267 zero_current();
bwang 17:2b852039bb05 268 p_mech = pos.GetMechPosition();
bwang 17:2b852039bb05 269 en = 1;
bwang 17:2b852039bb05 270 }