Bayley Wang
/
foc-ed_in_the_bot_compact
robot
main.cpp@46:748aba7d111d, 2017-01-10 (annotated)
- Committer:
- bwang
- Date:
- Tue Jan 10 04:47:38 2017 +0000
- Revision:
- 46:748aba7d111d
- Parent:
- 45:cf8ad81fb0f0
- Child:
- 47:1c9868e226d0
startup message
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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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 | 42:030e0ec4eac5 | 11 | |
bwang | 42:030e0ec4eac5 | 12 | #include "BREMSStructs.h" |
bwang | 42:030e0ec4eac5 | 13 | #include "BREMSConfig.h" |
bwang | 30:c25c5bf0d951 | 14 | |
bwang | 15:b583cd30b063 | 15 | #include "config_motor.h" |
bwang | 15:b583cd30b063 | 16 | #include "config_loop.h" |
bwang | 19:a6cf15f89f3d | 17 | #include "config_pins.h" |
bwang | 15:b583cd30b063 | 18 | #include "config_inverter.h" |
bwang | 29:50e6e4e46580 | 19 | #include "config_driving.h" |
bwang | 0:bac9c3a3a6ca | 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 | 42:030e0ec4eac5 | 43 | if (w_raw > W_CRAZY) w_raw = read.w; //with this limiting scheme noise < 0 |
bwang | 42:030e0ec4eac5 | 44 | if (w_raw < -W_CRAZY) w_raw = read.w; //so we need to throw out the large deltas first |
bwang | 44:3fd6a43b91f0 | 45 | |
bwang | 44:3fd6a43b91f0 | 46 | read.w = update_filter(read.w, w_raw, W_FILTER_STRENGTH); |
bwang | 42:030e0ec4eac5 | 47 | } |
bwang | 2:eabe8feaaabb | 48 | |
bwang | 42:030e0ec4eac5 | 49 | void commutate() { |
bwang | 42:030e0ec4eac5 | 50 | /*safety checks*/ |
bwang | 42:030e0ec4eac5 | 51 | if (control_enabled && !io.throttle_in->get_enabled()) go_disabled(); |
bwang | 42:030e0ec4eac5 | 52 | if (control_enabled && !io.pos->IsValid()) go_disabled(); |
bwang | 42:030e0ec4eac5 | 53 | if (!control_enabled && io.throttle_in->get_enabled()) go_enabled(); |
bwang | 42:030e0ec4eac5 | 54 | |
bwang | 42:030e0ec4eac5 | 55 | /*update velocity, references*/ |
bwang | 42:030e0ec4eac5 | 56 | update_velocity(); |
bwang | 44:3fd6a43b91f0 | 57 | if (loop_counter % SLOW_LOOP_COUNTER == 0) { |
bwang | 44:3fd6a43b91f0 | 58 | loop_counter = 0; |
bwang | 44:3fd6a43b91f0 | 59 | slow_loop(); |
bwang | 44:3fd6a43b91f0 | 60 | } |
bwang | 44:3fd6a43b91f0 | 61 | loop_counter++; |
bwang | 42:030e0ec4eac5 | 62 | |
bwang | 42:030e0ec4eac5 | 63 | /*update position, sin, cos*/ |
bwang | 42:030e0ec4eac5 | 64 | foc.p = io.pos->GetElecPosition() - POS_OFFSET; |
bwang | 42:030e0ec4eac5 | 65 | float sin_p = sinf(foc.p); |
bwang | 42:030e0ec4eac5 | 66 | float cos_p = cosf(foc.p); |
bwang | 42:030e0ec4eac5 | 67 | |
bwang | 42:030e0ec4eac5 | 68 | /*scale and offset currents (adval1, 2 are updated in ISR*/ |
bwang | 42:030e0ec4eac5 | 69 | foc.ia = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ia_supp_offset) / I_SCALE; |
bwang | 42:030e0ec4eac5 | 70 | foc.ib = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ib_supp_offset) / I_SCALE; |
bwang | 42:030e0ec4eac5 | 71 | |
bwang | 42:030e0ec4eac5 | 72 | /*compute d, q*/ |
bwang | 42:030e0ec4eac5 | 73 | clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta); |
bwang | 42:030e0ec4eac5 | 74 | park(foc.alpha, foc.beta, sin_p, cos_p, &foc.d, &foc.q); |
bwang | 42:030e0ec4eac5 | 75 | |
bwang | 42:030e0ec4eac5 | 76 | /*PI controller*/ |
bwang | 44:3fd6a43b91f0 | 77 | control.d_filtered = update_filter(control.d_filtered, foc.d, DQ_FILTER_STRENGTH); |
bwang | 44:3fd6a43b91f0 | 78 | control.q_filtered = update_filter(control.q_filtered, foc.q, DQ_FILTER_STRENGTH); |
bwang | 42:030e0ec4eac5 | 79 | |
bwang | 42:030e0ec4eac5 | 80 | float d_err = control.d_ref - control.d_filtered; |
bwang | 42:030e0ec4eac5 | 81 | float q_err = control.q_ref - control.q_filtered; |
bwang | 42:030e0ec4eac5 | 82 | |
bwang | 42:030e0ec4eac5 | 83 | control.d_integral += d_err * KI; |
bwang | 42:030e0ec4eac5 | 84 | control.q_integral += q_err * KI; |
bwang | 42:030e0ec4eac5 | 85 | |
bwang | 42:030e0ec4eac5 | 86 | control.q_integral = constrain(control.q_integral, -INTEGRAL_MAX, INTEGRAL_MAX); |
bwang | 42:030e0ec4eac5 | 87 | control.d_integral = constrain(control.d_integral, -INTEGRAL_MAX, INTEGRAL_MAX); |
bwang | 42:030e0ec4eac5 | 88 | |
bwang | 42:030e0ec4eac5 | 89 | foc.vd = KP * d_err + control.d_integral;// - Lq * POLE_PAIRS * w * q / BUS_VOLTAGE; |
bwang | 42:030e0ec4eac5 | 90 | foc.vq = KP * q_err + control.q_integral;// + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE; |
bwang | 42:030e0ec4eac5 | 91 | |
bwang | 42:030e0ec4eac5 | 92 | foc.vd = constrain(foc.vd, -1.0f, 1.0f); |
bwang | 42:030e0ec4eac5 | 93 | foc.vq = constrain(foc.vq, -1.0f, 1.0f); |
bwang | 42:030e0ec4eac5 | 94 | |
bwang | 42:030e0ec4eac5 | 95 | if (!control_enabled) { |
bwang | 42:030e0ec4eac5 | 96 | foc.vd = 0.0f; |
bwang | 42:030e0ec4eac5 | 97 | foc.vq = 0.0f; |
bwang | 42:030e0ec4eac5 | 98 | } |
bwang | 42:030e0ec4eac5 | 99 | |
bwang | 42:030e0ec4eac5 | 100 | /*inverse transforms*/ |
bwang | 42:030e0ec4eac5 | 101 | invpark(foc.vd, foc.vq, sin_p, cos_p, &foc.valpha, &foc.vbeta); |
bwang | 42:030e0ec4eac5 | 102 | |
bwang | 42:030e0ec4eac5 | 103 | float va, vb, vc, voff; |
bwang | 42:030e0ec4eac5 | 104 | |
bwang | 42:030e0ec4eac5 | 105 | invclarke(foc.valpha, foc.vbeta, &va, &vb); |
bwang | 42:030e0ec4eac5 | 106 | vc = -va - vb; |
bwang | 42:030e0ec4eac5 | 107 | |
bwang | 42:030e0ec4eac5 | 108 | /*SVPWM*/ |
bwang | 44:3fd6a43b91f0 | 109 | voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it |
bwang | 42:030e0ec4eac5 | 110 | va = va - voff; |
bwang | 42:030e0ec4eac5 | 111 | vb = vb - voff; |
bwang | 42:030e0ec4eac5 | 112 | vc = vc - voff; |
bwang | 42:030e0ec4eac5 | 113 | |
bwang | 42:030e0ec4eac5 | 114 | /*output to timers*/ |
bwang | 46:748aba7d111d | 115 | //set_dtc(io.a, 0.5f + 0.5f * va); |
bwang | 46:748aba7d111d | 116 | //set_dtc(io.b, 0.5f + 0.5f * vb); |
bwang | 46:748aba7d111d | 117 | //set_dtc(io.c, 0.5f + 0.5f * vc); |
bwang | 46:748aba7d111d | 118 | |
bwang | 46:748aba7d111d | 119 | set_dtc(io.a, 0.95f); |
bwang | 46:748aba7d111d | 120 | set_dtc(io.b, 0.05f); |
bwang | 46:748aba7d111d | 121 | set_dtc(io.c, 0.05f); |
bwang | 42:030e0ec4eac5 | 122 | } |
bwang | 42:030e0ec4eac5 | 123 | |
bwang | 44:3fd6a43b91f0 | 124 | void slow_loop() { |
bwang | 44:3fd6a43b91f0 | 125 | float torque_percent = th->map(io.throttle_in->get_throttle(), read.w); |
bwang | 44:3fd6a43b91f0 | 126 | dq->map(torque_percent, read.w, &control.d_ref, &control.q_ref); |
bwang | 44:3fd6a43b91f0 | 127 | } |
bwang | 44:3fd6a43b91f0 | 128 | |
bwang | 42:030e0ec4eac5 | 129 | void go_enabled() { |
bwang | 42:030e0ec4eac5 | 130 | control.d_integral = 0.0f; |
bwang | 42:030e0ec4eac5 | 131 | control.q_integral = 0.0f; |
bwang | 42:030e0ec4eac5 | 132 | control_enabled = true; |
bwang | 42:030e0ec4eac5 | 133 | io.en->write(1); |
bwang | 42:030e0ec4eac5 | 134 | } |
bwang | 42:030e0ec4eac5 | 135 | |
bwang | 42:030e0ec4eac5 | 136 | void go_disabled() { |
bwang | 42:030e0ec4eac5 | 137 | control_enabled = false; |
bwang | 42:030e0ec4eac5 | 138 | io.en->write(0); |
bwang | 42:030e0ec4eac5 | 139 | } |
bwang | 42:030e0ec4eac5 | 140 | |
bwang | 44:3fd6a43b91f0 | 141 | float update_filter(float old, float x, float str) { |
bwang | 42:030e0ec4eac5 | 142 | return str * old + (1.0f - str) * x; |
bwang | 42:030e0ec4eac5 | 143 | } |
dicarloj | 13:41d102a53caf | 144 | |
bwang | 1:7b61790f6be9 | 145 | extern "C" void TIM1_UP_TIM10_IRQHandler(void) { |
bwang | 1:7b61790f6be9 | 146 | if (TIM1->SR & TIM_SR_UIF ) { |
bwang | 4:a6669248ce4d | 147 | ADC1->CR2 |= 0x40000000; |
bwang | 4:a6669248ce4d | 148 | volatile int delay; |
bwang | 4:a6669248ce4d | 149 | for (delay = 0; delay < 35; delay++); |
bwang | 42:030e0ec4eac5 | 150 | read.adval1 = ADC1->DR; |
bwang | 42:030e0ec4eac5 | 151 | read.adval2 = ADC2->DR; |
bwang | 4:a6669248ce4d | 152 | commutate(); |
bwang | 1:7b61790f6be9 | 153 | } |
bwang | 1:7b61790f6be9 | 154 | TIM1->SR = 0x00; |
bwang | 1:7b61790f6be9 | 155 | } |
bwang | 1:7b61790f6be9 | 156 | |
bwang | 0:bac9c3a3a6ca | 157 | int main() { |
bwang | 42:030e0ec4eac5 | 158 | BREMSInit(&io, &read, &foc, &control, false); |
bwang | 45:cf8ad81fb0f0 | 159 | dq = new LinearNoFWMapper(KT, TORQUE_MAX, FLUX_LINKAGE); |
bwang | 45:cf8ad81fb0f0 | 160 | th = new NullThrottleMapper(); |
bwang | 0:bac9c3a3a6ca | 161 | |
bwang | 0:bac9c3a3a6ca | 162 | for (;;) { |
bwang | 0:bac9c3a3a6ca | 163 | } |
bwang | 42:030e0ec4eac5 | 164 | } |