Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@42:030e0ec4eac5, 2017-01-06 (annotated)

Committer:
bwang
Date:
Fri Jan 06 07:54:22 2017 +0000
Revision:
42:030e0ec4eac5
Parent:
40:22aede3d096f
Child:
44:3fd6a43b91f0
structural changes; reference and throttle maps now classes, global variables moved to structs, system config functions moved to BREMS/*

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 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 25:3f2b585ae72d 31 bool control_enabled = false;
dicarloj 13:41d102a53caf 32
bwang 42:030e0ec4eac5 33 void update_velocity() {
bwang 42:030e0ec4eac5 34 read.last_p_mech = read.p_mech;
bwang 42:030e0ec4eac5 35 read.p_mech = io.pos->GetMechPosition();
bwang 42:030e0ec4eac5 36 float dp_mech = read.p_mech - read.last_p_mech;
bwang 42:030e0ec4eac5 37 if (dp_mech < -PI) dp_mech += 2 * PI;
bwang 42:030e0ec4eac5 38 if (dp_mech > PI) dp_mech -= 2 * PI;
bwang 42:030e0ec4eac5 39 float w_raw = dp_mech * F_SW; //rad/s
bwang 42:030e0ec4eac5 40 if (w_raw > W_CRAZY) w_raw = read.w; //with this limiting scheme noise < 0
bwang 42:030e0ec4eac5 41 if (w_raw < -W_CRAZY) w_raw = read.w; //so we need to throw out the large deltas first
bwang 42:030e0ec4eac5 42 read.w = update_pid(read.w, w_raw, W_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 43 }
bwang 2:eabe8feaaabb 44
bwang 42:030e0ec4eac5 45 void commutate() {
bwang 42:030e0ec4eac5 46 /*safety checks*/
bwang 42:030e0ec4eac5 47 if (control_enabled && !io.throttle_in->get_enabled()) go_disabled();
bwang 42:030e0ec4eac5 48 if (control_enabled && !io.pos->IsValid()) go_disabled();
bwang 42:030e0ec4eac5 49 if (!control_enabled && io.throttle_in->get_enabled()) go_enabled();
bwang 42:030e0ec4eac5 50
bwang 42:030e0ec4eac5 51 /*update velocity, references*/
bwang 42:030e0ec4eac5 52 update_velocity();
bwang 42:030e0ec4eac5 53 float torque_percent = th->map(io.throttle_in->get_throttle(), read.w);
bwang 42:030e0ec4eac5 54 dq->map(torque_percent, read.w, &control.d_ref, &control.q_ref);
bwang 42:030e0ec4eac5 55
bwang 42:030e0ec4eac5 56 /*update position, sin, cos*/
bwang 42:030e0ec4eac5 57 foc.p = io.pos->GetElecPosition() - POS_OFFSET;
bwang 42:030e0ec4eac5 58 float sin_p = sinf(foc.p);
bwang 42:030e0ec4eac5 59 float cos_p = cosf(foc.p);
bwang 42:030e0ec4eac5 60
bwang 42:030e0ec4eac5 61 /*scale and offset currents (adval1, 2 are updated in ISR*/
bwang 42:030e0ec4eac5 62 foc.ia = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ia_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 63 foc.ib = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ib_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 64
bwang 42:030e0ec4eac5 65 /*compute d, q*/
bwang 42:030e0ec4eac5 66 clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta);
bwang 42:030e0ec4eac5 67 park(foc.alpha, foc.beta, sin_p, cos_p, &foc.d, &foc.q);
bwang 42:030e0ec4eac5 68
bwang 42:030e0ec4eac5 69 /*PI controller*/
bwang 42:030e0ec4eac5 70 control.d_filtered = update_pid(control.d_filtered, foc.d, DQ_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 71 control.q_filtered = update_pid(control.q_filtered, foc.q, DQ_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 72
bwang 42:030e0ec4eac5 73 float d_err = control.d_ref - control.d_filtered;
bwang 42:030e0ec4eac5 74 float q_err = control.q_ref - control.q_filtered;
bwang 42:030e0ec4eac5 75
bwang 42:030e0ec4eac5 76 control.d_integral += d_err * KI;
bwang 42:030e0ec4eac5 77 control.q_integral += q_err * KI;
bwang 42:030e0ec4eac5 78
bwang 42:030e0ec4eac5 79 control.q_integral = constrain(control.q_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 42:030e0ec4eac5 80 control.d_integral = constrain(control.d_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 42:030e0ec4eac5 81
bwang 42:030e0ec4eac5 82 foc.vd = KP * d_err + control.d_integral;// - Lq * POLE_PAIRS * w * q / BUS_VOLTAGE;
bwang 42:030e0ec4eac5 83 foc.vq = KP * q_err + control.q_integral;// + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE;
bwang 42:030e0ec4eac5 84
bwang 42:030e0ec4eac5 85 foc.vd = constrain(foc.vd, -1.0f, 1.0f);
bwang 42:030e0ec4eac5 86 foc.vq = constrain(foc.vq, -1.0f, 1.0f);
bwang 42:030e0ec4eac5 87
bwang 42:030e0ec4eac5 88 if (!control_enabled) {
bwang 42:030e0ec4eac5 89 foc.vd = 0.0f;
bwang 42:030e0ec4eac5 90 foc.vq = 0.0f;
bwang 42:030e0ec4eac5 91 }
bwang 42:030e0ec4eac5 92
bwang 42:030e0ec4eac5 93 /*inverse transforms*/
bwang 42:030e0ec4eac5 94 invpark(foc.vd, foc.vq, sin_p, cos_p, &foc.valpha, &foc.vbeta);
bwang 42:030e0ec4eac5 95
bwang 42:030e0ec4eac5 96 float va, vb, vc, voff;
bwang 42:030e0ec4eac5 97
bwang 42:030e0ec4eac5 98 invclarke(foc.valpha, foc.vbeta, &va, &vb);
bwang 42:030e0ec4eac5 99 vc = -va - vb;
bwang 42:030e0ec4eac5 100
bwang 42:030e0ec4eac5 101 /*SVPWM*/
bwang 42:030e0ec4eac5 102 voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;
bwang 42:030e0ec4eac5 103 va = va - voff;
bwang 42:030e0ec4eac5 104 vb = vb - voff;
bwang 42:030e0ec4eac5 105 vc = vc - voff;
bwang 42:030e0ec4eac5 106
bwang 42:030e0ec4eac5 107 /*output to timers*/
bwang 42:030e0ec4eac5 108 set_dtc(io.a, 0.5f + 0.5f * va);
bwang 42:030e0ec4eac5 109 set_dtc(io.b, 0.5f + 0.5f * vb);
bwang 42:030e0ec4eac5 110 set_dtc(io.c, 0.5f + 0.5f * vc);
bwang 42:030e0ec4eac5 111 }
bwang 42:030e0ec4eac5 112
bwang 42:030e0ec4eac5 113 void go_enabled() {
bwang 42:030e0ec4eac5 114 control.d_integral = 0.0f;
bwang 42:030e0ec4eac5 115 control.q_integral = 0.0f;
bwang 42:030e0ec4eac5 116 control_enabled = true;
bwang 42:030e0ec4eac5 117 io.en->write(1);
bwang 42:030e0ec4eac5 118 }
bwang 42:030e0ec4eac5 119
bwang 42:030e0ec4eac5 120 void go_disabled() {
bwang 42:030e0ec4eac5 121 control_enabled = false;
bwang 42:030e0ec4eac5 122 io.en->write(0);
bwang 42:030e0ec4eac5 123 }
bwang 42:030e0ec4eac5 124
bwang 42:030e0ec4eac5 125 float update_pid(float old, float x, float str) {
bwang 42:030e0ec4eac5 126 return str * old + (1.0f - str) * x;
bwang 42:030e0ec4eac5 127 }
dicarloj 13:41d102a53caf 128
bwang 1:7b61790f6be9 129 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 1:7b61790f6be9 130 if (TIM1->SR & TIM_SR_UIF ) {
bwang 4:a6669248ce4d 131 ADC1->CR2 |= 0x40000000;
bwang 4:a6669248ce4d 132 volatile int delay;
bwang 4:a6669248ce4d 133 for (delay = 0; delay < 35; delay++);
bwang 42:030e0ec4eac5 134 read.adval1 = ADC1->DR;
bwang 42:030e0ec4eac5 135 read.adval2 = ADC2->DR;
bwang 4:a6669248ce4d 136 commutate();
bwang 1:7b61790f6be9 137 }
bwang 1:7b61790f6be9 138 TIM1->SR = 0x00;
bwang 1:7b61790f6be9 139 }
bwang 1:7b61790f6be9 140
bwang 0:bac9c3a3a6ca 141 int main() {
bwang 42:030e0ec4eac5 142 BREMSInit(&io, &read, &foc, &control, false);
bwang 42:030e0ec4eac5 143 dq = new LutMapper();
bwang 42:030e0ec4eac5 144 th = new DrivingThrottleMapper();
bwang 0:bac9c3a3a6ca 145
bwang 0:bac9c3a3a6ca 146 for (;;) {
bwang 0:bac9c3a3a6ca 147 }
bwang 42:030e0ec4eac5 148 }