Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@13:41d102a53caf, 2016-10-30 (annotated)

Committer:
dicarloj
Date:
Sun Oct 30 02:06:03 2016 +0000
Revision:
13:41d102a53caf
Parent:
12:5723a4fa5864
Child:
14:59c4fcc1a4f7
IT WORKS THIS VERSION

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 0:bac9c3a3a6ca 3 #include "PositionSensor.h"
bwang 0:bac9c3a3a6ca 4 #include "FastPWM.h"
bwang 0:bac9c3a3a6ca 5 #include "Transforms.h"
bwang 0:bac9c3a3a6ca 6 #include "config.h"
dicarloj 13:41d102a53caf 7 #include "pwm_in.h"
bwang 0:bac9c3a3a6ca 8
bwang 1:7b61790f6be9 9 FastPWM *a;
bwang 1:7b61790f6be9 10 FastPWM *b;
bwang 1:7b61790f6be9 11 FastPWM *c;
bwang 0:bac9c3a3a6ca 12 DigitalOut en(EN);
bwang 1:7b61790f6be9 13 DigitalOut toggle(PC_10);
dicarloj 13:41d102a53caf 14 PWM_IN p_in(PB_8, 1100, 1900);
dicarloj 13:41d102a53caf 15 bool control_enabled = false;
bwang 0:bac9c3a3a6ca 16 PositionSensorEncoder pos(CPR, 0);
bwang 0:bac9c3a3a6ca 17
bwang 0:bac9c3a3a6ca 18 Serial pc(USBTX, USBRX);
bwang 0:bac9c3a3a6ca 19
bwang 1:7b61790f6be9 20 int state = 0;
bwang 1:7b61790f6be9 21 int adval1, adval2;
bwang 2:eabe8feaaabb 22 float ia, ib, ic, alpha, beta, d, q, vd, vq, p;
bwang 2:eabe8feaaabb 23
bwang 1:7b61790f6be9 24 float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV)
bwang 1:7b61790f6be9 25
bwang 2:eabe8feaaabb 26 float d_integral = 0.0f, q_integral = 0.0f;
bwang 2:eabe8feaaabb 27 float last_d = 0.0f, last_q = 0.0f;
bwang 11:133bd48c1b22 28 float d_ref = 0.0f, q_ref = 50.0f;
bwang 2:eabe8feaaabb 29
dicarloj 13:41d102a53caf 30
bwang 4:a6669248ce4d 31 void commutate();
bwang 3:9b20da3f0055 32 void zero_current();
bwang 3:9b20da3f0055 33 void config_globals();
bwang 3:9b20da3f0055 34 void startup_msg();
bwang 2:eabe8feaaabb 35
dicarloj 13:41d102a53caf 36 void go_enabled()
dicarloj 13:41d102a53caf 37 {
dicarloj 13:41d102a53caf 38 d_integral = 0.0f;
dicarloj 13:41d102a53caf 39 q_integral = 0.0f;
dicarloj 13:41d102a53caf 40 control_enabled = true;
dicarloj 13:41d102a53caf 41 en = 1;
dicarloj 13:41d102a53caf 42 }
dicarloj 13:41d102a53caf 43
dicarloj 13:41d102a53caf 44 void go_disabled()
dicarloj 13:41d102a53caf 45 {
dicarloj 13:41d102a53caf 46 control_enabled = false;
dicarloj 13:41d102a53caf 47 en = 0;
dicarloj 13:41d102a53caf 48 }
dicarloj 13:41d102a53caf 49
dicarloj 13:41d102a53caf 50 float fminf(float a, float b)
dicarloj 13:41d102a53caf 51 {
dicarloj 13:41d102a53caf 52 if(a < b) return a;
dicarloj 13:41d102a53caf 53 return b;
dicarloj 13:41d102a53caf 54 }
dicarloj 13:41d102a53caf 55
dicarloj 13:41d102a53caf 56 float fmaxf(float a, float b)
dicarloj 13:41d102a53caf 57 {
dicarloj 13:41d102a53caf 58 if(a > b) return a;
dicarloj 13:41d102a53caf 59 return b;
dicarloj 13:41d102a53caf 60 }
dicarloj 13:41d102a53caf 61
bwang 1:7b61790f6be9 62 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 1:7b61790f6be9 63 if (TIM1->SR & TIM_SR_UIF ) {
bwang 4:a6669248ce4d 64 toggle = 1;
bwang 4:a6669248ce4d 65 ADC1->CR2 |= 0x40000000;
bwang 4:a6669248ce4d 66 volatile int delay;
bwang 4:a6669248ce4d 67 for (delay = 0; delay < 35; delay++);
bwang 4:a6669248ce4d 68 toggle = 0;
bwang 1:7b61790f6be9 69 adval1 = ADC1->DR;
bwang 1:7b61790f6be9 70 adval2 = ADC2->DR;
bwang 4:a6669248ce4d 71 commutate();
bwang 1:7b61790f6be9 72 }
bwang 1:7b61790f6be9 73 TIM1->SR = 0x00;
bwang 1:7b61790f6be9 74 }
bwang 1:7b61790f6be9 75
bwang 1:7b61790f6be9 76 void zero_current(){
bwang 1:7b61790f6be9 77 for (int i = 0; i < 1000; i++){
bwang 1:7b61790f6be9 78 ia_supp_offset += (float) (ADC1->DR);
bwang 1:7b61790f6be9 79 ib_supp_offset += (float) (ADC2->DR);
bwang 1:7b61790f6be9 80 ADC1->CR2 |= 0x40000000;
bwang 1:7b61790f6be9 81 wait_us(100);
bwang 1:7b61790f6be9 82 }
bwang 1:7b61790f6be9 83 ia_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 84 ib_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 85 ia_supp_offset = ia_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 86 ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 87 }
bwang 0:bac9c3a3a6ca 88
bwang 0:bac9c3a3a6ca 89 void config_globals() {
bwang 0:bac9c3a3a6ca 90 pc.baud(115200);
bwang 0:bac9c3a3a6ca 91
bwang 1:7b61790f6be9 92 //Enable clocks for GPIOs
bwang 1:7b61790f6be9 93 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
bwang 1:7b61790f6be9 94 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
bwang 1:7b61790f6be9 95 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
bwang 1:7b61790f6be9 96
bwang 1:7b61790f6be9 97 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
bwang 1:7b61790f6be9 98
bwang 1:7b61790f6be9 99 a = new FastPWM(PWMA);
bwang 1:7b61790f6be9 100 b = new FastPWM(PWMB);
bwang 1:7b61790f6be9 101 c = new FastPWM(PWMC);
bwang 1:7b61790f6be9 102
bwang 1:7b61790f6be9 103 NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
bwang 1:7b61790f6be9 104
bwang 1:7b61790f6be9 105 TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
bwang 1:7b61790f6be9 106 TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
bwang 1:7b61790f6be9 107 TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
bwang 1:7b61790f6be9 108 TIM1->RCR |= 0x01; //update event once per up/down count of tim1
bwang 1:7b61790f6be9 109 TIM1->EGR |= TIM_EGR_UG;
bwang 1:7b61790f6be9 110
bwang 1:7b61790f6be9 111 TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
bwang 1:7b61790f6be9 112 TIM1->ARR = 0x4650; //5 Khz
bwang 1:7b61790f6be9 113 TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
bwang 1:7b61790f6be9 114 TIM1->CR1 |= TIM_CR1_CEN;
bwang 1:7b61790f6be9 115
bwang 1:7b61790f6be9 116 //ADC Setup
bwang 1:7b61790f6be9 117 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
bwang 1:7b61790f6be9 118 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
bwang 1:7b61790f6be9 119
bwang 1:7b61790f6be9 120 ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
bwang 1:7b61790f6be9 121
bwang 1:7b61790f6be9 122 ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
bwang 1:7b61790f6be9 123 ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
bwang 0:bac9c3a3a6ca 124
bwang 1:7b61790f6be9 125 ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
bwang 1:7b61790f6be9 126 ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
bwang 1:7b61790f6be9 127
bwang 1:7b61790f6be9 128 GPIOA->MODER |= (1 << 8);
bwang 1:7b61790f6be9 129 GPIOA->MODER |= (1 << 9);
bwang 1:7b61790f6be9 130
bwang 1:7b61790f6be9 131 GPIOA->MODER |= (1 << 2);
bwang 1:7b61790f6be9 132 GPIOA->MODER |= (1 << 3);
bwang 1:7b61790f6be9 133
bwang 1:7b61790f6be9 134 GPIOA->MODER |= (1 << 0);
bwang 1:7b61790f6be9 135 GPIOA->MODER |= (1 << 1);
bwang 1:7b61790f6be9 136
bwang 1:7b61790f6be9 137 GPIOB->MODER |= (1 << 0);
bwang 1:7b61790f6be9 138 GPIOB->MODER |= (1 << 1);
bwang 1:7b61790f6be9 139
bwang 1:7b61790f6be9 140 GPIOC->MODER |= (1 << 2);
bwang 1:7b61790f6be9 141 GPIOC->MODER |= (1 << 3);
bwang 1:7b61790f6be9 142
bwang 1:7b61790f6be9 143 //DAC setup
bwang 1:7b61790f6be9 144 RCC->APB1ENR |= 0x20000000;
bwang 1:7b61790f6be9 145 DAC->CR |= DAC_CR_EN2;
bwang 1:7b61790f6be9 146
bwang 1:7b61790f6be9 147 GPIOA->MODER |= (1 << 10);
bwang 1:7b61790f6be9 148 GPIOA->MODER |= (1 << 11);
bwang 1:7b61790f6be9 149
bwang 1:7b61790f6be9 150 //Zero duty cycles
bwang 1:7b61790f6be9 151 set_dtc(a, 0.0f);
bwang 1:7b61790f6be9 152 set_dtc(b, 0.0f);
bwang 1:7b61790f6be9 153 set_dtc(c, 0.0f);
bwang 1:7b61790f6be9 154
bwang 1:7b61790f6be9 155 wait_ms(250);
bwang 1:7b61790f6be9 156 zero_current();
bwang 0:bac9c3a3a6ca 157 en = 1;
bwang 0:bac9c3a3a6ca 158 }
bwang 0:bac9c3a3a6ca 159
bwang 0:bac9c3a3a6ca 160 void startup_msg() {
bwang 0:bac9c3a3a6ca 161 pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
bwang 0:bac9c3a3a6ca 162 pc.printf("%s\n\r", "====Config Data====");
bwang 0:bac9c3a3a6ca 163 pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
bwang 0:bac9c3a3a6ca 164 pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
bwang 0:bac9c3a3a6ca 165 pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
bwang 9:074575151e4b 166 pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS);
bwang 9:074575151e4b 167 pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
bwang 0:bac9c3a3a6ca 168 pc.printf("Loop KP: %f\n\r", KP);
bwang 0:bac9c3a3a6ca 169 pc.printf("Loop KI: %f\n\r", KI);
bwang 1:7b61790f6be9 170 pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
bwang 1:7b61790f6be9 171 pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
bwang 0:bac9c3a3a6ca 172 pc.printf("\n\r");
bwang 0:bac9c3a3a6ca 173 }
bwang 0:bac9c3a3a6ca 174
bwang 4:a6669248ce4d 175 void commutate() {
dicarloj 13:41d102a53caf 176 if(control_enabled && !p_in.get_enabled()) go_disabled();
dicarloj 13:41d102a53caf 177 if(!control_enabled && p_in.get_enabled()) go_enabled();
dicarloj 13:41d102a53caf 178 q_ref = p_in.get_throttle() * Q_MAX;
bwang 2:eabe8feaaabb 179 p = pos.GetElecPosition() - POS_OFFSET;
bwang 0:bac9c3a3a6ca 180 if (p < 0) p += 2 * PI;
bwang 0:bac9c3a3a6ca 181
bwang 2:eabe8feaaabb 182 float sin_p = sinf(p);
bwang 2:eabe8feaaabb 183 float cos_p = cosf(p);
bwang 2:eabe8feaaabb 184
bwang 4:a6669248ce4d 185 //float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
bwang 4:a6669248ce4d 186 //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
bwang 0:bac9c3a3a6ca 187
bwang 1:7b61790f6be9 188 ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
bwang 1:7b61790f6be9 189 ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
bwang 2:eabe8feaaabb 190 ic = -ia - ib;
bwang 0:bac9c3a3a6ca 191
bwang 10:f49df0fe0382 192 float u = CURRENT_U;
bwang 10:f49df0fe0382 193 float v = CURRENT_V;
bwang 2:eabe8feaaabb 194
bwang 2:eabe8feaaabb 195 alpha = u;
bwang 2:eabe8feaaabb 196 beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
bwang 2:eabe8feaaabb 197
bwang 2:eabe8feaaabb 198 d = alpha * cos_p - beta * sin_p;
bwang 2:eabe8feaaabb 199 q = -alpha * sin_p - beta * cos_p;
bwang 2:eabe8feaaabb 200
bwang 3:9b20da3f0055 201 float d_err = d_ref - d;
bwang 3:9b20da3f0055 202 float q_err = q_ref - q;
bwang 2:eabe8feaaabb 203
bwang 2:eabe8feaaabb 204 d_integral += d_err * KI;
bwang 2:eabe8feaaabb 205 q_integral += q_err * KI;
bwang 2:eabe8feaaabb 206
bwang 2:eabe8feaaabb 207 if (q_integral > INTEGRAL_MAX) q_integral = INTEGRAL_MAX;
bwang 2:eabe8feaaabb 208 if (d_integral > INTEGRAL_MAX) d_integral = INTEGRAL_MAX;
bwang 2:eabe8feaaabb 209 if (q_integral < -INTEGRAL_MAX) q_integral = -INTEGRAL_MAX;
bwang 2:eabe8feaaabb 210 if (d_integral < -INTEGRAL_MAX) d_integral = -INTEGRAL_MAX;
bwang 2:eabe8feaaabb 211
dicarloj 13:41d102a53caf 212 if(control_enabled)
dicarloj 13:41d102a53caf 213 {
dicarloj 13:41d102a53caf 214 vd = KP * d_err + d_integral;
dicarloj 13:41d102a53caf 215 vq = KP * q_err + q_integral;
dicarloj 13:41d102a53caf 216 }
dicarloj 13:41d102a53caf 217 else
dicarloj 13:41d102a53caf 218 {
dicarloj 13:41d102a53caf 219 vd = 0;
dicarloj 13:41d102a53caf 220 vq = 0;
dicarloj 13:41d102a53caf 221 }
bwang 2:eabe8feaaabb 222
bwang 2:eabe8feaaabb 223 if (vd < -1.0f) vd = -1.0f;
bwang 2:eabe8feaaabb 224 if (vd > 1.0f) vd = 1.0f;
bwang 2:eabe8feaaabb 225 if (vq < -1.0f) vq = -1.0f;
bwang 2:eabe8feaaabb 226 if (vq > 1.0f) vq = 1.0f;
bwang 2:eabe8feaaabb 227
bwang 4:a6669248ce4d 228 DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048);
bwang 2:eabe8feaaabb 229 //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048);
bwang 2:eabe8feaaabb 230
bwang 4:a6669248ce4d 231 //vd = 0.0f;
bwang 12:5723a4fa5864 232 //vq = 1.0f;
bwang 4:a6669248ce4d 233
bwang 2:eabe8feaaabb 234 float valpha = vd * cos_p - vq * sin_p;
bwang 2:eabe8feaaabb 235 float vbeta = vd * sin_p + vq * cos_p;
bwang 2:eabe8feaaabb 236
bwang 2:eabe8feaaabb 237 float va = valpha;
bwang 2:eabe8feaaabb 238 float vb = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 239 float vc = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 240
dicarloj 13:41d102a53caf 241 float voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;
dicarloj 13:41d102a53caf 242 va = va - voff;
dicarloj 13:41d102a53caf 243 vb = vb - voff;
dicarloj 13:41d102a53caf 244 vc = vc - voff;
dicarloj 13:41d102a53caf 245
bwang 2:eabe8feaaabb 246 set_dtc(a, 0.5f + 0.5f * va);
bwang 2:eabe8feaaabb 247 set_dtc(b, 0.5f + 0.5f * vb);
bwang 2:eabe8feaaabb 248 set_dtc(c, 0.5f + 0.5f * vc);
bwang 0:bac9c3a3a6ca 249 }
bwang 0:bac9c3a3a6ca 250
bwang 0:bac9c3a3a6ca 251 int main() {
bwang 0:bac9c3a3a6ca 252 config_globals();
bwang 0:bac9c3a3a6ca 253 startup_msg();
bwang 0:bac9c3a3a6ca 254
bwang 0:bac9c3a3a6ca 255 for (;;) {
bwang 12:5723a4fa5864 256 //pc.printf("%f\n\r", p);
bwang 12:5723a4fa5864 257 //wait(0.1);
bwang 0:bac9c3a3a6ca 258 }
bwang 0:bac9c3a3a6ca 259 }