Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@82:5e741c5ffd9f, 2017-03-10 (annotated)

Committer:
bwang
Date:
Fri Mar 10 08:29:13 2017 +0000
Revision:
82:5e741c5ffd9f
Parent:
76:c66014e50384
Child:
83:eb3704d4943f
things somewhat work?

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 82:5e741c5ffd9f 11 #include "PreferenceWriter.h"
bwang 82:5e741c5ffd9f 12 #include "CommandProcessor.h"
bwang 42:030e0ec4eac5 13
bwang 42:030e0ec4eac5 14 #include "BREMSStructs.h"
bwang 42:030e0ec4eac5 15 #include "BREMSConfig.h"
bwang 30:c25c5bf0d951 16
bwang 82:5e741c5ffd9f 17 #include "config.h"
bwang 15:b583cd30b063 18 #include "config_motor.h"
bwang 15:b583cd30b063 19 #include "config_loop.h"
bwang 19:a6cf15f89f3d 20 #include "config_pins.h"
bwang 15:b583cd30b063 21 #include "config_inverter.h"
bwang 29:50e6e4e46580 22 #include "config_driving.h"
bwang 72:5f1da97d62e1 23 #include "config_logging.h"
bwang 0:bac9c3a3a6ca 24
bwang 42:030e0ec4eac5 25 #include "main.h"
bwang 0:bac9c3a3a6ca 26
bwang 42:030e0ec4eac5 27 IOStruct io;
bwang 42:030e0ec4eac5 28 ReadDataStruct read;
bwang 42:030e0ec4eac5 29 FOCStruct foc;
bwang 42:030e0ec4eac5 30 ControlStruct control;
bwang 2:eabe8feaaabb 31
bwang 42:030e0ec4eac5 32 DQMapper *dq;
bwang 42:030e0ec4eac5 33 ThrottleMapper *th;
bwang 2:eabe8feaaabb 34
bwang 44:3fd6a43b91f0 35 int loop_counter = 0;
bwang 82:5e741c5ffd9f 36 float user_cmd = 0.0f;
dicarloj 13:41d102a53caf 37
bwang 42:030e0ec4eac5 38 void update_velocity() {
bwang 42:030e0ec4eac5 39 read.last_p_mech = read.p_mech;
bwang 42:030e0ec4eac5 40 read.p_mech = io.pos->GetMechPosition();
bwang 44:3fd6a43b91f0 41
bwang 42:030e0ec4eac5 42 float dp_mech = read.p_mech - read.last_p_mech;
bwang 42:030e0ec4eac5 43 if (dp_mech < -PI) dp_mech += 2 * PI;
bwang 42:030e0ec4eac5 44 if (dp_mech > PI) dp_mech -= 2 * PI;
bwang 44:3fd6a43b91f0 45
bwang 42:030e0ec4eac5 46 float w_raw = dp_mech * F_SW; //rad/s
bwang 42:030e0ec4eac5 47 if (w_raw > W_CRAZY) w_raw = read.w; //with this limiting scheme noise < 0
bwang 42:030e0ec4eac5 48 if (w_raw < -W_CRAZY) w_raw = read.w; //so we need to throw out the large deltas first
bwang 44:3fd6a43b91f0 49
bwang 44:3fd6a43b91f0 50 read.w = update_filter(read.w, w_raw, W_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 51 }
bwang 2:eabe8feaaabb 52
bwang 75:591556ce033d 53 void commutate() {
bwang 56:c681001dfa46 54 /*safety checks, do we do anything this cycle?*/
bwang 82:5e741c5ffd9f 55 if (!control.enabled && io.throttle_in->get_enabled() && io.pos->IsValid() && is_driving()) {
bwang 52:fd3d8df99287 56 go_enabled();
bwang 52:fd3d8df99287 57 }
bwang 42:030e0ec4eac5 58
bwang 42:030e0ec4eac5 59 /*update velocity, references*/
bwang 42:030e0ec4eac5 60 update_velocity();
bwang 44:3fd6a43b91f0 61 if (loop_counter % SLOW_LOOP_COUNTER == 0) {
bwang 44:3fd6a43b91f0 62 loop_counter = 0;
bwang 44:3fd6a43b91f0 63 slow_loop();
bwang 44:3fd6a43b91f0 64 }
bwang 44:3fd6a43b91f0 65 loop_counter++;
bwang 42:030e0ec4eac5 66
bwang 42:030e0ec4eac5 67 /*update position, sin, cos*/
bwang 42:030e0ec4eac5 68 foc.p = io.pos->GetElecPosition() - POS_OFFSET;
bwang 42:030e0ec4eac5 69 float sin_p = sinf(foc.p);
bwang 42:030e0ec4eac5 70 float cos_p = cosf(foc.p);
bwang 42:030e0ec4eac5 71
bwang 49:da8604278d76 72 /*scale and offset currents (adval1, 2 are updated in ISR)*/
bwang 42:030e0ec4eac5 73 foc.ia = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ia_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 74 foc.ib = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ib_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 75
bwang 42:030e0ec4eac5 76 /*compute d, q*/
bwang 42:030e0ec4eac5 77 clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta);
bwang 42:030e0ec4eac5 78 park(foc.alpha, foc.beta, sin_p, cos_p, &foc.d, &foc.q);
bwang 42:030e0ec4eac5 79
bwang 82:5e741c5ffd9f 80 /*get references*/
bwang 82:5e741c5ffd9f 81 /*happens here, as we may want other controllers running each cycle*/
bwang 82:5e741c5ffd9f 82 dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref);
bwang 82:5e741c5ffd9f 83
bwang 42:030e0ec4eac5 84 /*PI controller*/
bwang 44:3fd6a43b91f0 85 control.d_filtered = update_filter(control.d_filtered, foc.d, DQ_FILTER_STRENGTH);
bwang 44:3fd6a43b91f0 86 control.q_filtered = update_filter(control.q_filtered, foc.q, DQ_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 87
bwang 42:030e0ec4eac5 88 float d_err = control.d_ref - control.d_filtered;
bwang 42:030e0ec4eac5 89 float q_err = control.q_ref - control.q_filtered;
bwang 42:030e0ec4eac5 90
bwang 58:7316c5a4c417 91 control.d_integral += d_err * KI_D;
bwang 58:7316c5a4c417 92 control.q_integral += q_err * KI_Q;
bwang 42:030e0ec4eac5 93
bwang 64:b4175385d718 94 constrain_norm(&control.d_integral, &control.q_integral, 0.5f, 1.0f, 1.0f);
bwang 42:030e0ec4eac5 95
bwang 58:7316c5a4c417 96 foc.vd = KP_D * d_err + control.d_integral;// - Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f;
bwang 58:7316c5a4c417 97 foc.vq = KP_Q * q_err + control.q_integral;// + Ld * POLE_PAIRS * read.w * foc.d / BUS_VOLTAGE / 2.0f;
bwang 42:030e0ec4eac5 98
bwang 64:b4175385d718 99 constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f);
bwang 42:030e0ec4eac5 100
bwang 82:5e741c5ffd9f 101 if (!control.enabled) {
bwang 42:030e0ec4eac5 102 foc.vd = 0.0f;
bwang 42:030e0ec4eac5 103 foc.vq = 0.0f;
bwang 42:030e0ec4eac5 104 }
bwang 42:030e0ec4eac5 105
bwang 42:030e0ec4eac5 106 /*inverse transforms*/
bwang 42:030e0ec4eac5 107 invpark(foc.vd, foc.vq, sin_p, cos_p, &foc.valpha, &foc.vbeta);
bwang 42:030e0ec4eac5 108
bwang 42:030e0ec4eac5 109 float va, vb, vc, voff;
bwang 42:030e0ec4eac5 110
bwang 42:030e0ec4eac5 111 invclarke(foc.valpha, foc.vbeta, &va, &vb);
bwang 42:030e0ec4eac5 112 vc = -va - vb;
bwang 42:030e0ec4eac5 113
bwang 42:030e0ec4eac5 114 /*SVPWM*/
bwang 44:3fd6a43b91f0 115 voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
bwang 42:030e0ec4eac5 116 va = va - voff;
bwang 42:030e0ec4eac5 117 vb = vb - voff;
bwang 42:030e0ec4eac5 118 vc = vc - voff;
bwang 42:030e0ec4eac5 119
bwang 56:c681001dfa46 120 /*safety checks, reset integral*/
bwang 56:c681001dfa46 121 if (!io.throttle_in->get_enabled() || !io.pos->IsValid() || !is_driving()) {
bwang 56:c681001dfa46 122 /*do this even in disabled state, to keep integral down*/
bwang 56:c681001dfa46 123 go_disabled();
bwang 56:c681001dfa46 124 }
bwang 56:c681001dfa46 125
bwang 42:030e0ec4eac5 126 /*output to timers*/
bwang 47:1c9868e226d0 127 set_dtc(io.a, 0.5f + 0.5f * va);
bwang 47:1c9868e226d0 128 set_dtc(io.b, 0.5f + 0.5f * vb);
bwang 47:1c9868e226d0 129 set_dtc(io.c, 0.5f + 0.5f * vc);
bwang 42:030e0ec4eac5 130 }
bwang 42:030e0ec4eac5 131
bwang 44:3fd6a43b91f0 132 void slow_loop() {
bwang 82:5e741c5ffd9f 133 switch (BREMS_src) {
bwang 82:5e741c5ffd9f 134 case CMD_SRC_RC:
bwang 82:5e741c5ffd9f 135 user_cmd = update_filter(user_cmd, io.throttle_in->get_throttle(), THROTTLE_FILTER_STRENGTH);
bwang 82:5e741c5ffd9f 136 break;
bwang 82:5e741c5ffd9f 137 case CMD_SRC_ANALOG:
bwang 82:5e741c5ffd9f 138 //analog code here;
bwang 82:5e741c5ffd9f 139 break;
bwang 82:5e741c5ffd9f 140 case CMD_SRC_TERMINAL:
bwang 82:5e741c5ffd9f 141 case CMD_SRC_SERIAL:
bwang 82:5e741c5ffd9f 142 case CMD_SRC_CAN:
bwang 82:5e741c5ffd9f 143 case CMD_SRC_INTERNAL:
bwang 82:5e741c5ffd9f 144 default:
bwang 82:5e741c5ffd9f 145 break;
bwang 82:5e741c5ffd9f 146 }
bwang 82:5e741c5ffd9f 147 switch (BREMS_op) {
bwang 82:5e741c5ffd9f 148 case OP_TORQUE:
bwang 82:5e741c5ffd9f 149 control.torque_percent = user_cmd;
bwang 82:5e741c5ffd9f 150 break;
bwang 82:5e741c5ffd9f 151 case OP_DRIVING:
bwang 82:5e741c5ffd9f 152 control.torque_percent = th->map(user_cmd, read.w);
bwang 82:5e741c5ffd9f 153 break;
bwang 82:5e741c5ffd9f 154 case OP_SPEED:
bwang 82:5e741c5ffd9f 155 //set velocity setpoint here;
bwang 82:5e741c5ffd9f 156 break;
bwang 82:5e741c5ffd9f 157 case OP_POSITION:
bwang 82:5e741c5ffd9f 158 //set pos setpoint here;
bwang 82:5e741c5ffd9f 159 break;
bwang 82:5e741c5ffd9f 160 }
bwang 70:5e39beeb4a21 161 }
bwang 70:5e39beeb4a21 162
bwang 1:7b61790f6be9 163 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 75:591556ce033d 164 int start_state = io.throttle_in->state();
bwang 1:7b61790f6be9 165 if (TIM1->SR & TIM_SR_UIF ) {
bwang 4:a6669248ce4d 166 ADC1->CR2 |= 0x40000000;
bwang 4:a6669248ce4d 167 volatile int delay;
bwang 4:a6669248ce4d 168 for (delay = 0; delay < 35; delay++);
bwang 42:030e0ec4eac5 169 read.adval1 = ADC1->DR;
bwang 42:030e0ec4eac5 170 read.adval2 = ADC2->DR;
bwang 4:a6669248ce4d 171 commutate();
bwang 1:7b61790f6be9 172 }
bwang 1:7b61790f6be9 173 TIM1->SR = 0x00;
bwang 75:591556ce033d 174 int end_state = io.throttle_in->state();
bwang 75:591556ce033d 175 if (start_state != end_state) io.throttle_in->block();
bwang 1:7b61790f6be9 176 }
bwang 1:7b61790f6be9 177
bwang 0:bac9c3a3a6ca 178 int main() {
bwang 59:0416da6c3060 179 dq = new LutMapper();
bwang 45:cf8ad81fb0f0 180 th = new NullThrottleMapper();
bwang 82:5e741c5ffd9f 181
bwang 82:5e741c5ffd9f 182 BREMSInit(&io, &read, &foc, &control);
bwang 82:5e741c5ffd9f 183 io.pc->attach(rxCallback);
bwang 48:a1a09c83d42c 184
bwang 0:bac9c3a3a6ca 185 for (;;) {
bwang 0:bac9c3a3a6ca 186 }
bwang 42:030e0ec4eac5 187 }