Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@19:a6cf15f89f3d, 2016-11-02 (annotated)

Committer:
bwang
Date:
Wed Nov 02 12:52:00 2016 +0000
Revision:
19:a6cf15f89f3d
Parent:
18:3863ca45cf26
Child:
20:91ae97a811e3
formatting changes

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 15:b583cd30b063 9 #include "config_motor.h"
bwang 15:b583cd30b063 10 #include "config_loop.h"
bwang 19:a6cf15f89f3d 11 #include "config_pins.h"
bwang 15:b583cd30b063 12 #include "config_inverter.h"
bwang 0:bac9c3a3a6ca 13
bwang 1:7b61790f6be9 14 FastPWM *a;
bwang 1:7b61790f6be9 15 FastPWM *b;
bwang 1:7b61790f6be9 16 FastPWM *c;
bwang 0:bac9c3a3a6ca 17 DigitalOut en(EN);
bwang 18:3863ca45cf26 18 PwmIn throttle_in(TH_PIN, 1100, 1900);
bwang 0:bac9c3a3a6ca 19 PositionSensorEncoder pos(CPR, 0);
bwang 0:bac9c3a3a6ca 20
bwang 0:bac9c3a3a6ca 21 Serial pc(USBTX, USBRX);
bwang 0:bac9c3a3a6ca 22
bwang 1:7b61790f6be9 23 int adval1, adval2;
bwang 2:eabe8feaaabb 24 float ia, ib, ic, alpha, beta, d, q, vd, vq, p;
bwang 15:b583cd30b063 25 float p_mech, last_p_mech, w;
bwang 2:eabe8feaaabb 26
bwang 1:7b61790f6be9 27 float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV)
bwang 1:7b61790f6be9 28
bwang 2:eabe8feaaabb 29 float d_integral = 0.0f, q_integral = 0.0f;
bwang 2:eabe8feaaabb 30 float last_d = 0.0f, last_q = 0.0f;
bwang 14:59c4fcc1a4f7 31 float d_ref = 0.0f, q_ref = 0.0f;
bwang 2:eabe8feaaabb 32
bwang 16:f283d6032fe5 33 bool control_enabled = false;
dicarloj 13:41d102a53caf 34
bwang 4:a6669248ce4d 35 void commutate();
bwang 3:9b20da3f0055 36 void zero_current();
bwang 3:9b20da3f0055 37 void config_globals();
bwang 3:9b20da3f0055 38 void startup_msg();
bwang 2:eabe8feaaabb 39
bwang 16:f283d6032fe5 40 void go_enabled();
bwang 16:f283d6032fe5 41 void go_disabled();
dicarloj 13:41d102a53caf 42
bwang 1:7b61790f6be9 43 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 1:7b61790f6be9 44 if (TIM1->SR & TIM_SR_UIF ) {
bwang 4:a6669248ce4d 45 ADC1->CR2 |= 0x40000000;
bwang 4:a6669248ce4d 46 volatile int delay;
bwang 4:a6669248ce4d 47 for (delay = 0; delay < 35; delay++);
bwang 1:7b61790f6be9 48 adval1 = ADC1->DR;
bwang 1:7b61790f6be9 49 adval2 = ADC2->DR;
bwang 4:a6669248ce4d 50 commutate();
bwang 1:7b61790f6be9 51 }
bwang 1:7b61790f6be9 52 TIM1->SR = 0x00;
bwang 1:7b61790f6be9 53 }
bwang 1:7b61790f6be9 54
bwang 1:7b61790f6be9 55 void zero_current(){
bwang 1:7b61790f6be9 56 for (int i = 0; i < 1000; i++){
bwang 1:7b61790f6be9 57 ia_supp_offset += (float) (ADC1->DR);
bwang 1:7b61790f6be9 58 ib_supp_offset += (float) (ADC2->DR);
bwang 1:7b61790f6be9 59 ADC1->CR2 |= 0x40000000;
bwang 1:7b61790f6be9 60 wait_us(100);
bwang 1:7b61790f6be9 61 }
bwang 1:7b61790f6be9 62 ia_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 63 ib_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 64 ia_supp_offset = ia_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 65 ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 66 }
bwang 0:bac9c3a3a6ca 67
bwang 17:2b852039bb05 68 void update_velocity() {
bwang 15:b583cd30b063 69 last_p_mech = p_mech;
bwang 15:b583cd30b063 70 p_mech = pos.GetMechPosition();
bwang 15:b583cd30b063 71 float dp_mech = p_mech - last_p_mech;
bwang 19:a6cf15f89f3d 72 if (dp_mech < -PI) dp_mech += 2 * PI;
bwang 19:a6cf15f89f3d 73 if (dp_mech > PI) dp_mech -= 2 * PI;
bwang 15:b583cd30b063 74 float loop_period = (float) (TIM1->ARR) / 90.0f;
bwang 15:b583cd30b063 75 float w_raw = dp_mech * (float) 1e6 / loop_period; //rad/s
bwang 15:b583cd30b063 76 w = W_FILTER_STRENGTH * w + (1.0f - W_FILTER_STRENGTH) * w_raw;
bwang 18:3863ca45cf26 77 }
bwang 18:3863ca45cf26 78
bwang 18:3863ca45cf26 79 float get_torque_cmd(float throttle, float w) {
bwang 19:a6cf15f89f3d 80 return throttle * FORWARD_TORQUE_MAX;
bwang 18:3863ca45cf26 81 }
bwang 18:3863ca45cf26 82
bwang 18:3863ca45cf26 83 //fill in d, q ref based on torque cmd and current velocity
bwang 18:3863ca45cf26 84 void get_dq(float torque, float w, float *d, float *q) {
bwang 18:3863ca45cf26 85 *d = 0.0f;
bwang 18:3863ca45cf26 86 *q = torque / KT < Q_MAX ? torque / KT : Q_MAX;
bwang 18:3863ca45cf26 87 }
bwang 17:2b852039bb05 88
bwang 17:2b852039bb05 89 void commutate() {
bwang 18:3863ca45cf26 90 if(control_enabled && !throttle_in.get_enabled()) go_disabled();
bwang 18:3863ca45cf26 91 if(!control_enabled && throttle_in.get_enabled()) go_enabled();
bwang 17:2b852039bb05 92
bwang 17:2b852039bb05 93 update_velocity();
bwang 17:2b852039bb05 94
bwang 17:2b852039bb05 95 p = pos.GetElecPosition() - POS_OFFSET;
bwang 17:2b852039bb05 96 if (p < 0) p += 2 * PI;
bwang 15:b583cd30b063 97
bwang 18:3863ca45cf26 98 float torque = get_torque_cmd(throttle_in.get_throttle(), w);
bwang 19:a6cf15f89f3d 99 get_dq(torque, w, &d_ref, &q_ref);
bwang 16:f283d6032fe5 100
bwang 2:eabe8feaaabb 101 float sin_p = sinf(p);
bwang 2:eabe8feaaabb 102 float cos_p = cosf(p);
bwang 2:eabe8feaaabb 103
bwang 14:59c4fcc1a4f7 104 //float pos_dac = 0.85f * p / (2 * PI) + 0.05f; //uncomment me to write position to the DAC
bwang 4:a6669248ce4d 105 //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
bwang 0:bac9c3a3a6ca 106
bwang 1:7b61790f6be9 107 ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
bwang 1:7b61790f6be9 108 ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
bwang 2:eabe8feaaabb 109 ic = -ia - ib;
bwang 0:bac9c3a3a6ca 110
bwang 10:f49df0fe0382 111 float u = CURRENT_U;
bwang 10:f49df0fe0382 112 float v = CURRENT_V;
bwang 2:eabe8feaaabb 113
bwang 2:eabe8feaaabb 114 alpha = u;
bwang 2:eabe8feaaabb 115 beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
bwang 2:eabe8feaaabb 116
bwang 2:eabe8feaaabb 117 d = alpha * cos_p - beta * sin_p;
bwang 2:eabe8feaaabb 118 q = -alpha * sin_p - beta * cos_p;
bwang 2:eabe8feaaabb 119
bwang 3:9b20da3f0055 120 float d_err = d_ref - d;
bwang 3:9b20da3f0055 121 float q_err = q_ref - q;
bwang 2:eabe8feaaabb 122
bwang 2:eabe8feaaabb 123 d_integral += d_err * KI;
bwang 2:eabe8feaaabb 124 q_integral += q_err * KI;
bwang 2:eabe8feaaabb 125
bwang 2:eabe8feaaabb 126 if (q_integral > INTEGRAL_MAX) q_integral = INTEGRAL_MAX;
bwang 2:eabe8feaaabb 127 if (d_integral > INTEGRAL_MAX) d_integral = INTEGRAL_MAX;
bwang 2:eabe8feaaabb 128 if (q_integral < -INTEGRAL_MAX) q_integral = -INTEGRAL_MAX;
bwang 2:eabe8feaaabb 129 if (d_integral < -INTEGRAL_MAX) d_integral = -INTEGRAL_MAX;
bwang 2:eabe8feaaabb 130
bwang 14:59c4fcc1a4f7 131 if(control_enabled) {
dicarloj 13:41d102a53caf 132 vd = KP * d_err + d_integral;
dicarloj 13:41d102a53caf 133 vq = KP * q_err + q_integral;
bwang 14:59c4fcc1a4f7 134 } else {
dicarloj 13:41d102a53caf 135 vd = 0;
dicarloj 13:41d102a53caf 136 vq = 0;
dicarloj 13:41d102a53caf 137 }
bwang 2:eabe8feaaabb 138
bwang 2:eabe8feaaabb 139 if (vd < -1.0f) vd = -1.0f;
bwang 2:eabe8feaaabb 140 if (vd > 1.0f) vd = 1.0f;
bwang 2:eabe8feaaabb 141 if (vq < -1.0f) vq = -1.0f;
bwang 2:eabe8feaaabb 142 if (vq > 1.0f) vq = 1.0f;
bwang 2:eabe8feaaabb 143
bwang 15:b583cd30b063 144 //DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048); //uncomment me to write I_q to the DAC
bwang 2:eabe8feaaabb 145 //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048);
bwang 2:eabe8feaaabb 146
bwang 14:59c4fcc1a4f7 147 //vd = 0.0f; //uncomment me for voltage mode testing
bwang 12:5723a4fa5864 148 //vq = 1.0f;
bwang 4:a6669248ce4d 149
bwang 2:eabe8feaaabb 150 float valpha = vd * cos_p - vq * sin_p;
bwang 2:eabe8feaaabb 151 float vbeta = vd * sin_p + vq * cos_p;
bwang 2:eabe8feaaabb 152
bwang 2:eabe8feaaabb 153 float va = valpha;
bwang 2:eabe8feaaabb 154 float vb = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 155 float vc = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 156
dicarloj 13:41d102a53caf 157 float voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;
dicarloj 13:41d102a53caf 158 va = va - voff;
dicarloj 13:41d102a53caf 159 vb = vb - voff;
dicarloj 13:41d102a53caf 160 vc = vc - voff;
dicarloj 13:41d102a53caf 161
bwang 2:eabe8feaaabb 162 set_dtc(a, 0.5f + 0.5f * va);
bwang 2:eabe8feaaabb 163 set_dtc(b, 0.5f + 0.5f * vb);
bwang 2:eabe8feaaabb 164 set_dtc(c, 0.5f + 0.5f * vc);
bwang 0:bac9c3a3a6ca 165 }
bwang 0:bac9c3a3a6ca 166
bwang 0:bac9c3a3a6ca 167 int main() {
bwang 0:bac9c3a3a6ca 168 config_globals();
bwang 0:bac9c3a3a6ca 169 startup_msg();
bwang 0:bac9c3a3a6ca 170
bwang 0:bac9c3a3a6ca 171 for (;;) {
bwang 12:5723a4fa5864 172 //pc.printf("%f\n\r", p);
bwang 12:5723a4fa5864 173 //wait(0.1);
bwang 0:bac9c3a3a6ca 174 }
bwang 0:bac9c3a3a6ca 175 }
bwang 16:f283d6032fe5 176
bwang 16:f283d6032fe5 177 void go_enabled() {
bwang 16:f283d6032fe5 178 d_integral = 0.0f;
bwang 16:f283d6032fe5 179 q_integral = 0.0f;
bwang 16:f283d6032fe5 180 control_enabled = true;
bwang 16:f283d6032fe5 181 en = 1;
bwang 16:f283d6032fe5 182 }
bwang 16:f283d6032fe5 183
bwang 16:f283d6032fe5 184 void go_disabled() {
bwang 16:f283d6032fe5 185 control_enabled = false;
bwang 16:f283d6032fe5 186 en = 0;
bwang 16:f283d6032fe5 187 }
bwang 16:f283d6032fe5 188
bwang 17:2b852039bb05 189 void startup_msg() {
bwang 17:2b852039bb05 190 pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
bwang 17:2b852039bb05 191 pc.printf("%s\n\r", "====Config Data====");
bwang 17:2b852039bb05 192 pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
bwang 17:2b852039bb05 193 pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
bwang 17:2b852039bb05 194 pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
bwang 17:2b852039bb05 195 pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS);
bwang 17:2b852039bb05 196 pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
bwang 17:2b852039bb05 197 pc.printf("Loop KP: %f\n\r", KP);
bwang 17:2b852039bb05 198 pc.printf("Loop KI: %f\n\r", KI);
bwang 17:2b852039bb05 199 pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
bwang 17:2b852039bb05 200 pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
bwang 17:2b852039bb05 201 pc.printf("\n\r");
bwang 17:2b852039bb05 202 }
bwang 17:2b852039bb05 203
bwang 17:2b852039bb05 204 void config_globals() {
bwang 17:2b852039bb05 205 pc.baud(115200);
bwang 17:2b852039bb05 206
bwang 17:2b852039bb05 207 //Enable clocks for GPIOs
bwang 17:2b852039bb05 208 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
bwang 17:2b852039bb05 209 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
bwang 17:2b852039bb05 210 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
bwang 17:2b852039bb05 211
bwang 17:2b852039bb05 212 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
bwang 17:2b852039bb05 213
bwang 17:2b852039bb05 214 a = new FastPWM(PWMA);
bwang 17:2b852039bb05 215 b = new FastPWM(PWMB);
bwang 17:2b852039bb05 216 c = new FastPWM(PWMC);
bwang 17:2b852039bb05 217
bwang 17:2b852039bb05 218 NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
bwang 17:2b852039bb05 219
bwang 17:2b852039bb05 220 TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
bwang 17:2b852039bb05 221 TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
bwang 17:2b852039bb05 222 TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
bwang 17:2b852039bb05 223 TIM1->RCR |= 0x01; //update event once per up/down count of tim1
bwang 17:2b852039bb05 224 TIM1->EGR |= TIM_EGR_UG;
bwang 17:2b852039bb05 225
bwang 17:2b852039bb05 226 TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
bwang 17:2b852039bb05 227 TIM1->ARR = 0x4650; //5 Khz
bwang 17:2b852039bb05 228 TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
bwang 17:2b852039bb05 229 TIM1->CR1 |= TIM_CR1_CEN;
bwang 17:2b852039bb05 230
bwang 17:2b852039bb05 231 //ADC Setup
bwang 17:2b852039bb05 232 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
bwang 17:2b852039bb05 233 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
bwang 17:2b852039bb05 234
bwang 17:2b852039bb05 235 ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
bwang 17:2b852039bb05 236
bwang 17:2b852039bb05 237 ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
bwang 17:2b852039bb05 238 ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
bwang 17:2b852039bb05 239
bwang 17:2b852039bb05 240 ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
bwang 17:2b852039bb05 241 ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
bwang 17:2b852039bb05 242
bwang 17:2b852039bb05 243 GPIOA->MODER |= (1 << 8);
bwang 17:2b852039bb05 244 GPIOA->MODER |= (1 << 9);
bwang 17:2b852039bb05 245
bwang 17:2b852039bb05 246 GPIOA->MODER |= (1 << 2);
bwang 17:2b852039bb05 247 GPIOA->MODER |= (1 << 3);
bwang 17:2b852039bb05 248
bwang 17:2b852039bb05 249 GPIOA->MODER |= (1 << 0);
bwang 17:2b852039bb05 250 GPIOA->MODER |= (1 << 1);
bwang 17:2b852039bb05 251
bwang 17:2b852039bb05 252 GPIOB->MODER |= (1 << 0);
bwang 17:2b852039bb05 253 GPIOB->MODER |= (1 << 1);
bwang 17:2b852039bb05 254
bwang 17:2b852039bb05 255 GPIOC->MODER |= (1 << 2);
bwang 17:2b852039bb05 256 GPIOC->MODER |= (1 << 3);
bwang 17:2b852039bb05 257
bwang 17:2b852039bb05 258 //DAC setup
bwang 17:2b852039bb05 259 RCC->APB1ENR |= 0x20000000;
bwang 17:2b852039bb05 260 DAC->CR |= DAC_CR_EN2;
bwang 17:2b852039bb05 261
bwang 17:2b852039bb05 262 GPIOA->MODER |= (1 << 10);
bwang 17:2b852039bb05 263 GPIOA->MODER |= (1 << 11);
bwang 17:2b852039bb05 264
bwang 17:2b852039bb05 265 //Zero duty cycles
bwang 17:2b852039bb05 266 set_dtc(a, 0.0f);
bwang 17:2b852039bb05 267 set_dtc(b, 0.0f);
bwang 17:2b852039bb05 268 set_dtc(c, 0.0f);
bwang 17:2b852039bb05 269
bwang 17:2b852039bb05 270 wait_ms(250);
bwang 17:2b852039bb05 271 zero_current();
bwang 17:2b852039bb05 272 p_mech = pos.GetMechPosition();
bwang 17:2b852039bb05 273 en = 1;
bwang 17:2b852039bb05 274 }