Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@15:b583cd30b063, 2016-10-30 (annotated)

Committer:
bwang
Date:
Sun Oct 30 22:16:30 2016 +0000
Revision:
15:b583cd30b063
Parent:
14:59c4fcc1a4f7
Child:
16:f283d6032fe5
split config.h into three config headers

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 15:b583cd30b063 6 #include "config_motor.h"
bwang 15:b583cd30b063 7 #include "config_loop.h"
bwang 15:b583cd30b063 8 #include "config_inverter.h"
dicarloj 13:41d102a53caf 9 #include "pwm_in.h"
bwang 0:bac9c3a3a6ca 10
bwang 1:7b61790f6be9 11 FastPWM *a;
bwang 1:7b61790f6be9 12 FastPWM *b;
bwang 1:7b61790f6be9 13 FastPWM *c;
bwang 0:bac9c3a3a6ca 14 DigitalOut en(EN);
bwang 1:7b61790f6be9 15 DigitalOut toggle(PC_10);
bwang 15:b583cd30b063 16 PWM_IN p_in(TH_PIN, 1100, 1900);
dicarloj 13:41d102a53caf 17 bool control_enabled = false;
bwang 0:bac9c3a3a6ca 18 PositionSensorEncoder pos(CPR, 0);
bwang 0:bac9c3a3a6ca 19
bwang 0:bac9c3a3a6ca 20 Serial pc(USBTX, USBRX);
bwang 0:bac9c3a3a6ca 21
bwang 1:7b61790f6be9 22 int state = 0;
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
dicarloj 13:41d102a53caf 33
bwang 4:a6669248ce4d 34 void commutate();
bwang 3:9b20da3f0055 35 void zero_current();
bwang 3:9b20da3f0055 36 void config_globals();
bwang 3:9b20da3f0055 37 void startup_msg();
bwang 2:eabe8feaaabb 38
dicarloj 13:41d102a53caf 39 void go_enabled()
dicarloj 13:41d102a53caf 40 {
dicarloj 13:41d102a53caf 41 d_integral = 0.0f;
dicarloj 13:41d102a53caf 42 q_integral = 0.0f;
dicarloj 13:41d102a53caf 43 control_enabled = true;
dicarloj 13:41d102a53caf 44 en = 1;
dicarloj 13:41d102a53caf 45 }
dicarloj 13:41d102a53caf 46
dicarloj 13:41d102a53caf 47 void go_disabled()
dicarloj 13:41d102a53caf 48 {
dicarloj 13:41d102a53caf 49 control_enabled = false;
dicarloj 13:41d102a53caf 50 en = 0;
dicarloj 13:41d102a53caf 51 }
dicarloj 13:41d102a53caf 52
dicarloj 13:41d102a53caf 53 float fminf(float a, float b)
dicarloj 13:41d102a53caf 54 {
dicarloj 13:41d102a53caf 55 if(a < b) return a;
dicarloj 13:41d102a53caf 56 return b;
dicarloj 13:41d102a53caf 57 }
dicarloj 13:41d102a53caf 58
dicarloj 13:41d102a53caf 59 float fmaxf(float a, float b)
dicarloj 13:41d102a53caf 60 {
dicarloj 13:41d102a53caf 61 if(a > b) return a;
dicarloj 13:41d102a53caf 62 return b;
dicarloj 13:41d102a53caf 63 }
dicarloj 13:41d102a53caf 64
bwang 1:7b61790f6be9 65 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 1:7b61790f6be9 66 if (TIM1->SR & TIM_SR_UIF ) {
bwang 4:a6669248ce4d 67 toggle = 1;
bwang 4:a6669248ce4d 68 ADC1->CR2 |= 0x40000000;
bwang 4:a6669248ce4d 69 volatile int delay;
bwang 4:a6669248ce4d 70 for (delay = 0; delay < 35; delay++);
bwang 4:a6669248ce4d 71 toggle = 0;
bwang 1:7b61790f6be9 72 adval1 = ADC1->DR;
bwang 1:7b61790f6be9 73 adval2 = ADC2->DR;
bwang 4:a6669248ce4d 74 commutate();
bwang 1:7b61790f6be9 75 }
bwang 1:7b61790f6be9 76 TIM1->SR = 0x00;
bwang 1:7b61790f6be9 77 }
bwang 1:7b61790f6be9 78
bwang 1:7b61790f6be9 79 void zero_current(){
bwang 1:7b61790f6be9 80 for (int i = 0; i < 1000; i++){
bwang 1:7b61790f6be9 81 ia_supp_offset += (float) (ADC1->DR);
bwang 1:7b61790f6be9 82 ib_supp_offset += (float) (ADC2->DR);
bwang 1:7b61790f6be9 83 ADC1->CR2 |= 0x40000000;
bwang 1:7b61790f6be9 84 wait_us(100);
bwang 1:7b61790f6be9 85 }
bwang 1:7b61790f6be9 86 ia_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 87 ib_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 88 ia_supp_offset = ia_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 89 ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 90 }
bwang 0:bac9c3a3a6ca 91
bwang 0:bac9c3a3a6ca 92 void config_globals() {
bwang 0:bac9c3a3a6ca 93 pc.baud(115200);
bwang 0:bac9c3a3a6ca 94
bwang 1:7b61790f6be9 95 //Enable clocks for GPIOs
bwang 1:7b61790f6be9 96 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
bwang 1:7b61790f6be9 97 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
bwang 1:7b61790f6be9 98 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
bwang 1:7b61790f6be9 99
bwang 1:7b61790f6be9 100 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
bwang 1:7b61790f6be9 101
bwang 1:7b61790f6be9 102 a = new FastPWM(PWMA);
bwang 1:7b61790f6be9 103 b = new FastPWM(PWMB);
bwang 1:7b61790f6be9 104 c = new FastPWM(PWMC);
bwang 1:7b61790f6be9 105
bwang 1:7b61790f6be9 106 NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
bwang 1:7b61790f6be9 107
bwang 1:7b61790f6be9 108 TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
bwang 1:7b61790f6be9 109 TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
bwang 1:7b61790f6be9 110 TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
bwang 1:7b61790f6be9 111 TIM1->RCR |= 0x01; //update event once per up/down count of tim1
bwang 1:7b61790f6be9 112 TIM1->EGR |= TIM_EGR_UG;
bwang 1:7b61790f6be9 113
bwang 1:7b61790f6be9 114 TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
bwang 1:7b61790f6be9 115 TIM1->ARR = 0x4650; //5 Khz
bwang 1:7b61790f6be9 116 TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
bwang 1:7b61790f6be9 117 TIM1->CR1 |= TIM_CR1_CEN;
bwang 1:7b61790f6be9 118
bwang 1:7b61790f6be9 119 //ADC Setup
bwang 1:7b61790f6be9 120 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
bwang 1:7b61790f6be9 121 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
bwang 1:7b61790f6be9 122
bwang 1:7b61790f6be9 123 ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
bwang 1:7b61790f6be9 124
bwang 1:7b61790f6be9 125 ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
bwang 1:7b61790f6be9 126 ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
bwang 0:bac9c3a3a6ca 127
bwang 1:7b61790f6be9 128 ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
bwang 1:7b61790f6be9 129 ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
bwang 1:7b61790f6be9 130
bwang 1:7b61790f6be9 131 GPIOA->MODER |= (1 << 8);
bwang 1:7b61790f6be9 132 GPIOA->MODER |= (1 << 9);
bwang 1:7b61790f6be9 133
bwang 1:7b61790f6be9 134 GPIOA->MODER |= (1 << 2);
bwang 1:7b61790f6be9 135 GPIOA->MODER |= (1 << 3);
bwang 1:7b61790f6be9 136
bwang 1:7b61790f6be9 137 GPIOA->MODER |= (1 << 0);
bwang 1:7b61790f6be9 138 GPIOA->MODER |= (1 << 1);
bwang 1:7b61790f6be9 139
bwang 1:7b61790f6be9 140 GPIOB->MODER |= (1 << 0);
bwang 1:7b61790f6be9 141 GPIOB->MODER |= (1 << 1);
bwang 1:7b61790f6be9 142
bwang 1:7b61790f6be9 143 GPIOC->MODER |= (1 << 2);
bwang 1:7b61790f6be9 144 GPIOC->MODER |= (1 << 3);
bwang 1:7b61790f6be9 145
bwang 1:7b61790f6be9 146 //DAC setup
bwang 1:7b61790f6be9 147 RCC->APB1ENR |= 0x20000000;
bwang 1:7b61790f6be9 148 DAC->CR |= DAC_CR_EN2;
bwang 1:7b61790f6be9 149
bwang 1:7b61790f6be9 150 GPIOA->MODER |= (1 << 10);
bwang 1:7b61790f6be9 151 GPIOA->MODER |= (1 << 11);
bwang 1:7b61790f6be9 152
bwang 1:7b61790f6be9 153 //Zero duty cycles
bwang 1:7b61790f6be9 154 set_dtc(a, 0.0f);
bwang 1:7b61790f6be9 155 set_dtc(b, 0.0f);
bwang 1:7b61790f6be9 156 set_dtc(c, 0.0f);
bwang 1:7b61790f6be9 157
bwang 1:7b61790f6be9 158 wait_ms(250);
bwang 1:7b61790f6be9 159 zero_current();
bwang 15:b583cd30b063 160 p_mech = pos.GetMechPosition();
bwang 0:bac9c3a3a6ca 161 en = 1;
bwang 0:bac9c3a3a6ca 162 }
bwang 0:bac9c3a3a6ca 163
bwang 0:bac9c3a3a6ca 164 void startup_msg() {
bwang 0:bac9c3a3a6ca 165 pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
bwang 0:bac9c3a3a6ca 166 pc.printf("%s\n\r", "====Config Data====");
bwang 0:bac9c3a3a6ca 167 pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
bwang 0:bac9c3a3a6ca 168 pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
bwang 0:bac9c3a3a6ca 169 pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
bwang 9:074575151e4b 170 pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS);
bwang 9:074575151e4b 171 pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
bwang 0:bac9c3a3a6ca 172 pc.printf("Loop KP: %f\n\r", KP);
bwang 0:bac9c3a3a6ca 173 pc.printf("Loop KI: %f\n\r", KI);
bwang 1:7b61790f6be9 174 pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
bwang 1:7b61790f6be9 175 pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
bwang 0:bac9c3a3a6ca 176 pc.printf("\n\r");
bwang 0:bac9c3a3a6ca 177 }
bwang 0:bac9c3a3a6ca 178
bwang 4:a6669248ce4d 179 void commutate() {
dicarloj 13:41d102a53caf 180 if(control_enabled && !p_in.get_enabled()) go_disabled();
dicarloj 13:41d102a53caf 181 if(!control_enabled && p_in.get_enabled()) go_enabled();
dicarloj 13:41d102a53caf 182 q_ref = p_in.get_throttle() * Q_MAX;
bwang 15:b583cd30b063 183
bwang 2:eabe8feaaabb 184 p = pos.GetElecPosition() - POS_OFFSET;
bwang 0:bac9c3a3a6ca 185 if (p < 0) p += 2 * PI;
bwang 0:bac9c3a3a6ca 186
bwang 15:b583cd30b063 187 last_p_mech = p_mech;
bwang 15:b583cd30b063 188 p_mech = pos.GetMechPosition();
bwang 15:b583cd30b063 189 float dp_mech = p_mech - last_p_mech;
bwang 15:b583cd30b063 190 if (dp_mech < 0.0f) dp_mech += 2 * PI;
bwang 15:b583cd30b063 191 if (dp_mech > 2 * PI) dp_mech -= 2 * PI;
bwang 15:b583cd30b063 192 float loop_period = (float) (TIM1->ARR) / 90.0f;
bwang 15:b583cd30b063 193 float w_raw = dp_mech * (float) 1e6 / loop_period; //rad/s
bwang 15:b583cd30b063 194 w = W_FILTER_STRENGTH * w + (1.0f - W_FILTER_STRENGTH) * w_raw;
bwang 15:b583cd30b063 195
bwang 2:eabe8feaaabb 196 float sin_p = sinf(p);
bwang 2:eabe8feaaabb 197 float cos_p = cosf(p);
bwang 2:eabe8feaaabb 198
bwang 14:59c4fcc1a4f7 199 //float pos_dac = 0.85f * p / (2 * PI) + 0.05f; //uncomment me to write position to the DAC
bwang 4:a6669248ce4d 200 //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
bwang 0:bac9c3a3a6ca 201
bwang 1:7b61790f6be9 202 ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
bwang 1:7b61790f6be9 203 ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
bwang 2:eabe8feaaabb 204 ic = -ia - ib;
bwang 0:bac9c3a3a6ca 205
bwang 10:f49df0fe0382 206 float u = CURRENT_U;
bwang 10:f49df0fe0382 207 float v = CURRENT_V;
bwang 2:eabe8feaaabb 208
bwang 2:eabe8feaaabb 209 alpha = u;
bwang 2:eabe8feaaabb 210 beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
bwang 2:eabe8feaaabb 211
bwang 2:eabe8feaaabb 212 d = alpha * cos_p - beta * sin_p;
bwang 2:eabe8feaaabb 213 q = -alpha * sin_p - beta * cos_p;
bwang 2:eabe8feaaabb 214
bwang 3:9b20da3f0055 215 float d_err = d_ref - d;
bwang 3:9b20da3f0055 216 float q_err = q_ref - q;
bwang 2:eabe8feaaabb 217
bwang 2:eabe8feaaabb 218 d_integral += d_err * KI;
bwang 2:eabe8feaaabb 219 q_integral += q_err * KI;
bwang 2:eabe8feaaabb 220
bwang 2:eabe8feaaabb 221 if (q_integral > INTEGRAL_MAX) q_integral = INTEGRAL_MAX;
bwang 2:eabe8feaaabb 222 if (d_integral > INTEGRAL_MAX) d_integral = INTEGRAL_MAX;
bwang 2:eabe8feaaabb 223 if (q_integral < -INTEGRAL_MAX) q_integral = -INTEGRAL_MAX;
bwang 2:eabe8feaaabb 224 if (d_integral < -INTEGRAL_MAX) d_integral = -INTEGRAL_MAX;
bwang 2:eabe8feaaabb 225
bwang 14:59c4fcc1a4f7 226 if(control_enabled) {
dicarloj 13:41d102a53caf 227 vd = KP * d_err + d_integral;
dicarloj 13:41d102a53caf 228 vq = KP * q_err + q_integral;
bwang 14:59c4fcc1a4f7 229 } else {
dicarloj 13:41d102a53caf 230 vd = 0;
dicarloj 13:41d102a53caf 231 vq = 0;
dicarloj 13:41d102a53caf 232 }
bwang 2:eabe8feaaabb 233
bwang 2:eabe8feaaabb 234 if (vd < -1.0f) vd = -1.0f;
bwang 2:eabe8feaaabb 235 if (vd > 1.0f) vd = 1.0f;
bwang 2:eabe8feaaabb 236 if (vq < -1.0f) vq = -1.0f;
bwang 2:eabe8feaaabb 237 if (vq > 1.0f) vq = 1.0f;
bwang 2:eabe8feaaabb 238
bwang 15:b583cd30b063 239 //DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048); //uncomment me to write I_q to the DAC
bwang 2:eabe8feaaabb 240 //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048);
bwang 2:eabe8feaaabb 241
bwang 14:59c4fcc1a4f7 242 //vd = 0.0f; //uncomment me for voltage mode testing
bwang 12:5723a4fa5864 243 //vq = 1.0f;
bwang 4:a6669248ce4d 244
bwang 2:eabe8feaaabb 245 float valpha = vd * cos_p - vq * sin_p;
bwang 2:eabe8feaaabb 246 float vbeta = vd * sin_p + vq * cos_p;
bwang 2:eabe8feaaabb 247
bwang 2:eabe8feaaabb 248 float va = valpha;
bwang 2:eabe8feaaabb 249 float vb = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 250 float vc = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 251
dicarloj 13:41d102a53caf 252 float voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;
dicarloj 13:41d102a53caf 253 va = va - voff;
dicarloj 13:41d102a53caf 254 vb = vb - voff;
dicarloj 13:41d102a53caf 255 vc = vc - voff;
dicarloj 13:41d102a53caf 256
bwang 2:eabe8feaaabb 257 set_dtc(a, 0.5f + 0.5f * va);
bwang 2:eabe8feaaabb 258 set_dtc(b, 0.5f + 0.5f * vb);
bwang 2:eabe8feaaabb 259 set_dtc(c, 0.5f + 0.5f * vc);
bwang 0:bac9c3a3a6ca 260 }
bwang 0:bac9c3a3a6ca 261
bwang 0:bac9c3a3a6ca 262 int main() {
bwang 0:bac9c3a3a6ca 263 config_globals();
bwang 0:bac9c3a3a6ca 264 startup_msg();
bwang 0:bac9c3a3a6ca 265
bwang 0:bac9c3a3a6ca 266 for (;;) {
bwang 12:5723a4fa5864 267 //pc.printf("%f\n\r", p);
bwang 12:5723a4fa5864 268 //wait(0.1);
bwang 0:bac9c3a3a6ca 269 }
bwang 0:bac9c3a3a6ca 270 }