BREMSConfig.cpp

00001 #include "mbed.h"
00002 
00003 #include "BREMSConfig.h"
00004 #include "BREMSStructs.h"
00005 #include "BufferedLogger.h"
00006 #include "CommandProcessor.h"
00007 #include "PreferenceWriter.h"
00008 #include "Filter.h"
00009 #include "LedBlinker.h"
00010 
00011 #include "hardware.h"
00012 #include "derived.h"
00013 #include "prefs.h"
00014 #include "errors.h"
00015 
00016 void BREMSConfigRegisters(IOStruct *io) {
00017     RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
00018     RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
00019     RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
00020     
00021     RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
00022     
00023     io->a = new FastPWM(PWMA);
00024     io->b = new FastPWM(PWMB);
00025     io->c = new FastPWM(PWMC);
00026     
00027     NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
00028 
00029     TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
00030     TIM1->CR1 = 0x00; //CMS = 10, interrupt only when counting up
00031     TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on, 
00032     TIM1->RCR |= 0x00; //update event once per up/down count of tim1 
00033     TIM1->EGR |= TIM_EGR_UG;
00034     
00035     TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
00036     TIM1->ARR = (int) (2 * (float) 9e7 / _F_SW);
00037     TIM1->CCER |= (TIM_CCER_CC1NP); //rising edge aligned, non-inverting
00038     TIM1->CR1 |= TIM_CR1_CEN;
00039     
00040     //ADC Setup
00041     RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
00042     RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
00043     
00044     ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
00045     
00046     ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
00047     ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
00048     
00049     ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
00050     ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
00051     
00052     //PA_4 as analog
00053     GPIOA->MODER |= (1 << 8);
00054     GPIOA->MODER |= (1 << 9);
00055     
00056     //PB_0 as analog
00057     GPIOB->MODER |= (1 << 0);
00058     GPIOB->MODER |= (1 << 1);
00059     
00060     //DAC setup
00061     RCC->APB1ENR |= 0x20000000;
00062     DAC->CR |= DAC_CR_EN2;
00063     
00064     //PA_5 as analog
00065     GPIOA->MODER |= (1 << 10);
00066     GPIOA->MODER |= (1 << 11);
00067     
00068     set_dtc(io->a, 0.0f);
00069     set_dtc(io->b, 0.0f);
00070     set_dtc(io->c, 0.0f);
00071 }
00072 
00073 void BREMSZeroCurrent(ReadDataStruct *read) {
00074     for (int i = 0; i < 1000; i++){
00075         read->ad1_supp_offset += (float) (ADC1->DR);
00076         read->ad2_supp_offset += (float) (ADC2->DR);
00077         ADC1->CR2  |= 0x40000000;
00078         wait_us(100); 
00079     }
00080     read->ad1_supp_offset /= 1000.0f;
00081     read->ad2_supp_offset /= 1000.0f;
00082     read->ad1_supp_offset = read->ad1_supp_offset / 4096.0f * AVDD - I_OFFSET;
00083     read->ad2_supp_offset = read->ad2_supp_offset / 4096.0f * AVDD - I_OFFSET;
00084 }
00085 
00086 void BREMSStartupMsg(ReadDataStruct *read, Serial *pc) {
00087     pc->printf("%s\n", "FOC'ed in the Bot Rev A.");
00088 }
00089 
00090 void BREMSInit(IOStruct *io, ReadDataStruct *read, FOCStruct *foc, ControlStruct *control, bool tune) {    
00091     io->en = new DigitalOut(EN);
00092     io->en->write(0);
00093     
00094     io->pc = new Serial(USBTX, USBRX);
00095     io->pc->baud(115200);
00096     NVIC_SetPriority(USART2_IRQn, 2);
00097     
00098     init_masks();
00099     
00100     wait_ms(50);
00101     DigitalOut resolver_reset_out(RESOLVER_RESET);
00102     resolver_reset_out = 0;
00103     wait_ms(10);
00104     DigitalIn resolver_reset_in(RESOLVER_RESET);
00105     
00106     cmd_clear(io->pc);
00107     BREMSStartupMsg(read, io->pc);
00108     
00109     BREMS_mode = MODE_CFG;    
00110     io->pref = new PreferenceWriter(6);
00111     cmd_reload(io->pc, io->pref);
00112     if (_PREFS_VALID != 1) {
00113         io->pc->printf("%s\n", "Stored config invalid");
00114         BREMS_mode = MODE_CFG;
00115         cmd_defaults(io->pc);
00116         BREMS_op = OP_TORQUE;
00117         BREMS_src = CMD_SRC_TERMINAL;
00118         io->pc->printf("%s\n", "You should probably at least set throttle and current limits!");
00119     }
00120     
00121     io->blink = new LedBlinker(STATUS_LED, _F_SW, 1.0);
00122     io->blink->set_code(0x0f);
00123     
00124     wait_ms(750);
00125 
00126     io->pos = new PositionSensorEncoder(_CPR, 0);
00127     io->logger = new BufferedLogger(_LOG_PACKET_SIZE, (_LOG_PAGE_SIZE-_LOG_HEADER_SIZE)/(_LOG_PACKET_SIZE+1), LOG_TX, LOG_RX, _LOG_BAUD_RATE);
00128     io->throttle_in = new PwmIn(TH_PIN, _TH_LIMIT_LOW, _TH_LIMIT_HIGH);
00129     
00130     io->cmd_busy = false;
00131     
00132     control->throttle_filter = new MedianFilter(_THROTTLE_FILTER_WINDOW);
00133     control->velocity_filter = new MedianFilter(_W_FILTER_WINDOW);
00134     
00135     read->vbus = _BUS_VOLTAGE;
00136     read->w = 0.0f;
00137     read->ad1_supp_offset = 0.0f;
00138     read->ad2_supp_offset = 0.0f;
00139     read->p_mech = io->pos->GetMechPosition();
00140     
00141     BREMSConfigRegisters(io);
00142     wait_ms(250);
00143     BREMSZeroCurrent(read);
00144     io->pc->printf("%s", ">");
00145     
00146     control->d_integral = 0.0f;
00147     control->q_integral = 0.0f;
00148     control->d_filtered = 0.0f;
00149     control->q_filtered = 0.0f;
00150     control->last_d = 0.0f;
00151     control->last_q = 0.0f;
00152     control->d_ref = 0.0f;
00153     control->q_ref = 0.0f;
00154     control->torque_percent = 0.0f;
00155     control->w_integral = 0.0f;
00156     control->enabled = false;
00157 
00158     io->en->write(1);
00159 }