Chetan Sharma
Modifying the HKCC for no readily apparent reason
Diff: main.cpp
- Revision:
- 55:5afc2865ef7f
- Parent:
- 51:6cd89bd6fcaa
- Child:
- 57:57a108e15b52
--- a/main.cpp Fri Feb 19 22:40:19 2021 -0800
+++ b/main.cpp Thu Feb 25 21:53:26 2021 -0800
@@ -10,7 +10,7 @@
#define SETUP_MODE 4
#define ENCODER_MODE 5
-#define VERSION_NUM "1.9"
+#define VERSION_NUM "2.0"
float __float_reg[64]; // Floats stored in flash
@@ -32,6 +32,7 @@
#include "PreferenceWriter.h"
#include "CAN_com.h"
#include "DRV.h"
+#include <cstdio>
PreferenceWriter prefs(6);
@@ -39,7 +40,6 @@
ControllerStruct controller;
ObserverStruct observer;
COMStruct com;
-Serial pc(PA_2, PA_3);
CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
@@ -52,17 +52,23 @@
//DigitalOut drv_en_gate(PA_11);
DRV832x drv(&drv_spi, &drv_cs);
+static BufferedSerial pc{PA_2, PA_3, CONFIG_BAUD};
+FileHandle *mbed::mbed_override_console(int fd) {
+ return &pc;
+}
+
PositionSensorAM5147 spi(16384, 0.0, NPP);
-volatile int count = 0;
+// volatile int count{0};
volatile int state = REST_MODE;
volatile int state_change;
+
void onMsgReceived() {
//msgAvailable = true;
printf("%df\n\r", rxMsg.id);
can.read(rxMsg);
- if((rxMsg.id == CAN_ID)){
+ if(rxMsg.id == CAN_ID){
controller.timeout = 0;
if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) & (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFC))){
state = MOTOR_MODE;
@@ -71,7 +77,7 @@
else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFD))){
state = REST_MODE;
state_change = 1;
- gpio.led->write(0);;
+ gpio.led->write(0);
}
else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFE))){
spi.ZeroPosition();
@@ -133,8 +139,8 @@
drv.enable_gd();
//gpio.enable->write(1);
controller.ovp_flag = 0;
- reset_foc(&controller); // Tesets integrators, and other control loop parameters
- wait(.001);
+ reset_foc(&controller);
+ ThisThread::sleep_for(1ms); // Tesets integrators, and other control loop parameters
controller.i_d_ref = 0;
controller.i_q_ref = 0; // Current Setpoints
gpio.led->write(1); // Turn on status LED
@@ -148,8 +154,8 @@
gpio.led->write(1); // Turn on status LED
order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
- gpio.led->write(0);; // Turn off status LED
- wait(.2);
+ gpio.led->write(0); // Turn off status LED
+ ThisThread::sleep_for(200ms);
printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
drv.disable_gd();
//gpio.enable->write(0);
@@ -159,14 +165,14 @@
void print_encoder(void){
printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
//printf("%d\n\r", spi.GetRawPosition());
- wait(.001);
+ ThisThread::sleep_for(1ms);
}
/// Current Sampling Interrupt ///
/// This runs at 40 kHz, regardless of of the mode the controller is in ///
extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
if (TIM1->SR & TIM_SR_UIF ) {
-
+ static volatile int count{0}; // Initialize count variable as static
///Sample current always ///
ADC1->CR2 |= 0x40000000; // Begin sample and conversion
//volatile int delay;
@@ -182,7 +188,6 @@
controller.dtheta_elec = spi.GetElecVelocity();
controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
///
-
/// Check state machine state, and run the appropriate function ///
switch(state){
case REST_MODE: // Do nothing
@@ -252,7 +257,7 @@
/// Called when data received over serial ///
void serial_interrupt(void){
while(pc.readable()){
- char c = pc.getc();
+ char c = getchar();
if(c == 27){
state = REST_MODE;
state_change = 1;
@@ -336,7 +341,7 @@
cmd_val[char_count-1] = c;
}
- pc.putc(c);
+ putchar(c);
char_count++;
}
}
@@ -363,8 +368,7 @@
controller.v_bus = V_BUS;
controller.mode = 0;
Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
- wait(.1);
-
+ ThisThread::sleep_for(100ms);
gpio.enable->write(1);
wait_us(100);
drv.calibrate();
@@ -379,7 +383,7 @@
zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
drv.disable_gd();
- wait(.1);
+ ThisThread::sleep_for(100ms);
/*
gpio.enable->write(1);
TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
@@ -392,7 +396,7 @@
TIM1->CR1 ^= TIM_CR1_UDIS;
//TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
- wait(.1);
+ ThisThread::sleep_for(100ms);
NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
NVIC_SetPriority(CAN1_RX0_IRQn, 3);
@@ -419,11 +423,10 @@
memcpy(&lut, &ENCODER_LUT, sizeof(lut));
spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
init_controller_params(&controller);
-
- pc.baud(921600); // set serial baud rate
- wait(.01);
- pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
- wait(.01);
+ // set serial baud rate
+ ThisThread::sleep_for(10ms);
+ printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
+ ThisThread::sleep_for(10ms);
printf("\n\r Debug Info:\n\r");
printf(" Firmware Version: %s\n\r", VERSION_NUM);
printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
@@ -441,7 +444,7 @@
//printf(" %d\n\r", drv.read_register(OCPCR));
//drv.disable_gd();
- pc.attach(&serial_interrupt); // attach serial interrupt
+ pc.sigio(callback(serial_interrupt)); // attach serial interrupt
state_change = 1;
@@ -449,8 +452,7 @@
int counter = 0;
while(1) {
drv.print_faults();
- wait(.1);
- //printf("%.4f\n\r", controller.v_bus);
+ ThisThread::sleep_for(100ms); //printf("%.4f\n\r", controller.v_bus);
/*
if(state == MOTOR_MODE)
{