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working version
Fork of foc-ed_in_the_bot_compact by
main.cpp@5:efd3838b79a6, 2016-03-27 (annotated)
- Committer:
- bwang
- Date:
- Sun Mar 27 03:40:52 2016 +0000
- Revision:
- 5:efd3838b79a6
- Parent:
- 4:a6669248ce4d
- Child:
- 6:561d8ab80424
broken emrax code
Who changed what in which revision?
User | Revision | Line number | New 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 | 0:bac9c3a3a6ca | 6 | #include "config.h" |
bwang | 0:bac9c3a3a6ca | 7 | |
bwang | 1:7b61790f6be9 | 8 | FastPWM *a; |
bwang | 1:7b61790f6be9 | 9 | FastPWM *b; |
bwang | 1:7b61790f6be9 | 10 | FastPWM *c; |
bwang | 0:bac9c3a3a6ca | 11 | DigitalOut en(EN); |
bwang | 1:7b61790f6be9 | 12 | DigitalOut toggle(PC_10); |
bwang | 0:bac9c3a3a6ca | 13 | |
bwang | 0:bac9c3a3a6ca | 14 | PositionSensorEncoder pos(CPR, 0); |
bwang | 0:bac9c3a3a6ca | 15 | |
bwang | 0:bac9c3a3a6ca | 16 | Serial pc(USBTX, USBRX); |
bwang | 0:bac9c3a3a6ca | 17 | |
bwang | 1:7b61790f6be9 | 18 | int state = 0; |
bwang | 1:7b61790f6be9 | 19 | int adval1, adval2; |
bwang | 2:eabe8feaaabb | 20 | float ia, ib, ic, alpha, beta, d, q, vd, vq, p; |
bwang | 2:eabe8feaaabb | 21 | |
bwang | 1:7b61790f6be9 | 22 | float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV) |
bwang | 1:7b61790f6be9 | 23 | |
bwang | 2:eabe8feaaabb | 24 | float d_integral = 0.0f, q_integral = 0.0f; |
bwang | 2:eabe8feaaabb | 25 | float last_d = 0.0f, last_q = 0.0f; |
bwang | 3:9b20da3f0055 | 26 | float d_ref = -0.0f, q_ref = -50.0f; |
bwang | 2:eabe8feaaabb | 27 | |
bwang | 5:efd3838b79a6 | 28 | float d_filtered = 0.0f, q_filtered = 0.0f; |
bwang | 5:efd3838b79a6 | 29 | |
bwang | 4:a6669248ce4d | 30 | void commutate(); |
bwang | 3:9b20da3f0055 | 31 | void zero_current(); |
bwang | 3:9b20da3f0055 | 32 | void config_globals(); |
bwang | 3:9b20da3f0055 | 33 | void startup_msg(); |
bwang | 5:efd3838b79a6 | 34 | unsigned char clip_var(float var, float scale, float offset); |
bwang | 2:eabe8feaaabb | 35 | |
bwang | 1:7b61790f6be9 | 36 | extern "C" void TIM1_UP_TIM10_IRQHandler(void) { |
bwang | 1:7b61790f6be9 | 37 | if (TIM1->SR & TIM_SR_UIF ) { |
bwang | 5:efd3838b79a6 | 38 | //toggle = 1; |
bwang | 4:a6669248ce4d | 39 | ADC1->CR2 |= 0x40000000; |
bwang | 4:a6669248ce4d | 40 | volatile int delay; |
bwang | 4:a6669248ce4d | 41 | for (delay = 0; delay < 35; delay++); |
bwang | 1:7b61790f6be9 | 42 | adval1 = ADC1->DR; |
bwang | 1:7b61790f6be9 | 43 | adval2 = ADC2->DR; |
bwang | 5:efd3838b79a6 | 44 | //toggle = 0; |
bwang | 4:a6669248ce4d | 45 | commutate(); |
bwang | 1:7b61790f6be9 | 46 | } |
bwang | 1:7b61790f6be9 | 47 | TIM1->SR = 0x00; |
bwang | 1:7b61790f6be9 | 48 | } |
bwang | 1:7b61790f6be9 | 49 | |
bwang | 5:efd3838b79a6 | 50 | void commutate() { |
bwang | 5:efd3838b79a6 | 51 | p = pos.GetElecPosition() - POS_OFFSET; |
bwang | 5:efd3838b79a6 | 52 | if (p < 0) p += 2 * PI; |
bwang | 5:efd3838b79a6 | 53 | |
bwang | 5:efd3838b79a6 | 54 | float sin_p = sinf(p); |
bwang | 5:efd3838b79a6 | 55 | float cos_p = cosf(p); |
bwang | 5:efd3838b79a6 | 56 | |
bwang | 5:efd3838b79a6 | 57 | //float pos_dac = 0.85f * p / (2 * PI) + 0.05f; |
bwang | 5:efd3838b79a6 | 58 | //DAC->DHR12R2 = (unsigned int) (pos_dac * 4096); |
bwang | 5:efd3838b79a6 | 59 | |
bwang | 5:efd3838b79a6 | 60 | ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE; |
bwang | 5:efd3838b79a6 | 61 | ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE; |
bwang | 5:efd3838b79a6 | 62 | ic = -ia - ib; |
bwang | 5:efd3838b79a6 | 63 | |
bwang | 5:efd3838b79a6 | 64 | /* |
bwang | 5:efd3838b79a6 | 65 | a,b stall |
bwang | 5:efd3838b79a6 | 66 | a,c low torque |
bwang | 5:efd3838b79a6 | 67 | b,a lots of amps |
bwang | 5:efd3838b79a6 | 68 | b,c extra amps |
bwang | 5:efd3838b79a6 | 69 | |
bwang | 5:efd3838b79a6 | 70 | */ |
bwang | 5:efd3838b79a6 | 71 | float u = ib;//ib; |
bwang | 5:efd3838b79a6 | 72 | float v = ic;//ic; |
bwang | 5:efd3838b79a6 | 73 | |
bwang | 5:efd3838b79a6 | 74 | alpha = u; |
bwang | 5:efd3838b79a6 | 75 | beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v; |
bwang | 5:efd3838b79a6 | 76 | |
bwang | 5:efd3838b79a6 | 77 | d = alpha * cos_p - beta * sin_p; |
bwang | 5:efd3838b79a6 | 78 | q = -alpha * sin_p - beta * cos_p; |
bwang | 5:efd3838b79a6 | 79 | |
bwang | 5:efd3838b79a6 | 80 | d_filtered = 0.0f * d_filtered + 1.0f * d; |
bwang | 5:efd3838b79a6 | 81 | q_filtered = 0.0f * q_filtered + 1.0f * q; |
bwang | 5:efd3838b79a6 | 82 | |
bwang | 5:efd3838b79a6 | 83 | float d_err = d_ref - d_filtered; |
bwang | 5:efd3838b79a6 | 84 | float q_err = q_ref - q_filtered; |
bwang | 5:efd3838b79a6 | 85 | |
bwang | 5:efd3838b79a6 | 86 | d_integral += d_err * KI; |
bwang | 5:efd3838b79a6 | 87 | q_integral += q_err * KI; |
bwang | 5:efd3838b79a6 | 88 | |
bwang | 5:efd3838b79a6 | 89 | if (q_integral > INTEGRAL_MAX) q_integral = INTEGRAL_MAX; |
bwang | 5:efd3838b79a6 | 90 | if (d_integral > INTEGRAL_MAX) d_integral = INTEGRAL_MAX; |
bwang | 5:efd3838b79a6 | 91 | if (q_integral < -INTEGRAL_MAX) q_integral = -INTEGRAL_MAX; |
bwang | 5:efd3838b79a6 | 92 | if (d_integral < -INTEGRAL_MAX) d_integral = -INTEGRAL_MAX; |
bwang | 5:efd3838b79a6 | 93 | |
bwang | 5:efd3838b79a6 | 94 | vd = KP * d_err + d_integral; |
bwang | 5:efd3838b79a6 | 95 | vq = KP * q_err + q_integral; |
bwang | 5:efd3838b79a6 | 96 | |
bwang | 5:efd3838b79a6 | 97 | if (vd < -1.0f) vd = -1.0f; |
bwang | 5:efd3838b79a6 | 98 | if (vd > 1.0f) vd = 1.0f; |
bwang | 5:efd3838b79a6 | 99 | if (vq < -1.0f) vq = -1.0f; |
bwang | 5:efd3838b79a6 | 100 | if (vq > 1.0f) vq = 1.0f; |
bwang | 5:efd3838b79a6 | 101 | |
bwang | 5:efd3838b79a6 | 102 | //vd = 0.0f; |
bwang | 5:efd3838b79a6 | 103 | //vq = 1.0f; |
bwang | 5:efd3838b79a6 | 104 | |
bwang | 5:efd3838b79a6 | 105 | //DAC->DHR12R2 = (unsigned int) (-q * 20 + 2048); |
bwang | 5:efd3838b79a6 | 106 | //DAC->DHR12R2 = (unsigned int) (-vd * 2000 + 2048); |
bwang | 5:efd3838b79a6 | 107 | |
bwang | 5:efd3838b79a6 | 108 | float valpha = vd * cos_p - vq * sin_p; |
bwang | 5:efd3838b79a6 | 109 | float vbeta = vd * sin_p + vq * cos_p; |
bwang | 5:efd3838b79a6 | 110 | |
bwang | 5:efd3838b79a6 | 111 | float va = valpha; |
bwang | 5:efd3838b79a6 | 112 | float vb = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta; |
bwang | 5:efd3838b79a6 | 113 | float vc = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta; |
bwang | 5:efd3838b79a6 | 114 | |
bwang | 5:efd3838b79a6 | 115 | set_dtc(a, 0.5f + 0.5f * va); |
bwang | 5:efd3838b79a6 | 116 | set_dtc(b, 0.5f + 0.5f * vb); |
bwang | 5:efd3838b79a6 | 117 | set_dtc(c, 0.5f + 0.5f * vc); |
bwang | 5:efd3838b79a6 | 118 | } |
bwang | 5:efd3838b79a6 | 119 | |
bwang | 5:efd3838b79a6 | 120 | int main() { |
bwang | 5:efd3838b79a6 | 121 | config_globals(); |
bwang | 5:efd3838b79a6 | 122 | startup_msg(); |
bwang | 5:efd3838b79a6 | 123 | |
bwang | 5:efd3838b79a6 | 124 | for (;;) { |
bwang | 5:efd3838b79a6 | 125 | /* |
bwang | 5:efd3838b79a6 | 126 | toggle = state; |
bwang | 5:efd3838b79a6 | 127 | state = !state; |
bwang | 5:efd3838b79a6 | 128 | //pc.printf("01234567890123456789"); |
bwang | 5:efd3838b79a6 | 129 | pc.putc(clip_var(p, 30.0f, 0.0f)); |
bwang | 5:efd3838b79a6 | 130 | pc.putc(clip_var(ia, 10.0f, 128.0f)); |
bwang | 5:efd3838b79a6 | 131 | pc.putc(clip_var(ib, 10.0f, 128.0f)); |
bwang | 5:efd3838b79a6 | 132 | pc.putc(clip_var(d, 10.0f, 128.0f)); |
bwang | 5:efd3838b79a6 | 133 | pc.putc(clip_var(q, 10.0f, 128.0f)); |
bwang | 5:efd3838b79a6 | 134 | pc.putc(clip_var(alpha, 10.0f, 128.0f)); |
bwang | 5:efd3838b79a6 | 135 | pc.putc(clip_var(beta, 10.0f, 128.0f)); |
bwang | 5:efd3838b79a6 | 136 | pc.putc(clip_var(0.0f, 100.0f, 128.0f)); |
bwang | 5:efd3838b79a6 | 137 | pc.putc(clip_var(0.0f, 100.0f, 128.0f)); |
bwang | 5:efd3838b79a6 | 138 | pc.putc(0xff); |
bwang | 5:efd3838b79a6 | 139 | */ |
bwang | 5:efd3838b79a6 | 140 | //pc.printf("%f\n\r", p); |
bwang | 5:efd3838b79a6 | 141 | //wait_ms(100); |
bwang | 5:efd3838b79a6 | 142 | /* |
bwang | 5:efd3838b79a6 | 143 | q_ref = 0.0f; |
bwang | 5:efd3838b79a6 | 144 | wait(3); |
bwang | 5:efd3838b79a6 | 145 | toggle = state; |
bwang | 5:efd3838b79a6 | 146 | state = !state; |
bwang | 5:efd3838b79a6 | 147 | q_ref = -50.0f; |
bwang | 5:efd3838b79a6 | 148 | wait(3); |
bwang | 5:efd3838b79a6 | 149 | toggle = state; |
bwang | 5:efd3838b79a6 | 150 | state = !state; |
bwang | 5:efd3838b79a6 | 151 | */ |
bwang | 5:efd3838b79a6 | 152 | } |
bwang | 5:efd3838b79a6 | 153 | } |
bwang | 5:efd3838b79a6 | 154 | |
bwang | 1:7b61790f6be9 | 155 | void zero_current(){ |
bwang | 1:7b61790f6be9 | 156 | for (int i = 0; i < 1000; i++){ |
bwang | 1:7b61790f6be9 | 157 | ia_supp_offset += (float) (ADC1->DR); |
bwang | 1:7b61790f6be9 | 158 | ib_supp_offset += (float) (ADC2->DR); |
bwang | 1:7b61790f6be9 | 159 | ADC1->CR2 |= 0x40000000; |
bwang | 1:7b61790f6be9 | 160 | wait_us(100); |
bwang | 1:7b61790f6be9 | 161 | } |
bwang | 1:7b61790f6be9 | 162 | ia_supp_offset /= 1000.0f; |
bwang | 1:7b61790f6be9 | 163 | ib_supp_offset /= 1000.0f; |
bwang | 1:7b61790f6be9 | 164 | ia_supp_offset = ia_supp_offset / 4096.0f * AVDD - I_OFFSET; |
bwang | 1:7b61790f6be9 | 165 | ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET; |
bwang | 1:7b61790f6be9 | 166 | } |
bwang | 0:bac9c3a3a6ca | 167 | |
bwang | 0:bac9c3a3a6ca | 168 | void config_globals() { |
bwang | 0:bac9c3a3a6ca | 169 | pc.baud(115200); |
bwang | 0:bac9c3a3a6ca | 170 | |
bwang | 1:7b61790f6be9 | 171 | //Enable clocks for GPIOs |
bwang | 1:7b61790f6be9 | 172 | RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN; |
bwang | 1:7b61790f6be9 | 173 | RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; |
bwang | 1:7b61790f6be9 | 174 | RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; |
bwang | 1:7b61790f6be9 | 175 | |
bwang | 1:7b61790f6be9 | 176 | RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock |
bwang | 1:7b61790f6be9 | 177 | |
bwang | 1:7b61790f6be9 | 178 | a = new FastPWM(PWMA); |
bwang | 1:7b61790f6be9 | 179 | b = new FastPWM(PWMB); |
bwang | 1:7b61790f6be9 | 180 | c = new FastPWM(PWMC); |
bwang | 1:7b61790f6be9 | 181 | |
bwang | 1:7b61790f6be9 | 182 | NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ |
bwang | 1:7b61790f6be9 | 183 | |
bwang | 1:7b61790f6be9 | 184 | TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt |
bwang | 1:7b61790f6be9 | 185 | TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up |
bwang | 1:7b61790f6be9 | 186 | TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on, |
bwang | 1:7b61790f6be9 | 187 | TIM1->RCR |= 0x01; //update event once per up/down count of tim1 |
bwang | 1:7b61790f6be9 | 188 | TIM1->EGR |= TIM_EGR_UG; |
bwang | 1:7b61790f6be9 | 189 | |
bwang | 1:7b61790f6be9 | 190 | TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock |
bwang | 5:efd3838b79a6 | 191 | TIM1->ARR = 0x2328; //15 Khz |
bwang | 1:7b61790f6be9 | 192 | TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on. |
bwang | 1:7b61790f6be9 | 193 | TIM1->CR1 |= TIM_CR1_CEN; |
bwang | 1:7b61790f6be9 | 194 | |
bwang | 1:7b61790f6be9 | 195 | //ADC Setup |
bwang | 1:7b61790f6be9 | 196 | RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1 |
bwang | 1:7b61790f6be9 | 197 | RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2 |
bwang | 1:7b61790f6be9 | 198 | |
bwang | 1:7b61790f6be9 | 199 | ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels |
bwang | 1:7b61790f6be9 | 200 | |
bwang | 1:7b61790f6be9 | 201 | ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on |
bwang | 1:7b61790f6be9 | 202 | ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0 |
bwang | 0:bac9c3a3a6ca | 203 | |
bwang | 1:7b61790f6be9 | 204 | ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON |
bwang | 1:7b61790f6be9 | 205 | ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1 |
bwang | 1:7b61790f6be9 | 206 | |
bwang | 1:7b61790f6be9 | 207 | GPIOA->MODER |= (1 << 8); |
bwang | 1:7b61790f6be9 | 208 | GPIOA->MODER |= (1 << 9); |
bwang | 1:7b61790f6be9 | 209 | |
bwang | 1:7b61790f6be9 | 210 | GPIOA->MODER |= (1 << 2); |
bwang | 1:7b61790f6be9 | 211 | GPIOA->MODER |= (1 << 3); |
bwang | 1:7b61790f6be9 | 212 | |
bwang | 1:7b61790f6be9 | 213 | GPIOA->MODER |= (1 << 0); |
bwang | 1:7b61790f6be9 | 214 | GPIOA->MODER |= (1 << 1); |
bwang | 1:7b61790f6be9 | 215 | |
bwang | 1:7b61790f6be9 | 216 | GPIOB->MODER |= (1 << 0); |
bwang | 1:7b61790f6be9 | 217 | GPIOB->MODER |= (1 << 1); |
bwang | 1:7b61790f6be9 | 218 | |
bwang | 1:7b61790f6be9 | 219 | GPIOC->MODER |= (1 << 2); |
bwang | 1:7b61790f6be9 | 220 | GPIOC->MODER |= (1 << 3); |
bwang | 1:7b61790f6be9 | 221 | |
bwang | 1:7b61790f6be9 | 222 | //DAC setup |
bwang | 1:7b61790f6be9 | 223 | RCC->APB1ENR |= 0x20000000; |
bwang | 1:7b61790f6be9 | 224 | DAC->CR |= DAC_CR_EN2; |
bwang | 1:7b61790f6be9 | 225 | |
bwang | 1:7b61790f6be9 | 226 | GPIOA->MODER |= (1 << 10); |
bwang | 1:7b61790f6be9 | 227 | GPIOA->MODER |= (1 << 11); |
bwang | 1:7b61790f6be9 | 228 | |
bwang | 1:7b61790f6be9 | 229 | //Zero duty cycles |
bwang | 1:7b61790f6be9 | 230 | set_dtc(a, 0.0f); |
bwang | 1:7b61790f6be9 | 231 | set_dtc(b, 0.0f); |
bwang | 1:7b61790f6be9 | 232 | set_dtc(c, 0.0f); |
bwang | 1:7b61790f6be9 | 233 | |
bwang | 1:7b61790f6be9 | 234 | wait_ms(250); |
bwang | 1:7b61790f6be9 | 235 | zero_current(); |
bwang | 0:bac9c3a3a6ca | 236 | en = 1; |
bwang | 0:bac9c3a3a6ca | 237 | } |
bwang | 0:bac9c3a3a6ca | 238 | |
bwang | 0:bac9c3a3a6ca | 239 | void startup_msg() { |
bwang | 0:bac9c3a3a6ca | 240 | pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A."); |
bwang | 0:bac9c3a3a6ca | 241 | pc.printf("%s\n\r", "====Config Data===="); |
bwang | 5:efd3838b79a6 | 242 | pc.printf("Number of pole pairs: %d\n\r", (int) POLE_PAIRS); |
bwang | 5:efd3838b79a6 | 243 | pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES); |
bwang | 0:bac9c3a3a6ca | 244 | pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET); |
bwang | 0:bac9c3a3a6ca | 245 | pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE); |
bwang | 0:bac9c3a3a6ca | 246 | pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE); |
bwang | 0:bac9c3a3a6ca | 247 | pc.printf("Loop KP: %f\n\r", KP); |
bwang | 0:bac9c3a3a6ca | 248 | pc.printf("Loop KI: %f\n\r", KI); |
bwang | 1:7b61790f6be9 | 249 | pc.printf("Ia offset: %f mV\n\r", ia_supp_offset); |
bwang | 1:7b61790f6be9 | 250 | pc.printf("Ib offset: %f mV\n\r", ib_supp_offset); |
bwang | 0:bac9c3a3a6ca | 251 | pc.printf("\n\r"); |
bwang | 0:bac9c3a3a6ca | 252 | } |
bwang | 0:bac9c3a3a6ca | 253 | |
bwang | 5:efd3838b79a6 | 254 | unsigned char clip_var(float var, float scale, float offset) { |
bwang | 5:efd3838b79a6 | 255 | float x = var * scale + offset; |
bwang | 5:efd3838b79a6 | 256 | if (x < 0.0f) x = 0.0f; |
bwang | 5:efd3838b79a6 | 257 | if (x > 254.0f) x = 254.0f; |
bwang | 5:efd3838b79a6 | 258 | return (unsigned char) x; |
bwang | 5:efd3838b79a6 | 259 | } |