Diff: main.cpp

Revision:

0:868e948c5925

Child:

1:18871ba1b035

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Tue Apr 27 05:45:46 2021 +0000
@@ -0,0 +1,331 @@
+#include "mbed.h"
+#include <math.h>
+#include <stdlib.h>
+
+#define pi 3.14159265358979323846f
+#define maximum_volt 12.0f
+#define minimum_volt 0.45f // Need to test for different loads.
+
+#define INPUT_VOLTAGE       12.5f 
+#define PWM_FREQUENCY       10.0f   // the default value we set is 20.0 (unit : kHz)
+#define PWM_STOP            0.5f    //the pwm dutycycle value is from 0~1 and 0.5 can let motor stop
+
+#define FRICTION_VOLTAGE    0.45f
+#define HALL_RESOLUTION     64.0f
+#define GEAR_RATIO          56.0f      
+#define VOLT_CMD            8.0f    // unit(voltage)
+
+
+
+#define CONTROLLER          1     // 0 for transfer function 1 for control
+
+Serial pc(USBTX,USBRX);
+InterruptIn mybutton(USER_BUTTON);
+Ticker main_function; //interrupt
+PwmOut pwm1A(D7);
+PwmOut pwm1B(D8);
+PwmOut pwm2A(D11);
+PwmOut pwm2B(A3);
+DigitalOut led1(LED1);
+DigitalOut led2(A4);
+DigitalOut led3(A5);
+
+//RX
+int readcount = 0;
+int RX_flag2 = 0;
+char getData[6] = {0,0,0,0,0,0};
+short data_received[2] = {0,0};
+
+float dt = 0.01; // sec
+float command = 0;
+float velocityA = 0; //rpm
+float velocityB = 0;
+float positionA = 0;
+float positionB = 0;
+short EncoderPositionA;
+short EncoderPositionB;
+float last_voltA = 0;
+float last_voltB = 0;
+float errorA = 0;
+float error_drA = 0;
+float errorB = 0;
+float error_drB = 0;
+bool button_state = false;
+float dutycycle = PWM_STOP;
+float VELOCITY_SPEED_A = 0.0;
+float VELOCITY_SPEED_B = 0.0;
+int pub_count = 0;
+
+void step_command();
+void position_control();
+float PD(float e, float last_e, float last_u, float P, float D);
+float PDF(float e, float last_e, float last_u, float P, float D, float F);
+void ReadVelocity();
+void ReadPosition(float *positionA, float *positionB);
+void motor_drive(float voltA, float voltB);
+void InitMotor(float pwm_frequency);
+void InitEncoder(void);
+void control_speed();
+
+void RX_ITR();
+void init_UART();
+
+//int if_stop = 0;
+
+
+int main() {
+    led2 = 1;
+    led3 = 1;
+    
+    init_UART();
+    InitEncoder();
+    InitMotor(PWM_FREQUENCY);
+    
+    mybutton.fall(&step_command);
+
+    main_function.attach_us(&position_control, dt*1000000);
+    
+    while(1){}
+}
+
+
+void step_command(){
+    led1 = !led1;
+    led2 = !led2;
+    led3 = !led3;
+    button_state = !button_state;
+}
+
+
+void position_control(){
+#if CONTROLLER == 0
+    if(button_state == true){
+        ReadVelocity();
+        command = VOLT_CMD;
+        //printf("%.3f, %.3f\r\n",command, velocityA);
+        motor_drive(command,0);
+    }else{
+        uint16_t dutycycleA = PWM_STOP *uint16_t(TIM1->ARR);
+        uint16_t dutycycleB = PWM_STOP *uint16_t(TIM1->ARR);
+        TIM1->CCR1 = dutycycleA;
+        TIM1->CCR2 = dutycycleB;
+        command = 0;
+        //printf("%.3f, %.3f\r\n",command, velocityA);  // velocityA or velocityB
+    }
+#endif
+
+#if CONTROLLER == 1
+    if(button_state == true){
+        pub_count++;
+        VELOCITY_SPEED_A = -10.0f;
+        VELOCITY_SPEED_B = -10.0f;
+        ReadVelocity();
+        control_speed();
+        if (pub_count >= 10){
+            printf("%.3f,%.3f\r\n",velocityA, velocityB);  // velocityA or velocityB
+            //printf("CMD %.3f,%.3f\r\n",VELOCITY_SPEED_A, VELOCITY_SPEED_B);
+            pub_count = 0;
+        }
+    }else{
+        uint16_t dutycycleA = PWM_STOP *uint16_t(TIM1->ARR);
+        uint16_t dutycycleB = PWM_STOP *uint16_t(TIM1->ARR);
+        TIM1->CCR1 = dutycycleA;
+        TIM1->CCR2 = dutycycleB;
+        command = 0;
+        //printf("%.3f, %.3f\r\n",command, velocityA);  // velocityA or velocityB
+    }
+#endif
+}
+
+
+void ReadVelocity(){
+    /*
+    The velocity is calculated by follow :
+    velocity = EncoderPosition /Encoder CPR (Counts per round) /gear ratio *2pi /dt
+    unit : rad/sec
+    */
+    
+    EncoderPositionA = TIM2->CNT ;
+    EncoderPositionB = TIM3->CNT ;
+    TIM2->CNT = 0;
+    TIM3->CNT = 0;
+    // rad/s
+    velocityA = EncoderPositionA /HALL_RESOLUTION /GEAR_RATIO /dt *60;
+    velocityB = EncoderPositionB /HALL_RESOLUTION /GEAR_RATIO /dt *60;
+    // RPM
+//    *velocityA = EncoderPositionA /64.0 /56.0 /dt *60.0;
+//    *velocityB = EncoderPositionB /64.0 /56.0 /dt *60.0;
+}
+
+
+void motor_drive(float voltA, float voltB){
+    // Input voltage is in range -12.5V ~ 12.5V
+    if(abs(voltA) <= minimum_volt){
+        if(voltA > 0){ voltA = minimum_volt; }
+        else{ voltA = -minimum_volt; }
+    }
+    if(abs(voltB) <= minimum_volt){
+        if(voltB > 0){ voltB = minimum_volt; }
+        else{ voltB = -minimum_volt; }
+    }
+    
+    // Convet volt to pwm
+    uint16_t dutycycleA = (0.5f - 0.5f *voltA /INPUT_VOLTAGE) *uint16_t(TIM1->ARR);
+    uint16_t dutycycleB = (0.5f - 0.5f *voltB /INPUT_VOLTAGE) *uint16_t(TIM1->ARR);
+    TIM1->CCR1 = dutycycleA;
+    TIM1->CCR2 = dutycycleB;
+}
+
+
+void control_speed(){
+    float voltA;
+    float voltB;
+    // if receive 0 command than reset every thing
+    if(VELOCITY_SPEED_A == 0 && VELOCITY_SPEED_B == 0)
+    {
+        velocityA = 0;
+        velocityB = 0;
+        last_voltA = 0;
+        last_voltB = 0;
+        errorA = 0;
+        error_drA = 0;
+        errorB = 0;
+        error_drB = 0;
+    }
+    errorA = (VELOCITY_SPEED_A - velocityA);//(command from TX2 - read from odometry)
+    voltA = last_voltA + 0.4f*errorA - 0.35f*error_drA;
+    error_drA = errorA;
+    last_voltA = voltA;
+    if(abs(voltA) > INPUT_VOLTAGE){
+        if(voltA > 0){voltA = INPUT_VOLTAGE;}
+        else{voltA = -INPUT_VOLTAGE;}    
+    }
+    
+    errorB = (VELOCITY_SPEED_B - velocityB);
+    voltB = last_voltB + 0.4f*errorB - 0.35f*error_drB;
+    error_drB = errorB;
+    last_voltB = voltB;
+    if(abs(voltB) > INPUT_VOLTAGE){
+        if(voltB > 0){voltB = INPUT_VOLTAGE;}
+        else{voltB = -INPUT_VOLTAGE;}    
+    }
+    
+    motor_drive(voltA, voltB);
+
+    //printf("%.3f, %.3f, %.3f\r\n",error1, last_error, voltA);
+}
+
+
+void InitEncoder(void) {
+    // Hardware Quadrature Encoder AB for Nucleo F446RE
+    // Output on debug port to host PC @ 9600 baud
+
+    /* Connections
+    PA_0 = Encoder1 A
+    PA_1 = Encoder1 B
+    PB_5 = Encoder2 A
+    PB_4 = Encoder2 B
+    */
+    
+    // configure GPIO PA0, PA1, PB5 & PB4 as inputs for Encoder
+    RCC->AHB1ENR |= 0x00000003;  // Enable clock for GPIOA & GPIOB
+ 
+    GPIOA->MODER   |= GPIO_MODER_MODER0_1 | GPIO_MODER_MODER1_1 ;           // PA0 & PA1 as Alternate Function  /*!< GPIO port mode register,               Address offset: 0x00      */
+    GPIOA->PUPDR   |= GPIO_PUPDR_PUPDR0_0 | GPIO_PUPDR_PUPDR1_0 ;           // Pull Down                        /*!< GPIO port pull-up/pull-down register,  Address offset: 0x0C      */
+    GPIOA->AFR[0]  |= 0x00000011 ;                                          // AF1 for PA0 & PA1                /*!< GPIO alternate function registers,     Address offset: 0x20-0x24 */
+    GPIOA->AFR[1]  |= 0x00000000 ;                                          //                                  /*!< GPIO alternate function registers,     Address offset: 0x20-0x24 */
+   
+ 
+    GPIOB->MODER   |= GPIO_MODER_MODER4_1 | GPIO_MODER_MODER5_1 ;           // PB5 & PB4 as Alternate Function  /*!< GPIO port mode register,               Address offset: 0x00      */
+    GPIOB->PUPDR   |= GPIO_PUPDR_PUPDR4_0 | GPIO_PUPDR_PUPDR5_0 ;           // Pull Down                        /*!< GPIO port pull-up/pull-down register,  Address offset: 0x0C      */
+    GPIOB->AFR[0]  |= 0x00220000 ;                                          // AF2 for PB5 & PB4                /*!< GPIO alternate function registers,     Address offset: 0x20-0x24 */
+    GPIOB->AFR[1]  |= 0x00000000 ;                                          //                                  /*!< GPIO alternate function registers,     Address offset: 0x20-0x24 */
+   
+    // configure TIM2 & TIM3 as Encoder input
+    RCC->APB1ENR |= 0x00000003;  // Enable clock for TIM2 & TIM3
+
+    TIM2->CR1   = 0x0001;     // CEN(Counter ENable)='1'     < TIM control register 1  
+    TIM2->SMCR  = 0x0003;     // SMS='011' (Encoder mode 3)  < TIM slave mode control register
+    TIM2->CCMR1 = 0xF1F1;     // CC1S='01' CC2S='01'         < TIM capture/compare mode register 1
+    TIM2->CCMR2 = 0x0000;     //                             < TIM capture/compare mode register 2
+    TIM2->CCER  = 0x0011;     // CC1P CC2P                   < TIM capture/compare enable register
+    TIM2->PSC   = 0x0000;     // Prescaler = (0+1)           < TIM prescaler
+    TIM2->ARR   = 0xffffffff; // reload at 0xfffffff         < TIM auto-reload register
+  
+    TIM2->CNT = 0x0000;  //reset the counter before we use it
+ 
+    TIM3->CR1   = 0x0001;     // CEN(Counter ENable)='1'     < TIM control register 1    
+    TIM3->SMCR  = 0x0003;     // SMS='011' (Encoder mode 3)  < TIM slave mode control register
+    TIM3->CCMR1 = 0xF1F1;     // CC1S='01' CC2S='01'         < TIM capture/compare mode register 1
+    TIM3->CCMR2 = 0x0000;     //                             < TIM capture/compare mode register 2
+    TIM3->CCER  = 0x0011;     // CC1P CC2P                   < TIM capture/compare enable register
+    TIM3->PSC   = 0x0000;     // Prescaler = (0+1)           < TIM prescaler
+    TIM3->ARR   = 0xffffffff; // reload at 0xfffffff         < TIM auto-reload register
+  
+    TIM3->CNT = 0x0000;  //reset the counter before we use it
+}
+
+
+void InitMotor(float pwm_frequency){
+    uint16_t reload = 90000000 /int(pwm_frequency * 1000) - 1;
+    uint16_t stop   = 90000000 /int(pwm_frequency * 1000) /2 - 1;
+    
+    TIM1->CR1   &= (~0x0001);   // Set counter disable in Control Register 1 at initial
+    TIM1->PSC    = 1U;          // Prescaler system clock (1 + PSC) for Timer 1
+    TIM1->ARR    = reload;      // Set auto-reload, the pwm freq is (system clk /(1+PSC) /ARR)
+    TIM1->CCMR1 |= 0x0808;      // Not necessary
+    TIM1->CCER  |= 0x0055;      // Enable complementary mode for channel 1, channel 2
+    TIM1->BDTR  |= 0x0C00;      // Set off-state selection
+    TIM1->EGR    = 0x0001;      // Update generation
+    TIM1->CR1   |= 0x0001;      // Counter enable
+/*
+    pc.printf("CR1 : %d\r",uint16_t(TIM1->CR1));
+    pc.printf("PSC : %d\r",uint16_t(TIM1->PSC));
+    pc.printf("ARR : %d\r",uint16_t(TIM1->ARR));
+    pc.printf("CCMR1 : %x\r",TIM1->CCMR1);
+    pc.printf("CCER : %x\r",TIM1->CCER);
+    pc.printf("BDTR : %x\r",TIM1->BDTR);
+    pc.printf("EGR : %x\r",TIM1->EGR);
+    pc.printf("stop : %d\r",stop);
+*/
+    TIM1->CCR1 = stop;
+    TIM1->CCR2 = stop;
+    
+//    bool cc1ne_bit = (TIM1->CCER >> 2) & 0x0001;
+//    pc.printf("CC1NE bit : %d\r",cc1ne_bit);
+}
+
+
+void init_UART()
+{
+    pc.baud(9600);  // baud rate設為9600
+    pc.attach(&RX_ITR, Serial::RxIrq);  // Attach a function(RX_ITR) to call whenever a serial interrupt is generated.
+}
+
+
+void RX_ITR()
+{
+    while(pc.readable()) {
+        char uart_read;
+        uart_read = pc.getc();
+        if(uart_read == 115) {
+            RX_flag2 = 1;
+            readcount = 0;
+            getData[5] = 0;
+        } 
+        if(RX_flag2 == 1) {
+            getData[readcount] = uart_read;
+            readcount++;
+            if(readcount >= 6 & getData[5] == 101) {
+                readcount = 0;
+                RX_flag2 = 0;               
+                ///code for decoding///
+                data_received[0] = (getData[2] << 8) | getData[1];
+                data_received[1] = (getData[4] << 8) | getData[3];    
+                VELOCITY_SPEED_A = data_received[0]/100;
+                VELOCITY_SPEED_B = data_received[1]/100;
+                ///////////////////////
+            }
+        } 
+    }
+}
\ No newline at end of file