Jiang Han / HKC_MiniCheetah

MIT Motor FOC Control

Dependencies:   FastPWM3

main.cpp@57:7b3dec9349db, 2021-10-05 (annotated)

Committer:
jianghan1913
Date:
Tue Oct 05 07:18:13 2021 +0000
Revision:
57:7b3dec9349db
Parent:
56:fe5056ac6740 
motor

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 22:60276ba87ac6 1 /// high-bandwidth 3-phase motor control, for robots
benkatz 45:26801179208e 2 /// Written by benkatz, with much inspiration from Bayley Wang, Nick Kirkby, Shane Colton, David Otten, and others
benkatz 22:60276ba87ac6 3 /// Hardware documentation can be found at build-its.blogspot.com
benkatz 22:60276ba87ac6 4 /// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling
benkatz 47:e1196a851f76 5 /// Version for the TI DRV8323 Everything Chip
benkatz 22:60276ba87ac6 6
benkatz 55:c4c9fec8539c 7 #define REST_MODE 0
benkatz 55:c4c9fec8539c 8 #define CALIBRATION_MODE 1
benkatz 55:c4c9fec8539c 9 #define MOTOR_MODE 2
benkatz 55:c4c9fec8539c 10 #define SETUP_MODE 4
benkatz 55:c4c9fec8539c 11 #define ENCODER_MODE 5
benkatz 55:c4c9fec8539c 12 #define INIT_TEMP_MODE 6
benkatz 22:60276ba87ac6 13
benkatz 55:c4c9fec8539c 14 #define VERSION_NUM "1.10"
benkatz 26:2b865c00d7e9 15
benkatz 18:f1d56f4acb39 16
benkatz 26:2b865c00d7e9 17 float __float_reg[64]; // Floats stored in flash
benkatz 26:2b865c00d7e9 18 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 19
benkatz 0:4e1c4df6aabd 20 #include "mbed.h"
benkatz 0:4e1c4df6aabd 21 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 22 #include "structs.h"
jianghan1913 57:7b3dec9349db 23 #include "foc.h"
benkatz 22:60276ba87ac6 24 #include "calibration.h"
benkatz 20:bf9ea5125d52 25 #include "hw_setup.h"
jianghan1913 57:7b3dec9349db 26 #include "math_ops.h"
benkatz 20:bf9ea5125d52 27 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 28 #include "hw_config.h"
benkatz 20:bf9ea5125d52 29 #include "motor_config.h"
benkatz 23:2adf23ee0305 30 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 31 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 32 #include "user_config.h"
benkatz 23:2adf23ee0305 33 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 34 #include "CAN_com.h"
benkatz 44:8040fa2fcb0d 35 #include "DRV.h"
jianghan1913 57:7b3dec9349db 36
benkatz 23:2adf23ee0305 37 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 38
benkatz 20:bf9ea5125d52 39 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 40 ControllerStruct controller;
benkatz 48:74a40481740c 41 ObserverStruct observer;
benkatz 20:bf9ea5125d52 42 COMStruct com;
benkatz 43:dfb72608639c 43 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 44
benkatz 17:3c5df2982199 45
benkatz 45:26801179208e 46 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 47 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 48 CANMessage txMsg;
benkatz 23:2adf23ee0305 49
benkatz 20:bf9ea5125d52 50
benkatz 44:8040fa2fcb0d 51 SPI drv_spi(PA_7, PA_6, PA_5);
benkatz 44:8040fa2fcb0d 52 DigitalOut drv_cs(PA_4);
benkatz 44:8040fa2fcb0d 53 //DigitalOut drv_en_gate(PA_11);
benkatz 44:8040fa2fcb0d 54 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 55
jianghan1913 57:7b3dec9349db 56 PositionSensorAM5147 spi(16384, 0.0, NPP);
benkatz 20:bf9ea5125d52 57
benkatz 23:2adf23ee0305 58 volatile int count = 0;
benkatz 23:2adf23ee0305 59 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 60 volatile int state_change;
benkatz 20:bf9ea5125d52 61
jianghan1913 57:7b3dec9349db 62 void onMsgReceived()
jianghan1913 57:7b3dec9349db 63 {
benkatz 26:2b865c00d7e9 64 //msgAvailable = true;
benkatz 53:e85efce8c1eb 65 //printf("%d\n\r", rxMsg.id);
jianghan1913 57:7b3dec9349db 66 can.read(rxMsg);
jianghan1913 57:7b3dec9349db 67 if((rxMsg.id == CAN_ID)) {
benkatz 28:8c7e29f719c5 68 controller.timeout = 0;
jianghan1913 57:7b3dec9349db 69 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))) {
benkatz 28:8c7e29f719c5 70 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 71 state_change = 1;
jianghan1913 57:7b3dec9349db 72 } 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))) {
benkatz 28:8c7e29f719c5 73 state = REST_MODE;
benkatz 28:8c7e29f719c5 74 state_change = 1;
jianghan1913 57:7b3dec9349db 75 gpio.led->write(0);;
jianghan1913 57:7b3dec9349db 76 } 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))) {
benkatz 28:8c7e29f719c5 77 spi.ZeroPosition();
jianghan1913 57:7b3dec9349db 78 } else if(state == MOTOR_MODE) {
benkatz 28:8c7e29f719c5 79 unpack_cmd(rxMsg, &controller);
jianghan1913 57:7b3dec9349db 80 }
benkatz 37:c0f352d6e8e3 81 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 82 can.write(txMsg);
jianghan1913 57:7b3dec9349db 83 }
jianghan1913 57:7b3dec9349db 84
benkatz 26:2b865c00d7e9 85 }
benkatz 26:2b865c00d7e9 86
jianghan1913 57:7b3dec9349db 87 void enter_menu_state(void)
jianghan1913 57:7b3dec9349db 88 {
benkatz 44:8040fa2fcb0d 89 drv.disable_gd();
jianghan1913 57:7b3dec9349db 90 reset_foc(&controller);
benkatz 47:e1196a851f76 91 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 92 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 93 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 94 wait_us(10);
benkatz 26:2b865c00d7e9 95 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 96 wait_us(10);
benkatz 23:2adf23ee0305 97 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 98 wait_us(10);
benkatz 23:2adf23ee0305 99 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 100 wait_us(10);
benkatz 23:2adf23ee0305 101 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 102 wait_us(10);
benkatz 37:c0f352d6e8e3 103 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 104 wait_us(10);
benkatz 23:2adf23ee0305 105 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 106 wait_us(10);
benkatz 23:2adf23ee0305 107 state_change = 0;
benkatz 37:c0f352d6e8e3 108 gpio.led->write(0);
jianghan1913 57:7b3dec9349db 109 }
benkatz 24:58c2d7571207 110
jianghan1913 57:7b3dec9349db 111 void enter_setup_state(void)
jianghan1913 57:7b3dec9349db 112 {
benkatz 24:58c2d7571207 113 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 114 wait_us(10);
benkatz 51:6cd89bd6fcaa 115 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 116 wait_us(10);
benkatz 28:8c7e29f719c5 117 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 118 wait_us(10);
benkatz 28:8c7e29f719c5 119 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 120 wait_us(10);
benkatz 28:8c7e29f719c5 121 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 122 wait_us(10);
benkatz 51:6cd89bd6fcaa 123 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
benkatz 51:6cd89bd6fcaa 124 wait_us(10);
benkatz 51:6cd89bd6fcaa 125 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 126 wait_us(10);
benkatz 28:8c7e29f719c5 127 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 128 wait_us(10);
benkatz 55:c4c9fec8539c 129 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "h", "Temp Cutoff (C) (0 = none)", "0", "150", TEMP_MAX);
benkatz 55:c4c9fec8539c 130 wait_us(10);
benkatz 55:c4c9fec8539c 131 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "c", "Continuous Current (A)", "0", "40.0", I_MAX_CONT);
benkatz 55:c4c9fec8539c 132 wait_us(10);
benkatz 24:58c2d7571207 133 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 134 wait_us(10);
benkatz 24:58c2d7571207 135 state_change = 0;
jianghan1913 57:7b3dec9349db 136 }
jianghan1913 57:7b3dec9349db 137
jianghan1913 57:7b3dec9349db 138 void enter_torque_mode(void)
jianghan1913 57:7b3dec9349db 139 {
benkatz 44:8040fa2fcb0d 140 drv.enable_gd();
benkatz 47:e1196a851f76 141 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 142 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 143 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 144 wait(.001);
benkatz 23:2adf23ee0305 145 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 146 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 147 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 148 state_change = 0;
benkatz 28:8c7e29f719c5 149 printf("\n\r Entering Motor Mode \n\r");
jianghan1913 57:7b3dec9349db 150 }
jianghan1913 57:7b3dec9349db 151
jianghan1913 57:7b3dec9349db 152 void calibrate(void)
jianghan1913 57:7b3dec9349db 153 {
benkatz 44:8040fa2fcb0d 154 drv.enable_gd();
benkatz 47:e1196a851f76 155 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 156 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 157 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 158 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 159 gpio.led->write(0);; // Turn off status LED
benkatz 55:c4c9fec8539c 160 wait(.05);
benkatz 55:c4c9fec8539c 161 R_NOMINAL = 0;
benkatz 55:c4c9fec8539c 162 state = INIT_TEMP_MODE;
benkatz 55:c4c9fec8539c 163 //printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 55:c4c9fec8539c 164 //drv.disable_gd();
benkatz 55:c4c9fec8539c 165 //state_change = 0;
jianghan1913 57:7b3dec9349db 166
jianghan1913 57:7b3dec9349db 167 }
jianghan1913 57:7b3dec9349db 168
jianghan1913 57:7b3dec9349db 169 void print_encoder(void)
jianghan1913 57:7b3dec9349db 170 {
benkatz 48:74a40481740c 171 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 172 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 173 wait(.001);
jianghan1913 57:7b3dec9349db 174 }
benkatz 20:bf9ea5125d52 175
benkatz 23:2adf23ee0305 176 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 177 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 55:c4c9fec8539c 178 //float testing[1000];
benkatz 55:c4c9fec8539c 179 //float testing2[1000];
jianghan1913 57:7b3dec9349db 180 extern "C" void TIM1_UP_TIM10_IRQHandler(void)
jianghan1913 57:7b3dec9349db 181 {
jianghan1913 57:7b3dec9349db 182 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 55:c4c9fec8539c 183 //gpio.led->write(1);
benkatz 23:2adf23ee0305 184 ///Sample current always ///
benkatz 25:f5741040c4bb 185 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
jianghan1913 57:7b3dec9349db 186 //volatile int delay;
benkatz 20:bf9ea5125d52 187 //for (delay = 0; delay < 55; delay++);
jianghan1913 57:7b3dec9349db 188
benkatz 47:e1196a851f76 189 spi.Sample(DT); // sample position sensor
benkatz 56:fe5056ac6740 190 /*
benkatz 56:fe5056ac6740 191 if(count < 10){printf("%d\n\r", spi.GetRawPosition());}
benkatz 56:fe5056ac6740 192 count ++;
jianghan1913 57:7b3dec9349db 193 */
benkatz 37:c0f352d6e8e3 194 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 195 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 196 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 197 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 198 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
jianghan1913 57:7b3dec9349db 199 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 200 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 201 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
jianghan1913 57:7b3dec9349db 202
jianghan1913 57:7b3dec9349db 203
benkatz 55:c4c9fec8539c 204
benkatz 23:2adf23ee0305 205 ///
jianghan1913 57:7b3dec9349db 206
benkatz 23:2adf23ee0305 207 /// Check state machine state, and run the appropriate function ///
jianghan1913 57:7b3dec9349db 208 switch(state) {
benkatz 37:c0f352d6e8e3 209 case REST_MODE: // Do nothing
jianghan1913 57:7b3dec9349db 210 if(state_change) {
benkatz 23:2adf23ee0305 211 enter_menu_state();
jianghan1913 57:7b3dec9349db 212 }
benkatz 55:c4c9fec8539c 213 update_observer(&controller, &observer);
benkatz 23:2adf23ee0305 214 break;
jianghan1913 57:7b3dec9349db 215
benkatz 23:2adf23ee0305 216 case CALIBRATION_MODE: // Run encoder calibration procedure
jianghan1913 57:7b3dec9349db 217 if(state_change) {
benkatz 23:2adf23ee0305 218 calibrate();
jianghan1913 57:7b3dec9349db 219 }
benkatz 23:2adf23ee0305 220 break;
benkatz 55:c4c9fec8539c 221 case INIT_TEMP_MODE:
jianghan1913 57:7b3dec9349db 222 if(state_change) {
benkatz 55:c4c9fec8539c 223 enter_torque_mode();
benkatz 55:c4c9fec8539c 224 count = 0;
benkatz 55:c4c9fec8539c 225 observer.resistance = 0.0f;
jianghan1913 57:7b3dec9349db 226 }
benkatz 55:c4c9fec8539c 227 controller.i_d_ref = -10.0f;
benkatz 55:c4c9fec8539c 228 controller.i_q_ref = 0.0f;
jianghan1913 57:7b3dec9349db 229 commutate(&controller, &observer, &gpio, controller.theta_elec);
benkatz 55:c4c9fec8539c 230
jianghan1913 57:7b3dec9349db 231 if(count > 200) {
benkatz 55:c4c9fec8539c 232 float r_meas = controller.v_d*(DTC_MAX-DTC_MIN)/(controller.i_d*SQRT3);
benkatz 55:c4c9fec8539c 233 //testing2[count-100] = controller.i_d;
benkatz 55:c4c9fec8539c 234 observer.resistance += .001f*r_meas;
benkatz 55:c4c9fec8539c 235 }
jianghan1913 57:7b3dec9349db 236 if(count > 1200) {
benkatz 55:c4c9fec8539c 237 count = 0;
benkatz 55:c4c9fec8539c 238 state = REST_MODE;
benkatz 55:c4c9fec8539c 239 state_change = 1;
benkatz 55:c4c9fec8539c 240 gpio.led->write(0);
benkatz 55:c4c9fec8539c 241 observer.temperature = (double)(T_AMBIENT + ((observer.resistance/R_NOMINAL) - 1.0f)*254.5f);
benkatz 55:c4c9fec8539c 242 printf("Winding Resistance: %f\n\r", observer.resistance);
benkatz 55:c4c9fec8539c 243 printf("Winding Temperature: %f\n\r", observer.temperature);
jianghan1913 57:7b3dec9349db 244
jianghan1913 57:7b3dec9349db 245 if(R_NOMINAL==0) {
benkatz 55:c4c9fec8539c 246 printf("Saving winding resistance\n\r");
benkatz 55:c4c9fec8539c 247 R_NOMINAL = observer.resistance;
benkatz 55:c4c9fec8539c 248 if (!prefs.ready()) prefs.open();
benkatz 55:c4c9fec8539c 249 prefs.flush(); // write offset and lookup table to flash
benkatz 55:c4c9fec8539c 250 prefs.close();
benkatz 55:c4c9fec8539c 251 }
benkatz 55:c4c9fec8539c 252 //for(int i = 0; i<1000; i++){printf("%f \n\r", testing[i]);}
benkatz 55:c4c9fec8539c 253 }
jianghan1913 57:7b3dec9349db 254
jianghan1913 57:7b3dec9349db 255 count++;
benkatz 55:c4c9fec8539c 256 break;
benkatz 26:2b865c00d7e9 257 case MOTOR_MODE: // Run torque control
jianghan1913 57:7b3dec9349db 258 if(state_change) {
benkatz 25:f5741040c4bb 259 enter_torque_mode();
benkatz 28:8c7e29f719c5 260 count = 0;
jianghan1913 57:7b3dec9349db 261 } else {
jianghan1913 57:7b3dec9349db 262 /*
jianghan1913 57:7b3dec9349db 263 if(controller.v_bus>28.0f){ //Turn of gate drive if bus voltage is too high, to prevent FETsplosion if the bus is cut during regen
jianghan1913 57:7b3dec9349db 264 gpio.
jianghan1913 57:7b3dec9349db 265 ->write(0);
jianghan1913 57:7b3dec9349db 266 controller.ovp_flag = 1;
jianghan1913 57:7b3dec9349db 267 state = REST_MODE;
jianghan1913 57:7b3dec9349db 268 state_change = 1;
jianghan1913 57:7b3dec9349db 269 printf("OVP Triggered!\n\r");
jianghan1913 57:7b3dec9349db 270 }
jianghan1913 57:7b3dec9349db 271 */
jianghan1913 57:7b3dec9349db 272
jianghan1913 57:7b3dec9349db 273 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)) {
jianghan1913 57:7b3dec9349db 274 controller.i_d_ref = 0;
jianghan1913 57:7b3dec9349db 275 controller.i_q_ref = 0;
jianghan1913 57:7b3dec9349db 276 controller.kp = 0;
jianghan1913 57:7b3dec9349db 277 controller.kd = 0;
jianghan1913 57:7b3dec9349db 278 controller.t_ff = 0;
benkatz 25:f5741040c4bb 279 }
benkatz 37:c0f352d6e8e3 280
jianghan1913 57:7b3dec9349db 281 torque_control(&controller);
jianghan1913 57:7b3dec9349db 282 update_observer(&controller, &observer);
jianghan1913 57:7b3dec9349db 283 field_weaken(&controller);
jianghan1913 57:7b3dec9349db 284 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
jianghan1913 57:7b3dec9349db 285 controller.timeout++;
benkatz 55:c4c9fec8539c 286
jianghan1913 57:7b3dec9349db 287 if(controller.otw_flag) {
jianghan1913 57:7b3dec9349db 288 state = REST_MODE;
jianghan1913 57:7b3dec9349db 289 state_change = 1;
jianghan1913 57:7b3dec9349db 290 gpio.led->write(0);
jianghan1913 57:7b3dec9349db 291 }
jianghan1913 57:7b3dec9349db 292
jianghan1913 57:7b3dec9349db 293 count++;
benkatz 55:c4c9fec8539c 294 }
jianghan1913 57:7b3dec9349db 295
jianghan1913 57:7b3dec9349db 296
benkatz 55:c4c9fec8539c 297 break;
jianghan1913 57:7b3dec9349db 298
benkatz 23:2adf23ee0305 299 case SETUP_MODE:
jianghan1913 57:7b3dec9349db 300 if(state_change) {
benkatz 24:58c2d7571207 301 enter_setup_state();
benkatz 23:2adf23ee0305 302 }
benkatz 23:2adf23ee0305 303 break;
benkatz 23:2adf23ee0305 304 case ENCODER_MODE:
benkatz 23:2adf23ee0305 305 print_encoder();
benkatz 23:2adf23ee0305 306 break;
jianghan1913 57:7b3dec9349db 307 }
jianghan1913 57:7b3dec9349db 308 }
jianghan1913 57:7b3dec9349db 309 //gpio.led->write(0);
jianghan1913 57:7b3dec9349db 310 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 311 }
benkatz 0:4e1c4df6aabd 312
benkatz 25:f5741040c4bb 313
benkatz 24:58c2d7571207 314 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 315 char cmd_id = 0;
benkatz 25:f5741040c4bb 316 char char_count = 0;
benkatz 24:58c2d7571207 317
benkatz 25:f5741040c4bb 318 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 319 /// Called when data received over serial ///
jianghan1913 57:7b3dec9349db 320 void serial_interrupt(void)
jianghan1913 57:7b3dec9349db 321 {
jianghan1913 57:7b3dec9349db 322 while(pc.readable()) {
benkatz 23:2adf23ee0305 323 char c = pc.getc();
jianghan1913 57:7b3dec9349db 324 if(c == 27) {
jianghan1913 57:7b3dec9349db 325 state = REST_MODE;
jianghan1913 57:7b3dec9349db 326 state_change = 1;
jianghan1913 57:7b3dec9349db 327 char_count = 0;
jianghan1913 57:7b3dec9349db 328 cmd_id = 0;
jianghan1913 57:7b3dec9349db 329 gpio.led->write(0);;
jianghan1913 57:7b3dec9349db 330 for(int i = 0; i<8; i++) {
jianghan1913 57:7b3dec9349db 331 cmd_val[i] = 0;
jianghan1913 57:7b3dec9349db 332 }
jianghan1913 57:7b3dec9349db 333 }
jianghan1913 57:7b3dec9349db 334 if(state == REST_MODE) {
jianghan1913 57:7b3dec9349db 335 switch (c) {
benkatz 23:2adf23ee0305 336 case 'c':
benkatz 23:2adf23ee0305 337 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 338 state_change = 1;
benkatz 23:2adf23ee0305 339 break;
benkatz 26:2b865c00d7e9 340 case 'm':
benkatz 26:2b865c00d7e9 341 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 342 state_change = 1;
benkatz 23:2adf23ee0305 343 break;
benkatz 23:2adf23ee0305 344 case 'e':
benkatz 23:2adf23ee0305 345 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 346 state_change = 1;
benkatz 23:2adf23ee0305 347 break;
benkatz 23:2adf23ee0305 348 case 's':
benkatz 23:2adf23ee0305 349 state = SETUP_MODE;
benkatz 23:2adf23ee0305 350 state_change = 1;
benkatz 23:2adf23ee0305 351 break;
benkatz 37:c0f352d6e8e3 352 case 'z':
benkatz 37:c0f352d6e8e3 353 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 354 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 355 wait_us(20);
benkatz 37:c0f352d6e8e3 356 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 357 if (!prefs.ready()) prefs.open();
jianghan1913 57:7b3dec9349db 358 prefs.flush(); // Write new prefs to flash
jianghan1913 57:7b3dec9349db 359 prefs.close();
jianghan1913 57:7b3dec9349db 360 prefs.load();
benkatz 37:c0f352d6e8e3 361 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 362 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
jianghan1913 57:7b3dec9349db 363
benkatz 37:c0f352d6e8e3 364 break;
jianghan1913 57:7b3dec9349db 365 }
jianghan1913 57:7b3dec9349db 366
jianghan1913 57:7b3dec9349db 367 } else if(state == SETUP_MODE) {
jianghan1913 57:7b3dec9349db 368 if(c == 13) {
jianghan1913 57:7b3dec9349db 369 switch (cmd_id) {
benkatz 24:58c2d7571207 370 case 'b':
benkatz 24:58c2d7571207 371 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 372 break;
benkatz 24:58c2d7571207 373 case 'i':
benkatz 24:58c2d7571207 374 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 375 break;
benkatz 26:2b865c00d7e9 376 case 'm':
benkatz 26:2b865c00d7e9 377 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 378 break;
benkatz 24:58c2d7571207 379 case 'l':
benkatz 51:6cd89bd6fcaa 380 I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 381 break;
benkatz 51:6cd89bd6fcaa 382 case 'f':
benkatz 51:6cd89bd6fcaa 383 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 384 break;
benkatz 28:8c7e29f719c5 385 case 't':
benkatz 28:8c7e29f719c5 386 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 387 break;
benkatz 55:c4c9fec8539c 388 case 'h':
benkatz 55:c4c9fec8539c 389 TEMP_MAX = fmaxf(fminf(atof(cmd_val), 150.0f), 0.0f);
benkatz 55:c4c9fec8539c 390 break;
benkatz 55:c4c9fec8539c 391 case 'c':
benkatz 55:c4c9fec8539c 392 I_MAX_CONT = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 55:c4c9fec8539c 393 break;
benkatz 24:58c2d7571207 394 default:
benkatz 24:58c2d7571207 395 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 396 break;
jianghan1913 57:7b3dec9349db 397 }
jianghan1913 57:7b3dec9349db 398
benkatz 24:58c2d7571207 399 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 400 prefs.flush(); // Write new prefs to flash
jianghan1913 57:7b3dec9349db 401 prefs.close();
jianghan1913 57:7b3dec9349db 402 prefs.load();
benkatz 24:58c2d7571207 403 state_change = 1;
benkatz 24:58c2d7571207 404 char_count = 0;
benkatz 24:58c2d7571207 405 cmd_id = 0;
jianghan1913 57:7b3dec9349db 406 for(int i = 0; i<8; i++) {
jianghan1913 57:7b3dec9349db 407 cmd_val[i] = 0;
benkatz 24:58c2d7571207 408 }
jianghan1913 57:7b3dec9349db 409 } else {
jianghan1913 57:7b3dec9349db 410 if(char_count == 0) {
jianghan1913 57:7b3dec9349db 411 cmd_id = c;
jianghan1913 57:7b3dec9349db 412 } else {
benkatz 24:58c2d7571207 413 cmd_val[char_count-1] = c;
jianghan1913 57:7b3dec9349db 414
benkatz 24:58c2d7571207 415 }
benkatz 24:58c2d7571207 416 pc.putc(c);
benkatz 24:58c2d7571207 417 char_count++;
benkatz 23:2adf23ee0305 418 }
jianghan1913 57:7b3dec9349db 419 } else if (state == ENCODER_MODE) {
jianghan1913 57:7b3dec9349db 420 switch (c) {
benkatz 24:58c2d7571207 421 case 27:
benkatz 24:58c2d7571207 422 state = REST_MODE;
benkatz 24:58c2d7571207 423 state_change = 1;
benkatz 24:58c2d7571207 424 break;
benkatz 24:58c2d7571207 425 }
jianghan1913 57:7b3dec9349db 426 } else if (state == MOTOR_MODE) {
jianghan1913 57:7b3dec9349db 427 switch (c) {
benkatz 49:83d83040ea51 428 case 'd':
benkatz 49:83d83040ea51 429 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 430 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 431 }
benkatz 24:58c2d7571207 432 }
jianghan1913 57:7b3dec9349db 433
benkatz 22:60276ba87ac6 434 }
jianghan1913 57:7b3dec9349db 435 }
jianghan1913 57:7b3dec9349db 436
jianghan1913 57:7b3dec9349db 437 int main()
jianghan1913 57:7b3dec9349db 438 {
benkatz 20:bf9ea5125d52 439 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 440 controller.mode = 0;
benkatz 23:2adf23ee0305 441 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 55:c4c9fec8539c 442 wait_us(100);
jianghan1913 57:7b3dec9349db 443
benkatz 44:8040fa2fcb0d 444 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 445 wait_us(100);
benkatz 45:26801179208e 446 drv.calibrate();
benkatz 45:26801179208e 447 wait_us(100);
benkatz 55:c4c9fec8539c 448 drv.write_DCR(0x0, DIS_GDF_DIS, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 55:c4c9fec8539c 449 wait_us(100);
benkatz 55:c4c9fec8539c 450 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x1, 0x1, 0x1, SEN_LVL_1_0); // calibrate shunt amplifiers
benkatz 44:8040fa2fcb0d 451 wait_us(100);
jianghan1913 57:7b3dec9349db 452 zero_current(&controller.adc1_offset, &controller.adc2_offset);
benkatz 44:8040fa2fcb0d 453 wait_us(100);
benkatz 55:c4c9fec8539c 454 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x1, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 55:c4c9fec8539c 455 wait_us(100);
benkatz 55:c4c9fec8539c 456 drv.write_OCPCR(TRETRY_50US, DEADTIME_50NS, OCP_NONE, OCP_DEG_8US, VDS_LVL_1_88);
jianghan1913 57:7b3dec9349db 457
benkatz 45:26801179208e 458 //drv.enable_gd();
benkatz 47:e1196a851f76 459 drv.disable_gd();
benkatz 55:c4c9fec8539c 460 //zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 55:c4c9fec8539c 461 //drv.enable_gd();
benkatz 20:bf9ea5125d52 462
benkatz 55:c4c9fec8539c 463 wait_us(100);
jianghan1913 57:7b3dec9349db 464
benkatz 23:2adf23ee0305 465 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 466 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 467 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
jianghan1913 57:7b3dec9349db 468
benkatz 55:c4c9fec8539c 469 wait_us(100);
benkatz 37:c0f352d6e8e3 470 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 37:c0f352d6e8e3 471 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
jianghan1913 57:7b3dec9349db 472 // attach 'CAN receive-complete' interrupt handler
jianghan1913 57:7b3dec9349db 473
jianghan1913 57:7b3dec9349db 474 // If preferences haven't been user configured yet, set defaults
benkatz 53:e85efce8c1eb 475 prefs.load(); // Read flash
jianghan1913 57:7b3dec9349db 476 can.filter(CAN_ID, 0xFFF, CANStandard, 0);
benkatz 28:8c7e29f719c5 477 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 478 txMsg.len = 6;
benkatz 26:2b865c00d7e9 479 rxMsg.len = 8;
jianghan1913 57:7b3dec9349db 480 can.attach(&onMsgReceived);
jianghan1913 57:7b3dec9349db 481
jianghan1913 57:7b3dec9349db 482 if(isnan(E_OFFSET)) {
jianghan1913 57:7b3dec9349db 483 E_OFFSET = 0.0f;
jianghan1913 57:7b3dec9349db 484 }
jianghan1913 57:7b3dec9349db 485 if(isnan(M_OFFSET)) {
jianghan1913 57:7b3dec9349db 486 M_OFFSET = 0.0f;
jianghan1913 57:7b3dec9349db 487 }
jianghan1913 57:7b3dec9349db 488 if(isnan(I_BW) || I_BW==-1) {
jianghan1913 57:7b3dec9349db 489 I_BW = 1000;
jianghan1913 57:7b3dec9349db 490 }
jianghan1913 57:7b3dec9349db 491 if(isnan(I_MAX) || I_MAX ==-1) {
jianghan1913 57:7b3dec9349db 492 I_MAX=40;
jianghan1913 57:7b3dec9349db 493 }
jianghan1913 57:7b3dec9349db 494 if(isnan(I_FW_MAX) || I_FW_MAX ==-1) {
jianghan1913 57:7b3dec9349db 495 I_FW_MAX=12;
jianghan1913 57:7b3dec9349db 496 }
jianghan1913 57:7b3dec9349db 497 if(isnan(CAN_ID) || CAN_ID==-1) {
jianghan1913 57:7b3dec9349db 498 CAN_ID = 1;
jianghan1913 57:7b3dec9349db 499 }
jianghan1913 57:7b3dec9349db 500 if(isnan(CAN_MASTER) || CAN_MASTER==-1) {
jianghan1913 57:7b3dec9349db 501 CAN_MASTER = 0;
jianghan1913 57:7b3dec9349db 502 }
jianghan1913 57:7b3dec9349db 503 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1) {
jianghan1913 57:7b3dec9349db 504 CAN_TIMEOUT = 1000;
jianghan1913 57:7b3dec9349db 505 }
jianghan1913 57:7b3dec9349db 506 if(isnan(R_NOMINAL) || R_NOMINAL==-1) {
jianghan1913 57:7b3dec9349db 507 R_NOMINAL = 0.0f;
jianghan1913 57:7b3dec9349db 508 }
jianghan1913 57:7b3dec9349db 509 if(isnan(TEMP_MAX) || TEMP_MAX==-1) {
jianghan1913 57:7b3dec9349db 510 TEMP_MAX = 125.0f;
jianghan1913 57:7b3dec9349db 511 }
jianghan1913 57:7b3dec9349db 512 if(isnan(I_MAX_CONT) || I_MAX_CONT==-1) {
jianghan1913 57:7b3dec9349db 513 I_MAX_CONT = 14.0f;
jianghan1913 57:7b3dec9349db 514 }
benkatz 25:f5741040c4bb 515 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 516 spi.SetMechOffset(M_OFFSET);
benkatz 56:fe5056ac6740 517 spi.Sample(1.0f);
jianghan1913 57:7b3dec9349db 518 if(spi.GetMechPosition() > PI) {
jianghan1913 57:7b3dec9349db 519 spi.SetMechOffset(M_OFFSET+2.0f*PI); // now zeroes to +- 30 degrees about nominal, independent of rollover point
jianghan1913 57:7b3dec9349db 520 } else if (spi.GetMechPosition() < -PI) {
jianghan1913 57:7b3dec9349db 521 spi.SetMechOffset(M_OFFSET-2.0f*PI);
jianghan1913 57:7b3dec9349db 522 }
jianghan1913 57:7b3dec9349db 523
benkatz 23:2adf23ee0305 524 int lut[128] = {0};
benkatz 23:2adf23ee0305 525 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 526 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 527 init_controller_params(&controller);
jianghan1913 57:7b3dec9349db 528
benkatz 45:26801179208e 529
benkatz 26:2b865c00d7e9 530 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 531 wait(.01);
benkatz 23:2adf23ee0305 532 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 533 wait(.01);
benkatz 23:2adf23ee0305 534 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 535 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 536 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 537 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 538 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 539 printf(" CAN ID: %d\n\r", CAN_ID);
jianghan1913 57:7b3dec9349db 540
benkatz 44:8040fa2fcb0d 541
benkatz 55:c4c9fec8539c 542 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 44:8040fa2fcb0d 543
jianghan1913 57:7b3dec9349db 544
benkatz 23:2adf23ee0305 545 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 50:ba72df25d10f 546
benkatz 20:bf9ea5125d52 547
benkatz 44:8040fa2fcb0d 548 int counter = 0;
benkatz 0:4e1c4df6aabd 549 while(1) {
benkatz 55:c4c9fec8539c 550 //drv.print_faults();
benkatz 53:e85efce8c1eb 551 wait(.1);
benkatz 55:c4c9fec8539c 552 //printf("%.3f %.3f\n\r" , observer.temperature, observer.q_in);
jianghan1913 57:7b3dec9349db 553 if(controller.otw_flag) {
jianghan1913 57:7b3dec9349db 554 gpio.led->write(!gpio.led->read());
jianghan1913 57:7b3dec9349db 555 }
jianghan1913 57:7b3dec9349db 556 /*
benkatz 47:e1196a851f76 557 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 558 {
jianghan1913 57:7b3dec9349db 559 if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
jianghan1913 57:7b3dec9349db 560 //printf("%f %f\n\r", controller.dtheta_mech, controller.i_d_ref);
jianghan1913 57:7b3dec9349db 561 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
jianghan1913 57:7b3dec9349db 562 //printf("%.3f %.3f %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.dtheta_elec);
jianghan1913 57:7b3dec9349db 563 //printf("%.3f %.3f %.3f %.3f\n\r", controller.dtheta_elec, observer.resistance, observer.temperature, observer.temp_measured);
jianghan1913 57:7b3dec9349db 564 //printf("%.3f %.3f\n\r" , observer.temperature, observer.temp_measured);
benkatz 47:e1196a851f76 565 }
jianghan1913 57:7b3dec9349db 566
benkatz 50:ba72df25d10f 567 */
benkatz 47:e1196a851f76 568
benkatz 0:4e1c4df6aabd 569 }
benkatz 0:4e1c4df6aabd 570 }