DC motor control program using TA7291P type driver and rotary encoder with A, B phase.
Dependencies: QEI mbed-rtos mbed
Diff: main.cpp
- Revision:
- 9:0540582a220e
- Parent:
- 7:613febb8f028
diff -r 613febb8f028 -r 0540582a220e main.cpp --- a/main.cpp Tue Nov 20 09:54:55 2012 +0000 +++ b/main.cpp Sat Nov 24 01:10:18 2012 +0000 @@ -1,343 +1,104 @@ -// DC motor control program using H-bridge driver (ex. TA7291P) and 360 resolution rotary encoder with A, B phase. -// ver. 121118a by Kosaka lab. +// Skelton of EMG input method program using timer interrupt and thread. +// ver. 121123 by Kosaka lab. #include "mbed.h" #include "rtos.h" -#include "QEI.h" #define PI 3.14159265358979 // def. of PI /*********** User setting for control parameters (begin) ***************/ -//#define SIMULATION // Comment this line if not simulation -#define USE_PWM // H bridge PWM mode: Vref=Vcc, FIN,2 = PWM or 0. Comment if use Vref=analog mode -#define CONTROL_MODE 4 // 0:PID control, 1:Frequency response, 2:Step response, 3. u=Rand to identify G(s), 4) FFT identification -#define GOOD_DATA // Comment this line if the length of data TMAX/TS2 > 1000 -//#define R_SIN // Comment this line if r=step, not r = sin -float _freq_u = 0.3; // [Hz], freq. of Frequency response, or Step response -float _rmax=100./180.*PI; // [rad], max. of reference signal -float _Kp=20; // P gain for PID ... Kp=1, Ki=0, Kd=0 is good. -float _Ki=20; // I gain for PID -float _Kd=5; // D gain for PID -#define TS 0.001 // [s], TS>=0.001[s], sampling time[s] of PID controller -#define TS2 0.01 // [s], TS2>=0.001[s], sampling time[s] of data save to PC. But, max data length is 1000. -#define TMAX 10 // [s], experiment starts from 0[s] to TMAX[s] -#define UMAX 3.3 // [V], max of control input u -#define UMIN -3.3 // [V], max of control input u -#define DEADTIME 0.0001 // [s], deadtime to be set between plus volt. to/from minus - // H bridge port setting -#define FIN_PORT p21 // FIN (IN1) port of mbed -#define RIN_PORT p22 // RIN (IN2) port of mbed -#define VREF_PORT p18 // Vref port of mbed (available if USE_PWM is not defined) -DigitalOut debug_p17(p17); // p17 for debug - -#define N_ENC (24*4) // "*4": QEI::X4_ENCODING. Number of pulses in one revolution(=360 deg) of rotary encoder. -QEI encoder (p29, p30, NC, N_ENC, QEI::X4_ENCODING); -// QEI(PinName channelA, mbed pin for channel A input. -// PinName channelB, mbed pin for channel B input. -// PinName index, mbed pin for channel Z input. (index channel input Z phase th=0), (pass NC if not needed). -// int pulsesPerRev, Number of pulses in one revolution(=360 deg). -// Encoding encoding = X2_ENCODING, X2 is default. X2 uses interrupts on the rising and falling edges of only channel A where as -// X4 uses them on both channels. -// ) -// void reset (void) -// Reset the encoder. -// int getCurrentState (void) -// Read the state of the encoder. -// int getPulses (void) -// Read the number of pulses recorded by the encoder. -// int getRevolutions (void) -// Read the number of revolutions recorded by the encoder on the index channel. +AnalogIn emg(p20); // *3.3 [V], Volt of emg from detection cirquit +#define N_COUNT 5000 // keep N_COUNT data to identify japanese chracter. +#define TS 0.0001 // [s], TS, sampling time[s] to detect emg from AD. +#define TMAX 5 // [s], experiment starts from 0[s] to TMAX[s] /*********** User setting for control parameters (end) ***************/ - Serial pc(USBTX, USBRX); // Display on tera term in PC LocalFileSystem local("local"); // save data to mbed USB disk drive in PC //Semaphore semaphore1(1); // wait and release to protect memories and so on //Mutex stdio_mutex; // wait and release to protect memories and so on -//Ticker controller_ticker; // Timer interrupt using TIMER3, TS<0.001 is OK. Priority is higher than rtosTimer. +Ticker timer_interrupt; // Timer interrupt using TIMER3, TS<0.001 is OK. Priority is higher than rtosTimer. -#ifdef USE_PWM // H bridge PWM mode: Vref=Vcc, FIN,2 = PWM or 0. - #define PWM_FREQ 10000.0 //[Hz], pwm freq. - PwmOut FIN(FIN_PORT); // PWM for FIN, RIN=0 when forward rotation. H bridge driver PWM mode - PwmOut RIN(RIN_PORT); // PWM for RIN, FIN=0 when reverse rotation. H bridge driver PWM mode -#else // H bridge Vref=analog mode - DigitalOut FIN(FIN_PORT);// FIN for DC motor H bridge driver. FIN=1, RIN=0 then forward rotation - DigitalOut RIN(RIN_PORT);// RIN for DC motor H bridge driver. FIN=0, RIN=1 then reverse rotation -#endif -AnalogOut analog_out(VREF_PORT);// Vref for DC motor H bridge driver. DA converter for control input [0.0-1.0]% in the output range of 0.0 to 3.3[V] +//extern "C" void mbed_reset(); // if called, mbed is resset. -unsigned long _count; // sampling number -float _time; // time[s] -float _r; // reference signal -float _y; // control output -float _e=0; // e=r-y for PID controller -float _eI=0; // integral of e for PID controller -float _u; // control input[V] -unsigned char _f_u_plus=1;// sign(u) -unsigned char _f_umax=0;// flag showing u is max or not -float debug[10]; // for debug -float disp[10]; // for printf to avoid interrupted by quicker process -#ifdef GOOD_DATA -float data[1000][5]; // memory to save data offline instead of "online fprintf". -unsigned int count3; // -unsigned int count2=(int)(TS2/TS); // -#endif - -extern "C" void mbed_reset(); - -void u2Hbridge(float u){// input u to H bridge driver - float duty; - unsigned int f_deadtime, f_in, r_in; +float _emg_data[N_COUNT];// emg raw data +unsigned long _count=0; // sampling number for emg detection. +unsigned long _count2=0; // = _count/N_COUNT - if( u > 0 ){ // forward: rotate to plus - duty = u/3.3; // Vref - if(_f_u_plus==0){ // if plus to/from minus, set FIN=RIN=0/1 for 100[us]. - f_deadtime = 1; // deadtime is required - _f_u_plus=1; - }else{ - f_deadtime = 0; // deadtime is required - } - f_in=1; r_in=0; // set forward direction - }else if( u < 0 ){ // reverse: rotate to minus - duty = -u/3.3; - if(_f_u_plus==1){ // if plus to/from minus, set FIN=RIN=0/1 for 100[us]. - f_deadtime = 1; // deadtime is required - _f_u_plus=0; - }else{ - f_deadtime = 0; // deadtime is required - } - f_in=0; r_in=1; // set reverse direction - }else{// if( u == 0 ){ // stop mode - duty = 0; - f_deadtime = 0; // deadtime is required - f_in=0; r_in=0; // set FIN & RIN - } +DigitalOut led1(LED1); // for debug +DigitalOut led2(LED2); // for debug - if( f_deadtime==1 ){// making deadtime - FIN=0; RIN=0; // set upper&lower arm zero - wait(DEADTIME); - } -#ifdef USE_PWM // H bridge PWM mode: Vref=Vcc, FIN,2 = PWM or 0 - FIN = duty*(float)f_in; RIN = duty*(float)r_in; // setting pwm FIN & RIN - analog_out = 1; // setting Vref=UMAX, but Vref=Vcc is better. -#else // Analog mode: Vref=analog, FIN, RIN = 1 or 0) - FIN = f_in; RIN = r_in; // setting FIN & RIN - analog_out = duty; // setting Vref : PID write DA, range is 0-1. Output voltage 0-3.3v -#endif +float _char=0; //-------- make japanese character from emg +FILE *fp; // save data to PC +unsigned char _f_req_slow=0; // flag requesting slow() +unsigned char _f_req_slowest=0; // flag requesting slowest() + + +void disp2PC(){ //-------- display japanese character to tera term on PC + pc.printf(" d %f\r\n",_char); } -void controller(void const *argument) { // if rtos. current controller & velocity controller -//void controller() { // if ticker. current controller & velocity controller - void u2Hbridge(float); // input u to TA7291 driver - float e_old, wt; - float y, u; // to avoid time shift - - debug_p17 = 1; // for debug: processing time check -// if(debug_p17 == 1) debug_p17=0;else debug_p17=1; // for debug: sampling time check +void discriminateEMG(){ //-------- discriminate EMG to make japanese character + int i; + float x; - _count+=1; -// y_old = _y; // y_old=y(t-TS) is older than y by 1 sampling time TS[s]. update data -#ifdef SIMULATION - y = _y + TS/0.1*(0.2*_u*100-_y); //=(1-TS/0.1)*_y + 0.2*TS/0.1*_u; // G = 0.2/(0.1s+1) -//debug[0]=_u;//plus -#else -// semaphore1.wait(); // - y = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder -// semaphore1.release(); // -#endif -//#ifdef R_SIN -// #define RMAX (100./180.*PI) - #define RMIN 0 - wt = _freq_u *2.0*PI*_time; - if(wt>2*PI){ wt -= 2*PI*(float)((int)(wt/(2.0*PI)));} - _r = sin(wt ) * (_rmax-RMIN)/2.0 + (_rmax+RMIN)/2.0; -#ifndef R_SIN - if( _r>=(_rmax+RMIN)/2.0 ) _r = _rmax; - else _r = 0; -#endif - e_old = _e; // e_old=e(t-TS) is older than e by 1 sampling time TS[s]. update data - _e = _r - y; // error e(t) - if( _f_umax==0 ){ - _eI = _eI + TS*_e; // integral of e(t) + x = 0; + for( i=0;i<N_COUNT;i++){ + x = x + _emg_data[i]; } - - u = _Kp*_e + _Kd*(_e-e_old)/TS + _Ki*_eI; // PID output u(t) -//debug[0]=_e;//minus -//debug[0]=u;//minus - - // u is saturated? for anti-windup - if( u>UMAX ){ - _eI -= (u-UMAX)/_Ki; if(_eI<0){ _eI=0;} - u = UMAX; -// _f_umax = 1; - } else if( u<UMIN ){ - _eI -= (u-UMIN)/_Ki; if(_eI>0){ _eI=0;} - u = UMIN; -// _f_umax = 1; - }else{ - _f_umax = 0; - } -//#define CONTROL_MODE 2 // 0:PID control, 1:Frequency response, 2:Step response -#if CONTROL_MODE==1||CONTROL_MODE==2 // frequency response, or Step response - wt = _freq_u *2.0*PI*_time; - if(wt>2*PI) wt -= 2*PI*(float)((int)(wt/2.0*PI)); - u = sin(wt ) * (UMAX-UMIN)/2.0 + (UMAX+UMIN)/2.0; -#endif -#if CONTROL_MODE==2 // Step response - if( u>=0 ) u = UMAX; - else u = UMIN; -#endif -#if CONTROL_MODE==3 // u=rand() to identify motor transfer function G(s) from V to angle - if(count2==(int)(TS2/TS)){ - u = ((float)rand()/RAND_MAX*2.0-1.0) * (UMAX-1.5)/2.0 + (UMAX+1.5)/2.0; - }else{ - u = _u; - } -#endif -#if CONTROL_MODE==4 // FFT identification, u=repetive signal - if(count2==(int)(TS2/TS)){ - u = data[count3][4]; - }else{ - u = _u; - } -#endif -//debug[0]=u;//minus - u2Hbridge(u); // input u to TA7291 driver - - //-------- update data - _time += TS; // time - _y = y; - _u = u; -//debug[0]=_u;//minus -//debug[0]=_eI; -debug[0]=_r; -#ifdef GOOD_DATA - if(count2==(int)(TS2/TS)){ -// j=0; if(_count>=j&&_count<j+1000){i=_count-j; data[i][0]=_r; data[i][1]=debug[0]; data[i][2]=_y; data[i][3]=_time; data[i][4]=_u;} - if( count3<1000 ){ - data[count3][0]=_r; data[count3][1]=debug[0]; data[count3][2]=_y; data[count3][3]=_time; data[count3][4]=_u; - count3++; - } - count2 = 0; - } - count2++; -#endif - //-------- update data - - debug_p17 = 0; // for debug: processing time check + _char = x; // _char = emg_data[0] + emg_data[1] + emg_data[2] + ... + pc.printf(" s\r\n"); } -void main1() { - RtosTimer timer_controller(controller); - FILE *fp; // save data to PC -#ifdef GOOD_DATA - int i; - count3=0; -#endif - u2Hbridge(0); // initialize H bridge to stop mode - _count=0; - _time = 0; // time - _e = _eI = 0; - encoder.reset(); // set encoder counter zero - _y = (float)encoder.getPulses()/(float)N_ENC*2.0*PI; // get angle [rad] from encoder - _r = _r + _y; -// if( _r>2*PI ) _r -= _r-2*PI; - - pc.printf("Control start!!\r\n"); - if ( NULL == (fp = fopen( "/local/data.csv", "w" )) ){ error( "" );} // save data to PC -#ifdef USE_PWM - FIN.period( 1.0 / PWM_FREQ ); // PWM period [s]. Common to all PWM -#endif -// controller_ticker.attach(&controller, TS ); // period [s] - timer_controller.start((unsigned int)(TS*1000.)); // Sampling period[ms] +//---------------- from here, timer interrupt and threads --------------- -// for ( i = 0; i < (unsigned int)(TMAX/TS2); i++ ) { - while ( _time <= TMAX ) { - // BUG!! Dangerous if TS2<0.1 because multi interrupt by fprintf is not prohibited! 1st aug of fprintf will be destroyed. - // fprintf returns before process completed. -//BUG fprintf( fp, "%8.2f, %8.4f,\t%8.1f,\t%8.2f\r\n", disp[3], disp[1], disp[0], tmp); // save data to PC (para, y, time, u) -//OK? fprintf( fp, "%f, %f, %f, %f, %f\r\n", _time, debug[0], debug[3], (_y/(2*PI)*360.0),_u); // save data to PC (para, y, time, u) -#ifndef GOOD_DATA - fprintf( fp, "%f, %f, %f, %f, %f\r\n", _r, debug[0], _y, _time, _u); // save data to PC (para, y, time, u) -#endif - Thread::wait((unsigned int)(TS2*1000.)); //[ms] - } - timer_controller.stop(); // rtos timer stop - u2Hbridge(0); // initialize H bridge to stop mode -#ifdef GOOD_DATA - for(i=0;i<1000;i++){ fprintf( fp, "%f, %f, %f, %f, %f\r\n", data[i][0],data[i][1],data[i][2],data[i][3],data[i][4]);} // save data to PC (para, y, time, u) -#endif - fclose( fp ); // release mbed USB drive - pc.printf("Control completed!!\r\n\r\n"); -} - -void thread_print2PC(void const *argument) { - while (true) { - pc.printf("%8.1f[s]\t%8.5f[V]\t%4d [deg]\t%8.2f\r\n", _time, _u, (int)(_y/(2*PI)*360.0), debug[0]/(2*PI)*360.0); // print to tera term - Thread::wait(200); +void slowest(void const *argument) { // thread priority: Low + while(true){ + if( _f_req_slowest == 1 ){ // if slowest() is requested. +// function(); + _f_req_slowest = 0; // release to request slowest() + } } } -void main2(void const *argument) { -#if CONTROL_MODE==0 // PID control - char f; - float val; -#endif -#if CONTROL_MODE==4 // FFT identification, u=repetive signal - int i, j; - float max_u; -#endif - +void slow(void const *argument) { // thread priority: below normal while(true){ -#if CONTROL_MODE==4 // FFT identification, u=repetive signal - max_u = 0; - for( i=0;i<1000;i++ ){ // u=data[i][4]: memory for FFT identification input signal. - data[i][4] = sin(_freq_u*2*PI * i*TS2); // _u_freq = 10/2 * i [Hz] - if( data[i][4]>max_u ){ max_u=data[i][4];} + if( _f_req_slow == 1 ){ // if slow() is requested. + led2 = 1; // check calculate time + discriminateEMG(); //-------- discriminate EMG to make japanese character + disp2PC(); //-------- display japanese character to tera term on PC + _f_req_slow = 0; // release to request slow() + _f_req_slowest = 1; // request slowest() + led2 = 0; // check calculate time } - for( j=1;j<50;j++ ){ - for( i=0;i<1000;i++ ){ - data[i][4] += sin((float)(j+1)*_freq_u*2*PI * i*TS2); - if( data[i][4]>max_u ){ max_u=data[i][4];} - } - } - for( i=0;i<1000;i++ ){ -// data[i][4] *= UMAX/max_u; - data[i][4] = (data[i][4]/max_u+3)/4*UMAX; - } -#endif - main1(); + } +} -#if CONTROL_MODE>=1 // frequency response, or Step response - pc.printf("Input u(t) Frequency[Hz]? (if 9, reset mbed)..."); - pc.scanf("%f",&_freq_u); - pc.printf("%8.3f[Hz]\r\n", _freq_u); // print to tera term - if(_freq_u==9){ mbed_reset();} -#else // PID control -// #ifdef R_SIN -// pc.printf("Reference signal r(t) Frequency[Hz]?..."); -// pc.scanf("%f",&_freq_u); -// pc.printf("%8.3f[Hz]\r\n", _freq_u); // print to tera term -// #endif - pc.printf("Kp=%f, Ki=%f, Kd=%f, r=%f[deg], %f Hz\r\n",_Kp, _Ki, _Kd, _rmax*180./PI, _freq_u); - pc.printf("Which number do you like to change?\r\n ... 0)no change, 1)Kp, 2)Ki, 3)Kd, 4)r(t) freq.[Hz], 5)r(t) amp.[deg]. 9)reset mbed ?"); - f=pc.getc()-48; //int = char-48 - pc.printf("\r\n Value?... "); - if(f>=1&&f<=5){ pc.scanf("%f",&val);} - pc.printf("%8.3f\r\n", val); // print to tera term - if(f==1){ _Kp = val;} - if(f==2){ _Ki = val;} - if(f==3){ _Kd = val;} - if(f==4){ _freq_u = val;} - if(f==5){ _rmax = val/180.*PI;} - if(f==9){ mbed_reset();} - pc.printf("Kp=%f, Ki=%f, Kd=%f, r=%f[deg], %f Hz\r\n",_Kp, _Ki, _Kd, _rmax*180./PI, _freq_u); -#endif - } +void fastest() { // ticker using TIMER3 interrupt + led1 = 1; // check calculate time +// if( led1==0 ){ led1=1;}else{ led1=0;}// for debug + _emg_data[_count] = emg; + _count = _count + 1; + if( _count==N_COUNT ){ + _count = 0; + _count2 += 1; + _f_req_slow = 1; // request slow() + } + led1 = 0; // check calculate time } + int main() { -// void main1(); - Thread save2PC(main2,NULL,osPriorityBelowNormal); - Thread print2PC(thread_print2PC,NULL,osPriorityLow); + Thread threadSlow(slow,NULL,osPriorityBelowNormal); // call thread slow() + Thread threadSlowest(slowest,NULL,osPriorityLow); // call thread slowest() + pc.printf("Start!!\r\n"); +// if ( NULL == (fp = fopen( "/local/data.csv", "w" )) ){ error( "" );} // open mbed USB drive + timer_interrupt.attach(&fastest, TS ); // start timer interrupt: call fastest() on each TS[s]. + while( _count2 < TMAX/TS/N_COUNT ){ + Thread::wait(1000); // [ms], wait + } + timer_interrupt.detach(); // stop timer interrupt fastest +// fclose( fp ); // release mbed USB drive + pc.printf("Completed!!\r\n\r\n"); +} // osStatus set_priority(osPriority osPriorityBelowNormal ); // Priority of Thread (RtosTimer has no priority?) // osPriorityIdle = -3, ///< priority: idle (lowest)--> then, mbed ERROR!! @@ -348,4 +109,3 @@ // osPriorityHigh = +2, ///< priority: high // osPriorityRealtime = +3, ///< priority: realtime (highest) // osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority -}