hongwei liu / Hobbyking_Cheetah_noflash

test

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@55:081470dee393, 2020-01-02 (annotated)

Committer:
monkey61
Date:
Thu Jan 02 09:11:07 2020 +0000
Branch:
Cheetah_noflash
Revision:
55:081470dee393
Parent:
53:e85efce8c1eb 
test

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 23:2adf23ee0305 7 #define REST_MODE 0
benkatz 23:2adf23ee0305 8 #define CALIBRATION_MODE 1
benkatz 26:2b865c00d7e9 9 #define MOTOR_MODE 2
benkatz 23:2adf23ee0305 10 #define SETUP_MODE 4
benkatz 23:2adf23ee0305 11 #define ENCODER_MODE 5
benkatz 22:60276ba87ac6 12
benkatz 51:6cd89bd6fcaa 13 #define VERSION_NUM "1.9"
benkatz 26:2b865c00d7e9 14
benkatz 18:f1d56f4acb39 15
benkatz 26:2b865c00d7e9 16 float __float_reg[64]; // Floats stored in flash
benkatz 26:2b865c00d7e9 17 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 18
benkatz 0:4e1c4df6aabd 19 #include "mbed.h"
benkatz 0:4e1c4df6aabd 20 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 21 #include "structs.h"
benkatz 20:bf9ea5125d52 22 #include "foc.h"
benkatz 22:60276ba87ac6 23 #include "calibration.h"
benkatz 20:bf9ea5125d52 24 #include "hw_setup.h"
benkatz 23:2adf23ee0305 25 #include "math_ops.h"
benkatz 20:bf9ea5125d52 26 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 27 #include "hw_config.h"
benkatz 20:bf9ea5125d52 28 #include "motor_config.h"
benkatz 23:2adf23ee0305 29 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 30 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 31 #include "user_config.h"
benkatz 23:2adf23ee0305 32 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 33 #include "CAN_com.h"
benkatz 44:8040fa2fcb0d 34 #include "DRV.h"
benkatz 26:2b865c00d7e9 35
benkatz 23:2adf23ee0305 36 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 37
benkatz 20:bf9ea5125d52 38 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 39 ControllerStruct controller;
benkatz 48:74a40481740c 40 ObserverStruct observer;
benkatz 20:bf9ea5125d52 41 COMStruct com;
benkatz 43:dfb72608639c 42 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 43
benkatz 17:3c5df2982199 44
benkatz 45:26801179208e 45 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 46 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 47 CANMessage txMsg;
benkatz 23:2adf23ee0305 48
benkatz 20:bf9ea5125d52 49
benkatz 44:8040fa2fcb0d 50 SPI drv_spi(PA_7, PA_6, PA_5);
benkatz 44:8040fa2fcb0d 51 DigitalOut drv_cs(PA_4);
benkatz 44:8040fa2fcb0d 52 //DigitalOut drv_en_gate(PA_11);
benkatz 44:8040fa2fcb0d 53 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 54
benkatz 26:2b865c00d7e9 55 PositionSensorAM5147 spi(16384, 0.0, NPP);
benkatz 20:bf9ea5125d52 56
benkatz 23:2adf23ee0305 57 volatile int count = 0;
benkatz 23:2adf23ee0305 58 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 59 volatile int state_change;
benkatz 20:bf9ea5125d52 60
benkatz 26:2b865c00d7e9 61 void onMsgReceived() {
benkatz 26:2b865c00d7e9 62 //msgAvailable = true;
benkatz 53:e85efce8c1eb 63 //printf("%d\n\r", rxMsg.id);
benkatz 26:2b865c00d7e9 64 can.read(rxMsg);
benkatz 28:8c7e29f719c5 65 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 66 controller.timeout = 0;
benkatz 28:8c7e29f719c5 67 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 68 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 69 state_change = 1;
benkatz 28:8c7e29f719c5 70 }
benkatz 28:8c7e29f719c5 71 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 72 state = REST_MODE;
benkatz 28:8c7e29f719c5 73 state_change = 1;
benkatz 37:c0f352d6e8e3 74 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 75 }
benkatz 28:8c7e29f719c5 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();
benkatz 28:8c7e29f719c5 78 }
benkatz 28:8c7e29f719c5 79 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 80 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 81 }
benkatz 37:c0f352d6e8e3 82 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 83 can.write(txMsg);
benkatz 28:8c7e29f719c5 84 }
benkatz 26:2b865c00d7e9 85
benkatz 26:2b865c00d7e9 86 }
benkatz 26:2b865c00d7e9 87
benkatz 23:2adf23ee0305 88 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 89 drv.disable_gd();
benkatz 47:e1196a851f76 90 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 91 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 92 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 93 wait_us(10);
benkatz 26:2b865c00d7e9 94 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 95 wait_us(10);
benkatz 23:2adf23ee0305 96 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 97 wait_us(10);
benkatz 23:2adf23ee0305 98 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 99 wait_us(10);
benkatz 23:2adf23ee0305 100 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 101 wait_us(10);
benkatz 37:c0f352d6e8e3 102 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 103 wait_us(10);
monkey61 55:081470dee393 104 printf(" p - Print flash data\n\r");
monkey61 55:081470dee393 105 wait_us(10);
monkey61 55:081470dee393 106 printf(" o - Write flash data\n\r");
monkey61 55:081470dee393 107 wait_us(10);
monkey61 55:081470dee393 108 printf(" i - Read flash data\n\r");
monkey61 55:081470dee393 109 wait_us(10);
monkey61 55:081470dee393 110 printf(" q - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 111 wait_us(10);
benkatz 23:2adf23ee0305 112 state_change = 0;
benkatz 37:c0f352d6e8e3 113 gpio.led->write(0);
benkatz 23:2adf23ee0305 114 }
benkatz 24:58c2d7571207 115
benkatz 24:58c2d7571207 116 void enter_setup_state(void){
benkatz 24:58c2d7571207 117 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 118 wait_us(10);
benkatz 51:6cd89bd6fcaa 119 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 120 wait_us(10);
benkatz 28:8c7e29f719c5 121 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 122 wait_us(10);
benkatz 28:8c7e29f719c5 123 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 124 wait_us(10);
benkatz 28:8c7e29f719c5 125 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 126 wait_us(10);
benkatz 51:6cd89bd6fcaa 127 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
benkatz 51:6cd89bd6fcaa 128 wait_us(10);
benkatz 51:6cd89bd6fcaa 129 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 130 wait_us(10);
benkatz 28:8c7e29f719c5 131 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 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;
benkatz 24:58c2d7571207 136 }
benkatz 22:60276ba87ac6 137
benkatz 23:2adf23ee0305 138 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 139 drv.enable_gd();
benkatz 47:e1196a851f76 140 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 141 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 142 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 143 wait(.001);
benkatz 23:2adf23ee0305 144 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 145 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 146 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 147 state_change = 0;
benkatz 28:8c7e29f719c5 148 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 149 }
benkatz 22:60276ba87ac6 150
benkatz 23:2adf23ee0305 151 void calibrate(void){
benkatz 44:8040fa2fcb0d 152 drv.enable_gd();
benkatz 47:e1196a851f76 153 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 154 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 155 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 156 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 157 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 158 wait(.2);
monkey61 55:081470dee393 159 printf("\n\r Calibration complete. Press 'q' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 160 drv.disable_gd();
benkatz 47:e1196a851f76 161 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 162 state_change = 0;
benkatz 23:2adf23ee0305 163 }
benkatz 23:2adf23ee0305 164
benkatz 23:2adf23ee0305 165 void print_encoder(void){
benkatz 48:74a40481740c 166 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 167 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 168 wait(.001);
benkatz 22:60276ba87ac6 169 }
benkatz 20:bf9ea5125d52 170
benkatz 23:2adf23ee0305 171 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 172 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 173 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 174 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 175
benkatz 23:2adf23ee0305 176 ///Sample current always ///
benkatz 25:f5741040c4bb 177 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 178 //volatile int delay;
benkatz 20:bf9ea5125d52 179 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 180
benkatz 47:e1196a851f76 181 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 182 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 183 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 184 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 185 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 186 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 187 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 188 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 189 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
benkatz 23:2adf23ee0305 190 ///
benkatz 20:bf9ea5125d52 191
benkatz 23:2adf23ee0305 192 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 193 switch(state){
benkatz 37:c0f352d6e8e3 194 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 195 if(state_change){
benkatz 23:2adf23ee0305 196 enter_menu_state();
benkatz 23:2adf23ee0305 197 }
benkatz 23:2adf23ee0305 198 break;
benkatz 22:60276ba87ac6 199
benkatz 23:2adf23ee0305 200 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 201 if(state_change){
benkatz 23:2adf23ee0305 202 calibrate();
benkatz 23:2adf23ee0305 203 }
benkatz 23:2adf23ee0305 204 break;
benkatz 23:2adf23ee0305 205
benkatz 26:2b865c00d7e9 206 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 207 if(state_change){
benkatz 25:f5741040c4bb 208 enter_torque_mode();
benkatz 28:8c7e29f719c5 209 count = 0;
benkatz 25:f5741040c4bb 210 }
benkatz 28:8c7e29f719c5 211 else{
benkatz 37:c0f352d6e8e3 212 /*
benkatz 37:c0f352d6e8e3 213 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
benkatz 47:e1196a851f76 214 gpio.
benkatz 47:e1196a851f76 215 ->write(0);
benkatz 37:c0f352d6e8e3 216 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 217 state = REST_MODE;
benkatz 37:c0f352d6e8e3 218 state_change = 1;
benkatz 37:c0f352d6e8e3 219 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 220 }
benkatz 37:c0f352d6e8e3 221 */
benkatz 37:c0f352d6e8e3 222
benkatz 28:8c7e29f719c5 223 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 224 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 225 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 226 controller.kp = 0;
benkatz 37:c0f352d6e8e3 227 controller.kd = 0;
benkatz 37:c0f352d6e8e3 228 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 229 }
benkatz 47:e1196a851f76 230
benkatz 50:ba72df25d10f 231 torque_control(&controller);
benkatz 49:83d83040ea51 232 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 233
benkatz 49:83d83040ea51 234 controller.timeout++;
benkatz 49:83d83040ea51 235 count++;
benkatz 37:c0f352d6e8e3 236
benkatz 37:c0f352d6e8e3 237 }
benkatz 23:2adf23ee0305 238 break;
benkatz 23:2adf23ee0305 239 case SETUP_MODE:
benkatz 23:2adf23ee0305 240 if(state_change){
benkatz 24:58c2d7571207 241 enter_setup_state();
benkatz 23:2adf23ee0305 242 }
benkatz 23:2adf23ee0305 243 break;
benkatz 23:2adf23ee0305 244 case ENCODER_MODE:
benkatz 23:2adf23ee0305 245 print_encoder();
benkatz 23:2adf23ee0305 246 break;
benkatz 37:c0f352d6e8e3 247 }
benkatz 2:8724412ad628 248 }
benkatz 23:2adf23ee0305 249 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 250 }
benkatz 0:4e1c4df6aabd 251
benkatz 25:f5741040c4bb 252
benkatz 24:58c2d7571207 253 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 254 char cmd_id = 0;
benkatz 25:f5741040c4bb 255 char char_count = 0;
benkatz 24:58c2d7571207 256
benkatz 25:f5741040c4bb 257 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 258 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 259 void serial_interrupt(void){
benkatz 23:2adf23ee0305 260 while(pc.readable()){
benkatz 23:2adf23ee0305 261 char c = pc.getc();
monkey61 55:081470dee393 262 //if(c == 27){
monkey61 55:081470dee393 263 if(c == 'q'){
benkatz 25:f5741040c4bb 264 state = REST_MODE;
benkatz 25:f5741040c4bb 265 state_change = 1;
benkatz 25:f5741040c4bb 266 char_count = 0;
benkatz 25:f5741040c4bb 267 cmd_id = 0;
benkatz 37:c0f352d6e8e3 268 gpio.led->write(0);;
benkatz 25:f5741040c4bb 269 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 270 }
benkatz 24:58c2d7571207 271 if(state == REST_MODE){
benkatz 23:2adf23ee0305 272 switch (c){
benkatz 23:2adf23ee0305 273 case 'c':
benkatz 23:2adf23ee0305 274 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 275 state_change = 1;
benkatz 23:2adf23ee0305 276 break;
benkatz 26:2b865c00d7e9 277 case 'm':
benkatz 26:2b865c00d7e9 278 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 279 state_change = 1;
benkatz 23:2adf23ee0305 280 break;
benkatz 23:2adf23ee0305 281 case 'e':
benkatz 23:2adf23ee0305 282 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 283 state_change = 1;
benkatz 23:2adf23ee0305 284 break;
benkatz 23:2adf23ee0305 285 case 's':
benkatz 23:2adf23ee0305 286 state = SETUP_MODE;
benkatz 23:2adf23ee0305 287 state_change = 1;
benkatz 23:2adf23ee0305 288 break;
monkey61 55:081470dee393 289 case 'p':
monkey61 55:081470dee393 290 printf("__int_reg\r\n");
monkey61 55:081470dee393 291 for(int i = 0; i<=132; i++){printf("i:%d,int:%d\n\r", i,__int_reg[i]);}
monkey61 55:081470dee393 292 printf("__float_reg\r\n");
monkey61 55:081470dee393 293 for(int i = 0; i<=9; i++){printf("i:%d,float:%0.5f\n\r", i,__float_reg[i]);}
monkey61 55:081470dee393 294 printf("Print data over");
monkey61 55:081470dee393 295 break;
monkey61 55:081470dee393 296 case 'o':
monkey61 55:081470dee393 297 if (!prefs.ready()) prefs.open();
monkey61 55:081470dee393 298 prefs.flush(); // Write new prefs to flash
monkey61 55:081470dee393 299 prefs.close();
monkey61 55:081470dee393 300 prefs.load();
monkey61 55:081470dee393 301 printf("Write flash data over");
monkey61 55:081470dee393 302 break;
monkey61 55:081470dee393 303 case 'i':
monkey61 55:081470dee393 304 prefs.load();
monkey61 55:081470dee393 305 printf("Read flash data over");
monkey61 55:081470dee393 306 break;
benkatz 37:c0f352d6e8e3 307 case 'z':
benkatz 37:c0f352d6e8e3 308 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 309 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 310 wait_us(20);
benkatz 37:c0f352d6e8e3 311 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 312 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 313 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 314 prefs.close();
benkatz 37:c0f352d6e8e3 315 prefs.load();
benkatz 37:c0f352d6e8e3 316 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 317 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 318
benkatz 37:c0f352d6e8e3 319 break;
benkatz 37:c0f352d6e8e3 320 }
benkatz 37:c0f352d6e8e3 321
benkatz 24:58c2d7571207 322 }
benkatz 24:58c2d7571207 323 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 324 if(c == 13){
benkatz 24:58c2d7571207 325 switch (cmd_id){
benkatz 24:58c2d7571207 326 case 'b':
benkatz 24:58c2d7571207 327 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 328 break;
benkatz 24:58c2d7571207 329 case 'i':
benkatz 24:58c2d7571207 330 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 331 break;
benkatz 26:2b865c00d7e9 332 case 'm':
benkatz 26:2b865c00d7e9 333 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 334 break;
benkatz 24:58c2d7571207 335 case 'l':
benkatz 51:6cd89bd6fcaa 336 I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 337 break;
benkatz 51:6cd89bd6fcaa 338 case 'f':
benkatz 51:6cd89bd6fcaa 339 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 340 break;
benkatz 28:8c7e29f719c5 341 case 't':
benkatz 28:8c7e29f719c5 342 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 343 break;
benkatz 24:58c2d7571207 344 default:
benkatz 24:58c2d7571207 345 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 346 break;
benkatz 24:58c2d7571207 347 }
benkatz 24:58c2d7571207 348
benkatz 24:58c2d7571207 349 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 350 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 351 prefs.close();
benkatz 24:58c2d7571207 352 prefs.load();
benkatz 24:58c2d7571207 353 state_change = 1;
benkatz 24:58c2d7571207 354 char_count = 0;
benkatz 24:58c2d7571207 355 cmd_id = 0;
benkatz 24:58c2d7571207 356 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 357 }
benkatz 24:58c2d7571207 358 else{
benkatz 24:58c2d7571207 359 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 360 else{
benkatz 24:58c2d7571207 361 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 362
benkatz 24:58c2d7571207 363 }
benkatz 24:58c2d7571207 364 pc.putc(c);
benkatz 24:58c2d7571207 365 char_count++;
benkatz 23:2adf23ee0305 366 }
benkatz 23:2adf23ee0305 367 }
benkatz 24:58c2d7571207 368 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 369 switch (c){
monkey61 55:081470dee393 370 case 'q':
benkatz 24:58c2d7571207 371 state = REST_MODE;
benkatz 24:58c2d7571207 372 state_change = 1;
benkatz 24:58c2d7571207 373 break;
benkatz 24:58c2d7571207 374 }
benkatz 24:58c2d7571207 375 }
benkatz 49:83d83040ea51 376 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 377 switch (c){
benkatz 49:83d83040ea51 378 case 'd':
benkatz 49:83d83040ea51 379 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 380 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 381 }
benkatz 49:83d83040ea51 382 }
benkatz 24:58c2d7571207 383
benkatz 24:58c2d7571207 384 }
benkatz 22:60276ba87ac6 385 }
benkatz 0:4e1c4df6aabd 386
benkatz 0:4e1c4df6aabd 387 int main() {
benkatz 20:bf9ea5125d52 388 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 389 controller.mode = 0;
benkatz 23:2adf23ee0305 390 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
monkey61 55:081470dee393 391 //wait(.1);
monkey61 55:081470dee393 392 wait(1);
benkatz 44:8040fa2fcb0d 393 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 394 wait_us(100);
benkatz 45:26801179208e 395 drv.calibrate();
benkatz 45:26801179208e 396 wait_us(100);
benkatz 44:8040fa2fcb0d 397 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 398 wait_us(100);
benkatz 46:2d4b1dafcfe3 399 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 44:8040fa2fcb0d 400 wait_us(100);
benkatz 49:83d83040ea51 401 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 402
benkatz 45:26801179208e 403 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 404 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 47:e1196a851f76 405 drv.disable_gd();
benkatz 20:bf9ea5125d52 406
benkatz 9:d7eb815cb057 407 wait(.1);
benkatz 44:8040fa2fcb0d 408 /*
benkatz 26:2b865c00d7e9 409 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 410 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 411 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 412 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 413 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 414 */
benkatz 23:2adf23ee0305 415 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 416 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 417 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 418 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 419
benkatz 20:bf9ea5125d52 420 wait(.1);
benkatz 37:c0f352d6e8e3 421 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 422
benkatz 37:c0f352d6e8e3 423 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 53:e85efce8c1eb 424 // attach 'CAN receive-complete' interrupt handler
benkatz 53:e85efce8c1eb 425
benkatz 53:e85efce8c1eb 426 // If preferences haven't been user configured yet, set defaults
benkatz 53:e85efce8c1eb 427 prefs.load(); // Read flash
benkatz 53:e85efce8c1eb 428
benkatz 53:e85efce8c1eb 429 can.filter(CAN_ID , 0xFFF, CANStandard, 0);
benkatz 43:dfb72608639c 430
benkatz 28:8c7e29f719c5 431 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 432 txMsg.len = 6;
benkatz 26:2b865c00d7e9 433 rxMsg.len = 8;
benkatz 53:e85efce8c1eb 434 can.attach(&onMsgReceived);
benkatz 23:2adf23ee0305 435
benkatz 37:c0f352d6e8e3 436 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 437 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 438 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 439 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 51:6cd89bd6fcaa 440 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
benkatz 48:74a40481740c 441 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 442 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 443 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
benkatz 25:f5741040c4bb 444 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 445 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 446 int lut[128] = {0};
benkatz 23:2adf23ee0305 447 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 448 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 449 init_controller_params(&controller);
benkatz 45:26801179208e 450
benkatz 26:2b865c00d7e9 451 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 452 wait(.01);
benkatz 23:2adf23ee0305 453 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 454 wait(.01);
benkatz 23:2adf23ee0305 455 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 456 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 457 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 458 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 459 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 460 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 461
benkatz 44:8040fa2fcb0d 462
monkey61 55:081470dee393 463
monkey61 55:081470dee393 464
monkey61 55:081470dee393 465
benkatz 47:e1196a851f76 466 //printf(" %d\n\r", drv.read_register(DCR));
benkatz 47:e1196a851f76 467 //wait_us(100);
benkatz 47:e1196a851f76 468 //printf(" %d\n\r", drv.read_register(CSACR));
benkatz 47:e1196a851f76 469 //wait_us(100);
benkatz 47:e1196a851f76 470 //printf(" %d\n\r", drv.read_register(OCPCR));
benkatz 47:e1196a851f76 471 //drv.disable_gd();
benkatz 44:8040fa2fcb0d 472
benkatz 23:2adf23ee0305 473 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 474
benkatz 23:2adf23ee0305 475 state_change = 1;
benkatz 50:ba72df25d10f 476
benkatz 20:bf9ea5125d52 477
benkatz 44:8040fa2fcb0d 478 int counter = 0;
benkatz 0:4e1c4df6aabd 479 while(1) {
benkatz 47:e1196a851f76 480 drv.print_faults();
benkatz 53:e85efce8c1eb 481 wait(.1);
benkatz 48:74a40481740c 482 //printf("%.4f\n\r", controller.v_bus);
benkatz 50:ba72df25d10f 483 /*
benkatz 47:e1196a851f76 484 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 485 {
benkatz 48:74a40481740c 486 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 487 //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);
benkatz 49:83d83040ea51 488 //printf("%.3f\n\r", controller.dtheta_mech);
benkatz 49:83d83040ea51 489 wait(.002);
benkatz 47:e1196a851f76 490 }
benkatz 50:ba72df25d10f 491 */
monkey61 55:081470dee393 492
benkatz 47:e1196a851f76 493
benkatz 0:4e1c4df6aabd 494 }
benkatz 0:4e1c4df6aabd 495 }