N K
/
foc-ed_in_the_bot_compact
last working
Fork of foc-ed_in_the_bot_compact by
main.cpp
- Committer:
- bwang
- Date:
- 2016-03-09
- Revision:
- 1:7b61790f6be9
- Parent:
- 0:bac9c3a3a6ca
- Child:
- 2:eabe8feaaabb
File content as of revision 1:7b61790f6be9:
#include "mbed.h" #include "math.h" #include "PositionSensor.h" #include "FastPWM.h" #include "Transforms.h" #include "config.h" FastPWM *a; FastPWM *b; FastPWM *c; DigitalOut en(EN); DigitalOut toggle(PC_10); AnalogIn Ia(IA); AnalogIn Ib(IB); PositionSensorEncoder pos(CPR, 0); Serial pc(USBTX, USBRX); int state = 0; int adval1, adval2; float ia, ib; float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV) extern "C" void TIM1_UP_TIM10_IRQHandler(void) { if (TIM1->SR & TIM_SR_UIF ) { adval1 = ADC1->DR; adval2 = ADC2->DR; ADC1->CR2 |= 0x40000000; } TIM1->SR = 0x00; toggle = state; state = !state; } void zero_current(){ for (int i = 0; i < 1000; i++){ ia_supp_offset += (float) (ADC1->DR); ib_supp_offset += (float) (ADC2->DR); ADC1->CR2 |= 0x40000000; wait_us(100); } ia_supp_offset /= 1000.0f; ib_supp_offset /= 1000.0f; ia_supp_offset = ia_supp_offset / 4096.0f * AVDD - I_OFFSET; ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET; } void config_globals() { pc.baud(115200); //Enable clocks for GPIOs RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN; RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN; RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock a = new FastPWM(PWMA); b = new FastPWM(PWMB); c = new FastPWM(PWMC); NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on, TIM1->RCR |= 0x01; //update event once per up/down count of tim1 TIM1->EGR |= TIM_EGR_UG; TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock TIM1->ARR = 0x4650; //5 Khz TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on. TIM1->CR1 |= TIM_CR1_CEN; //ADC Setup RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2 ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0 ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1 GPIOA->MODER |= (1 << 8); GPIOA->MODER |= (1 << 9); GPIOA->MODER |= (1 << 2); GPIOA->MODER |= (1 << 3); GPIOA->MODER |= (1 << 0); GPIOA->MODER |= (1 << 1); GPIOB->MODER |= (1 << 0); GPIOB->MODER |= (1 << 1); GPIOC->MODER |= (1 << 2); GPIOC->MODER |= (1 << 3); //DAC setup RCC->APB1ENR |= 0x20000000; DAC->CR |= DAC_CR_EN2; GPIOA->MODER |= (1 << 10); GPIOA->MODER |= (1 << 11); //Zero duty cycles set_dtc(a, 0.0f); set_dtc(b, 0.0f); set_dtc(c, 0.0f); wait_ms(250); zero_current(); en = 1; } void startup_msg() { pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A."); pc.printf("%s\n\r", "====Config Data===="); pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET); pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE); pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE); pc.printf("Loop KP: %f\n\r", KP); pc.printf("Loop KI: %f\n\r", KI); pc.printf("Ia offset: %f mV\n\r", ia_supp_offset); pc.printf("Ib offset: %f mV\n\r", ib_supp_offset); pc.printf("\n\r"); } void main_loop() { float p = pos.GetElecPosition() - POS_OFFSET + PI / 2; if (p < 0) p += 2 * PI; float pos_dac = 0.85f * p / (2 * PI) + 0.05f; DAC->DHR12R2 = (unsigned int) (pos_dac * 4096); ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE; ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE; set_dtc(a, 0.5f + 0.5f * cosf(p)); set_dtc(b, 0.5f + 0.5f * cosf(p + 2 * PI / 3)); set_dtc(c, 0.5f + 0.5f * cosf(p - 2 * PI / 3)); } int main() { config_globals(); startup_msg(); Ticker loop; loop.attach_us(main_loop, 200); for (;;) { } }