qiu dehua
/
GT_MOTOR_24NM_V03
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Dependencies: mbed Hobbyking_Cheetah FastPWM3
Diff: main.cpp
- Revision:
- 37:c0f352d6e8e3
- Parent:
- 36:d88fd41f60a6
- Child:
- 38:67e4e1453a4b
--- a/main.cpp Fri Mar 02 15:24:00 2018 +0000
+++ b/main.cpp Fri Apr 13 13:50:54 2018 +0000
@@ -10,7 +10,7 @@
#define SETUP_MODE 4
#define ENCODER_MODE 5
-#define VERSION_NUM "1.2"
+#define VERSION_NUM "1.4"
float __float_reg[64]; // Floats stored in flash
@@ -31,14 +31,14 @@
#include "user_config.h"
#include "PreferenceWriter.h"
+
PreferenceWriter prefs(6);
GPIOStruct gpio;
ControllerStruct controller;
COMStruct com;
-VelocityEstimatorStruct velocity;
-
+ObserverStruct observer;
//using namespace CANnucleo;
@@ -50,10 +50,10 @@
Serial pc(PA_2, PA_3);
PositionSensorAM5147 spi(16384, 0.0, NPP);
-PositionSensorEncoder encoder(4096, 0, NPP);
+//PositionSensorEncoder encoder(4096, 0, NPP);
-DigitalOut toggle(PA_0);
+DigitalOut toggle(PC_8);
volatile int count = 0;
volatile int state = REST_MODE;
@@ -61,8 +61,8 @@
#define P_MIN -12.5f
#define P_MAX 12.5f
- #define V_MIN -30.0f
- #define V_MAX 30.0f
+ #define V_MIN -45.0f
+ #define V_MAX 45.0f
#define KP_MIN 0.0f
#define KP_MAX 500.0f
#define KD_MIN 0.0f
@@ -122,20 +122,15 @@
controller->kp = uint_to_float(kp_int, KP_MIN, KP_MAX, 12);
controller->kd = uint_to_float(kd_int, KD_MIN, KD_MAX, 12);
controller->t_ff = uint_to_float(t_int, T_MIN, T_MAX, 12);
-
-
//printf("Received ");
//printf("%.3f %.3f %.3f %.3f %.3f %.3f", controller->p_des, controller->v_des, controller->kp, controller->kd, controller->t_ff, controller->i_q_ref);
//printf("\n\r");
-
-
}
void onMsgReceived() {
//msgAvailable = true;
//printf("%.3f %.3f %.3f\n\r", controller.theta_mech, controller.dtheta_mech, controller.i_q);
can.read(rxMsg);
-
if((rxMsg.id == CAN_ID)){
controller.timeout = 0;
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))){
@@ -145,16 +140,16 @@
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))){
state = REST_MODE;
state_change = 1;
- GPIOC->ODR &= !(1 << 5);
+ gpio.led->write(0);;
}
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))){
spi.ZeroPosition();
}
else if(state == MOTOR_MODE){
unpack_cmd(rxMsg, &controller);
- pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
- can.write(txMsg);
}
+ pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
+ can.write(txMsg);
}
}
@@ -166,9 +161,11 @@
printf(" c - Calibrate Encoder\n\r");
printf(" s - Setup\n\r");
printf(" e - Display Encoder\n\r");
+ printf(" z - Set Zero Position\n\r");
printf(" esc - Exit to Menu\n\r");
state_change = 0;
gpio.enable->write(0);
+ gpio.led->write(0);
}
void enter_setup_state(void){
@@ -184,32 +181,30 @@
}
void enter_torque_mode(void){
+ controller.ovp_flag = 0;
gpio.enable->write(1); // Enable gate drive
reset_foc(&controller); // Tesets integrators, and other control loop parameters
wait(.001);
controller.i_d_ref = 0;
controller.i_q_ref = 0; // Current Setpoints
- GPIOC->ODR |= (1 << 5); // Turn on status LED
+ gpio.led->write(1); // Turn on status LED
state_change = 0;
printf("\n\r Entering Motor Mode \n\r");
}
void calibrate(void){
gpio.enable->write(1); // Enable gate drive
- GPIOC->ODR |= (1 << 5); // Turn on status LED
+ gpio.led->write(1); // Turn on status LED
order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
- GPIOC->ODR &= !(1 << 5); // Turn off status LED
+ gpio.led->write(0);; // Turn off status LED
wait(.2);
gpio.enable->write(0); // Turn off gate drive
printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
state_change = 0;
-
}
void print_encoder(void){
- spi.Sample();
- wait(.001);
printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
wait(.05);
}
@@ -218,20 +213,25 @@
/// This runs at 40 kHz, regardless of of the mode the controller is in ///
extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
if (TIM1->SR & TIM_SR_UIF ) {
- //toggle = 1;
///Sample current always ///
ADC1->CR2 |= 0x40000000; // Begin sample and conversion
//volatile int delay;
//for (delay = 0; delay < 55; delay++);
- controller.adc2_raw = ADC2->DR; // Read ADC1 and ADC2 Data Registers
+ controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
controller.adc1_raw = ADC1->DR;
+ controller.adc3_raw = ADC3->DR;
+ spi.Sample(); // sample position sensor
+ controller.theta_elec = spi.GetElecPosition();
+ controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
+ controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
+ controller.dtheta_elec = spi.GetElecVelocity();
+ controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE;
///
/// Check state machine state, and run the appropriate function ///
- //printf("%d\n\r", state);
switch(state){
- case REST_MODE: // Do nothing until
+ case REST_MODE: // Do nothing
if(state_change){
enter_menu_state();
}
@@ -249,35 +249,34 @@
count = 0;
}
else{
- count++;
- //toggle.write(1);
- controller.theta_elec = spi.GetElecPosition();
- controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
- controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
- //TIM1->CCR3 = 0x708*(1.0f);
- //TIM1->CCR1 = 0x708*(1.0f);
- //TIM1->CCR2 = 0x708*(1.0f);
-
- //controller.i_q_ref = controller.t_ff/KT_OUT;
-
+ /*
+ 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
+ gpio.enable->write(0);
+ controller.ovp_flag = 1;
+ state = REST_MODE;
+ state_change = 1;
+ printf("OVP Triggered!\n\r");
+ }
+ */
+
torque_control(&controller);
if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
controller.i_d_ref = 0;
controller.i_q_ref = 0;
+ controller.kp = 0;
+ controller.kd = 0;
+ controller.t_ff = 0;
}
- //controller.i_q_ref = .4f;
- commutate(&controller, &gpio, controller.theta_elec); // Run current loop
- spi.Sample(); // Sample position sensor
- //toggle.write(0);
+ commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
controller.timeout += 1;
-
+ /*
+ count++;
if(count == 1000){
count = 0;
- //wait(.001);
- //printf("%f\n\r", controller.theta_elec);
}
- }
-
+ */
+
+ }
break;
case SETUP_MODE:
if(state_change){
@@ -287,8 +286,7 @@
case ENCODER_MODE:
print_encoder();
break;
- }
-
+ }
}
TIM1->SR = 0x0; // reset the status register
}
@@ -308,7 +306,7 @@
state_change = 1;
char_count = 0;
cmd_id = 0;
- GPIOC->ODR &= !(1 << 5);
+ gpio.led->write(0);;
for(int i = 0; i<8; i++){cmd_val[i] = 0;}
}
if(state == REST_MODE){
@@ -329,7 +327,21 @@
state = SETUP_MODE;
state_change = 1;
break;
- }
+ case 'z':
+ spi.SetMechOffset(0);
+ spi.Sample();
+ wait_us(20);
+ M_OFFSET = spi.GetMechPosition();
+ if (!prefs.ready()) prefs.open();
+ prefs.flush(); // Write new prefs to flash
+ prefs.close();
+ prefs.load();
+ spi.SetMechOffset(M_OFFSET);
+ printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
+
+ break;
+ }
+
}
else if(state == SETUP_MODE){
if(c == 13){
@@ -403,7 +415,8 @@
//TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
wait(.1);
- NVIC_SetPriority(TIM5_IRQn, 2); // set interrupt priority
+ NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
+ NVIC_SetPriority(CAN1_RX0_IRQn, 3);
can.frequency(1000000); // set bit rate to 1Mbps
@@ -415,7 +428,10 @@
rxMsg.len = 8;
prefs.load(); // Read flash
+ if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
+ if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
spi.SetElecOffset(E_OFFSET); // Set position sensor offset
+ spi.SetMechOffset(M_OFFSET);
int lut[128] = {0};
memcpy(&lut, &ENCODER_LUT, sizeof(lut));
spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
@@ -428,6 +444,7 @@
printf(" Firmware Version: %s\n\r", VERSION_NUM);
printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
+ printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
printf(" CAN ID: %d\n\r", CAN_ID);
pc.attach(&serial_interrupt); // attach serial interrupt