qiu dehua / Mbed 2 deprecated GT_MOTOR_24NM_V03_PT1000CalTemp

GT_MOTOR_24NM_V03_PT1000

Dependencies:   mbed Hobbyking_Cheetah FastPWM3

main.cpp@55:165927e4f815, 2022-05-10 (annotated)

Committer:
qiudehua
Date:
Tue May 10 02:26:27 2022 +0000
Revision:
55:165927e4f815
Parent:
53:e85efce8c1eb 
GT_MOTOR_24NM_V03_PT1000

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
qiudehua 55:165927e4f815 13 #define VERSION_NUM "0.3"
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
qiudehua 55:165927e4f815 57 volatile int counts = 0;
benkatz 23:2adf23ee0305 58 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 59 volatile int state_change;
benkatz 20:bf9ea5125d52 60
qiudehua 55:165927e4f815 61
qiudehua 55:165927e4f815 62 volatile int cal_counts = 0;
qiudehua 55:165927e4f815 63
benkatz 26:2b865c00d7e9 64 void onMsgReceived() {
benkatz 26:2b865c00d7e9 65 //msgAvailable = true;
benkatz 53:e85efce8c1eb 66 //printf("%d\n\r", rxMsg.id);
benkatz 26:2b865c00d7e9 67 can.read(rxMsg);
benkatz 28:8c7e29f719c5 68 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 69 controller.timeout = 0;
benkatz 28:8c7e29f719c5 70 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 71 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 72 state_change = 1;
benkatz 28:8c7e29f719c5 73 }
benkatz 28:8c7e29f719c5 74 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 75 state = REST_MODE;
benkatz 28:8c7e29f719c5 76 state_change = 1;
benkatz 37:c0f352d6e8e3 77 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 78 }
benkatz 28:8c7e29f719c5 79 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 80 spi.ZeroPosition();
qiudehua 55:165927e4f815 81 }
qiudehua 55:165927e4f815 82 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]==0xFF))){
qiudehua 55:165927e4f815 83 //Null instruction, which can be used to return data
benkatz 28:8c7e29f719c5 84 }
benkatz 28:8c7e29f719c5 85 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 86 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 87 }
qiudehua 55:165927e4f815 88 //pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
qiudehua 55:165927e4f815 89 //pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech*GR, controller.i_q_filt*KT_OUT); // modify by 20210617
qiudehua 55:165927e4f815 90 //pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech*GR, controller.i_q_filt*KT); // 正式使用 plan A&C, modify by 20210630
qiudehua 55:165927e4f815 91 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT); // test v?, modify by 20210706
benkatz 37:c0f352d6e8e3 92 can.write(txMsg);
benkatz 28:8c7e29f719c5 93 }
benkatz 26:2b865c00d7e9 94
benkatz 26:2b865c00d7e9 95 }
benkatz 26:2b865c00d7e9 96
benkatz 23:2adf23ee0305 97 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 98 drv.disable_gd();
benkatz 47:e1196a851f76 99 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 100 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 101 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 102 wait_us(10);
benkatz 26:2b865c00d7e9 103 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 104 wait_us(10);
benkatz 23:2adf23ee0305 105 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 106 wait_us(10);
benkatz 23:2adf23ee0305 107 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 108 wait_us(10);
benkatz 23:2adf23ee0305 109 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 110 wait_us(10);
benkatz 37:c0f352d6e8e3 111 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 112 wait_us(10);
benkatz 23:2adf23ee0305 113 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 114 wait_us(10);
benkatz 23:2adf23ee0305 115 state_change = 0;
benkatz 37:c0f352d6e8e3 116 gpio.led->write(0);
benkatz 23:2adf23ee0305 117 }
benkatz 24:58c2d7571207 118
benkatz 24:58c2d7571207 119 void enter_setup_state(void){
benkatz 24:58c2d7571207 120 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 121 wait_us(10);
benkatz 51:6cd89bd6fcaa 122 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 123 wait_us(10);
benkatz 28:8c7e29f719c5 124 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 125 wait_us(10);
benkatz 28:8c7e29f719c5 126 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 127 wait_us(10);
benkatz 28:8c7e29f719c5 128 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 129 wait_us(10);
benkatz 51:6cd89bd6fcaa 130 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
benkatz 51:6cd89bd6fcaa 131 wait_us(10);
benkatz 51:6cd89bd6fcaa 132 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 133 wait_us(10);
benkatz 28:8c7e29f719c5 134 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 135 wait_us(10);
benkatz 24:58c2d7571207 136 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 137 wait_us(10);
benkatz 24:58c2d7571207 138 state_change = 0;
benkatz 24:58c2d7571207 139 }
benkatz 22:60276ba87ac6 140
benkatz 23:2adf23ee0305 141 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 142 drv.enable_gd();
benkatz 47:e1196a851f76 143 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 144 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 145 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 146 wait(.001);
benkatz 23:2adf23ee0305 147 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 148 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 149 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 150 state_change = 0;
benkatz 28:8c7e29f719c5 151 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 152 }
benkatz 22:60276ba87ac6 153
benkatz 23:2adf23ee0305 154 void calibrate(void){
benkatz 44:8040fa2fcb0d 155 drv.enable_gd();
benkatz 47:e1196a851f76 156 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 157 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 158 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 159 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 160 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 161 wait(.2);
benkatz 23:2adf23ee0305 162 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 163 drv.disable_gd();
benkatz 47:e1196a851f76 164 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 165 state_change = 0;
benkatz 23:2adf23ee0305 166 }
benkatz 23:2adf23ee0305 167
benkatz 23:2adf23ee0305 168 void print_encoder(void){
benkatz 48:74a40481740c 169 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 170 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 171 wait(.001);
benkatz 22:60276ba87ac6 172 }
benkatz 20:bf9ea5125d52 173
benkatz 23:2adf23ee0305 174 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 175 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 176 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 177 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 178 ///Sample current always ///
benkatz 25:f5741040c4bb 179 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 180 //volatile int delay;
benkatz 20:bf9ea5125d52 181 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 182
benkatz 47:e1196a851f76 183 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 184 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 185 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 186 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 187 controller.theta_elec = spi.GetElecPosition();
qiudehua 55:165927e4f815 188 //controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
qiudehua 55:165927e4f815 189 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
qiudehua 55:165927e4f815 190 controller.theta_mech = (1.0f)*spi.GetMechPosition(); // modified on 20210617
qiudehua 55:165927e4f815 191 //controller.dtheta_mech = (1.0f)*spi.GetMechVelocity(); // modified on 20210618
qiudehua 55:165927e4f815 192
benkatz 37:c0f352d6e8e3 193 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 194 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 195 ///
benkatz 20:bf9ea5125d52 196
benkatz 23:2adf23ee0305 197 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 198 switch(state){
benkatz 37:c0f352d6e8e3 199 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 200 if(state_change){
benkatz 23:2adf23ee0305 201 enter_menu_state();
benkatz 23:2adf23ee0305 202 }
benkatz 23:2adf23ee0305 203 break;
benkatz 22:60276ba87ac6 204
benkatz 23:2adf23ee0305 205 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 206 if(state_change){
benkatz 23:2adf23ee0305 207 calibrate();
benkatz 23:2adf23ee0305 208 }
benkatz 23:2adf23ee0305 209 break;
benkatz 23:2adf23ee0305 210
benkatz 26:2b865c00d7e9 211 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 212 if(state_change){
qiudehua 55:165927e4f815 213
benkatz 25:f5741040c4bb 214 enter_torque_mode();
qiudehua 55:165927e4f815 215
qiudehua 55:165927e4f815 216 counts = 0; //20210222
qiudehua 55:165927e4f815 217
benkatz 25:f5741040c4bb 218 }
benkatz 28:8c7e29f719c5 219 else{
benkatz 37:c0f352d6e8e3 220 /*
benkatz 37:c0f352d6e8e3 221 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 222 gpio.
benkatz 47:e1196a851f76 223 ->write(0);
benkatz 37:c0f352d6e8e3 224 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 225 state = REST_MODE;
benkatz 37:c0f352d6e8e3 226 state_change = 1;
benkatz 37:c0f352d6e8e3 227 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 228 }
benkatz 37:c0f352d6e8e3 229 */
benkatz 37:c0f352d6e8e3 230
benkatz 28:8c7e29f719c5 231 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 232 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 233 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 234 controller.kp = 0;
benkatz 37:c0f352d6e8e3 235 controller.kd = 0;
benkatz 37:c0f352d6e8e3 236 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 237 }
benkatz 47:e1196a851f76 238
benkatz 50:ba72df25d10f 239 torque_control(&controller);
benkatz 49:83d83040ea51 240 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 241 controller.timeout++;
qiudehua 55:165927e4f815 242 counts ++;
benkatz 37:c0f352d6e8e3 243
benkatz 37:c0f352d6e8e3 244 }
benkatz 23:2adf23ee0305 245 break;
benkatz 23:2adf23ee0305 246 case SETUP_MODE:
benkatz 23:2adf23ee0305 247 if(state_change){
benkatz 24:58c2d7571207 248 enter_setup_state();
benkatz 23:2adf23ee0305 249 }
benkatz 23:2adf23ee0305 250 break;
benkatz 23:2adf23ee0305 251 case ENCODER_MODE:
benkatz 23:2adf23ee0305 252 print_encoder();
benkatz 23:2adf23ee0305 253 break;
qiudehua 55:165927e4f815 254 }
benkatz 2:8724412ad628 255 }
benkatz 23:2adf23ee0305 256 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 257 }
benkatz 0:4e1c4df6aabd 258
benkatz 25:f5741040c4bb 259
benkatz 24:58c2d7571207 260 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 261 char cmd_id = 0;
benkatz 25:f5741040c4bb 262 char char_count = 0;
benkatz 24:58c2d7571207 263
benkatz 25:f5741040c4bb 264 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 265 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 266 void serial_interrupt(void){
benkatz 23:2adf23ee0305 267 while(pc.readable()){
benkatz 23:2adf23ee0305 268 char c = pc.getc();
benkatz 25:f5741040c4bb 269 if(c == 27){
benkatz 25:f5741040c4bb 270 state = REST_MODE;
benkatz 25:f5741040c4bb 271 state_change = 1;
benkatz 25:f5741040c4bb 272 char_count = 0;
benkatz 25:f5741040c4bb 273 cmd_id = 0;
benkatz 37:c0f352d6e8e3 274 gpio.led->write(0);;
benkatz 25:f5741040c4bb 275 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 276 }
benkatz 24:58c2d7571207 277 if(state == REST_MODE){
benkatz 23:2adf23ee0305 278 switch (c){
benkatz 23:2adf23ee0305 279 case 'c':
benkatz 23:2adf23ee0305 280 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 281 state_change = 1;
benkatz 23:2adf23ee0305 282 break;
benkatz 26:2b865c00d7e9 283 case 'm':
benkatz 26:2b865c00d7e9 284 state = MOTOR_MODE;
qiudehua 55:165927e4f815 285 state_change = 1;
benkatz 23:2adf23ee0305 286 break;
benkatz 23:2adf23ee0305 287 case 'e':
benkatz 23:2adf23ee0305 288 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 289 state_change = 1;
benkatz 23:2adf23ee0305 290 break;
benkatz 23:2adf23ee0305 291 case 's':
benkatz 23:2adf23ee0305 292 state = SETUP_MODE;
benkatz 23:2adf23ee0305 293 state_change = 1;
benkatz 23:2adf23ee0305 294 break;
benkatz 37:c0f352d6e8e3 295 case 'z':
benkatz 37:c0f352d6e8e3 296 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 297 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 298 wait_us(20);
benkatz 37:c0f352d6e8e3 299 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 300 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 301 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 302 prefs.close();
benkatz 37:c0f352d6e8e3 303 prefs.load();
benkatz 37:c0f352d6e8e3 304 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 305 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 306
benkatz 37:c0f352d6e8e3 307 break;
benkatz 37:c0f352d6e8e3 308 }
benkatz 37:c0f352d6e8e3 309
benkatz 24:58c2d7571207 310 }
benkatz 24:58c2d7571207 311 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 312 if(c == 13){
benkatz 24:58c2d7571207 313 switch (cmd_id){
benkatz 24:58c2d7571207 314 case 'b':
benkatz 24:58c2d7571207 315 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 316 break;
benkatz 24:58c2d7571207 317 case 'i':
benkatz 24:58c2d7571207 318 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 319 break;
benkatz 26:2b865c00d7e9 320 case 'm':
benkatz 26:2b865c00d7e9 321 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 322 break;
benkatz 24:58c2d7571207 323 case 'l':
benkatz 51:6cd89bd6fcaa 324 I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 325 break;
benkatz 51:6cd89bd6fcaa 326 case 'f':
benkatz 51:6cd89bd6fcaa 327 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 328 break;
benkatz 28:8c7e29f719c5 329 case 't':
benkatz 28:8c7e29f719c5 330 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 331 break;
benkatz 24:58c2d7571207 332 default:
benkatz 24:58c2d7571207 333 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 334 break;
benkatz 24:58c2d7571207 335 }
benkatz 24:58c2d7571207 336
benkatz 24:58c2d7571207 337 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 338 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 339 prefs.close();
benkatz 24:58c2d7571207 340 prefs.load();
benkatz 24:58c2d7571207 341 state_change = 1;
benkatz 24:58c2d7571207 342 char_count = 0;
benkatz 24:58c2d7571207 343 cmd_id = 0;
benkatz 24:58c2d7571207 344 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 345 }
benkatz 24:58c2d7571207 346 else{
benkatz 24:58c2d7571207 347 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 348 else{
benkatz 24:58c2d7571207 349 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 350
benkatz 24:58c2d7571207 351 }
benkatz 24:58c2d7571207 352 pc.putc(c);
benkatz 24:58c2d7571207 353 char_count++;
benkatz 23:2adf23ee0305 354 }
benkatz 23:2adf23ee0305 355 }
benkatz 24:58c2d7571207 356 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 357 switch (c){
benkatz 24:58c2d7571207 358 case 27:
benkatz 24:58c2d7571207 359 state = REST_MODE;
benkatz 24:58c2d7571207 360 state_change = 1;
benkatz 24:58c2d7571207 361 break;
benkatz 24:58c2d7571207 362 }
benkatz 24:58c2d7571207 363 }
benkatz 49:83d83040ea51 364 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 365 switch (c){
benkatz 49:83d83040ea51 366 case 'd':
benkatz 49:83d83040ea51 367 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 368 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 369 }
benkatz 49:83d83040ea51 370 }
benkatz 24:58c2d7571207 371
benkatz 24:58c2d7571207 372 }
benkatz 22:60276ba87ac6 373 }
qiudehua 55:165927e4f815 374
qiudehua 55:165927e4f815 375 //PT1000用二分法查表计算温度
qiudehua 55:165927e4f815 376 //测温范围：-50~150℃
qiudehua 55:165927e4f815 377 float RTD_TAB_PT1000[201] = {
qiudehua 55:165927e4f815 378
qiudehua 55:165927e4f815 379 803.08,807.05,811.02,814.98,818.95,822.92,826.88,830.84,834.80,838.76, //-50~-41
qiudehua 55:165927e4f815 380 842.72,846.68,850.63,854.58,858.54,862.49,866.44,870.39,874.33,878.28, //-40~-31
qiudehua 55:165927e4f815 381 882.23,886.17,890.11,894.05,897.99,901.93,905.87,909.80,913.74,917.67, //-30~-21
qiudehua 55:165927e4f815 382 921.60,925.54,929.47,933.39,937.32,941.25,945.17,949.10,953.02,956.94, //-20~-11
qiudehua 55:165927e4f815 383 960.86,964.78,968.70,972.62,976.53,980.45,984.36,988.27,992.18,996.09, //-10~-1
qiudehua 55:165927e4f815 384 1000.00,1003.91,1007.81,1011.72,1015.62,1019.53,1023.43,1027.33,1031.23,1035.13, //0~9
qiudehua 55:165927e4f815 385 1039.02,1042.92,1046.81,1050.71,1054.60,1058.49,1062.38,1066.27,1070.16,1074.04, //10~19
qiudehua 55:165927e4f815 386 1077.93,1081.81,1085.70,1089.58,1093.46,1097.34,1101.22,1105.10,1108.97,1112.85, //20~29
qiudehua 55:165927e4f815 387 1116.72,1120.59,1124.46,1128.34,1132.20,1136.07,1139.94,1143.81,1147.67,1151.53, //30~39
qiudehua 55:165927e4f815 388 1155.40,1159.26,1163.12,1166.98,1170.83,1174.69,1178.55,1182.40,1186.25,1190.11, //40~49
qiudehua 55:165927e4f815 389 1193.96,1197.81,1201.65,1205.50,1209.35,1213.19,1217.04,1220.88,1224.72,1228.56, //50~59
qiudehua 55:165927e4f815 390 1232.40,1236.24,1240.08,1243.91,1247.75,1251.58,1255.41,1259.24,1263.07,1266.90, //60~69
qiudehua 55:165927e4f815 391 1270.73,1274.56,1278.38,1282.21,1286.03,1289.85,1293.67,1297.49,1301.31,1305.13, //70~79
qiudehua 55:165927e4f815 392 1308.94,1312.76,1316.57,1320.39,1324.20,1328.01,1331.82,1335.62,1339.43,1343.24, //80~89
qiudehua 55:165927e4f815 393 1347.04,1350.85,1354.65,1358.45,1362.25,1366.05,1369.85,1373.64,1377.44,1381.23, //90~99
qiudehua 55:165927e4f815 394 1385.03,1388.82,1392.61,1396.40,1400.19,1403.97,1407.76,1411.54,1415.33,1419.11, //100~109
qiudehua 55:165927e4f815 395 1422.89,1426.67,1430.45,1434.23,1438.01,1441.78,1445.56,1449.33,1453.10,1456.87, //110~119
qiudehua 55:165927e4f815 396 1460.64,1464.41,1468.18,1471.95,1475.71,1479.48,1483.24,1487.00,1490.76,1494.52, //120~129
qiudehua 55:165927e4f815 397 1498.28,1502.04,1505.79,1509.55,1513.30,1517.06,1520.81,1524.56,1528.31,1532.05, //130~139
qiudehua 55:165927e4f815 398 1535.80,1539.55,1543.29,1547.03,1550.78,1554.52,1558.26,1562.00,1565.73,1569.47, //140~149
qiudehua 55:165927e4f815 399 1573.21 //150
qiudehua 55:165927e4f815 400 };
qiudehua 55:165927e4f815 401
qiudehua 55:165927e4f815 402 /********************************************
qiudehua 55:165927e4f815 403 功能：采用2分查找法,根据电阻值查表计算温度值
qiudehua 55:165927e4f815 404 输入：fR,PT1000的电阻值
qiudehua 55:165927e4f815 405 输出：fTemp,测量的温度值
qiudehua 55:165927e4f815 406 ********************************************/
qiudehua 55:165927e4f815 407 float CalTemp(float fR)
qiudehua 55:165927e4f815 408 {
qiudehua 55:165927e4f815 409 float fTemp;
qiudehua 55:165927e4f815 410 float fLowR;
qiudehua 55:165927e4f815 411 float fHighR;
qiudehua 55:165927e4f815 412 int iTemp;
qiudehua 55:165927e4f815 413 int i;
qiudehua 55:165927e4f815 414 int Top,Bottom;
qiudehua 55:165927e4f815 415
qiudehua 55:165927e4f815 416 cal_counts=0;
qiudehua 55:165927e4f815 417
qiudehua 55:165927e4f815 418 if(fR < RTD_TAB_PT1000[0]) //电阻值小于表格最小值
qiudehua 55:165927e4f815 419 {
qiudehua 55:165927e4f815 420 return -50;
qiudehua 55:165927e4f815 421 }
qiudehua 55:165927e4f815 422
qiudehua 55:165927e4f815 423 if(fR > RTD_TAB_PT1000[200]) //电阻值大于表格最大值
qiudehua 55:165927e4f815 424 {
qiudehua 55:165927e4f815 425 return 150;
qiudehua 55:165927e4f815 426 }
qiudehua 55:165927e4f815 427
qiudehua 55:165927e4f815 428 Bottom = 0;
qiudehua 55:165927e4f815 429 Top = 200;
qiudehua 55:165927e4f815 430
qiudehua 55:165927e4f815 431 for(i=100;(Top-Bottom)!=1;) //2分法查表
qiudehua 55:165927e4f815 432 {
qiudehua 55:165927e4f815 433 if(fR < RTD_TAB_PT1000[i])
qiudehua 55:165927e4f815 434 {
qiudehua 55:165927e4f815 435 Top = i;
qiudehua 55:165927e4f815 436 i = (Top + Bottom) / 2;
qiudehua 55:165927e4f815 437 }
qiudehua 55:165927e4f815 438 else if(fR > RTD_TAB_PT1000[i])
qiudehua 55:165927e4f815 439 {
qiudehua 55:165927e4f815 440 Bottom = i;
qiudehua 55:165927e4f815 441 i = (Top + Bottom) / 2;
qiudehua 55:165927e4f815 442 }
qiudehua 55:165927e4f815 443 else
qiudehua 55:165927e4f815 444 {
qiudehua 55:165927e4f815 445 iTemp = i - 50;
qiudehua 55:165927e4f815 446 fTemp = (float)iTemp;
qiudehua 55:165927e4f815 447 return fTemp;
qiudehua 55:165927e4f815 448 }
qiudehua 55:165927e4f815 449 cal_counts++;
qiudehua 55:165927e4f815 450 }
qiudehua 55:165927e4f815 451
qiudehua 55:165927e4f815 452 iTemp = i - 50;
qiudehua 55:165927e4f815 453 fLowR = RTD_TAB_PT1000[Bottom];
qiudehua 55:165927e4f815 454 fHighR = RTD_TAB_PT1000[Top];
qiudehua 55:165927e4f815 455 fTemp = (fR - fLowR)/(fHighR - fLowR) + iTemp;
qiudehua 55:165927e4f815 456 return fTemp;
qiudehua 55:165927e4f815 457 }
qiudehua 55:165927e4f815 458
qiudehua 55:165927e4f815 459
qiudehua 55:165927e4f815 460
qiudehua 55:165927e4f815 461
qiudehua 55:165927e4f815 462
benkatz 0:4e1c4df6aabd 463
benkatz 0:4e1c4df6aabd 464 int main() {
qiudehua 55:165927e4f815 465 //*************************
qiudehua 55:165927e4f815 466 //uint32_t btr;
qiudehua 55:165927e4f815 467 //CAN_TypeDef *can = obj->CanHandle.Instance;
qiudehua 55:165927e4f815 468 /*
qiudehua 55:165927e4f815 469 hcan->Instance->BTR = (uint32_t)((uint32_t)hcan->Init.Mode) | \
qiudehua 55:165927e4f815 470 ((uint32_t)hcan->Init.SJW) | \
qiudehua 55:165927e4f815 471 ((uint32_t)hcan->Init.BS1) | \
qiudehua 55:165927e4f815 472 ((uint32_t)hcan->Init.BS2) | \
qiudehua 55:165927e4f815 473 ((uint32_t)hcan->Init.Prescaler - 1U);
qiudehua 55:165927e4f815 474 */
qiudehua 55:165927e4f815 475
qiudehua 55:165927e4f815 476 //uint32_t i,num;
qiudehua 55:165927e4f815 477 float ii;
qiudehua 55:165927e4f815 478
qiudehua 55:165927e4f815 479
benkatz 20:bf9ea5125d52 480 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 481 controller.mode = 0;
benkatz 23:2adf23ee0305 482 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 483 wait(.1);
benkatz 44:8040fa2fcb0d 484
benkatz 44:8040fa2fcb0d 485 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 486 wait_us(100);
benkatz 45:26801179208e 487 drv.calibrate();
benkatz 45:26801179208e 488 wait_us(100);
benkatz 44:8040fa2fcb0d 489 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 490 wait_us(100);
benkatz 46:2d4b1dafcfe3 491 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 44:8040fa2fcb0d 492 wait_us(100);
benkatz 49:83d83040ea51 493 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 494
benkatz 45:26801179208e 495 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 496 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 47:e1196a851f76 497 drv.disable_gd();
benkatz 20:bf9ea5125d52 498
benkatz 9:d7eb815cb057 499 wait(.1);
benkatz 44:8040fa2fcb0d 500 /*
benkatz 26:2b865c00d7e9 501 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 502 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 503 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 504 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 505 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 506 */
benkatz 23:2adf23ee0305 507 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 508 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 509 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 510 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 511
benkatz 20:bf9ea5125d52 512 wait(.1);
benkatz 37:c0f352d6e8e3 513 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 514
benkatz 37:c0f352d6e8e3 515 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 53:e85efce8c1eb 516 // attach 'CAN receive-complete' interrupt handler
benkatz 53:e85efce8c1eb 517
benkatz 53:e85efce8c1eb 518 // If preferences haven't been user configured yet, set defaults
benkatz 53:e85efce8c1eb 519 prefs.load(); // Read flash
benkatz 53:e85efce8c1eb 520
benkatz 53:e85efce8c1eb 521 can.filter(CAN_ID , 0xFFF, CANStandard, 0);
benkatz 43:dfb72608639c 522
benkatz 28:8c7e29f719c5 523 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 524 txMsg.len = 6;
benkatz 26:2b865c00d7e9 525 rxMsg.len = 8;
benkatz 53:e85efce8c1eb 526 can.attach(&onMsgReceived);
benkatz 23:2adf23ee0305 527
benkatz 37:c0f352d6e8e3 528 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 529 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 530 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
qiudehua 55:165927e4f815 531 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=30;}
benkatz 51:6cd89bd6fcaa 532 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
benkatz 48:74a40481740c 533 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 534 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 535 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
benkatz 25:f5741040c4bb 536 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 537 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 538 int lut[128] = {0};
benkatz 23:2adf23ee0305 539 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 540 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 541 init_controller_params(&controller);
benkatz 45:26801179208e 542
benkatz 26:2b865c00d7e9 543 pc.baud(921600); // set serial baud rate
qiudehua 55:165927e4f815 544 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 20:bf9ea5125d52 545 wait(.01);
qiudehua 55:165927e4f815 546 pc.printf("\n\r\n\r GTGJ MOTOR\n\r\n\r");
benkatz 20:bf9ea5125d52 547 wait(.01);
benkatz 23:2adf23ee0305 548 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 549 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 550 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 551 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 552 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 553 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 554
benkatz 44:8040fa2fcb0d 555
qiudehua 55:165927e4f815 556 //*********
benkatz 47:e1196a851f76 557 //printf(" %d\n\r", drv.read_register(DCR));
benkatz 47:e1196a851f76 558 //wait_us(100);
benkatz 47:e1196a851f76 559 //printf(" %d\n\r", drv.read_register(CSACR));
benkatz 47:e1196a851f76 560 //wait_us(100);
benkatz 47:e1196a851f76 561 //printf(" %d\n\r", drv.read_register(OCPCR));
benkatz 47:e1196a851f76 562 //drv.disable_gd();
benkatz 44:8040fa2fcb0d 563
qiudehua 55:165927e4f815 564 // pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 565
benkatz 23:2adf23ee0305 566 state_change = 1;
benkatz 50:ba72df25d10f 567
benkatz 20:bf9ea5125d52 568
qiudehua 55:165927e4f815 569 //**********************************************************************************************
qiudehua 55:165927e4f815 570 //for(i=800;i<1580;i++)
qiudehua 55:165927e4f815 571 for(ii=1600;ii<3150;ii++)
qiudehua 55:165927e4f815 572 {
qiudehua 55:165927e4f815 573 //printf("%d %d %.2f\n\r", ii/2, cal_counts, CalTemp((float)ii/2));
qiudehua 55:165927e4f815 574 printf("%.1f %d %.2f\n\r", ii/2.0f, cal_counts, CalTemp(ii/2.0f));
qiudehua 55:165927e4f815 575 }
qiudehua 55:165927e4f815 576
qiudehua 55:165927e4f815 577 //**********************************************************************************************
qiudehua 55:165927e4f815 578
qiudehua 55:165927e4f815 579 // int counter = 0;
benkatz 0:4e1c4df6aabd 580 while(1) {
benkatz 47:e1196a851f76 581 drv.print_faults();
benkatz 53:e85efce8c1eb 582 wait(.1);
qiudehua 55:165927e4f815 583 //printf("%.4f\n\r", controller.v_bus);
benkatz 50:ba72df25d10f 584 /*
benkatz 47:e1196a851f76 585 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 586 {
benkatz 48:74a40481740c 587 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
qiudehua 55:165927e4f815 588 //printf("%.3f %.3f %.3f %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.i_q_ref,controller.dtheta_elec);
qiudehua 55:165927e4f815 589 //printf("%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n\r", controller.i_a, controller.i_b, controller.i_c,controller.theta_elec,controller.i_d, controller.i_q,controller.i_d_filt, controller.i_q_filt);
qiudehua 55:165927e4f815 590 printf("%.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.i_q_ref,controller.theta_elec,controller.theta_mech, controller.dtheta_mech*GR, controller.i_q_filt*KT_OUT/GR);
qiudehua 55:165927e4f815 591 //printf("%.3f\n\r", controller.dtheta_mech);
qiudehua 55:165927e4f815 592 //printf("%d %.4f %.4f\n\r", spi.GetRawPosition(), spi.GetMechPositionFixed(),spi.GetMechPosition());
qiudehua 55:165927e4f815 593 wait(.005);
benkatz 47:e1196a851f76 594 }
benkatz 50:ba72df25d10f 595 */
benkatz 47:e1196a851f76 596
benkatz 0:4e1c4df6aabd 597 }
benkatz 0:4e1c4df6aabd 598 }