Shao Rui / Brushless_Motor_12_3

123487

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@58:bed739c83fac, 2020-12-24 (annotated)

Committer:
shaorui
Date:
Thu Dec 24 11:30:43 2020 +0000
Revision:
58:bed739c83fac
Parent:
57:8200454194cf
Child:
59:ed4b54437e02
1

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
shaorui 56:9353ebcf19c6 15 int torque_count=0; //shaorui add
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;
Rushu 54:d889fe62bc0c 60 volatile int counthjb = 0;
benkatz 20:bf9ea5125d52 61
benkatz 26:2b865c00d7e9 62 void onMsgReceived() {
benkatz 26:2b865c00d7e9 63 //msgAvailable = true;
Rushu 54:d889fe62bc0c 64 counthjb++;
Rushu 54:d889fe62bc0c 65 if(counthjb>100)
Rushu 54:d889fe62bc0c 66 {printf("%df\n\r", rxMsg.id);
Rushu 54:d889fe62bc0c 67 counthjb=0;
Rushu 54:d889fe62bc0c 68 }
benkatz 26:2b865c00d7e9 69 can.read(rxMsg);
benkatz 28:8c7e29f719c5 70 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 71 controller.timeout = 0;
benkatz 28:8c7e29f719c5 72 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 73 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 74 state_change = 1;
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]==0xFD))){
benkatz 28:8c7e29f719c5 77 state = REST_MODE;
benkatz 28:8c7e29f719c5 78 state_change = 1;
benkatz 37:c0f352d6e8e3 79 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 80 }
benkatz 28:8c7e29f719c5 81 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 82 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 83 }
benkatz 28:8c7e29f719c5 84 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 85 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 86 }
benkatz 37:c0f352d6e8e3 87 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 88 can.write(txMsg);
benkatz 28:8c7e29f719c5 89 }
benkatz 26:2b865c00d7e9 90
benkatz 26:2b865c00d7e9 91 }
benkatz 26:2b865c00d7e9 92
benkatz 23:2adf23ee0305 93 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 94 drv.disable_gd();
benkatz 47:e1196a851f76 95 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 96 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 97 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 98 wait_us(10);
benkatz 26:2b865c00d7e9 99 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 100 wait_us(10);
benkatz 23:2adf23ee0305 101 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 102 wait_us(10);
benkatz 23:2adf23ee0305 103 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 104 wait_us(10);
benkatz 23:2adf23ee0305 105 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 106 wait_us(10);
benkatz 37:c0f352d6e8e3 107 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 108 wait_us(10);
benkatz 23:2adf23ee0305 109 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 110 wait_us(10);
benkatz 23:2adf23ee0305 111 state_change = 0;
benkatz 37:c0f352d6e8e3 112 gpio.led->write(0);
benkatz 23:2adf23ee0305 113 }
benkatz 24:58c2d7571207 114
benkatz 24:58c2d7571207 115 void enter_setup_state(void){
benkatz 24:58c2d7571207 116 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 117 wait_us(10);
benkatz 51:6cd89bd6fcaa 118 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 119 wait_us(10);
benkatz 28:8c7e29f719c5 120 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 121 wait_us(10);
benkatz 28:8c7e29f719c5 122 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 123 wait_us(10);
benkatz 28:8c7e29f719c5 124 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 125 wait_us(10);
benkatz 51:6cd89bd6fcaa 126 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
benkatz 51:6cd89bd6fcaa 127 wait_us(10);
benkatz 51:6cd89bd6fcaa 128 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 129 wait_us(10);
benkatz 28:8c7e29f719c5 130 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 131 wait_us(10);
benkatz 24:58c2d7571207 132 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 133 wait_us(10);
benkatz 24:58c2d7571207 134 state_change = 0;
benkatz 24:58c2d7571207 135 }
benkatz 22:60276ba87ac6 136
benkatz 23:2adf23ee0305 137 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 138 drv.enable_gd();
benkatz 47:e1196a851f76 139 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 140 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 141 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 142 wait(.001);
benkatz 23:2adf23ee0305 143 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 144 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 145 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 146 state_change = 0;
benkatz 28:8c7e29f719c5 147 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 148 }
benkatz 22:60276ba87ac6 149
benkatz 23:2adf23ee0305 150 void calibrate(void){
benkatz 44:8040fa2fcb0d 151 drv.enable_gd();
benkatz 47:e1196a851f76 152 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 153 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 154 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 155 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 156 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 157 wait(.2);
benkatz 23:2adf23ee0305 158 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 159 drv.disable_gd();
benkatz 47:e1196a851f76 160 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 161 state_change = 0;
benkatz 23:2adf23ee0305 162 }
benkatz 23:2adf23ee0305 163
benkatz 23:2adf23ee0305 164 void print_encoder(void){
benkatz 48:74a40481740c 165 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 166 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 167 wait(.001);
benkatz 22:60276ba87ac6 168 }
benkatz 20:bf9ea5125d52 169
benkatz 23:2adf23ee0305 170 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 171 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 172 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 173 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 174
benkatz 23:2adf23ee0305 175 ///Sample current always ///
benkatz 25:f5741040c4bb 176 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 177 //volatile int delay;
benkatz 20:bf9ea5125d52 178 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 179
benkatz 47:e1196a851f76 180 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 181 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 182 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 183 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 184 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 185 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 186 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 187 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 188 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 189 ///
benkatz 20:bf9ea5125d52 190
benkatz 23:2adf23ee0305 191 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 192 switch(state){
benkatz 37:c0f352d6e8e3 193 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 194 if(state_change){
benkatz 23:2adf23ee0305 195 enter_menu_state();
benkatz 23:2adf23ee0305 196 }
benkatz 23:2adf23ee0305 197 break;
benkatz 22:60276ba87ac6 198
benkatz 23:2adf23ee0305 199 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 200 if(state_change){
benkatz 23:2adf23ee0305 201 calibrate();
benkatz 23:2adf23ee0305 202 }
benkatz 23:2adf23ee0305 203 break;
benkatz 23:2adf23ee0305 204
benkatz 26:2b865c00d7e9 205 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 206 if(state_change){
benkatz 25:f5741040c4bb 207 enter_torque_mode();
benkatz 28:8c7e29f719c5 208 count = 0;
benkatz 25:f5741040c4bb 209 }
benkatz 28:8c7e29f719c5 210 else{
benkatz 37:c0f352d6e8e3 211 /*
benkatz 37:c0f352d6e8e3 212 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 213 gpio.
benkatz 47:e1196a851f76 214 ->write(0);
benkatz 37:c0f352d6e8e3 215 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 216 state = REST_MODE;
benkatz 37:c0f352d6e8e3 217 state_change = 1;
benkatz 37:c0f352d6e8e3 218 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 219 }
benkatz 37:c0f352d6e8e3 220 */
benkatz 37:c0f352d6e8e3 221
benkatz 28:8c7e29f719c5 222 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 223 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 224 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 225 controller.kp = 0;
benkatz 37:c0f352d6e8e3 226 controller.kd = 0;
benkatz 37:c0f352d6e8e3 227 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 228 }
benkatz 47:e1196a851f76 229
benkatz 50:ba72df25d10f 230 torque_control(&controller);
benkatz 49:83d83040ea51 231 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 232
benkatz 49:83d83040ea51 233 controller.timeout++;
benkatz 49:83d83040ea51 234 count++;
shaorui 56:9353ebcf19c6 235 /***********shaorui add for torque_des**********/
shaorui 56:9353ebcf19c6 236 // torque_count++;
shaorui 56:9353ebcf19c6 237 // if(torque_count>50000)
shaorui 56:9353ebcf19c6 238 // {
shaorui 56:9353ebcf19c6 239 // printf("the desired iq : %.3f\n\r",controller. i_q_ref);
shaorui 56:9353ebcf19c6 240 // printf("the desired torque : %.3f\n\r",KT_OUT*controller. i_q_ref);
shaorui 56:9353ebcf19c6 241 // torque_count=0;
shaorui 56:9353ebcf19c6 242 // }
shaorui 56:9353ebcf19c6 243 /***********shaorui endfor torque_des**********/
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;
benkatz 37:c0f352d6e8e3 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){
Rushu 54:d889fe62bc0c 270 //===============================================HJB added====================================================//
Rushu 54:d889fe62bc0c 271 wait_us(100); //HJB add, to clear fault
Rushu 54:d889fe62bc0c 272 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1); //HJB add, to clear fault
Rushu 54:d889fe62bc0c 273 //Init_pos = controller.theta_mech; //Input the local mechanical theta
Rushu 54:d889fe62bc0c 274 //===============================================HJB ended====================================================//
benkatz 25:f5741040c4bb 275 state = REST_MODE;
benkatz 25:f5741040c4bb 276 state_change = 1;
benkatz 25:f5741040c4bb 277 char_count = 0;
benkatz 25:f5741040c4bb 278 cmd_id = 0;
benkatz 37:c0f352d6e8e3 279 gpio.led->write(0);;
benkatz 25:f5741040c4bb 280 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 281 }
benkatz 24:58c2d7571207 282 if(state == REST_MODE){
benkatz 23:2adf23ee0305 283 switch (c){
benkatz 23:2adf23ee0305 284 case 'c':
benkatz 23:2adf23ee0305 285 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 286 state_change = 1;
benkatz 23:2adf23ee0305 287 break;
benkatz 26:2b865c00d7e9 288 case 'm':
benkatz 26:2b865c00d7e9 289 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 290 state_change = 1;
benkatz 23:2adf23ee0305 291 break;
benkatz 23:2adf23ee0305 292 case 'e':
benkatz 23:2adf23ee0305 293 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 294 state_change = 1;
benkatz 23:2adf23ee0305 295 break;
benkatz 23:2adf23ee0305 296 case 's':
benkatz 23:2adf23ee0305 297 state = SETUP_MODE;
benkatz 23:2adf23ee0305 298 state_change = 1;
benkatz 23:2adf23ee0305 299 break;
benkatz 37:c0f352d6e8e3 300 case 'z':
benkatz 37:c0f352d6e8e3 301 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 302 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 303 wait_us(20);
benkatz 37:c0f352d6e8e3 304 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 305 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 306 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 307 prefs.close();
benkatz 37:c0f352d6e8e3 308 prefs.load();
benkatz 37:c0f352d6e8e3 309 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 310 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 311
benkatz 37:c0f352d6e8e3 312 break;
benkatz 37:c0f352d6e8e3 313 }
benkatz 37:c0f352d6e8e3 314
benkatz 24:58c2d7571207 315 }
benkatz 24:58c2d7571207 316 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 317 if(c == 13){
benkatz 24:58c2d7571207 318 switch (cmd_id){
benkatz 24:58c2d7571207 319 case 'b':
benkatz 24:58c2d7571207 320 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 321 break;
benkatz 24:58c2d7571207 322 case 'i':
benkatz 24:58c2d7571207 323 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 324 break;
benkatz 26:2b865c00d7e9 325 case 'm':
benkatz 26:2b865c00d7e9 326 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 327 break;
benkatz 24:58c2d7571207 328 case 'l':
benkatz 51:6cd89bd6fcaa 329 I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 330 break;
benkatz 51:6cd89bd6fcaa 331 case 'f':
benkatz 51:6cd89bd6fcaa 332 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 333 break;
benkatz 28:8c7e29f719c5 334 case 't':
benkatz 28:8c7e29f719c5 335 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 336 break;
benkatz 24:58c2d7571207 337 default:
benkatz 24:58c2d7571207 338 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 339 break;
benkatz 24:58c2d7571207 340 }
benkatz 24:58c2d7571207 341
benkatz 24:58c2d7571207 342 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 343 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 344 prefs.close();
benkatz 24:58c2d7571207 345 prefs.load();
benkatz 24:58c2d7571207 346 state_change = 1;
benkatz 24:58c2d7571207 347 char_count = 0;
benkatz 24:58c2d7571207 348 cmd_id = 0;
benkatz 24:58c2d7571207 349 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 350 }
benkatz 24:58c2d7571207 351 else{
benkatz 24:58c2d7571207 352 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 353 else{
benkatz 24:58c2d7571207 354 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 355
benkatz 24:58c2d7571207 356 }
benkatz 24:58c2d7571207 357 pc.putc(c);
benkatz 24:58c2d7571207 358 char_count++;
benkatz 23:2adf23ee0305 359 }
benkatz 23:2adf23ee0305 360 }
benkatz 24:58c2d7571207 361 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 362 switch (c){
benkatz 24:58c2d7571207 363 case 27:
benkatz 24:58c2d7571207 364 state = REST_MODE;
benkatz 24:58c2d7571207 365 state_change = 1;
benkatz 24:58c2d7571207 366 break;
benkatz 24:58c2d7571207 367 }
benkatz 24:58c2d7571207 368 }
benkatz 49:83d83040ea51 369 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 370 switch (c){
benkatz 49:83d83040ea51 371 case 'd':
benkatz 49:83d83040ea51 372 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 373 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 374 }
benkatz 49:83d83040ea51 375 }
benkatz 24:58c2d7571207 376
benkatz 24:58c2d7571207 377 }
benkatz 22:60276ba87ac6 378 }
benkatz 0:4e1c4df6aabd 379
benkatz 0:4e1c4df6aabd 380 int main() {
Rushu 54:d889fe62bc0c 381 wait(1); //hjb added
benkatz 20:bf9ea5125d52 382 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 383 controller.mode = 0;
benkatz 23:2adf23ee0305 384 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 385 wait(.1);
benkatz 44:8040fa2fcb0d 386
benkatz 44:8040fa2fcb0d 387 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 388 wait_us(100);
benkatz 45:26801179208e 389 drv.calibrate();
benkatz 45:26801179208e 390 wait_us(100);
benkatz 44:8040fa2fcb0d 391 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 392 wait_us(100);
benkatz 46:2d4b1dafcfe3 393 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 44:8040fa2fcb0d 394 wait_us(100);
benkatz 49:83d83040ea51 395 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 396
benkatz 45:26801179208e 397 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 398 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 47:e1196a851f76 399 drv.disable_gd();
benkatz 20:bf9ea5125d52 400
benkatz 9:d7eb815cb057 401 wait(.1);
benkatz 44:8040fa2fcb0d 402 /*
benkatz 26:2b865c00d7e9 403 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 404 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 405 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 406 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 407 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 408 */
benkatz 23:2adf23ee0305 409 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 410 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 411 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 412 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 413
benkatz 20:bf9ea5125d52 414 wait(.1);
benkatz 37:c0f352d6e8e3 415 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 416
benkatz 37:c0f352d6e8e3 417 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 418 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 419
benkatz 28:8c7e29f719c5 420 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 421 txMsg.len = 6;
benkatz 26:2b865c00d7e9 422 rxMsg.len = 8;
benkatz 43:dfb72608639c 423 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 424
benkatz 48:74a40481740c 425 // If preferences haven't been user configured yet, set defaults
benkatz 25:f5741040c4bb 426 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 427 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 428 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 429 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 430 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 51:6cd89bd6fcaa 431 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
benkatz 48:74a40481740c 432 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 433 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 434 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
benkatz 25:f5741040c4bb 435 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 436 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 437 int lut[128] = {0};
benkatz 23:2adf23ee0305 438 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 439 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 440 init_controller_params(&controller);
benkatz 45:26801179208e 441
Rushu 54:d889fe62bc0c 442 pc.baud(460800); // set serial baud rate
benkatz 20:bf9ea5125d52 443 wait(.01);
benkatz 23:2adf23ee0305 444 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 445 wait(.01);
benkatz 23:2adf23ee0305 446 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 447 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 448 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 449 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 450 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 451 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 452
benkatz 44:8040fa2fcb0d 453
benkatz 44:8040fa2fcb0d 454
benkatz 44:8040fa2fcb0d 455
benkatz 47:e1196a851f76 456 //printf(" %d\n\r", drv.read_register(DCR));
benkatz 47:e1196a851f76 457 //wait_us(100);
benkatz 47:e1196a851f76 458 //printf(" %d\n\r", drv.read_register(CSACR));
benkatz 47:e1196a851f76 459 //wait_us(100);
benkatz 47:e1196a851f76 460 //printf(" %d\n\r", drv.read_register(OCPCR));
benkatz 47:e1196a851f76 461 //drv.disable_gd();
benkatz 44:8040fa2fcb0d 462
benkatz 23:2adf23ee0305 463 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 464
benkatz 23:2adf23ee0305 465 state_change = 1;
benkatz 50:ba72df25d10f 466
benkatz 20:bf9ea5125d52 467
benkatz 44:8040fa2fcb0d 468 int counter = 0;
Rushu 54:d889fe62bc0c 469 //===============================================HJB added====================================================//
Rushu 54:d889fe62bc0c 470 wait_us(100); //HJB add, to clear fault
Rushu 54:d889fe62bc0c 471 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1); //HJB add, to clear fault
Rushu 54:d889fe62bc0c 472 //Init_pos = controller.theta_mech; //Input the local mechanical theta
Rushu 54:d889fe62bc0c 473 //===============================================HJB ended====================================================//
benkatz 0:4e1c4df6aabd 474 while(1) {
benkatz 47:e1196a851f76 475 drv.print_faults();
shaorui 58:bed739c83fac 476 wait(.1);
benkatz 48:74a40481740c 477 //printf("%.4f\n\r", controller.v_bus);
shaorui 58:bed739c83fac 478 // printf("adc1: %.3d\n\r",controller.adc2_raw = ADC1->DR);
shaorui 58:bed739c83fac 479 // printf("adc2: %.3d\n\r",controller.adc2_raw = ADC2->DR);
shaorui 58:bed739c83fac 480 // printf("adc3: %.3d\n\r",controller.adc2_raw = ADC3->DR);
shaorui 57:8200454194cf 481 wait(1);
benkatz 47:e1196a851f76 482 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 483 {
benkatz 48:74a40481740c 484 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 485 //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 486 //printf("%.3f\n\r", controller.dtheta_mech);
shaorui 56:9353ebcf19c6 487 //wait(.002);
shaorui 56:9353ebcf19c6 488 //printf(" True speed: %.3f\n\r", controller.dtheta_mech*60/(2*PI)); //shaorui ADD
shaorui 56:9353ebcf19c6 489 //wait(2);
shaorui 56:9353ebcf19c6 490 //printf("speed:%.3f\n\r", controller.dtheta_mech);
shaorui 57:8200454194cf 491 //printf("position:%.3f\n\r", controller.theta_mech*360/(2*PI));
shaorui 58:bed739c83fac 492 //printf("adc1: %.3d\n\r",controller.adc2_raw = ADC1->DR);
shaorui 58:bed739c83fac 493 //printf("adc2: %.3d\n\r",controller.adc2_raw = ADC2->DR);
shaorui 58:bed739c83fac 494 //printf("adc3: %.3d\n\r",controller.adc2_raw = ADC3->DR);
shaorui 56:9353ebcf19c6 495 //wait(.002);
shaorui 56:9353ebcf19c6 496 wait(1);
benkatz 47:e1196a851f76 497 }
Rushu 54:d889fe62bc0c 498
benkatz 47:e1196a851f76 499
benkatz 0:4e1c4df6aabd 500 }
benkatz 0:4e1c4df6aabd 501 }