main.cpp

00001 /// high-bandwidth 3-phase motor control, for robots
00002 /// Written by benkatz, with much inspiration from Bayley Wang, Nick Kirkby, Shane Colton, David Otten, and others
00003 /// Hardware documentation can be found at build-its.blogspot.com
00004 /// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling
00005 /// Version for the TI DRV8323 Everything Chip
00006 
00007 #define REST_MODE 0
00008 #define CALIBRATION_MODE 1
00009 #define MOTOR_MODE 2
00010 #define SETUP_MODE 4
00011 #define ENCODER_MODE 5
00012 
00013 #define VERSION_NUM "1.9"
00014 
00015 int torque_count=0;   //shaorui add
00016 float __float_reg[64];                                                          // Floats stored in flash
00017 int __int_reg[256];                                                             // Ints stored in flash.  Includes position sensor calibration lookup table
00018 
00019 #include "mbed.h"
00020 #include "PositionSensor.h"
00021 #include "structs.h"
00022 #include "foc.h"
00023 #include "calibration.h"
00024 #include "hw_setup.h"
00025 #include "math_ops.h" 
00026 #include "current_controller_config.h"
00027 #include "hw_config.h"
00028 #include "motor_config.h"
00029 #include "stm32f4xx_flash.h"
00030 #include "FlashWriter.h"
00031 #include "user_config.h"
00032 #include "PreferenceWriter.h"
00033 #include "CAN_com.h"
00034 #include "DRV.h"
00035  
00036 PreferenceWriter prefs(6);
00037 
00038 GPIOStruct gpio;
00039 ControllerStruct controller;
00040 ObserverStruct observer;
00041 COMStruct com;
00042 Serial pc(PA_2, PA_3);
00043 
00044 
00045 CAN          can(PB_8, PB_9, 1000000);      // CAN Rx pin name, CAN Tx pin name
00046 CANMessage   rxMsg;
00047 CANMessage   txMsg;
00048 
00049 
00050 SPI drv_spi(PA_7, PA_6, PA_5);
00051 DigitalOut drv_cs(PA_4);
00052 //DigitalOut drv_en_gate(PA_11);
00053 DRV832x drv(&drv_spi, &drv_cs);
00054 
00055 PositionSensorAM5147 spi(16384, 0.0, NPP);  
00056 
00057 volatile int count = 0;
00058 volatile int state = REST_MODE;
00059 volatile int state_change;
00060 volatile int counthjb = 0;
00061 
00062 void onMsgReceived() {
00063     //msgAvailable = true;
00064     counthjb++;
00065     if(counthjb>100)
00066       {printf("%df\n\r", rxMsg.id);
00067       counthjb=0;
00068       }
00069     can.read(rxMsg);  
00070     if((rxMsg.id == CAN_ID)){
00071         controller.timeout = 0;
00072         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))){
00073             state = MOTOR_MODE;
00074             state_change = 1;
00075             }
00076         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))){
00077             state = REST_MODE;
00078             state_change = 1;
00079             gpio.led->write(0);; 
00080             }
00081         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))){
00082             spi.ZeroPosition();
00083             }
00084         else if(state == MOTOR_MODE){
00085             unpack_cmd(rxMsg, &controller);
00086             }
00087         pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
00088         can.write(txMsg);
00089         }
00090     
00091 }
00092 
00093 void enter_menu_state(void){
00094     drv.disable_gd();
00095     //gpio.enable->write(0);
00096     printf("\n\r\n\r\n\r");
00097     printf(" Commands:\n\r");
00098     wait_us(10);
00099     printf(" m - Motor Mode\n\r");
00100     wait_us(10);
00101     printf(" c - Calibrate Encoder\n\r");
00102     wait_us(10);
00103     printf(" s - Setup\n\r");
00104     wait_us(10);
00105     printf(" e - Display Encoder\n\r");
00106     wait_us(10);
00107     printf(" z - Set Zero Position\n\r");
00108     wait_us(10);
00109     printf(" esc - Exit to Menu\n\r");
00110     wait_us(10);
00111     state_change = 0;
00112     gpio.led->write(0);
00113     }
00114 
00115 void enter_setup_state(void){
00116     printf("\n\r\n\r Configuration Options \n\r\n\n");
00117     wait_us(10);
00118     printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
00119     wait_us(10);
00120     printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
00121     wait_us(10);
00122     printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
00123     wait_us(10);
00124     printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
00125     wait_us(10);
00126     printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
00127     wait_us(10);
00128     printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
00129     wait_us(10);
00130     printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
00131     wait_us(10);
00132     printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
00133     wait_us(10);
00134     state_change = 0;
00135     }
00136     
00137 void enter_torque_mode(void){
00138     drv.enable_gd();
00139     //gpio.enable->write(1);
00140     controller.ovp_flag = 0;
00141     reset_foc(&controller);                                                     // Tesets integrators, and other control loop parameters
00142     wait(.001);
00143     controller.i_d_ref = 0;
00144     controller.i_q_ref = 0;                                                     // Current Setpoints
00145     gpio.led->write(1);                                                     // Turn on status LED
00146     state_change = 0;
00147     printf("\n\r Entering Motor Mode \n\r");
00148     }
00149     
00150 void calibrate(void){
00151     drv.enable_gd();
00152     //gpio.enable->write(1);
00153     gpio.led->write(1);                                                    // Turn on status LED
00154     order_phases(&spi, &gpio, &controller, &prefs);                             // Check phase ordering
00155     calibrate(&spi, &gpio, &controller, &prefs);                                // Perform calibration procedure
00156     gpio.led->write(0);;                                                     // Turn off status LED
00157     wait(.2);
00158     printf("\n\r Calibration complete.  Press 'esc' to return to menu\n\r");
00159     drv.disable_gd();
00160     //gpio.enable->write(0);
00161      state_change = 0;
00162     }
00163     
00164 void print_encoder(void){
00165     printf(" Mechanical Angle:  %f    Electrical Angle:  %f    Raw:  %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
00166     //printf("%d\n\r", spi.GetRawPosition());
00167     wait(.001);
00168     }
00169 
00170 /// Current Sampling Interrupt ///
00171 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
00172 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
00173   if (TIM1->SR & TIM_SR_UIF ) {
00174 
00175         ///Sample current always ///
00176         ADC1->CR2  |= 0x40000000;                                               // Begin sample and conversion
00177         //volatile int delay;   
00178         //for (delay = 0; delay < 55; delay++);
00179 
00180         spi.Sample(DT);                                                           // sample position sensor
00181         controller.adc2_raw = ADC2->DR;                                         // Read ADC Data Registers
00182         controller.adc1_raw = ADC1->DR;
00183         controller.adc3_raw = ADC3->DR;
00184         controller.theta_elec = spi.GetElecPosition();
00185         controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
00186         controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();  
00187         controller.dtheta_elec = spi.GetElecVelocity();
00188         controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
00189         ///
00190         
00191         /// Check state machine state, and run the appropriate function ///
00192         switch(state){
00193             case REST_MODE:                                                     // Do nothing
00194                 if(state_change){
00195                     enter_menu_state();
00196                     }
00197                 break;
00198             
00199             case CALIBRATION_MODE:                                              // Run encoder calibration procedure
00200                 if(state_change){
00201                     calibrate();
00202                     }
00203                 break;
00204              
00205             case MOTOR_MODE:                                                   // Run torque control
00206                 if(state_change){
00207                     enter_torque_mode();
00208                     count = 0;
00209                     }
00210                 else{
00211                 /*
00212                 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
00213                     gpio.
00214                     ->write(0);
00215                     controller.ovp_flag = 1;
00216                     state = REST_MODE;
00217                     state_change = 1;
00218                     printf("OVP Triggered!\n\r");
00219                     }
00220                     */  
00221 
00222                 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
00223                     controller.i_d_ref = 0;
00224                     controller.i_q_ref = 0;
00225                     controller.kp = 0;
00226                     controller.kd = 0;
00227                     controller.t_ff = 0;
00228                     } 
00229 
00230                 torque_control(&controller);
00231                 commutate(&controller, &observer, &gpio, controller.theta_elec);           // Run current loop
00232 
00233                 controller.timeout++;
00234                 count++; 
00235                 /***********shaorui add for torque_des**********/
00236                // torque_count++;
00237                // if(torque_count>50000)
00238                    // {
00239                        // printf("the desired iq : %.3f\n\r",controller. i_q_ref);
00240                        // printf("the desired torque : %.3f\n\r",KT_OUT*controller. i_q_ref);
00241                        // torque_count=0;    
00242                    // }
00243                 /***********shaorui endfor torque_des**********/
00244                 }     
00245                 break;
00246             case SETUP_MODE:
00247                 if(state_change){
00248                     enter_setup_state();
00249                 }
00250                 break;
00251             case ENCODER_MODE:
00252                 print_encoder();
00253                 break;
00254                 }                 
00255       }
00256   TIM1->SR = 0x0;                                                               // reset the status register
00257 }
00258 
00259 
00260 char cmd_val[8] = {0};
00261 char cmd_id = 0;
00262 char char_count = 0;
00263 
00264 /// Manage state machine with commands from serial terminal or configurator gui ///
00265 /// Called when data received over serial ///
00266 void serial_interrupt(void){
00267     while(pc.readable()){
00268         char c = pc.getc();
00269         if(c == 27){
00270                  //===============================================HJB added====================================================//
00271                 wait_us(100);                                                             //HJB add, to clear fault
00272                 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);       //HJB add, to clear fault
00273                 //Init_pos = controller.theta_mech;                                         //Input the local mechanical theta
00274                 //===============================================HJB ended====================================================//
00275                 state = REST_MODE;
00276                 state_change = 1;
00277                 char_count = 0;
00278                 cmd_id = 0;
00279                 gpio.led->write(0);; 
00280                 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
00281                 }
00282         if(state == REST_MODE){
00283             switch (c){
00284                 case 'c':
00285                     state = CALIBRATION_MODE;
00286                     state_change = 1;
00287                     break;
00288                 case 'm':
00289                     state = MOTOR_MODE;
00290                     state_change = 1;
00291                     break;
00292                 case 'e':
00293                     state = ENCODER_MODE;
00294                     state_change = 1;
00295                     break;
00296                 case 's':
00297                     state = SETUP_MODE;
00298                     state_change = 1;
00299                     break;
00300                 case 'z':
00301                     spi.SetMechOffset(0);
00302                     spi.Sample(DT);
00303                     wait_us(20);
00304                     M_OFFSET = spi.GetMechPosition();
00305                     if (!prefs.ready()) prefs.open();
00306                         prefs.flush();                                                  // Write new prefs to flash
00307                         prefs.close();    
00308                         prefs.load(); 
00309                     spi.SetMechOffset(M_OFFSET);
00310                     printf("\n\r  Saved new zero position:  %.4f\n\r\n\r", M_OFFSET);
00311                     
00312                     break;
00313                 }
00314                 
00315                 }
00316         else if(state == SETUP_MODE){
00317             if(c == 13){
00318                 switch (cmd_id){
00319                     case 'b':
00320                         I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
00321                         break;
00322                     case 'i':
00323                         CAN_ID = atoi(cmd_val);
00324                         break;
00325                     case 'm':
00326                         CAN_MASTER = atoi(cmd_val);
00327                         break;
00328                     case 'l':
00329                         I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
00330                         break;
00331                     case 'f':
00332                         I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
00333                         break;
00334                     case 't':
00335                         CAN_TIMEOUT = atoi(cmd_val);
00336                         break;
00337                     default:
00338                         printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
00339                         break;
00340                     }
00341                     
00342                 if (!prefs.ready()) prefs.open();
00343                 prefs.flush();                                                  // Write new prefs to flash
00344                 prefs.close();    
00345                 prefs.load();                                              
00346                 state_change = 1;
00347                 char_count = 0;
00348                 cmd_id = 0;
00349                 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
00350                 }
00351             else{
00352                 if(char_count == 0){cmd_id = c;}
00353                 else{
00354                     cmd_val[char_count-1] = c;
00355                     
00356                 }
00357                 pc.putc(c);
00358                 char_count++;
00359                 }
00360             }
00361         else if (state == ENCODER_MODE){
00362             switch (c){
00363                 case 27:
00364                     state = REST_MODE;
00365                     state_change = 1;
00366                     break;
00367                     }
00368             }
00369         else if (state == MOTOR_MODE){
00370             switch (c){
00371                 case 'd':
00372                     controller.i_q_ref = 0;
00373                     controller.i_d_ref = 0;
00374                 }
00375             }
00376             
00377         }
00378     }
00379        
00380 int main() {
00381     wait(1);           //hjb added
00382     controller.v_bus = V_BUS;
00383     controller.mode = 0;
00384     Init_All_HW(&gpio);                                                         // Setup PWM, ADC, GPIO
00385     wait(.1);
00386     
00387     gpio.enable->write(1);
00388     wait_us(100);
00389     drv.calibrate();
00390     wait_us(100);
00391     drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
00392     wait_us(100);
00393     drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
00394     wait_us(100);
00395     drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
00396     
00397     //drv.enable_gd();
00398     zero_current(&controller.adc1_offset, &controller.adc2_offset);             // Measure current sensor zero-offset
00399     drv.disable_gd();
00400 
00401     wait(.1);
00402     /*
00403     gpio.enable->write(1);
00404     TIM1->CCR3 = 0x708*(1.0f);                        // Write duty cycles
00405     TIM1->CCR2 = 0x708*(1.0f);
00406     TIM1->CCR1 = 0x708*(1.0f);
00407     gpio.enable->write(0);
00408     */
00409     reset_foc(&controller);                                                     // Reset current controller
00410     reset_observer(&observer);                                                 // Reset observer
00411     TIM1->CR1 ^= TIM_CR1_UDIS;
00412     //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
00413     
00414     wait(.1);
00415     NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2);                                             // commutation > communication
00416     
00417     NVIC_SetPriority(CAN1_RX0_IRQn, 3);
00418     can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
00419                                                                     
00420     txMsg.id = CAN_MASTER;
00421     txMsg.len = 6;
00422     rxMsg.len = 8;
00423     can.attach(&onMsgReceived);                                     // attach 'CAN receive-complete' interrupt handler    
00424     
00425     // If preferences haven't been user configured yet, set defaults 
00426     prefs.load();                                                               // Read flash
00427     if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
00428     if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
00429     if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
00430     if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
00431     if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
00432     if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
00433     if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
00434     if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
00435     spi.SetElecOffset(E_OFFSET);                                                // Set position sensor offset
00436     spi.SetMechOffset(M_OFFSET);
00437     int lut[128] = {0};
00438     memcpy(&lut, &ENCODER_LUT, sizeof(lut));
00439     spi.WriteLUT(lut);                                                          // Set potision sensor nonlinearity lookup table
00440     init_controller_params(&controller);
00441 
00442     pc.baud(460800);                                                            // set serial baud rate
00443     wait(.01);
00444     pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
00445     wait(.01);
00446     printf("\n\r Debug Info:\n\r");
00447     printf(" Firmware Version: %s\n\r", VERSION_NUM);
00448     printf(" ADC1 Offset: %d    ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
00449     printf(" Position Sensor Electrical Offset:   %.4f\n\r", E_OFFSET);
00450     printf(" Output Zero Position:  %.4f\n\r", M_OFFSET);
00451     printf(" CAN ID:  %d\n\r", CAN_ID);
00452     
00453 
00454 
00455 
00456     //printf(" %d\n\r", drv.read_register(DCR));
00457     //wait_us(100);
00458     //printf(" %d\n\r", drv.read_register(CSACR));
00459     //wait_us(100);
00460     //printf(" %d\n\r", drv.read_register(OCPCR));
00461     //drv.disable_gd();
00462     
00463     pc.attach(&serial_interrupt);                                               // attach serial interrupt
00464     
00465     state_change = 1;
00466 
00467 
00468     int counter = 0;
00469     //===============================================HJB added====================================================//
00470                 wait_us(100);                                                             //HJB add, to clear fault
00471                 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);       //HJB add, to clear fault
00472                 //Init_pos = controller.theta_mech;                                         //Input the local mechanical theta
00473                 //===============================================HJB ended====================================================//
00474     while(1) {
00475         drv.print_faults();
00476          wait(.1);
00477        //printf("%.4f\n\r", controller.v_bus);
00478        // printf("adc1: %.3d\n\r",controller.adc2_raw = ADC1->DR);
00479       //  printf("adc2: %.3d\n\r",controller.adc2_raw = ADC2->DR);   
00480       //  printf("adc3: %.3d\n\r",controller.adc2_raw = ADC3->DR);    
00481         wait(1);  
00482         if(state == MOTOR_MODE)
00483         {
00484             //printf("%.3f  %.3f  %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
00485             //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);
00486             //printf("%.3f\n\r", controller.dtheta_mech);
00487             //wait(.002);
00488             //printf(" True speed:  %.3f\n\r", controller.dtheta_mech*60/(2*PI));  //shaorui ADD
00489             //wait(2);
00490               //printf("speed:%.3f\n\r", controller.dtheta_mech);
00491             //printf("position:%.3f\n\r", controller.theta_mech*360/(2*PI));
00492              //printf("adc1: %.3d\n\r",controller.adc2_raw = ADC1->DR);
00493        //printf("adc2: %.3d\n\r",controller.adc2_raw = ADC2->DR);   
00494        //printf("adc3: %.3d\n\r",controller.adc2_raw = ADC3->DR);      
00495             //wait(.002);
00496               printf("vdes:%.3f real:%.3f\n\r",60*controller.v_des*GR/(2*PI) ,controller.dtheta_mech*GR*60/(2*PI));
00497                printf("preal:%.3f\n\r",controller.theta_mech*350/2/PI);
00498               
00499             wait(1);
00500         }
00501         
00502 
00503     }
00504 }