Shao Rui / HKC_MiniCheetah

1

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@48:74a40481740c, 2019-03-03 (annotated)

Committer:
benkatz
Date:
Sun Mar 03 02:51:51 2019 +0000
Revision:
48:74a40481740c
Parent:
47:e1196a851f76
Child:
49:83d83040ea51
Working on the new hardware

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 45:26801179208e 13 #define VERSION_NUM "1.7"
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
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;
benkatz 20:bf9ea5125d52 60
benkatz 26:2b865c00d7e9 61 void onMsgReceived() {
benkatz 26:2b865c00d7e9 62 //msgAvailable = true;
benkatz 47:e1196a851f76 63 printf("%df\n\r", rxMsg.id);
benkatz 26:2b865c00d7e9 64 can.read(rxMsg);
benkatz 28:8c7e29f719c5 65 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 66 controller.timeout = 0;
benkatz 28:8c7e29f719c5 67 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 68 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 69 state_change = 1;
benkatz 28:8c7e29f719c5 70 }
benkatz 28:8c7e29f719c5 71 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 72 state = REST_MODE;
benkatz 28:8c7e29f719c5 73 state_change = 1;
benkatz 37:c0f352d6e8e3 74 gpio.led->write(0);;
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]==0xFE))){
benkatz 28:8c7e29f719c5 77 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 78 }
benkatz 28:8c7e29f719c5 79 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 80 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 81 }
benkatz 37:c0f352d6e8e3 82 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 83 can.write(txMsg);
benkatz 28:8c7e29f719c5 84 }
benkatz 26:2b865c00d7e9 85
benkatz 26:2b865c00d7e9 86 }
benkatz 26:2b865c00d7e9 87
benkatz 23:2adf23ee0305 88 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 89 drv.disable_gd();
benkatz 47:e1196a851f76 90 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 91 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 92 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 93 wait_us(10);
benkatz 26:2b865c00d7e9 94 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 95 wait_us(10);
benkatz 23:2adf23ee0305 96 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 97 wait_us(10);
benkatz 23:2adf23ee0305 98 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 99 wait_us(10);
benkatz 23:2adf23ee0305 100 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 101 wait_us(10);
benkatz 37:c0f352d6e8e3 102 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 103 wait_us(10);
benkatz 23:2adf23ee0305 104 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 105 wait_us(10);
benkatz 23:2adf23ee0305 106 state_change = 0;
benkatz 37:c0f352d6e8e3 107 gpio.led->write(0);
benkatz 23:2adf23ee0305 108 }
benkatz 24:58c2d7571207 109
benkatz 24:58c2d7571207 110 void enter_setup_state(void){
benkatz 24:58c2d7571207 111 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 112 wait_us(10);
benkatz 28:8c7e29f719c5 113 printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 114 wait_us(10);
benkatz 28:8c7e29f719c5 115 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 116 wait_us(10);
benkatz 28:8c7e29f719c5 117 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 118 wait_us(10);
benkatz 28:8c7e29f719c5 119 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 120 wait_us(10);
benkatz 28:8c7e29f719c5 121 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
benkatz 44:8040fa2fcb0d 122 wait_us(10);
benkatz 28:8c7e29f719c5 123 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 124 wait_us(10);
benkatz 24:58c2d7571207 125 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 126 wait_us(10);
benkatz 24:58c2d7571207 127 state_change = 0;
benkatz 24:58c2d7571207 128 }
benkatz 22:60276ba87ac6 129
benkatz 23:2adf23ee0305 130 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 131 drv.enable_gd();
benkatz 47:e1196a851f76 132 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 133 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 134 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 135 wait(.001);
benkatz 23:2adf23ee0305 136 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 137 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 138 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 139 state_change = 0;
benkatz 28:8c7e29f719c5 140 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 141 }
benkatz 22:60276ba87ac6 142
benkatz 23:2adf23ee0305 143 void calibrate(void){
benkatz 44:8040fa2fcb0d 144 drv.enable_gd();
benkatz 47:e1196a851f76 145 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 146 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 147 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 148 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 149 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 150 wait(.2);
benkatz 23:2adf23ee0305 151 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 152 drv.disable_gd();
benkatz 47:e1196a851f76 153 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 154 state_change = 0;
benkatz 23:2adf23ee0305 155 }
benkatz 23:2adf23ee0305 156
benkatz 23:2adf23ee0305 157 void print_encoder(void){
benkatz 48:74a40481740c 158 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 159 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 160 wait(.001);
benkatz 22:60276ba87ac6 161 }
benkatz 20:bf9ea5125d52 162
benkatz 23:2adf23ee0305 163 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 164 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 165 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 166 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 167
benkatz 23:2adf23ee0305 168 ///Sample current always ///
benkatz 25:f5741040c4bb 169 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 170 //volatile int delay;
benkatz 20:bf9ea5125d52 171 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 172
benkatz 47:e1196a851f76 173 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 174 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 175 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 176 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 177 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 178 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 179 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 180 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 48:74a40481740c 181 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE;
benkatz 23:2adf23ee0305 182 ///
benkatz 20:bf9ea5125d52 183
benkatz 23:2adf23ee0305 184 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 185 switch(state){
benkatz 37:c0f352d6e8e3 186 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 187 if(state_change){
benkatz 23:2adf23ee0305 188 enter_menu_state();
benkatz 23:2adf23ee0305 189 }
benkatz 23:2adf23ee0305 190 break;
benkatz 22:60276ba87ac6 191
benkatz 23:2adf23ee0305 192 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 193 if(state_change){
benkatz 23:2adf23ee0305 194 calibrate();
benkatz 23:2adf23ee0305 195 }
benkatz 23:2adf23ee0305 196 break;
benkatz 23:2adf23ee0305 197
benkatz 26:2b865c00d7e9 198 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 199 if(state_change){
benkatz 25:f5741040c4bb 200 enter_torque_mode();
benkatz 28:8c7e29f719c5 201 count = 0;
benkatz 25:f5741040c4bb 202 }
benkatz 28:8c7e29f719c5 203 else{
benkatz 37:c0f352d6e8e3 204 /*
benkatz 37:c0f352d6e8e3 205 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 206 gpio.
benkatz 47:e1196a851f76 207 ->write(0);
benkatz 37:c0f352d6e8e3 208 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 209 state = REST_MODE;
benkatz 37:c0f352d6e8e3 210 state_change = 1;
benkatz 37:c0f352d6e8e3 211 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 212 }
benkatz 37:c0f352d6e8e3 213 */
benkatz 37:c0f352d6e8e3 214
benkatz 47:e1196a851f76 215 //torque_control(&controller);
benkatz 28:8c7e29f719c5 216 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 217 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 218 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 219 controller.kp = 0;
benkatz 37:c0f352d6e8e3 220 controller.kd = 0;
benkatz 37:c0f352d6e8e3 221 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 222 }
benkatz 47:e1196a851f76 223 //controller.i_q_ref = 0.0f;
benkatz 47:e1196a851f76 224 //controller.i_d_ref = 0.0f;
benkatz 47:e1196a851f76 225
benkatz 46:2d4b1dafcfe3 226 //controller.i_q_ref = 2.0f;
benkatz 47:e1196a851f76 227 //controller.i_d_ref = -30.0f;
benkatz 48:74a40481740c 228 //controller.kp = 1;
benkatz 48:74a40481740c 229 //controller.kd = .1f;
benkatz 47:e1196a851f76 230 //controller.v_des = 25;
benkatz 48:74a40481740c 231 //torque_control(&controller);
benkatz 48:74a40481740c 232 controller.i_q_ref = 40.0f;
benkatz 48:74a40481740c 233 //
benkatz 48:74a40481740c 234 //controller.i_q_ref += .00025f;
benkatz 48:74a40481740c 235 //if(count>80000)
benkatz 48:74a40481740c 236 //{
benkatz 48:74a40481740c 237 // controller.i_q_ref = 0.0f;
benkatz 48:74a40481740c 238 // count = 0;
benkatz 48:74a40481740c 239 // }
benkatz 48:74a40481740c 240 //controller.i_d_ref = -10.0f;
benkatz 48:74a40481740c 241 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 45:26801179208e 242 //TIM1->CCR3 = (PWM_ARR)*(0.5f); // Write duty cycles
benkatz 45:26801179208e 243 //TIM1->CCR2 = (PWM_ARR)*(0.5f);
benkatz 45:26801179208e 244 //TIM1->CCR1 = (PWM_ARR)*(0.5f);
benkatz 48:74a40481740c 245 controller.timeout++;
benkatz 47:e1196a851f76 246
benkatz 47:e1196a851f76 247 //pc.putc(iq);
benkatz 47:e1196a851f76 248 //pc.putc(id);
benkatz 47:e1196a851f76 249 //pc.putc(ang);
benkatz 47:e1196a851f76 250 //pc.printf("\n\r");
benkatz 38:67e4e1453a4b 251
benkatz 46:2d4b1dafcfe3 252
benkatz 46:2d4b1dafcfe3 253 count++;
benkatz 47:e1196a851f76 254
benkatz 39:3580a907ef93 255 /*
benkatz 48:74a40481740c 256 if(count == 10000){
benkatz 46:2d4b1dafcfe3 257 //printf("%d %d %.4f %.4f %.4f\n\r", controller.adc1_raw, controller.adc2_raw, controller.i_a, controller.i_b, controller.i_c);
benkatz 48:74a40481740c 258 //printf("%.2f\n\r", 1000.0f*controller.h1_iq_afc_int1);
benkatz 47:e1196a851f76 259 //pc.putc(id);
benkatz 47:e1196a851f76 260 //pc.putc(iq);
benkatz 47:e1196a851f76 261 //pc.putc(ang);
benkatz 47:e1196a851f76 262 //pc.putc('\n');
benkatz 47:e1196a851f76 263 //pc.putc('\r');
benkatz 47:e1196a851f76 264 //printf("%.1f\n", controller.k_q*controller.ki_q*controller.q_int);
benkatz 48:74a40481740c 265 if(controller.i_d_ref< 10.0f)
benkatz 48:74a40481740c 266 {
benkatz 48:74a40481740c 267 controller.i_d_ref += .05f;
benkatz 48:74a40481740c 268 }
benkatz 48:74a40481740c 269 else{controller.i_d_ref = 0;}
benkatz 48:74a40481740c 270
benkatz 32:ccac5da77844 271 count = 0;
benkatz 23:2adf23ee0305 272 }
benkatz 45:26801179208e 273 */
benkatz 46:2d4b1dafcfe3 274
benkatz 47:e1196a851f76 275
benkatz 47:e1196a851f76 276
benkatz 45:26801179208e 277
benkatz 38:67e4e1453a4b 278
benkatz 37:c0f352d6e8e3 279
benkatz 37:c0f352d6e8e3 280 }
benkatz 23:2adf23ee0305 281 break;
benkatz 23:2adf23ee0305 282 case SETUP_MODE:
benkatz 23:2adf23ee0305 283 if(state_change){
benkatz 24:58c2d7571207 284 enter_setup_state();
benkatz 23:2adf23ee0305 285 }
benkatz 23:2adf23ee0305 286 break;
benkatz 23:2adf23ee0305 287 case ENCODER_MODE:
benkatz 23:2adf23ee0305 288 print_encoder();
benkatz 23:2adf23ee0305 289 break;
benkatz 37:c0f352d6e8e3 290 }
benkatz 2:8724412ad628 291 }
benkatz 23:2adf23ee0305 292 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 293 }
benkatz 0:4e1c4df6aabd 294
benkatz 25:f5741040c4bb 295
benkatz 24:58c2d7571207 296 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 297 char cmd_id = 0;
benkatz 25:f5741040c4bb 298 char char_count = 0;
benkatz 24:58c2d7571207 299
benkatz 25:f5741040c4bb 300 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 301 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 302 void serial_interrupt(void){
benkatz 23:2adf23ee0305 303 while(pc.readable()){
benkatz 23:2adf23ee0305 304 char c = pc.getc();
benkatz 25:f5741040c4bb 305 if(c == 27){
benkatz 25:f5741040c4bb 306 state = REST_MODE;
benkatz 25:f5741040c4bb 307 state_change = 1;
benkatz 25:f5741040c4bb 308 char_count = 0;
benkatz 25:f5741040c4bb 309 cmd_id = 0;
benkatz 37:c0f352d6e8e3 310 gpio.led->write(0);;
benkatz 25:f5741040c4bb 311 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 312 }
benkatz 24:58c2d7571207 313 if(state == REST_MODE){
benkatz 23:2adf23ee0305 314 switch (c){
benkatz 23:2adf23ee0305 315 case 'c':
benkatz 23:2adf23ee0305 316 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 317 state_change = 1;
benkatz 23:2adf23ee0305 318 break;
benkatz 26:2b865c00d7e9 319 case 'm':
benkatz 26:2b865c00d7e9 320 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 321 state_change = 1;
benkatz 23:2adf23ee0305 322 break;
benkatz 23:2adf23ee0305 323 case 'e':
benkatz 23:2adf23ee0305 324 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 325 state_change = 1;
benkatz 23:2adf23ee0305 326 break;
benkatz 23:2adf23ee0305 327 case 's':
benkatz 23:2adf23ee0305 328 state = SETUP_MODE;
benkatz 23:2adf23ee0305 329 state_change = 1;
benkatz 23:2adf23ee0305 330 break;
benkatz 37:c0f352d6e8e3 331 case 'z':
benkatz 37:c0f352d6e8e3 332 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 333 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 334 wait_us(20);
benkatz 37:c0f352d6e8e3 335 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 336 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 337 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 338 prefs.close();
benkatz 37:c0f352d6e8e3 339 prefs.load();
benkatz 37:c0f352d6e8e3 340 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 341 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 342
benkatz 37:c0f352d6e8e3 343 break;
benkatz 37:c0f352d6e8e3 344 }
benkatz 37:c0f352d6e8e3 345
benkatz 24:58c2d7571207 346 }
benkatz 24:58c2d7571207 347 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 348 if(c == 13){
benkatz 24:58c2d7571207 349 switch (cmd_id){
benkatz 24:58c2d7571207 350 case 'b':
benkatz 24:58c2d7571207 351 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 352 break;
benkatz 24:58c2d7571207 353 case 'i':
benkatz 24:58c2d7571207 354 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 355 break;
benkatz 26:2b865c00d7e9 356 case 'm':
benkatz 26:2b865c00d7e9 357 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 358 break;
benkatz 24:58c2d7571207 359 case 'l':
benkatz 24:58c2d7571207 360 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 24:58c2d7571207 361 break;
benkatz 28:8c7e29f719c5 362 case 't':
benkatz 28:8c7e29f719c5 363 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 364 break;
benkatz 24:58c2d7571207 365 default:
benkatz 24:58c2d7571207 366 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 367 break;
benkatz 24:58c2d7571207 368 }
benkatz 24:58c2d7571207 369
benkatz 24:58c2d7571207 370 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 371 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 372 prefs.close();
benkatz 24:58c2d7571207 373 prefs.load();
benkatz 24:58c2d7571207 374 state_change = 1;
benkatz 24:58c2d7571207 375 char_count = 0;
benkatz 24:58c2d7571207 376 cmd_id = 0;
benkatz 24:58c2d7571207 377 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 378 }
benkatz 24:58c2d7571207 379 else{
benkatz 24:58c2d7571207 380 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 381 else{
benkatz 24:58c2d7571207 382 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 383
benkatz 24:58c2d7571207 384 }
benkatz 24:58c2d7571207 385 pc.putc(c);
benkatz 24:58c2d7571207 386 char_count++;
benkatz 23:2adf23ee0305 387 }
benkatz 23:2adf23ee0305 388 }
benkatz 24:58c2d7571207 389 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 390 switch (c){
benkatz 24:58c2d7571207 391 case 27:
benkatz 24:58c2d7571207 392 state = REST_MODE;
benkatz 24:58c2d7571207 393 state_change = 1;
benkatz 24:58c2d7571207 394 break;
benkatz 24:58c2d7571207 395 }
benkatz 24:58c2d7571207 396 }
benkatz 24:58c2d7571207 397
benkatz 24:58c2d7571207 398 }
benkatz 22:60276ba87ac6 399 }
benkatz 0:4e1c4df6aabd 400
benkatz 0:4e1c4df6aabd 401 int main() {
benkatz 20:bf9ea5125d52 402 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 403 controller.mode = 0;
benkatz 23:2adf23ee0305 404 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 405 wait(.1);
benkatz 44:8040fa2fcb0d 406
benkatz 44:8040fa2fcb0d 407 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 408 wait_us(100);
benkatz 45:26801179208e 409 drv.calibrate();
benkatz 45:26801179208e 410 wait_us(100);
benkatz 44:8040fa2fcb0d 411 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 412 wait_us(100);
benkatz 46:2d4b1dafcfe3 413 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 44:8040fa2fcb0d 414 wait_us(100);
benkatz 47:e1196a851f76 415 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_4US, VDS_LVL_1_5);
benkatz 45:26801179208e 416
benkatz 45:26801179208e 417 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 418 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 47:e1196a851f76 419 drv.disable_gd();
benkatz 20:bf9ea5125d52 420
benkatz 44:8040fa2fcb0d 421
benkatz 44:8040fa2fcb0d 422
benkatz 44:8040fa2fcb0d 423
benkatz 9:d7eb815cb057 424 wait(.1);
benkatz 44:8040fa2fcb0d 425 /*
benkatz 26:2b865c00d7e9 426 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 427 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 428 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 429 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 430 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 431 */
benkatz 23:2adf23ee0305 432 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 433 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 434 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 435 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 436
benkatz 20:bf9ea5125d52 437 wait(.1);
benkatz 37:c0f352d6e8e3 438 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 439
benkatz 37:c0f352d6e8e3 440 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 441 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 442
benkatz 28:8c7e29f719c5 443 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 444 txMsg.len = 6;
benkatz 26:2b865c00d7e9 445 rxMsg.len = 8;
benkatz 43:dfb72608639c 446 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 447
benkatz 48:74a40481740c 448 // If preferences haven't been user configured yet, set defaults
benkatz 25:f5741040c4bb 449 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 450 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 451 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 452 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 48:74a40481740c 453 if(isnan(TORQUE_LIMIT) || TORQUE_LIMIT ==-1){TORQUE_LIMIT=18;}
benkatz 48:74a40481740c 454 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 455 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 456 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
benkatz 25:f5741040c4bb 457 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 458 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 459 int lut[128] = {0};
benkatz 23:2adf23ee0305 460 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 461 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 462 init_controller_params(&controller);
benkatz 45:26801179208e 463
benkatz 26:2b865c00d7e9 464 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 465 wait(.01);
benkatz 23:2adf23ee0305 466 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 467 wait(.01);
benkatz 23:2adf23ee0305 468 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 469 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 470 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 471 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 472 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 473 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 474
benkatz 44:8040fa2fcb0d 475
benkatz 44:8040fa2fcb0d 476
benkatz 44:8040fa2fcb0d 477
benkatz 47:e1196a851f76 478 //printf(" %d\n\r", drv.read_register(DCR));
benkatz 47:e1196a851f76 479 //wait_us(100);
benkatz 47:e1196a851f76 480 //printf(" %d\n\r", drv.read_register(CSACR));
benkatz 47:e1196a851f76 481 //wait_us(100);
benkatz 47:e1196a851f76 482 //printf(" %d\n\r", drv.read_register(OCPCR));
benkatz 47:e1196a851f76 483 //drv.disable_gd();
benkatz 44:8040fa2fcb0d 484
benkatz 23:2adf23ee0305 485 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 486
benkatz 23:2adf23ee0305 487 state_change = 1;
benkatz 48:74a40481740c 488 /*
benkatz 48:74a40481740c 489 for(int i = 0; i< 1000; i++){
benkatz 48:74a40481740c 490 float dtc_in = .001f*(float)i;
benkatz 48:74a40481740c 491 printf("%f ", dtc_in);
benkatz 48:74a40481740c 492 linearize_dtc(&dtc_in);
benkatz 48:74a40481740c 493 printf("%f\n\r", dtc_in);
benkatz 48:74a40481740c 494 wait(.001);
benkatz 48:74a40481740c 495 }
benkatz 48:74a40481740c 496 */
benkatz 20:bf9ea5125d52 497
benkatz 44:8040fa2fcb0d 498 int counter = 0;
benkatz 0:4e1c4df6aabd 499 while(1) {
benkatz 47:e1196a851f76 500 drv.print_faults();
benkatz 48:74a40481740c 501 wait(.001);
benkatz 48:74a40481740c 502 //printf("%.4f\n\r", controller.v_bus);
benkatz 47:e1196a851f76 503 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 504 {
benkatz 48:74a40481740c 505 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 48:74a40481740c 506 //printf("%.3f %.3f %.3f\n\r", controller.v_q/controller.v_bus, controller.i_q, observer.resistance);
benkatz 48:74a40481740c 507 printf("%.3f\n\r", controller.dtheta_mech);
benkatz 48:74a40481740c 508 wait(.001);
benkatz 47:e1196a851f76 509 }
benkatz 47:e1196a851f76 510
benkatz 0:4e1c4df6aabd 511 }
benkatz 0:4e1c4df6aabd 512 }