Shao Rui
1
Dependencies: mbed-dev-f303 FastPWM3
Diff: main.cpp
- Revision:
- 20:bf9ea5125d52
- Parent:
- 19:bd10a04eedc2
- Child:
- 22:60276ba87ac6
--- a/main.cpp Tue Feb 14 03:28:16 2017 +0000
+++ b/main.cpp Thu Mar 02 15:31:23 2017 +0000
@@ -11,17 +11,18 @@
#include "CANnucleo.h"
#include "mbed.h"
#include "PositionSensor.h"
-#include "Inverter.h"
-#include "SVM.h"
-#include "FastMath.h"
-#include "Transforms.h"
-#include "CurrentRegulator.h"
-#include "TorqueController.h"
-#include "ImpedanceController.h"
+#include "structs.h"
+#include "foc.h"
+#include "hw_setup.h"
+#include "math_ops.h"
+#include "current_controller_config.h"
+#include "hw_config.h"
+#include "motor_config.h"
+GPIOStruct gpio;
+ControllerStruct controller;
+COMStruct com;
-using namespace FastMath;
-using namespace Transforms;
CANnucleo::CAN can(PB_8, PB_9); // CAN Rx pin name, CAN Tx pin name
@@ -32,6 +33,8 @@
int canCmd = 1000;
volatile bool msgAvailable = false;
+DigitalOut toggle(PA_0);
+Ticker loop;
/**
* @brief 'CAN receive-complete' interrup handler.
* @note Called on arrival of new CAN message.
@@ -64,7 +67,7 @@
}
}
-void canLoop(void){
+void cancontroller(void){
//printf("%d\n\r", canCmd);
readCAN();
//sendCMD(TX_ID, canCmd);
@@ -73,108 +76,129 @@
//sendCMD(TX_ID+c_ID, c1);
}
-int id[3] = {0};
-float cmd_float[3] = {0.0f};
-int raw[3] = {0};
-float val_max[3] = {18.0f, 1.0f, 0.1f}; //max angle in radians, stiffness in N-m/rad, damping in N-m*s/rad
-int buff[8];
+
Serial pc(PA_2, PA_3);
-Inverter inverter(PA_10, PA_9, PA_8, PA_11, 0.02014160156, 0.00005); //hall motor
-PositionSensorAM5147 spi(16384, 4.7, 21); ///1 I really need an eeprom or something to store this....
-//PositionSensorSPI spi(2048, 1.34f, 7); ///2
+PositionSensorAM5147 spi(16384, 4.7, NPP); ///1 I really need an eeprom or something to store this....
+//PositionSensorEncoder encoder(4096, 0, 21);
+
+int count = 0;
+void commutate(void){
+
+ count ++;
+
+ //pc.printf("%f\n\r", controller.theta_elec);
+ //Get rotor angle
+ //spi.GetMechPosition();
+ controller.i_b = I_SCALE*(float)(controller.adc2_raw - controller.adc2_offset); //Calculate phase currents from ADC readings
+ controller.i_c = I_SCALE*(float)(controller.adc1_raw - controller.adc1_offset);
+ controller.i_a = -controller.i_b - controller.i_c;
+
+
+ dq0(controller.theta_elec, controller.i_a, controller.i_b, controller.i_c, &controller.i_d, &controller.i_q); //dq0 transform on currents
+
+ ///Control Law///
+ float i_d_error = controller.i_d_ref - controller.i_d;
+ float i_q_error = controller.i_q_ref - controller.i_q;
+ float v_d_ff = controller.i_d_ref*R_TOTAL; //feed-forward voltage
+ float v_q_ff = controller.i_q_ref*R_TOTAL;
+ controller.d_int += i_d_error;
+ controller.q_int += i_q_error;
+
+ limit_norm(&controller.d_int, &controller.q_int, V_BUS/(K_Q*KI_Q));
+ //controller.d_int = fminf(fmaxf(controller.d_int, -D_INT_LIM), D_INT_LIM);
+ //controller.q_int = fminf(fmaxf(controller.q_int, -Q_INT_LIM), Q_INT_LIM);
+
+
+ controller.v_d = K_D*i_d_error + K_D*KI_D*controller.d_int;// + v_d_ff;
+ controller.v_q = K_Q*i_q_error + K_Q*KI_Q*controller.q_int;// + v_q_ff;
+ //controller.v_d = 10*v_d_ff;
+ //controller.v_q = 10*v_q_ff;
+ limit_norm(&controller.v_d, &controller.v_q, controller.v_bus);
+
+ abc(controller.theta_elec, controller.v_d, controller.v_q, &controller.v_u, &controller.v_v, &controller.v_w); //inverse dq0 transform on voltages
+ svm(controller.v_bus, controller.v_u, controller.v_v, controller.v_w, &controller.dtc_u, &controller.dtc_v, &controller.dtc_w); //space vector modulation
+
+ gpio.pwm_u->write(1.0f-controller.dtc_u); //write duty cycles
+ gpio.pwm_v->write(1.0f-controller.dtc_v);
+ gpio.pwm_w->write(1.0f-controller.dtc_w);
+
+ controller.theta_elec = spi.GetElecPosition();
+ //TIM1->CCR1 = (int)(controller.dtc_u * 0x8CA);//gpio.pwm_u->write(1.0f-controller.dtc_u); //write duty cycles
+ //TIM1->CCR2 = (int)(controller.dtc_v * 0x8CA);//gpio.pwm_v->write(1.0f-controller.dtc_v);
+ //TIM1->CCR3 = (int)(controller.dtc_w * 0x8CA);//gpio.pwm_w->write(1.0f-controller.dtc_w);
+
+ //gpio.pwm_u->write(1.0f - .1f); //write duty cycles
+ //gpio.pwm_v->write(1.0f - .1f);
+ //gpio.pwm_w->write(1.0f - .15f);
-PositionSensorEncoder encoder(4096, 0, 21);
-
-
-
-CurrentRegulator foc(&inverter, &spi, &encoder, 0.000033, .005, .55);
-TorqueController torqueController(.082f, &foc);
-ImpedanceController impedanceController(&torqueController, &spi, &encoder);
-
-Ticker testing;
-
-
-
+ if(count >1000){
+ controller.i_q_ref = -controller.i_q_ref;
+ count = 0;
+ //pc.printf("%f\n\r", controller.theta_elec);
+ //pc.printf("%f %f %f\n\r", controller.i_a, controller.i_b, controller.i_c);
+ //pc.printf("%f %f\n\r", controller.i_d, controller.i_q);
+ //pc.printf("%d %d\n\r", controller.adc1_raw, controller.adc2_raw);
+ }
+ }
+
// Current Sampling IRQ
extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
if (TIM1->SR & TIM_SR_UIF ) {
- inverter.SampleCurrent();
- //foc.Commutate(); ///Putting the loop here doesn't work for some reason. Need to figure out why
+ //toggle = 1;
+ ADC1->CR2 |= 0x40000000;
+ //volatile int delay;
+ //for (delay = 0; delay < 55; delay++);
+
+ controller.adc2_raw = ADC2->DR;
+ controller.adc1_raw = ADC1->DR;
+ //toggle = 0;
+ commutate();
+
}
TIM1->SR = 0x0; // reset the status register
}
-int count = 0;
-void Loop(void){
- count++;
- //impedanceController.SetImpedance(cmd_float[1], cmd_float[2], cmd_float[0]);
- //impedanceController.SetImpedance(.1, -0.01, 0);
- float torqueCmd = ((float)(canCmd-1000))/100;
- torqueController.SetTorque(torqueCmd);
- if(count>100){
- canLoop();
- //float e = spi.GetElecPosition();
- //float v = encoder.GetMechVelocity();
- //printf("%f\n\r", torqueCmd);
- //printf("IA: %f IB: %f IC: %f\n\r", inverter.I_A, inverter.I_B, inverter.I_C);
- count = 0;
- }
-
- }
-
-void PrintStuff(void){
- //inverter.SetDTC(0.03, 0.0, 0.0);
-
- //float v = encoder.GetMechVelocity();
- //float position = encoder.GetElecPosition();
- int position = spi.GetRawPosition();
- //float m = spi.GetMechPosition();
- float e = spi.GetElecPosition();
- printf("%f\n\r", e);
- //foc.Commutate();
- //float q = foc.GetQ();
- //printf("position: %d angle: %f q current: %f\n\r", position, e, q);
- //inverter.getCurrent()
- //printf("%f %f %f %f \n\r", m, cmd_float[0], cmd_float[1], cmd_float[2]);
- //printf("%d %d %d\n\r", raw[0], raw[1], raw[2]);
- //printf("IA: %f IB: %f IC: %f\n\r", inverter.I_A, inverter.I_B, inverter.I_C);
- }
-
- /*
- ////Throw some sines on the phases. useful to make sure the hardware works.
- void gen_sine(void){
- float f = 1.0f;
- float time = t.read();
- float a = .45f*sin(6.28318530718f*f*time) + .5f;
- float b = .45f*sin(6.28318530718f*f*time + 2.09439510239f) + .5f;
- float c = .45f*sin(6.28318530718f*f*time + 4.18879020479f) + .5f;
- inverter.SetDTC(a, b, c);
- }
-*/
+
int main() {
- inverter.DisableInverter();
+
+ controller.v_bus = V_BUS;
spi.ZeroPosition();
+ Init_All_HW(&gpio);
+
wait(.1);
- inverter.SetDTC(0.0, 0.0, 0.0);
- inverter.EnableInverter();
- foc.Reset();
- testing.attach(&Loop, .000025);
- //canTick.attach(&canLoop, .01);
- //testing.attach(&PrintStuff, .05);
+ //TIM1->CR1 |= TIM_CR1_UDIS;
+ gpio.enable->write(1);
+ gpio.pwm_u->write(1.0f); //write duty cycles
+ gpio.pwm_v->write(1.0f);
+ gpio.pwm_w->write(1.0f);
+ zero_current(&controller.adc1_offset, &controller.adc2_offset);
+ reset_foc(&controller);
+ TIM1->CR1 ^= TIM_CR1_UDIS; //enable interrupt
+ gpio.enable->write(1);
+ //gpio.pwm_u->write(1.0f - .05f); //write duty cycles
+ //gpio.pwm_v->write(1.0f - .05f);
+ //gpio.pwm_w->write(1.0f - .1f);
+
+ wait(.1);
NVIC_SetPriority(TIM5_IRQn, 2);
-
+ //loop.attach(&commutate, .000025);
can.frequency(1000000); // set bit rate to 1Mbps
can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
can.filter(0x020 << 25, 0xF0000004, CANAny, 0);
pc.baud(921600);
- wait(.1);
- pc.printf("HobbyKing Cheeta v1.1\n\r");
- wait(.1);
+ wait(.01);
+ pc.printf("HobbyKing Cheetah v1.1\n\r");
+ pc.printf("ADC1 Offset: %d ADC2 Offset: %d", controller.adc1_offset, controller.adc2_offset);
+ wait(.01);
+
+
+ controller.i_d_ref = 0;
+ controller.i_q_ref = 0;
while(1) {
}