Shao Rui / Joint_control_2AS5147_DRV8323RH_GR49_HJB_2020_8_10

1

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@48:1b51771c3647, 2020-02-07 (annotated)

Committer:
shaorui
Date:
Fri Feb 07 11:31:37 2020 +0000
Revision:
48:1b51771c3647
Parent:
47:55bdc4d5096b
Child:
49:7eac11914980
test;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 22:60276ba87ac6 1 /// high-bandwidth 3-phase motor control, for robots
benkatz 22:60276ba87ac6 2 /// Written by benkatz, with much inspiration from bayleyw, nkirkby, scolton, 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 22:60276ba87ac6 5
benkatz 23:2adf23ee0305 6 #define REST_MODE 0
benkatz 23:2adf23ee0305 7 #define CALIBRATION_MODE 1
benkatz 26:2b865c00d7e9 8 #define MOTOR_MODE 2
benkatz 23:2adf23ee0305 9 #define SETUP_MODE 4
benkatz 23:2adf23ee0305 10 #define ENCODER_MODE 5
shaorui 48:1b51771c3647 11 #define JOINT_CALIBRATION_MODE 6
shaorui 48:1b51771c3647 12 #define J_CALIBRATION_MODE 7
benkatz 44:efcde0af8390 13 #define VERSION_NUM "1.6"
benkatz 26:2b865c00d7e9 14
benkatz 18:f1d56f4acb39 15
benkatz 26:2b865c00d7e9 16 float __float_reg[64]; // Floats stored in flash
shaorui 48:1b51771c3647 17 //int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
shaorui 48:1b51771c3647 18 int __int_reg[300];
shaorui 48:1b51771c3647 19 int test1;
shaorui 48:1b51771c3647 20 int joint_flag=0;
shaorui 48:1b51771c3647 21 int stop_sign=0;
benkatz 0:4e1c4df6aabd 22 #include "mbed.h"
benkatz 0:4e1c4df6aabd 23 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 24 #include "structs.h"
benkatz 20:bf9ea5125d52 25 #include "foc.h"
benkatz 22:60276ba87ac6 26 #include "calibration.h"
benkatz 20:bf9ea5125d52 27 #include "hw_setup.h"
benkatz 23:2adf23ee0305 28 #include "math_ops.h"
benkatz 20:bf9ea5125d52 29 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 30 #include "hw_config.h"
benkatz 20:bf9ea5125d52 31 #include "motor_config.h"
benkatz 23:2adf23ee0305 32 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 33 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 34 #include "user_config.h"
benkatz 23:2adf23ee0305 35 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 36 #include "CAN_com.h"
shaorui 48:1b51771c3647 37 #include "math.h"
shaorui 48:1b51771c3647 38 #include "MA700Sensor.h"
shaorui 48:1b51771c3647 39 #include "joint_calibration.h"
shaorui 48:1b51771c3647 40 PreferenceWriter prefs(6);
shaorui 48:1b51771c3647 41 //PreferenceWriter prefs(7);
benkatz 37:c0f352d6e8e3 42
benkatz 9:d7eb815cb057 43
benkatz 20:bf9ea5125d52 44 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 45 ControllerStruct controller;
benkatz 20:bf9ea5125d52 46 COMStruct com;
benkatz 37:c0f352d6e8e3 47 ObserverStruct observer;
benkatz 43:dfb72608639c 48 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 49
Rushu 47:55bdc4d5096b 50 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name, 1000kbps
benkatz 26:2b865c00d7e9 51 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 52 CANMessage txMsg;
benkatz 23:2adf23ee0305 53
shaorui 48:1b51771c3647 54 int i=1;//shaorui add
shaorui 48:1b51771c3647 55 float wucha=0;
shaorui 48:1b51771c3647 56 float wucha1=0;
Rushu 47:55bdc4d5096b 57 PositionSensorAM5147 spi(16384, 0.0, NPP); //14 bits encoder, 21 NPP
shaorui 48:1b51771c3647 58 PositionSensorMA700 ma700(16384,0.0,NPP); //shaorui add(12/10)
benkatz 20:bf9ea5125d52 59
benkatz 23:2adf23ee0305 60 volatile int count = 0;
benkatz 23:2adf23ee0305 61 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 62 volatile int state_change;
benkatz 20:bf9ea5125d52 63
benkatz 26:2b865c00d7e9 64 void onMsgReceived() {
benkatz 26:2b865c00d7e9 65 //msgAvailable = true;
benkatz 45:aadebe074af6 66
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();
benkatz 28:8c7e29f719c5 81 }
benkatz 28:8c7e29f719c5 82 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 83 unpack_cmd(rxMsg, &controller);
shaorui 48:1b51771c3647 84 /*
shaorui 48:1b51771c3647 85 if(controller.sidebct1!=controller.sidebct)
shaorui 48:1b51771c3647 86 {
shaorui 48:1b51771c3647 87 controller.sidebct1=controller.sidebct;
shaorui 48:1b51771c3647 88 ma700.WriteRegister(&controller);
shaorui 48:1b51771c3647 89 }
shaorui 48:1b51771c3647 90 */
benkatz 28:8c7e29f719c5 91 }
shaorui 48:1b51771c3647 92
benkatz 37:c0f352d6e8e3 93 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 94 can.write(txMsg);
benkatz 28:8c7e29f719c5 95 }
benkatz 26:2b865c00d7e9 96
benkatz 26:2b865c00d7e9 97 }
benkatz 26:2b865c00d7e9 98
benkatz 23:2adf23ee0305 99 void enter_menu_state(void){
benkatz 23:2adf23ee0305 100 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 101 printf(" Commands:\n\r");
benkatz 44:efcde0af8390 102 wait_us(10);
benkatz 26:2b865c00d7e9 103 printf(" m - Motor Mode\n\r");
benkatz 44:efcde0af8390 104 wait_us(10);
benkatz 23:2adf23ee0305 105 printf(" c - Calibrate Encoder\n\r");
benkatz 44:efcde0af8390 106 wait_us(10);
shaorui 48:1b51771c3647 107 printf(" j - Joint Calibrate Encoder\n\r");
shaorui 48:1b51771c3647 108 wait_us(10);
shaorui 48:1b51771c3647 109 printf(" t - Joint test Encoder\n\r");
shaorui 48:1b51771c3647 110 wait_us(10);
benkatz 23:2adf23ee0305 111 printf(" s - Setup\n\r");
benkatz 44:efcde0af8390 112 wait_us(10);
benkatz 23:2adf23ee0305 113 printf(" e - Display Encoder\n\r");
benkatz 44:efcde0af8390 114 wait_us(10);
benkatz 37:c0f352d6e8e3 115 printf(" z - Set Zero Position\n\r");
benkatz 44:efcde0af8390 116 wait_us(10);
benkatz 23:2adf23ee0305 117 printf(" esc - Exit to Menu\n\r");
benkatz 44:efcde0af8390 118 wait_us(10);
benkatz 23:2adf23ee0305 119 state_change = 0;
benkatz 25:f5741040c4bb 120 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 121 gpio.led->write(0);
benkatz 23:2adf23ee0305 122 }
benkatz 24:58c2d7571207 123
benkatz 24:58c2d7571207 124 void enter_setup_state(void){
benkatz 24:58c2d7571207 125 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:efcde0af8390 126 wait_us(10);
benkatz 28:8c7e29f719c5 127 printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:efcde0af8390 128 wait_us(10);
benkatz 28:8c7e29f719c5 129 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:efcde0af8390 130 wait_us(10);
benkatz 28:8c7e29f719c5 131 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:efcde0af8390 132 wait_us(10);
benkatz 28:8c7e29f719c5 133 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:efcde0af8390 134 wait_us(10);
benkatz 28:8c7e29f719c5 135 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
benkatz 44:efcde0af8390 136 wait_us(10);
benkatz 28:8c7e29f719c5 137 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:efcde0af8390 138 wait_us(10);
benkatz 24:58c2d7571207 139 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:efcde0af8390 140 wait_us(10);
benkatz 24:58c2d7571207 141 state_change = 0;
benkatz 24:58c2d7571207 142 }
benkatz 22:60276ba87ac6 143
benkatz 23:2adf23ee0305 144 void enter_torque_mode(void){
benkatz 37:c0f352d6e8e3 145 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 146 gpio.enable->write(1); // Enable gate drive
benkatz 28:8c7e29f719c5 147 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 148 wait(.001);
benkatz 23:2adf23ee0305 149 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 150 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 151 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 152 state_change = 0;
benkatz 28:8c7e29f719c5 153 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 154 }
benkatz 22:60276ba87ac6 155
benkatz 23:2adf23ee0305 156 void calibrate(void){
benkatz 25:f5741040c4bb 157 gpio.enable->write(1); // Enable gate drive
benkatz 37:c0f352d6e8e3 158 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 159 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 160 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
shaorui 48:1b51771c3647 161 //j_calibrate(&ma700,&spi, &gpio, &controller, &prefs);
shaorui 48:1b51771c3647 162 //j_calibrate(&ma700,&gpio, &controller, &prefs);
benkatz 37:c0f352d6e8e3 163 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 164 wait(.2);
benkatz 25:f5741040c4bb 165 gpio.enable->write(0); // Turn off gate drive
benkatz 23:2adf23ee0305 166 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 23:2adf23ee0305 167 state_change = 0;
benkatz 23:2adf23ee0305 168 }
benkatz 23:2adf23ee0305 169
shaorui 48:1b51771c3647 170 void jocalibrate(void){
shaorui 48:1b51771c3647 171 gpio.enable->write(1); // Enable gate drive
shaorui 48:1b51771c3647 172 gpio.led->write(1); // Turn on status LED
shaorui 48:1b51771c3647 173 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
shaorui 48:1b51771c3647 174 //calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
shaorui 48:1b51771c3647 175 //j_calibrate(&ma700,&spi, &gpio, &controller, &prefs);
shaorui 48:1b51771c3647 176 j_calibrate(&ma700,&gpio, &controller, &prefs);
shaorui 48:1b51771c3647 177 gpio.led->write(0);; // Turn off status LED
shaorui 48:1b51771c3647 178 wait(.2);
shaorui 48:1b51771c3647 179 gpio.enable->write(0); // Turn off gate drive
shaorui 48:1b51771c3647 180 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
shaorui 48:1b51771c3647 181 state_change = 0;
shaorui 48:1b51771c3647 182 }
shaorui 48:1b51771c3647 183
shaorui 48:1b51771c3647 184 void jointcalibrate(void){
shaorui 48:1b51771c3647 185 gpio.enable->write(1); // Enable gate drive
shaorui 48:1b51771c3647 186 gpio.led->write(1); // Turn on status LED
shaorui 48:1b51771c3647 187 //joint_calibrate (&ma700,&spi,&gpio,&controller,&prefs); // Perform calibration procedure
shaorui 48:1b51771c3647 188 gpio.led->write(0); // Turn off status LED
shaorui 48:1b51771c3647 189 wait(.2);
shaorui 48:1b51771c3647 190 gpio.enable->write(0);
shaorui 48:1b51771c3647 191
shaorui 48:1b51771c3647 192 /*************同时设置转子和关节零位置同步****************/
shaorui 48:1b51771c3647 193 spi.SetMechOffset(0);
shaorui 48:1b51771c3647 194 ma700.SetMechOffset(0);
shaorui 48:1b51771c3647 195 spi.Sample(DT);
shaorui 48:1b51771c3647 196 ma700.Sample(DT);
shaorui 48:1b51771c3647 197 wait_us(20);
shaorui 48:1b51771c3647 198 M_OFFSET = spi.GetMechPosition();
shaorui 48:1b51771c3647 199 JOINT_M_OFFSET =ma700.GetMechPosition();
shaorui 48:1b51771c3647 200 if (!prefs.ready()) prefs.open();
shaorui 48:1b51771c3647 201 prefs.flush(); // Write new prefs to flash
shaorui 48:1b51771c3647 202 prefs.close();
shaorui 48:1b51771c3647 203 prefs.load();
shaorui 48:1b51771c3647 204 spi.SetMechOffset(M_OFFSET);
shaorui 48:1b51771c3647 205 ma700.SetMechOffset(JOINT_M_OFFSET );
shaorui 48:1b51771c3647 206 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
shaorui 48:1b51771c3647 207 printf("\n\r Saved new zero position1: %.4f\n\r\n\r", JOINT_M_OFFSET );
shaorui 48:1b51771c3647 208
shaorui 48:1b51771c3647 209 /*************同时设置转子和关节零位置同步****************/
shaorui 48:1b51771c3647 210
shaorui 48:1b51771c3647 211 /************Trajectory Planning******************************/
shaorui 48:1b51771c3647 212
shaorui 48:1b51771c3647 213
shaorui 48:1b51771c3647 214 // enter_torque_mode();
shaorui 48:1b51771c3647 215 state=MOTOR_MODE;
shaorui 48:1b51771c3647 216 state_change=1;
shaorui 48:1b51771c3647 217 //enter_torque_mode();
shaorui 48:1b51771c3647 218 count = 0;
shaorui 48:1b51771c3647 219 printf("test\n\r");
shaorui 48:1b51771c3647 220
shaorui 48:1b51771c3647 221 /*
shaorui 48:1b51771c3647 222 if((1.0f/GR)* spi.GetMechPosition()<=(2*PI))
shaorui 48:1b51771c3647 223 {
shaorui 48:1b51771c3647 224 controller.p_des=0;
shaorui 48:1b51771c3647 225 controller.v_des = 2.0f;
shaorui 48:1b51771c3647 226 controller.kp = 0;
shaorui 48:1b51771c3647 227 controller.kd = 5.0f;
shaorui 48:1b51771c3647 228 controller.t_ff = 0;
shaorui 48:1b51771c3647 229 wait(.5);
shaorui 48:1b51771c3647 230 *
shaorui 48:1b51771c3647 231 }
shaorui 48:1b51771c3647 232
shaorui 48:1b51771c3647 233
shaorui 48:1b51771c3647 234 ************Trajectory Planning*****************************/
shaorui 48:1b51771c3647 235
shaorui 48:1b51771c3647 236 // Turn off gate drive
shaorui 48:1b51771c3647 237 printf("\n\r Joint_Calibration complete. Press 'esc' to return to menu\n\r");
shaorui 48:1b51771c3647 238 //state_change = 0;
shaorui 48:1b51771c3647 239 }
shaorui 48:1b51771c3647 240
shaorui 48:1b51771c3647 241
shaorui 48:1b51771c3647 242
benkatz 23:2adf23ee0305 243 void print_encoder(void){
benkatz 23:2adf23ee0305 244 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 23:2adf23ee0305 245 wait(.05);
benkatz 22:60276ba87ac6 246 }
benkatz 20:bf9ea5125d52 247
benkatz 23:2adf23ee0305 248 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 249 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 250 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 251 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 252
benkatz 23:2adf23ee0305 253 ///Sample current always ///
benkatz 25:f5741040c4bb 254 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 255 //volatile int delay;
benkatz 20:bf9ea5125d52 256 //for (delay = 0; delay < 55; delay++);
benkatz 37:c0f352d6e8e3 257 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 258 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 259 controller.adc3_raw = ADC3->DR;
shaorui 48:1b51771c3647 260 spi.Sample(DT);
shaorui 48:1b51771c3647 261 ma700.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 262 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 263 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 264 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 265 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 37:c0f352d6e8e3 266 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE;
shaorui 48:1b51771c3647 267
benkatz 20:bf9ea5125d52 268
shaorui 48:1b51771c3647 269 //////shaorui add for obtaining joint real position
shaorui 48:1b51771c3647 270 controller.theta_elec1 = ma700.GetElecPosition();
shaorui 48:1b51771c3647 271 controller.init2=controller.theta_mech1 = ma700.GetMechPosition();
shaorui 48:1b51771c3647 272 controller.dtheta_mech1 =ma700.GetMechVelocity();
shaorui 48:1b51771c3647 273 controller.dtheta_elec1 = ma700.GetElecVelocity();
shaorui 48:1b51771c3647 274 /////shaorui end//////////////////
shaorui 48:1b51771c3647 275 /*
shaorui 48:1b51771c3647 276 controller.c++;
shaorui 48:1b51771c3647 277 if(controller.c>=20000)
shaorui 48:1b51771c3647 278 {
shaorui 48:1b51771c3647 279 controller.cha=controller.init2-controller.init1;
shaorui 48:1b51771c3647 280 controller.init1=controller.init2;
shaorui 48:1b51771c3647 281 controller.c=0;
shaorui 48:1b51771c3647 282 printf("position: %.3f \n\r", controller.cha*360/(2.0f*PI));
shaorui 48:1b51771c3647 283 }
shaorui 48:1b51771c3647 284 */
benkatz 23:2adf23ee0305 285 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 286 switch(state){
benkatz 37:c0f352d6e8e3 287 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 288 if(state_change){
benkatz 23:2adf23ee0305 289 enter_menu_state();
shaorui 48:1b51771c3647 290 wucha=0 ; //shaorui add
benkatz 23:2adf23ee0305 291 }
benkatz 23:2adf23ee0305 292 break;
benkatz 22:60276ba87ac6 293
benkatz 23:2adf23ee0305 294 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 295 if(state_change){
benkatz 23:2adf23ee0305 296 calibrate();
benkatz 23:2adf23ee0305 297 }
benkatz 23:2adf23ee0305 298 break;
benkatz 23:2adf23ee0305 299
shaorui 48:1b51771c3647 300 case J_CALIBRATION_MODE: // Run encoder calibration procedure
shaorui 48:1b51771c3647 301 if(state_change){
shaorui 48:1b51771c3647 302 jocalibrate();
shaorui 48:1b51771c3647 303
shaorui 48:1b51771c3647 304 }
shaorui 48:1b51771c3647 305 break;
shaorui 48:1b51771c3647 306
shaorui 48:1b51771c3647 307 case JOINT_CALIBRATION_MODE: // Run encoder calibration procedure
shaorui 48:1b51771c3647 308 if(state_change){
shaorui 48:1b51771c3647 309 joint_flag=1;
shaorui 48:1b51771c3647 310 stop_sign=0;
shaorui 48:1b51771c3647 311 jointcalibrate();
shaorui 48:1b51771c3647 312
shaorui 48:1b51771c3647 313 }
shaorui 48:1b51771c3647 314 break;
shaorui 48:1b51771c3647 315
shaorui 48:1b51771c3647 316
benkatz 26:2b865c00d7e9 317 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 318 if(state_change){
benkatz 25:f5741040c4bb 319 enter_torque_mode();
benkatz 28:8c7e29f719c5 320 count = 0;
benkatz 25:f5741040c4bb 321 }
benkatz 28:8c7e29f719c5 322 else{
benkatz 37:c0f352d6e8e3 323 /*
benkatz 37:c0f352d6e8e3 324 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 37:c0f352d6e8e3 325 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 326 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 327 state = REST_MODE;
benkatz 37:c0f352d6e8e3 328 state_change = 1;
benkatz 37:c0f352d6e8e3 329 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 330 }
benkatz 37:c0f352d6e8e3 331 */
benkatz 37:c0f352d6e8e3 332
shaorui 48:1b51771c3647 333 torque_control(&controller);
shaorui 48:1b51771c3647 334 /*
benkatz 28:8c7e29f719c5 335 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 336 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 337 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 338 controller.kp = 0;
benkatz 37:c0f352d6e8e3 339 controller.kd = 0;
benkatz 37:c0f352d6e8e3 340 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 341 }
shaorui 48:1b51771c3647 342 */
benkatz 37:c0f352d6e8e3 343 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 28:8c7e29f719c5 344 controller.timeout += 1;
benkatz 38:67e4e1453a4b 345
benkatz 39:3580a907ef93 346 /*
benkatz 37:c0f352d6e8e3 347 count++;
benkatz 40:cd7e837b2b93 348 if(count == 4000){
benkatz 40:cd7e837b2b93 349 printf("%.4f\n\r", controller.dtheta_mech);
benkatz 32:ccac5da77844 350 count = 0;
benkatz 23:2adf23ee0305 351 }
benkatz 39:3580a907ef93 352 */
benkatz 38:67e4e1453a4b 353
benkatz 37:c0f352d6e8e3 354
benkatz 37:c0f352d6e8e3 355 }
benkatz 23:2adf23ee0305 356 break;
benkatz 23:2adf23ee0305 357 case SETUP_MODE:
benkatz 23:2adf23ee0305 358 if(state_change){
benkatz 24:58c2d7571207 359 enter_setup_state();
benkatz 23:2adf23ee0305 360 }
benkatz 23:2adf23ee0305 361 break;
benkatz 23:2adf23ee0305 362 case ENCODER_MODE:
benkatz 23:2adf23ee0305 363 print_encoder();
benkatz 23:2adf23ee0305 364 break;
benkatz 37:c0f352d6e8e3 365 }
benkatz 2:8724412ad628 366 }
benkatz 23:2adf23ee0305 367 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 368 }
benkatz 0:4e1c4df6aabd 369
benkatz 25:f5741040c4bb 370
benkatz 24:58c2d7571207 371 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 372 char cmd_id = 0;
benkatz 25:f5741040c4bb 373 char char_count = 0;
benkatz 24:58c2d7571207 374
benkatz 25:f5741040c4bb 375 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 376 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 377 void serial_interrupt(void){
benkatz 23:2adf23ee0305 378 while(pc.readable()){
benkatz 23:2adf23ee0305 379 char c = pc.getc();
benkatz 25:f5741040c4bb 380 if(c == 27){
benkatz 25:f5741040c4bb 381 state = REST_MODE;
benkatz 25:f5741040c4bb 382 state_change = 1;
benkatz 25:f5741040c4bb 383 char_count = 0;
benkatz 25:f5741040c4bb 384 cmd_id = 0;
benkatz 37:c0f352d6e8e3 385 gpio.led->write(0);;
benkatz 25:f5741040c4bb 386 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 387 }
benkatz 24:58c2d7571207 388 if(state == REST_MODE){
benkatz 23:2adf23ee0305 389 switch (c){
benkatz 23:2adf23ee0305 390 case 'c':
benkatz 23:2adf23ee0305 391 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 392 state_change = 1;
benkatz 23:2adf23ee0305 393 break;
shaorui 48:1b51771c3647 394
shaorui 48:1b51771c3647 395 case 't':
shaorui 48:1b51771c3647 396 state = JOINT_CALIBRATION_MODE;
shaorui 48:1b51771c3647 397 state_change = 1;
shaorui 48:1b51771c3647 398 break;
shaorui 48:1b51771c3647 399 case 'j':
shaorui 48:1b51771c3647 400 state = J_CALIBRATION_MODE;
shaorui 48:1b51771c3647 401 state_change = 1;
shaorui 48:1b51771c3647 402 break;
shaorui 48:1b51771c3647 403
benkatz 26:2b865c00d7e9 404 case 'm':
benkatz 26:2b865c00d7e9 405 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 406 state_change = 1;
benkatz 23:2adf23ee0305 407 break;
benkatz 23:2adf23ee0305 408 case 'e':
benkatz 23:2adf23ee0305 409 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 410 state_change = 1;
benkatz 23:2adf23ee0305 411 break;
benkatz 23:2adf23ee0305 412 case 's':
benkatz 23:2adf23ee0305 413 state = SETUP_MODE;
benkatz 23:2adf23ee0305 414 state_change = 1;
benkatz 23:2adf23ee0305 415 break;
shaorui 48:1b51771c3647 416
benkatz 37:c0f352d6e8e3 417 case 'z':
benkatz 37:c0f352d6e8e3 418 spi.SetMechOffset(0);
shaorui 48:1b51771c3647 419 ma700.SetMechOffset(0);
benkatz 45:aadebe074af6 420 spi.Sample(DT);
shaorui 48:1b51771c3647 421 ma700.Sample(DT);
benkatz 37:c0f352d6e8e3 422 wait_us(20);
benkatz 37:c0f352d6e8e3 423 M_OFFSET = spi.GetMechPosition();
shaorui 48:1b51771c3647 424 JOINT_M_OFFSET = ma700.GetMechPosition();
benkatz 37:c0f352d6e8e3 425 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 426 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 427 prefs.close();
benkatz 37:c0f352d6e8e3 428 prefs.load();
benkatz 37:c0f352d6e8e3 429 spi.SetMechOffset(M_OFFSET);
shaorui 48:1b51771c3647 430 ma700.SetMechOffset(JOINT_M_OFFSET);
benkatz 37:c0f352d6e8e3 431 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
shaorui 48:1b51771c3647 432 printf("\n\r Saved new zero position1: %.4f\n\r\n\r",JOINT_M_OFFSET );
shaorui 48:1b51771c3647 433 for(int i=0;i<300;i++)
shaorui 48:1b51771c3647 434 {
shaorui 48:1b51771c3647 435 printf("%.3d %.3d\n\r",i,__int_reg[i] );
shaorui 48:1b51771c3647 436 }
shaorui 48:1b51771c3647 437 for(int j=0;j<64;j++)
shaorui 48:1b51771c3647 438 {
shaorui 48:1b51771c3647 439 printf("%.3d %.3f\n\r",j,__float_reg[j] );
shaorui 48:1b51771c3647 440 }
benkatz 37:c0f352d6e8e3 441
benkatz 37:c0f352d6e8e3 442 break;
benkatz 37:c0f352d6e8e3 443 }
benkatz 37:c0f352d6e8e3 444
benkatz 24:58c2d7571207 445 }
benkatz 24:58c2d7571207 446 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 447 if(c == 13){
benkatz 24:58c2d7571207 448 switch (cmd_id){
benkatz 24:58c2d7571207 449 case 'b':
benkatz 24:58c2d7571207 450 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 451 break;
benkatz 24:58c2d7571207 452 case 'i':
benkatz 24:58c2d7571207 453 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 454 break;
benkatz 26:2b865c00d7e9 455 case 'm':
benkatz 26:2b865c00d7e9 456 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 457 break;
benkatz 24:58c2d7571207 458 case 'l':
benkatz 24:58c2d7571207 459 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 24:58c2d7571207 460 break;
benkatz 28:8c7e29f719c5 461 case 't':
benkatz 28:8c7e29f719c5 462 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 463 break;
benkatz 24:58c2d7571207 464 default:
benkatz 24:58c2d7571207 465 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 466 break;
benkatz 24:58c2d7571207 467 }
benkatz 24:58c2d7571207 468
benkatz 24:58c2d7571207 469 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 470 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 471 prefs.close();
benkatz 24:58c2d7571207 472 prefs.load();
benkatz 24:58c2d7571207 473 state_change = 1;
benkatz 24:58c2d7571207 474 char_count = 0;
benkatz 24:58c2d7571207 475 cmd_id = 0;
benkatz 24:58c2d7571207 476 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 477 }
benkatz 24:58c2d7571207 478 else{
benkatz 24:58c2d7571207 479 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 480 else{
benkatz 24:58c2d7571207 481 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 482
benkatz 24:58c2d7571207 483 }
benkatz 24:58c2d7571207 484 pc.putc(c);
benkatz 24:58c2d7571207 485 char_count++;
benkatz 23:2adf23ee0305 486 }
benkatz 23:2adf23ee0305 487 }
benkatz 24:58c2d7571207 488 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 489 switch (c){
benkatz 24:58c2d7571207 490 case 27:
benkatz 24:58c2d7571207 491 state = REST_MODE;
benkatz 24:58c2d7571207 492 state_change = 1;
benkatz 24:58c2d7571207 493 break;
benkatz 24:58c2d7571207 494 }
benkatz 24:58c2d7571207 495 }
benkatz 24:58c2d7571207 496
benkatz 24:58c2d7571207 497 }
benkatz 22:60276ba87ac6 498 }
benkatz 0:4e1c4df6aabd 499
benkatz 0:4e1c4df6aabd 500 int main() {
benkatz 45:aadebe074af6 501
benkatz 20:bf9ea5125d52 502 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 503 controller.mode = 0;
shaorui 48:1b51771c3647 504 controller.sidebct1=0;
benkatz 23:2adf23ee0305 505 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 20:bf9ea5125d52 506
benkatz 9:d7eb815cb057 507 wait(.1);
benkatz 26:2b865c00d7e9 508 gpio.enable->write(1);
benkatz 45:aadebe074af6 509 TIM1->CCR3 = PWM_ARR*(1.0f); // Write duty cycles
benkatz 45:aadebe074af6 510 TIM1->CCR2 = PWM_ARR*(1.0f);
benkatz 45:aadebe074af6 511 TIM1->CCR1 = PWM_ARR*(1.0f);
benkatz 23:2adf23ee0305 512 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 26:2b865c00d7e9 513 gpio.enable->write(0);
benkatz 23:2adf23ee0305 514 reset_foc(&controller); // Reset current controller
benkatz 26:2b865c00d7e9 515 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 516 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 517
benkatz 20:bf9ea5125d52 518 wait(.1);
shaorui 48:1b51771c3647 519 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0); // commutation > communication
benkatz 43:dfb72608639c 520
benkatz 37:c0f352d6e8e3 521 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 522 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 523
benkatz 28:8c7e29f719c5 524 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 525 txMsg.len = 6;
benkatz 26:2b865c00d7e9 526 rxMsg.len = 8;
benkatz 43:dfb72608639c 527 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 25:f5741040c4bb 528 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 529 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 530 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 25:f5741040c4bb 531 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 532 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 533 int lut[128] = {0};
shaorui 48:1b51771c3647 534 int joint[128]={0};
benkatz 23:2adf23ee0305 535 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
shaorui 48:1b51771c3647 536 spi.WriteLUT(lut);
shaorui 48:1b51771c3647 537 memcpy(&joint, &ENCODER_JOINT , sizeof(joint));
shaorui 48:1b51771c3647 538 spi.WriteLUT(joint);
Rushu 47:55bdc4d5096b 539 pc.baud(115200);//pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 540 wait(.01);
benkatz 23:2adf23ee0305 541 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 542 wait(.01);
benkatz 23:2adf23ee0305 543 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 544 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 545 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 546 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 547 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 548 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 23:2adf23ee0305 549
benkatz 23:2adf23ee0305 550 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 551
shaorui 48:1b51771c3647 552 //state_change = 1;
benkatz 20:bf9ea5125d52 553
benkatz 22:60276ba87ac6 554
shaorui 48:1b51771c3647 555 while(1) {
shaorui 48:1b51771c3647 556 wait(.1);
shaorui 48:1b51771c3647 557 if(state == MOTOR_MODE)
shaorui 48:1b51771c3647 558 {
shaorui 48:1b51771c3647 559 if(joint_flag==1)
shaorui 48:1b51771c3647 560 {
shaorui 48:1b51771c3647 561 if((1.0f/GR)* spi.GetMechPosition()<=0.01)
shaorui 48:1b51771c3647 562 {
shaorui 48:1b51771c3647 563 //if(stop_sign==0)
shaorui 48:1b51771c3647 564 //{
shaorui 48:1b51771c3647 565 controller.v_des = 0;
shaorui 48:1b51771c3647 566 wait(1);
shaorui 48:1b51771c3647 567 controller.p_des=0;
shaorui 48:1b51771c3647 568 controller.v_des = 1.5f;
shaorui 48:1b51771c3647 569 controller.kp = 0;
shaorui 48:1b51771c3647 570 controller.kd = 5.0f;
shaorui 48:1b51771c3647 571 controller.t_ff = 0;
shaorui 48:1b51771c3647 572 wait(.5);
shaorui 48:1b51771c3647 573 // }
shaorui 48:1b51771c3647 574 /*
shaorui 48:1b51771c3647 575 else
shaorui 48:1b51771c3647 576 {
shaorui 48:1b51771c3647 577 joint_flag=0;
shaorui 48:1b51771c3647 578 controller.v_des =0;
shaorui 48:1b51771c3647 579
shaorui 48:1b51771c3647 580 }
shaorui 48:1b51771c3647 581 */
shaorui 48:1b51771c3647 582 }
shaorui 48:1b51771c3647 583 else if((1.0f/GR)* spi.GetMechPosition()>=(2*PI))
shaorui 48:1b51771c3647 584 {
shaorui 48:1b51771c3647 585 //stop_sign=1;
shaorui 48:1b51771c3647 586 controller.v_des = 0;
shaorui 48:1b51771c3647 587 wait(1);
shaorui 48:1b51771c3647 588 controller.p_des=0;
shaorui 48:1b51771c3647 589 controller.v_des = -1.5f;
shaorui 48:1b51771c3647 590 controller.kp = 0;
shaorui 48:1b51771c3647 591 controller.kd = 5.0f;
shaorui 48:1b51771c3647 592 controller.t_ff = 0;
shaorui 48:1b51771c3647 593 wait(.5);
shaorui 48:1b51771c3647 594 printf("test position:%.3f\n\r",(1.0f/GR)* spi.GetMechPosition());
shaorui 48:1b51771c3647 595
shaorui 48:1b51771c3647 596 }
shaorui 48:1b51771c3647 597 }
shaorui 48:1b51771c3647 598 wait(.1);
shaorui 48:1b51771c3647 599 // printf("%.3f\n\r",(1.0f/GR)* spi.GetMechPosition());
shaorui 48:1b51771c3647 600 // printf("%.3d, %.3d\n\r",joint_flag, stop_sign);
shaorui 48:1b51771c3647 601
shaorui 48:1b51771c3647 602 //printf("BCT: %.3x zzz: %.3x etxy: %.3x \n\r",ma700.Gettest(),ma700.Gettest1(),ma700.Gettest2());
shaorui 48:1b51771c3647 603 // float joint_mech_position=-(controller.theta_mech*360/(2.0f*PI)*GR+controller.theta_mech1*360/(2.0f*PI));
shaorui 48:1b51771c3647 604 // wucha1=(controller.theta_mech-controller.theta_mech1)*360/(2.0f*PI);
shaorui 48:1b51771c3647 605 //wucha1=controller.theta_mech*360/(2.0f*PI)-joint_mech_position;
shaorui 48:1b51771c3647 606 //wucha+=abs(wucha1);
shaorui 48:1b51771c3647 607 //printf("M: %.3f J: %.3f E: %.3f EA: %.3f \n\r",controller.theta_mech*360/(2.0f*PI),controller.theta_mech1*360/(2.0f*PI),wucha1,float(wucha/i)) ;
shaorui 48:1b51771c3647 608 // printf("M: %.3f J: %.3f E: %.3f EA: %.3f \n\r",controller.theta_mech*360/(2.0f*PI),joint_mech_position,wucha1,float(wucha/i)) ;
shaorui 48:1b51771c3647 609 //printf("m_position: %.3f\n\r",controller.theta_mech*360/(2.0f*PI)*GR);
shaorui 48:1b51771c3647 610 //printf("j_position: %.3f\n\r",controller.theta_mech1*360/(2.0f*PI));
shaorui 48:1b51771c3647 611 float m_position=controller.theta_mech*57.2957795;
shaorui 48:1b51771c3647 612 // float j_position=-controller.theta_mech1*360/(2.0f*PI)-controller.theta_mech*360/(2.0f*PI)*GR;
shaorui 48:1b51771c3647 613 float j_position=-controller.theta_mech1*57.2957795-controller.theta_mech*2807.49319614;
shaorui 48:1b51771c3647 614 // float j_position=-controller.theta_mech1*57.2957795;
shaorui 48:1b51771c3647 615 printf("m:%.3f\n\r,j:%.3f\n\r",m_position,j_position);
shaorui 48:1b51771c3647 616
shaorui 48:1b51771c3647 617
shaorui 48:1b51771c3647 618 i++;
shaorui 48:1b51771c3647 619 wait(.5);
shaorui 48:1b51771c3647 620
shaorui 48:1b51771c3647 621 }
shaorui 48:1b51771c3647 622
shaorui 48:1b51771c3647 623
benkatz 0:4e1c4df6aabd 624 }
benkatz 0:4e1c4df6aabd 625 }