Shao Rui / Motor_200N_DRV8323RS

1

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@56:4f73fa55baa0, 2020-05-14 (annotated)

Committer:
shaorui
Date:
Thu May 14 10:44:41 2020 +0000
Revision:
56:4f73fa55baa0
Parent:
54:d889fe62bc0c 
1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 22:60276ba87ac6 1 /// high-bandwidth 3-phase motor control, for robots
benkatz 45:26801179208e 2 /// Written by benkatz, with much inspiration from Bayley Wang, Nick Kirkby, Shane Colton, David Otten, and others
benkatz 22:60276ba87ac6 3 /// Hardware documentation can be found at build-its.blogspot.com
benkatz 22:60276ba87ac6 4 /// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling
benkatz 47:e1196a851f76 5 /// Version for the TI DRV8323 Everything Chip
benkatz 22:60276ba87ac6 6
benkatz 23:2adf23ee0305 7 #define REST_MODE 0
benkatz 23:2adf23ee0305 8 #define CALIBRATION_MODE 1
benkatz 26:2b865c00d7e9 9 #define MOTOR_MODE 2
benkatz 23:2adf23ee0305 10 #define SETUP_MODE 4
benkatz 23:2adf23ee0305 11 #define ENCODER_MODE 5
benkatz 22:60276ba87ac6 12
benkatz 51:6cd89bd6fcaa 13 #define VERSION_NUM "1.9"
benkatz 26:2b865c00d7e9 14
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"
shaorui 56:4f73fa55baa0 35 #include "Position_Torque_Sensor.h"
benkatz 26:2b865c00d7e9 36
benkatz 23:2adf23ee0305 37 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 38
benkatz 20:bf9ea5125d52 39 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 40 ControllerStruct controller;
shaorui 56:4f73fa55baa0 41 ControllerStruct waijie_controller;
benkatz 48:74a40481740c 42 ObserverStruct observer;
benkatz 20:bf9ea5125d52 43 COMStruct com;
benkatz 43:dfb72608639c 44 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 45
benkatz 17:3c5df2982199 46
benkatz 45:26801179208e 47 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 48 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 49 CANMessage txMsg;
benkatz 23:2adf23ee0305 50
benkatz 20:bf9ea5125d52 51
shaorui 56:4f73fa55baa0 52 SPI drv_spi(PC_12, PC_11, PC_10); //MOSI MISO CLK (Electrical Board spi3)
shaorui 56:4f73fa55baa0 53 DigitalOut drv_cs(PA_15);
shaorui 56:4f73fa55baa0 54 //DigitalOut drv_en_gate(PC_9);
benkatz 44:8040fa2fcb0d 55 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 56
benkatz 26:2b865c00d7e9 57 PositionSensorAM5147 spi(16384, 0.0, NPP);
shaorui 56:4f73fa55baa0 58 SensorAM5147 spi1(16384,0.0,NPP);
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;
Rushu 54:d889fe62bc0c 63 volatile int counthjb = 0;
shaorui 56:4f73fa55baa0 64 volatile int testcount = 0;
benkatz 26:2b865c00d7e9 65 void onMsgReceived() {
benkatz 26:2b865c00d7e9 66 //msgAvailable = true;
Rushu 54:d889fe62bc0c 67 counthjb++;
Rushu 54:d889fe62bc0c 68 if(counthjb>100)
Rushu 54:d889fe62bc0c 69 {printf("%df\n\r", rxMsg.id);
Rushu 54:d889fe62bc0c 70 counthjb=0;
Rushu 54:d889fe62bc0c 71 }
benkatz 26:2b865c00d7e9 72 can.read(rxMsg);
benkatz 28:8c7e29f719c5 73 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 74 controller.timeout = 0;
benkatz 28:8c7e29f719c5 75 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 76 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 77 state_change = 1;
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]==0xFD))){
benkatz 28:8c7e29f719c5 80 state = REST_MODE;
benkatz 28:8c7e29f719c5 81 state_change = 1;
benkatz 37:c0f352d6e8e3 82 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 83 }
benkatz 28:8c7e29f719c5 84 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 85 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 86 }
benkatz 28:8c7e29f719c5 87 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 88 unpack_cmd(rxMsg, &controller);
shaorui 56:4f73fa55baa0 89 //Test for Can Communication
shaorui 56:4f73fa55baa0 90 printf("p_des :%.3f\n\r",controller.p_des);
shaorui 56:4f73fa55baa0 91 printf("v_des :%.3f\n\r",controller.v_des);
shaorui 56:4f73fa55baa0 92 printf("kp :%.3f\n\r",controller.kp);
shaorui 56:4f73fa55baa0 93 printf("kd :%.3f\n\r",controller.kd);
shaorui 56:4f73fa55baa0 94 printf("t_ff :%.3f\n\r",controller.t_ff);
benkatz 28:8c7e29f719c5 95 }
benkatz 37:c0f352d6e8e3 96 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 97 can.write(txMsg);
benkatz 28:8c7e29f719c5 98 }
benkatz 26:2b865c00d7e9 99
benkatz 26:2b865c00d7e9 100 }
benkatz 26:2b865c00d7e9 101
benkatz 23:2adf23ee0305 102 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 103 drv.disable_gd();
benkatz 47:e1196a851f76 104 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 105 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 106 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 107 wait_us(10);
benkatz 26:2b865c00d7e9 108 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 109 wait_us(10);
benkatz 23:2adf23ee0305 110 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 111 wait_us(10);
benkatz 23:2adf23ee0305 112 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 113 wait_us(10);
benkatz 23:2adf23ee0305 114 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 115 wait_us(10);
benkatz 37:c0f352d6e8e3 116 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 117 wait_us(10);
benkatz 23:2adf23ee0305 118 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 119 wait_us(10);
benkatz 23:2adf23ee0305 120 state_change = 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 44:8040fa2fcb0d 126 wait_us(10);
benkatz 51:6cd89bd6fcaa 127 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 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 44:8040fa2fcb0d 130 wait_us(10);
benkatz 28:8c7e29f719c5 131 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 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 44:8040fa2fcb0d 134 wait_us(10);
benkatz 51:6cd89bd6fcaa 135 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
benkatz 51:6cd89bd6fcaa 136 wait_us(10);
benkatz 51:6cd89bd6fcaa 137 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 138 wait_us(10);
benkatz 28:8c7e29f719c5 139 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 140 wait_us(10);
benkatz 24:58c2d7571207 141 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 142 wait_us(10);
benkatz 24:58c2d7571207 143 state_change = 0;
benkatz 24:58c2d7571207 144 }
benkatz 22:60276ba87ac6 145
benkatz 23:2adf23ee0305 146 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 147 drv.enable_gd();
benkatz 47:e1196a851f76 148 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 149 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 150 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 151 wait(.001);
benkatz 23:2adf23ee0305 152 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 153 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 154 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 155 state_change = 0;
benkatz 28:8c7e29f719c5 156 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 157 }
benkatz 22:60276ba87ac6 158
benkatz 23:2adf23ee0305 159 void calibrate(void){
benkatz 44:8040fa2fcb0d 160 drv.enable_gd();
benkatz 47:e1196a851f76 161 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 162 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 163 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 164 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 165 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 166 wait(.2);
benkatz 23:2adf23ee0305 167 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 168 drv.disable_gd();
benkatz 47:e1196a851f76 169 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 170 state_change = 0;
benkatz 23:2adf23ee0305 171 }
benkatz 23:2adf23ee0305 172
benkatz 23:2adf23ee0305 173 void print_encoder(void){
benkatz 48:74a40481740c 174 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 175 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 176 wait(.001);
benkatz 22:60276ba87ac6 177 }
benkatz 20:bf9ea5125d52 178
benkatz 23:2adf23ee0305 179 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 180 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 181 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 182 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 183
benkatz 23:2adf23ee0305 184 ///Sample current always ///
benkatz 25:f5741040c4bb 185 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 186 //volatile int delay;
benkatz 20:bf9ea5125d52 187 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 188
shaorui 56:4f73fa55baa0 189 spi.Sample(DT); // sample position sensor
shaorui 56:4f73fa55baa0 190 spi1.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 191 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 192 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 193 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 194 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 195 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 196 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 197 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 198 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
benkatz 23:2adf23ee0305 199 ///
shaorui 56:4f73fa55baa0 200 /************Test for AM5147P Position Sensor*********/
shaorui 56:4f73fa55baa0 201
shaorui 56:4f73fa55baa0 202 //controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
shaorui 56:4f73fa55baa0 203 //controller.adc1_raw = ADC1->DR;
shaorui 56:4f73fa55baa0 204 //controller.adc3_raw = ADC3->DR;
shaorui 56:4f73fa55baa0 205 waijie_controller.theta_elec = spi1.GetElecPosition();
shaorui 56:4f73fa55baa0 206 waijie_controller.theta_mech = spi1.GetMechPosition();
shaorui 56:4f73fa55baa0 207 waijie_controller.dtheta_mech =spi1.GetMechVelocity();
shaorui 56:4f73fa55baa0 208 waijie_controller.dtheta_elec = spi1.GetElecVelocity();
shaorui 56:4f73fa55baa0 209 //controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
benkatz 20:bf9ea5125d52 210
shaorui 56:4f73fa55baa0 211 testcount++;
shaorui 56:4f73fa55baa0 212 if(testcount==40000)
shaorui 56:4f73fa55baa0 213 {
shaorui 56:4f73fa55baa0 214 printf("waijie:%.3f Raw:%.3f\n\r", waijie_controller.theta_mech,spi1.GetRawPosition());
shaorui 56:4f73fa55baa0 215 printf("neizhi:%.3f Raw:%.3f\n\r", GR*controller.theta_mech,spi.GetRawPosition());
shaorui 56:4f73fa55baa0 216 testcount=0;
shaorui 56:4f73fa55baa0 217 }
shaorui 56:4f73fa55baa0 218
shaorui 56:4f73fa55baa0 219 /************Test for AM5147P Position Sensor*********/
benkatz 23:2adf23ee0305 220 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 221 switch(state){
benkatz 37:c0f352d6e8e3 222 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 223 if(state_change){
benkatz 23:2adf23ee0305 224 enter_menu_state();
benkatz 23:2adf23ee0305 225 }
benkatz 23:2adf23ee0305 226 break;
benkatz 22:60276ba87ac6 227
benkatz 23:2adf23ee0305 228 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 229 if(state_change){
benkatz 23:2adf23ee0305 230 calibrate();
benkatz 23:2adf23ee0305 231 }
benkatz 23:2adf23ee0305 232 break;
benkatz 23:2adf23ee0305 233
benkatz 26:2b865c00d7e9 234 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 235 if(state_change){
benkatz 25:f5741040c4bb 236 enter_torque_mode();
benkatz 28:8c7e29f719c5 237 count = 0;
benkatz 25:f5741040c4bb 238 }
benkatz 28:8c7e29f719c5 239 else{
benkatz 37:c0f352d6e8e3 240 /*
benkatz 37:c0f352d6e8e3 241 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 242 gpio.
benkatz 47:e1196a851f76 243 ->write(0);
benkatz 37:c0f352d6e8e3 244 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 245 state = REST_MODE;
benkatz 37:c0f352d6e8e3 246 state_change = 1;
benkatz 37:c0f352d6e8e3 247 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 248 }
benkatz 37:c0f352d6e8e3 249 */
benkatz 37:c0f352d6e8e3 250
benkatz 28:8c7e29f719c5 251 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 252 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 253 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 254 controller.kp = 0;
benkatz 37:c0f352d6e8e3 255 controller.kd = 0;
benkatz 37:c0f352d6e8e3 256 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 257 }
benkatz 47:e1196a851f76 258
benkatz 50:ba72df25d10f 259 torque_control(&controller);
benkatz 49:83d83040ea51 260 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 261
benkatz 49:83d83040ea51 262 controller.timeout++;
benkatz 49:83d83040ea51 263 count++;
benkatz 37:c0f352d6e8e3 264
benkatz 37:c0f352d6e8e3 265 }
benkatz 23:2adf23ee0305 266 break;
benkatz 23:2adf23ee0305 267 case SETUP_MODE:
benkatz 23:2adf23ee0305 268 if(state_change){
benkatz 24:58c2d7571207 269 enter_setup_state();
benkatz 23:2adf23ee0305 270 }
benkatz 23:2adf23ee0305 271 break;
benkatz 23:2adf23ee0305 272 case ENCODER_MODE:
benkatz 23:2adf23ee0305 273 print_encoder();
benkatz 23:2adf23ee0305 274 break;
benkatz 37:c0f352d6e8e3 275 }
benkatz 2:8724412ad628 276 }
benkatz 23:2adf23ee0305 277 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 278 }
benkatz 0:4e1c4df6aabd 279
benkatz 25:f5741040c4bb 280
benkatz 24:58c2d7571207 281 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 282 char cmd_id = 0;
benkatz 25:f5741040c4bb 283 char char_count = 0;
benkatz 24:58c2d7571207 284
benkatz 25:f5741040c4bb 285 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 286 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 287 void serial_interrupt(void){
benkatz 23:2adf23ee0305 288 while(pc.readable()){
benkatz 23:2adf23ee0305 289 char c = pc.getc();
benkatz 25:f5741040c4bb 290 if(c == 27){
Rushu 54:d889fe62bc0c 291 //===============================================HJB added====================================================//
Rushu 54:d889fe62bc0c 292 wait_us(100); //HJB add, to clear fault
Rushu 54:d889fe62bc0c 293 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1); //HJB add, to clear fault
Rushu 54:d889fe62bc0c 294 //Init_pos = controller.theta_mech; //Input the local mechanical theta
Rushu 54:d889fe62bc0c 295 //===============================================HJB ended====================================================//
benkatz 25:f5741040c4bb 296 state = REST_MODE;
benkatz 25:f5741040c4bb 297 state_change = 1;
benkatz 25:f5741040c4bb 298 char_count = 0;
benkatz 25:f5741040c4bb 299 cmd_id = 0;
benkatz 37:c0f352d6e8e3 300 gpio.led->write(0);;
benkatz 25:f5741040c4bb 301 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 302 }
benkatz 24:58c2d7571207 303 if(state == REST_MODE){
benkatz 23:2adf23ee0305 304 switch (c){
benkatz 23:2adf23ee0305 305 case 'c':
benkatz 23:2adf23ee0305 306 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 307 state_change = 1;
benkatz 23:2adf23ee0305 308 break;
benkatz 26:2b865c00d7e9 309 case 'm':
benkatz 26:2b865c00d7e9 310 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 311 state_change = 1;
benkatz 23:2adf23ee0305 312 break;
benkatz 23:2adf23ee0305 313 case 'e':
benkatz 23:2adf23ee0305 314 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 315 state_change = 1;
benkatz 23:2adf23ee0305 316 break;
benkatz 23:2adf23ee0305 317 case 's':
benkatz 23:2adf23ee0305 318 state = SETUP_MODE;
benkatz 23:2adf23ee0305 319 state_change = 1;
benkatz 23:2adf23ee0305 320 break;
benkatz 37:c0f352d6e8e3 321 case 'z':
benkatz 37:c0f352d6e8e3 322 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 323 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 324 wait_us(20);
benkatz 37:c0f352d6e8e3 325 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 326 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 327 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 328 prefs.close();
benkatz 37:c0f352d6e8e3 329 prefs.load();
benkatz 37:c0f352d6e8e3 330 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 331 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 332
benkatz 37:c0f352d6e8e3 333 break;
benkatz 37:c0f352d6e8e3 334 }
benkatz 37:c0f352d6e8e3 335
benkatz 24:58c2d7571207 336 }
benkatz 24:58c2d7571207 337 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 338 if(c == 13){
benkatz 24:58c2d7571207 339 switch (cmd_id){
benkatz 24:58c2d7571207 340 case 'b':
benkatz 24:58c2d7571207 341 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 342 break;
benkatz 24:58c2d7571207 343 case 'i':
benkatz 24:58c2d7571207 344 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 345 break;
benkatz 26:2b865c00d7e9 346 case 'm':
benkatz 26:2b865c00d7e9 347 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 348 break;
benkatz 24:58c2d7571207 349 case 'l':
benkatz 51:6cd89bd6fcaa 350 I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 351 break;
benkatz 51:6cd89bd6fcaa 352 case 'f':
benkatz 51:6cd89bd6fcaa 353 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 354 break;
benkatz 28:8c7e29f719c5 355 case 't':
benkatz 28:8c7e29f719c5 356 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 357 break;
benkatz 24:58c2d7571207 358 default:
benkatz 24:58c2d7571207 359 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 360 break;
benkatz 24:58c2d7571207 361 }
benkatz 24:58c2d7571207 362
benkatz 24:58c2d7571207 363 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 364 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 365 prefs.close();
benkatz 24:58c2d7571207 366 prefs.load();
benkatz 24:58c2d7571207 367 state_change = 1;
benkatz 24:58c2d7571207 368 char_count = 0;
benkatz 24:58c2d7571207 369 cmd_id = 0;
benkatz 24:58c2d7571207 370 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 371 }
benkatz 24:58c2d7571207 372 else{
benkatz 24:58c2d7571207 373 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 374 else{
benkatz 24:58c2d7571207 375 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 376
benkatz 24:58c2d7571207 377 }
benkatz 24:58c2d7571207 378 pc.putc(c);
benkatz 24:58c2d7571207 379 char_count++;
benkatz 23:2adf23ee0305 380 }
benkatz 23:2adf23ee0305 381 }
benkatz 24:58c2d7571207 382 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 383 switch (c){
benkatz 24:58c2d7571207 384 case 27:
benkatz 24:58c2d7571207 385 state = REST_MODE;
benkatz 24:58c2d7571207 386 state_change = 1;
benkatz 24:58c2d7571207 387 break;
benkatz 24:58c2d7571207 388 }
benkatz 24:58c2d7571207 389 }
benkatz 49:83d83040ea51 390 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 391 switch (c){
benkatz 49:83d83040ea51 392 case 'd':
benkatz 49:83d83040ea51 393 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 394 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 395 }
benkatz 49:83d83040ea51 396 }
benkatz 24:58c2d7571207 397
benkatz 24:58c2d7571207 398 }
benkatz 22:60276ba87ac6 399 }
benkatz 0:4e1c4df6aabd 400
benkatz 0:4e1c4df6aabd 401 int main() {
Rushu 54:d889fe62bc0c 402 wait(1); //hjb added
benkatz 20:bf9ea5125d52 403 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 404 controller.mode = 0;
benkatz 23:2adf23ee0305 405 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 406 wait(.1);
benkatz 44:8040fa2fcb0d 407
benkatz 44:8040fa2fcb0d 408 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 409 wait_us(100);
benkatz 45:26801179208e 410 drv.calibrate();
benkatz 45:26801179208e 411 wait_us(100);
benkatz 44:8040fa2fcb0d 412 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 413 wait_us(100);
benkatz 46:2d4b1dafcfe3 414 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 44:8040fa2fcb0d 415 wait_us(100);
benkatz 49:83d83040ea51 416 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 417
benkatz 45:26801179208e 418 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 419 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 47:e1196a851f76 420 drv.disable_gd();
benkatz 20:bf9ea5125d52 421
benkatz 9:d7eb815cb057 422 wait(.1);
benkatz 44:8040fa2fcb0d 423 /*
benkatz 26:2b865c00d7e9 424 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 425 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 426 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 427 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 428 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 429 */
benkatz 23:2adf23ee0305 430 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 431 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 432 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 433 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 434
benkatz 20:bf9ea5125d52 435 wait(.1);
benkatz 37:c0f352d6e8e3 436 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 437
benkatz 37:c0f352d6e8e3 438 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 439 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 440
benkatz 28:8c7e29f719c5 441 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 442 txMsg.len = 6;
benkatz 26:2b865c00d7e9 443 rxMsg.len = 8;
benkatz 43:dfb72608639c 444 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 445
benkatz 48:74a40481740c 446 // If preferences haven't been user configured yet, set defaults
benkatz 25:f5741040c4bb 447 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 448 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 449 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 450 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 451 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 51:6cd89bd6fcaa 452 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
benkatz 48:74a40481740c 453 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 454 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 455 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
benkatz 25:f5741040c4bb 456 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 457 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 458 int lut[128] = {0};
benkatz 23:2adf23ee0305 459 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 460 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 461 init_controller_params(&controller);
benkatz 45:26801179208e 462
shaorui 56:4f73fa55baa0 463 //pc.baud(460800);
shaorui 56:4f73fa55baa0 464 pc.baud(115200); // 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 50:ba72df25d10f 488
benkatz 20:bf9ea5125d52 489
benkatz 44:8040fa2fcb0d 490 int counter = 0;
Rushu 54:d889fe62bc0c 491 //===============================================HJB added====================================================//
Rushu 54:d889fe62bc0c 492 wait_us(100); //HJB add, to clear fault
Rushu 54:d889fe62bc0c 493 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1); //HJB add, to clear fault
Rushu 54:d889fe62bc0c 494 //Init_pos = controller.theta_mech; //Input the local mechanical theta
Rushu 54:d889fe62bc0c 495 //===============================================HJB ended====================================================//
benkatz 0:4e1c4df6aabd 496 while(1) {
benkatz 47:e1196a851f76 497 drv.print_faults();
benkatz 50:ba72df25d10f 498 wait(.1);
benkatz 48:74a40481740c 499 //printf("%.4f\n\r", controller.v_bus);
Rushu 54:d889fe62bc0c 500
benkatz 47:e1196a851f76 501 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 502 {
benkatz 48:74a40481740c 503 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 504 //printf("%.3f %.3f %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.dtheta_elec);
benkatz 49:83d83040ea51 505 //printf("%.3f\n\r", controller.dtheta_mech);
shaorui 56:4f73fa55baa0 506 /********Test for AM5147P Position Sensor********/
shaorui 56:4f73fa55baa0 507 // printf("%.3f\n\r", GR*waijie_controller.theta_mech);
shaorui 56:4f73fa55baa0 508 /********Test for AM5147P Position Sensor********/
shaorui 56:4f73fa55baa0 509 printf("enter enter enter\n\r");
benkatz 49:83d83040ea51 510 wait(.002);
benkatz 47:e1196a851f76 511 }
Rushu 54:d889fe62bc0c 512
shaorui 56:4f73fa55baa0 513 //pc.printf("%.3f\n\r", GR*waijie_controller.theta_mech);
shaorui 56:4f73fa55baa0 514 //wait(.1);
benkatz 0:4e1c4df6aabd 515 }
benkatz 0:4e1c4df6aabd 516 }