12
Dependencies: mbed-dev-f303 FastPWM3
main.cpp@49:9d762c5d05c3, 2021-03-29 (annotated)
- Committer:
- shaorui
- Date:
- Mon Mar 29 07:08:14 2021 +0000
- Revision:
- 49:9d762c5d05c3
- Parent:
- 47:55bdc4d5096b
suojin
Who changed what in which revision?
User | Revision | Line number | New 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 |
benkatz | 22:60276ba87ac6 | 11 | |
benkatz | 44:efcde0af8390 | 12 | #define VERSION_NUM "1.6" |
benkatz | 26:2b865c00d7e9 | 13 | |
benkatz | 18:f1d56f4acb39 | 14 | |
benkatz | 26:2b865c00d7e9 | 15 | float __float_reg[64]; // Floats stored in flash |
benkatz | 26:2b865c00d7e9 | 16 | int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table |
benkatz | 17:3c5df2982199 | 17 | |
benkatz | 0:4e1c4df6aabd | 18 | #include "mbed.h" |
benkatz | 0:4e1c4df6aabd | 19 | #include "PositionSensor.h" |
benkatz | 20:bf9ea5125d52 | 20 | #include "structs.h" |
benkatz | 20:bf9ea5125d52 | 21 | #include "foc.h" |
benkatz | 22:60276ba87ac6 | 22 | #include "calibration.h" |
benkatz | 20:bf9ea5125d52 | 23 | #include "hw_setup.h" |
benkatz | 23:2adf23ee0305 | 24 | #include "math_ops.h" |
benkatz | 20:bf9ea5125d52 | 25 | #include "current_controller_config.h" |
benkatz | 20:bf9ea5125d52 | 26 | #include "hw_config.h" |
benkatz | 20:bf9ea5125d52 | 27 | #include "motor_config.h" |
benkatz | 23:2adf23ee0305 | 28 | #include "stm32f4xx_flash.h" |
benkatz | 23:2adf23ee0305 | 29 | #include "FlashWriter.h" |
benkatz | 23:2adf23ee0305 | 30 | #include "user_config.h" |
benkatz | 23:2adf23ee0305 | 31 | #include "PreferenceWriter.h" |
benkatz | 42:738fa01b0346 | 32 | #include "CAN_com.h" |
benkatz | 37:c0f352d6e8e3 | 33 | |
benkatz | 26:2b865c00d7e9 | 34 | |
benkatz | 23:2adf23ee0305 | 35 | PreferenceWriter prefs(6); |
benkatz | 9:d7eb815cb057 | 36 | |
benkatz | 20:bf9ea5125d52 | 37 | GPIOStruct gpio; |
benkatz | 20:bf9ea5125d52 | 38 | ControllerStruct controller; |
benkatz | 20:bf9ea5125d52 | 39 | COMStruct com; |
benkatz | 37:c0f352d6e8e3 | 40 | ObserverStruct observer; |
benkatz | 43:dfb72608639c | 41 | Serial pc(PA_2, PA_3); |
benkatz | 9:d7eb815cb057 | 42 | |
benkatz | 17:3c5df2982199 | 43 | |
Rushu | 47:55bdc4d5096b | 44 | CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name, 1000kbps |
benkatz | 26:2b865c00d7e9 | 45 | CANMessage rxMsg; |
benkatz | 26:2b865c00d7e9 | 46 | CANMessage txMsg; |
benkatz | 23:2adf23ee0305 | 47 | |
benkatz | 20:bf9ea5125d52 | 48 | |
benkatz | 8:10ae7bc88d6e | 49 | |
Rushu | 47:55bdc4d5096b | 50 | PositionSensorAM5147 spi(16384, 0.0, NPP); //14 bits encoder, 21 NPP |
benkatz | 20:bf9ea5125d52 | 51 | |
benkatz | 23:2adf23ee0305 | 52 | volatile int count = 0; |
benkatz | 23:2adf23ee0305 | 53 | volatile int state = REST_MODE; |
benkatz | 23:2adf23ee0305 | 54 | volatile int state_change; |
shaorui | 49:9d762c5d05c3 | 55 | volatile int brake_state=1; |
shaorui | 49:9d762c5d05c3 | 56 | int reg_count=0; |
benkatz | 26:2b865c00d7e9 | 57 | void onMsgReceived() { |
benkatz | 26:2b865c00d7e9 | 58 | //msgAvailable = true; |
benkatz | 45:aadebe074af6 | 59 | |
benkatz | 26:2b865c00d7e9 | 60 | can.read(rxMsg); |
benkatz | 28:8c7e29f719c5 | 61 | if((rxMsg.id == CAN_ID)){ |
benkatz | 28:8c7e29f719c5 | 62 | controller.timeout = 0; |
benkatz | 28:8c7e29f719c5 | 63 | 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 | 64 | state = MOTOR_MODE; |
benkatz | 28:8c7e29f719c5 | 65 | state_change = 1; |
benkatz | 28:8c7e29f719c5 | 66 | } |
benkatz | 28:8c7e29f719c5 | 67 | 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 | 68 | state = REST_MODE; |
benkatz | 28:8c7e29f719c5 | 69 | state_change = 1; |
benkatz | 37:c0f352d6e8e3 | 70 | gpio.led->write(0);; |
benkatz | 28:8c7e29f719c5 | 71 | } |
benkatz | 28:8c7e29f719c5 | 72 | 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 | 73 | spi.ZeroPosition(); |
benkatz | 28:8c7e29f719c5 | 74 | } |
benkatz | 28:8c7e29f719c5 | 75 | else if(state == MOTOR_MODE){ |
benkatz | 28:8c7e29f719c5 | 76 | unpack_cmd(rxMsg, &controller); |
benkatz | 28:8c7e29f719c5 | 77 | } |
benkatz | 37:c0f352d6e8e3 | 78 | pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT); |
benkatz | 37:c0f352d6e8e3 | 79 | can.write(txMsg); |
benkatz | 28:8c7e29f719c5 | 80 | } |
benkatz | 26:2b865c00d7e9 | 81 | |
benkatz | 26:2b865c00d7e9 | 82 | } |
benkatz | 26:2b865c00d7e9 | 83 | |
benkatz | 23:2adf23ee0305 | 84 | void enter_menu_state(void){ |
benkatz | 23:2adf23ee0305 | 85 | printf("\n\r\n\r\n\r"); |
benkatz | 23:2adf23ee0305 | 86 | printf(" Commands:\n\r"); |
benkatz | 44:efcde0af8390 | 87 | wait_us(10); |
benkatz | 26:2b865c00d7e9 | 88 | printf(" m - Motor Mode\n\r"); |
benkatz | 44:efcde0af8390 | 89 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 90 | printf(" c - Calibrate Encoder\n\r"); |
benkatz | 44:efcde0af8390 | 91 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 92 | printf(" s - Setup\n\r"); |
benkatz | 44:efcde0af8390 | 93 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 94 | printf(" e - Display Encoder\n\r"); |
benkatz | 44:efcde0af8390 | 95 | wait_us(10); |
benkatz | 37:c0f352d6e8e3 | 96 | printf(" z - Set Zero Position\n\r"); |
benkatz | 44:efcde0af8390 | 97 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 98 | printf(" esc - Exit to Menu\n\r"); |
benkatz | 44:efcde0af8390 | 99 | wait_us(10); |
benkatz | 23:2adf23ee0305 | 100 | state_change = 0; |
benkatz | 25:f5741040c4bb | 101 | gpio.enable->write(0); |
benkatz | 37:c0f352d6e8e3 | 102 | gpio.led->write(0); |
benkatz | 23:2adf23ee0305 | 103 | } |
benkatz | 24:58c2d7571207 | 104 | |
benkatz | 24:58c2d7571207 | 105 | void enter_setup_state(void){ |
benkatz | 24:58c2d7571207 | 106 | printf("\n\r\n\r Configuration Options \n\r\n\n"); |
benkatz | 44:efcde0af8390 | 107 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 108 | printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value"); |
benkatz | 44:efcde0af8390 | 109 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 110 | printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW); |
benkatz | 44:efcde0af8390 | 111 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 112 | printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID); |
benkatz | 44:efcde0af8390 | 113 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 114 | printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER); |
benkatz | 44:efcde0af8390 | 115 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 116 | printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT); |
benkatz | 44:efcde0af8390 | 117 | wait_us(10); |
benkatz | 28:8c7e29f719c5 | 118 | printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT); |
benkatz | 44:efcde0af8390 | 119 | wait_us(10); |
benkatz | 24:58c2d7571207 | 120 | printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r"); |
benkatz | 44:efcde0af8390 | 121 | wait_us(10); |
benkatz | 24:58c2d7571207 | 122 | state_change = 0; |
benkatz | 24:58c2d7571207 | 123 | } |
benkatz | 22:60276ba87ac6 | 124 | |
benkatz | 23:2adf23ee0305 | 125 | void enter_torque_mode(void){ |
benkatz | 37:c0f352d6e8e3 | 126 | controller.ovp_flag = 0; |
benkatz | 28:8c7e29f719c5 | 127 | gpio.enable->write(1); // Enable gate drive |
benkatz | 28:8c7e29f719c5 | 128 | reset_foc(&controller); // Tesets integrators, and other control loop parameters |
benkatz | 28:8c7e29f719c5 | 129 | wait(.001); |
benkatz | 23:2adf23ee0305 | 130 | controller.i_d_ref = 0; |
benkatz | 28:8c7e29f719c5 | 131 | controller.i_q_ref = 0; // Current Setpoints |
benkatz | 37:c0f352d6e8e3 | 132 | gpio.led->write(1); // Turn on status LED |
benkatz | 25:f5741040c4bb | 133 | state_change = 0; |
benkatz | 28:8c7e29f719c5 | 134 | printf("\n\r Entering Motor Mode \n\r"); |
benkatz | 23:2adf23ee0305 | 135 | } |
benkatz | 22:60276ba87ac6 | 136 | |
benkatz | 23:2adf23ee0305 | 137 | void calibrate(void){ |
benkatz | 25:f5741040c4bb | 138 | gpio.enable->write(1); // Enable gate drive |
benkatz | 37:c0f352d6e8e3 | 139 | gpio.led->write(1); // Turn on status LED |
benkatz | 25:f5741040c4bb | 140 | order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering |
benkatz | 25:f5741040c4bb | 141 | calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure |
benkatz | 37:c0f352d6e8e3 | 142 | gpio.led->write(0);; // Turn off status LED |
benkatz | 23:2adf23ee0305 | 143 | wait(.2); |
benkatz | 25:f5741040c4bb | 144 | gpio.enable->write(0); // Turn off gate drive |
benkatz | 23:2adf23ee0305 | 145 | printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r"); |
benkatz | 23:2adf23ee0305 | 146 | state_change = 0; |
benkatz | 23:2adf23ee0305 | 147 | } |
benkatz | 23:2adf23ee0305 | 148 | |
benkatz | 23:2adf23ee0305 | 149 | void print_encoder(void){ |
benkatz | 23:2adf23ee0305 | 150 | printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition()); |
shaorui | 49:9d762c5d05c3 | 151 | for(reg_count=0;reg_count<=263;reg_count++) |
shaorui | 49:9d762c5d05c3 | 152 | { |
shaorui | 49:9d762c5d05c3 | 153 | printf("%d %d\n\r",reg_count,__int_reg[reg_count]); |
shaorui | 49:9d762c5d05c3 | 154 | } |
benkatz | 23:2adf23ee0305 | 155 | wait(.05); |
benkatz | 22:60276ba87ac6 | 156 | } |
benkatz | 20:bf9ea5125d52 | 157 | |
benkatz | 23:2adf23ee0305 | 158 | /// Current Sampling Interrupt /// |
benkatz | 23:2adf23ee0305 | 159 | /// This runs at 40 kHz, regardless of of the mode the controller is in /// |
benkatz | 2:8724412ad628 | 160 | extern "C" void TIM1_UP_TIM10_IRQHandler(void) { |
benkatz | 2:8724412ad628 | 161 | if (TIM1->SR & TIM_SR_UIF ) { |
benkatz | 23:2adf23ee0305 | 162 | |
benkatz | 23:2adf23ee0305 | 163 | ///Sample current always /// |
benkatz | 25:f5741040c4bb | 164 | ADC1->CR2 |= 0x40000000; // Begin sample and conversion |
benkatz | 22:60276ba87ac6 | 165 | //volatile int delay; |
benkatz | 20:bf9ea5125d52 | 166 | //for (delay = 0; delay < 55; delay++); |
benkatz | 37:c0f352d6e8e3 | 167 | controller.adc2_raw = ADC2->DR; // Read ADC Data Registers |
benkatz | 23:2adf23ee0305 | 168 | controller.adc1_raw = ADC1->DR; |
benkatz | 37:c0f352d6e8e3 | 169 | controller.adc3_raw = ADC3->DR; |
benkatz | 45:aadebe074af6 | 170 | spi.Sample(DT); // sample position sensor |
benkatz | 37:c0f352d6e8e3 | 171 | controller.theta_elec = spi.GetElecPosition(); |
benkatz | 37:c0f352d6e8e3 | 172 | controller.theta_mech = (1.0f/GR)*spi.GetMechPosition(); |
benkatz | 37:c0f352d6e8e3 | 173 | controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity(); |
benkatz | 37:c0f352d6e8e3 | 174 | controller.dtheta_elec = spi.GetElecVelocity(); |
benkatz | 37:c0f352d6e8e3 | 175 | controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; |
benkatz | 23:2adf23ee0305 | 176 | /// |
benkatz | 20:bf9ea5125d52 | 177 | |
benkatz | 23:2adf23ee0305 | 178 | /// Check state machine state, and run the appropriate function /// |
benkatz | 23:2adf23ee0305 | 179 | switch(state){ |
benkatz | 37:c0f352d6e8e3 | 180 | case REST_MODE: // Do nothing |
benkatz | 23:2adf23ee0305 | 181 | if(state_change){ |
benkatz | 23:2adf23ee0305 | 182 | enter_menu_state(); |
benkatz | 23:2adf23ee0305 | 183 | } |
benkatz | 23:2adf23ee0305 | 184 | break; |
benkatz | 22:60276ba87ac6 | 185 | |
benkatz | 23:2adf23ee0305 | 186 | case CALIBRATION_MODE: // Run encoder calibration procedure |
benkatz | 23:2adf23ee0305 | 187 | if(state_change){ |
benkatz | 23:2adf23ee0305 | 188 | calibrate(); |
benkatz | 23:2adf23ee0305 | 189 | } |
benkatz | 23:2adf23ee0305 | 190 | break; |
benkatz | 23:2adf23ee0305 | 191 | |
benkatz | 26:2b865c00d7e9 | 192 | case MOTOR_MODE: // Run torque control |
benkatz | 25:f5741040c4bb | 193 | if(state_change){ |
benkatz | 25:f5741040c4bb | 194 | enter_torque_mode(); |
benkatz | 28:8c7e29f719c5 | 195 | count = 0; |
benkatz | 25:f5741040c4bb | 196 | } |
benkatz | 28:8c7e29f719c5 | 197 | else{ |
benkatz | 37:c0f352d6e8e3 | 198 | /* |
benkatz | 37:c0f352d6e8e3 | 199 | 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 | 200 | gpio.enable->write(0); |
benkatz | 37:c0f352d6e8e3 | 201 | controller.ovp_flag = 1; |
benkatz | 37:c0f352d6e8e3 | 202 | state = REST_MODE; |
benkatz | 37:c0f352d6e8e3 | 203 | state_change = 1; |
benkatz | 37:c0f352d6e8e3 | 204 | printf("OVP Triggered!\n\r"); |
benkatz | 37:c0f352d6e8e3 | 205 | } |
benkatz | 37:c0f352d6e8e3 | 206 | */ |
benkatz | 37:c0f352d6e8e3 | 207 | |
benkatz | 40:cd7e837b2b93 | 208 | torque_control(&controller); |
benkatz | 28:8c7e29f719c5 | 209 | if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){ |
benkatz | 28:8c7e29f719c5 | 210 | controller.i_d_ref = 0; |
benkatz | 28:8c7e29f719c5 | 211 | controller.i_q_ref = 0; |
benkatz | 37:c0f352d6e8e3 | 212 | controller.kp = 0; |
benkatz | 37:c0f352d6e8e3 | 213 | controller.kd = 0; |
benkatz | 37:c0f352d6e8e3 | 214 | controller.t_ff = 0; |
benkatz | 28:8c7e29f719c5 | 215 | } |
benkatz | 37:c0f352d6e8e3 | 216 | commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop |
benkatz | 28:8c7e29f719c5 | 217 | controller.timeout += 1; |
benkatz | 38:67e4e1453a4b | 218 | |
benkatz | 38:67e4e1453a4b | 219 | |
shaorui | 49:9d762c5d05c3 | 220 | if(brake_state) |
shaorui | 49:9d762c5d05c3 | 221 | { |
shaorui | 49:9d762c5d05c3 | 222 | if(gpio.brake1->read()==0||gpio.brake2->read()==0) |
shaorui | 49:9d762c5d05c3 | 223 | { |
shaorui | 49:9d762c5d05c3 | 224 | printf("2\n\r"); |
shaorui | 49:9d762c5d05c3 | 225 | controller.i_d_ref = 0; |
shaorui | 49:9d762c5d05c3 | 226 | controller.i_q_ref = 0; |
shaorui | 49:9d762c5d05c3 | 227 | controller.kp = 0; |
shaorui | 49:9d762c5d05c3 | 228 | controller.kd = 0; |
shaorui | 49:9d762c5d05c3 | 229 | controller.t_ff = 0; |
shaorui | 49:9d762c5d05c3 | 230 | brake_state=0; |
shaorui | 49:9d762c5d05c3 | 231 | state_change = 0; |
shaorui | 49:9d762c5d05c3 | 232 | gpio.enable->write(0); |
shaorui | 49:9d762c5d05c3 | 233 | gpio.led->write(0); |
shaorui | 49:9d762c5d05c3 | 234 | } |
shaorui | 49:9d762c5d05c3 | 235 | } |
shaorui | 49:9d762c5d05c3 | 236 | if(gpio.brake1->read()==1&&gpio.brake2->read()==1) |
shaorui | 49:9d762c5d05c3 | 237 | { |
shaorui | 49:9d762c5d05c3 | 238 | brake_state=1; |
shaorui | 49:9d762c5d05c3 | 239 | } |
benkatz | 37:c0f352d6e8e3 | 240 | } |
benkatz | 23:2adf23ee0305 | 241 | break; |
benkatz | 23:2adf23ee0305 | 242 | case SETUP_MODE: |
benkatz | 23:2adf23ee0305 | 243 | if(state_change){ |
benkatz | 24:58c2d7571207 | 244 | enter_setup_state(); |
benkatz | 23:2adf23ee0305 | 245 | } |
benkatz | 23:2adf23ee0305 | 246 | break; |
benkatz | 23:2adf23ee0305 | 247 | case ENCODER_MODE: |
benkatz | 23:2adf23ee0305 | 248 | print_encoder(); |
benkatz | 23:2adf23ee0305 | 249 | break; |
benkatz | 37:c0f352d6e8e3 | 250 | } |
benkatz | 2:8724412ad628 | 251 | } |
benkatz | 23:2adf23ee0305 | 252 | TIM1->SR = 0x0; // reset the status register |
benkatz | 2:8724412ad628 | 253 | } |
benkatz | 0:4e1c4df6aabd | 254 | |
benkatz | 25:f5741040c4bb | 255 | |
benkatz | 24:58c2d7571207 | 256 | char cmd_val[8] = {0}; |
benkatz | 24:58c2d7571207 | 257 | char cmd_id = 0; |
benkatz | 25:f5741040c4bb | 258 | char char_count = 0; |
benkatz | 24:58c2d7571207 | 259 | |
benkatz | 25:f5741040c4bb | 260 | /// Manage state machine with commands from serial terminal or configurator gui /// |
benkatz | 25:f5741040c4bb | 261 | /// Called when data received over serial /// |
benkatz | 23:2adf23ee0305 | 262 | void serial_interrupt(void){ |
benkatz | 23:2adf23ee0305 | 263 | while(pc.readable()){ |
benkatz | 23:2adf23ee0305 | 264 | char c = pc.getc(); |
benkatz | 25:f5741040c4bb | 265 | if(c == 27){ |
benkatz | 25:f5741040c4bb | 266 | state = REST_MODE; |
benkatz | 25:f5741040c4bb | 267 | state_change = 1; |
benkatz | 25:f5741040c4bb | 268 | char_count = 0; |
benkatz | 25:f5741040c4bb | 269 | cmd_id = 0; |
benkatz | 37:c0f352d6e8e3 | 270 | gpio.led->write(0);; |
benkatz | 25:f5741040c4bb | 271 | for(int i = 0; i<8; i++){cmd_val[i] = 0;} |
benkatz | 25:f5741040c4bb | 272 | } |
benkatz | 24:58c2d7571207 | 273 | if(state == REST_MODE){ |
benkatz | 23:2adf23ee0305 | 274 | switch (c){ |
benkatz | 23:2adf23ee0305 | 275 | case 'c': |
benkatz | 23:2adf23ee0305 | 276 | state = CALIBRATION_MODE; |
benkatz | 23:2adf23ee0305 | 277 | state_change = 1; |
benkatz | 23:2adf23ee0305 | 278 | break; |
benkatz | 26:2b865c00d7e9 | 279 | case 'm': |
benkatz | 26:2b865c00d7e9 | 280 | state = MOTOR_MODE; |
benkatz | 23:2adf23ee0305 | 281 | state_change = 1; |
benkatz | 23:2adf23ee0305 | 282 | break; |
benkatz | 23:2adf23ee0305 | 283 | case 'e': |
benkatz | 23:2adf23ee0305 | 284 | state = ENCODER_MODE; |
benkatz | 23:2adf23ee0305 | 285 | state_change = 1; |
benkatz | 23:2adf23ee0305 | 286 | break; |
benkatz | 23:2adf23ee0305 | 287 | case 's': |
benkatz | 23:2adf23ee0305 | 288 | state = SETUP_MODE; |
benkatz | 23:2adf23ee0305 | 289 | state_change = 1; |
benkatz | 23:2adf23ee0305 | 290 | break; |
benkatz | 37:c0f352d6e8e3 | 291 | case 'z': |
benkatz | 37:c0f352d6e8e3 | 292 | spi.SetMechOffset(0); |
benkatz | 45:aadebe074af6 | 293 | spi.Sample(DT); |
benkatz | 37:c0f352d6e8e3 | 294 | wait_us(20); |
benkatz | 37:c0f352d6e8e3 | 295 | M_OFFSET = spi.GetMechPosition(); |
benkatz | 37:c0f352d6e8e3 | 296 | if (!prefs.ready()) prefs.open(); |
benkatz | 37:c0f352d6e8e3 | 297 | prefs.flush(); // Write new prefs to flash |
benkatz | 37:c0f352d6e8e3 | 298 | prefs.close(); |
benkatz | 37:c0f352d6e8e3 | 299 | prefs.load(); |
benkatz | 37:c0f352d6e8e3 | 300 | spi.SetMechOffset(M_OFFSET); |
benkatz | 37:c0f352d6e8e3 | 301 | printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET); |
benkatz | 37:c0f352d6e8e3 | 302 | |
benkatz | 37:c0f352d6e8e3 | 303 | break; |
benkatz | 37:c0f352d6e8e3 | 304 | } |
benkatz | 37:c0f352d6e8e3 | 305 | |
benkatz | 24:58c2d7571207 | 306 | } |
benkatz | 24:58c2d7571207 | 307 | else if(state == SETUP_MODE){ |
benkatz | 25:f5741040c4bb | 308 | if(c == 13){ |
benkatz | 24:58c2d7571207 | 309 | switch (cmd_id){ |
benkatz | 24:58c2d7571207 | 310 | case 'b': |
benkatz | 24:58c2d7571207 | 311 | I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f); |
benkatz | 24:58c2d7571207 | 312 | break; |
benkatz | 24:58c2d7571207 | 313 | case 'i': |
benkatz | 24:58c2d7571207 | 314 | CAN_ID = atoi(cmd_val); |
benkatz | 24:58c2d7571207 | 315 | break; |
benkatz | 26:2b865c00d7e9 | 316 | case 'm': |
benkatz | 26:2b865c00d7e9 | 317 | CAN_MASTER = atoi(cmd_val); |
benkatz | 26:2b865c00d7e9 | 318 | break; |
benkatz | 24:58c2d7571207 | 319 | case 'l': |
benkatz | 24:58c2d7571207 | 320 | TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f); |
benkatz | 24:58c2d7571207 | 321 | break; |
benkatz | 28:8c7e29f719c5 | 322 | case 't': |
benkatz | 28:8c7e29f719c5 | 323 | CAN_TIMEOUT = atoi(cmd_val); |
benkatz | 28:8c7e29f719c5 | 324 | break; |
benkatz | 24:58c2d7571207 | 325 | default: |
benkatz | 24:58c2d7571207 | 326 | printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id); |
benkatz | 24:58c2d7571207 | 327 | break; |
benkatz | 24:58c2d7571207 | 328 | } |
benkatz | 24:58c2d7571207 | 329 | |
benkatz | 24:58c2d7571207 | 330 | if (!prefs.ready()) prefs.open(); |
benkatz | 24:58c2d7571207 | 331 | prefs.flush(); // Write new prefs to flash |
benkatz | 24:58c2d7571207 | 332 | prefs.close(); |
benkatz | 24:58c2d7571207 | 333 | prefs.load(); |
benkatz | 24:58c2d7571207 | 334 | state_change = 1; |
benkatz | 24:58c2d7571207 | 335 | char_count = 0; |
benkatz | 24:58c2d7571207 | 336 | cmd_id = 0; |
benkatz | 24:58c2d7571207 | 337 | for(int i = 0; i<8; i++){cmd_val[i] = 0;} |
benkatz | 24:58c2d7571207 | 338 | } |
benkatz | 24:58c2d7571207 | 339 | else{ |
benkatz | 24:58c2d7571207 | 340 | if(char_count == 0){cmd_id = c;} |
benkatz | 24:58c2d7571207 | 341 | else{ |
benkatz | 24:58c2d7571207 | 342 | cmd_val[char_count-1] = c; |
benkatz | 24:58c2d7571207 | 343 | |
benkatz | 24:58c2d7571207 | 344 | } |
benkatz | 24:58c2d7571207 | 345 | pc.putc(c); |
benkatz | 24:58c2d7571207 | 346 | char_count++; |
benkatz | 23:2adf23ee0305 | 347 | } |
benkatz | 23:2adf23ee0305 | 348 | } |
benkatz | 24:58c2d7571207 | 349 | else if (state == ENCODER_MODE){ |
benkatz | 24:58c2d7571207 | 350 | switch (c){ |
benkatz | 24:58c2d7571207 | 351 | case 27: |
benkatz | 24:58c2d7571207 | 352 | state = REST_MODE; |
benkatz | 24:58c2d7571207 | 353 | state_change = 1; |
benkatz | 24:58c2d7571207 | 354 | break; |
benkatz | 24:58c2d7571207 | 355 | } |
benkatz | 24:58c2d7571207 | 356 | } |
benkatz | 24:58c2d7571207 | 357 | |
benkatz | 24:58c2d7571207 | 358 | } |
benkatz | 22:60276ba87ac6 | 359 | } |
benkatz | 0:4e1c4df6aabd | 360 | |
benkatz | 0:4e1c4df6aabd | 361 | int main() { |
benkatz | 45:aadebe074af6 | 362 | |
benkatz | 20:bf9ea5125d52 | 363 | controller.v_bus = V_BUS; |
benkatz | 22:60276ba87ac6 | 364 | controller.mode = 0; |
benkatz | 23:2adf23ee0305 | 365 | Init_All_HW(&gpio); // Setup PWM, ADC, GPIO |
benkatz | 20:bf9ea5125d52 | 366 | |
benkatz | 9:d7eb815cb057 | 367 | wait(.1); |
benkatz | 26:2b865c00d7e9 | 368 | gpio.enable->write(1); |
benkatz | 45:aadebe074af6 | 369 | TIM1->CCR3 = PWM_ARR*(1.0f); // Write duty cycles |
benkatz | 45:aadebe074af6 | 370 | TIM1->CCR2 = PWM_ARR*(1.0f); |
benkatz | 45:aadebe074af6 | 371 | TIM1->CCR1 = PWM_ARR*(1.0f); |
benkatz | 23:2adf23ee0305 | 372 | zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset |
benkatz | 26:2b865c00d7e9 | 373 | gpio.enable->write(0); |
benkatz | 23:2adf23ee0305 | 374 | reset_foc(&controller); // Reset current controller |
benkatz | 26:2b865c00d7e9 | 375 | TIM1->CR1 ^= TIM_CR1_UDIS; |
benkatz | 26:2b865c00d7e9 | 376 | //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt |
benkatz | 20:bf9ea5125d52 | 377 | |
benkatz | 20:bf9ea5125d52 | 378 | wait(.1); |
benkatz | 37:c0f352d6e8e3 | 379 | NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication |
benkatz | 43:dfb72608639c | 380 | |
benkatz | 37:c0f352d6e8e3 | 381 | NVIC_SetPriority(CAN1_RX0_IRQn, 3); |
benkatz | 26:2b865c00d7e9 | 382 | can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0); |
benkatz | 43:dfb72608639c | 383 | |
benkatz | 28:8c7e29f719c5 | 384 | txMsg.id = CAN_MASTER; |
benkatz | 28:8c7e29f719c5 | 385 | txMsg.len = 6; |
benkatz | 26:2b865c00d7e9 | 386 | rxMsg.len = 8; |
benkatz | 43:dfb72608639c | 387 | can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler |
benkatz | 23:2adf23ee0305 | 388 | |
benkatz | 25:f5741040c4bb | 389 | prefs.load(); // Read flash |
benkatz | 37:c0f352d6e8e3 | 390 | if(isnan(E_OFFSET)){E_OFFSET = 0.0f;} |
benkatz | 37:c0f352d6e8e3 | 391 | if(isnan(M_OFFSET)){M_OFFSET = 0.0f;} |
benkatz | 25:f5741040c4bb | 392 | spi.SetElecOffset(E_OFFSET); // Set position sensor offset |
benkatz | 37:c0f352d6e8e3 | 393 | spi.SetMechOffset(M_OFFSET); |
benkatz | 23:2adf23ee0305 | 394 | int lut[128] = {0}; |
benkatz | 23:2adf23ee0305 | 395 | memcpy(&lut, &ENCODER_LUT, sizeof(lut)); |
benkatz | 25:f5741040c4bb | 396 | spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table |
benkatz | 23:2adf23ee0305 | 397 | |
Rushu | 47:55bdc4d5096b | 398 | pc.baud(115200);//pc.baud(921600); // set serial baud rate |
benkatz | 20:bf9ea5125d52 | 399 | wait(.01); |
benkatz | 23:2adf23ee0305 | 400 | pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r"); |
benkatz | 20:bf9ea5125d52 | 401 | wait(.01); |
benkatz | 23:2adf23ee0305 | 402 | printf("\n\r Debug Info:\n\r"); |
benkatz | 32:ccac5da77844 | 403 | printf(" Firmware Version: %s\n\r", VERSION_NUM); |
benkatz | 23:2adf23ee0305 | 404 | printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset); |
benkatz | 23:2adf23ee0305 | 405 | printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET); |
benkatz | 37:c0f352d6e8e3 | 406 | printf(" Output Zero Position: %.4f\n\r", M_OFFSET); |
benkatz | 24:58c2d7571207 | 407 | printf(" CAN ID: %d\n\r", CAN_ID); |
benkatz | 23:2adf23ee0305 | 408 | |
benkatz | 23:2adf23ee0305 | 409 | pc.attach(&serial_interrupt); // attach serial interrupt |
benkatz | 22:60276ba87ac6 | 410 | |
benkatz | 23:2adf23ee0305 | 411 | state_change = 1; |
benkatz | 20:bf9ea5125d52 | 412 | |
benkatz | 22:60276ba87ac6 | 413 | |
benkatz | 0:4e1c4df6aabd | 414 | while(1) { |
shaorui | 49:9d762c5d05c3 | 415 | if(state==MOTOR_MODE) |
shaorui | 49:9d762c5d05c3 | 416 | { |
shaorui | 49:9d762c5d05c3 | 417 | printf("%.3f\n\r",controller.theta_mech ); |
shaorui | 49:9d762c5d05c3 | 418 | wait(1); |
shaorui | 49:9d762c5d05c3 | 419 | |
shaorui | 49:9d762c5d05c3 | 420 | } |
benkatz | 0:4e1c4df6aabd | 421 | } |
benkatz | 0:4e1c4df6aabd | 422 | } |