Shao Rui / Motor_for_suojin

123

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@50:9d762c5d05c3, 2021-03-29 (annotated)

Committer:
shaorui
Date:
Mon Mar 29 07:08:14 2021 +0000
Revision:
50:9d762c5d05c3
Parent:
47:55bdc4d5096b 
suojin

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
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 50:9d762c5d05c3 55 volatile int brake_state=1;
shaorui 50:9d762c5d05c3 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 50:9d762c5d05c3 151 for(reg_count=0;reg_count<=263;reg_count++)
shaorui 50:9d762c5d05c3 152 {
shaorui 50:9d762c5d05c3 153 printf("%d %d\n\r",reg_count,__int_reg[reg_count]);
shaorui 50:9d762c5d05c3 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 50:9d762c5d05c3 220 if(brake_state)
shaorui 50:9d762c5d05c3 221 {
shaorui 50:9d762c5d05c3 222 if(gpio.brake1->read()==0||gpio.brake2->read()==0)
shaorui 50:9d762c5d05c3 223 {
shaorui 50:9d762c5d05c3 224 printf("2\n\r");
shaorui 50:9d762c5d05c3 225 controller.i_d_ref = 0;
shaorui 50:9d762c5d05c3 226 controller.i_q_ref = 0;
shaorui 50:9d762c5d05c3 227 controller.kp = 0;
shaorui 50:9d762c5d05c3 228 controller.kd = 0;
shaorui 50:9d762c5d05c3 229 controller.t_ff = 0;
shaorui 50:9d762c5d05c3 230 brake_state=0;
shaorui 50:9d762c5d05c3 231 state_change = 0;
shaorui 50:9d762c5d05c3 232 gpio.enable->write(0);
shaorui 50:9d762c5d05c3 233 gpio.led->write(0);
shaorui 50:9d762c5d05c3 234 }
shaorui 50:9d762c5d05c3 235 }
shaorui 50:9d762c5d05c3 236 if(gpio.brake1->read()==1&&gpio.brake2->read()==1)
shaorui 50:9d762c5d05c3 237 {
shaorui 50:9d762c5d05c3 238 brake_state=1;
shaorui 50:9d762c5d05c3 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 50:9d762c5d05c3 415 if(state==MOTOR_MODE)
shaorui 50:9d762c5d05c3 416 {
shaorui 50:9d762c5d05c3 417 printf("%.3f\n\r",controller.theta_mech );
shaorui 50:9d762c5d05c3 418 wait(1);
shaorui 50:9d762c5d05c3 419
shaorui 50:9d762c5d05c3 420 }
benkatz 0:4e1c4df6aabd 421 }
benkatz 0:4e1c4df6aabd 422 }