Revision 50:9d762c5d05c3, committed 2021-03-29

Comitter:

shaorui

Date:

Mon Mar 29 07:08:14 2021 +0000

Parent:

48:f083ea9d1d03

Commit message:

suojin

Changed in this revision

--- a/Calibration/calibration.cpp	Thu Jan 09 01:42:00 2020 +0000
+++ b/Calibration/calibration.cpp	Mon Mar 29 07:08:14 2021 +0000
@@ -16,7 +16,8 @@
     printf("\n\r Checking phase ordering\n\r");
     float theta_ref = 0;
     float theta_actual = 0;
-    float v_d = .15f;                                                             //Put all volts on the D-Axis
+    //float v_d = .45f;  
+    float v_d = .10f;                                                            //Put all volts on the D-Axis
     float v_q = 0.0f;
     float v_u, v_v, v_w = 0;
     float dtc_u, dtc_v, dtc_w = .5f;
@@ -88,7 +89,8 @@
     int raw_b[n] = {0};
     float theta_ref = 0;
     float theta_actual = 0;
-    float v_d = .15f;                                                             // Put volts on the D-Axis
+    //float v_d = .45f; 
+    float v_d = .10f;                                                            // Put volts on the D-Axis
     float v_q = 0.0f;
     float v_u, v_v, v_w = 0;
     float dtc_u, dtc_v, dtc_w = .5f;

--- a/Config/hw_config.h	Thu Jan 09 01:42:00 2020 +0000
+++ b/Config/hw_config.h	Mon Mar 29 07:08:14 2021 +0000
@@ -6,6 +6,8 @@
 #define PIN_W PA_8
 #define ENABLE_PIN PA_11        // Enable gate drive pin
 #define LED         PC_5        // LED Pin
+#define BRAKE1   PA_4  //brake1 pin
+#define BRAKE2   PA_6  //brake2 pin
 #define I_SCALE 0.02014160156f  // Amps per A/D Count
 #define V_SCALE 0.00884f        // Bus volts per A/D Count
 #define DTC_MAX 0.95f          // Max phase duty cycle

--- a/Config/motor_config.h	Thu Jan 09 01:42:00 2020 +0000
+++ b/Config/motor_config.h	Mon Mar 29 07:08:14 2021 +0000
@@ -2,13 +2,16 @@
 #define MOTOR_CONFIG_H
 
 #define R_PHASE 0.105f          //Ohms
+//#define R_PHASE 0.310f          //Ohms 200N Joint
 #define L_D 0.00003f            //Henries
 #define L_Q 0.00003f            //Henries
 //#define KT .075f                 //N-m per peak phase amp, = WB*NPP*3/2
 #define KT .08f  
 #define NPP 21                  //Number of pole pairs
-//#define GR 1.0f  
-#define GR 49.0f                 //Gear ratio
+//#define GR 1.0f 
+#define GR 49.0f  
+//#define GR 89.0f                 //Gear ratio
+//#define GR 151.0f                 //Gear ratio
 //#define KT_OUT 0.45f            //KT*GR
 #define KT_OUT 4.0f   
 #define WB 0.0024f               //Webers.  

--- a/FlashWriter/FlashWriter.cpp	Thu Jan 09 01:42:00 2020 +0000
+++ b/FlashWriter/FlashWriter.cpp	Mon Mar 29 07:08:14 2021 +0000
@@ -13,7 +13,7 @@
 }
 
 void FlashWriter::open() {
-    FLASH_Unlock();
+    FLASH_Unlock();//Unlocks the FLASH control register access
     FLASH_ClearFlag( FLASH_FLAG_EOP |  FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
     FLASH_EraseSector(__SECTORS[__sector], VoltageRange_3);
     __ready = true;

--- a/hw_setup.cpp	Thu Jan 09 01:42:00 2020 +0000
+++ b/hw_setup.cpp	Mon Mar 29 07:08:14 2021 +0000
@@ -13,6 +13,8 @@
 
     GPIOC->MODER |= (1 << 10);                                  // set pin 5 to be general purpose output for LED
     gpio->enable = new DigitalOut(ENABLE_PIN);
+    gpio->brake1=new DigitalIn(BRAKE1);
+    gpio->brake2=new DigitalIn(BRAKE2);
     gpio->pwm_u = new FastPWM(PIN_U);
     gpio->pwm_v = new FastPWM(PIN_V);
     gpio->pwm_w = new FastPWM(PIN_W);

--- a/main.cpp	Thu Jan 09 01:42:00 2020 +0000
+++ b/main.cpp	Mon Mar 29 07:08:14 2021 +0000
@@ -52,7 +52,8 @@
 volatile int count = 0;
 volatile int state = REST_MODE;
 volatile int state_change;
-
+volatile int brake_state=1;
+int reg_count=0;
 void onMsgReceived() {
     //msgAvailable = true;
    
@@ -147,6 +148,10 @@
     
 void print_encoder(void){
     printf(" Mechanical Angle:  %f    Electrical Angle:  %f    Raw:  %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
+     for(reg_count=0;reg_count<=263;reg_count++)
+    {
+        printf("%d  %d\n\r",reg_count,__int_reg[reg_count]);
+    }
     wait(.05);
     }
 
@@ -211,15 +216,27 @@
                 commutate(&controller, &observer, &gpio, controller.theta_elec);           // Run current loop
                 controller.timeout += 1;
                 
-                /*
-                count++;
-                if(count == 4000){
-                     printf("%.4f\n\r", controller.dtheta_mech);
-                     count = 0;
-                     }
-                     */
                      
-            
+                if(brake_state)
+                {
+                 if(gpio.brake1->read()==0||gpio.brake2->read()==0)
+                 {
+                    printf("2\n\r");
+                    controller.i_d_ref = 0;
+                    controller.i_q_ref = 0;
+                    controller.kp = 0;
+                    controller.kd = 0;
+                    controller.t_ff = 0; 
+                    brake_state=0; 
+                     state_change = 0;   
+                    gpio.enable->write(0);
+                    gpio.led->write(0); 
+                 }
+                 }
+                 if(gpio.brake1->read()==1&&gpio.brake2->read()==1)
+                 {
+                     brake_state=1;
+                    }
                 }     
                 break;
             case SETUP_MODE:
@@ -395,6 +412,11 @@
 
     
     while(1) {
-
+                if(state==MOTOR_MODE)
+        {
+           printf("%.3f\n\r",controller.theta_mech );
+            wait(1);
+             
+        }
     }
 }

--- a/structs.h	Thu Jan 09 01:42:00 2020 +0000
+++ b/structs.h	Mon Mar 29 07:08:14 2021 +0000
@@ -9,6 +9,8 @@
 typedef struct{
     DigitalOut *enable;
     DigitalOut *led;
+    DigitalIn *brake1;//shaorui add for braking
+    DigitalIn *brake2;//shaorui add for braking
     FastPWM *pwm_u, *pwm_v, *pwm_w;
     } GPIOStruct;