Shao Rui
1
Dependencies: mbed-dev-f303 FastPWM3
Diff: Calibration/calibration.cpp
- Revision:
- 48:1b51771c3647
- Parent:
- 45:aadebe074af6
- Child:
- 49:7eac11914980
--- a/Calibration/calibration.cpp Sat Dec 07 08:01:06 2019 +0000
+++ b/Calibration/calibration.cpp Fri Feb 07 11:31:37 2020 +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 = .15f;
+ float v_d = .23f; //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;
@@ -69,8 +70,8 @@
else if(!direction){printf("Phasing incorrect. Swapping phases V and W\n\r");}
PHASE_ORDER = direction;
}
-
-
+
+
void calibrate(PositionSensor *ps, GPIOStruct *gpio, ControllerStruct *controller, PreferenceWriter *prefs){
/// Measures the electrical angle offset of the position sensor
/// and (in the future) corrects nonlinearity due to position sensor eccentricity
@@ -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 = .15f;
+ float v_d = .2f; // 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;
@@ -137,7 +139,7 @@
theta_actual = ps->GetMechPositionFixed();
error_f[i] = theta_ref/NPP - theta_actual;
raw_f[i] = ps->GetRawPosition();
- printf("%.4f %.4f %d\n\r", theta_ref/(NPP), theta_actual, raw_f[i]);
+ printf("ref %.4f\n\r actual %.4f\n\r raw %d\n\r", theta_ref/(NPP), theta_actual, raw_f[i]);
//theta_ref += delta;
}
@@ -162,7 +164,7 @@
theta_actual = ps->GetMechPositionFixed(); // get mechanical position
error_b[i] = theta_ref/NPP - theta_actual;
raw_b[i] = ps->GetRawPosition();
- printf("%.4f %.4f %d\n\r", theta_ref/(NPP), theta_actual, raw_b[i]);
+ printf("ref %.4f\n\r actual %.4f\n\r raw %d\n\r", theta_ref/(NPP), theta_actual, raw_b[i]);
//theta_ref -= delta;
}
@@ -230,4 +232,643 @@
prefs->close();
- }
\ No newline at end of file
+ }
+
+ /*
+void j_calibrate(PositionSensorMA700 *jps,PositionSensorAM5147 *ps, GPIOStruct *gpio, ControllerStruct *controller, PreferenceWriter *prefs)
+{
+ /// Measures the electrical angle offset of the position sensor
+ /// and (in the future) corrects nonlinearity due to position sensor eccentricity
+ //printf("Starting calibration procedure\n\r");
+ printf("s\n\r");
+
+ const int n = 128*NPP; // number of positions to be sampled per mechanical rotation. Multiple of NPP for filtering reasons (see later)
+ const int n2 = 50; // increments between saved samples (for smoothing motion)
+ float delta = 2*PI*NPP/(n*n2); // change in angle between samples
+ float error_f[n] = {0}; // error vector rotating forwards
+ float error_b[n] = {0}; // error vector rotating backwards
+ float error_joint_f[n] = {0}; // error vector rotating forwards
+ float error_joint_b[n] = {0}; // error vector rotating backwards
+
+ const int n_lut = 128;
+ const int n_joint = 128;
+ int lut[n_lut]= {0}; // clear any old lookup table before starting.
+ int joint[n_joint]= {0}; // clear any old lookup table before starting.
+ ps->WriteLUT(lut);
+ jps->WriteLUT(joint);
+ int raw_f[n] = {0};
+ int raw_b[n] = {0};
+ int joint_raw_f[n] = {0};
+ int joint_raw_b[n] = {0};
+
+ float theta_ref = 0;
+ float theta_actual = 0;
+ float theta_joint_ref = 0;
+ float theta_joint_actual = 0;
+
+ //float v_d = .15f;
+ float v_d = .2f; // 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;
+
+
+ ///Set voltage angle to zero, wait for rotor position to settle
+ abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ for(int i = 0; i<40000; i++){
+ TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u); // Set duty cycles
+ if(PHASE_ORDER){
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ else{
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ wait_us(100);
+ }
+ ps->Sample(DT);
+ controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); //Calculate phase currents from ADC readings
+ controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
+ controller->i_a = -controller->i_b - controller->i_c;
+ dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
+ float current = sqrt(pow(controller->i_d, 2) + pow(controller->i_q, 2));
+ printf(" Current Angle : Rotor Angle : Raw Encoder \n\r\n\r");
+ for(int i = 0; i<n; i++){ // rotate forwards
+ for(int j = 0; j<n2; j++){
+ theta_ref += delta;
+ //theta_joint_ref=theta_joint_ref- delta-theta_ref/GR;
+ theta_joint_ref-=delta;
+ abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
+ if(PHASE_ORDER){ // Check phase ordering
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v); // Set duty cycles
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ else{
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ wait_us(100);
+ ps->Sample(DT);
+ jps->Sample(DT);
+ }
+ ps->Sample(DT);
+ jps->Sample(DT);
+ theta_actual = ps->GetMechPositionFixed();
+ error_f[i] = theta_ref/NPP - theta_actual;
+ raw_f[i] = ps->GetRawPosition();
+ theta_joint_actual = jps->GetMechPositionFixed()+(1/GR)*theta_actual;
+ error_joint_f[i] = theta_joint_ref/NPP - theta_joint_actual;
+ joint_raw_f[i] = jps->GetRawPosition();
+
+ printf("%.4f %.4f %d-------%.4f %.4f %d\n\r", theta_ref/(NPP), theta_actual, raw_f[i],theta_joint_ref/(NPP), theta_joint_actual, joint_raw_f[i]);
+
+ //theta_ref += delta;
+ }
+
+ for(int i = 0; i<n; i++){ // rotate backwards
+ for(int j = 0; j<n2; j++){
+ theta_ref -= delta;
+ //theta_joint_ref=theta_joint_ref+delta+theta_ref/GR;
+ theta_joint_ref+=delta;
+ abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
+ if(PHASE_ORDER){
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ else{
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ wait_us(100);
+ ps->Sample(DT);
+ jps->Sample(DT);
+ }
+ ps->Sample(DT); // sample position sensor
+ jps->Sample(DT);
+ theta_actual = ps->GetMechPositionFixed(); // get mechanical position
+ error_b[i] = theta_ref/NPP - theta_actual;
+ raw_b[i] = ps->GetRawPosition();
+ theta_joint_actual = jps->GetMechPositionFixed()+(1/GR)*theta_actual;
+ error_joint_b[i] = theta_joint_ref/NPP - theta_joint_actual;
+ joint_raw_b[i] = jps->GetRawPosition()-raw_b[i]/GR;
+
+ //printf("%.4f %.4f %d\n\r", theta_ref/(NPP), theta_actual, raw_b[i]);
+ printf("%.4f %.4f %d-------%.4f %.4f %d\n\r", theta_ref/(NPP), theta_actual, raw_b[i],theta_joint_ref/(NPP), theta_joint_actual, joint_raw_b[i]);
+ //theta_ref -= delta;
+ }
+
+ float offset = 0;
+ float joint_offset=0;
+ for(int i = 0; i<n; i++){
+ offset += (error_f[i] + error_b[n-1-i])/(2.0f*n); // calclate average position sensor offset
+ joint_offset += (error_joint_f[i] + error_joint_b[n-1-i])/(2.0f*n);
+ }
+ offset = fmod(offset*NPP, 2*PI);
+ joint_offset = fmod( joint_offset*NPP, 2*PI); // convert mechanical angle to electrical angle
+
+
+ ps->SetElecOffset(offset); // Set position sensor offset
+ __float_reg[0] = offset;
+ E_OFFSET = offset;
+
+ jps->SetElecOffset(joint_offset); // Set position sensor offset
+ __float_reg[8] = joint_offset;
+ JOINT_E_OFFSET = joint_offset;
+
+ /// Perform filtering to linearize position sensor eccentricity
+ /// FIR n-sample average, where n = number of samples in one electrical cycle
+ /// This filter has zero gain at electrical frequency and all integer multiples
+ /// So cogging effects should be completely filtered out.
+
+ float error[n] = {0};
+ float joint_error[n]={0};
+ const int window = 128;
+ float error_filt[n] = {0};
+ float error_joint_filt[n] = {0};
+ float cogging_current[window] = {0};
+ float cogging_joint_current[window] = {0};
+ float mean = 0;
+ float joint_mean=0;
+ for (int i = 0; i<n; i++){ //Average the forward and back directions
+ error[i] = 0.5f*(error_f[i] + error_b[n-i-1]);
+ joint_error[i]= 0.5f*(error_joint_f[i] + error_joint_b[n-i-1]);
+ }
+ for (int i = 0; i<n; i++){
+ for(int j = 0; j<window; j++){
+ int ind = -window/2 + j + i; // Indexes from -window/2 to + window/2
+ if(ind<0){
+ ind += n;
+ } // Moving average wraps around
+ else if(ind > n-1) {
+ ind -= n;
+ }
+ error_filt[i] += error[ind]/(float)window;
+ error_joint_filt[i] += joint_error[ind]/(float)window;
+ }
+ if(i<window){
+ cogging_current[i] = current*sinf((error[i] - error_filt[i])*NPP);
+ cogging_joint_current[i] = current*sinf((joint_error[i] - error_joint_filt[i])*NPP);
+ }
+ //printf("%.4f %4f %.4f %.4f\n\r", error[i], error_filt[i], error_f[i], error_b[i]);
+ mean += error_filt[i]/n;
+ joint_mean += error_joint_filt[i]/n;
+ }
+ int raw_offset = (raw_f[0] + raw_b[n-1])/2; //Insensitive to errors in this direction, so 2 points is plenty
+ int joint_raw_offset =(joint_raw_f[0] + joint_raw_b[n-1])/2;
+
+
+ printf("\n\r Encoder non-linearity compensation table\n\r");
+ printf(" Sample Number : Lookup Index : Lookup Value : Cogging Current Lookup\n\r\n\r");
+ for (int i = 0; i<n_lut; i++){ // build lookup table
+ int ind = (raw_offset>>7) + i;
+ if(ind > (n_lut-1)){
+ ind -= n_lut;
+ }
+ lut[ind] = (int) ((error_filt[i*NPP] - mean)*(float)(ps->GetCPR())/(2.0f*PI));
+ printf("%d %d %d %f\n\r", i, ind, lut[ind], cogging_current[i]);
+ wait(.001);
+ }
+
+ for (int i = 0; i<n_joint; i++){ // build lookup table
+ int joint_ind = (joint_raw_offset>>7) + i;
+ if(joint_ind > (n_joint-1)){
+ joint_ind -= n_joint;
+ }
+ joint[joint_ind] = (int) ((error_joint_filt[i*NPP] - joint_mean)*(float)(jps->GetCPR())/(2.0f*PI));
+ printf("%d %d %d %f\n\r", i, joint_ind, joint[joint_ind], cogging_joint_current[i]);
+ wait(.001);
+ }
+
+
+ ps->WriteLUT(lut);
+ jps->WriteLUT(joint); // write lookup table to position sensor object
+ //memcpy(controller->cogging, cogging_current, sizeof(controller->cogging)); //compensation doesn't actually work yet....
+ memcpy(&ENCODER_LUT, lut, sizeof(lut)); // copy the lookup table to the flash array
+ memcpy(&ENCODER_JOINT, joint, sizeof(joint));
+
+ printf("\n\rEncoder Electrical Offset (rad) %f\n\r", offset);
+ printf("\n\rJoint Encoder Electrical Offset (rad) %f\n\r", joint_offset);
+
+ if (!prefs->ready()) prefs->open();
+ prefs->flush(); // write offset and lookup table to flash
+ prefs->close();
+
+}
+*/
+
+
+void j_calibrate(PositionSensorMA700 *jps, GPIOStruct *gpio, ControllerStruct *controller, PreferenceWriter *prefs)
+{
+ /// Measures the electrical angle offset of the position sensor
+ /// and (in the future) corrects nonlinearity due to position sensor eccentricity
+ printf("Starting joint calibration procedure\n\r");
+
+ const int n = 128*NPP; // number of positions to be sampled per mechanical rotation. Multiple of NPP for filtering reasons (see later)
+ const int n2 = 50; // increments between saved samples (for smoothing motion)
+ float delta = 2*PI*NPP/(n*n2); // change in angle between samples
+ float error_joint_f[n] = {0}; // error vector rotating forwards
+ float error_joint_b[n] = {0}; // error vector rotating backwards
+
+ const int n_joint = 128;
+ int joint[n_joint]= {0}; // clear any old lookup table before starting.
+ jps->WriteLUT(joint);
+
+
+ jps->ReadLUT();
+
+ int joint_raw_f[n] = {0};
+ int joint_raw_b[n] = {0};
+
+ float theta_ref = 0;
+ float theta_joint_ref = 0;
+ float theta_joint_actual = 0;
+
+ //float v_d = .15f;
+ float v_d = .2f; // 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;
+
+
+ ///Set voltage angle to zero, wait for rotor position to settle
+ abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ for(int i = 0; i<40000; i++){
+ TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u); // Set duty cycles
+ if(PHASE_ORDER){
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ else{
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ wait_us(100);
+ }
+ jps->Sample(DT);
+ controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); //Calculate phase currents from ADC readings
+ controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
+ controller->i_a = -controller->i_b - controller->i_c;
+ dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
+ float current = sqrt(pow(controller->i_d, 2) + pow(controller->i_q, 2));
+ printf(" Current Angle : Rotor Angle : Raw Encoder \n\r\n\r");
+ for(int i = 0; i<n; i++){ // rotate forwards
+ for(int j = 0; j<n2; j++){
+ theta_ref += delta;
+ theta_joint_ref-=delta;
+
+ // theta_joint_ref+=delta;
+ abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
+ if(PHASE_ORDER){ // Check phase ordering
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v); // Set duty cycles
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ else{
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ wait_us(100);
+ jps->Sample(DT);
+ }
+ jps->Sample(DT);
+
+ theta_joint_actual = jps->GetMechPositionFixed();
+ //error_joint_f[i] = theta_joint_ref*(1+1/GR)/NPP -theta_joint_actual;
+ error_joint_f[i] = (theta_joint_ref-(1/GR)*theta_ref)/NPP -theta_joint_actual;
+ joint_raw_f[i] = jps->GetRawPosition();
+
+ //printf("%.4f %.4f %d\n\r", theta_joint_ref*(1+1/GR)/(NPP), theta_joint_actual, joint_raw_f[i]);
+ printf("ref %.4f\n\r actual %.4f\n\r raw %d\n\r", (theta_joint_ref-(1/GR)*theta_ref)/NPP, theta_joint_actual, joint_raw_f[i]);
+
+ //theta_ref += delta;
+ }
+
+ for(int i = 0; i<n; i++){ // rotate backwards
+ for(int j = 0; j<n2; j++){
+ theta_ref -= delta;
+ //theta_joint_ref-=delta;
+ theta_joint_ref+=delta;
+ abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
+ if(PHASE_ORDER){
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ else{
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ wait_us(100);
+ jps->Sample(DT);
+ }
+
+ jps->Sample(DT);
+
+ theta_joint_actual = jps->GetMechPositionFixed();
+ //error_joint_b[i] = theta_joint_ref*(1+1/GR)/NPP - theta_joint_actual;
+ error_joint_b[i] = (theta_joint_ref-(1/GR)*theta_ref)/NPP -theta_joint_actual;
+ joint_raw_b[i] = jps->GetRawPosition();//-raw_b[i]/GR;
+
+
+ //printf("%.4f %.4f %d-\n\r", theta_ref*(1+1/GR)/(NPP), theta_joint_actual, joint_raw_b[i]);
+ printf("ref %.4f\n\r actual %.4f\n\r raw %d\n\r", (theta_joint_ref-(1/GR)*theta_ref)/NPP, theta_joint_actual, joint_raw_b[i]);
+ //theta_ref -= delta;
+ }
+
+
+ float joint_offset=0;
+ for(int i = 0; i<n; i++){
+ joint_offset += (error_joint_f[i] + error_joint_b[n-1-i])/(2.0f*n); // calclate average position sensor joint offset
+ }
+ joint_offset = fmod( joint_offset*NPP, 2*PI); // convert mechanical angle to electrical angle
+
+
+
+
+ jps->SetElecOffset(joint_offset); // Set position joint sensor offset
+ __float_reg[8] = joint_offset;
+ JOINT_E_OFFSET = joint_offset;
+
+ /// Perform filtering to linearize position sensor eccentricity
+ /// FIR n-sample average, where n = number of samples in one electrical cycle
+ /// This filter has zero gain at electrical frequency and all integer multiples
+ /// So cogging effects should be completely filtered out.
+
+
+ float joint_error[n]={0};
+ const int window = 128;
+
+ float error_joint_filt[n] = {0};
+
+ float cogging_joint_current[window] = {0};
+
+ float joint_mean=0;
+ for (int i = 0; i<n; i++){ //Average the forward and back directions
+
+ joint_error[i]= 0.5f*(error_joint_f[i] + error_joint_b[n-i-1]);
+ }
+ for (int i = 0; i<n; i++){
+ for(int j = 0; j<window; j++){
+ int ind = -window/2 + j + i; // Indexes from -window/2 to + window/2
+ if(ind<0){
+ ind += n;
+ } // Moving average wraps around
+ else if(ind > n-1) {
+ ind -= n;
+ }
+
+ error_joint_filt[i] += joint_error[ind]/(float)window;
+ }
+ if(i<window){
+
+ cogging_joint_current[i] = current*sinf((joint_error[i] - error_joint_filt[i])*NPP);
+ }
+ //printf("%.4f %4f %.4f %.4f\n\r", error[i], error_filt[i], error_f[i], error_b[i]);
+
+ joint_mean += error_joint_filt[i]/n;
+ }
+
+ int joint_raw_offset =(joint_raw_f[0] + joint_raw_b[n-1])/2; //Insensitive to errors in this direction, so 2 points is plenty
+
+
+ printf("\n\r Encoder non-linearity compensation table\n\r");
+ printf(" Sample Number : Lookup Index : Lookup Value : Cogging Current Lookup\n\r\n\r");
+
+ for (int i = 0; i<n_joint; i++){ // build lookup table
+ int joint_ind = (joint_raw_offset>>7) + i;
+ if(joint_ind > (n_joint-1)){
+ joint_ind -= n_joint;
+ }
+ joint[joint_ind] = (int) ((error_joint_filt[i*NPP] - joint_mean)*(float)(jps->GetCPR())/(2.0f*PI));
+ printf("%d %d %d %f\n\r", i, joint_ind, joint[joint_ind], cogging_joint_current[i]);
+ wait(.001);
+ }
+
+
+
+ jps->WriteLUT(joint); // write lookup table to position sensor object
+ //memcpy(controller->cogging, cogging_current, sizeof(controller->cogging)); //compensation doesn't actually work yet....
+
+ memcpy(&ENCODER_JOINT, joint, sizeof(joint));
+
+ printf("\n\rJoint Encoder Electrical Offset (rad) %f\n\r", joint_offset);
+
+ if (!prefs->ready()) prefs->open();
+ prefs->flush(); // write offset and lookup table to flash
+ prefs->close();
+
+}
+
+
+/*
+
+void j_calibrate(PositionSensorMA700 *jps, GPIOStruct *gpio, ControllerStruct *controller, PreferenceWriter *prefs)
+{
+ /// Measures the electrical angle offset of the position sensor
+ /// and (in the future) corrects nonlinearity due to position sensor eccentricity
+ printf("Starting joint calibration procedure\n\r");
+
+ const int n = 128*NPP; // number of positions to be sampled per mechanical rotation. Multiple of NPP for filtering reasons (see later)
+ const int n2 = 50; // increments between saved samples (for smoothing motion)
+ float delta = 2*PI*NPP/(n*n2); // change in angle between samples
+ float error_joint_f[n] = {0}; // error vector rotating forwards
+ float error_joint_b[n] = {0}; // error vector rotating backwards
+
+ const int n_joint = 128;
+ int joint[n_joint]= {0}; // clear any old lookup table before starting.
+ jps->WriteLUT(joint);
+
+ int joint_raw_f[n] = {0};
+ int joint_raw_b[n] = {0};
+
+ float theta_ref = 0;
+ float theta_joint_ref = 0;
+ float theta_joint_actual = 0;
+
+ //float v_d = .15f;
+ float v_d = .2f; // 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;
+
+
+ ///Set voltage angle to zero, wait for rotor position to settle
+ abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ for(int i = 0; i<40000; i++){
+ TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u); // Set duty cycles
+ if(PHASE_ORDER){
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ else{
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ wait_us(100);
+ }
+ jps->Sample(DT);
+ controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset); //Calculate phase currents from ADC readings
+ controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
+ controller->i_a = -controller->i_b - controller->i_c;
+ dq0(controller->theta_elec, controller->i_a, controller->i_b, controller->i_c, &controller->i_d, &controller->i_q); //dq0 transform on currents
+ float current = sqrt(pow(controller->i_d, 2) + pow(controller->i_q, 2));
+ printf(" Current Angle : Rotor Angle : Raw Encoder \n\r\n\r");
+ for(int i = 0; i<n; i++){ // rotate forwards
+ for(int j = 0; j<n2; j++){
+ //theta_ref += delta;
+ //theta_joint_ref+=delta;
+
+ theta_joint_ref+=delta;
+ abc(theta_joint_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
+ if(PHASE_ORDER){ // Check phase ordering
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v); // Set duty cycles
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ else{
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ wait_us(100);
+ jps->Sample(DT);
+ }
+ jps->Sample(DT);
+
+ theta_joint_actual = jps->GetMechPositionFixed();
+ error_joint_f[i] = -theta_joint_ref*(1+1/GR)/NPP -theta_joint_actual;
+ // error_joint_f[i] = (theta_joint_ref-(1/GR)*theta_ref)/NPP -theta_joint_actual;
+ joint_raw_f[i] = jps->GetRawPosition();
+
+ printf("%.4f %.4f %d\n\r", theta_joint_ref*(1+1/GR)/(NPP), theta_joint_actual, joint_raw_f[i]);
+ // printf("%.4f %.4f %d\n\r", (theta_joint_ref-(1/GR)*theta_ref)/NPP, theta_joint_actual, joint_raw_f[i]);
+
+ //theta_ref += delta;
+ }
+
+ for(int i = 0; i<n; i++){ // rotate backwards
+ for(int j = 0; j<n2; j++){
+ //theta_ref -= delta;
+ theta_joint_ref-=delta;
+ //theta_joint_ref+=delta;
+ abc( theta_joint_ref, v_d, v_q, &v_u, &v_v, &v_w); // inverse dq0 transform on voltages
+ svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w); // space vector modulation
+ TIM1->CCR3 = (PWM_ARR>>1)*(1.0f-dtc_u);
+ if(PHASE_ORDER){
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ else{
+ TIM1->CCR1 = (PWM_ARR>>1)*(1.0f-dtc_v);
+ TIM1->CCR2 = (PWM_ARR>>1)*(1.0f-dtc_w);
+ }
+ wait_us(100);
+ jps->Sample(DT);
+ }
+
+ jps->Sample(DT);
+
+ theta_joint_actual = jps->GetMechPositionFixed();
+ error_joint_b[i] = -theta_joint_ref*(1+1/GR)/NPP - theta_joint_actual;
+ //error_joint_b[i] = (theta_joint_ref-(1/GR)*theta_ref)/NPP -theta_joint_actual;
+ joint_raw_b[i] = jps->GetRawPosition();//-raw_b[i]/GR;
+
+
+ printf("%.4f %.4f %d-\n\r", theta_ref*(1+1/GR)/(NPP), theta_joint_actual, joint_raw_b[i]);
+ // printf("%.4f %.4f %d\n\r", (theta_joint_ref-(1/GR)*theta_ref)/NPP, theta_joint_actual, joint_raw_b[i]);
+ //theta_ref -= delta;
+ }
+
+
+ float joint_offset=0;
+ for(int i = 0; i<n; i++){
+ joint_offset += (error_joint_f[i] + error_joint_b[n-1-i])/(2.0f*n); // calclate average position sensor joint offset
+ }
+ joint_offset = fmod( joint_offset*NPP, 2*PI); // convert mechanical angle to electrical angle
+
+
+
+
+ jps->SetElecOffset(joint_offset); // Set position joint sensor offset
+ __float_reg[8] = joint_offset;
+ JOINT_E_OFFSET = joint_offset;
+
+ /// Perform filtering to linearize position sensor eccentricity
+ /// FIR n-sample average, where n = number of samples in one electrical cycle
+ /// This filter has zero gain at electrical frequency and all integer multiples
+ /// So cogging effects should be completely filtered out.
+
+
+ float joint_error[n]={0};
+ const int window = 128;
+
+ float error_joint_filt[n] = {0};
+
+ float cogging_joint_current[window] = {0};
+
+ float joint_mean=0;
+ for (int i = 0; i<n; i++){ //Average the forward and back directions
+
+ joint_error[i]= 0.5f*(error_joint_f[i] + error_joint_b[n-i-1]);
+ }
+ for (int i = 0; i<n; i++){
+ for(int j = 0; j<window; j++){
+ int ind = -window/2 + j + i; // Indexes from -window/2 to + window/2
+ if(ind<0){
+ ind += n;
+ } // Moving average wraps around
+ else if(ind > n-1) {
+ ind -= n;
+ }
+
+ error_joint_filt[i] += joint_error[ind]/(float)window;
+ }
+ if(i<window){
+
+ cogging_joint_current[i] = current*sinf((joint_error[i] - error_joint_filt[i])*NPP);
+ }
+ //printf("%.4f %4f %.4f %.4f\n\r", error[i], error_filt[i], error_f[i], error_b[i]);
+
+ joint_mean += error_joint_filt[i]/n;
+ }
+
+ int joint_raw_offset =(joint_raw_f[0] + joint_raw_b[n-1])/2; //Insensitive to errors in this direction, so 2 points is plenty
+
+
+ printf("\n\r Encoder non-linearity compensation table\n\r");
+ printf(" Sample Number : Lookup Index : Lookup Value : Cogging Current Lookup\n\r\n\r");
+
+ for (int i = 0; i<n_joint; i++){ // build lookup table
+ int joint_ind = (joint_raw_offset>>7) + i;
+ if(joint_ind > (n_joint-1)){
+ joint_ind -= n_joint;
+ }
+ joint[joint_ind] = (int) ((error_joint_filt[i*NPP] - joint_mean)*(float)(jps->GetCPR())/(2.0f*PI));
+ printf("%d %d %d %f\n\r", i, joint_ind, joint[joint_ind], cogging_joint_current[i]);
+ wait(.001);
+ }
+
+
+
+ jps->WriteLUT(joint); // write lookup table to position sensor object
+ //memcpy(controller->cogging, cogging_current, sizeof(controller->cogging)); //compensation doesn't actually work yet....
+
+ memcpy(&ENCODER_JOINT, joint, sizeof(joint));
+
+ printf("\n\rJoint Encoder Electrical Offset (rad) %f\n\r", joint_offset);
+
+ if (!prefs->ready()) prefs->open();
+ prefs->flush(); // write offset and lookup table to flash
+ prefs->close();
+
+}*/
\ No newline at end of file