yezhong yezhong / Mbed 2 deprecated Joint_control_AS5147_DRV8323RH_200nm_PID

1

Dependencies:   mbed FastPWM3

main.cpp@51:f9a9508b7460, 2022-03-22 (annotated)

Committer:
yezhong
Date:
Tue Mar 22 06:25:38 2022 +0000
Revision:
51:f9a9508b7460
Parent:
50:3bda887997f0 
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 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
wyc136 50:3bda887997f0 11 #define SPEED_MODE 6
benkatz 22:60276ba87ac6 12
wyc136 50:3bda887997f0 13 #define VERSION_NUM "wyc ADD PID 0.1"
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 37:c0f352d6e8e3 34
benkatz 26:2b865c00d7e9 35
benkatz 23:2adf23ee0305 36 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 37
benkatz 20:bf9ea5125d52 38 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 39 ControllerStruct controller;
benkatz 20:bf9ea5125d52 40 COMStruct com;
benkatz 37:c0f352d6e8e3 41 ObserverStruct observer;
benkatz 43:dfb72608639c 42 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 43
benkatz 17:3c5df2982199 44
Rushu 47:55bdc4d5096b 45 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name, 1000kbps
benkatz 26:2b865c00d7e9 46 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 47 CANMessage txMsg;
benkatz 23:2adf23ee0305 48
benkatz 20:bf9ea5125d52 49
benkatz 8:10ae7bc88d6e 50
Rushu 47:55bdc4d5096b 51 PositionSensorAM5147 spi(16384, 0.0, NPP); //14 bits encoder, 21 NPP
benkatz 20:bf9ea5125d52 52
benkatz 23:2adf23ee0305 53 volatile int count = 0;
benkatz 23:2adf23ee0305 54 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 55 volatile int state_change;
shaorui 49:9d762c5d05c3 56 volatile int brake_state=1;
shaorui 49:9d762c5d05c3 57 int reg_count=0;
benkatz 26:2b865c00d7e9 58 void onMsgReceived() {
benkatz 26:2b865c00d7e9 59 //msgAvailable = true;
benkatz 45:aadebe074af6 60
benkatz 26:2b865c00d7e9 61 can.read(rxMsg);
benkatz 28:8c7e29f719c5 62 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 63 controller.timeout = 0;
benkatz 28:8c7e29f719c5 64 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 65 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 66 state_change = 1;
benkatz 28:8c7e29f719c5 67 }
benkatz 28:8c7e29f719c5 68 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 69 state = REST_MODE;
benkatz 28:8c7e29f719c5 70 state_change = 1;
benkatz 37:c0f352d6e8e3 71 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 72 }
wyc136 50:3bda887997f0 73 //************WYC ADD **********2021.11.04**************//
wyc136 50:3bda887997f0 74 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]==0xFA))){
wyc136 50:3bda887997f0 75 state = SPEED_MODE;
wyc136 50:3bda887997f0 76 state_change = 1;
wyc136 50:3bda887997f0 77 gpio.led->write(1);
wyc136 50:3bda887997f0 78 }
wyc136 50:3bda887997f0 79 //************WYC ADD **********2021.11.04**************//
wyc136 50:3bda887997f0 80
benkatz 28:8c7e29f719c5 81 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 82 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 83 }
wyc136 50:3bda887997f0 84 else if(state == MOTOR_MODE ||state == SPEED_MODE){ //WYC ADD 2021.11.04
benkatz 28:8c7e29f719c5 85 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 86 }
benkatz 37:c0f352d6e8e3 87 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 88 can.write(txMsg);
benkatz 28:8c7e29f719c5 89 }
benkatz 26:2b865c00d7e9 90
benkatz 26:2b865c00d7e9 91 }
benkatz 26:2b865c00d7e9 92
benkatz 23:2adf23ee0305 93 void enter_menu_state(void){
benkatz 23:2adf23ee0305 94 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 95 printf(" Commands:\n\r");
benkatz 44:efcde0af8390 96 wait_us(10);
benkatz 26:2b865c00d7e9 97 printf(" m - Motor Mode\n\r");
benkatz 44:efcde0af8390 98 wait_us(10);
benkatz 23:2adf23ee0305 99 printf(" c - Calibrate Encoder\n\r");
benkatz 44:efcde0af8390 100 wait_us(10);
benkatz 23:2adf23ee0305 101 printf(" s - Setup\n\r");
benkatz 44:efcde0af8390 102 wait_us(10);
benkatz 23:2adf23ee0305 103 printf(" e - Display Encoder\n\r");
benkatz 44:efcde0af8390 104 wait_us(10);
benkatz 37:c0f352d6e8e3 105 printf(" z - Set Zero Position\n\r");
benkatz 44:efcde0af8390 106 wait_us(10);
benkatz 23:2adf23ee0305 107 printf(" esc - Exit to Menu\n\r");
benkatz 44:efcde0af8390 108 wait_us(10);
benkatz 23:2adf23ee0305 109 state_change = 0;
benkatz 25:f5741040c4bb 110 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 111 gpio.led->write(0);
benkatz 23:2adf23ee0305 112 }
benkatz 24:58c2d7571207 113
benkatz 24:58c2d7571207 114 void enter_setup_state(void){
benkatz 24:58c2d7571207 115 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:efcde0af8390 116 wait_us(10);
benkatz 28:8c7e29f719c5 117 printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:efcde0af8390 118 wait_us(10);
benkatz 28:8c7e29f719c5 119 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:efcde0af8390 120 wait_us(10);
benkatz 28:8c7e29f719c5 121 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:efcde0af8390 122 wait_us(10);
benkatz 28:8c7e29f719c5 123 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:efcde0af8390 124 wait_us(10);
benkatz 28:8c7e29f719c5 125 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
benkatz 44:efcde0af8390 126 wait_us(10);
benkatz 28:8c7e29f719c5 127 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:efcde0af8390 128 wait_us(10);
benkatz 24:58c2d7571207 129 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:efcde0af8390 130 wait_us(10);
benkatz 24:58c2d7571207 131 state_change = 0;
benkatz 24:58c2d7571207 132 }
benkatz 22:60276ba87ac6 133
benkatz 23:2adf23ee0305 134 void enter_torque_mode(void){
benkatz 37:c0f352d6e8e3 135 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 136 gpio.enable->write(1); // Enable gate drive
benkatz 28:8c7e29f719c5 137 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 138 wait(.001);
benkatz 23:2adf23ee0305 139 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 140 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 141 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 142 state_change = 0;
benkatz 28:8c7e29f719c5 143 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 144 }
wyc136 50:3bda887997f0 145 //****************WYC ADD ************2021.11.04**********//
wyc136 50:3bda887997f0 146 void enter_speed_mode(void){
wyc136 50:3bda887997f0 147 controller.ovp_flag = 0;
wyc136 50:3bda887997f0 148 gpio.enable->write(1); // Enable gate drive
wyc136 50:3bda887997f0 149 reset_foc(&controller); // Tesets integrators, and other control loop parameters
wyc136 50:3bda887997f0 150 wait(.001);
wyc136 50:3bda887997f0 151 controller.i_d_ref = 0;
wyc136 50:3bda887997f0 152 controller.i_q_ref = 0; // Current Setpoints
wyc136 50:3bda887997f0 153 gpio.led->write(1); // Turn on status LED
wyc136 50:3bda887997f0 154 state_change = 0;
wyc136 50:3bda887997f0 155 printf("\n\r Entering SPEED Mode \n\r");
wyc136 50:3bda887997f0 156 }
wyc136 50:3bda887997f0 157 //****************WYC ADD ************2021.11.04**********//
wyc136 50:3bda887997f0 158
benkatz 23:2adf23ee0305 159 void calibrate(void){
benkatz 25:f5741040c4bb 160 gpio.enable->write(1); // Enable gate drive
benkatz 37:c0f352d6e8e3 161 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 162 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 163 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 164 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 165 wait(.2);
benkatz 25:f5741040c4bb 166 gpio.enable->write(0); // Turn off gate drive
benkatz 23:2adf23ee0305 167 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 23:2adf23ee0305 168 state_change = 0;
benkatz 23:2adf23ee0305 169 }
benkatz 23:2adf23ee0305 170
benkatz 23:2adf23ee0305 171 void print_encoder(void){
benkatz 23:2adf23ee0305 172 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
shaorui 49:9d762c5d05c3 173 for(reg_count=0;reg_count<=263;reg_count++)
shaorui 49:9d762c5d05c3 174 {
shaorui 49:9d762c5d05c3 175 printf("%d %d\n\r",reg_count,__int_reg[reg_count]);
shaorui 49:9d762c5d05c3 176 }
benkatz 23:2adf23ee0305 177 wait(.05);
benkatz 22:60276ba87ac6 178 }
benkatz 20:bf9ea5125d52 179
benkatz 23:2adf23ee0305 180 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 181 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 182 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 183 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 184
benkatz 23:2adf23ee0305 185 ///Sample current always ///
benkatz 25:f5741040c4bb 186 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 187 //volatile int delay;
benkatz 20:bf9ea5125d52 188 //for (delay = 0; delay < 55; delay++);
benkatz 37:c0f352d6e8e3 189 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 190 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 191 controller.adc3_raw = ADC3->DR;
benkatz 45:aadebe074af6 192 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 193 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 194 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 195 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 196 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 37:c0f352d6e8e3 197 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE;
benkatz 23:2adf23ee0305 198 ///
benkatz 20:bf9ea5125d52 199
benkatz 23:2adf23ee0305 200 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 201 switch(state){
benkatz 37:c0f352d6e8e3 202 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 203 if(state_change){
benkatz 23:2adf23ee0305 204 enter_menu_state();
benkatz 23:2adf23ee0305 205 }
benkatz 23:2adf23ee0305 206 break;
benkatz 22:60276ba87ac6 207
benkatz 23:2adf23ee0305 208 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 209 if(state_change){
benkatz 23:2adf23ee0305 210 calibrate();
benkatz 23:2adf23ee0305 211 }
benkatz 23:2adf23ee0305 212 break;
benkatz 23:2adf23ee0305 213
benkatz 26:2b865c00d7e9 214 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 215 if(state_change){
benkatz 25:f5741040c4bb 216 enter_torque_mode();
wyc136 50:3bda887997f0 217 // count = 0;
benkatz 25:f5741040c4bb 218 }
benkatz 28:8c7e29f719c5 219 else{
benkatz 37:c0f352d6e8e3 220 /*
benkatz 37:c0f352d6e8e3 221 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 222 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 223 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 224 state = REST_MODE;
benkatz 37:c0f352d6e8e3 225 state_change = 1;
benkatz 37:c0f352d6e8e3 226 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 227 }
benkatz 37:c0f352d6e8e3 228 */
benkatz 37:c0f352d6e8e3 229
benkatz 40:cd7e837b2b93 230 torque_control(&controller);
benkatz 28:8c7e29f719c5 231 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 232 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 233 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 234 controller.kp = 0;
benkatz 37:c0f352d6e8e3 235 controller.kd = 0;
benkatz 37:c0f352d6e8e3 236 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 237 }
benkatz 37:c0f352d6e8e3 238 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 28:8c7e29f719c5 239 controller.timeout += 1;
benkatz 38:67e4e1453a4b 240
benkatz 38:67e4e1453a4b 241
shaorui 49:9d762c5d05c3 242 if(brake_state)
shaorui 49:9d762c5d05c3 243 {
shaorui 49:9d762c5d05c3 244 if(gpio.brake1->read()==0||gpio.brake2->read()==0)
shaorui 49:9d762c5d05c3 245 {
shaorui 49:9d762c5d05c3 246 printf("2\n\r");
shaorui 49:9d762c5d05c3 247 controller.i_d_ref = 0;
shaorui 49:9d762c5d05c3 248 controller.i_q_ref = 0;
shaorui 49:9d762c5d05c3 249 controller.kp = 0;
shaorui 49:9d762c5d05c3 250 controller.kd = 0;
shaorui 49:9d762c5d05c3 251 controller.t_ff = 0;
shaorui 49:9d762c5d05c3 252 brake_state=0;
shaorui 49:9d762c5d05c3 253 state_change = 0;
shaorui 49:9d762c5d05c3 254 gpio.enable->write(0);
shaorui 49:9d762c5d05c3 255 gpio.led->write(0);
shaorui 49:9d762c5d05c3 256 }
shaorui 49:9d762c5d05c3 257 }
shaorui 49:9d762c5d05c3 258 if(gpio.brake1->read()==1&&gpio.brake2->read()==1)
shaorui 49:9d762c5d05c3 259 {
shaorui 49:9d762c5d05c3 260 brake_state=1;
shaorui 49:9d762c5d05c3 261 }
benkatz 37:c0f352d6e8e3 262 }
benkatz 23:2adf23ee0305 263 break;
yezhong 51:f9a9508b7460 264 /// wyc////
wyc136 50:3bda887997f0 265 case SPEED_MODE: // Run SPEED control WYC 2021.11.04
wyc136 50:3bda887997f0 266 if(state_change){
wyc136 50:3bda887997f0 267 enter_speed_mode();
wyc136 50:3bda887997f0 268 }
wyc136 50:3bda887997f0 269 else{
wyc136 50:3bda887997f0 270 velocity_control(&controller);
wyc136 50:3bda887997f0 271 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
wyc136 50:3bda887997f0 272 controller.i_d_ref = 0;
wyc136 50:3bda887997f0 273 controller.i_q_ref = 0;
wyc136 50:3bda887997f0 274 controller.kp = 0;
wyc136 50:3bda887997f0 275 controller.kd = 0;
wyc136 50:3bda887997f0 276 controller.t_ff = 0;
wyc136 50:3bda887997f0 277 }
wyc136 50:3bda887997f0 278 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
wyc136 50:3bda887997f0 279 controller.timeout += 1;
wyc136 50:3bda887997f0 280 }
wyc136 50:3bda887997f0 281 break;
yezhong 51:f9a9508b7460 282 ////wyc////////
benkatz 23:2adf23ee0305 283 case SETUP_MODE:
benkatz 23:2adf23ee0305 284 if(state_change){
benkatz 24:58c2d7571207 285 enter_setup_state();
benkatz 23:2adf23ee0305 286 }
benkatz 23:2adf23ee0305 287 break;
benkatz 23:2adf23ee0305 288 case ENCODER_MODE:
benkatz 23:2adf23ee0305 289 print_encoder();
benkatz 23:2adf23ee0305 290 break;
benkatz 37:c0f352d6e8e3 291 }
benkatz 2:8724412ad628 292 }
benkatz 23:2adf23ee0305 293 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 294 }
benkatz 0:4e1c4df6aabd 295
benkatz 25:f5741040c4bb 296
benkatz 24:58c2d7571207 297 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 298 char cmd_id = 0;
benkatz 25:f5741040c4bb 299 char char_count = 0;
benkatz 24:58c2d7571207 300
benkatz 25:f5741040c4bb 301 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 302 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 303 void serial_interrupt(void){
benkatz 23:2adf23ee0305 304 while(pc.readable()){
benkatz 23:2adf23ee0305 305 char c = pc.getc();
benkatz 25:f5741040c4bb 306 if(c == 27){
benkatz 25:f5741040c4bb 307 state = REST_MODE;
benkatz 25:f5741040c4bb 308 state_change = 1;
benkatz 25:f5741040c4bb 309 char_count = 0;
benkatz 25:f5741040c4bb 310 cmd_id = 0;
benkatz 37:c0f352d6e8e3 311 gpio.led->write(0);;
benkatz 25:f5741040c4bb 312 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 313 }
benkatz 24:58c2d7571207 314 if(state == REST_MODE){
benkatz 23:2adf23ee0305 315 switch (c){
benkatz 23:2adf23ee0305 316 case 'c':
benkatz 23:2adf23ee0305 317 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 318 state_change = 1;
benkatz 23:2adf23ee0305 319 break;
benkatz 26:2b865c00d7e9 320 case 'm':
benkatz 26:2b865c00d7e9 321 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 322 state_change = 1;
benkatz 23:2adf23ee0305 323 break;
benkatz 23:2adf23ee0305 324 case 'e':
benkatz 23:2adf23ee0305 325 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 326 state_change = 1;
benkatz 23:2adf23ee0305 327 break;
benkatz 23:2adf23ee0305 328 case 's':
benkatz 23:2adf23ee0305 329 state = SETUP_MODE;
benkatz 23:2adf23ee0305 330 state_change = 1;
benkatz 23:2adf23ee0305 331 break;
benkatz 37:c0f352d6e8e3 332 case 'z':
benkatz 37:c0f352d6e8e3 333 spi.SetMechOffset(0);
benkatz 45:aadebe074af6 334 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 335 wait_us(20);
benkatz 37:c0f352d6e8e3 336 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 337 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 338 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 339 prefs.close();
benkatz 37:c0f352d6e8e3 340 prefs.load();
benkatz 37:c0f352d6e8e3 341 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 342 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 343
benkatz 37:c0f352d6e8e3 344 break;
benkatz 37:c0f352d6e8e3 345 }
benkatz 37:c0f352d6e8e3 346
benkatz 24:58c2d7571207 347 }
benkatz 24:58c2d7571207 348 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 349 if(c == 13){
benkatz 24:58c2d7571207 350 switch (cmd_id){
benkatz 24:58c2d7571207 351 case 'b':
benkatz 24:58c2d7571207 352 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 353 break;
benkatz 24:58c2d7571207 354 case 'i':
benkatz 24:58c2d7571207 355 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 356 break;
benkatz 26:2b865c00d7e9 357 case 'm':
benkatz 26:2b865c00d7e9 358 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 359 break;
benkatz 24:58c2d7571207 360 case 'l':
benkatz 24:58c2d7571207 361 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 24:58c2d7571207 362 break;
benkatz 28:8c7e29f719c5 363 case 't':
benkatz 28:8c7e29f719c5 364 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 365 break;
benkatz 24:58c2d7571207 366 default:
benkatz 24:58c2d7571207 367 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 368 break;
benkatz 24:58c2d7571207 369 }
benkatz 24:58c2d7571207 370
benkatz 24:58c2d7571207 371 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 372 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 373 prefs.close();
benkatz 24:58c2d7571207 374 prefs.load();
benkatz 24:58c2d7571207 375 state_change = 1;
benkatz 24:58c2d7571207 376 char_count = 0;
benkatz 24:58c2d7571207 377 cmd_id = 0;
benkatz 24:58c2d7571207 378 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 379 }
benkatz 24:58c2d7571207 380 else{
benkatz 24:58c2d7571207 381 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 382 else{
benkatz 24:58c2d7571207 383 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 384
benkatz 24:58c2d7571207 385 }
benkatz 24:58c2d7571207 386 pc.putc(c);
benkatz 24:58c2d7571207 387 char_count++;
benkatz 23:2adf23ee0305 388 }
benkatz 23:2adf23ee0305 389 }
benkatz 24:58c2d7571207 390 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 391 switch (c){
benkatz 24:58c2d7571207 392 case 27:
benkatz 24:58c2d7571207 393 state = REST_MODE;
benkatz 24:58c2d7571207 394 state_change = 1;
benkatz 24:58c2d7571207 395 break;
benkatz 24:58c2d7571207 396 }
benkatz 24:58c2d7571207 397 }
benkatz 24:58c2d7571207 398
benkatz 24:58c2d7571207 399 }
benkatz 22:60276ba87ac6 400 }
benkatz 0:4e1c4df6aabd 401
benkatz 0:4e1c4df6aabd 402 int main() {
benkatz 45:aadebe074af6 403
benkatz 20:bf9ea5125d52 404 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 405 controller.mode = 0;
benkatz 23:2adf23ee0305 406 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 20:bf9ea5125d52 407
benkatz 9:d7eb815cb057 408 wait(.1);
benkatz 26:2b865c00d7e9 409 gpio.enable->write(1);
benkatz 45:aadebe074af6 410 TIM1->CCR3 = PWM_ARR*(1.0f); // Write duty cycles
benkatz 45:aadebe074af6 411 TIM1->CCR2 = PWM_ARR*(1.0f);
benkatz 45:aadebe074af6 412 TIM1->CCR1 = PWM_ARR*(1.0f);
benkatz 23:2adf23ee0305 413 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 26:2b865c00d7e9 414 gpio.enable->write(0);
benkatz 23:2adf23ee0305 415 reset_foc(&controller); // Reset current controller
benkatz 26:2b865c00d7e9 416 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 417 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 418
benkatz 20:bf9ea5125d52 419 wait(.1);
benkatz 37:c0f352d6e8e3 420 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 421
benkatz 37:c0f352d6e8e3 422 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 423 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 424
benkatz 28:8c7e29f719c5 425 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 426 txMsg.len = 6;
benkatz 26:2b865c00d7e9 427 rxMsg.len = 8;
benkatz 43:dfb72608639c 428 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 429
benkatz 25:f5741040c4bb 430 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 431 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 432 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 25:f5741040c4bb 433 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 434 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 435 int lut[128] = {0};
benkatz 23:2adf23ee0305 436 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 437 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 23:2adf23ee0305 438
Rushu 47:55bdc4d5096b 439 pc.baud(115200);//pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 440 wait(.01);
benkatz 23:2adf23ee0305 441 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 442 wait(.01);
benkatz 23:2adf23ee0305 443 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 444 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 445 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 446 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 447 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 448 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 23:2adf23ee0305 449
benkatz 23:2adf23ee0305 450 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 451
benkatz 23:2adf23ee0305 452 state_change = 1;
benkatz 20:bf9ea5125d52 453
benkatz 22:60276ba87ac6 454
benkatz 0:4e1c4df6aabd 455 while(1) {
shaorui 49:9d762c5d05c3 456 if(state==MOTOR_MODE)
wyc136 50:3bda887997f0 457 { //57.2957795 = 180/PI
wyc136 50:3bda887997f0 458 //printf("Pref: %.3f qian: %.3f hou: %.3f M: %.3d \n\r", (1.0f/GR)*spi.GetMechPosition()*57.2957795,controller.theta_joint_raw*57.2957795,controller.theta_mech*57.2957795,PHASE_ORDER);
wyc136 50:3bda887997f0 459 printf("Pdes: %.3f [degree] Vdes: %.3f [rad/s] Kp: %.3f Kd: %.3f Tff: %.3f\n\r",controller.p_des*57.2957795, controller.v_des, controller.kp,controller.kd,controller.t_ff);
wyc136 50:3bda887997f0 460 // printf("%.3f\n\r",sqrt(pow(controller.i_d, 2) + pow(controller.i_q, 2)));
wyc136 50:3bda887997f0 461 //printf("speed:%.3f rpm\n\r",controller.dtheta_mech/6.28318530718f*60.0);
wyc136 50:3bda887997f0 462 //printf("ia: %.3f ib: %.3f ic: %.3f\n\r",controller.i_a,controller.i_b,controller.i_c);
wyc136 50:3bda887997f0 463 wait(1);
wyc136 50:3bda887997f0 464 }
wyc136 50:3bda887997f0 465 if(state==SPEED_MODE)
shaorui 49:9d762c5d05c3 466 {
wyc136 50:3bda887997f0 467 printf("Pdes: %.3f [degree] Vdes: %.3f [rad/s] Kp: %.3f Kd: %.3f Tff: %.3f\n\r",controller.p_des*57.2957795, controller.v_des, controller.kp,controller.kd,controller.t_ff);
wyc136 50:3bda887997f0 468 printf("MOTOR_speed:%.3f rpm\n\r",controller.dtheta_mech * 9.5492965855 * GR );
shaorui 49:9d762c5d05c3 469 wait(1);
shaorui 49:9d762c5d05c3 470 }
benkatz 0:4e1c4df6aabd 471 }
benkatz 0:4e1c4df6aabd 472 }