yezhong yezhong / Motor_DRV8323RH_for_2019

11

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@52:8fff6f1a3f50, 2021-12-20 (annotated)

Committer:
yezhong
Date:
Mon Dec 20 01:24:06 2021 +0000
Revision:
52:8fff6f1a3f50
Parent:
49:8dcdb8a89d0e
Child:
53:89565c1d9115
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
yezhong 52:8fff6f1a3f50 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
yezhong 52:8fff6f1a3f50 11 #define SPEED_MODE 6
yezhong 52:8fff6f1a3f50 12 #define Position_MODE 7
benkatz 22:60276ba87ac6 13
benkatz 44:efcde0af8390 14 #define VERSION_NUM "1.6"
benkatz 26:2b865c00d7e9 15
benkatz 18:f1d56f4acb39 16
benkatz 26:2b865c00d7e9 17 float __float_reg[64]; // Floats stored in flash
benkatz 26:2b865c00d7e9 18 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 19
benkatz 0:4e1c4df6aabd 20 #include "mbed.h"
benkatz 0:4e1c4df6aabd 21 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 22 #include "structs.h"
benkatz 20:bf9ea5125d52 23 #include "foc.h"
benkatz 22:60276ba87ac6 24 #include "calibration.h"
benkatz 20:bf9ea5125d52 25 #include "hw_setup.h"
benkatz 23:2adf23ee0305 26 #include "math_ops.h"
benkatz 20:bf9ea5125d52 27 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 28 #include "hw_config.h"
benkatz 20:bf9ea5125d52 29 #include "motor_config.h"
benkatz 23:2adf23ee0305 30 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 31 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 32 #include "user_config.h"
benkatz 23:2adf23ee0305 33 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 34 #include "CAN_com.h"
benkatz 37:c0f352d6e8e3 35
benkatz 26:2b865c00d7e9 36
benkatz 23:2adf23ee0305 37 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 38
benkatz 20:bf9ea5125d52 39 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 40 ControllerStruct controller;
benkatz 20:bf9ea5125d52 41 COMStruct com;
benkatz 37:c0f352d6e8e3 42 ObserverStruct observer;
benkatz 43:dfb72608639c 43 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 44
benkatz 17:3c5df2982199 45
yezhong 52:8fff6f1a3f50 46 CAN can(PB_8, PB_9, 800000); // CAN Rx pin name, CAN Tx pin name, 1000kbps
benkatz 26:2b865c00d7e9 47 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 48 CANMessage txMsg;
benkatz 23:2adf23ee0305 49
benkatz 20:bf9ea5125d52 50
benkatz 8:10ae7bc88d6e 51
Rushu 47:55bdc4d5096b 52 PositionSensorAM5147 spi(16384, 0.0, NPP); //14 bits encoder, 21 NPP
benkatz 20:bf9ea5125d52 53
benkatz 23:2adf23ee0305 54 volatile int count = 0;
benkatz 23:2adf23ee0305 55 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 56 volatile int state_change;
benkatz 20:bf9ea5125d52 57
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;
yezhong 49:8dcdb8a89d0e 71 gpio.led->write(0);
benkatz 28:8c7e29f719c5 72 }
yezhong 52:8fff6f1a3f50 73 //************WYC ADD **********2021.11.04**************//
yezhong 52:8fff6f1a3f50 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))){
yezhong 52:8fff6f1a3f50 75 state = SPEED_MODE;
yezhong 52:8fff6f1a3f50 76 state_change = 1;
yezhong 52:8fff6f1a3f50 77 gpio.led->write(1);
yezhong 52:8fff6f1a3f50 78 }
yezhong 52:8fff6f1a3f50 79 //************WYC ADD **********2021.11.04**************//
yezhong 52:8fff6f1a3f50 80 //************YZ ADD **********2021.11.05**************//
yezhong 52:8fff6f1a3f50 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]==0xFB))){
yezhong 52:8fff6f1a3f50 82 state = Position_MODE;
yezhong 52:8fff6f1a3f50 83 state_change = 1;
yezhong 52:8fff6f1a3f50 84 gpio.led->write(1);
yezhong 52:8fff6f1a3f50 85 }
yezhong 52:8fff6f1a3f50 86 //************YZ ADD **********2021.11.05**************//
benkatz 28:8c7e29f719c5 87 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 88 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 89 }
yezhong 52:8fff6f1a3f50 90 /*
benkatz 28:8c7e29f719c5 91 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 92 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 93 }
yezhong 52:8fff6f1a3f50 94 */
yezhong 52:8fff6f1a3f50 95 else if(state == MOTOR_MODE ||state == SPEED_MODE||state == Position_MODE)
yezhong 52:8fff6f1a3f50 96 { //WYC ADD 2021.11.04
yezhong 52:8fff6f1a3f50 97 unpack_cmd(rxMsg, &controller);
yezhong 52:8fff6f1a3f50 98 }
benkatz 37:c0f352d6e8e3 99 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 100 can.write(txMsg);
benkatz 28:8c7e29f719c5 101 }
benkatz 26:2b865c00d7e9 102
benkatz 26:2b865c00d7e9 103 }
benkatz 26:2b865c00d7e9 104
benkatz 23:2adf23ee0305 105 void enter_menu_state(void){
benkatz 23:2adf23ee0305 106 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 107 printf(" Commands:\n\r");
benkatz 44:efcde0af8390 108 wait_us(10);
benkatz 26:2b865c00d7e9 109 printf(" m - Motor Mode\n\r");
benkatz 44:efcde0af8390 110 wait_us(10);
benkatz 23:2adf23ee0305 111 printf(" c - Calibrate Encoder\n\r");
benkatz 44:efcde0af8390 112 wait_us(10);
benkatz 23:2adf23ee0305 113 printf(" s - Setup\n\r");
benkatz 44:efcde0af8390 114 wait_us(10);
benkatz 23:2adf23ee0305 115 printf(" e - Display Encoder\n\r");
benkatz 44:efcde0af8390 116 wait_us(10);
benkatz 37:c0f352d6e8e3 117 printf(" z - Set Zero Position\n\r");
benkatz 44:efcde0af8390 118 wait_us(10);
benkatz 23:2adf23ee0305 119 printf(" esc - Exit to Menu\n\r");
benkatz 44:efcde0af8390 120 wait_us(10);
benkatz 23:2adf23ee0305 121 state_change = 0;
benkatz 25:f5741040c4bb 122 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 123 gpio.led->write(0);
benkatz 23:2adf23ee0305 124 }
benkatz 24:58c2d7571207 125
benkatz 24:58c2d7571207 126 void enter_setup_state(void){
benkatz 24:58c2d7571207 127 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:efcde0af8390 128 wait_us(10);
benkatz 28:8c7e29f719c5 129 printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:efcde0af8390 130 wait_us(10);
benkatz 28:8c7e29f719c5 131 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:efcde0af8390 132 wait_us(10);
benkatz 28:8c7e29f719c5 133 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:efcde0af8390 134 wait_us(10);
benkatz 28:8c7e29f719c5 135 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:efcde0af8390 136 wait_us(10);
benkatz 28:8c7e29f719c5 137 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
benkatz 44:efcde0af8390 138 wait_us(10);
benkatz 28:8c7e29f719c5 139 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:efcde0af8390 140 wait_us(10);
benkatz 24:58c2d7571207 141 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:efcde0af8390 142 wait_us(10);
benkatz 24:58c2d7571207 143 state_change = 0;
benkatz 24:58c2d7571207 144 }
benkatz 22:60276ba87ac6 145
benkatz 23:2adf23ee0305 146 void enter_torque_mode(void){
benkatz 37:c0f352d6e8e3 147 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 148 gpio.enable->write(1); // Enable gate drive
benkatz 28:8c7e29f719c5 149 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 150 wait(.001);
benkatz 23:2adf23ee0305 151 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 152 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 153 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 154 state_change = 0;
benkatz 28:8c7e29f719c5 155 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 156 }
yezhong 52:8fff6f1a3f50 157
yezhong 52:8fff6f1a3f50 158 //****************WYC ADD ************2021.11.04**********//
yezhong 52:8fff6f1a3f50 159 void enter_speed_mode(void){
yezhong 52:8fff6f1a3f50 160 controller.ovp_flag = 0;
yezhong 52:8fff6f1a3f50 161 gpio.enable->write(1); // Enable gate drive
yezhong 52:8fff6f1a3f50 162 reset_foc(&controller); // Tesets integrators, and other control loop parameters
yezhong 52:8fff6f1a3f50 163 wait(.001);
yezhong 52:8fff6f1a3f50 164 controller.i_d_ref = 0;
yezhong 52:8fff6f1a3f50 165 controller.i_q_ref = 0; // Current Setpoints
yezhong 52:8fff6f1a3f50 166 gpio.led->write(1); // Turn on status LED
yezhong 52:8fff6f1a3f50 167 state_change = 0;
yezhong 52:8fff6f1a3f50 168 printf("\n\r Entering SPEED Mode \n\r");
yezhong 52:8fff6f1a3f50 169 }
yezhong 52:8fff6f1a3f50 170 //****************WYC ADD ************2021.11.04**********//
yezhong 52:8fff6f1a3f50 171
yezhong 52:8fff6f1a3f50 172 //****************YZ ADD ************2021.11.05**********//
yezhong 52:8fff6f1a3f50 173 void enter_Position_mode(void){
yezhong 52:8fff6f1a3f50 174 controller.ovp_flag = 0;
yezhong 52:8fff6f1a3f50 175 gpio.enable->write(1); // Enable gate drive
yezhong 52:8fff6f1a3f50 176 reset_foc(&controller); // Tesets integrators, and other control loop parameters
yezhong 52:8fff6f1a3f50 177 wait(.001);
yezhong 52:8fff6f1a3f50 178 controller.i_d_ref = 0;
yezhong 52:8fff6f1a3f50 179 controller.i_q_ref = 0; // Current Setpoints
yezhong 52:8fff6f1a3f50 180 gpio.led->write(1); // Turn on status LED
yezhong 52:8fff6f1a3f50 181 state_change = 0;
yezhong 52:8fff6f1a3f50 182 printf("\n\r Entering Position Mode \n\r");
yezhong 52:8fff6f1a3f50 183 }
yezhong 52:8fff6f1a3f50 184 //****************YZ ADD ************2021.11.05**********//
benkatz 22:60276ba87ac6 185
benkatz 23:2adf23ee0305 186 void calibrate(void){
benkatz 25:f5741040c4bb 187 gpio.enable->write(1); // Enable gate drive
benkatz 37:c0f352d6e8e3 188 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 189 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 190 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 191 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 192 wait(.2);
benkatz 25:f5741040c4bb 193 gpio.enable->write(0); // Turn off gate drive
benkatz 23:2adf23ee0305 194 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 23:2adf23ee0305 195 state_change = 0;
benkatz 23:2adf23ee0305 196 }
benkatz 23:2adf23ee0305 197
benkatz 23:2adf23ee0305 198 void print_encoder(void){
benkatz 23:2adf23ee0305 199 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 23:2adf23ee0305 200 wait(.05);
benkatz 22:60276ba87ac6 201 }
benkatz 20:bf9ea5125d52 202
benkatz 23:2adf23ee0305 203 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 204 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 205 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 206 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 207
benkatz 23:2adf23ee0305 208 ///Sample current always ///
benkatz 25:f5741040c4bb 209 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 210 //volatile int delay;
benkatz 20:bf9ea5125d52 211 //for (delay = 0; delay < 55; delay++);
benkatz 37:c0f352d6e8e3 212 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 213 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 214 controller.adc3_raw = ADC3->DR;
benkatz 45:aadebe074af6 215 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 216 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 217 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 218 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 219 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 37:c0f352d6e8e3 220 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE;
benkatz 23:2adf23ee0305 221 ///
benkatz 20:bf9ea5125d52 222
benkatz 23:2adf23ee0305 223 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 224 switch(state){
benkatz 37:c0f352d6e8e3 225 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 226 if(state_change){
benkatz 23:2adf23ee0305 227 enter_menu_state();
benkatz 23:2adf23ee0305 228 }
benkatz 23:2adf23ee0305 229 break;
benkatz 22:60276ba87ac6 230
benkatz 23:2adf23ee0305 231 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 232 if(state_change){
benkatz 23:2adf23ee0305 233 calibrate();
benkatz 23:2adf23ee0305 234 }
benkatz 23:2adf23ee0305 235 break;
benkatz 23:2adf23ee0305 236
benkatz 26:2b865c00d7e9 237 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 238 if(state_change){
benkatz 25:f5741040c4bb 239 enter_torque_mode();
benkatz 28:8c7e29f719c5 240 count = 0;
benkatz 25:f5741040c4bb 241 }
benkatz 28:8c7e29f719c5 242 else{
benkatz 37:c0f352d6e8e3 243 /*
benkatz 37:c0f352d6e8e3 244 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 245 gpio.enable->write(0);
benkatz 37:c0f352d6e8e3 246 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 247 state = REST_MODE;
benkatz 37:c0f352d6e8e3 248 state_change = 1;
benkatz 37:c0f352d6e8e3 249 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 250 }
benkatz 37:c0f352d6e8e3 251 */
benkatz 37:c0f352d6e8e3 252
benkatz 40:cd7e837b2b93 253 torque_control(&controller);
benkatz 28:8c7e29f719c5 254 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 255 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 256 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 257 controller.kp = 0;
benkatz 37:c0f352d6e8e3 258 controller.kd = 0;
benkatz 37:c0f352d6e8e3 259 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 260 }
benkatz 37:c0f352d6e8e3 261 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 28:8c7e29f719c5 262 controller.timeout += 1;
benkatz 38:67e4e1453a4b 263
benkatz 39:3580a907ef93 264 /*
benkatz 37:c0f352d6e8e3 265 count++;
benkatz 40:cd7e837b2b93 266 if(count == 4000){
benkatz 40:cd7e837b2b93 267 printf("%.4f\n\r", controller.dtheta_mech);
benkatz 32:ccac5da77844 268 count = 0;
benkatz 23:2adf23ee0305 269 }
benkatz 39:3580a907ef93 270 */
benkatz 38:67e4e1453a4b 271
benkatz 37:c0f352d6e8e3 272
benkatz 37:c0f352d6e8e3 273 }
benkatz 23:2adf23ee0305 274 break;
yezhong 52:8fff6f1a3f50 275 /// wyc////
yezhong 52:8fff6f1a3f50 276 case SPEED_MODE: // Run SPEED control WYC 2021.11.04
yezhong 52:8fff6f1a3f50 277 if(state_change){
yezhong 52:8fff6f1a3f50 278 enter_speed_mode();
yezhong 52:8fff6f1a3f50 279 }
yezhong 52:8fff6f1a3f50 280 else{
yezhong 52:8fff6f1a3f50 281 velocity_control(&controller);
yezhong 52:8fff6f1a3f50 282 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
yezhong 52:8fff6f1a3f50 283 controller.i_d_ref = 0;
yezhong 52:8fff6f1a3f50 284 controller.i_q_ref = 0;
yezhong 52:8fff6f1a3f50 285 controller.kp = 0;
yezhong 52:8fff6f1a3f50 286 controller.kd = 0;
yezhong 52:8fff6f1a3f50 287 controller.t_ff = 0;
yezhong 52:8fff6f1a3f50 288 }
yezhong 52:8fff6f1a3f50 289 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
yezhong 52:8fff6f1a3f50 290 controller.timeout += 1;
yezhong 52:8fff6f1a3f50 291 }
yezhong 52:8fff6f1a3f50 292 break;
yezhong 52:8fff6f1a3f50 293 ////wyc////////
yezhong 52:8fff6f1a3f50 294
yezhong 52:8fff6f1a3f50 295 /// YZ////
yezhong 52:8fff6f1a3f50 296 case Position_MODE: // Run Position control WYC 2021.11.05
yezhong 52:8fff6f1a3f50 297 if(state_change){
yezhong 52:8fff6f1a3f50 298 enter_Position_mode();
yezhong 52:8fff6f1a3f50 299 }
yezhong 52:8fff6f1a3f50 300 else{
yezhong 52:8fff6f1a3f50 301 Position_control(&controller);
yezhong 52:8fff6f1a3f50 302 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
yezhong 52:8fff6f1a3f50 303 controller.i_d_ref = 0;
yezhong 52:8fff6f1a3f50 304 controller.i_q_ref = 0;
yezhong 52:8fff6f1a3f50 305 controller.kp = 0;
yezhong 52:8fff6f1a3f50 306 controller.kd = 0;
yezhong 52:8fff6f1a3f50 307 controller.t_ff = 0;
yezhong 52:8fff6f1a3f50 308 }
yezhong 52:8fff6f1a3f50 309 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
yezhong 52:8fff6f1a3f50 310 controller.timeout += 1;
yezhong 52:8fff6f1a3f50 311 }
yezhong 52:8fff6f1a3f50 312 break;
yezhong 52:8fff6f1a3f50 313 ////YZ////////
benkatz 23:2adf23ee0305 314 case SETUP_MODE:
benkatz 23:2adf23ee0305 315 if(state_change){
benkatz 24:58c2d7571207 316 enter_setup_state();
benkatz 23:2adf23ee0305 317 }
benkatz 23:2adf23ee0305 318 break;
benkatz 23:2adf23ee0305 319 case ENCODER_MODE:
benkatz 23:2adf23ee0305 320 print_encoder();
benkatz 23:2adf23ee0305 321 break;
benkatz 37:c0f352d6e8e3 322 }
benkatz 2:8724412ad628 323 }
benkatz 23:2adf23ee0305 324 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 325 }
benkatz 0:4e1c4df6aabd 326
benkatz 25:f5741040c4bb 327
benkatz 24:58c2d7571207 328 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 329 char cmd_id = 0;
benkatz 25:f5741040c4bb 330 char char_count = 0;
benkatz 24:58c2d7571207 331
benkatz 25:f5741040c4bb 332 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 333 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 334 void serial_interrupt(void){
benkatz 23:2adf23ee0305 335 while(pc.readable()){
benkatz 23:2adf23ee0305 336 char c = pc.getc();
benkatz 25:f5741040c4bb 337 if(c == 27){
benkatz 25:f5741040c4bb 338 state = REST_MODE;
benkatz 25:f5741040c4bb 339 state_change = 1;
benkatz 25:f5741040c4bb 340 char_count = 0;
benkatz 25:f5741040c4bb 341 cmd_id = 0;
benkatz 37:c0f352d6e8e3 342 gpio.led->write(0);;
benkatz 25:f5741040c4bb 343 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 344 }
benkatz 24:58c2d7571207 345 if(state == REST_MODE){
benkatz 23:2adf23ee0305 346 switch (c){
benkatz 23:2adf23ee0305 347 case 'c':
benkatz 23:2adf23ee0305 348 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 349 state_change = 1;
benkatz 23:2adf23ee0305 350 break;
benkatz 26:2b865c00d7e9 351 case 'm':
benkatz 26:2b865c00d7e9 352 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 353 state_change = 1;
benkatz 23:2adf23ee0305 354 break;
benkatz 23:2adf23ee0305 355 case 'e':
benkatz 23:2adf23ee0305 356 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 357 state_change = 1;
benkatz 23:2adf23ee0305 358 break;
benkatz 23:2adf23ee0305 359 case 's':
benkatz 23:2adf23ee0305 360 state = SETUP_MODE;
benkatz 23:2adf23ee0305 361 state_change = 1;
benkatz 23:2adf23ee0305 362 break;
benkatz 37:c0f352d6e8e3 363 case 'z':
benkatz 37:c0f352d6e8e3 364 spi.SetMechOffset(0);
benkatz 45:aadebe074af6 365 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 366 wait_us(20);
benkatz 37:c0f352d6e8e3 367 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 368 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 369 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 370 prefs.close();
benkatz 37:c0f352d6e8e3 371 prefs.load();
benkatz 37:c0f352d6e8e3 372 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 373 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 374
benkatz 37:c0f352d6e8e3 375 break;
benkatz 37:c0f352d6e8e3 376 }
benkatz 37:c0f352d6e8e3 377
benkatz 24:58c2d7571207 378 }
benkatz 24:58c2d7571207 379 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 380 if(c == 13){
benkatz 24:58c2d7571207 381 switch (cmd_id){
benkatz 24:58c2d7571207 382 case 'b':
benkatz 24:58c2d7571207 383 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 384 break;
benkatz 24:58c2d7571207 385 case 'i':
benkatz 24:58c2d7571207 386 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 387 break;
benkatz 26:2b865c00d7e9 388 case 'm':
benkatz 26:2b865c00d7e9 389 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 390 break;
benkatz 24:58c2d7571207 391 case 'l':
benkatz 24:58c2d7571207 392 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 24:58c2d7571207 393 break;
benkatz 28:8c7e29f719c5 394 case 't':
benkatz 28:8c7e29f719c5 395 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 396 break;
benkatz 24:58c2d7571207 397 default:
benkatz 24:58c2d7571207 398 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 399 break;
benkatz 24:58c2d7571207 400 }
benkatz 24:58c2d7571207 401
benkatz 24:58c2d7571207 402 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 403 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 404 prefs.close();
benkatz 24:58c2d7571207 405 prefs.load();
benkatz 24:58c2d7571207 406 state_change = 1;
benkatz 24:58c2d7571207 407 char_count = 0;
benkatz 24:58c2d7571207 408 cmd_id = 0;
benkatz 24:58c2d7571207 409 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 410 }
benkatz 24:58c2d7571207 411 else{
benkatz 24:58c2d7571207 412 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 413 else{
benkatz 24:58c2d7571207 414 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 415
benkatz 24:58c2d7571207 416 }
benkatz 24:58c2d7571207 417 pc.putc(c);
benkatz 24:58c2d7571207 418 char_count++;
benkatz 23:2adf23ee0305 419 }
benkatz 23:2adf23ee0305 420 }
benkatz 24:58c2d7571207 421 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 422 switch (c){
benkatz 24:58c2d7571207 423 case 27:
benkatz 24:58c2d7571207 424 state = REST_MODE;
benkatz 24:58c2d7571207 425 state_change = 1;
benkatz 24:58c2d7571207 426 break;
benkatz 24:58c2d7571207 427 }
benkatz 24:58c2d7571207 428 }
benkatz 24:58c2d7571207 429
benkatz 24:58c2d7571207 430 }
benkatz 22:60276ba87ac6 431 }
benkatz 0:4e1c4df6aabd 432
benkatz 0:4e1c4df6aabd 433 int main() {
benkatz 45:aadebe074af6 434
benkatz 20:bf9ea5125d52 435 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 436 controller.mode = 0;
benkatz 23:2adf23ee0305 437 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 20:bf9ea5125d52 438
benkatz 9:d7eb815cb057 439 wait(.1);
benkatz 26:2b865c00d7e9 440 gpio.enable->write(1);
benkatz 45:aadebe074af6 441 TIM1->CCR3 = PWM_ARR*(1.0f); // Write duty cycles
benkatz 45:aadebe074af6 442 TIM1->CCR2 = PWM_ARR*(1.0f);
benkatz 45:aadebe074af6 443 TIM1->CCR1 = PWM_ARR*(1.0f);
benkatz 23:2adf23ee0305 444 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 26:2b865c00d7e9 445 gpio.enable->write(0);
benkatz 23:2adf23ee0305 446 reset_foc(&controller); // Reset current controller
benkatz 26:2b865c00d7e9 447 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 448 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 449
benkatz 20:bf9ea5125d52 450 wait(.1);
benkatz 37:c0f352d6e8e3 451 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 452
benkatz 37:c0f352d6e8e3 453 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 454 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 455
benkatz 28:8c7e29f719c5 456 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 457 txMsg.len = 6;
benkatz 26:2b865c00d7e9 458 rxMsg.len = 8;
benkatz 43:dfb72608639c 459 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 460
benkatz 25:f5741040c4bb 461 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 462 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 463 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 25:f5741040c4bb 464 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 465 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 466 int lut[128] = {0};
benkatz 23:2adf23ee0305 467 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 468 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 23:2adf23ee0305 469
Rushu 47:55bdc4d5096b 470 pc.baud(115200);//pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 471 wait(.01);
benkatz 23:2adf23ee0305 472 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 473 wait(.01);
benkatz 23:2adf23ee0305 474 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 475 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 476 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 477 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 478 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 479 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 23:2adf23ee0305 480
benkatz 23:2adf23ee0305 481 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 482
benkatz 23:2adf23ee0305 483 state_change = 1;
benkatz 20:bf9ea5125d52 484
benkatz 22:60276ba87ac6 485
benkatz 0:4e1c4df6aabd 486 while(1) {
yezhong 49:8dcdb8a89d0e 487 if(state == MOTOR_MODE)
yezhong 49:8dcdb8a89d0e 488 {
yezhong 49:8dcdb8a89d0e 489 // if(count >= 400){
yezhong 49:8dcdb8a89d0e 490 // printf("J: %.3f Mec: %.3f Jerr: %.3f JVerr: %.3f Kp: %.3f Kd: %.3f \n\r",controller.theta_joint*57.2957795, controller.theta_mech*57.2957795, (controller.p_des - controller.theta_mech)*57.2957795,(controller.v_des - controller.dtheta_mech)*57.2957795, controller.kp,controller.kd);
yezhong 49:8dcdb8a89d0e 491 //printf("Jraw:%.3f J: %.3f Mec: %.3f N: %.3d Nmod: %.3f Mmod: %.3f \n\r",controller.theta_joint_raw*57.2957795,controller.theta_joint*57.2957795, controller.theta_mech*57.2957795, controller.Ncycle,controller.Ncycle_mod*57.2957795,controller.Mech_mod*57.2957795);
benkatz 11:c83b18d41e54 492
yezhong 49:8dcdb8a89d0e 493 //printf("Pdes: %.3f Vdes: %.3f Kp: %.3f Kd: %.3f Tff: %.3f\n\r",controller.p_des*57.2957795, controller.v_des*57.2957795, controller.kp,controller.kd,controller.t_ff);
yezhong 49:8dcdb8a89d0e 494 pc.printf("Vdes: %.3f\n\rPrel: %.3f Vrel: %.3f T: %.3f \n\r",controller.v_des,controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
yezhong 49:8dcdb8a89d0e 495 //printf("tor: %.3f\n\r",controller.i_q_filt*KT_OUT)
yezhong 49:8dcdb8a89d0e 496 // count = 0;
yezhong 49:8dcdb8a89d0e 497
yezhong 49:8dcdb8a89d0e 498 //}
yezhong 49:8dcdb8a89d0e 499
yezhong 49:8dcdb8a89d0e 500 }
benkatz 0:4e1c4df6aabd 501 }
benkatz 0:4e1c4df6aabd 502 }