Gu Jasper / Motor_200Nm_V0

1

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@51:b0a3ef66ea3d, 2019-05-08 (annotated)

Committer:
Rushu
Date:
Wed May 08 01:17:38 2019 +0000
Revision:
51:b0a3ef66ea3d
Parent:
50:ba72df25d10f
Child:
52:91a42bd0fe2e
for as5147, included bang bang control

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 22:60276ba87ac6 1 /// high-bandwidth 3-phase motor control, for robots
benkatz 45:26801179208e 2 /// Written by benkatz, with much inspiration from Bayley Wang, Nick Kirkby, Shane Colton, 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 47:e1196a851f76 5 /// Version for the TI DRV8323 Everything Chip
benkatz 22:60276ba87ac6 6
benkatz 23:2adf23ee0305 7 #define REST_MODE 0
benkatz 23:2adf23ee0305 8 #define CALIBRATION_MODE 1
benkatz 26:2b865c00d7e9 9 #define MOTOR_MODE 2
benkatz 23:2adf23ee0305 10 #define SETUP_MODE 4
benkatz 23:2adf23ee0305 11 #define ENCODER_MODE 5
benkatz 22:60276ba87ac6 12
Rushu 51:b0a3ef66ea3d 13 #define VERSION_NUM "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 44:8040fa2fcb0d 34 #include "DRV.h"
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 48:74a40481740c 40 ObserverStruct observer;
benkatz 20:bf9ea5125d52 41 COMStruct com;
benkatz 43:dfb72608639c 42 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 43
benkatz 17:3c5df2982199 44
benkatz 45:26801179208e 45 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 46 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 47 CANMessage txMsg;
benkatz 23:2adf23ee0305 48
benkatz 20:bf9ea5125d52 49
benkatz 44:8040fa2fcb0d 50 SPI drv_spi(PA_7, PA_6, PA_5);
benkatz 44:8040fa2fcb0d 51 DigitalOut drv_cs(PA_4);
benkatz 44:8040fa2fcb0d 52 //DigitalOut drv_en_gate(PA_11);
benkatz 44:8040fa2fcb0d 53 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 54
Rushu 51:b0a3ef66ea3d 55 PositionSensorAM5147 spi(16384, 0.0, NPP); //resolution is 0.02197265625 deg
benkatz 20:bf9ea5125d52 56
benkatz 23:2adf23ee0305 57 volatile int count = 0;
benkatz 23:2adf23ee0305 58 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 59 volatile int state_change;
benkatz 20:bf9ea5125d52 60
Rushu 51:b0a3ef66ea3d 61 //================HJB=============added==========
Rushu 51:b0a3ef66ea3d 62 using namespace FastMath;
Rushu 51:b0a3ef66ea3d 63 volatile float Init_pos = 0;
Rushu 51:b0a3ef66ea3d 64 volatile float Pmag = 1;
Rushu 51:b0a3ef66ea3d 65 volatile float Tperiod = 25;
Rushu 51:b0a3ef66ea3d 66 volatile float p_des_HJB=0;
Rushu 51:b0a3ef66ea3d 67 volatile float v_des_HJB=0;
Rushu 51:b0a3ef66ea3d 68
Rushu 51:b0a3ef66ea3d 69 //===================HJB end===================
Rushu 51:b0a3ef66ea3d 70
benkatz 26:2b865c00d7e9 71 void onMsgReceived() {
benkatz 26:2b865c00d7e9 72 //msgAvailable = true;
benkatz 47:e1196a851f76 73 printf("%df\n\r", rxMsg.id);
benkatz 26:2b865c00d7e9 74 can.read(rxMsg);
benkatz 28:8c7e29f719c5 75 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 76 controller.timeout = 0;
benkatz 28:8c7e29f719c5 77 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 78 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 79 state_change = 1;
benkatz 28:8c7e29f719c5 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]==0xFD))){
benkatz 28:8c7e29f719c5 82 state = REST_MODE;
benkatz 28:8c7e29f719c5 83 state_change = 1;
benkatz 37:c0f352d6e8e3 84 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 85 }
benkatz 28:8c7e29f719c5 86 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 87 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 88 }
benkatz 28:8c7e29f719c5 89 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 90 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 91 }
benkatz 37:c0f352d6e8e3 92 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 93 can.write(txMsg);
benkatz 28:8c7e29f719c5 94 }
benkatz 26:2b865c00d7e9 95
benkatz 26:2b865c00d7e9 96 }
benkatz 26:2b865c00d7e9 97
benkatz 23:2adf23ee0305 98 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 99 drv.disable_gd();
benkatz 47:e1196a851f76 100 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 101 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 102 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 103 wait_us(10);
benkatz 26:2b865c00d7e9 104 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 105 wait_us(10);
benkatz 23:2adf23ee0305 106 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 107 wait_us(10);
benkatz 23:2adf23ee0305 108 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 109 wait_us(10);
benkatz 23:2adf23ee0305 110 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 111 wait_us(10);
benkatz 37:c0f352d6e8e3 112 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 113 wait_us(10);
benkatz 23:2adf23ee0305 114 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 115 wait_us(10);
benkatz 23:2adf23ee0305 116 state_change = 0;
benkatz 37:c0f352d6e8e3 117 gpio.led->write(0);
benkatz 23:2adf23ee0305 118 }
benkatz 24:58c2d7571207 119
benkatz 24:58c2d7571207 120 void enter_setup_state(void){
benkatz 24:58c2d7571207 121 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 122 wait_us(10);
benkatz 28:8c7e29f719c5 123 printf(" %-4s %-31s %-5s %-6s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 124 wait_us(10);
benkatz 28:8c7e29f719c5 125 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 126 wait_us(10);
benkatz 28:8c7e29f719c5 127 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 128 wait_us(10);
benkatz 28:8c7e29f719c5 129 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 130 wait_us(10);
benkatz 28:8c7e29f719c5 131 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
benkatz 44:8040fa2fcb0d 132 wait_us(10);
benkatz 28:8c7e29f719c5 133 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 134 wait_us(10);
benkatz 24:58c2d7571207 135 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 136 wait_us(10);
benkatz 24:58c2d7571207 137 state_change = 0;
benkatz 24:58c2d7571207 138 }
benkatz 22:60276ba87ac6 139
benkatz 23:2adf23ee0305 140 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 141 drv.enable_gd();
benkatz 47:e1196a851f76 142 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 143 controller.ovp_flag = 0;
Rushu 51:b0a3ef66ea3d 144 controller.init_flag = 0; //HJB added. The flag of fastest way to go to the desire position, state change or CAN time off.
benkatz 28:8c7e29f719c5 145 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 146 wait(.001);
benkatz 23:2adf23ee0305 147 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 148 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 149 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 150 state_change = 0;
benkatz 28:8c7e29f719c5 151 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 152 }
benkatz 22:60276ba87ac6 153
benkatz 23:2adf23ee0305 154 void calibrate(void){
benkatz 44:8040fa2fcb0d 155 drv.enable_gd();
benkatz 47:e1196a851f76 156 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 157 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 158 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 159 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 160 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 161 wait(.2);
benkatz 23:2adf23ee0305 162 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 163 drv.disable_gd();
benkatz 47:e1196a851f76 164 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 165 state_change = 0;
benkatz 23:2adf23ee0305 166 }
benkatz 23:2adf23ee0305 167
benkatz 23:2adf23ee0305 168 void print_encoder(void){
Rushu 51:b0a3ef66ea3d 169 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition()); //spi.GetMechPosition
benkatz 48:74a40481740c 170 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 171 wait(.001);
benkatz 22:60276ba87ac6 172 }
benkatz 20:bf9ea5125d52 173
benkatz 23:2adf23ee0305 174 /// Current Sampling Interrupt ///
Rushu 51:b0a3ef66ea3d 175 /// This runs at 40 kHz, 25us, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 176 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 177 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 178
benkatz 23:2adf23ee0305 179 ///Sample current always ///
benkatz 25:f5741040c4bb 180 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 181 //volatile int delay;
benkatz 20:bf9ea5125d52 182 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 183
benkatz 47:e1196a851f76 184 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 185 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 186 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 187 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 188 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 189 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 190 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 191 controller.dtheta_elec = spi.GetElecVelocity();
Rushu 51:b0a3ef66ea3d 192 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //HJB find, new ADC? V_SCALE 0.012890625f
benkatz 23:2adf23ee0305 193 ///
benkatz 20:bf9ea5125d52 194
benkatz 23:2adf23ee0305 195 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 196 switch(state){
benkatz 37:c0f352d6e8e3 197 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 198 if(state_change){
benkatz 23:2adf23ee0305 199 enter_menu_state();
benkatz 23:2adf23ee0305 200 }
benkatz 23:2adf23ee0305 201 break;
benkatz 22:60276ba87ac6 202
benkatz 23:2adf23ee0305 203 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 204 if(state_change){
benkatz 23:2adf23ee0305 205 calibrate();
benkatz 23:2adf23ee0305 206 }
benkatz 23:2adf23ee0305 207 break;
benkatz 23:2adf23ee0305 208
benkatz 26:2b865c00d7e9 209 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 210 if(state_change){
benkatz 25:f5741040c4bb 211 enter_torque_mode();
benkatz 28:8c7e29f719c5 212 count = 0;
Rushu 51:b0a3ef66ea3d 213 //===============================================HJB added====================================================//
Rushu 51:b0a3ef66ea3d 214 Init_pos = controller.theta_mech;
Rushu 51:b0a3ef66ea3d 215 // printf(" Mechanical Angle: %f \n\r", Init_pos); //spi.GetMechPosition
benkatz 25:f5741040c4bb 216 }
benkatz 28:8c7e29f719c5 217 else{
benkatz 37:c0f352d6e8e3 218 /*
benkatz 37:c0f352d6e8e3 219 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 47:e1196a851f76 220 gpio.
benkatz 47:e1196a851f76 221 ->write(0);
benkatz 37:c0f352d6e8e3 222 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 223 state = REST_MODE;
benkatz 37:c0f352d6e8e3 224 state_change = 1;
benkatz 37:c0f352d6e8e3 225 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 226 }
benkatz 37:c0f352d6e8e3 227 */
Rushu 51:b0a3ef66ea3d 228 //========================================HJB added for trajectory input=========================================//
Rushu 51:b0a3ef66ea3d 229 Pmag = controller.PmagIn;
Rushu 51:b0a3ef66ea3d 230 Tperiod = controller.TperiodIn;
Rushu 51:b0a3ef66ea3d 231 p_des_HJB = Init_pos + Pmag*FastSin(2*PI*count/(Tperiod*40000));//Pmag*FastSin(2*PI*count/(Tperiod*40000));
Rushu 51:b0a3ef66ea3d 232 v_des_HJB = 2*PI*Pmag*FastCos(2*PI*count/(Tperiod*40000))/Tperiod;
Rushu 51:b0a3ef66ea3d 233 controller.p_des = p_des_HJB;//uint_to_float(p_des_HJB, -15.f, 15.f, 16);
Rushu 51:b0a3ef66ea3d 234 controller.v_des = v_des_HJB;
Rushu 51:b0a3ef66ea3d 235 if(count>=(Tperiod*40000))
Rushu 51:b0a3ef66ea3d 236 {count = 0;}
Rushu 51:b0a3ef66ea3d 237
Rushu 51:b0a3ef66ea3d 238 //========================================HJB end=========================================//
benkatz 28:8c7e29f719c5 239 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 240 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 241 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 242 controller.kp = 0;
benkatz 37:c0f352d6e8e3 243 controller.kd = 0;
benkatz 37:c0f352d6e8e3 244 controller.t_ff = 0;
Rushu 51:b0a3ef66ea3d 245 //controller.init_flag = 0; //HJB added. The flag of fastest way to go to the desire position, state change or CAN time off.
Rushu 51:b0a3ef66ea3d 246 controller.v_des = 0; //HJB added
benkatz 28:8c7e29f719c5 247 }
Rushu 51:b0a3ef66ea3d 248
benkatz 50:ba72df25d10f 249 torque_control(&controller);
benkatz 49:83d83040ea51 250 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 251
benkatz 49:83d83040ea51 252 controller.timeout++;
benkatz 49:83d83040ea51 253 count++;
benkatz 37:c0f352d6e8e3 254
benkatz 37:c0f352d6e8e3 255 }
benkatz 23:2adf23ee0305 256 break;
benkatz 23:2adf23ee0305 257 case SETUP_MODE:
benkatz 23:2adf23ee0305 258 if(state_change){
benkatz 24:58c2d7571207 259 enter_setup_state();
benkatz 23:2adf23ee0305 260 }
benkatz 23:2adf23ee0305 261 break;
benkatz 23:2adf23ee0305 262 case ENCODER_MODE:
benkatz 23:2adf23ee0305 263 print_encoder();
benkatz 23:2adf23ee0305 264 break;
benkatz 37:c0f352d6e8e3 265 }
benkatz 2:8724412ad628 266 }
benkatz 23:2adf23ee0305 267 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 268 }
benkatz 0:4e1c4df6aabd 269
benkatz 25:f5741040c4bb 270
benkatz 24:58c2d7571207 271 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 272 char cmd_id = 0;
benkatz 25:f5741040c4bb 273 char char_count = 0;
benkatz 24:58c2d7571207 274
benkatz 25:f5741040c4bb 275 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 276 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 277 void serial_interrupt(void){
benkatz 23:2adf23ee0305 278 while(pc.readable()){
benkatz 23:2adf23ee0305 279 char c = pc.getc();
Rushu 51:b0a3ef66ea3d 280 if(c == 27){
Rushu 51:b0a3ef66ea3d 281 //===============================================HJB added====================================================//
Rushu 51:b0a3ef66ea3d 282 wait_us(100); //HJB add, to clear fault
Rushu 51:b0a3ef66ea3d 283 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1); //HJB add, to clear fault
Rushu 51:b0a3ef66ea3d 284 Init_pos = controller.theta_mech; //Input the local mechanical theta
Rushu 51:b0a3ef66ea3d 285 //===============================================HJB ended====================================================//
benkatz 25:f5741040c4bb 286 state = REST_MODE;
benkatz 25:f5741040c4bb 287 state_change = 1;
benkatz 25:f5741040c4bb 288 char_count = 0;
benkatz 25:f5741040c4bb 289 cmd_id = 0;
benkatz 37:c0f352d6e8e3 290 gpio.led->write(0);;
benkatz 25:f5741040c4bb 291 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 292 }
benkatz 24:58c2d7571207 293 if(state == REST_MODE){
benkatz 23:2adf23ee0305 294 switch (c){
benkatz 23:2adf23ee0305 295 case 'c':
benkatz 23:2adf23ee0305 296 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 297 state_change = 1;
benkatz 23:2adf23ee0305 298 break;
benkatz 26:2b865c00d7e9 299 case 'm':
benkatz 26:2b865c00d7e9 300 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 301 state_change = 1;
benkatz 23:2adf23ee0305 302 break;
benkatz 23:2adf23ee0305 303 case 'e':
benkatz 23:2adf23ee0305 304 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 305 state_change = 1;
benkatz 23:2adf23ee0305 306 break;
benkatz 23:2adf23ee0305 307 case 's':
benkatz 23:2adf23ee0305 308 state = SETUP_MODE;
benkatz 23:2adf23ee0305 309 state_change = 1;
benkatz 23:2adf23ee0305 310 break;
benkatz 37:c0f352d6e8e3 311 case 'z':
benkatz 37:c0f352d6e8e3 312 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 313 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 314 wait_us(20);
benkatz 37:c0f352d6e8e3 315 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 316 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 317 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 318 prefs.close();
benkatz 37:c0f352d6e8e3 319 prefs.load();
benkatz 37:c0f352d6e8e3 320 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 321 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 322
benkatz 37:c0f352d6e8e3 323 break;
benkatz 37:c0f352d6e8e3 324 }
benkatz 37:c0f352d6e8e3 325
benkatz 24:58c2d7571207 326 }
benkatz 24:58c2d7571207 327 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 328 if(c == 13){
benkatz 24:58c2d7571207 329 switch (cmd_id){
benkatz 24:58c2d7571207 330 case 'b':
benkatz 24:58c2d7571207 331 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 332 break;
benkatz 24:58c2d7571207 333 case 'i':
benkatz 24:58c2d7571207 334 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 335 break;
benkatz 26:2b865c00d7e9 336 case 'm':
benkatz 26:2b865c00d7e9 337 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 338 break;
benkatz 24:58c2d7571207 339 case 'l':
benkatz 24:58c2d7571207 340 TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
benkatz 24:58c2d7571207 341 break;
benkatz 28:8c7e29f719c5 342 case 't':
Rushu 51:b0a3ef66ea3d 343 CAN_TIMEOUT = atoi(cmd_val); //100000*25us= 2.5s
benkatz 28:8c7e29f719c5 344 break;
benkatz 24:58c2d7571207 345 default:
benkatz 24:58c2d7571207 346 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 347 break;
benkatz 24:58c2d7571207 348 }
benkatz 24:58c2d7571207 349
benkatz 24:58c2d7571207 350 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 351 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 352 prefs.close();
benkatz 24:58c2d7571207 353 prefs.load();
benkatz 24:58c2d7571207 354 state_change = 1;
benkatz 24:58c2d7571207 355 char_count = 0;
benkatz 24:58c2d7571207 356 cmd_id = 0;
benkatz 24:58c2d7571207 357 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 358 }
benkatz 24:58c2d7571207 359 else{
benkatz 24:58c2d7571207 360 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 361 else{
benkatz 24:58c2d7571207 362 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 363
benkatz 24:58c2d7571207 364 }
benkatz 24:58c2d7571207 365 pc.putc(c);
benkatz 24:58c2d7571207 366 char_count++;
benkatz 23:2adf23ee0305 367 }
benkatz 23:2adf23ee0305 368 }
benkatz 24:58c2d7571207 369 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 370 switch (c){
benkatz 24:58c2d7571207 371 case 27:
benkatz 24:58c2d7571207 372 state = REST_MODE;
benkatz 24:58c2d7571207 373 state_change = 1;
benkatz 24:58c2d7571207 374 break;
benkatz 24:58c2d7571207 375 }
benkatz 24:58c2d7571207 376 }
benkatz 49:83d83040ea51 377 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 378 switch (c){
benkatz 49:83d83040ea51 379 case 'd':
benkatz 49:83d83040ea51 380 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 381 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 382 }
benkatz 49:83d83040ea51 383 }
benkatz 24:58c2d7571207 384
benkatz 24:58c2d7571207 385 }
benkatz 22:60276ba87ac6 386 }
benkatz 0:4e1c4df6aabd 387
benkatz 0:4e1c4df6aabd 388 int main() {
Rushu 51:b0a3ef66ea3d 389 wait(1);
benkatz 20:bf9ea5125d52 390 controller.v_bus = V_BUS;
Rushu 51:b0a3ef66ea3d 391 controller.PmagIn = 1;
Rushu 51:b0a3ef66ea3d 392 controller.TperiodIn = 10;
benkatz 22:60276ba87ac6 393 controller.mode = 0;
benkatz 23:2adf23ee0305 394 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 395 wait(.1);
benkatz 44:8040fa2fcb0d 396
Rushu 51:b0a3ef66ea3d 397 gpio.enable->write(1); //enable!
benkatz 44:8040fa2fcb0d 398 wait_us(100);
benkatz 45:26801179208e 399 drv.calibrate();
benkatz 45:26801179208e 400 wait_us(100);
benkatz 44:8040fa2fcb0d 401 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 402 wait_us(100);
Rushu 51:b0a3ef66ea3d 403 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0); //SEN_LVL_1_0 0x3
benkatz 44:8040fa2fcb0d 404 wait_us(100);
benkatz 49:83d83040ea51 405 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
Rushu 51:b0a3ef66ea3d 406
benkatz 45:26801179208e 407 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 408 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
Rushu 51:b0a3ef66ea3d 409 drv.disable_gd(); //all mosfets in the Hi-z state
benkatz 20:bf9ea5125d52 410
benkatz 44:8040fa2fcb0d 411
benkatz 44:8040fa2fcb0d 412
benkatz 44:8040fa2fcb0d 413
benkatz 9:d7eb815cb057 414 wait(.1);
benkatz 44:8040fa2fcb0d 415 /*
benkatz 26:2b865c00d7e9 416 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 417 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 418 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 419 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 420 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 421 */
benkatz 23:2adf23ee0305 422 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 423 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 424 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 425 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 426
benkatz 20:bf9ea5125d52 427 wait(.1);
benkatz 37:c0f352d6e8e3 428 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 429
benkatz 37:c0f352d6e8e3 430 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 431 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 432
benkatz 28:8c7e29f719c5 433 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 434 txMsg.len = 6;
benkatz 26:2b865c00d7e9 435 rxMsg.len = 8;
benkatz 43:dfb72608639c 436 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 437
benkatz 48:74a40481740c 438 // If preferences haven't been user configured yet, set defaults
benkatz 25:f5741040c4bb 439 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 440 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 441 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 442 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 48:74a40481740c 443 if(isnan(TORQUE_LIMIT) || TORQUE_LIMIT ==-1){TORQUE_LIMIT=18;}
benkatz 48:74a40481740c 444 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 445 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 446 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
benkatz 25:f5741040c4bb 447 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 448 spi.SetMechOffset(M_OFFSET);
benkatz 23:2adf23ee0305 449 int lut[128] = {0};
benkatz 23:2adf23ee0305 450 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 451 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 452 init_controller_params(&controller);
benkatz 45:26801179208e 453
Rushu 51:b0a3ef66ea3d 454 pc.baud(115200); // set serial baud rate
benkatz 20:bf9ea5125d52 455 wait(.01);
Rushu 51:b0a3ef66ea3d 456 pc.printf("\n\r\n\r High-integated Joint tobe Better\n\r\n\r");
benkatz 20:bf9ea5125d52 457 wait(.01);
benkatz 23:2adf23ee0305 458 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 459 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 460 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 461 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 462 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 463 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 464
benkatz 44:8040fa2fcb0d 465
benkatz 44:8040fa2fcb0d 466
benkatz 44:8040fa2fcb0d 467
benkatz 47:e1196a851f76 468 //printf(" %d\n\r", drv.read_register(DCR));
benkatz 47:e1196a851f76 469 //wait_us(100);
benkatz 47:e1196a851f76 470 //printf(" %d\n\r", drv.read_register(CSACR));
benkatz 47:e1196a851f76 471 //wait_us(100);
benkatz 47:e1196a851f76 472 //printf(" %d\n\r", drv.read_register(OCPCR));
benkatz 47:e1196a851f76 473 //drv.disable_gd();
benkatz 44:8040fa2fcb0d 474
benkatz 23:2adf23ee0305 475 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 476
benkatz 23:2adf23ee0305 477 state_change = 1;
benkatz 50:ba72df25d10f 478
benkatz 20:bf9ea5125d52 479
benkatz 44:8040fa2fcb0d 480 int counter = 0;
Rushu 51:b0a3ef66ea3d 481 //===============================================HJB added====================================================//
Rushu 51:b0a3ef66ea3d 482 wait_us(100); //HJB add, to clear fault
Rushu 51:b0a3ef66ea3d 483 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1); //HJB add, to clear fault
Rushu 51:b0a3ef66ea3d 484 //Init_pos = controller.theta_mech; //Input the local mechanical theta
Rushu 51:b0a3ef66ea3d 485 //===============================================HJB ended====================================================//
benkatz 0:4e1c4df6aabd 486 while(1) {
benkatz 47:e1196a851f76 487 drv.print_faults();
benkatz 50:ba72df25d10f 488 wait(.1);
benkatz 48:74a40481740c 489 //printf("%.4f\n\r", controller.v_bus);
Rushu 51:b0a3ef66ea3d 490
benkatz 47:e1196a851f76 491 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 492 {
Rushu 51:b0a3ef66ea3d 493 printf(" %.3f %.3f %.3f \n\r", controller.p_des,controller.p_des-controller.theta_mech,controller.v_des-controller.dtheta_mech); //spi.GetMechPosition
Rushu 51:b0a3ef66ea3d 494 // printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 495 //printf("%.3f %.3f %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.dtheta_elec);
Rushu 51:b0a3ef66ea3d 496 // printf("%.3f\n\r", controller.dtheta_mech);
Rushu 51:b0a3ef66ea3d 497 wait(.002);
Rushu 51:b0a3ef66ea3d 498 }
Rushu 51:b0a3ef66ea3d 499
Rushu 51:b0a3ef66ea3d 500 /*
Rushu 51:b0a3ef66ea3d 501 if(state == MOTOR_MODE)
Rushu 51:b0a3ef66ea3d 502 {
Rushu 51:b0a3ef66ea3d 503 //================HJB added=======================================================================================
Rushu 51:b0a3ef66ea3d 504 printf("\n\Temperature Observer\n\r");
Rushu 51:b0a3ef66ea3d 505 printf("%f %f \n\r\n\r", observer->temperature , observer->resistance);
Rushu 51:b0a3ef66ea3d 506 //====HJB added end=================================================================================================
Rushu 51:b0a3ef66ea3d 507 //========HJB added==================================================================================
Rushu 51:b0a3ef66ea3d 508 float current = sqrt(pow(controller->i_d, 2) + pow(controller->i_q, 2));
Rushu 51:b0a3ef66ea3d 509 printf("\n\rCurrent\n\r");
Rushu 51:b0a3ef66ea3d 510 printf("%f %f %f\n\r\n\r", controller->i_d_filt, controller->i_q_filt, current);
Rushu 51:b0a3ef66ea3d 511 //====HJB added end======================================================================================
Rushu 51:b0a3ef66ea3d 512 //================HJB added=======================================================================================
Rushu 51:b0a3ef66ea3d 513 printf("\n\Id Iq refrence input Observer\n\r");
Rushu 51:b0a3ef66ea3d 514 printf("%f %f %f\n\r\n\r", controller->i_d_ref , controller->i_q_ref, controller->v_bus);
Rushu 51:b0a3ef66ea3d 515 //====HJB added end=================================================================================================
Rushu 51:b0a3ef66ea3d 516 wait(.002);
benkatz 47:e1196a851f76 517 }
benkatz 50:ba72df25d10f 518 */
benkatz 0:4e1c4df6aabd 519 }
benkatz 0:4e1c4df6aabd 520 }