Ben Katz / HKC_MiniCheetah

Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol

Dependencies:   mbed-dev-f303 FastPWM3

Superseded by: https://github.com/bgkatz/motorcontrol

main.cpp@52:8e74c22ed89f, 2019-07-21 (annotated)

Committer:
benkatz
Date:
Sun Jul 21 21:42:49 2019 +0000
Revision:
52:8e74c22ed89f
Parent:
51:6cd89bd6fcaa 
testing gb-54;

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
benkatz 51:6cd89bd6fcaa 13 #define VERSION_NUM "1.9"
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
benkatz 52:8e74c22ed89f 55 PositionSensorAM5147 spi(16384, 0.0, 0.0);
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
benkatz 26:2b865c00d7e9 61 void onMsgReceived() {
benkatz 26:2b865c00d7e9 62 //msgAvailable = true;
benkatz 47:e1196a851f76 63 printf("%df\n\r", rxMsg.id);
benkatz 26:2b865c00d7e9 64 can.read(rxMsg);
benkatz 28:8c7e29f719c5 65 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 66 controller.timeout = 0;
benkatz 28:8c7e29f719c5 67 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 68 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 69 state_change = 1;
benkatz 28:8c7e29f719c5 70 }
benkatz 28:8c7e29f719c5 71 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 72 state = REST_MODE;
benkatz 28:8c7e29f719c5 73 state_change = 1;
benkatz 37:c0f352d6e8e3 74 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 75 }
benkatz 28:8c7e29f719c5 76 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 77 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 78 }
benkatz 28:8c7e29f719c5 79 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 80 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 81 }
benkatz 37:c0f352d6e8e3 82 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 83 can.write(txMsg);
benkatz 28:8c7e29f719c5 84 }
benkatz 26:2b865c00d7e9 85
benkatz 26:2b865c00d7e9 86 }
benkatz 26:2b865c00d7e9 87
benkatz 23:2adf23ee0305 88 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 89 drv.disable_gd();
benkatz 47:e1196a851f76 90 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 91 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 92 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 93 wait_us(10);
benkatz 26:2b865c00d7e9 94 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 95 wait_us(10);
benkatz 23:2adf23ee0305 96 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 97 wait_us(10);
benkatz 23:2adf23ee0305 98 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 99 wait_us(10);
benkatz 23:2adf23ee0305 100 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 101 wait_us(10);
benkatz 37:c0f352d6e8e3 102 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 103 wait_us(10);
benkatz 23:2adf23ee0305 104 printf(" esc - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 105 wait_us(10);
benkatz 23:2adf23ee0305 106 state_change = 0;
benkatz 37:c0f352d6e8e3 107 gpio.led->write(0);
benkatz 23:2adf23ee0305 108 }
benkatz 24:58c2d7571207 109
benkatz 24:58c2d7571207 110 void enter_setup_state(void){
benkatz 24:58c2d7571207 111 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 112 wait_us(10);
benkatz 51:6cd89bd6fcaa 113 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 114 wait_us(10);
benkatz 28:8c7e29f719c5 115 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 116 wait_us(10);
benkatz 28:8c7e29f719c5 117 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 118 wait_us(10);
benkatz 28:8c7e29f719c5 119 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 120 wait_us(10);
benkatz 51:6cd89bd6fcaa 121 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
benkatz 51:6cd89bd6fcaa 122 wait_us(10);
benkatz 51:6cd89bd6fcaa 123 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 124 wait_us(10);
benkatz 28:8c7e29f719c5 125 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 126 wait_us(10);
benkatz 24:58c2d7571207 127 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 128 wait_us(10);
benkatz 24:58c2d7571207 129 state_change = 0;
benkatz 24:58c2d7571207 130 }
benkatz 22:60276ba87ac6 131
benkatz 23:2adf23ee0305 132 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 133 drv.enable_gd();
benkatz 47:e1196a851f76 134 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 135 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 136 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 137 wait(.001);
benkatz 23:2adf23ee0305 138 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 139 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 140 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 141 state_change = 0;
benkatz 28:8c7e29f719c5 142 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 143 }
benkatz 22:60276ba87ac6 144
benkatz 23:2adf23ee0305 145 void calibrate(void){
benkatz 44:8040fa2fcb0d 146 drv.enable_gd();
benkatz 47:e1196a851f76 147 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 148 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 149 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 150 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 151 gpio.led->write(0);; // Turn off status LED
benkatz 23:2adf23ee0305 152 wait(.2);
benkatz 23:2adf23ee0305 153 printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 44:8040fa2fcb0d 154 drv.disable_gd();
benkatz 47:e1196a851f76 155 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 156 state_change = 0;
benkatz 23:2adf23ee0305 157 }
benkatz 23:2adf23ee0305 158
benkatz 23:2adf23ee0305 159 void print_encoder(void){
benkatz 48:74a40481740c 160 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 161 //printf("%d\n\r", spi.GetRawPosition());
benkatz 47:e1196a851f76 162 wait(.001);
benkatz 22:60276ba87ac6 163 }
benkatz 20:bf9ea5125d52 164
benkatz 23:2adf23ee0305 165 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 166 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 2:8724412ad628 167 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 168 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 23:2adf23ee0305 169
benkatz 23:2adf23ee0305 170 ///Sample current always ///
benkatz 25:f5741040c4bb 171 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 172 //volatile int delay;
benkatz 20:bf9ea5125d52 173 //for (delay = 0; delay < 55; delay++);
benkatz 45:26801179208e 174
benkatz 47:e1196a851f76 175 spi.Sample(DT); // sample position sensor
benkatz 37:c0f352d6e8e3 176 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 177 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 178 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 179 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 180 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 181 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 182 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 183 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
benkatz 23:2adf23ee0305 184 ///
benkatz 20:bf9ea5125d52 185
benkatz 23:2adf23ee0305 186 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 187 switch(state){
benkatz 37:c0f352d6e8e3 188 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 189 if(state_change){
benkatz 23:2adf23ee0305 190 enter_menu_state();
benkatz 23:2adf23ee0305 191 }
benkatz 23:2adf23ee0305 192 break;
benkatz 22:60276ba87ac6 193
benkatz 23:2adf23ee0305 194 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 195 if(state_change){
benkatz 23:2adf23ee0305 196 calibrate();
benkatz 23:2adf23ee0305 197 }
benkatz 23:2adf23ee0305 198 break;
benkatz 23:2adf23ee0305 199
benkatz 26:2b865c00d7e9 200 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 201 if(state_change){
benkatz 25:f5741040c4bb 202 enter_torque_mode();
benkatz 28:8c7e29f719c5 203 count = 0;
benkatz 25:f5741040c4bb 204 }
benkatz 28:8c7e29f719c5 205 else{
benkatz 37:c0f352d6e8e3 206 /*
benkatz 37:c0f352d6e8e3 207 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 208 gpio.
benkatz 47:e1196a851f76 209 ->write(0);
benkatz 37:c0f352d6e8e3 210 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 211 state = REST_MODE;
benkatz 37:c0f352d6e8e3 212 state_change = 1;
benkatz 37:c0f352d6e8e3 213 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 214 }
benkatz 37:c0f352d6e8e3 215 */
benkatz 37:c0f352d6e8e3 216
benkatz 28:8c7e29f719c5 217 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 218 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 219 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 220 controller.kp = 0;
benkatz 37:c0f352d6e8e3 221 controller.kd = 0;
benkatz 37:c0f352d6e8e3 222 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 223 }
benkatz 52:8e74c22ed89f 224
benkatz 47:e1196a851f76 225
benkatz 50:ba72df25d10f 226 torque_control(&controller);
benkatz 49:83d83040ea51 227 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 228
benkatz 49:83d83040ea51 229 controller.timeout++;
benkatz 49:83d83040ea51 230 count++;
benkatz 37:c0f352d6e8e3 231
benkatz 37:c0f352d6e8e3 232 }
benkatz 23:2adf23ee0305 233 break;
benkatz 23:2adf23ee0305 234 case SETUP_MODE:
benkatz 23:2adf23ee0305 235 if(state_change){
benkatz 24:58c2d7571207 236 enter_setup_state();
benkatz 23:2adf23ee0305 237 }
benkatz 23:2adf23ee0305 238 break;
benkatz 23:2adf23ee0305 239 case ENCODER_MODE:
benkatz 23:2adf23ee0305 240 print_encoder();
benkatz 23:2adf23ee0305 241 break;
benkatz 37:c0f352d6e8e3 242 }
benkatz 2:8724412ad628 243 }
benkatz 23:2adf23ee0305 244 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 245 }
benkatz 0:4e1c4df6aabd 246
benkatz 25:f5741040c4bb 247
benkatz 24:58c2d7571207 248 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 249 char cmd_id = 0;
benkatz 25:f5741040c4bb 250 char char_count = 0;
benkatz 24:58c2d7571207 251
benkatz 25:f5741040c4bb 252 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 253 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 254 void serial_interrupt(void){
benkatz 23:2adf23ee0305 255 while(pc.readable()){
benkatz 23:2adf23ee0305 256 char c = pc.getc();
benkatz 25:f5741040c4bb 257 if(c == 27){
benkatz 25:f5741040c4bb 258 state = REST_MODE;
benkatz 25:f5741040c4bb 259 state_change = 1;
benkatz 25:f5741040c4bb 260 char_count = 0;
benkatz 25:f5741040c4bb 261 cmd_id = 0;
benkatz 37:c0f352d6e8e3 262 gpio.led->write(0);;
benkatz 25:f5741040c4bb 263 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 264 }
benkatz 24:58c2d7571207 265 if(state == REST_MODE){
benkatz 23:2adf23ee0305 266 switch (c){
benkatz 23:2adf23ee0305 267 case 'c':
benkatz 23:2adf23ee0305 268 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 269 state_change = 1;
benkatz 23:2adf23ee0305 270 break;
benkatz 26:2b865c00d7e9 271 case 'm':
benkatz 26:2b865c00d7e9 272 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 273 state_change = 1;
benkatz 23:2adf23ee0305 274 break;
benkatz 23:2adf23ee0305 275 case 'e':
benkatz 23:2adf23ee0305 276 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 277 state_change = 1;
benkatz 23:2adf23ee0305 278 break;
benkatz 23:2adf23ee0305 279 case 's':
benkatz 23:2adf23ee0305 280 state = SETUP_MODE;
benkatz 23:2adf23ee0305 281 state_change = 1;
benkatz 23:2adf23ee0305 282 break;
benkatz 37:c0f352d6e8e3 283 case 'z':
benkatz 37:c0f352d6e8e3 284 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 285 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 286 wait_us(20);
benkatz 37:c0f352d6e8e3 287 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 288 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 289 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 290 prefs.close();
benkatz 37:c0f352d6e8e3 291 prefs.load();
benkatz 37:c0f352d6e8e3 292 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 293 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 294
benkatz 37:c0f352d6e8e3 295 break;
benkatz 37:c0f352d6e8e3 296 }
benkatz 37:c0f352d6e8e3 297
benkatz 24:58c2d7571207 298 }
benkatz 24:58c2d7571207 299 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 300 if(c == 13){
benkatz 24:58c2d7571207 301 switch (cmd_id){
benkatz 24:58c2d7571207 302 case 'b':
benkatz 24:58c2d7571207 303 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 304 break;
benkatz 24:58c2d7571207 305 case 'i':
benkatz 24:58c2d7571207 306 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 307 break;
benkatz 26:2b865c00d7e9 308 case 'm':
benkatz 26:2b865c00d7e9 309 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 310 break;
benkatz 24:58c2d7571207 311 case 'l':
benkatz 51:6cd89bd6fcaa 312 I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 313 break;
benkatz 51:6cd89bd6fcaa 314 case 'f':
benkatz 51:6cd89bd6fcaa 315 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 316 break;
benkatz 28:8c7e29f719c5 317 case 't':
benkatz 28:8c7e29f719c5 318 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 319 break;
benkatz 24:58c2d7571207 320 default:
benkatz 24:58c2d7571207 321 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 322 break;
benkatz 24:58c2d7571207 323 }
benkatz 24:58c2d7571207 324
benkatz 24:58c2d7571207 325 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 326 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 327 prefs.close();
benkatz 24:58c2d7571207 328 prefs.load();
benkatz 24:58c2d7571207 329 state_change = 1;
benkatz 24:58c2d7571207 330 char_count = 0;
benkatz 24:58c2d7571207 331 cmd_id = 0;
benkatz 24:58c2d7571207 332 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 333 }
benkatz 24:58c2d7571207 334 else{
benkatz 24:58c2d7571207 335 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 336 else{
benkatz 24:58c2d7571207 337 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 338
benkatz 24:58c2d7571207 339 }
benkatz 24:58c2d7571207 340 pc.putc(c);
benkatz 24:58c2d7571207 341 char_count++;
benkatz 23:2adf23ee0305 342 }
benkatz 23:2adf23ee0305 343 }
benkatz 24:58c2d7571207 344 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 345 switch (c){
benkatz 24:58c2d7571207 346 case 27:
benkatz 24:58c2d7571207 347 state = REST_MODE;
benkatz 24:58c2d7571207 348 state_change = 1;
benkatz 24:58c2d7571207 349 break;
benkatz 24:58c2d7571207 350 }
benkatz 24:58c2d7571207 351 }
benkatz 49:83d83040ea51 352 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 353 switch (c){
benkatz 49:83d83040ea51 354 case 'd':
benkatz 49:83d83040ea51 355 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 356 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 357 }
benkatz 49:83d83040ea51 358 }
benkatz 24:58c2d7571207 359
benkatz 24:58c2d7571207 360 }
benkatz 22:60276ba87ac6 361 }
benkatz 0:4e1c4df6aabd 362
benkatz 0:4e1c4df6aabd 363 int main() {
benkatz 20:bf9ea5125d52 364 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 365 controller.mode = 0;
benkatz 23:2adf23ee0305 366 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 44:8040fa2fcb0d 367 wait(.1);
benkatz 44:8040fa2fcb0d 368
benkatz 44:8040fa2fcb0d 369 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 370 wait_us(100);
benkatz 45:26801179208e 371 drv.calibrate();
benkatz 45:26801179208e 372 wait_us(100);
benkatz 44:8040fa2fcb0d 373 drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 44:8040fa2fcb0d 374 wait_us(100);
benkatz 46:2d4b1dafcfe3 375 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 44:8040fa2fcb0d 376 wait_us(100);
benkatz 49:83d83040ea51 377 drv.write_OCPCR(TRETRY_4MS, DEADTIME_200NS, OCP_RETRY, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 378
benkatz 45:26801179208e 379 //drv.enable_gd();
benkatz 44:8040fa2fcb0d 380 zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 47:e1196a851f76 381 drv.disable_gd();
benkatz 20:bf9ea5125d52 382
benkatz 9:d7eb815cb057 383 wait(.1);
benkatz 44:8040fa2fcb0d 384 /*
benkatz 26:2b865c00d7e9 385 gpio.enable->write(1);
benkatz 26:2b865c00d7e9 386 TIM1->CCR3 = 0x708*(1.0f); // Write duty cycles
benkatz 26:2b865c00d7e9 387 TIM1->CCR2 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 388 TIM1->CCR1 = 0x708*(1.0f);
benkatz 26:2b865c00d7e9 389 gpio.enable->write(0);
benkatz 44:8040fa2fcb0d 390 */
benkatz 23:2adf23ee0305 391 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 392 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 393 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 26:2b865c00d7e9 394 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 395
benkatz 20:bf9ea5125d52 396 wait(.1);
benkatz 37:c0f352d6e8e3 397 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 43:dfb72608639c 398
benkatz 37:c0f352d6e8e3 399 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 26:2b865c00d7e9 400 can.filter(CAN_ID<<21, 0xFFE00004, CANStandard, 0);
benkatz 43:dfb72608639c 401
benkatz 28:8c7e29f719c5 402 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 403 txMsg.len = 6;
benkatz 26:2b865c00d7e9 404 rxMsg.len = 8;
benkatz 43:dfb72608639c 405 can.attach(&onMsgReceived); // attach 'CAN receive-complete' interrupt handler
benkatz 23:2adf23ee0305 406
benkatz 48:74a40481740c 407 // If preferences haven't been user configured yet, set defaults
benkatz 25:f5741040c4bb 408 prefs.load(); // Read flash
benkatz 37:c0f352d6e8e3 409 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 410 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 411 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 412 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 51:6cd89bd6fcaa 413 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=0;}
benkatz 48:74a40481740c 414 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 415 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 48:74a40481740c 416 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 0;}
benkatz 52:8e74c22ed89f 417 if(isnan(NPP) || NPP==-1){NPP = 1;}
benkatz 25:f5741040c4bb 418 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 419 spi.SetMechOffset(M_OFFSET);
benkatz 52:8e74c22ed89f 420 spi.SetNPP(NPP);
benkatz 23:2adf23ee0305 421 int lut[128] = {0};
benkatz 23:2adf23ee0305 422 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 423 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 424 init_controller_params(&controller);
benkatz 45:26801179208e 425
benkatz 26:2b865c00d7e9 426 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 427 wait(.01);
benkatz 23:2adf23ee0305 428 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 429 wait(.01);
benkatz 23:2adf23ee0305 430 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 431 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 432 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 433 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 434 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 435 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 52:8e74c22ed89f 436 printf(" Pole-Pairs: %d\n\r", NPP);
benkatz 44:8040fa2fcb0d 437
benkatz 44:8040fa2fcb0d 438
benkatz 44:8040fa2fcb0d 439
benkatz 44:8040fa2fcb0d 440
benkatz 47:e1196a851f76 441 //printf(" %d\n\r", drv.read_register(DCR));
benkatz 47:e1196a851f76 442 //wait_us(100);
benkatz 47:e1196a851f76 443 //printf(" %d\n\r", drv.read_register(CSACR));
benkatz 47:e1196a851f76 444 //wait_us(100);
benkatz 47:e1196a851f76 445 //printf(" %d\n\r", drv.read_register(OCPCR));
benkatz 47:e1196a851f76 446 //drv.disable_gd();
benkatz 44:8040fa2fcb0d 447
benkatz 23:2adf23ee0305 448 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 22:60276ba87ac6 449
benkatz 23:2adf23ee0305 450 state_change = 1;
benkatz 50:ba72df25d10f 451
benkatz 20:bf9ea5125d52 452
benkatz 44:8040fa2fcb0d 453 int counter = 0;
benkatz 0:4e1c4df6aabd 454 while(1) {
benkatz 52:8e74c22ed89f 455
benkatz 47:e1196a851f76 456 drv.print_faults();
benkatz 52:8e74c22ed89f 457 //if(drv.get_fault()>0){drv.write_DCR(0x0, 0x0, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);}
benkatz 52:8e74c22ed89f 458 wait(.1);
benkatz 48:74a40481740c 459 //printf("%.4f\n\r", controller.v_bus);
benkatz 50:ba72df25d10f 460 /*
benkatz 47:e1196a851f76 461 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 462 {
benkatz 48:74a40481740c 463 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 464 //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);
benkatz 49:83d83040ea51 465 //printf("%.3f\n\r", controller.dtheta_mech);
benkatz 49:83d83040ea51 466 wait(.002);
benkatz 47:e1196a851f76 467 }
benkatz 50:ba72df25d10f 468 */
benkatz 47:e1196a851f76 469
benkatz 0:4e1c4df6aabd 470 }
benkatz 0:4e1c4df6aabd 471 }