Bayley Wang
robot
Diff: main.cpp
- Revision:
- 17:2b852039bb05
- Parent:
- 16:f283d6032fe5
- Child:
- 18:3863ca45cf26
--- a/main.cpp Sun Oct 30 22:41:00 2016 +0000
+++ b/main.cpp Sun Oct 30 22:46:49 2016 +0000
@@ -63,100 +63,7 @@
ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET;
}
-void config_globals() {
- pc.baud(115200);
-
- //Enable clocks for GPIOs
- RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
- RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
- RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
-
- RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
-
- a = new FastPWM(PWMA);
- b = new FastPWM(PWMB);
- c = new FastPWM(PWMC);
-
- NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
-
- TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
- TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
- TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
- TIM1->RCR |= 0x01; //update event once per up/down count of tim1
- TIM1->EGR |= TIM_EGR_UG;
-
- TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
- TIM1->ARR = 0x4650; //5 Khz
- TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
- TIM1->CR1 |= TIM_CR1_CEN;
-
- //ADC Setup
- RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
- RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
-
- ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
-
- ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
- ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
-
- ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
- ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
-
- GPIOA->MODER |= (1 << 8);
- GPIOA->MODER |= (1 << 9);
-
- GPIOA->MODER |= (1 << 2);
- GPIOA->MODER |= (1 << 3);
-
- GPIOA->MODER |= (1 << 0);
- GPIOA->MODER |= (1 << 1);
-
- GPIOB->MODER |= (1 << 0);
- GPIOB->MODER |= (1 << 1);
-
- GPIOC->MODER |= (1 << 2);
- GPIOC->MODER |= (1 << 3);
-
- //DAC setup
- RCC->APB1ENR |= 0x20000000;
- DAC->CR |= DAC_CR_EN2;
-
- GPIOA->MODER |= (1 << 10);
- GPIOA->MODER |= (1 << 11);
-
- //Zero duty cycles
- set_dtc(a, 0.0f);
- set_dtc(b, 0.0f);
- set_dtc(c, 0.0f);
-
- wait_ms(250);
- zero_current();
- p_mech = pos.GetMechPosition();
- en = 1;
-}
-
-void startup_msg() {
- pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
- pc.printf("%s\n\r", "====Config Data====");
- pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
- pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
- pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
- pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS);
- pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
- pc.printf("Loop KP: %f\n\r", KP);
- pc.printf("Loop KI: %f\n\r", KI);
- pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
- pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
- pc.printf("\n\r");
-}
-
-void commutate() {
- if(control_enabled && !throttle.get_enabled()) go_disabled();
- if(!control_enabled && throttle.get_enabled()) go_enabled();
-
- p = pos.GetElecPosition() - POS_OFFSET;
- if (p < 0) p += 2 * PI;
-
+void update_velocity() {
last_p_mech = p_mech;
p_mech = pos.GetMechPosition();
float dp_mech = p_mech - last_p_mech;
@@ -165,6 +72,16 @@
float loop_period = (float) (TIM1->ARR) / 90.0f;
float w_raw = dp_mech * (float) 1e6 / loop_period; //rad/s
w = W_FILTER_STRENGTH * w + (1.0f - W_FILTER_STRENGTH) * w_raw;
+}
+
+void commutate() {
+ if(control_enabled && !throttle.get_enabled()) go_disabled();
+ if(!control_enabled && throttle.get_enabled()) go_enabled();
+
+ update_velocity();
+
+ p = pos.GetElecPosition() - POS_OFFSET;
+ if (p < 0) p += 2 * PI;
q_ref = throttle.get_throttle() * Q_MAX;
d_ref = 0.0f;
@@ -266,3 +183,90 @@
if(a > b) return a;
return b;
}
+
+void startup_msg() {
+ pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
+ pc.printf("%s\n\r", "====Config Data====");
+ pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
+ pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
+ pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
+ pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS);
+ pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
+ pc.printf("Loop KP: %f\n\r", KP);
+ pc.printf("Loop KI: %f\n\r", KI);
+ pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
+ pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
+ pc.printf("\n\r");
+}
+
+void config_globals() {
+ pc.baud(115200);
+
+ //Enable clocks for GPIOs
+ RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
+ RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
+ RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+
+ RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
+
+ a = new FastPWM(PWMA);
+ b = new FastPWM(PWMB);
+ c = new FastPWM(PWMC);
+
+ NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
+
+ TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
+ TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
+ TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
+ TIM1->RCR |= 0x01; //update event once per up/down count of tim1
+ TIM1->EGR |= TIM_EGR_UG;
+
+ TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
+ TIM1->ARR = 0x4650; //5 Khz
+ TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
+ TIM1->CR1 |= TIM_CR1_CEN;
+
+ //ADC Setup
+ RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
+ RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
+
+ ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
+
+ ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
+ ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
+
+ ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
+ ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
+
+ GPIOA->MODER |= (1 << 8);
+ GPIOA->MODER |= (1 << 9);
+
+ GPIOA->MODER |= (1 << 2);
+ GPIOA->MODER |= (1 << 3);
+
+ GPIOA->MODER |= (1 << 0);
+ GPIOA->MODER |= (1 << 1);
+
+ GPIOB->MODER |= (1 << 0);
+ GPIOB->MODER |= (1 << 1);
+
+ GPIOC->MODER |= (1 << 2);
+ GPIOC->MODER |= (1 << 3);
+
+ //DAC setup
+ RCC->APB1ENR |= 0x20000000;
+ DAC->CR |= DAC_CR_EN2;
+
+ GPIOA->MODER |= (1 << 10);
+ GPIOA->MODER |= (1 << 11);
+
+ //Zero duty cycles
+ set_dtc(a, 0.0f);
+ set_dtc(b, 0.0f);
+ set_dtc(c, 0.0f);
+
+ wait_ms(250);
+ zero_current();
+ p_mech = pos.GetMechPosition();
+ en = 1;
+}