Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@38:07cb4ae6c1bd, 2016-11-29 (annotated)

Committer:
bwang
Date:
Tue Nov 29 00:31:18 2016 +0000
Revision:
38:07cb4ae6c1bd
Parent:
37:ba7ebf4f8a78
Child:
39:80b38a8e1787
added fast atan code to MathHelpers

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:bac9c3a3a6ca 1 #include "mbed.h"
bwang 0:bac9c3a3a6ca 2 #include "math.h"
bwang 19:a6cf15f89f3d 3
bwang 0:bac9c3a3a6ca 4 #include "PositionSensor.h"
bwang 0:bac9c3a3a6ca 5 #include "FastPWM.h"
bwang 18:3863ca45cf26 6 #include "PwmIn.h"
bwang 19:a6cf15f89f3d 7 #include "MathHelpers.h"
bwang 31:ebe42589ab9d 8 #include "Driving.h"
bwang 31:ebe42589ab9d 9 #include "Optimize.h"
bwang 30:c25c5bf0d951 10
bwang 15:b583cd30b063 11 #include "config_motor.h"
bwang 15:b583cd30b063 12 #include "config_loop.h"
bwang 19:a6cf15f89f3d 13 #include "config_pins.h"
bwang 15:b583cd30b063 14 #include "config_inverter.h"
bwang 29:50e6e4e46580 15 #include "config_driving.h"
bwang 0:bac9c3a3a6ca 16
bwang 1:7b61790f6be9 17 FastPWM *a;
bwang 1:7b61790f6be9 18 FastPWM *b;
bwang 1:7b61790f6be9 19 FastPWM *c;
bwang 0:bac9c3a3a6ca 20 DigitalOut en(EN);
bwang 18:3863ca45cf26 21 PwmIn throttle_in(TH_PIN, 1100, 1900);
bwang 0:bac9c3a3a6ca 22 PositionSensorEncoder pos(CPR, 0);
bwang 0:bac9c3a3a6ca 23
bwang 0:bac9c3a3a6ca 24 Serial pc(USBTX, USBRX);
bwang 0:bac9c3a3a6ca 25
bwang 32:b31423041c4e 26 int adval1, adval2, adval3;
bwang 32:b31423041c4e 27 float vbus = BUS_VOLTAGE;
bwang 2:eabe8feaaabb 28 float ia, ib, ic, alpha, beta, d, q, vd, vq, p;
bwang 30:c25c5bf0d951 29 float p_mech, last_p_mech, w = 0.0f;
bwang 22:72840d3db788 30 float d_filtered = 0.0f, q_filtered = 0.0f;
bwang 2:eabe8feaaabb 31
bwang 1:7b61790f6be9 32 float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV)
bwang 1:7b61790f6be9 33
bwang 2:eabe8feaaabb 34 float d_integral = 0.0f, q_integral = 0.0f;
bwang 2:eabe8feaaabb 35 float last_d = 0.0f, last_q = 0.0f;
bwang 14:59c4fcc1a4f7 36 float d_ref = 0.0f, q_ref = 0.0f;
bwang 2:eabe8feaaabb 37
bwang 25:3f2b585ae72d 38 bool control_enabled = false;
dicarloj 13:41d102a53caf 39
bwang 4:a6669248ce4d 40 void commutate();
bwang 3:9b20da3f0055 41 void zero_current();
bwang 3:9b20da3f0055 42 void config_globals();
bwang 3:9b20da3f0055 43 void startup_msg();
bwang 2:eabe8feaaabb 44
bwang 16:f283d6032fe5 45 void go_enabled();
bwang 16:f283d6032fe5 46 void go_disabled();
dicarloj 13:41d102a53caf 47
bwang 1:7b61790f6be9 48 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 1:7b61790f6be9 49 if (TIM1->SR & TIM_SR_UIF ) {
bwang 4:a6669248ce4d 50 ADC1->CR2 |= 0x40000000;
bwang 4:a6669248ce4d 51 volatile int delay;
bwang 4:a6669248ce4d 52 for (delay = 0; delay < 35; delay++);
bwang 1:7b61790f6be9 53 adval1 = ADC1->DR;
bwang 1:7b61790f6be9 54 adval2 = ADC2->DR;
bwang 4:a6669248ce4d 55 commutate();
bwang 1:7b61790f6be9 56 }
bwang 1:7b61790f6be9 57 TIM1->SR = 0x00;
bwang 1:7b61790f6be9 58 }
bwang 1:7b61790f6be9 59
bwang 1:7b61790f6be9 60 void zero_current(){
bwang 1:7b61790f6be9 61 for (int i = 0; i < 1000; i++){
bwang 1:7b61790f6be9 62 ia_supp_offset += (float) (ADC1->DR);
bwang 1:7b61790f6be9 63 ib_supp_offset += (float) (ADC2->DR);
bwang 1:7b61790f6be9 64 ADC1->CR2 |= 0x40000000;
bwang 1:7b61790f6be9 65 wait_us(100);
bwang 1:7b61790f6be9 66 }
bwang 1:7b61790f6be9 67 ia_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 68 ib_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 69 ia_supp_offset = ia_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 70 ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 71 }
bwang 0:bac9c3a3a6ca 72
bwang 17:2b852039bb05 73 void update_velocity() {
bwang 15:b583cd30b063 74 last_p_mech = p_mech;
bwang 15:b583cd30b063 75 p_mech = pos.GetMechPosition();
bwang 15:b583cd30b063 76 float dp_mech = p_mech - last_p_mech;
bwang 19:a6cf15f89f3d 77 if (dp_mech < -PI) dp_mech += 2 * PI;
bwang 24:5e18a87a0e95 78 if (dp_mech > PI) dp_mech -= 2 * PI;
bwang 24:5e18a87a0e95 79 float w_raw = dp_mech * F_SW; //rad/s
bwang 29:50e6e4e46580 80 if (w_raw > W_LIMIT) w_raw = w; //with this limiting scheme noise < 0
bwang 29:50e6e4e46580 81 if (w_raw < -W_LIMIT) w_raw = w; //so we need to throw out the large deltas first
bwang 15:b583cd30b063 82 w = W_FILTER_STRENGTH * w + (1.0f - W_FILTER_STRENGTH) * w_raw;
bwang 18:3863ca45cf26 83 }
bwang 18:3863ca45cf26 84
bwang 18:3863ca45cf26 85 float get_torque_cmd(float throttle, float w) {
bwang 30:c25c5bf0d951 86 if (TORQUE_MODE) {
bwang 30:c25c5bf0d951 87 return throttle * FORWARD_TORQUE_MAX;
bwang 30:c25c5bf0d951 88 } else {
bwang 30:c25c5bf0d951 89 return get_driving_torque_cmd(throttle, w);
bwang 30:c25c5bf0d951 90 }
bwang 18:3863ca45cf26 91 }
bwang 18:3863ca45cf26 92
bwang 18:3863ca45cf26 93 //fill in d, q ref based on torque cmd and current velocity
bwang 37:ba7ebf4f8a78 94 void get_dq(float torque, float w, float *d, float *q) {
bwang 31:ebe42589ab9d 95 torque = fabsf(torque);
bwang 32:b31423041c4e 96 get_mtpa_dq(torque, d, q);
bwang 31:ebe42589ab9d 97 if (torque < 0.0f) {
bwang 31:ebe42589ab9d 98 *d = -*d;
bwang 31:ebe42589ab9d 99 *q = -*q;
bwang 31:ebe42589ab9d 100 }
bwang 18:3863ca45cf26 101 }
bwang 17:2b852039bb05 102
bwang 17:2b852039bb05 103 void commutate() {
bwang 28:ed9c1ca386fd 104 if (control_enabled && !throttle_in.get_enabled()) go_disabled();
bwang 28:ed9c1ca386fd 105 if (control_enabled && !pos.IsValid()) go_disabled();
bwang 28:ed9c1ca386fd 106 if (!control_enabled && throttle_in.get_enabled()) go_enabled();
bwang 17:2b852039bb05 107
bwang 17:2b852039bb05 108 update_velocity();
bwang 17:2b852039bb05 109
bwang 17:2b852039bb05 110 p = pos.GetElecPosition() - POS_OFFSET;
bwang 15:b583cd30b063 111
bwang 18:3863ca45cf26 112 float torque = get_torque_cmd(throttle_in.get_throttle(), w);
bwang 19:a6cf15f89f3d 113 get_dq(torque, w, &d_ref, &q_ref);
bwang 16:f283d6032fe5 114
bwang 2:eabe8feaaabb 115 float sin_p = sinf(p);
bwang 2:eabe8feaaabb 116 float cos_p = cosf(p);
bwang 2:eabe8feaaabb 117
bwang 1:7b61790f6be9 118 ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
bwang 1:7b61790f6be9 119 ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
bwang 0:bac9c3a3a6ca 120
bwang 27:7e073122ddf8 121 alpha = ia;
bwang 27:7e073122ddf8 122 beta = 1 / sqrtf(3.0f) * ia + 2 / sqrtf(3.0f) * ib;
bwang 2:eabe8feaaabb 123
bwang 24:5e18a87a0e95 124 d = alpha * cos_p + beta * sin_p;
bwang 24:5e18a87a0e95 125 q = -alpha * sin_p + beta * cos_p;
bwang 2:eabe8feaaabb 126
bwang 22:72840d3db788 127 d_filtered = DQ_FILTER_STRENGTH * d_filtered + (1.0f - DQ_FILTER_STRENGTH) * d;
bwang 22:72840d3db788 128 q_filtered = DQ_FILTER_STRENGTH * q_filtered + (1.0f - DQ_FILTER_STRENGTH) * q;
bwang 22:72840d3db788 129
bwang 22:72840d3db788 130 float d_err = d_ref - d_filtered;
bwang 22:72840d3db788 131 float q_err = q_ref - q_filtered;
bwang 2:eabe8feaaabb 132
bwang 2:eabe8feaaabb 133 d_integral += d_err * KI;
bwang 2:eabe8feaaabb 134 q_integral += q_err * KI;
bwang 2:eabe8feaaabb 135
bwang 20:91ae97a811e3 136 q_integral = constrain(q_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 20:91ae97a811e3 137 d_integral = constrain(d_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 2:eabe8feaaabb 138
bwang 35:89385f64c867 139 vd = KP * d_err + d_integral;// - Lq * POLE_PAIRS * w * q / BUS_VOLTAGE;
bwang 35:89385f64c867 140 vq = KP * q_err + q_integral;// + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE;
bwang 31:ebe42589ab9d 141
bwang 36:cac9785c91cb 142 vd = constrain(vd, -1.0f, 1.0f);
bwang 36:cac9785c91cb 143 vq = constrain(vq, -1.0f, 1.0f);
bwang 21:b7fb355c8c2d 144
bwang 38:07cb4ae6c1bd 145 /*
bwang 31:ebe42589ab9d 146 float v = sqrtf(vd * vd + vq * vq);
bwang 31:ebe42589ab9d 147
bwang 31:ebe42589ab9d 148 if (v > 1.0f) {
bwang 34:454a4256c4fe 149 vq = sqrtf(1.0f - vd * vd);
bwang 31:ebe42589ab9d 150 }
bwang 36:cac9785c91cb 151 */
bwang 4:a6669248ce4d 152
bwang 30:c25c5bf0d951 153 if (!control_enabled) {
bwang 30:c25c5bf0d951 154 vd = 0.0f;
bwang 30:c25c5bf0d951 155 vq = 0.0f;
bwang 30:c25c5bf0d951 156 }
bwang 30:c25c5bf0d951 157
bwang 2:eabe8feaaabb 158 float valpha = vd * cos_p - vq * sin_p;
bwang 2:eabe8feaaabb 159 float vbeta = vd * sin_p + vq * cos_p;
bwang 2:eabe8feaaabb 160
bwang 2:eabe8feaaabb 161 float va = valpha;
bwang 24:5e18a87a0e95 162 float vb = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
bwang 24:5e18a87a0e95 163 float vc = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 164
dicarloj 13:41d102a53caf 165 float voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;
dicarloj 13:41d102a53caf 166 va = va - voff;
dicarloj 13:41d102a53caf 167 vb = vb - voff;
dicarloj 13:41d102a53caf 168 vc = vc - voff;
dicarloj 13:41d102a53caf 169
bwang 2:eabe8feaaabb 170 set_dtc(a, 0.5f + 0.5f * va);
bwang 2:eabe8feaaabb 171 set_dtc(b, 0.5f + 0.5f * vb);
bwang 2:eabe8feaaabb 172 set_dtc(c, 0.5f + 0.5f * vc);
bwang 0:bac9c3a3a6ca 173 }
bwang 0:bac9c3a3a6ca 174
bwang 0:bac9c3a3a6ca 175 int main() {
bwang 0:bac9c3a3a6ca 176 config_globals();
bwang 0:bac9c3a3a6ca 177 startup_msg();
bwang 0:bac9c3a3a6ca 178
bwang 0:bac9c3a3a6ca 179 for (;;) {
bwang 0:bac9c3a3a6ca 180 }
bwang 0:bac9c3a3a6ca 181 }
bwang 16:f283d6032fe5 182
bwang 16:f283d6032fe5 183 void go_enabled() {
bwang 16:f283d6032fe5 184 d_integral = 0.0f;
bwang 16:f283d6032fe5 185 q_integral = 0.0f;
bwang 16:f283d6032fe5 186 control_enabled = true;
bwang 16:f283d6032fe5 187 en = 1;
bwang 16:f283d6032fe5 188 }
bwang 16:f283d6032fe5 189
bwang 16:f283d6032fe5 190 void go_disabled() {
bwang 16:f283d6032fe5 191 control_enabled = false;
bwang 16:f283d6032fe5 192 en = 0;
bwang 16:f283d6032fe5 193 }
bwang 16:f283d6032fe5 194
bwang 17:2b852039bb05 195 void startup_msg() {
bwang 17:2b852039bb05 196 pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
bwang 17:2b852039bb05 197 pc.printf("%s\n\r", "====Config Data====");
bwang 17:2b852039bb05 198 pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
bwang 17:2b852039bb05 199 pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
bwang 17:2b852039bb05 200 pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
bwang 23:c77d4b42de17 201 pc.printf("Switching Frequency: %f KHz \n\r", F_SW / 1000.0f);
bwang 17:2b852039bb05 202 pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS);
bwang 17:2b852039bb05 203 pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
bwang 17:2b852039bb05 204 pc.printf("Loop KP: %f\n\r", KP);
bwang 17:2b852039bb05 205 pc.printf("Loop KI: %f\n\r", KI);
bwang 17:2b852039bb05 206 pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
bwang 17:2b852039bb05 207 pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
bwang 17:2b852039bb05 208 pc.printf("\n\r");
bwang 17:2b852039bb05 209 }
bwang 17:2b852039bb05 210
bwang 17:2b852039bb05 211 void config_globals() {
bwang 17:2b852039bb05 212 pc.baud(115200);
bwang 17:2b852039bb05 213
bwang 17:2b852039bb05 214 //Enable clocks for GPIOs
bwang 17:2b852039bb05 215 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
bwang 17:2b852039bb05 216 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
bwang 17:2b852039bb05 217 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
bwang 17:2b852039bb05 218
bwang 17:2b852039bb05 219 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
bwang 17:2b852039bb05 220
bwang 17:2b852039bb05 221 a = new FastPWM(PWMA);
bwang 17:2b852039bb05 222 b = new FastPWM(PWMB);
bwang 17:2b852039bb05 223 c = new FastPWM(PWMC);
bwang 17:2b852039bb05 224
bwang 17:2b852039bb05 225 NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
bwang 17:2b852039bb05 226
bwang 17:2b852039bb05 227 TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
bwang 17:2b852039bb05 228 TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
bwang 17:2b852039bb05 229 TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
bwang 17:2b852039bb05 230 TIM1->RCR |= 0x01; //update event once per up/down count of tim1
bwang 17:2b852039bb05 231 TIM1->EGR |= TIM_EGR_UG;
bwang 17:2b852039bb05 232
bwang 17:2b852039bb05 233 TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
bwang 22:72840d3db788 234 TIM1->ARR = (int) ((float) 9e7 / F_SW);
bwang 17:2b852039bb05 235 TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
bwang 17:2b852039bb05 236 TIM1->CR1 |= TIM_CR1_CEN;
bwang 17:2b852039bb05 237
bwang 17:2b852039bb05 238 //ADC Setup
bwang 17:2b852039bb05 239 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
bwang 17:2b852039bb05 240 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
bwang 17:2b852039bb05 241
bwang 17:2b852039bb05 242 ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
bwang 17:2b852039bb05 243
bwang 17:2b852039bb05 244 ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
bwang 17:2b852039bb05 245 ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
bwang 17:2b852039bb05 246
bwang 17:2b852039bb05 247 ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
bwang 17:2b852039bb05 248 ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
bwang 17:2b852039bb05 249
bwang 17:2b852039bb05 250 GPIOA->MODER |= (1 << 8);
bwang 17:2b852039bb05 251 GPIOA->MODER |= (1 << 9);
bwang 17:2b852039bb05 252
bwang 17:2b852039bb05 253 GPIOA->MODER |= (1 << 2);
bwang 17:2b852039bb05 254 GPIOA->MODER |= (1 << 3);
bwang 17:2b852039bb05 255
bwang 17:2b852039bb05 256 GPIOA->MODER |= (1 << 0);
bwang 17:2b852039bb05 257 GPIOA->MODER |= (1 << 1);
bwang 17:2b852039bb05 258
bwang 17:2b852039bb05 259 GPIOB->MODER |= (1 << 0);
bwang 17:2b852039bb05 260 GPIOB->MODER |= (1 << 1);
bwang 17:2b852039bb05 261
bwang 17:2b852039bb05 262 GPIOC->MODER |= (1 << 2);
bwang 17:2b852039bb05 263 GPIOC->MODER |= (1 << 3);
bwang 17:2b852039bb05 264
bwang 17:2b852039bb05 265 //DAC setup
bwang 17:2b852039bb05 266 RCC->APB1ENR |= 0x20000000;
bwang 17:2b852039bb05 267 DAC->CR |= DAC_CR_EN2;
bwang 17:2b852039bb05 268
bwang 17:2b852039bb05 269 GPIOA->MODER |= (1 << 10);
bwang 17:2b852039bb05 270 GPIOA->MODER |= (1 << 11);
bwang 17:2b852039bb05 271
bwang 17:2b852039bb05 272 //Zero duty cycles
bwang 17:2b852039bb05 273 set_dtc(a, 0.0f);
bwang 17:2b852039bb05 274 set_dtc(b, 0.0f);
bwang 17:2b852039bb05 275 set_dtc(c, 0.0f);
bwang 17:2b852039bb05 276
bwang 17:2b852039bb05 277 wait_ms(250);
bwang 17:2b852039bb05 278 zero_current();
bwang 17:2b852039bb05 279 p_mech = pos.GetMechPosition();
bwang 17:2b852039bb05 280 en = 1;
bwang 17:2b852039bb05 281 }