Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@25:3f2b585ae72d, 2016-11-05 (annotated)

Committer:
bwang
Date:
Sat Nov 05 15:49:11 2016 +0000
Revision:
25:3f2b585ae72d
Parent:
24:5e18a87a0e95
Child:
26:955a1dfc2705
conventions now correct, motor crunches at >100v

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 18:3863ca45cf26 8
bwang 15:b583cd30b063 9 #include "config_motor.h"
bwang 15:b583cd30b063 10 #include "config_loop.h"
bwang 19:a6cf15f89f3d 11 #include "config_pins.h"
bwang 15:b583cd30b063 12 #include "config_inverter.h"
bwang 0:bac9c3a3a6ca 13
bwang 1:7b61790f6be9 14 FastPWM *a;
bwang 1:7b61790f6be9 15 FastPWM *b;
bwang 1:7b61790f6be9 16 FastPWM *c;
bwang 0:bac9c3a3a6ca 17 DigitalOut en(EN);
bwang 18:3863ca45cf26 18 PwmIn throttle_in(TH_PIN, 1100, 1900);
bwang 0:bac9c3a3a6ca 19 PositionSensorEncoder pos(CPR, 0);
bwang 0:bac9c3a3a6ca 20
bwang 0:bac9c3a3a6ca 21 Serial pc(USBTX, USBRX);
bwang 0:bac9c3a3a6ca 22
bwang 1:7b61790f6be9 23 int adval1, adval2;
bwang 2:eabe8feaaabb 24 float ia, ib, ic, alpha, beta, d, q, vd, vq, p;
bwang 15:b583cd30b063 25 float p_mech, last_p_mech, w;
bwang 22:72840d3db788 26 float d_filtered = 0.0f, q_filtered = 0.0f;
bwang 2:eabe8feaaabb 27
bwang 1:7b61790f6be9 28 float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV)
bwang 1:7b61790f6be9 29
bwang 2:eabe8feaaabb 30 float d_integral = 0.0f, q_integral = 0.0f;
bwang 2:eabe8feaaabb 31 float last_d = 0.0f, last_q = 0.0f;
bwang 14:59c4fcc1a4f7 32 float d_ref = 0.0f, q_ref = 0.0f;
bwang 2:eabe8feaaabb 33
bwang 25:3f2b585ae72d 34 bool control_enabled = false;
dicarloj 13:41d102a53caf 35
bwang 4:a6669248ce4d 36 void commutate();
bwang 3:9b20da3f0055 37 void zero_current();
bwang 3:9b20da3f0055 38 void config_globals();
bwang 3:9b20da3f0055 39 void startup_msg();
bwang 2:eabe8feaaabb 40
bwang 16:f283d6032fe5 41 void go_enabled();
bwang 16:f283d6032fe5 42 void go_disabled();
dicarloj 13:41d102a53caf 43
bwang 1:7b61790f6be9 44 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 1:7b61790f6be9 45 if (TIM1->SR & TIM_SR_UIF ) {
bwang 4:a6669248ce4d 46 ADC1->CR2 |= 0x40000000;
bwang 4:a6669248ce4d 47 volatile int delay;
bwang 4:a6669248ce4d 48 for (delay = 0; delay < 35; delay++);
bwang 1:7b61790f6be9 49 adval1 = ADC1->DR;
bwang 1:7b61790f6be9 50 adval2 = ADC2->DR;
bwang 4:a6669248ce4d 51 commutate();
bwang 1:7b61790f6be9 52 }
bwang 1:7b61790f6be9 53 TIM1->SR = 0x00;
bwang 1:7b61790f6be9 54 }
bwang 1:7b61790f6be9 55
bwang 1:7b61790f6be9 56 void zero_current(){
bwang 1:7b61790f6be9 57 for (int i = 0; i < 1000; i++){
bwang 1:7b61790f6be9 58 ia_supp_offset += (float) (ADC1->DR);
bwang 1:7b61790f6be9 59 ib_supp_offset += (float) (ADC2->DR);
bwang 1:7b61790f6be9 60 ADC1->CR2 |= 0x40000000;
bwang 1:7b61790f6be9 61 wait_us(100);
bwang 1:7b61790f6be9 62 }
bwang 1:7b61790f6be9 63 ia_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 64 ib_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 65 ia_supp_offset = ia_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 66 ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 67 }
bwang 0:bac9c3a3a6ca 68
bwang 17:2b852039bb05 69 void update_velocity() {
bwang 15:b583cd30b063 70 last_p_mech = p_mech;
bwang 15:b583cd30b063 71 p_mech = pos.GetMechPosition();
bwang 15:b583cd30b063 72 float dp_mech = p_mech - last_p_mech;
bwang 19:a6cf15f89f3d 73 if (dp_mech < -PI) dp_mech += 2 * PI;
bwang 24:5e18a87a0e95 74 if (dp_mech > PI) dp_mech -= 2 * PI;
bwang 24:5e18a87a0e95 75 float w_raw = dp_mech * F_SW; //rad/s
bwang 24:5e18a87a0e95 76 if (w_raw > W_MAX) w_raw = w; //with this limiting scheme noise < 0
bwang 24:5e18a87a0e95 77 if (w_raw < -W_MAX) w_raw = w; //so we need to throw out the large deltas first
bwang 15:b583cd30b063 78 w = W_FILTER_STRENGTH * w + (1.0f - W_FILTER_STRENGTH) * w_raw;
bwang 18:3863ca45cf26 79 }
bwang 18:3863ca45cf26 80
bwang 18:3863ca45cf26 81 float get_torque_cmd(float throttle, float w) {
bwang 19:a6cf15f89f3d 82 return throttle * FORWARD_TORQUE_MAX;
bwang 18:3863ca45cf26 83 }
bwang 18:3863ca45cf26 84
bwang 18:3863ca45cf26 85 //fill in d, q ref based on torque cmd and current velocity
bwang 18:3863ca45cf26 86 void get_dq(float torque, float w, float *d, float *q) {
bwang 18:3863ca45cf26 87 *d = 0.0f;
bwang 22:72840d3db788 88 *q = Q_MAX;//torque / KT < Q_MAX ? torque / KT : Q_MAX;
bwang 18:3863ca45cf26 89 }
bwang 17:2b852039bb05 90
bwang 17:2b852039bb05 91 void commutate() {
bwang 25:3f2b585ae72d 92 if(control_enabled && !throttle_in.get_enabled()) go_disabled();
bwang 25:3f2b585ae72d 93 if(!control_enabled && throttle_in.get_enabled()) go_enabled();
bwang 17:2b852039bb05 94
bwang 17:2b852039bb05 95 update_velocity();
bwang 17:2b852039bb05 96
bwang 17:2b852039bb05 97 p = pos.GetElecPosition() - POS_OFFSET;
bwang 15:b583cd30b063 98
bwang 18:3863ca45cf26 99 float torque = get_torque_cmd(throttle_in.get_throttle(), w);
bwang 19:a6cf15f89f3d 100 get_dq(torque, w, &d_ref, &q_ref);
bwang 16:f283d6032fe5 101
bwang 2:eabe8feaaabb 102 float sin_p = sinf(p);
bwang 2:eabe8feaaabb 103 float cos_p = cosf(p);
bwang 2:eabe8feaaabb 104
bwang 1:7b61790f6be9 105 ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
bwang 1:7b61790f6be9 106 ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
bwang 2:eabe8feaaabb 107 ic = -ia - ib;
bwang 0:bac9c3a3a6ca 108
bwang 10:f49df0fe0382 109 float u = CURRENT_U;
bwang 10:f49df0fe0382 110 float v = CURRENT_V;
bwang 2:eabe8feaaabb 111
bwang 2:eabe8feaaabb 112 alpha = u;
bwang 2:eabe8feaaabb 113 beta = 1 / sqrtf(3.0f) * u + 2 / sqrtf(3.0f) * v;
bwang 2:eabe8feaaabb 114
bwang 24:5e18a87a0e95 115 d = alpha * cos_p + beta * sin_p;
bwang 24:5e18a87a0e95 116 q = -alpha * sin_p + beta * cos_p;
bwang 2:eabe8feaaabb 117
bwang 22:72840d3db788 118 d_filtered = DQ_FILTER_STRENGTH * d_filtered + (1.0f - DQ_FILTER_STRENGTH) * d;
bwang 22:72840d3db788 119 q_filtered = DQ_FILTER_STRENGTH * q_filtered + (1.0f - DQ_FILTER_STRENGTH) * q;
bwang 22:72840d3db788 120
bwang 22:72840d3db788 121 float d_err = d_ref - d_filtered;
bwang 22:72840d3db788 122 float q_err = q_ref - q_filtered;
bwang 2:eabe8feaaabb 123
bwang 2:eabe8feaaabb 124 d_integral += d_err * KI;
bwang 2:eabe8feaaabb 125 q_integral += q_err * KI;
bwang 2:eabe8feaaabb 126
bwang 20:91ae97a811e3 127 q_integral = constrain(q_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 20:91ae97a811e3 128 d_integral = constrain(d_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 2:eabe8feaaabb 129
bwang 21:b7fb355c8c2d 130 if(control_enabled) {
bwang 21:b7fb355c8c2d 131 vd = KP * d_err + d_integral;
bwang 21:b7fb355c8c2d 132 vq = KP * q_err + q_integral;
bwang 21:b7fb355c8c2d 133 } else {
bwang 21:b7fb355c8c2d 134 vd = 0;
bwang 21:b7fb355c8c2d 135 vq = 0;
bwang 21:b7fb355c8c2d 136 }
bwang 21:b7fb355c8c2d 137
bwang 20:91ae97a811e3 138 vd = constrain(vd, -1.0f, 1.0f);
bwang 20:91ae97a811e3 139 vq = constrain(vq, -1.0f, 1.0f);
bwang 4:a6669248ce4d 140
bwang 2:eabe8feaaabb 141 float valpha = vd * cos_p - vq * sin_p;
bwang 2:eabe8feaaabb 142 float vbeta = vd * sin_p + vq * cos_p;
bwang 2:eabe8feaaabb 143
bwang 2:eabe8feaaabb 144 float va = valpha;
bwang 24:5e18a87a0e95 145 float vb = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
bwang 24:5e18a87a0e95 146 float vc = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 147
dicarloj 13:41d102a53caf 148 float voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;
dicarloj 13:41d102a53caf 149 va = va - voff;
dicarloj 13:41d102a53caf 150 vb = vb - voff;
dicarloj 13:41d102a53caf 151 vc = vc - voff;
dicarloj 13:41d102a53caf 152
bwang 2:eabe8feaaabb 153 set_dtc(a, 0.5f + 0.5f * va);
bwang 2:eabe8feaaabb 154 set_dtc(b, 0.5f + 0.5f * vb);
bwang 2:eabe8feaaabb 155 set_dtc(c, 0.5f + 0.5f * vc);
bwang 0:bac9c3a3a6ca 156 }
bwang 0:bac9c3a3a6ca 157
bwang 0:bac9c3a3a6ca 158 int main() {
bwang 0:bac9c3a3a6ca 159 config_globals();
bwang 0:bac9c3a3a6ca 160 startup_msg();
bwang 0:bac9c3a3a6ca 161
bwang 0:bac9c3a3a6ca 162 for (;;) {
bwang 0:bac9c3a3a6ca 163 }
bwang 0:bac9c3a3a6ca 164 }
bwang 16:f283d6032fe5 165
bwang 16:f283d6032fe5 166 void go_enabled() {
bwang 16:f283d6032fe5 167 d_integral = 0.0f;
bwang 16:f283d6032fe5 168 q_integral = 0.0f;
bwang 16:f283d6032fe5 169 control_enabled = true;
bwang 16:f283d6032fe5 170 en = 1;
bwang 16:f283d6032fe5 171 }
bwang 16:f283d6032fe5 172
bwang 16:f283d6032fe5 173 void go_disabled() {
bwang 16:f283d6032fe5 174 control_enabled = false;
bwang 16:f283d6032fe5 175 en = 0;
bwang 16:f283d6032fe5 176 }
bwang 16:f283d6032fe5 177
bwang 17:2b852039bb05 178 void startup_msg() {
bwang 17:2b852039bb05 179 pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
bwang 17:2b852039bb05 180 pc.printf("%s\n\r", "====Config Data====");
bwang 17:2b852039bb05 181 pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
bwang 17:2b852039bb05 182 pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
bwang 17:2b852039bb05 183 pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
bwang 23:c77d4b42de17 184 pc.printf("Switching Frequency: %f KHz \n\r", F_SW / 1000.0f);
bwang 17:2b852039bb05 185 pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS);
bwang 17:2b852039bb05 186 pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
bwang 17:2b852039bb05 187 pc.printf("Loop KP: %f\n\r", KP);
bwang 17:2b852039bb05 188 pc.printf("Loop KI: %f\n\r", KI);
bwang 17:2b852039bb05 189 pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
bwang 17:2b852039bb05 190 pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
bwang 17:2b852039bb05 191 pc.printf("\n\r");
bwang 17:2b852039bb05 192 }
bwang 17:2b852039bb05 193
bwang 17:2b852039bb05 194 void config_globals() {
bwang 17:2b852039bb05 195 pc.baud(115200);
bwang 17:2b852039bb05 196
bwang 17:2b852039bb05 197 //Enable clocks for GPIOs
bwang 17:2b852039bb05 198 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
bwang 17:2b852039bb05 199 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
bwang 17:2b852039bb05 200 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
bwang 17:2b852039bb05 201
bwang 17:2b852039bb05 202 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
bwang 17:2b852039bb05 203
bwang 17:2b852039bb05 204 a = new FastPWM(PWMA);
bwang 17:2b852039bb05 205 b = new FastPWM(PWMB);
bwang 17:2b852039bb05 206 c = new FastPWM(PWMC);
bwang 17:2b852039bb05 207
bwang 17:2b852039bb05 208 NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
bwang 17:2b852039bb05 209
bwang 17:2b852039bb05 210 TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
bwang 17:2b852039bb05 211 TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
bwang 17:2b852039bb05 212 TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
bwang 17:2b852039bb05 213 TIM1->RCR |= 0x01; //update event once per up/down count of tim1
bwang 17:2b852039bb05 214 TIM1->EGR |= TIM_EGR_UG;
bwang 17:2b852039bb05 215
bwang 17:2b852039bb05 216 TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
bwang 22:72840d3db788 217 TIM1->ARR = (int) ((float) 9e7 / F_SW);
bwang 17:2b852039bb05 218 TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
bwang 17:2b852039bb05 219 TIM1->CR1 |= TIM_CR1_CEN;
bwang 17:2b852039bb05 220
bwang 17:2b852039bb05 221 //ADC Setup
bwang 17:2b852039bb05 222 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
bwang 17:2b852039bb05 223 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
bwang 17:2b852039bb05 224
bwang 17:2b852039bb05 225 ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
bwang 17:2b852039bb05 226
bwang 17:2b852039bb05 227 ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
bwang 17:2b852039bb05 228 ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
bwang 17:2b852039bb05 229
bwang 17:2b852039bb05 230 ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
bwang 17:2b852039bb05 231 ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
bwang 17:2b852039bb05 232
bwang 17:2b852039bb05 233 GPIOA->MODER |= (1 << 8);
bwang 17:2b852039bb05 234 GPIOA->MODER |= (1 << 9);
bwang 17:2b852039bb05 235
bwang 17:2b852039bb05 236 GPIOA->MODER |= (1 << 2);
bwang 17:2b852039bb05 237 GPIOA->MODER |= (1 << 3);
bwang 17:2b852039bb05 238
bwang 17:2b852039bb05 239 GPIOA->MODER |= (1 << 0);
bwang 17:2b852039bb05 240 GPIOA->MODER |= (1 << 1);
bwang 17:2b852039bb05 241
bwang 17:2b852039bb05 242 GPIOB->MODER |= (1 << 0);
bwang 17:2b852039bb05 243 GPIOB->MODER |= (1 << 1);
bwang 17:2b852039bb05 244
bwang 17:2b852039bb05 245 GPIOC->MODER |= (1 << 2);
bwang 17:2b852039bb05 246 GPIOC->MODER |= (1 << 3);
bwang 17:2b852039bb05 247
bwang 17:2b852039bb05 248 //DAC setup
bwang 17:2b852039bb05 249 RCC->APB1ENR |= 0x20000000;
bwang 17:2b852039bb05 250 DAC->CR |= DAC_CR_EN2;
bwang 17:2b852039bb05 251
bwang 17:2b852039bb05 252 GPIOA->MODER |= (1 << 10);
bwang 17:2b852039bb05 253 GPIOA->MODER |= (1 << 11);
bwang 17:2b852039bb05 254
bwang 17:2b852039bb05 255 //Zero duty cycles
bwang 17:2b852039bb05 256 set_dtc(a, 0.0f);
bwang 17:2b852039bb05 257 set_dtc(b, 0.0f);
bwang 17:2b852039bb05 258 set_dtc(c, 0.0f);
bwang 17:2b852039bb05 259
bwang 17:2b852039bb05 260 wait_ms(250);
bwang 17:2b852039bb05 261 zero_current();
bwang 17:2b852039bb05 262 p_mech = pos.GetMechPosition();
bwang 17:2b852039bb05 263 en = 1;
bwang 17:2b852039bb05 264 }