Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@34:454a4256c4fe, 2016-11-23 (annotated)

Committer:
bwang
Date:
Wed Nov 23 02:38:15 2016 +0000
Revision:
34:454a4256c4fe
Parent:
32:b31423041c4e
Child:
35:89385f64c867
additional algorithmic changes

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 18:3863ca45cf26 94 void get_dq(float torque, float w, float *d, float *q) {
bwang 18:3863ca45cf26 95 *d = 0.0f;
bwang 29:50e6e4e46580 96 *q = torque / KT;
bwang 29:50e6e4e46580 97 if (*q > IPHASE_MOTOR_LIMIT) *q = IPHASE_MOTOR_LIMIT;
bwang 29:50e6e4e46580 98 if (*q > IPHASE_INVERTER_LIMIT) *q = IPHASE_INVERTER_LIMIT;
bwang 31:ebe42589ab9d 99 /*
bwang 31:ebe42589ab9d 100 torque = fabsf(torque);
bwang 32:b31423041c4e 101 get_mtpa_dq(torque, d, q);
bwang 31:ebe42589ab9d 102 if (torque < 0.0f) {
bwang 31:ebe42589ab9d 103 *d = -*d;
bwang 31:ebe42589ab9d 104 *q = -*q;
bwang 31:ebe42589ab9d 105 }
bwang 31:ebe42589ab9d 106 */
bwang 18:3863ca45cf26 107 }
bwang 17:2b852039bb05 108
bwang 17:2b852039bb05 109 void commutate() {
bwang 28:ed9c1ca386fd 110 if (control_enabled && !throttle_in.get_enabled()) go_disabled();
bwang 28:ed9c1ca386fd 111 if (control_enabled && !pos.IsValid()) go_disabled();
bwang 28:ed9c1ca386fd 112 if (!control_enabled && throttle_in.get_enabled()) go_enabled();
bwang 17:2b852039bb05 113
bwang 17:2b852039bb05 114 update_velocity();
bwang 17:2b852039bb05 115
bwang 17:2b852039bb05 116 p = pos.GetElecPosition() - POS_OFFSET;
bwang 15:b583cd30b063 117
bwang 18:3863ca45cf26 118 float torque = get_torque_cmd(throttle_in.get_throttle(), w);
bwang 19:a6cf15f89f3d 119 get_dq(torque, w, &d_ref, &q_ref);
bwang 16:f283d6032fe5 120
bwang 2:eabe8feaaabb 121 float sin_p = sinf(p);
bwang 2:eabe8feaaabb 122 float cos_p = cosf(p);
bwang 2:eabe8feaaabb 123
bwang 1:7b61790f6be9 124 ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
bwang 1:7b61790f6be9 125 ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
bwang 0:bac9c3a3a6ca 126
bwang 27:7e073122ddf8 127 alpha = ia;
bwang 27:7e073122ddf8 128 beta = 1 / sqrtf(3.0f) * ia + 2 / sqrtf(3.0f) * ib;
bwang 2:eabe8feaaabb 129
bwang 24:5e18a87a0e95 130 d = alpha * cos_p + beta * sin_p;
bwang 24:5e18a87a0e95 131 q = -alpha * sin_p + beta * cos_p;
bwang 2:eabe8feaaabb 132
bwang 22:72840d3db788 133 d_filtered = DQ_FILTER_STRENGTH * d_filtered + (1.0f - DQ_FILTER_STRENGTH) * d;
bwang 22:72840d3db788 134 q_filtered = DQ_FILTER_STRENGTH * q_filtered + (1.0f - DQ_FILTER_STRENGTH) * q;
bwang 22:72840d3db788 135
bwang 22:72840d3db788 136 float d_err = d_ref - d_filtered;
bwang 22:72840d3db788 137 float q_err = q_ref - q_filtered;
bwang 2:eabe8feaaabb 138
bwang 2:eabe8feaaabb 139 d_integral += d_err * KI;
bwang 2:eabe8feaaabb 140 q_integral += q_err * KI;
bwang 2:eabe8feaaabb 141
bwang 20:91ae97a811e3 142 q_integral = constrain(q_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 20:91ae97a811e3 143 d_integral = constrain(d_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 2:eabe8feaaabb 144
bwang 31:ebe42589ab9d 145 vd = KP * d_err + d_integral;// - Lq * POLE_PAIRS * w * q / BUS_VOLTAGE * (float) (1e-6);
bwang 31:ebe42589ab9d 146 vq = KP * q_err + q_integral;// + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE * (float) (1e-6);
bwang 31:ebe42589ab9d 147
bwang 31:ebe42589ab9d 148 //vd = constrain(vd, -1.0f, 1.0f);
bwang 31:ebe42589ab9d 149 //vq = constrain(vq, -1.0f, 1.0f);
bwang 21:b7fb355c8c2d 150
bwang 31:ebe42589ab9d 151 float v = sqrtf(vd * vd + vq * vq);
bwang 31:ebe42589ab9d 152
bwang 31:ebe42589ab9d 153 if (v > 1.0f) {
bwang 34:454a4256c4fe 154 //vd /= v;
bwang 34:454a4256c4fe 155 //vq /= v;
bwang 34:454a4256c4fe 156 vq = sqrtf(1.0f - vd * vd);
bwang 31:ebe42589ab9d 157 }
bwang 4:a6669248ce4d 158
bwang 30:c25c5bf0d951 159 if (!control_enabled) {
bwang 30:c25c5bf0d951 160 vd = 0.0f;
bwang 30:c25c5bf0d951 161 vq = 0.0f;
bwang 30:c25c5bf0d951 162 }
bwang 30:c25c5bf0d951 163
bwang 2:eabe8feaaabb 164 float valpha = vd * cos_p - vq * sin_p;
bwang 2:eabe8feaaabb 165 float vbeta = vd * sin_p + vq * cos_p;
bwang 2:eabe8feaaabb 166
bwang 2:eabe8feaaabb 167 float va = valpha;
bwang 24:5e18a87a0e95 168 float vb = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
bwang 24:5e18a87a0e95 169 float vc = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 170
dicarloj 13:41d102a53caf 171 float voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;
dicarloj 13:41d102a53caf 172 va = va - voff;
dicarloj 13:41d102a53caf 173 vb = vb - voff;
dicarloj 13:41d102a53caf 174 vc = vc - voff;
dicarloj 13:41d102a53caf 175
bwang 2:eabe8feaaabb 176 set_dtc(a, 0.5f + 0.5f * va);
bwang 2:eabe8feaaabb 177 set_dtc(b, 0.5f + 0.5f * vb);
bwang 2:eabe8feaaabb 178 set_dtc(c, 0.5f + 0.5f * vc);
bwang 0:bac9c3a3a6ca 179 }
bwang 0:bac9c3a3a6ca 180
bwang 0:bac9c3a3a6ca 181 int main() {
bwang 0:bac9c3a3a6ca 182 config_globals();
bwang 0:bac9c3a3a6ca 183 startup_msg();
bwang 0:bac9c3a3a6ca 184
bwang 0:bac9c3a3a6ca 185 for (;;) {
bwang 0:bac9c3a3a6ca 186 }
bwang 0:bac9c3a3a6ca 187 }
bwang 16:f283d6032fe5 188
bwang 16:f283d6032fe5 189 void go_enabled() {
bwang 16:f283d6032fe5 190 d_integral = 0.0f;
bwang 16:f283d6032fe5 191 q_integral = 0.0f;
bwang 16:f283d6032fe5 192 control_enabled = true;
bwang 16:f283d6032fe5 193 en = 1;
bwang 16:f283d6032fe5 194 }
bwang 16:f283d6032fe5 195
bwang 16:f283d6032fe5 196 void go_disabled() {
bwang 16:f283d6032fe5 197 control_enabled = false;
bwang 16:f283d6032fe5 198 en = 0;
bwang 16:f283d6032fe5 199 }
bwang 16:f283d6032fe5 200
bwang 17:2b852039bb05 201 void startup_msg() {
bwang 17:2b852039bb05 202 pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
bwang 17:2b852039bb05 203 pc.printf("%s\n\r", "====Config Data====");
bwang 17:2b852039bb05 204 pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
bwang 17:2b852039bb05 205 pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
bwang 17:2b852039bb05 206 pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
bwang 23:c77d4b42de17 207 pc.printf("Switching Frequency: %f KHz \n\r", F_SW / 1000.0f);
bwang 17:2b852039bb05 208 pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS);
bwang 17:2b852039bb05 209 pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
bwang 17:2b852039bb05 210 pc.printf("Loop KP: %f\n\r", KP);
bwang 17:2b852039bb05 211 pc.printf("Loop KI: %f\n\r", KI);
bwang 17:2b852039bb05 212 pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
bwang 17:2b852039bb05 213 pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
bwang 17:2b852039bb05 214 pc.printf("\n\r");
bwang 17:2b852039bb05 215 }
bwang 17:2b852039bb05 216
bwang 17:2b852039bb05 217 void config_globals() {
bwang 17:2b852039bb05 218 pc.baud(115200);
bwang 17:2b852039bb05 219
bwang 17:2b852039bb05 220 //Enable clocks for GPIOs
bwang 17:2b852039bb05 221 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
bwang 17:2b852039bb05 222 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
bwang 17:2b852039bb05 223 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
bwang 17:2b852039bb05 224
bwang 17:2b852039bb05 225 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
bwang 17:2b852039bb05 226
bwang 17:2b852039bb05 227 a = new FastPWM(PWMA);
bwang 17:2b852039bb05 228 b = new FastPWM(PWMB);
bwang 17:2b852039bb05 229 c = new FastPWM(PWMC);
bwang 17:2b852039bb05 230
bwang 17:2b852039bb05 231 NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
bwang 17:2b852039bb05 232
bwang 17:2b852039bb05 233 TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
bwang 17:2b852039bb05 234 TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
bwang 17:2b852039bb05 235 TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
bwang 17:2b852039bb05 236 TIM1->RCR |= 0x01; //update event once per up/down count of tim1
bwang 17:2b852039bb05 237 TIM1->EGR |= TIM_EGR_UG;
bwang 17:2b852039bb05 238
bwang 17:2b852039bb05 239 TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
bwang 22:72840d3db788 240 TIM1->ARR = (int) ((float) 9e7 / F_SW);
bwang 17:2b852039bb05 241 TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
bwang 17:2b852039bb05 242 TIM1->CR1 |= TIM_CR1_CEN;
bwang 17:2b852039bb05 243
bwang 17:2b852039bb05 244 //ADC Setup
bwang 17:2b852039bb05 245 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
bwang 17:2b852039bb05 246 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
bwang 17:2b852039bb05 247
bwang 17:2b852039bb05 248 ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
bwang 17:2b852039bb05 249
bwang 17:2b852039bb05 250 ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
bwang 17:2b852039bb05 251 ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
bwang 17:2b852039bb05 252
bwang 17:2b852039bb05 253 ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
bwang 17:2b852039bb05 254 ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
bwang 17:2b852039bb05 255
bwang 17:2b852039bb05 256 GPIOA->MODER |= (1 << 8);
bwang 17:2b852039bb05 257 GPIOA->MODER |= (1 << 9);
bwang 17:2b852039bb05 258
bwang 17:2b852039bb05 259 GPIOA->MODER |= (1 << 2);
bwang 17:2b852039bb05 260 GPIOA->MODER |= (1 << 3);
bwang 17:2b852039bb05 261
bwang 17:2b852039bb05 262 GPIOA->MODER |= (1 << 0);
bwang 17:2b852039bb05 263 GPIOA->MODER |= (1 << 1);
bwang 17:2b852039bb05 264
bwang 17:2b852039bb05 265 GPIOB->MODER |= (1 << 0);
bwang 17:2b852039bb05 266 GPIOB->MODER |= (1 << 1);
bwang 17:2b852039bb05 267
bwang 17:2b852039bb05 268 GPIOC->MODER |= (1 << 2);
bwang 17:2b852039bb05 269 GPIOC->MODER |= (1 << 3);
bwang 17:2b852039bb05 270
bwang 17:2b852039bb05 271 //DAC setup
bwang 17:2b852039bb05 272 RCC->APB1ENR |= 0x20000000;
bwang 17:2b852039bb05 273 DAC->CR |= DAC_CR_EN2;
bwang 17:2b852039bb05 274
bwang 17:2b852039bb05 275 GPIOA->MODER |= (1 << 10);
bwang 17:2b852039bb05 276 GPIOA->MODER |= (1 << 11);
bwang 17:2b852039bb05 277
bwang 17:2b852039bb05 278 //Zero duty cycles
bwang 17:2b852039bb05 279 set_dtc(a, 0.0f);
bwang 17:2b852039bb05 280 set_dtc(b, 0.0f);
bwang 17:2b852039bb05 281 set_dtc(c, 0.0f);
bwang 17:2b852039bb05 282
bwang 17:2b852039bb05 283 wait_ms(250);
bwang 17:2b852039bb05 284 zero_current();
bwang 17:2b852039bb05 285 p_mech = pos.GetMechPosition();
bwang 17:2b852039bb05 286 en = 1;
bwang 17:2b852039bb05 287 }