Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@126:498f56ba051e, 2017-04-30 (annotated)

Committer:
bwang
Date:
Sun Apr 30 03:53:01 2017 +0000
Revision:
126:498f56ba051e
Parent:
124:e70ca81676fc
Child:
130:639cd8586f86
format change, since it is hard to measure actual inverter delay

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 42:030e0ec4eac5 8 #include "Transforms.h"
bwang 42:030e0ec4eac5 9 #include "DQMapper.h"
bwang 42:030e0ec4eac5 10 #include "ThrottleMapper.h"
bwang 118:2b6dab10b69d 11 #include "Calibration.h"
bwang 42:030e0ec4eac5 12
bwang 42:030e0ec4eac5 13 #include "BREMSStructs.h"
bwang 42:030e0ec4eac5 14 #include "BREMSConfig.h"
bwang 30:c25c5bf0d951 15
bwang 15:b583cd30b063 16 #include "config_motor.h"
bwang 15:b583cd30b063 17 #include "config_loop.h"
bwang 19:a6cf15f89f3d 18 #include "config_pins.h"
bwang 15:b583cd30b063 19 #include "config_inverter.h"
bwang 29:50e6e4e46580 20 #include "config_driving.h"
bwang 72:5f1da97d62e1 21 #include "config_logging.h"
bwang 0:bac9c3a3a6ca 22
bwang 42:030e0ec4eac5 23 #include "main.h"
bwang 0:bac9c3a3a6ca 24
bwang 42:030e0ec4eac5 25 IOStruct io;
bwang 42:030e0ec4eac5 26 ReadDataStruct read;
bwang 42:030e0ec4eac5 27 FOCStruct foc;
bwang 42:030e0ec4eac5 28 ControlStruct control;
bwang 2:eabe8feaaabb 29
bwang 124:e70ca81676fc 30 DigitalOut test(PC_5);
bwang 124:e70ca81676fc 31 int time_counter = 0;
bwang 124:e70ca81676fc 32 float test_dtc = 0.2f;
bwang 124:e70ca81676fc 33
bwang 42:030e0ec4eac5 34 DQMapper *dq;
bwang 42:030e0ec4eac5 35 ThrottleMapper *th;
bwang 2:eabe8feaaabb 36
bwang 44:3fd6a43b91f0 37 int loop_counter = 0;
bwang 25:3f2b585ae72d 38 bool control_enabled = false;
dicarloj 13:41d102a53caf 39
bwang 42:030e0ec4eac5 40 void update_velocity() {
bwang 42:030e0ec4eac5 41 read.last_p_mech = read.p_mech;
bwang 42:030e0ec4eac5 42 read.p_mech = io.pos->GetMechPosition();
bwang 44:3fd6a43b91f0 43
bwang 42:030e0ec4eac5 44 float dp_mech = read.p_mech - read.last_p_mech;
bwang 42:030e0ec4eac5 45 if (dp_mech < -PI) dp_mech += 2 * PI;
bwang 42:030e0ec4eac5 46 if (dp_mech > PI) dp_mech -= 2 * PI;
bwang 44:3fd6a43b91f0 47
bwang 42:030e0ec4eac5 48 float w_raw = dp_mech * F_SW; //rad/s
bwang 121:de10418bf2c2 49 if (w_raw > W_CRAZY) w_raw = read.w; //throw out inplausible results
bwang 121:de10418bf2c2 50 if (w_raw < -W_CRAZY) w_raw = read.w;
bwang 44:3fd6a43b91f0 51
bwang 44:3fd6a43b91f0 52 read.w = update_filter(read.w, w_raw, W_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 53 }
bwang 2:eabe8feaaabb 54
bwang 118:2b6dab10b69d 55 void commutate() {
bwang 56:c681001dfa46 56 /*safety checks, do we do anything this cycle?*/
bwang 56:c681001dfa46 57 if (!control_enabled && io.throttle_in->get_enabled() && io.pos->IsValid() && is_driving()) {
bwang 52:fd3d8df99287 58 go_enabled();
bwang 52:fd3d8df99287 59 }
bwang 42:030e0ec4eac5 60
bwang 42:030e0ec4eac5 61 /*update velocity, references*/
bwang 42:030e0ec4eac5 62 update_velocity();
bwang 44:3fd6a43b91f0 63 if (loop_counter % SLOW_LOOP_COUNTER == 0) {
bwang 44:3fd6a43b91f0 64 loop_counter = 0;
bwang 44:3fd6a43b91f0 65 slow_loop();
bwang 44:3fd6a43b91f0 66 }
bwang 44:3fd6a43b91f0 67 loop_counter++;
bwang 42:030e0ec4eac5 68
bwang 42:030e0ec4eac5 69 /*update position, sin, cos*/
bwang 124:e70ca81676fc 70 foc.p = io.pos->GetElecPosition() - POS_OFFSET;// + read.w / 1048.0f;
bwang 42:030e0ec4eac5 71 float sin_p = sinf(foc.p);
bwang 42:030e0ec4eac5 72 float cos_p = cosf(foc.p);
bwang 42:030e0ec4eac5 73
bwang 49:da8604278d76 74 /*scale and offset currents (adval1, 2 are updated in ISR)*/
bwang 42:030e0ec4eac5 75 foc.ia = ((float) read.adval1 / 4096.0f * AVDD - I_OFFSET - read.ia_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 76 foc.ib = ((float) read.adval2 / 4096.0f * AVDD - I_OFFSET - read.ib_supp_offset) / I_SCALE;
bwang 42:030e0ec4eac5 77
bwang 42:030e0ec4eac5 78 /*compute d, q*/
bwang 42:030e0ec4eac5 79 clarke(foc.ia, foc.ib, &foc.alpha, &foc.beta);
bwang 42:030e0ec4eac5 80 park(foc.alpha, foc.beta, sin_p, cos_p, &foc.d, &foc.q);
bwang 42:030e0ec4eac5 81
bwang 42:030e0ec4eac5 82 /*PI controller*/
bwang 44:3fd6a43b91f0 83 control.d_filtered = update_filter(control.d_filtered, foc.d, DQ_FILTER_STRENGTH);
bwang 44:3fd6a43b91f0 84 control.q_filtered = update_filter(control.q_filtered, foc.q, DQ_FILTER_STRENGTH);
bwang 42:030e0ec4eac5 85
bwang 42:030e0ec4eac5 86 float d_err = control.d_ref - control.d_filtered;
bwang 42:030e0ec4eac5 87 float q_err = control.q_ref - control.q_filtered;
bwang 42:030e0ec4eac5 88
bwang 58:7316c5a4c417 89 control.d_integral += d_err * KI_D;
bwang 58:7316c5a4c417 90 control.q_integral += q_err * KI_Q;
bwang 42:030e0ec4eac5 91
bwang 115:6c1bce07768d 92 constrain_norm(&control.d_integral, &control.q_integral, 1.0f, 1.0f, 1.0f);
bwang 42:030e0ec4eac5 93
bwang 115:6c1bce07768d 94 foc.vd = KP_D * d_err + control.d_integral;// + Lq * POLE_PAIRS * read.w * foc.q / BUS_VOLTAGE / 2.0f;
bwang 115:6c1bce07768d 95 foc.vq = KP_Q * q_err + control.q_integral;// - Ld * POLE_PAIRS * read.w * foc.d / BUS_VOLTAGE / 2.0f;
bwang 42:030e0ec4eac5 96
bwang 64:b4175385d718 97 constrain_norm(&foc.vd, &foc.vq, 1.0f, 1.0f, 1.0f);
bwang 42:030e0ec4eac5 98
bwang 42:030e0ec4eac5 99 if (!control_enabled) {
bwang 42:030e0ec4eac5 100 foc.vd = 0.0f;
bwang 42:030e0ec4eac5 101 foc.vq = 0.0f;
bwang 42:030e0ec4eac5 102 }
bwang 42:030e0ec4eac5 103
bwang 126:498f56ba051e 104 float pv = foc.p + read.w / V_PHASE_SWIZZLE;
bwang 124:e70ca81676fc 105 float sin_pv = sinf(pv);
bwang 124:e70ca81676fc 106 float cos_pv = cosf(pv);
bwang 124:e70ca81676fc 107
bwang 42:030e0ec4eac5 108 /*inverse transforms*/
bwang 124:e70ca81676fc 109 invpark(foc.vd, foc.vq, sin_pv, cos_pv, &foc.valpha, &foc.vbeta);
bwang 42:030e0ec4eac5 110
bwang 42:030e0ec4eac5 111 float va, vb, vc, voff;
bwang 42:030e0ec4eac5 112
bwang 42:030e0ec4eac5 113 invclarke(foc.valpha, foc.vbeta, &va, &vb);
bwang 42:030e0ec4eac5 114 vc = -va - vb;
bwang 42:030e0ec4eac5 115
bwang 42:030e0ec4eac5 116 /*SVPWM*/
bwang 44:3fd6a43b91f0 117 voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;//don't think about it
bwang 42:030e0ec4eac5 118 va = va - voff;
bwang 42:030e0ec4eac5 119 vb = vb - voff;
bwang 42:030e0ec4eac5 120 vc = vc - voff;
bwang 42:030e0ec4eac5 121
bwang 56:c681001dfa46 122 /*safety checks, reset integral*/
bwang 56:c681001dfa46 123 if (!io.throttle_in->get_enabled() || !io.pos->IsValid() || !is_driving()) {
bwang 56:c681001dfa46 124 /*do this even in disabled state, to keep integral down*/
bwang 56:c681001dfa46 125 go_disabled();
bwang 56:c681001dfa46 126 }
bwang 56:c681001dfa46 127
bwang 42:030e0ec4eac5 128 /*output to timers*/
bwang 93:e7e45957f496 129 set_dtc(io.a, 0.5f + 0.5f * va * MODULATION_MAX);
bwang 93:e7e45957f496 130 set_dtc(io.b, 0.5f + 0.5f * vb * MODULATION_MAX);
bwang 93:e7e45957f496 131 set_dtc(io.c, 0.5f + 0.5f * vc * MODULATION_MAX);
bwang 42:030e0ec4eac5 132 }
bwang 42:030e0ec4eac5 133
bwang 44:3fd6a43b91f0 134 void slow_loop() {
bwang 74:f10cb573d7ca 135 float x = io.throttle_in->get_throttle();
bwang 75:591556ce033d 136 control.torque_percent = update_filter(control.torque_percent, th->map(io.throttle_in->get_throttle(), read.w), THROTTLE_FILTER_STRENGTH);
bwang 75:591556ce033d 137
bwang 70:5e39beeb4a21 138 dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref);
bwang 44:3fd6a43b91f0 139 }
bwang 44:3fd6a43b91f0 140
bwang 42:030e0ec4eac5 141 void go_enabled() {
bwang 42:030e0ec4eac5 142 control_enabled = true;
bwang 42:030e0ec4eac5 143 io.en->write(1);
bwang 42:030e0ec4eac5 144 }
bwang 42:030e0ec4eac5 145
bwang 42:030e0ec4eac5 146 void go_disabled() {
bwang 52:fd3d8df99287 147 control.d_integral = 0.0f;
bwang 52:fd3d8df99287 148 control.q_integral = 0.0f;
bwang 42:030e0ec4eac5 149 control_enabled = false;
bwang 42:030e0ec4eac5 150 io.en->write(0);
bwang 42:030e0ec4eac5 151 }
bwang 42:030e0ec4eac5 152
bwang 52:fd3d8df99287 153 bool is_driving() {
bwang 55:3568b78dc203 154 return io.throttle_in->get_throttle() > 0.01f || fabsf(read.w) > W_SAFE;
bwang 52:fd3d8df99287 155 }
bwang 52:fd3d8df99287 156
bwang 44:3fd6a43b91f0 157 float update_filter(float old, float x, float str) {
bwang 42:030e0ec4eac5 158 return str * old + (1.0f - str) * x;
bwang 42:030e0ec4eac5 159 }
dicarloj 13:41d102a53caf 160
bwang 72:5f1da97d62e1 161 void log() {
bwang 121:de10418bf2c2 162 io.pc->printf("%d,%d,%d,%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_ref, (int) control.d_filtered, (int) control.q_ref, (int) control.q_filtered, (int) (255 * control.torque_percent),
bwang 121:de10418bf2c2 163 (int) (255 * foc.vd), (int) (255 * foc.vq));
bwang 123:d81d91c9abe8 164 //io.pc->printf("%d,%d,%d,%d,%d\n", (int) read.w, (int) control.d_filtered, (int) control.q_filtered, (int) (255 * foc.vd), (int) (255 * foc.vq));
bwang 72:5f1da97d62e1 165 wait(1.0f / LOG_FREQUENCY);
bwang 70:5e39beeb4a21 166 }
bwang 70:5e39beeb4a21 167
bwang 1:7b61790f6be9 168 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 75:591556ce033d 169 int start_state = io.throttle_in->state();
bwang 91:f58472ac3fae 170
bwang 1:7b61790f6be9 171 if (TIM1->SR & TIM_SR_UIF ) {
bwang 4:a6669248ce4d 172 ADC1->CR2 |= 0x40000000;
bwang 91:f58472ac3fae 173 volatile int delay;
bwang 91:f58472ac3fae 174 for (delay = 0; delay < 35; delay++);
bwang 91:f58472ac3fae 175
bwang 42:030e0ec4eac5 176 read.adval1 = ADC1->DR;
bwang 42:030e0ec4eac5 177 read.adval2 = ADC2->DR;
bwang 91:f58472ac3fae 178
bwang 4:a6669248ce4d 179 commutate();
bwang 1:7b61790f6be9 180 }
bwang 1:7b61790f6be9 181 TIM1->SR = 0x00;
bwang 75:591556ce033d 182 int end_state = io.throttle_in->state();
bwang 75:591556ce033d 183 if (start_state != end_state) io.throttle_in->block();
bwang 1:7b61790f6be9 184 }
bwang 1:7b61790f6be9 185
bwang 0:bac9c3a3a6ca 186 int main() {
bwang 124:e70ca81676fc 187 dq = new LutMapper();//DirectMapper(-130.0f, 43.0f);
bwang 45:cf8ad81fb0f0 188 th = new NullThrottleMapper();
bwang 47:1c9868e226d0 189 BREMSInit(&io, &read, &foc, &control, false);
bwang 48:a1a09c83d42c 190
bwang 0:bac9c3a3a6ca 191 for (;;) {
bwang 72:5f1da97d62e1 192 if (ENABLE_LOGGING) {
bwang 72:5f1da97d62e1 193 log();
bwang 72:5f1da97d62e1 194 }
bwang 0:bac9c3a3a6ca 195 }
bwang 42:030e0ec4eac5 196 }