Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@1:7b61790f6be9, 2016-03-09 (annotated)

Committer:
bwang
Date:
Wed Mar 09 17:21:01 2016 +0000
Revision:
1:7b61790f6be9
Parent:
0:bac9c3a3a6ca
Child:
2:eabe8feaaabb
center aligned PWM + sync current sampling working

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 0:bac9c3a3a6ca 3 #include "PositionSensor.h"
bwang 0:bac9c3a3a6ca 4 #include "FastPWM.h"
bwang 0:bac9c3a3a6ca 5 #include "Transforms.h"
bwang 0:bac9c3a3a6ca 6 #include "config.h"
bwang 0:bac9c3a3a6ca 7
bwang 1:7b61790f6be9 8 FastPWM *a;
bwang 1:7b61790f6be9 9 FastPWM *b;
bwang 1:7b61790f6be9 10 FastPWM *c;
bwang 0:bac9c3a3a6ca 11 DigitalOut en(EN);
bwang 1:7b61790f6be9 12 DigitalOut toggle(PC_10);
bwang 0:bac9c3a3a6ca 13
bwang 0:bac9c3a3a6ca 14 AnalogIn Ia(IA);
bwang 0:bac9c3a3a6ca 15 AnalogIn Ib(IB);
bwang 0:bac9c3a3a6ca 16
bwang 0:bac9c3a3a6ca 17 PositionSensorEncoder pos(CPR, 0);
bwang 0:bac9c3a3a6ca 18
bwang 0:bac9c3a3a6ca 19 Serial pc(USBTX, USBRX);
bwang 0:bac9c3a3a6ca 20
bwang 1:7b61790f6be9 21 int state = 0;
bwang 1:7b61790f6be9 22 int adval1, adval2;
bwang 1:7b61790f6be9 23 float ia, ib;
bwang 1:7b61790f6be9 24 float ia_supp_offset = 0.0f, ib_supp_offset = 0.0f; //current sensor offset due to bias resistor inaccuracies, etc (mV)
bwang 1:7b61790f6be9 25
bwang 1:7b61790f6be9 26 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
bwang 1:7b61790f6be9 27 if (TIM1->SR & TIM_SR_UIF ) {
bwang 1:7b61790f6be9 28 adval1 = ADC1->DR;
bwang 1:7b61790f6be9 29 adval2 = ADC2->DR;
bwang 1:7b61790f6be9 30 ADC1->CR2 |= 0x40000000;
bwang 1:7b61790f6be9 31 }
bwang 1:7b61790f6be9 32 TIM1->SR = 0x00;
bwang 1:7b61790f6be9 33 toggle = state;
bwang 1:7b61790f6be9 34 state = !state;
bwang 1:7b61790f6be9 35 }
bwang 1:7b61790f6be9 36
bwang 1:7b61790f6be9 37 void zero_current(){
bwang 1:7b61790f6be9 38 for (int i = 0; i < 1000; i++){
bwang 1:7b61790f6be9 39 ia_supp_offset += (float) (ADC1->DR);
bwang 1:7b61790f6be9 40 ib_supp_offset += (float) (ADC2->DR);
bwang 1:7b61790f6be9 41 ADC1->CR2 |= 0x40000000;
bwang 1:7b61790f6be9 42 wait_us(100);
bwang 1:7b61790f6be9 43 }
bwang 1:7b61790f6be9 44 ia_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 45 ib_supp_offset /= 1000.0f;
bwang 1:7b61790f6be9 46 ia_supp_offset = ia_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 47 ib_supp_offset = ib_supp_offset / 4096.0f * AVDD - I_OFFSET;
bwang 1:7b61790f6be9 48 }
bwang 0:bac9c3a3a6ca 49
bwang 0:bac9c3a3a6ca 50 void config_globals() {
bwang 0:bac9c3a3a6ca 51 pc.baud(115200);
bwang 0:bac9c3a3a6ca 52
bwang 1:7b61790f6be9 53 //Enable clocks for GPIOs
bwang 1:7b61790f6be9 54 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
bwang 1:7b61790f6be9 55 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
bwang 1:7b61790f6be9 56 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
bwang 1:7b61790f6be9 57
bwang 1:7b61790f6be9 58 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
bwang 1:7b61790f6be9 59
bwang 1:7b61790f6be9 60 a = new FastPWM(PWMA);
bwang 1:7b61790f6be9 61 b = new FastPWM(PWMB);
bwang 1:7b61790f6be9 62 c = new FastPWM(PWMC);
bwang 1:7b61790f6be9 63
bwang 1:7b61790f6be9 64 NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
bwang 1:7b61790f6be9 65
bwang 1:7b61790f6be9 66 TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
bwang 1:7b61790f6be9 67 TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
bwang 1:7b61790f6be9 68 TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
bwang 1:7b61790f6be9 69 TIM1->RCR |= 0x01; //update event once per up/down count of tim1
bwang 1:7b61790f6be9 70 TIM1->EGR |= TIM_EGR_UG;
bwang 1:7b61790f6be9 71
bwang 1:7b61790f6be9 72 TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
bwang 1:7b61790f6be9 73 TIM1->ARR = 0x4650; //5 Khz
bwang 1:7b61790f6be9 74 TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
bwang 1:7b61790f6be9 75 TIM1->CR1 |= TIM_CR1_CEN;
bwang 1:7b61790f6be9 76
bwang 1:7b61790f6be9 77 //ADC Setup
bwang 1:7b61790f6be9 78 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
bwang 1:7b61790f6be9 79 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
bwang 1:7b61790f6be9 80
bwang 1:7b61790f6be9 81 ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
bwang 1:7b61790f6be9 82
bwang 1:7b61790f6be9 83 ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
bwang 1:7b61790f6be9 84 ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
bwang 0:bac9c3a3a6ca 85
bwang 1:7b61790f6be9 86 ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
bwang 1:7b61790f6be9 87 ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
bwang 1:7b61790f6be9 88
bwang 1:7b61790f6be9 89 GPIOA->MODER |= (1 << 8);
bwang 1:7b61790f6be9 90 GPIOA->MODER |= (1 << 9);
bwang 1:7b61790f6be9 91
bwang 1:7b61790f6be9 92 GPIOA->MODER |= (1 << 2);
bwang 1:7b61790f6be9 93 GPIOA->MODER |= (1 << 3);
bwang 1:7b61790f6be9 94
bwang 1:7b61790f6be9 95 GPIOA->MODER |= (1 << 0);
bwang 1:7b61790f6be9 96 GPIOA->MODER |= (1 << 1);
bwang 1:7b61790f6be9 97
bwang 1:7b61790f6be9 98 GPIOB->MODER |= (1 << 0);
bwang 1:7b61790f6be9 99 GPIOB->MODER |= (1 << 1);
bwang 1:7b61790f6be9 100
bwang 1:7b61790f6be9 101 GPIOC->MODER |= (1 << 2);
bwang 1:7b61790f6be9 102 GPIOC->MODER |= (1 << 3);
bwang 1:7b61790f6be9 103
bwang 1:7b61790f6be9 104 //DAC setup
bwang 1:7b61790f6be9 105 RCC->APB1ENR |= 0x20000000;
bwang 1:7b61790f6be9 106 DAC->CR |= DAC_CR_EN2;
bwang 1:7b61790f6be9 107
bwang 1:7b61790f6be9 108 GPIOA->MODER |= (1 << 10);
bwang 1:7b61790f6be9 109 GPIOA->MODER |= (1 << 11);
bwang 1:7b61790f6be9 110
bwang 1:7b61790f6be9 111 //Zero duty cycles
bwang 1:7b61790f6be9 112 set_dtc(a, 0.0f);
bwang 1:7b61790f6be9 113 set_dtc(b, 0.0f);
bwang 1:7b61790f6be9 114 set_dtc(c, 0.0f);
bwang 1:7b61790f6be9 115
bwang 1:7b61790f6be9 116 wait_ms(250);
bwang 1:7b61790f6be9 117 zero_current();
bwang 0:bac9c3a3a6ca 118 en = 1;
bwang 0:bac9c3a3a6ca 119 }
bwang 0:bac9c3a3a6ca 120
bwang 0:bac9c3a3a6ca 121 void startup_msg() {
bwang 0:bac9c3a3a6ca 122 pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
bwang 0:bac9c3a3a6ca 123 pc.printf("%s\n\r", "====Config Data====");
bwang 0:bac9c3a3a6ca 124 pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
bwang 0:bac9c3a3a6ca 125 pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
bwang 0:bac9c3a3a6ca 126 pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
bwang 0:bac9c3a3a6ca 127 pc.printf("Loop KP: %f\n\r", KP);
bwang 0:bac9c3a3a6ca 128 pc.printf("Loop KI: %f\n\r", KI);
bwang 1:7b61790f6be9 129 pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
bwang 1:7b61790f6be9 130 pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
bwang 0:bac9c3a3a6ca 131 pc.printf("\n\r");
bwang 0:bac9c3a3a6ca 132 }
bwang 0:bac9c3a3a6ca 133
bwang 0:bac9c3a3a6ca 134 void main_loop() {
bwang 0:bac9c3a3a6ca 135 float p = pos.GetElecPosition() - POS_OFFSET + PI / 2;
bwang 0:bac9c3a3a6ca 136 if (p < 0) p += 2 * PI;
bwang 0:bac9c3a3a6ca 137
bwang 0:bac9c3a3a6ca 138 float pos_dac = 0.85f * p / (2 * PI) + 0.05f;
bwang 1:7b61790f6be9 139 DAC->DHR12R2 = (unsigned int) (pos_dac * 4096);
bwang 0:bac9c3a3a6ca 140
bwang 1:7b61790f6be9 141 ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
bwang 1:7b61790f6be9 142 ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
bwang 0:bac9c3a3a6ca 143
bwang 0:bac9c3a3a6ca 144 set_dtc(a, 0.5f + 0.5f * cosf(p));
bwang 0:bac9c3a3a6ca 145 set_dtc(b, 0.5f + 0.5f * cosf(p + 2 * PI / 3));
bwang 0:bac9c3a3a6ca 146 set_dtc(c, 0.5f + 0.5f * cosf(p - 2 * PI / 3));
bwang 0:bac9c3a3a6ca 147 }
bwang 0:bac9c3a3a6ca 148
bwang 0:bac9c3a3a6ca 149 int main() {
bwang 0:bac9c3a3a6ca 150 config_globals();
bwang 0:bac9c3a3a6ca 151 startup_msg();
bwang 0:bac9c3a3a6ca 152
bwang 0:bac9c3a3a6ca 153 Ticker loop;
bwang 0:bac9c3a3a6ca 154 loop.attach_us(main_loop, 200);
bwang 0:bac9c3a3a6ca 155
bwang 0:bac9c3a3a6ca 156 for (;;) {
bwang 0:bac9c3a3a6ca 157 }
bwang 0:bac9c3a3a6ca 158 }