Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@27:7e073122ddf8, 2016-11-06 (annotated)

Committer:
bwang
Date:
Sun Nov 06 04:27:40 2016 +0000
Revision:
27:7e073122ddf8
Parent:
26:955a1dfc2705
Child:
28:ed9c1ca386fd
removed CURRENT_U, CURRENT_V

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 26:955a1dfc2705 88 *q = 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 0:bac9c3a3a6ca 107
bwang 27:7e073122ddf8 108 alpha = ia;
bwang 27:7e073122ddf8 109 beta = 1 / sqrtf(3.0f) * ia + 2 / sqrtf(3.0f) * ib;
bwang 2:eabe8feaaabb 110
bwang 24:5e18a87a0e95 111 d = alpha * cos_p + beta * sin_p;
bwang 24:5e18a87a0e95 112 q = -alpha * sin_p + beta * cos_p;
bwang 2:eabe8feaaabb 113
bwang 22:72840d3db788 114 d_filtered = DQ_FILTER_STRENGTH * d_filtered + (1.0f - DQ_FILTER_STRENGTH) * d;
bwang 22:72840d3db788 115 q_filtered = DQ_FILTER_STRENGTH * q_filtered + (1.0f - DQ_FILTER_STRENGTH) * q;
bwang 22:72840d3db788 116
bwang 22:72840d3db788 117 float d_err = d_ref - d_filtered;
bwang 22:72840d3db788 118 float q_err = q_ref - q_filtered;
bwang 2:eabe8feaaabb 119
bwang 2:eabe8feaaabb 120 d_integral += d_err * KI;
bwang 2:eabe8feaaabb 121 q_integral += q_err * KI;
bwang 2:eabe8feaaabb 122
bwang 20:91ae97a811e3 123 q_integral = constrain(q_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 20:91ae97a811e3 124 d_integral = constrain(d_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 2:eabe8feaaabb 125
bwang 21:b7fb355c8c2d 126 if(control_enabled) {
bwang 21:b7fb355c8c2d 127 vd = KP * d_err + d_integral;
bwang 21:b7fb355c8c2d 128 vq = KP * q_err + q_integral;
bwang 21:b7fb355c8c2d 129 } else {
bwang 21:b7fb355c8c2d 130 vd = 0;
bwang 21:b7fb355c8c2d 131 vq = 0;
bwang 21:b7fb355c8c2d 132 }
bwang 21:b7fb355c8c2d 133
bwang 20:91ae97a811e3 134 vd = constrain(vd, -1.0f, 1.0f);
bwang 20:91ae97a811e3 135 vq = constrain(vq, -1.0f, 1.0f);
bwang 4:a6669248ce4d 136
bwang 2:eabe8feaaabb 137 float valpha = vd * cos_p - vq * sin_p;
bwang 2:eabe8feaaabb 138 float vbeta = vd * sin_p + vq * cos_p;
bwang 2:eabe8feaaabb 139
bwang 2:eabe8feaaabb 140 float va = valpha;
bwang 24:5e18a87a0e95 141 float vb = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
bwang 24:5e18a87a0e95 142 float vc = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 143
dicarloj 13:41d102a53caf 144 float voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;
dicarloj 13:41d102a53caf 145 va = va - voff;
dicarloj 13:41d102a53caf 146 vb = vb - voff;
dicarloj 13:41d102a53caf 147 vc = vc - voff;
dicarloj 13:41d102a53caf 148
bwang 2:eabe8feaaabb 149 set_dtc(a, 0.5f + 0.5f * va);
bwang 2:eabe8feaaabb 150 set_dtc(b, 0.5f + 0.5f * vb);
bwang 2:eabe8feaaabb 151 set_dtc(c, 0.5f + 0.5f * vc);
bwang 0:bac9c3a3a6ca 152 }
bwang 0:bac9c3a3a6ca 153
bwang 0:bac9c3a3a6ca 154 int main() {
bwang 0:bac9c3a3a6ca 155 config_globals();
bwang 0:bac9c3a3a6ca 156 startup_msg();
bwang 0:bac9c3a3a6ca 157
bwang 0:bac9c3a3a6ca 158 for (;;) {
bwang 0:bac9c3a3a6ca 159 }
bwang 0:bac9c3a3a6ca 160 }
bwang 16:f283d6032fe5 161
bwang 16:f283d6032fe5 162 void go_enabled() {
bwang 16:f283d6032fe5 163 d_integral = 0.0f;
bwang 16:f283d6032fe5 164 q_integral = 0.0f;
bwang 16:f283d6032fe5 165 control_enabled = true;
bwang 16:f283d6032fe5 166 en = 1;
bwang 16:f283d6032fe5 167 }
bwang 16:f283d6032fe5 168
bwang 16:f283d6032fe5 169 void go_disabled() {
bwang 16:f283d6032fe5 170 control_enabled = false;
bwang 16:f283d6032fe5 171 en = 0;
bwang 16:f283d6032fe5 172 }
bwang 16:f283d6032fe5 173
bwang 17:2b852039bb05 174 void startup_msg() {
bwang 17:2b852039bb05 175 pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
bwang 17:2b852039bb05 176 pc.printf("%s\n\r", "====Config Data====");
bwang 17:2b852039bb05 177 pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
bwang 17:2b852039bb05 178 pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
bwang 17:2b852039bb05 179 pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
bwang 23:c77d4b42de17 180 pc.printf("Switching Frequency: %f KHz \n\r", F_SW / 1000.0f);
bwang 17:2b852039bb05 181 pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS);
bwang 17:2b852039bb05 182 pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
bwang 17:2b852039bb05 183 pc.printf("Loop KP: %f\n\r", KP);
bwang 17:2b852039bb05 184 pc.printf("Loop KI: %f\n\r", KI);
bwang 17:2b852039bb05 185 pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
bwang 17:2b852039bb05 186 pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
bwang 17:2b852039bb05 187 pc.printf("\n\r");
bwang 17:2b852039bb05 188 }
bwang 17:2b852039bb05 189
bwang 17:2b852039bb05 190 void config_globals() {
bwang 17:2b852039bb05 191 pc.baud(115200);
bwang 17:2b852039bb05 192
bwang 17:2b852039bb05 193 //Enable clocks for GPIOs
bwang 17:2b852039bb05 194 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
bwang 17:2b852039bb05 195 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
bwang 17:2b852039bb05 196 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
bwang 17:2b852039bb05 197
bwang 17:2b852039bb05 198 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
bwang 17:2b852039bb05 199
bwang 17:2b852039bb05 200 a = new FastPWM(PWMA);
bwang 17:2b852039bb05 201 b = new FastPWM(PWMB);
bwang 17:2b852039bb05 202 c = new FastPWM(PWMC);
bwang 17:2b852039bb05 203
bwang 17:2b852039bb05 204 NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
bwang 17:2b852039bb05 205
bwang 17:2b852039bb05 206 TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
bwang 17:2b852039bb05 207 TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
bwang 17:2b852039bb05 208 TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
bwang 17:2b852039bb05 209 TIM1->RCR |= 0x01; //update event once per up/down count of tim1
bwang 17:2b852039bb05 210 TIM1->EGR |= TIM_EGR_UG;
bwang 17:2b852039bb05 211
bwang 17:2b852039bb05 212 TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
bwang 22:72840d3db788 213 TIM1->ARR = (int) ((float) 9e7 / F_SW);
bwang 17:2b852039bb05 214 TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
bwang 17:2b852039bb05 215 TIM1->CR1 |= TIM_CR1_CEN;
bwang 17:2b852039bb05 216
bwang 17:2b852039bb05 217 //ADC Setup
bwang 17:2b852039bb05 218 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
bwang 17:2b852039bb05 219 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
bwang 17:2b852039bb05 220
bwang 17:2b852039bb05 221 ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
bwang 17:2b852039bb05 222
bwang 17:2b852039bb05 223 ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
bwang 17:2b852039bb05 224 ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
bwang 17:2b852039bb05 225
bwang 17:2b852039bb05 226 ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
bwang 17:2b852039bb05 227 ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
bwang 17:2b852039bb05 228
bwang 17:2b852039bb05 229 GPIOA->MODER |= (1 << 8);
bwang 17:2b852039bb05 230 GPIOA->MODER |= (1 << 9);
bwang 17:2b852039bb05 231
bwang 17:2b852039bb05 232 GPIOA->MODER |= (1 << 2);
bwang 17:2b852039bb05 233 GPIOA->MODER |= (1 << 3);
bwang 17:2b852039bb05 234
bwang 17:2b852039bb05 235 GPIOA->MODER |= (1 << 0);
bwang 17:2b852039bb05 236 GPIOA->MODER |= (1 << 1);
bwang 17:2b852039bb05 237
bwang 17:2b852039bb05 238 GPIOB->MODER |= (1 << 0);
bwang 17:2b852039bb05 239 GPIOB->MODER |= (1 << 1);
bwang 17:2b852039bb05 240
bwang 17:2b852039bb05 241 GPIOC->MODER |= (1 << 2);
bwang 17:2b852039bb05 242 GPIOC->MODER |= (1 << 3);
bwang 17:2b852039bb05 243
bwang 17:2b852039bb05 244 //DAC setup
bwang 17:2b852039bb05 245 RCC->APB1ENR |= 0x20000000;
bwang 17:2b852039bb05 246 DAC->CR |= DAC_CR_EN2;
bwang 17:2b852039bb05 247
bwang 17:2b852039bb05 248 GPIOA->MODER |= (1 << 10);
bwang 17:2b852039bb05 249 GPIOA->MODER |= (1 << 11);
bwang 17:2b852039bb05 250
bwang 17:2b852039bb05 251 //Zero duty cycles
bwang 17:2b852039bb05 252 set_dtc(a, 0.0f);
bwang 17:2b852039bb05 253 set_dtc(b, 0.0f);
bwang 17:2b852039bb05 254 set_dtc(c, 0.0f);
bwang 17:2b852039bb05 255
bwang 17:2b852039bb05 256 wait_ms(250);
bwang 17:2b852039bb05 257 zero_current();
bwang 17:2b852039bb05 258 p_mech = pos.GetMechPosition();
bwang 17:2b852039bb05 259 en = 1;
bwang 17:2b852039bb05 260 }