Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

main.cpp@39:80b38a8e1787, 2016-12-03 (annotated)

Committer:
bwang
Date:
Sat Dec 03 17:49:02 2016 +0000
Revision:
39:80b38a8e1787
Parent:
38:07cb4ae6c1bd
Child:
40:22aede3d096f
lastest updates; loads of stubs for broken FW and optimization functions

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 39:80b38a8e1787 86 float tq;
bwang 30:c25c5bf0d951 87 if (TORQUE_MODE) {
bwang 39:80b38a8e1787 88 tq = throttle * FORWARD_TORQUE_MAX;
bwang 30:c25c5bf0d951 89 } else {
bwang 39:80b38a8e1787 90 tq = get_driving_torque_cmd(throttle, w);
bwang 30:c25c5bf0d951 91 }
bwang 39:80b38a8e1787 92 return tq;
bwang 18:3863ca45cf26 93 }
bwang 18:3863ca45cf26 94
bwang 18:3863ca45cf26 95 //fill in d, q ref based on torque cmd and current velocity
bwang 37:ba7ebf4f8a78 96 void get_dq(float torque, float w, float *d, float *q) {
bwang 39:80b38a8e1787 97 float tqabs = fabsf(torque);
bwang 39:80b38a8e1787 98
bwang 39:80b38a8e1787 99 /*get voltage limits and estimate current voltage*/
bwang 39:80b38a8e1787 100 float vs_max2 = (BUS_VOLTAGE * MODULATION_INDEX / 2.0f) * (BUS_VOLTAGE * MODULATION_INDEX / 2.0f);
bwang 39:80b38a8e1787 101 float vs2 = get_vs2(w, d_filtered, q_filtered);
bwang 39:80b38a8e1787 102
bwang 39:80b38a8e1787 103 if (vs2 < vs_max2) {
bwang 39:80b38a8e1787 104 get_mtpa_dq(tqabs, d, q);
bwang 39:80b38a8e1787 105 } else {
bwang 39:80b38a8e1787 106 get_mtpf_dq(tqabs, w, vs_max2, d, q);
bwang 39:80b38a8e1787 107 }
bwang 39:80b38a8e1787 108
bwang 31:ebe42589ab9d 109 if (torque < 0.0f) {
bwang 31:ebe42589ab9d 110 *d = -*d;
bwang 31:ebe42589ab9d 111 *q = -*q;
bwang 31:ebe42589ab9d 112 }
bwang 18:3863ca45cf26 113 }
bwang 17:2b852039bb05 114
bwang 17:2b852039bb05 115 void commutate() {
bwang 28:ed9c1ca386fd 116 if (control_enabled && !throttle_in.get_enabled()) go_disabled();
bwang 28:ed9c1ca386fd 117 if (control_enabled && !pos.IsValid()) go_disabled();
bwang 28:ed9c1ca386fd 118 if (!control_enabled && throttle_in.get_enabled()) go_enabled();
bwang 17:2b852039bb05 119
bwang 17:2b852039bb05 120 update_velocity();
bwang 17:2b852039bb05 121
bwang 17:2b852039bb05 122 p = pos.GetElecPosition() - POS_OFFSET;
bwang 39:80b38a8e1787 123 float sin_p = sinf(p);
bwang 39:80b38a8e1787 124 float cos_p = cosf(p);
bwang 15:b583cd30b063 125
bwang 18:3863ca45cf26 126 float torque = get_torque_cmd(throttle_in.get_throttle(), w);
bwang 2:eabe8feaaabb 127
bwang 1:7b61790f6be9 128 ia = ((float) adval1 / 4096.0f * AVDD - I_OFFSET - ia_supp_offset) / I_SCALE;
bwang 1:7b61790f6be9 129 ib = ((float) adval2 / 4096.0f * AVDD - I_OFFSET - ib_supp_offset) / I_SCALE;
bwang 0:bac9c3a3a6ca 130
bwang 27:7e073122ddf8 131 alpha = ia;
bwang 27:7e073122ddf8 132 beta = 1 / sqrtf(3.0f) * ia + 2 / sqrtf(3.0f) * ib;
bwang 2:eabe8feaaabb 133
bwang 24:5e18a87a0e95 134 d = alpha * cos_p + beta * sin_p;
bwang 24:5e18a87a0e95 135 q = -alpha * sin_p + beta * cos_p;
bwang 2:eabe8feaaabb 136
bwang 22:72840d3db788 137 d_filtered = DQ_FILTER_STRENGTH * d_filtered + (1.0f - DQ_FILTER_STRENGTH) * d;
bwang 22:72840d3db788 138 q_filtered = DQ_FILTER_STRENGTH * q_filtered + (1.0f - DQ_FILTER_STRENGTH) * q;
bwang 22:72840d3db788 139
bwang 39:80b38a8e1787 140 get_dq(torque, w, &d_ref, &q_ref);
bwang 39:80b38a8e1787 141
bwang 22:72840d3db788 142 float d_err = d_ref - d_filtered;
bwang 22:72840d3db788 143 float q_err = q_ref - q_filtered;
bwang 2:eabe8feaaabb 144
bwang 2:eabe8feaaabb 145 d_integral += d_err * KI;
bwang 2:eabe8feaaabb 146 q_integral += q_err * KI;
bwang 2:eabe8feaaabb 147
bwang 20:91ae97a811e3 148 q_integral = constrain(q_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 20:91ae97a811e3 149 d_integral = constrain(d_integral, -INTEGRAL_MAX, INTEGRAL_MAX);
bwang 2:eabe8feaaabb 150
bwang 35:89385f64c867 151 vd = KP * d_err + d_integral;// - Lq * POLE_PAIRS * w * q / BUS_VOLTAGE;
bwang 35:89385f64c867 152 vq = KP * q_err + q_integral;// + Ld * POLE_PAIRS * w * d / BUS_VOLTAGE;
bwang 31:ebe42589ab9d 153
bwang 36:cac9785c91cb 154 vd = constrain(vd, -1.0f, 1.0f);
bwang 36:cac9785c91cb 155 vq = constrain(vq, -1.0f, 1.0f);
bwang 21:b7fb355c8c2d 156
bwang 30:c25c5bf0d951 157 if (!control_enabled) {
bwang 30:c25c5bf0d951 158 vd = 0.0f;
bwang 30:c25c5bf0d951 159 vq = 0.0f;
bwang 30:c25c5bf0d951 160 }
bwang 30:c25c5bf0d951 161
bwang 2:eabe8feaaabb 162 float valpha = vd * cos_p - vq * sin_p;
bwang 2:eabe8feaaabb 163 float vbeta = vd * sin_p + vq * cos_p;
bwang 2:eabe8feaaabb 164
bwang 2:eabe8feaaabb 165 float va = valpha;
bwang 24:5e18a87a0e95 166 float vb = -0.5f * valpha + sqrtf(3) / 2.0f * vbeta;
bwang 24:5e18a87a0e95 167 float vc = -0.5f * valpha - sqrtf(3) / 2.0f * vbeta;
bwang 2:eabe8feaaabb 168
dicarloj 13:41d102a53caf 169 float voff = (fminf(va, fminf(vb, vc)) + fmaxf(va, fmaxf(vb, vc)))/2.0f;
dicarloj 13:41d102a53caf 170 va = va - voff;
dicarloj 13:41d102a53caf 171 vb = vb - voff;
dicarloj 13:41d102a53caf 172 vc = vc - voff;
dicarloj 13:41d102a53caf 173
bwang 2:eabe8feaaabb 174 set_dtc(a, 0.5f + 0.5f * va);
bwang 2:eabe8feaaabb 175 set_dtc(b, 0.5f + 0.5f * vb);
bwang 2:eabe8feaaabb 176 set_dtc(c, 0.5f + 0.5f * vc);
bwang 0:bac9c3a3a6ca 177 }
bwang 0:bac9c3a3a6ca 178
bwang 0:bac9c3a3a6ca 179 int main() {
bwang 0:bac9c3a3a6ca 180 config_globals();
bwang 0:bac9c3a3a6ca 181 startup_msg();
bwang 0:bac9c3a3a6ca 182
bwang 0:bac9c3a3a6ca 183 for (;;) {
bwang 0:bac9c3a3a6ca 184 }
bwang 0:bac9c3a3a6ca 185 }
bwang 16:f283d6032fe5 186
bwang 16:f283d6032fe5 187 void go_enabled() {
bwang 16:f283d6032fe5 188 d_integral = 0.0f;
bwang 16:f283d6032fe5 189 q_integral = 0.0f;
bwang 16:f283d6032fe5 190 control_enabled = true;
bwang 16:f283d6032fe5 191 en = 1;
bwang 16:f283d6032fe5 192 }
bwang 16:f283d6032fe5 193
bwang 16:f283d6032fe5 194 void go_disabled() {
bwang 16:f283d6032fe5 195 control_enabled = false;
bwang 16:f283d6032fe5 196 en = 0;
bwang 16:f283d6032fe5 197 }
bwang 16:f283d6032fe5 198
bwang 17:2b852039bb05 199 void startup_msg() {
bwang 17:2b852039bb05 200 pc.printf("%s\n\r\n\r", "FOC'ed in the Bot Rev A.");
bwang 17:2b852039bb05 201 pc.printf("%s\n\r", "====Config Data====");
bwang 17:2b852039bb05 202 pc.printf("Current Sensor Offset: %f mV\n\r", I_OFFSET);
bwang 17:2b852039bb05 203 pc.printf("Current Sensor Scale: %f mv/A\n\r", I_SCALE);
bwang 17:2b852039bb05 204 pc.printf("Bus Voltage: %f V\n\r", BUS_VOLTAGE);
bwang 23:c77d4b42de17 205 pc.printf("Switching Frequency: %f KHz \n\r", F_SW / 1000.0f);
bwang 17:2b852039bb05 206 pc.printf("Pole pairs: %d\n\r", (int) POLE_PAIRS);
bwang 17:2b852039bb05 207 pc.printf("Resolver lobes: %d\n\r", (int) RESOLVER_LOBES);
bwang 17:2b852039bb05 208 pc.printf("Loop KP: %f\n\r", KP);
bwang 17:2b852039bb05 209 pc.printf("Loop KI: %f\n\r", KI);
bwang 17:2b852039bb05 210 pc.printf("Ia offset: %f mV\n\r", ia_supp_offset);
bwang 17:2b852039bb05 211 pc.printf("Ib offset: %f mV\n\r", ib_supp_offset);
bwang 17:2b852039bb05 212 pc.printf("\n\r");
bwang 17:2b852039bb05 213 }
bwang 17:2b852039bb05 214
bwang 17:2b852039bb05 215 void config_globals() {
bwang 17:2b852039bb05 216 pc.baud(115200);
bwang 17:2b852039bb05 217
bwang 17:2b852039bb05 218 //Enable clocks for GPIOs
bwang 17:2b852039bb05 219 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
bwang 17:2b852039bb05 220 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOBEN;
bwang 17:2b852039bb05 221 RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
bwang 17:2b852039bb05 222
bwang 17:2b852039bb05 223 RCC->APB2ENR |= RCC_APB2ENR_TIM1EN; //enable TIM1 clock
bwang 17:2b852039bb05 224
bwang 17:2b852039bb05 225 a = new FastPWM(PWMA);
bwang 17:2b852039bb05 226 b = new FastPWM(PWMB);
bwang 17:2b852039bb05 227 c = new FastPWM(PWMC);
bwang 17:2b852039bb05 228
bwang 17:2b852039bb05 229 NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn); //Enable TIM1 IRQ
bwang 17:2b852039bb05 230
bwang 17:2b852039bb05 231 TIM1->DIER |= TIM_DIER_UIE; //enable update interrupt
bwang 17:2b852039bb05 232 TIM1->CR1 = 0x40; //CMS = 10, interrupt only when counting up
bwang 17:2b852039bb05 233 TIM1->CR1 |= TIM_CR1_ARPE; //autoreload on,
bwang 17:2b852039bb05 234 TIM1->RCR |= 0x01; //update event once per up/down count of tim1
bwang 17:2b852039bb05 235 TIM1->EGR |= TIM_EGR_UG;
bwang 17:2b852039bb05 236
bwang 17:2b852039bb05 237 TIM1->PSC = 0x00; //no prescaler, timer counts up in sync with the peripheral clock
bwang 22:72840d3db788 238 TIM1->ARR = (int) ((float) 9e7 / F_SW);
bwang 17:2b852039bb05 239 TIM1->CCER |= ~(TIM_CCER_CC1NP); //Interupt when low side is on.
bwang 17:2b852039bb05 240 TIM1->CR1 |= TIM_CR1_CEN;
bwang 17:2b852039bb05 241
bwang 17:2b852039bb05 242 //ADC Setup
bwang 17:2b852039bb05 243 RCC->APB2ENR |= RCC_APB2ENR_ADC1EN; // clock for ADC1
bwang 17:2b852039bb05 244 RCC->APB2ENR |= RCC_APB2ENR_ADC2EN; // clock for ADC2
bwang 17:2b852039bb05 245
bwang 17:2b852039bb05 246 ADC->CCR = 0x00000006; //Regular simultaneous mode, 3 channels
bwang 17:2b852039bb05 247
bwang 17:2b852039bb05 248 ADC1->CR2 |= ADC_CR2_ADON; //ADC1 on
bwang 17:2b852039bb05 249 ADC1->SQR3 = 0x0000004; //PA_4 as ADC1, sequence 0
bwang 17:2b852039bb05 250
bwang 17:2b852039bb05 251 ADC2->CR2 |= ADC_CR2_ADON; //ADC2 ON
bwang 17:2b852039bb05 252 ADC2->SQR3 = 0x00000008; //PB_0 as ADC2, sequence 1
bwang 17:2b852039bb05 253
bwang 17:2b852039bb05 254 GPIOA->MODER |= (1 << 8);
bwang 17:2b852039bb05 255 GPIOA->MODER |= (1 << 9);
bwang 17:2b852039bb05 256
bwang 17:2b852039bb05 257 GPIOA->MODER |= (1 << 2);
bwang 17:2b852039bb05 258 GPIOA->MODER |= (1 << 3);
bwang 17:2b852039bb05 259
bwang 17:2b852039bb05 260 GPIOA->MODER |= (1 << 0);
bwang 17:2b852039bb05 261 GPIOA->MODER |= (1 << 1);
bwang 17:2b852039bb05 262
bwang 17:2b852039bb05 263 GPIOB->MODER |= (1 << 0);
bwang 17:2b852039bb05 264 GPIOB->MODER |= (1 << 1);
bwang 17:2b852039bb05 265
bwang 17:2b852039bb05 266 GPIOC->MODER |= (1 << 2);
bwang 17:2b852039bb05 267 GPIOC->MODER |= (1 << 3);
bwang 17:2b852039bb05 268
bwang 17:2b852039bb05 269 //DAC setup
bwang 17:2b852039bb05 270 RCC->APB1ENR |= 0x20000000;
bwang 17:2b852039bb05 271 DAC->CR |= DAC_CR_EN2;
bwang 17:2b852039bb05 272
bwang 17:2b852039bb05 273 GPIOA->MODER |= (1 << 10);
bwang 17:2b852039bb05 274 GPIOA->MODER |= (1 << 11);
bwang 17:2b852039bb05 275
bwang 17:2b852039bb05 276 //Zero duty cycles
bwang 17:2b852039bb05 277 set_dtc(a, 0.0f);
bwang 17:2b852039bb05 278 set_dtc(b, 0.0f);
bwang 17:2b852039bb05 279 set_dtc(c, 0.0f);
bwang 17:2b852039bb05 280
bwang 17:2b852039bb05 281 wait_ms(250);
bwang 17:2b852039bb05 282 zero_current();
bwang 17:2b852039bb05 283 p_mech = pos.GetMechPosition();
bwang 17:2b852039bb05 284 en = 1;
bwang 17:2b852039bb05 285 }