hongwei liu / HKC_MiniCheetah

my test code 2

Dependencies:   mbed-dev-f303 FastPWM3

main.cpp@59:b41cbfa3b30e, 2021-09-24 (annotated)

Committer:
monkey61
Date:
Fri Sep 24 02:06:16 2021 +0000
Revision:
59:b41cbfa3b30e
Parent:
58:4f8f58ecb52a 
my test code

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 22:60276ba87ac6 1 /// high-bandwidth 3-phase motor control, for robots
benkatz 45:26801179208e 2 /// Written by benkatz, with much inspiration from Bayley Wang, Nick Kirkby, Shane Colton, David Otten, and others
benkatz 22:60276ba87ac6 3 /// Hardware documentation can be found at build-its.blogspot.com
benkatz 22:60276ba87ac6 4 /// Written for the STM32F446, but can be implemented on other STM32 MCU's with some further register-diddling
benkatz 47:e1196a851f76 5 /// Version for the TI DRV8323 Everything Chip
benkatz 22:60276ba87ac6 6
benkatz 55:c4c9fec8539c 7 #define REST_MODE 0
benkatz 55:c4c9fec8539c 8 #define CALIBRATION_MODE 1
benkatz 55:c4c9fec8539c 9 #define MOTOR_MODE 2
benkatz 55:c4c9fec8539c 10 #define SETUP_MODE 4
benkatz 55:c4c9fec8539c 11 #define ENCODER_MODE 5
benkatz 55:c4c9fec8539c 12 #define INIT_TEMP_MODE 6
benkatz 22:60276ba87ac6 13
benkatz 55:c4c9fec8539c 14 #define VERSION_NUM "1.10"
benkatz 26:2b865c00d7e9 15
benkatz 18:f1d56f4acb39 16
benkatz 26:2b865c00d7e9 17 float __float_reg[64]; // Floats stored in flash
benkatz 26:2b865c00d7e9 18 int __int_reg[256]; // Ints stored in flash. Includes position sensor calibration lookup table
benkatz 17:3c5df2982199 19
benkatz 0:4e1c4df6aabd 20 #include "mbed.h"
benkatz 0:4e1c4df6aabd 21 #include "PositionSensor.h"
benkatz 20:bf9ea5125d52 22 #include "structs.h"
benkatz 55:c4c9fec8539c 23 #include "foc.h"
benkatz 22:60276ba87ac6 24 #include "calibration.h"
benkatz 20:bf9ea5125d52 25 #include "hw_setup.h"
benkatz 23:2adf23ee0305 26 #include "math_ops.h"
benkatz 20:bf9ea5125d52 27 #include "current_controller_config.h"
benkatz 20:bf9ea5125d52 28 #include "hw_config.h"
benkatz 20:bf9ea5125d52 29 #include "motor_config.h"
benkatz 23:2adf23ee0305 30 #include "stm32f4xx_flash.h"
benkatz 23:2adf23ee0305 31 #include "FlashWriter.h"
benkatz 23:2adf23ee0305 32 #include "user_config.h"
benkatz 23:2adf23ee0305 33 #include "PreferenceWriter.h"
benkatz 42:738fa01b0346 34 #include "CAN_com.h"
benkatz 44:8040fa2fcb0d 35 #include "DRV.h"
benkatz 26:2b865c00d7e9 36
benkatz 23:2adf23ee0305 37 PreferenceWriter prefs(6);
benkatz 9:d7eb815cb057 38
benkatz 20:bf9ea5125d52 39 GPIOStruct gpio;
benkatz 20:bf9ea5125d52 40 ControllerStruct controller;
benkatz 48:74a40481740c 41 ObserverStruct observer;
benkatz 20:bf9ea5125d52 42 COMStruct com;
benkatz 43:dfb72608639c 43 Serial pc(PA_2, PA_3);
benkatz 9:d7eb815cb057 44
benkatz 17:3c5df2982199 45
benkatz 45:26801179208e 46 CAN can(PB_8, PB_9, 1000000); // CAN Rx pin name, CAN Tx pin name
benkatz 26:2b865c00d7e9 47 CANMessage rxMsg;
benkatz 26:2b865c00d7e9 48 CANMessage txMsg;
benkatz 23:2adf23ee0305 49
benkatz 20:bf9ea5125d52 50
benkatz 44:8040fa2fcb0d 51 SPI drv_spi(PA_7, PA_6, PA_5);
benkatz 44:8040fa2fcb0d 52 DigitalOut drv_cs(PA_4);
benkatz 44:8040fa2fcb0d 53 //DigitalOut drv_en_gate(PA_11);
benkatz 44:8040fa2fcb0d 54 DRV832x drv(&drv_spi, &drv_cs);
benkatz 8:10ae7bc88d6e 55
benkatz 26:2b865c00d7e9 56 PositionSensorAM5147 spi(16384, 0.0, NPP);
benkatz 20:bf9ea5125d52 57
benkatz 23:2adf23ee0305 58 volatile int count = 0;
benkatz 23:2adf23ee0305 59 volatile int state = REST_MODE;
benkatz 23:2adf23ee0305 60 volatile int state_change;
benkatz 20:bf9ea5125d52 61
benkatz 26:2b865c00d7e9 62 void onMsgReceived() {
benkatz 26:2b865c00d7e9 63 //msgAvailable = true;
benkatz 53:e85efce8c1eb 64 //printf("%d\n\r", rxMsg.id);
benkatz 26:2b865c00d7e9 65 can.read(rxMsg);
benkatz 28:8c7e29f719c5 66 if((rxMsg.id == CAN_ID)){
benkatz 28:8c7e29f719c5 67 controller.timeout = 0;
benkatz 28:8c7e29f719c5 68 if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) & (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFC))){
benkatz 28:8c7e29f719c5 69 state = MOTOR_MODE;
benkatz 28:8c7e29f719c5 70 state_change = 1;
benkatz 28:8c7e29f719c5 71 }
benkatz 28:8c7e29f719c5 72 else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFD))){
benkatz 28:8c7e29f719c5 73 state = REST_MODE;
benkatz 28:8c7e29f719c5 74 state_change = 1;
benkatz 37:c0f352d6e8e3 75 gpio.led->write(0);;
benkatz 28:8c7e29f719c5 76 }
benkatz 28:8c7e29f719c5 77 else if(((rxMsg.data[0]==0xFF) & (rxMsg.data[1]==0xFF) & (rxMsg.data[2]==0xFF) & (rxMsg.data[3]==0xFF) * (rxMsg.data[4]==0xFF) & (rxMsg.data[5]==0xFF) & (rxMsg.data[6]==0xFF) & (rxMsg.data[7]==0xFE))){
benkatz 28:8c7e29f719c5 78 spi.ZeroPosition();
benkatz 28:8c7e29f719c5 79 }
benkatz 28:8c7e29f719c5 80 else if(state == MOTOR_MODE){
benkatz 28:8c7e29f719c5 81 unpack_cmd(rxMsg, &controller);
benkatz 28:8c7e29f719c5 82 }
benkatz 37:c0f352d6e8e3 83 pack_reply(&txMsg, controller.theta_mech, controller.dtheta_mech, controller.i_q_filt*KT_OUT);
benkatz 37:c0f352d6e8e3 84 can.write(txMsg);
benkatz 28:8c7e29f719c5 85 }
benkatz 26:2b865c00d7e9 86
benkatz 26:2b865c00d7e9 87 }
benkatz 26:2b865c00d7e9 88
benkatz 23:2adf23ee0305 89 void enter_menu_state(void){
benkatz 44:8040fa2fcb0d 90 drv.disable_gd();
benkatz 55:c4c9fec8539c 91 reset_foc(&controller);
benkatz 47:e1196a851f76 92 //gpio.enable->write(0);
benkatz 23:2adf23ee0305 93 printf("\n\r\n\r\n\r");
benkatz 23:2adf23ee0305 94 printf(" Commands:\n\r");
benkatz 44:8040fa2fcb0d 95 wait_us(10);
benkatz 26:2b865c00d7e9 96 printf(" m - Motor Mode\n\r");
benkatz 44:8040fa2fcb0d 97 wait_us(10);
benkatz 23:2adf23ee0305 98 printf(" c - Calibrate Encoder\n\r");
benkatz 44:8040fa2fcb0d 99 wait_us(10);
benkatz 23:2adf23ee0305 100 printf(" s - Setup\n\r");
benkatz 44:8040fa2fcb0d 101 wait_us(10);
benkatz 23:2adf23ee0305 102 printf(" e - Display Encoder\n\r");
benkatz 44:8040fa2fcb0d 103 wait_us(10);
benkatz 37:c0f352d6e8e3 104 printf(" z - Set Zero Position\n\r");
benkatz 44:8040fa2fcb0d 105 wait_us(10);
monkey61 57:f3336e9eb1f2 106 printf(" p - Print flash data\n\r");
monkey61 57:f3336e9eb1f2 107 wait_us(10);
monkey61 57:f3336e9eb1f2 108 printf(" o - Write flash data\n\r");
monkey61 57:f3336e9eb1f2 109 wait_us(10);
monkey61 57:f3336e9eb1f2 110 printf(" i - Read flash data\n\r");
monkey61 57:f3336e9eb1f2 111 wait_us(10);
monkey61 57:f3336e9eb1f2 112 printf(" q - Exit to Menu\n\r");
benkatz 44:8040fa2fcb0d 113 wait_us(10);
benkatz 23:2adf23ee0305 114 state_change = 0;
benkatz 37:c0f352d6e8e3 115 gpio.led->write(0);
benkatz 23:2adf23ee0305 116 }
benkatz 24:58c2d7571207 117
benkatz 24:58c2d7571207 118 void enter_setup_state(void){
benkatz 24:58c2d7571207 119 printf("\n\r\n\r Configuration Options \n\r\n\n");
benkatz 44:8040fa2fcb0d 120 wait_us(10);
benkatz 51:6cd89bd6fcaa 121 printf(" %-4s %-31s %-5s %-6s %-2s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
benkatz 44:8040fa2fcb0d 122 wait_us(10);
benkatz 28:8c7e29f719c5 123 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
benkatz 44:8040fa2fcb0d 124 wait_us(10);
benkatz 28:8c7e29f719c5 125 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
benkatz 44:8040fa2fcb0d 126 wait_us(10);
benkatz 28:8c7e29f719c5 127 printf(" %-4s %-31s %-5s %-6s %-5i\n\r", "m", "CAN Master ID", "0", "127", CAN_MASTER);
benkatz 44:8040fa2fcb0d 128 wait_us(10);
benkatz 51:6cd89bd6fcaa 129 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "l", "Current Limit (A)", "0.0", "40.0", I_MAX);
benkatz 51:6cd89bd6fcaa 130 wait_us(10);
benkatz 51:6cd89bd6fcaa 131 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "f", "FW Current Limit (A)", "0.0", "33.0", I_FW_MAX);
benkatz 44:8040fa2fcb0d 132 wait_us(10);
benkatz 28:8c7e29f719c5 133 printf(" %-4s %-31s %-5s %-6s %d\n\r", "t", "CAN Timeout (cycles)(0 = none)", "0", "100000", CAN_TIMEOUT);
benkatz 44:8040fa2fcb0d 134 wait_us(10);
benkatz 55:c4c9fec8539c 135 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "h", "Temp Cutoff (C) (0 = none)", "0", "150", TEMP_MAX);
benkatz 55:c4c9fec8539c 136 wait_us(10);
benkatz 55:c4c9fec8539c 137 printf(" %-4s %-31s %-5s %-6s %.1f\n\r", "c", "Continuous Current (A)", "0", "40.0", I_MAX_CONT);
benkatz 55:c4c9fec8539c 138 wait_us(10);
benkatz 24:58c2d7571207 139 printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
benkatz 44:8040fa2fcb0d 140 wait_us(10);
benkatz 24:58c2d7571207 141 state_change = 0;
benkatz 24:58c2d7571207 142 }
benkatz 22:60276ba87ac6 143
benkatz 23:2adf23ee0305 144 void enter_torque_mode(void){
benkatz 44:8040fa2fcb0d 145 drv.enable_gd();
benkatz 47:e1196a851f76 146 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 147 controller.ovp_flag = 0;
benkatz 28:8c7e29f719c5 148 reset_foc(&controller); // Tesets integrators, and other control loop parameters
benkatz 28:8c7e29f719c5 149 wait(.001);
benkatz 23:2adf23ee0305 150 controller.i_d_ref = 0;
benkatz 50:ba72df25d10f 151 controller.i_q_ref = 0; // Current Setpoints
benkatz 37:c0f352d6e8e3 152 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 153 state_change = 0;
benkatz 28:8c7e29f719c5 154 printf("\n\r Entering Motor Mode \n\r");
benkatz 23:2adf23ee0305 155 }
benkatz 22:60276ba87ac6 156
benkatz 23:2adf23ee0305 157 void calibrate(void){
benkatz 44:8040fa2fcb0d 158 drv.enable_gd();
benkatz 47:e1196a851f76 159 //gpio.enable->write(1);
benkatz 37:c0f352d6e8e3 160 gpio.led->write(1); // Turn on status LED
benkatz 25:f5741040c4bb 161 order_phases(&spi, &gpio, &controller, &prefs); // Check phase ordering
benkatz 25:f5741040c4bb 162 calibrate(&spi, &gpio, &controller, &prefs); // Perform calibration procedure
benkatz 37:c0f352d6e8e3 163 gpio.led->write(0);; // Turn off status LED
benkatz 55:c4c9fec8539c 164 wait(.05);
benkatz 55:c4c9fec8539c 165 R_NOMINAL = 0;
benkatz 55:c4c9fec8539c 166 state = INIT_TEMP_MODE;
benkatz 55:c4c9fec8539c 167 //printf("\n\r Calibration complete. Press 'esc' to return to menu\n\r");
benkatz 55:c4c9fec8539c 168 //drv.disable_gd();
benkatz 55:c4c9fec8539c 169 //state_change = 0;
benkatz 55:c4c9fec8539c 170
benkatz 23:2adf23ee0305 171 }
benkatz 23:2adf23ee0305 172
benkatz 23:2adf23ee0305 173 void print_encoder(void){
benkatz 48:74a40481740c 174 printf(" Mechanical Angle: %f Electrical Angle: %f Raw: %d\n\r", spi.GetMechPosition(), spi.GetElecPosition(), spi.GetRawPosition());
benkatz 48:74a40481740c 175 //printf("%d\n\r", spi.GetRawPosition());
monkey61 57:f3336e9eb1f2 176 wait(.1);
benkatz 22:60276ba87ac6 177 }
benkatz 20:bf9ea5125d52 178
benkatz 23:2adf23ee0305 179 /// Current Sampling Interrupt ///
benkatz 23:2adf23ee0305 180 /// This runs at 40 kHz, regardless of of the mode the controller is in ///
benkatz 55:c4c9fec8539c 181 //float testing[1000];
benkatz 55:c4c9fec8539c 182 //float testing2[1000];
benkatz 2:8724412ad628 183 extern "C" void TIM1_UP_TIM10_IRQHandler(void) {
benkatz 2:8724412ad628 184 if (TIM1->SR & TIM_SR_UIF ) {
benkatz 55:c4c9fec8539c 185 //gpio.led->write(1);
benkatz 23:2adf23ee0305 186 ///Sample current always ///
benkatz 25:f5741040c4bb 187 ADC1->CR2 |= 0x40000000; // Begin sample and conversion
benkatz 22:60276ba87ac6 188 //volatile int delay;
benkatz 20:bf9ea5125d52 189 //for (delay = 0; delay < 55; delay++);
benkatz 55:c4c9fec8539c 190
benkatz 47:e1196a851f76 191 spi.Sample(DT); // sample position sensor
benkatz 56:fe5056ac6740 192 /*
benkatz 56:fe5056ac6740 193 if(count < 10){printf("%d\n\r", spi.GetRawPosition());}
benkatz 56:fe5056ac6740 194 count ++;
benkatz 56:fe5056ac6740 195 */
benkatz 37:c0f352d6e8e3 196 controller.adc2_raw = ADC2->DR; // Read ADC Data Registers
benkatz 23:2adf23ee0305 197 controller.adc1_raw = ADC1->DR;
benkatz 37:c0f352d6e8e3 198 controller.adc3_raw = ADC3->DR;
benkatz 37:c0f352d6e8e3 199 controller.theta_elec = spi.GetElecPosition();
benkatz 37:c0f352d6e8e3 200 controller.theta_mech = (1.0f/GR)*spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 201 controller.dtheta_mech = (1.0f/GR)*spi.GetMechVelocity();
benkatz 37:c0f352d6e8e3 202 controller.dtheta_elec = spi.GetElecVelocity();
benkatz 51:6cd89bd6fcaa 203 controller.v_bus = 0.95f*controller.v_bus + 0.05f*((float)controller.adc3_raw)*V_SCALE; //filter the dc link voltage measurement
benkatz 55:c4c9fec8539c 204
benkatz 55:c4c9fec8539c 205
benkatz 55:c4c9fec8539c 206
benkatz 23:2adf23ee0305 207 ///
benkatz 20:bf9ea5125d52 208
benkatz 23:2adf23ee0305 209 /// Check state machine state, and run the appropriate function ///
benkatz 23:2adf23ee0305 210 switch(state){
benkatz 37:c0f352d6e8e3 211 case REST_MODE: // Do nothing
benkatz 23:2adf23ee0305 212 if(state_change){
benkatz 23:2adf23ee0305 213 enter_menu_state();
benkatz 23:2adf23ee0305 214 }
benkatz 55:c4c9fec8539c 215 update_observer(&controller, &observer);
benkatz 23:2adf23ee0305 216 break;
benkatz 22:60276ba87ac6 217
benkatz 23:2adf23ee0305 218 case CALIBRATION_MODE: // Run encoder calibration procedure
benkatz 23:2adf23ee0305 219 if(state_change){
benkatz 23:2adf23ee0305 220 calibrate();
benkatz 23:2adf23ee0305 221 }
benkatz 23:2adf23ee0305 222 break;
benkatz 55:c4c9fec8539c 223 case INIT_TEMP_MODE:
benkatz 55:c4c9fec8539c 224 if(state_change){
benkatz 55:c4c9fec8539c 225 enter_torque_mode();
benkatz 55:c4c9fec8539c 226 count = 0;
benkatz 55:c4c9fec8539c 227 observer.resistance = 0.0f;
benkatz 55:c4c9fec8539c 228 }
benkatz 55:c4c9fec8539c 229 controller.i_d_ref = -10.0f;
benkatz 55:c4c9fec8539c 230 controller.i_q_ref = 0.0f;
benkatz 55:c4c9fec8539c 231 commutate(&controller, &observer, &gpio, controller.theta_elec);
benkatz 55:c4c9fec8539c 232
benkatz 55:c4c9fec8539c 233 if(count > 200)
benkatz 55:c4c9fec8539c 234 {
benkatz 55:c4c9fec8539c 235 float r_meas = controller.v_d*(DTC_MAX-DTC_MIN)/(controller.i_d*SQRT3);
benkatz 55:c4c9fec8539c 236 //testing2[count-100] = controller.i_d;
benkatz 55:c4c9fec8539c 237 observer.resistance += .001f*r_meas;
benkatz 55:c4c9fec8539c 238 }
benkatz 55:c4c9fec8539c 239 if(count > 1200)
benkatz 55:c4c9fec8539c 240 {
benkatz 55:c4c9fec8539c 241 count = 0;
benkatz 55:c4c9fec8539c 242 state = REST_MODE;
benkatz 55:c4c9fec8539c 243 state_change = 1;
benkatz 55:c4c9fec8539c 244 gpio.led->write(0);
benkatz 55:c4c9fec8539c 245 observer.temperature = (double)(T_AMBIENT + ((observer.resistance/R_NOMINAL) - 1.0f)*254.5f);
benkatz 55:c4c9fec8539c 246 printf("Winding Resistance: %f\n\r", observer.resistance);
benkatz 55:c4c9fec8539c 247 printf("Winding Temperature: %f\n\r", observer.temperature);
benkatz 55:c4c9fec8539c 248
benkatz 55:c4c9fec8539c 249 if(R_NOMINAL==0)
benkatz 55:c4c9fec8539c 250 {
benkatz 55:c4c9fec8539c 251 printf("Saving winding resistance\n\r");
benkatz 55:c4c9fec8539c 252 R_NOMINAL = observer.resistance;
benkatz 55:c4c9fec8539c 253 if (!prefs.ready()) prefs.open();
benkatz 55:c4c9fec8539c 254 prefs.flush(); // write offset and lookup table to flash
benkatz 55:c4c9fec8539c 255 prefs.close();
benkatz 55:c4c9fec8539c 256 }
benkatz 55:c4c9fec8539c 257 //for(int i = 0; i<1000; i++){printf("%f \n\r", testing[i]);}
benkatz 55:c4c9fec8539c 258 }
benkatz 55:c4c9fec8539c 259
benkatz 55:c4c9fec8539c 260 count++;
benkatz 55:c4c9fec8539c 261 break;
benkatz 26:2b865c00d7e9 262 case MOTOR_MODE: // Run torque control
benkatz 25:f5741040c4bb 263 if(state_change){
benkatz 25:f5741040c4bb 264 enter_torque_mode();
benkatz 28:8c7e29f719c5 265 count = 0;
benkatz 25:f5741040c4bb 266 }
benkatz 28:8c7e29f719c5 267 else{
benkatz 37:c0f352d6e8e3 268 /*
benkatz 37:c0f352d6e8e3 269 if(controller.v_bus>28.0f){ //Turn of gate drive if bus voltage is too high, to prevent FETsplosion if the bus is cut during regen
benkatz 47:e1196a851f76 270 gpio.
benkatz 47:e1196a851f76 271 ->write(0);
benkatz 37:c0f352d6e8e3 272 controller.ovp_flag = 1;
benkatz 37:c0f352d6e8e3 273 state = REST_MODE;
benkatz 37:c0f352d6e8e3 274 state_change = 1;
benkatz 37:c0f352d6e8e3 275 printf("OVP Triggered!\n\r");
benkatz 37:c0f352d6e8e3 276 }
benkatz 37:c0f352d6e8e3 277 */
benkatz 37:c0f352d6e8e3 278
benkatz 28:8c7e29f719c5 279 if((controller.timeout > CAN_TIMEOUT) && (CAN_TIMEOUT > 0)){
benkatz 28:8c7e29f719c5 280 controller.i_d_ref = 0;
benkatz 28:8c7e29f719c5 281 controller.i_q_ref = 0;
benkatz 37:c0f352d6e8e3 282 controller.kp = 0;
benkatz 37:c0f352d6e8e3 283 controller.kd = 0;
benkatz 37:c0f352d6e8e3 284 controller.t_ff = 0;
benkatz 28:8c7e29f719c5 285 }
benkatz 55:c4c9fec8539c 286
benkatz 50:ba72df25d10f 287 torque_control(&controller);
benkatz 55:c4c9fec8539c 288 update_observer(&controller, &observer);
benkatz 55:c4c9fec8539c 289 field_weaken(&controller);
benkatz 49:83d83040ea51 290 commutate(&controller, &observer, &gpio, controller.theta_elec); // Run current loop
benkatz 49:83d83040ea51 291 controller.timeout++;
benkatz 55:c4c9fec8539c 292
benkatz 55:c4c9fec8539c 293 if(controller.otw_flag)
benkatz 55:c4c9fec8539c 294 {
benkatz 55:c4c9fec8539c 295 state = REST_MODE;
benkatz 55:c4c9fec8539c 296 state_change = 1;
benkatz 55:c4c9fec8539c 297 gpio.led->write(0);
benkatz 55:c4c9fec8539c 298 }
benkatz 55:c4c9fec8539c 299
benkatz 49:83d83040ea51 300 count++;
benkatz 55:c4c9fec8539c 301 }
benkatz 55:c4c9fec8539c 302
benkatz 55:c4c9fec8539c 303
benkatz 55:c4c9fec8539c 304 break;
benkatz 37:c0f352d6e8e3 305
benkatz 23:2adf23ee0305 306 case SETUP_MODE:
benkatz 23:2adf23ee0305 307 if(state_change){
benkatz 24:58c2d7571207 308 enter_setup_state();
benkatz 23:2adf23ee0305 309 }
benkatz 23:2adf23ee0305 310 break;
benkatz 23:2adf23ee0305 311 case ENCODER_MODE:
benkatz 23:2adf23ee0305 312 print_encoder();
benkatz 23:2adf23ee0305 313 break;
benkatz 37:c0f352d6e8e3 314 }
benkatz 2:8724412ad628 315 }
benkatz 55:c4c9fec8539c 316 //gpio.led->write(0);
benkatz 23:2adf23ee0305 317 TIM1->SR = 0x0; // reset the status register
benkatz 2:8724412ad628 318 }
benkatz 0:4e1c4df6aabd 319
benkatz 25:f5741040c4bb 320
benkatz 24:58c2d7571207 321 char cmd_val[8] = {0};
benkatz 24:58c2d7571207 322 char cmd_id = 0;
benkatz 25:f5741040c4bb 323 char char_count = 0;
benkatz 24:58c2d7571207 324
benkatz 25:f5741040c4bb 325 /// Manage state machine with commands from serial terminal or configurator gui ///
benkatz 25:f5741040c4bb 326 /// Called when data received over serial ///
benkatz 23:2adf23ee0305 327 void serial_interrupt(void){
benkatz 23:2adf23ee0305 328 while(pc.readable()){
benkatz 23:2adf23ee0305 329 char c = pc.getc();
monkey61 57:f3336e9eb1f2 330 if(c == 'q'){
benkatz 25:f5741040c4bb 331 state = REST_MODE;
benkatz 25:f5741040c4bb 332 state_change = 1;
benkatz 25:f5741040c4bb 333 char_count = 0;
benkatz 25:f5741040c4bb 334 cmd_id = 0;
benkatz 55:c4c9fec8539c 335 gpio.led->write(0);;
benkatz 25:f5741040c4bb 336 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 25:f5741040c4bb 337 }
benkatz 24:58c2d7571207 338 if(state == REST_MODE){
benkatz 23:2adf23ee0305 339 switch (c){
benkatz 23:2adf23ee0305 340 case 'c':
benkatz 23:2adf23ee0305 341 state = CALIBRATION_MODE;
benkatz 23:2adf23ee0305 342 state_change = 1;
benkatz 23:2adf23ee0305 343 break;
benkatz 26:2b865c00d7e9 344 case 'm':
benkatz 26:2b865c00d7e9 345 state = MOTOR_MODE;
benkatz 23:2adf23ee0305 346 state_change = 1;
benkatz 23:2adf23ee0305 347 break;
benkatz 23:2adf23ee0305 348 case 'e':
benkatz 23:2adf23ee0305 349 state = ENCODER_MODE;
benkatz 23:2adf23ee0305 350 state_change = 1;
benkatz 23:2adf23ee0305 351 break;
benkatz 23:2adf23ee0305 352 case 's':
benkatz 23:2adf23ee0305 353 state = SETUP_MODE;
benkatz 23:2adf23ee0305 354 state_change = 1;
benkatz 23:2adf23ee0305 355 break;
monkey61 57:f3336e9eb1f2 356 case 'p':
monkey61 57:f3336e9eb1f2 357 printf("__int_reg\r\n");
monkey61 57:f3336e9eb1f2 358 for(int i = 0; i<=132; i++){printf("i:%d,int:%d\n\r", i,__int_reg[i]);}
monkey61 57:f3336e9eb1f2 359 printf("__float_reg\r\n");
monkey61 57:f3336e9eb1f2 360 for(int i = 0; i<=9; i++){printf("i:%d,float:%0.5f\n\r", i,__float_reg[i]);}
monkey61 57:f3336e9eb1f2 361 printf("Print data over");
monkey61 57:f3336e9eb1f2 362 break;
monkey61 57:f3336e9eb1f2 363 case 'o':
monkey61 57:f3336e9eb1f2 364 if (!prefs.ready()) prefs.open();
monkey61 57:f3336e9eb1f2 365 prefs.flush(); // Write new prefs to flash
monkey61 57:f3336e9eb1f2 366 prefs.close();
monkey61 57:f3336e9eb1f2 367 prefs.load();
monkey61 57:f3336e9eb1f2 368 printf("Write flash data over");
monkey61 57:f3336e9eb1f2 369 break;
monkey61 57:f3336e9eb1f2 370 case 'i':
monkey61 57:f3336e9eb1f2 371 prefs.load();
monkey61 57:f3336e9eb1f2 372 printf("Read flash data over");
monkey61 57:f3336e9eb1f2 373 break;
benkatz 37:c0f352d6e8e3 374 case 'z':
benkatz 37:c0f352d6e8e3 375 spi.SetMechOffset(0);
benkatz 47:e1196a851f76 376 spi.Sample(DT);
benkatz 37:c0f352d6e8e3 377 wait_us(20);
benkatz 37:c0f352d6e8e3 378 M_OFFSET = spi.GetMechPosition();
benkatz 37:c0f352d6e8e3 379 if (!prefs.ready()) prefs.open();
benkatz 37:c0f352d6e8e3 380 prefs.flush(); // Write new prefs to flash
benkatz 37:c0f352d6e8e3 381 prefs.close();
benkatz 37:c0f352d6e8e3 382 prefs.load();
benkatz 37:c0f352d6e8e3 383 spi.SetMechOffset(M_OFFSET);
benkatz 37:c0f352d6e8e3 384 printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
benkatz 37:c0f352d6e8e3 385
benkatz 37:c0f352d6e8e3 386 break;
benkatz 37:c0f352d6e8e3 387 }
benkatz 37:c0f352d6e8e3 388
benkatz 24:58c2d7571207 389 }
benkatz 24:58c2d7571207 390 else if(state == SETUP_MODE){
benkatz 25:f5741040c4bb 391 if(c == 13){
benkatz 24:58c2d7571207 392 switch (cmd_id){
benkatz 24:58c2d7571207 393 case 'b':
benkatz 24:58c2d7571207 394 I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
benkatz 24:58c2d7571207 395 break;
benkatz 24:58c2d7571207 396 case 'i':
benkatz 24:58c2d7571207 397 CAN_ID = atoi(cmd_val);
benkatz 24:58c2d7571207 398 break;
benkatz 26:2b865c00d7e9 399 case 'm':
benkatz 26:2b865c00d7e9 400 CAN_MASTER = atoi(cmd_val);
benkatz 26:2b865c00d7e9 401 break;
benkatz 24:58c2d7571207 402 case 'l':
benkatz 51:6cd89bd6fcaa 403 I_MAX = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 51:6cd89bd6fcaa 404 break;
benkatz 51:6cd89bd6fcaa 405 case 'f':
benkatz 51:6cd89bd6fcaa 406 I_FW_MAX = fmaxf(fminf(atof(cmd_val), 33.0f), 0.0f);
benkatz 24:58c2d7571207 407 break;
benkatz 28:8c7e29f719c5 408 case 't':
benkatz 28:8c7e29f719c5 409 CAN_TIMEOUT = atoi(cmd_val);
benkatz 28:8c7e29f719c5 410 break;
benkatz 55:c4c9fec8539c 411 case 'h':
benkatz 55:c4c9fec8539c 412 TEMP_MAX = fmaxf(fminf(atof(cmd_val), 150.0f), 0.0f);
benkatz 55:c4c9fec8539c 413 break;
benkatz 55:c4c9fec8539c 414 case 'c':
benkatz 55:c4c9fec8539c 415 I_MAX_CONT = fmaxf(fminf(atof(cmd_val), 40.0f), 0.0f);
benkatz 55:c4c9fec8539c 416 break;
benkatz 24:58c2d7571207 417 default:
benkatz 24:58c2d7571207 418 printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
benkatz 24:58c2d7571207 419 break;
benkatz 24:58c2d7571207 420 }
benkatz 24:58c2d7571207 421
benkatz 24:58c2d7571207 422 if (!prefs.ready()) prefs.open();
benkatz 24:58c2d7571207 423 prefs.flush(); // Write new prefs to flash
benkatz 24:58c2d7571207 424 prefs.close();
benkatz 24:58c2d7571207 425 prefs.load();
benkatz 24:58c2d7571207 426 state_change = 1;
benkatz 24:58c2d7571207 427 char_count = 0;
benkatz 24:58c2d7571207 428 cmd_id = 0;
benkatz 24:58c2d7571207 429 for(int i = 0; i<8; i++){cmd_val[i] = 0;}
benkatz 24:58c2d7571207 430 }
benkatz 24:58c2d7571207 431 else{
benkatz 24:58c2d7571207 432 if(char_count == 0){cmd_id = c;}
benkatz 24:58c2d7571207 433 else{
benkatz 24:58c2d7571207 434 cmd_val[char_count-1] = c;
benkatz 24:58c2d7571207 435
benkatz 24:58c2d7571207 436 }
benkatz 24:58c2d7571207 437 pc.putc(c);
benkatz 24:58c2d7571207 438 char_count++;
benkatz 23:2adf23ee0305 439 }
benkatz 23:2adf23ee0305 440 }
benkatz 24:58c2d7571207 441 else if (state == ENCODER_MODE){
benkatz 24:58c2d7571207 442 switch (c){
monkey61 57:f3336e9eb1f2 443 case 'q':
benkatz 24:58c2d7571207 444 state = REST_MODE;
benkatz 24:58c2d7571207 445 state_change = 1;
benkatz 24:58c2d7571207 446 break;
benkatz 24:58c2d7571207 447 }
benkatz 24:58c2d7571207 448 }
benkatz 49:83d83040ea51 449 else if (state == MOTOR_MODE){
benkatz 49:83d83040ea51 450 switch (c){
benkatz 49:83d83040ea51 451 case 'd':
benkatz 49:83d83040ea51 452 controller.i_q_ref = 0;
benkatz 49:83d83040ea51 453 controller.i_d_ref = 0;
benkatz 49:83d83040ea51 454 }
benkatz 49:83d83040ea51 455 }
benkatz 24:58c2d7571207 456
benkatz 24:58c2d7571207 457 }
benkatz 22:60276ba87ac6 458 }
benkatz 0:4e1c4df6aabd 459
benkatz 0:4e1c4df6aabd 460 int main() {
benkatz 20:bf9ea5125d52 461 controller.v_bus = V_BUS;
benkatz 22:60276ba87ac6 462 controller.mode = 0;
benkatz 23:2adf23ee0305 463 Init_All_HW(&gpio); // Setup PWM, ADC, GPIO
benkatz 55:c4c9fec8539c 464 wait_us(100);
benkatz 44:8040fa2fcb0d 465
benkatz 44:8040fa2fcb0d 466 gpio.enable->write(1);
benkatz 44:8040fa2fcb0d 467 wait_us(100);
benkatz 45:26801179208e 468 drv.calibrate();
benkatz 45:26801179208e 469 wait_us(100);
benkatz 55:c4c9fec8539c 470 drv.write_DCR(0x0, DIS_GDF_DIS, 0x0, PWM_MODE_3X, 0x0, 0x0, 0x0, 0x0, 0x1);
benkatz 55:c4c9fec8539c 471 wait_us(100);
benkatz 55:c4c9fec8539c 472 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x1, 0x1, 0x1, SEN_LVL_1_0); // calibrate shunt amplifiers
benkatz 44:8040fa2fcb0d 473 wait_us(100);
benkatz 55:c4c9fec8539c 474 zero_current(&controller.adc1_offset, &controller.adc2_offset);
benkatz 44:8040fa2fcb0d 475 wait_us(100);
benkatz 55:c4c9fec8539c 476 drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x1, 0x0, 0x0, 0x0, SEN_LVL_1_0);
benkatz 55:c4c9fec8539c 477 wait_us(100);
benkatz 55:c4c9fec8539c 478 drv.write_OCPCR(TRETRY_50US, DEADTIME_50NS, OCP_NONE, OCP_DEG_8US, VDS_LVL_1_88);
benkatz 45:26801179208e 479
benkatz 45:26801179208e 480 //drv.enable_gd();
benkatz 47:e1196a851f76 481 drv.disable_gd();
benkatz 55:c4c9fec8539c 482 //zero_current(&controller.adc1_offset, &controller.adc2_offset); // Measure current sensor zero-offset
benkatz 55:c4c9fec8539c 483 //drv.enable_gd();
benkatz 20:bf9ea5125d52 484
benkatz 55:c4c9fec8539c 485 wait_us(100);
benkatz 55:c4c9fec8539c 486
benkatz 23:2adf23ee0305 487 reset_foc(&controller); // Reset current controller
benkatz 48:74a40481740c 488 reset_observer(&observer); // Reset observer
benkatz 26:2b865c00d7e9 489 //TIM1->CR1 |= TIM_CR1_UDIS; //enable interrupt
benkatz 20:bf9ea5125d52 490
benkatz 55:c4c9fec8539c 491 wait_us(100);
benkatz 37:c0f352d6e8e3 492 NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 2); // commutation > communication
benkatz 37:c0f352d6e8e3 493 NVIC_SetPriority(CAN1_RX0_IRQn, 3);
benkatz 53:e85efce8c1eb 494 // attach 'CAN receive-complete' interrupt handler
benkatz 53:e85efce8c1eb 495
benkatz 53:e85efce8c1eb 496 // If preferences haven't been user configured yet, set defaults
benkatz 53:e85efce8c1eb 497 prefs.load(); // Read flash
benkatz 55:c4c9fec8539c 498 can.filter(CAN_ID , 0xFFF, CANStandard, 0);
benkatz 28:8c7e29f719c5 499 txMsg.id = CAN_MASTER;
benkatz 28:8c7e29f719c5 500 txMsg.len = 6;
benkatz 26:2b865c00d7e9 501 rxMsg.len = 8;
benkatz 53:e85efce8c1eb 502 can.attach(&onMsgReceived);
benkatz 23:2adf23ee0305 503
benkatz 37:c0f352d6e8e3 504 if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
benkatz 37:c0f352d6e8e3 505 if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
benkatz 48:74a40481740c 506 if(isnan(I_BW) || I_BW==-1){I_BW = 1000;}
benkatz 51:6cd89bd6fcaa 507 if(isnan(I_MAX) || I_MAX ==-1){I_MAX=40;}
benkatz 55:c4c9fec8539c 508 if(isnan(I_FW_MAX) || I_FW_MAX ==-1){I_FW_MAX=12;}
benkatz 48:74a40481740c 509 if(isnan(CAN_ID) || CAN_ID==-1){CAN_ID = 1;}
benkatz 48:74a40481740c 510 if(isnan(CAN_MASTER) || CAN_MASTER==-1){CAN_MASTER = 0;}
benkatz 55:c4c9fec8539c 511 if(isnan(CAN_TIMEOUT) || CAN_TIMEOUT==-1){CAN_TIMEOUT = 1000;}
benkatz 55:c4c9fec8539c 512 if(isnan(R_NOMINAL) || R_NOMINAL==-1){R_NOMINAL = 0.0f;}
benkatz 55:c4c9fec8539c 513 if(isnan(TEMP_MAX) || TEMP_MAX==-1){TEMP_MAX = 125.0f;}
benkatz 55:c4c9fec8539c 514 if(isnan(I_MAX_CONT) || I_MAX_CONT==-1){I_MAX_CONT = 14.0f;}
benkatz 25:f5741040c4bb 515 spi.SetElecOffset(E_OFFSET); // Set position sensor offset
benkatz 37:c0f352d6e8e3 516 spi.SetMechOffset(M_OFFSET);
benkatz 56:fe5056ac6740 517 spi.Sample(1.0f);
benkatz 56:fe5056ac6740 518 if(spi.GetMechPosition() > PI){spi.SetMechOffset(M_OFFSET+2.0f*PI);} // now zeroes to +- 30 degrees about nominal, independent of rollover point
benkatz 56:fe5056ac6740 519 else if (spi.GetMechPosition() < -PI){spi.SetMechOffset(M_OFFSET-2.0f*PI);}
benkatz 56:fe5056ac6740 520
benkatz 23:2adf23ee0305 521 int lut[128] = {0};
benkatz 23:2adf23ee0305 522 memcpy(&lut, &ENCODER_LUT, sizeof(lut));
benkatz 25:f5741040c4bb 523 spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
benkatz 45:26801179208e 524 init_controller_params(&controller);
benkatz 55:c4c9fec8539c 525
benkatz 45:26801179208e 526
benkatz 26:2b865c00d7e9 527 pc.baud(921600); // set serial baud rate
benkatz 20:bf9ea5125d52 528 wait(.01);
benkatz 23:2adf23ee0305 529 pc.printf("\n\r\n\r HobbyKing Cheetah\n\r\n\r");
benkatz 20:bf9ea5125d52 530 wait(.01);
benkatz 23:2adf23ee0305 531 printf("\n\r Debug Info:\n\r");
benkatz 32:ccac5da77844 532 printf(" Firmware Version: %s\n\r", VERSION_NUM);
benkatz 23:2adf23ee0305 533 printf(" ADC1 Offset: %d ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
benkatz 23:2adf23ee0305 534 printf(" Position Sensor Electrical Offset: %.4f\n\r", E_OFFSET);
benkatz 37:c0f352d6e8e3 535 printf(" Output Zero Position: %.4f\n\r", M_OFFSET);
benkatz 24:58c2d7571207 536 printf(" CAN ID: %d\n\r", CAN_ID);
benkatz 44:8040fa2fcb0d 537
benkatz 44:8040fa2fcb0d 538
benkatz 55:c4c9fec8539c 539 TIM1->CR1 ^= TIM_CR1_UDIS;
benkatz 44:8040fa2fcb0d 540
benkatz 44:8040fa2fcb0d 541
benkatz 23:2adf23ee0305 542 pc.attach(&serial_interrupt); // attach serial interrupt
benkatz 50:ba72df25d10f 543
benkatz 20:bf9ea5125d52 544
monkey61 59:b41cbfa3b30e 545 int counter = 0;
benkatz 0:4e1c4df6aabd 546 while(1) {
monkey61 59:b41cbfa3b30e 547 drv.print_faults(&can,&observer);
monkey61 59:b41cbfa3b30e 548 //if(counter++>=10)
monkey61 59:b41cbfa3b30e 549 // {
monkey61 59:b41cbfa3b30e 550 // counter = 0;
monkey61 59:b41cbfa3b30e 551 // printf("Temp:%.1f\n\r" , observer.temperature);
monkey61 59:b41cbfa3b30e 552 // }
benkatz 53:e85efce8c1eb 553 wait(.1);
benkatz 55:c4c9fec8539c 554 //printf("%.3f %.3f\n\r" , observer.temperature, observer.q_in);
benkatz 55:c4c9fec8539c 555 if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
benkatz 55:c4c9fec8539c 556 /*
benkatz 47:e1196a851f76 557 if(state == MOTOR_MODE)
benkatz 47:e1196a851f76 558 {
benkatz 55:c4c9fec8539c 559 if(controller.otw_flag){gpio.led->write(!gpio.led->read());}
benkatz 55:c4c9fec8539c 560 //printf("%f %f\n\r", controller.dtheta_mech, controller.i_d_ref);
benkatz 48:74a40481740c 561 //printf("%.3f %.3f %.3f\n\r", (float)observer.temperature, (float)observer.temperature2, observer.resistance);
benkatz 49:83d83040ea51 562 //printf("%.3f %.3f %.3f %.3f %.3f\n\r", controller.v_d, controller.v_q, controller.i_d_filt, controller.i_q_filt, controller.dtheta_elec);
benkatz 55:c4c9fec8539c 563 //printf("%.3f %.3f %.3f %.3f\n\r", controller.dtheta_elec, observer.resistance, observer.temperature, observer.temp_measured);
benkatz 55:c4c9fec8539c 564 //printf("%.3f %.3f\n\r" , observer.temperature, observer.temp_measured);
benkatz 47:e1196a851f76 565 }
benkatz 55:c4c9fec8539c 566
benkatz 50:ba72df25d10f 567 */
benkatz 47:e1196a851f76 568
benkatz 0:4e1c4df6aabd 569 }
benkatz 0:4e1c4df6aabd 570 }