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mcpwm_foc.c
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mcpwm_foc.c
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/*
Copyright 2015 Benjamin Vedder [email protected]
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* mcpwm_foc.c
*
* Created on: 10 okt 2015
* Author: benjamin
*/
#include "mcpwm_foc.h"
#include "mc_interface.h"
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
#include "digital_filter.h"
#include "utils.h"
#include "ledpwm.h"
#include "hw.h"
#include "terminal.h"
#include "encoder.h"
#include "commands.h"
#include "timeout.h"
#include <math.h>
#include <string.h>
#include <stdlib.h>
// Private types
typedef struct {
float id_target;
float iq_target;
float max_duty;
float duty_now;
float phase;
float i_alpha;
float i_beta;
float i_abs;
float i_abs_filter;
float i_bus;
float i_bus_filter;
float v_bus;
float v_alpha;
float v_beta;
float mod_d;
float mod_q;
float id;
float iq;
float id_filter;
float iq_filter;
float vd;
float vq;
} motor_state_t;
typedef struct {
int sample_num;
float avg_current_tot;
float avg_voltage_tot;
bool measure_inductance_now;
float measure_inductance_duty;
} mc_sample_t;
// Private variables
static volatile mc_configuration *m_conf;
static volatile mc_state m_state;
static volatile mc_control_mode m_control_mode;
static volatile motor_state_t m_motor_state;
static volatile int m_curr0_sum;
static volatile int m_curr1_sum;
static volatile int m_curr_samples;
static volatile int m_curr0_offset;
static volatile int m_curr1_offset;
static volatile bool m_phase_override;
static volatile float m_phase_now_override;
static volatile float m_duty_cycle_set;
static volatile float m_id_set;
static volatile float m_iq_set;
static volatile bool m_dccal_done;
static volatile bool m_output_on;
static volatile float m_pos_pid_set;
static volatile float m_speed_pid_set_rpm;
static volatile ppm_cruise m_speed_pid_cruise_control_type;
static volatile float m_phase_now_observer;
static volatile float m_phase_now_observer_override;
static volatile bool m_phase_observer_override;
static volatile float m_phase_now_encoder;
static volatile float m_phase_now_encoder_no_index;
static volatile float m_observer_x1;
static volatile float m_observer_x2;
static volatile float m_pll_phase;
static volatile float m_pll_speed;
static volatile mc_sample_t m_samples;
static volatile float m_tachometer;
static volatile float m_tachometer_abs;
static volatile float last_inj_adc_isr_duration;
static volatile float m_pos_pid_now;
// Private functions
static void do_dc_cal(void);
void observer_update(float v_alpha, float v_beta, float i_alpha, float i_beta,
float dt, volatile float *x1, volatile float *x2, volatile float *phase);
static void pll_run(float phase, float dt, volatile float *phase_var,
volatile float *speed_var);
static void control_current(volatile motor_state_t *state_m, float dt);
static void svm(float alpha, float beta, uint32_t PWMHalfPeriod,
uint32_t* tAout, uint32_t* tBout, uint32_t* tCout);
static void run_pid_control_pos(float angle_now, float angle_set, float dt);
static void run_pid_control_speed(float dt);
static void stop_pwm_hw(void);
static void start_pwm_hw(void);
static int read_hall(void);
static float correct_encoder(float obs_angle, float enc_angle, float speed);
static float correct_hall(float angle, float speed, float dt);
// Threads
static THD_WORKING_AREA(timer_thread_wa, 2048);
static THD_FUNCTION(timer_thread, arg);
static volatile bool timer_thd_stop;
// Constants
#define ONE_BY_SQRT3 (0.57735026919)
#define TWO_BY_SQRT3 (2.0f * 0.57735026919)
#define SQRT3_BY_2 (0.86602540378)
// Macros
#define TIMER_UPDATE_DUTY(duty1, duty2, duty3) \
TIM1->CR1 |= TIM_CR1_UDIS; \
TIM1->CCR1 = duty1; \
TIM1->CCR2 = duty3; \
TIM1->CCR3 = duty2; \
TIM1->CR1 &= ~TIM_CR1_UDIS;
#define TIMER_UPDATE_SAMP(current_samp, voltage_samp) \
TIM1->CR1 |= TIM_CR1_UDIS; \
TIM8->CR1 |= TIM_CR1_UDIS; \
TIM8->CCR1 = voltage_samp; \
TIM1->CCR4 = current_samp; \
TIM8->CCR2 = current_samp; \
TIM1->CR1 &= ~TIM_CR1_UDIS; \
TIM8->CR1 &= ~TIM_CR1_UDIS;
#define TIMER_UPDATE_SAMP_TOP(current_samp, voltage_samp, top) \
TIM1->CR1 |= TIM_CR1_UDIS; \
TIM8->CR1 |= TIM_CR1_UDIS; \
TIM1->ARR = top; \
TIM8->ARR = top; \
TIM8->CCR1 = voltage_samp; \
TIM1->CCR4 = current_samp; \
TIM8->CCR2 = current_samp; \
TIM1->CR1 &= ~TIM_CR1_UDIS; \
TIM8->CR1 &= ~TIM_CR1_UDIS;
#define TIMER_UPDATE_DUTY_CURRENTSAMP(duty1, duty2, duty3, current_samp) \
TIM1->CR1 |= TIM_CR1_UDIS; \
TIM8->CR1 |= TIM_CR1_UDIS; \
TIM1->CCR1 = duty1; \
TIM1->CCR2 = duty3; \
TIM1->CCR3 = duty2; \
TIM1->CCR4 = current_samp; \
TIM8->CCR2 = current_samp; \
TIM1->CR1 &= ~TIM_CR1_UDIS; \
TIM8->CR1 &= ~TIM_CR1_UDIS;
#define TIMER_DISABLE_PRELOAD_DUTY1() TIM1->CCMR1 &= (uint16_t)(~TIM_CCMR1_OC1PE)
#define TIMER_DISABLE_PRELOAD_DUTY2() TIM1->CCMR2 &= (uint16_t)(~TIM_CCMR2_OC3PE)
#define TIMER_DISABLE_PRELOAD_DUTY3() TIM1->CCMR1 &= (uint16_t)(~TIM_CCMR1_OC2PE)
#define TIMER_ENABLE_PRELOAD_DUTY1() TIM1->CCMR1 |= (uint16_t)(TIM_CCMR1_OC1PE)
#define TIMER_ENABLE_PRELOAD_DUTY2() TIM1->CCMR2 |= (uint16_t)(TIM_CCMR2_OC3PE)
#define TIMER_ENABLE_PRELOAD_DUTY3() TIM1->CCMR1 |= (uint16_t)(TIM_CCMR1_OC2PE)
void mcpwm_foc_init(volatile mc_configuration *configuration) {
utils_sys_lock_cnt();
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
m_conf = configuration;
// Initialize variables
m_conf = configuration;
m_state = MC_STATE_OFF;
m_control_mode = CONTROL_MODE_NONE;
m_curr0_sum = 0;
m_curr1_sum = 0;
m_curr_samples = 0;
m_dccal_done = false;
m_phase_override = false;
m_phase_now_override = 0.0;
m_duty_cycle_set = 0.0;
m_id_set = 0.0;
m_iq_set = 0.0;
m_output_on = false;
m_pos_pid_set = 0.0;
m_speed_pid_set_rpm = 0.0;
m_speed_pid_cruise_control_type = CRUISE_CONTROL_MOTOR_SETTINGS;
m_phase_now_observer = 0.0;
m_phase_now_observer_override = 0.0;
m_phase_observer_override = false;
m_phase_now_encoder = 0.0;
m_phase_now_encoder_no_index = 0.0;
m_observer_x1 = 0.0;
m_observer_x2 = 0.0;
m_pll_phase = 0.0;
m_pll_speed = 0.0;
m_tachometer = 0.0;
m_tachometer_abs = 0.0;
last_inj_adc_isr_duration = 0;
m_pos_pid_now = 0.0;
memset((void*)&m_motor_state, 0, sizeof(motor_state_t));
memset((void*)&m_samples, 0, sizeof(mc_sample_t));
TIM_DeInit(TIM1);
TIM_DeInit(TIM8);
TIM1->CNT = 0;
TIM8->CNT = 0;
// TIM1 clock enable
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
// Time Base configuration
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned2; // compare flag when upcounting
TIM_TimeBaseStructure.TIM_Period = SYSTEM_CORE_CLOCK / (int)m_conf->foc_f_sw;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 1; // Only generate update event on underflow
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
// Channel 1, 2 and 3 Configuration in PWM mode
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = TIM1->ARR / 2;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
// Automatic Output enable, Break, dead time and lock configuration
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = MCPWM_DEAD_TIME_CYCLES;
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
TIM_CCPreloadControl(TIM1, ENABLE);
TIM_ARRPreloadConfig(TIM1, ENABLE);
/*
* ADC!
*/
ADC_CommonInitTypeDef ADC_CommonInitStructure;
DMA_InitTypeDef DMA_InitStructure;
ADC_InitTypeDef ADC_InitStructure;
// Clock
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2 | RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2 | RCC_APB2Periph_ADC3, ENABLE);
// DMA for the ADC
DMA_InitStructure.DMA_Channel = DMA_Channel_0;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ADC_Value;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC->CDR;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = HW_ADC_CHANNELS;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA2_Stream4, &DMA_InitStructure);
// DMA2_Stream0 enable
DMA_Cmd(DMA2_Stream4, ENABLE);
// ADC Common Init
// Note that the ADC is running at 42MHz, which is higher than the
// specified 36MHz in the data sheet, but it works.
ADC_CommonInitStructure.ADC_Mode = ADC_TripleMode_RegSimult;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_1;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
// Channel-specific settings
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_Falling;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T8_CC1;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = HW_ADC_NBR_CONV;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_ExternalTrigConv = 0;
ADC_Init(ADC2, &ADC_InitStructure);
ADC_Init(ADC3, &ADC_InitStructure);
// Enable Vrefint channel
ADC_TempSensorVrefintCmd(ENABLE);
// Enable DMA request after last transfer (Multi-ADC mode)
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
// Injected channels for current measurement at end of cycle
ADC_ExternalTrigInjectedConvConfig(ADC1, ADC_ExternalTrigInjecConv_T1_CC4);
ADC_ExternalTrigInjectedConvConfig(ADC2, ADC_ExternalTrigInjecConv_T8_CC2);
ADC_ExternalTrigInjectedConvEdgeConfig(ADC1, ADC_ExternalTrigInjecConvEdge_Falling);
ADC_ExternalTrigInjectedConvEdgeConfig(ADC2, ADC_ExternalTrigInjecConvEdge_Falling);
ADC_InjectedSequencerLengthConfig(ADC1, 2);
ADC_InjectedSequencerLengthConfig(ADC2, 2);
hw_setup_adc_channels();
// Interrupt
ADC_ITConfig(ADC1, ADC_IT_JEOC, ENABLE);
nvicEnableVector(ADC_IRQn, 4);
// Enable ADC1
ADC_Cmd(ADC1, ENABLE);
// Enable ADC2
ADC_Cmd(ADC2, ENABLE);
// Enable ADC3
ADC_Cmd(ADC3, ENABLE);
// ------------- Timer8 for ADC sampling ------------- //
// Time Base configuration
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned2;
TIM_TimeBaseStructure.TIM_Period = SYSTEM_CORE_CLOCK / (int)m_conf->foc_f_sw;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 1;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 500;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OC1Init(TIM8, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_OC2Init(TIM8, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM8, ENABLE);
TIM_CCPreloadControl(TIM8, ENABLE);
// PWM outputs have to be enabled in order to trigger ADC on CCx
TIM_CtrlPWMOutputs(TIM8, ENABLE);
// TIM1 Master and TIM8 slave
TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update);
TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);
TIM_SelectInputTrigger(TIM8, TIM_TS_ITR0);
TIM_SelectSlaveMode(TIM8, TIM_SlaveMode_Reset);
// Enable TIM1 and TIM8
TIM_Cmd(TIM1, ENABLE);
TIM_Cmd(TIM8, ENABLE);
// Main Output Enable
TIM_CtrlPWMOutputs(TIM1, ENABLE);
// ADC sampling locations
stop_pwm_hw();
// Sample intervals. For now they are fixed with voltage samples in the center of V7
// and current samples in the center of V0
TIMER_UPDATE_SAMP(TIM1->ARR - 2, 5);
utils_sys_unlock_cnt();
// Calibrate current offset
ENABLE_GATE();
DCCAL_OFF();
do_dc_cal();
// Various time measurements
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM12, ENABLE);
// Time base configuration
TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF;
TIM_TimeBaseStructure.TIM_Prescaler = (uint16_t)(((SYSTEM_CORE_CLOCK / 2) / 10000000) - 1);
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM12, &TIM_TimeBaseStructure);
TIM_Cmd(TIM12, ENABLE);
// Start threads
timer_thd_stop = false;
chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
// WWDG configuration
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
WWDG_SetPrescaler(WWDG_Prescaler_1);
WWDG_SetWindowValue(255);
WWDG_Enable(100);
}
void mcpwm_foc_deinit(void) {
WWDG_DeInit();
timer_thd_stop = true;
while (timer_thd_stop) {
chThdSleepMilliseconds(1);
}
TIM_DeInit(TIM1);
TIM_DeInit(TIM8);
TIM_DeInit(TIM12);
ADC_DeInit();
DMA_DeInit(DMA2_Stream4);
nvicDisableVector(ADC_IRQn);
dmaStreamRelease(STM32_DMA_STREAM(STM32_DMA_STREAM_ID(2, 4)));
}
void mcpwm_foc_set_configuration(volatile mc_configuration *configuration) {
m_conf = configuration;
m_control_mode = CONTROL_MODE_NONE;
m_state = MC_STATE_OFF;
stop_pwm_hw();
uint32_t top = SYSTEM_CORE_CLOCK / (int)m_conf->foc_f_sw;
TIMER_UPDATE_SAMP_TOP(top - 2, 5, top);
}
mc_state mcpwm_foc_get_state(void) {
return m_state;
}
bool mcpwm_foc_is_dccal_done(void) {
return m_dccal_done;
}
/**
* Switch off all FETs.TIM12->CNT = 0;
*/
void mcpwm_foc_stop_pwm(void) {
mcpwm_foc_set_current(0.0);
}
/**
* Use duty cycle control. Absolute values less than MCPWM_MIN_DUTY_CYCLE will
* stop the motor.
*
* @param dutyCycle
* The duty cycle to use.
*/
void mcpwm_foc_set_duty(float dutyCycle) {
m_control_mode = CONTROL_MODE_DUTY;
m_duty_cycle_set = dutyCycle;
if (m_state != MC_STATE_RUNNING) {
m_state = MC_STATE_RUNNING;
}
}
/**
* Use duty cycle control. Absolute values less than MCPWM_MIN_DUTY_CYCLE will
* stop the motor.
*
* WARNING: This function does not use ramping. A too large step with a large motor
* can destroy hardware.
*
* @param dutyCycle
* The duty cycle to use.
*/
void mcpwm_foc_set_duty_noramp(float dutyCycle) {
// TODO: Actually do this without ramping
mcpwm_foc_set_duty(dutyCycle);
}
/**
* Use PID rpm control. Note that this value has to be multiplied by half of
* the number of motor poles.
*
* @param rpm
* The electrical RPM goal value to use.
*/
void mcpwm_foc_set_pid_speed(float rpm) {
// Too low RPM set. Reset state and return.
if (fabsf(rpm) < m_conf->s_pid_min_erpm) {
mcpwm_foc_set_duty(0.0);
return;
}
m_control_mode = CONTROL_MODE_SPEED;
m_speed_pid_set_rpm = rpm;
m_speed_pid_cruise_control_type = CRUISE_CONTROL_MOTOR_SETTINGS;
if (m_state != MC_STATE_RUNNING) {
m_state = MC_STATE_RUNNING;
}
}
void mcpwm_foc_set_pid_speed_with_cruise_status(float rpm, ppm_cruise cruise_status) {
if (fabsf(rpm) < m_conf->s_pid_min_erpm) {
mcpwm_foc_set_duty(0.0);
return;
}
m_control_mode = CONTROL_MODE_SPEED;
m_speed_pid_set_rpm = rpm;
m_speed_pid_cruise_control_type = cruise_status;
if (m_state != MC_STATE_RUNNING) {
m_state = MC_STATE_RUNNING;
}
}
/**
* Use PID position control. Note that this only works when encoder support
* is enabled.
*
* @param pos
* The desired position of the motor in degrees.
*/
void mcpwm_foc_set_pid_pos(float pos) {
m_control_mode = CONTROL_MODE_POS;
m_pos_pid_set = pos;
if (m_state != MC_STATE_RUNNING) {
m_state = MC_STATE_RUNNING;
}
}
/**
* Use current control and specify a goal current to use. The sign determines
* the direction of the torque. Absolute values less than
* conf->cc_min_current will release the motor.
*
* @param current
* The current to use.
*/
void mcpwm_foc_set_current(float current) {
if (fabsf(current) < m_conf->cc_min_current) {
m_control_mode = CONTROL_MODE_NONE;
m_state = MC_STATE_OFF;
stop_pwm_hw();
return;
}
utils_truncate_number(¤t, m_conf->lo_current_min, m_conf->lo_current_max);
m_control_mode = CONTROL_MODE_CURRENT;
m_iq_set = current;
if (m_state != MC_STATE_RUNNING) {
m_state = MC_STATE_RUNNING;
}
}
/**
* Brake the motor with a desired current. Absolute values less than
* conf->cc_min_current will release the motor.
*
* @param current
* The current to use. Positive and negative values give the same effect.
*/
void mcpwm_foc_set_brake_current(float current) {
if (fabsf(current) < m_conf->cc_min_current) {
m_control_mode = CONTROL_MODE_NONE;
m_state = MC_STATE_OFF;
stop_pwm_hw();
return;
}
utils_truncate_number(¤t, m_conf->lo_current_min, fabsf(m_conf->lo_current_min));
m_control_mode = CONTROL_MODE_CURRENT_BRAKE;
m_iq_set = current;
if (m_state != MC_STATE_RUNNING) {
m_state = MC_STATE_RUNNING;
}
}
float mcpwm_foc_get_duty_cycle_set(void) {
return m_duty_cycle_set;
}
float mcpwm_foc_get_duty_cycle_now(void) {
return m_motor_state.duty_now;
}
float mcpwm_foc_get_pid_pos_set(void) {
return m_pos_pid_set;
}
float mcpwm_foc_get_pid_pos_now(void) {
return m_pos_pid_now;
}
/**
* Get the current switching frequency.
*
* @return
* The switching frequency in Hz.
*/
float mcpwm_foc_get_switching_frequency_now(void) {
return m_conf->foc_f_sw;
}
/**
* Calculate the current RPM of the motor. This is a signed value and the sign
* depends on the direction the motor is rotating in. Note that this value has
* to be divided by half the number of motor poles.
*
* @return
* The RPM value.
*/
float mcpwm_foc_get_rpm(void) {
return m_pll_speed / ((2.0 * M_PI) / 60.0);
}
/**
* Get the motor current. The sign of this value will
* represent whether the motor is drawing (positive) or generating
* (negative) current. This is the q-axis current which produces torque.
*
* @return
* The motor current.
*/
float mcpwm_foc_get_tot_current(void) {
return SIGN(m_motor_state.vq) * m_motor_state.iq;
}
/**
* Get the filtered motor current. The sign of this value will
* represent whether the motor is drawing (positive) or generating
* (negative) current. This is the q-axis current which produces torque.
*
* @return
* The filtered motor current.
*/
float mcpwm_foc_get_tot_current_filtered(void) {
return SIGN(m_motor_state.vq) * m_motor_state.iq_filter;
}
/**
* Get the magnitude of the motor current, which includes both the
* D and Q axis.
*
* @return
* The magnitude of the motor current.
*/
float mcpwm_foc_get_abs_motor_current(void) {
return m_motor_state.i_abs;
}
/**
* Get the filtered magnitude of the motor current, which includes both the
* D and Q axis.
*
* @return
* The magnitude of the motor current.
*/
float mcpwm_foc_get_abs_motor_current_filtered(void) {
return m_motor_state.i_abs_filter;
}
/**
* Get the motor current. The sign of this value represents the direction
* in which the motor generates torque.
*
* @return
* The motor current.
*/
float mcpwm_foc_get_tot_current_directional(void) {
return m_motor_state.iq;
}
/**
* Get the filtered motor current. The sign of this value represents the
* direction in which the motor generates torque.
*
* @return
* The filtered motor current.
*/
float mcpwm_foc_get_tot_current_directional_filtered(void) {
return m_motor_state.iq_filter;
}
/**
* Get the input current to the motor controller.
*
* @return
* The input current.
*/
float mcpwm_foc_get_tot_current_in(void) {
return m_motor_state.i_bus;
}
/**
* Get the filtered input current to the motor controller.
*
* @return
* The filtered input current.
*/
float mcpwm_foc_get_tot_current_in_filtered(void) {
return m_motor_state.i_bus_filter; // TODO: Calculate filtered current?
}
/**
* Read the number of steps the motor has rotated. This number is signed and
* will return a negative number when the motor is rotating backwards.
*
* @param reset
* If true, the tachometer counter will be reset after this call.
*
* @return
* The tachometer value in motor steps. The number of motor revolutions will
* be this number divided by (3 * MOTOR_POLE_NUMBER).
*/
int mcpwm_foc_get_tachometer_value(bool reset) {
int val = (int) m_tachometer;
if (reset) {
m_tachometer = 0.0;
}
return val;
}
/**
* Read the absolute number of steps the motor has rotated.
*
* @param reset
* If true, the tachometer counter will be reset after this call.
*
* @return
* The tachometer value in motor steps. The number of motor revolutions will
* be this number divided by (3 * MOTOR_POLE_NUMBER).
*/
int mcpwm_foc_get_tachometer_abs_value(bool reset) {
int val = (int) m_tachometer_abs;
if (reset) {
m_tachometer_abs = 0.0;
}
return val;
}
/**
* Read the motor phase.
*
* @return
* The phase angle in degrees.
*/
float mcpwm_foc_get_phase(void) {
float angle = m_motor_state.phase * (180.0 / M_PI);
utils_norm_angle(&angle);
return angle;
}
/**
* Read the phase that the observer has calculated.
*
* @return
* The phase angle in degrees.
*/
float mcpwm_foc_get_phase_observer(void) {
float angle = m_phase_now_observer * (180.0 / M_PI);
utils_norm_angle(&angle);
return angle;
}
/**
* Read the phase from based on the encoder.
*
* @return
* The phase angle in degrees.
*/
float mcpwm_foc_get_phase_encoder(void) {
float angle = m_phase_now_encoder * (180.0 / M_PI);
utils_norm_angle(&angle);
return angle;
}
float mcpwm_foc_get_vd(void) {
return m_motor_state.vd;
}
float mcpwm_foc_get_vq(void) {
return m_motor_state.vq;
}
/**
* Measure encoder offset and direction.
*
* @param current
* The locking open loop current for the motor.
*
* @param offset
* The detected offset.
*
* @param ratio
* The ratio between electrical and mechanical revolutions
*
* @param direction
* The detected direction.
*/
void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *ratio, bool *inverted) {
mc_interface_lock();
m_phase_override = true;
m_id_set = current;
m_iq_set = 0.0;
m_control_mode = CONTROL_MODE_CURRENT;
m_state = MC_STATE_RUNNING;
// Disable timeout
systime_t tout = timeout_get_timeout_msec();
float tout_c = timeout_get_brake_current();
timeout_configure(600000, 0.0);
// Save configuration
float offset_old = m_conf->foc_encoder_offset;
float inverted_old = m_conf->foc_encoder_inverted;
float ratio_old = m_conf->foc_encoder_ratio;
m_conf->foc_encoder_offset = 0.0;
m_conf->foc_encoder_inverted = false;
m_conf->foc_encoder_ratio = 1.0;
// Find index
int cnt = 0;
while(!encoder_index_found()) {
for (float i = 0.0;i < 2.0 * M_PI;i += (2.0 * M_PI) / 500.0) {
m_phase_now_override = i;
chThdSleepMilliseconds(1);
}
cnt++;
if (cnt > 30) {
// Give up
break;
}
}
if (print) {
commands_printf("Index found");
}
// Rotate
for (float i = 0.0;i < 2.0 * M_PI;i += (2.0 * M_PI) / 500.0) {
m_phase_now_override = i;
chThdSleepMilliseconds(1);
}
if (print) {
commands_printf("Rotated for sync");
}
// Inverted and ratio
chThdSleepMilliseconds(1000);
const int it_rat = 20;
float s_sum = 0.0;
float c_sum = 0.0;
float first = m_phase_now_encoder;
for (int i = 0; i < it_rat; i++) {
float phase_old = m_phase_now_encoder;
float phase_ovr_tmp = m_phase_now_override;
for (float i = phase_ovr_tmp; i < phase_ovr_tmp + (2.0 / 3.0) * M_PI;
i += (2.0 * M_PI) / 500.0) {
m_phase_now_override = i;
chThdSleepMilliseconds(1);
}
utils_norm_angle_rad((float*)&m_phase_now_override);
chThdSleepMilliseconds(300);
float diff = utils_angle_difference_rad(m_phase_now_encoder, phase_old);
float s, c;
sincosf(diff, &s, &c);
s_sum += s;
c_sum += c;
if (print) {
commands_printf("%.2f", (double)(diff * 180.0 / M_PI));
}
if (i > 3 && fabsf(utils_angle_difference_rad(m_phase_now_encoder, first)) < fabsf(diff / 2.0)) {
break;
}
}
first = m_phase_now_encoder;
for (int i = 0; i < it_rat; i++) {
float phase_old = m_phase_now_encoder;
float phase_ovr_tmp = m_phase_now_override;
for (float i = phase_ovr_tmp; i > phase_ovr_tmp - (2.0 / 3.0) * M_PI;
i -= (2.0 * M_PI) / 500.0) {
m_phase_now_override = i;
chThdSleepMilliseconds(1);
}
utils_norm_angle_rad((float*)&m_phase_now_override);
chThdSleepMilliseconds(300);
float diff = utils_angle_difference_rad(phase_old, m_phase_now_encoder);
float s, c;
sincosf(diff, &s, &c);
s_sum += s;
c_sum += c;
if (print) {
commands_printf("%.2f", (double)(diff * 180.0 / M_PI));
}
if (i > 3 && fabsf(utils_angle_difference_rad(m_phase_now_encoder, first)) < fabsf(diff / 2.0)) {
break;
}
}
float diff = atan2f(s_sum, c_sum) * 180.0 / M_PI;
*inverted = diff < 0.0;
*ratio = roundf(((2.0 / 3.0) * 180.0) /
fabsf(diff));
m_conf->foc_encoder_inverted = *inverted;
m_conf->foc_encoder_ratio = *ratio;
if (print) {
commands_printf("Inversion and ratio detected");
}
// Rotate
for (float i = m_phase_now_override;i < 2.0 * M_PI;i += (2.0 * M_PI) / 500.0) {
m_phase_now_override = i;
chThdSleepMilliseconds(2);
}
if (print) {
commands_printf("Rotated for sync");
commands_printf("Enc: %.2f", (double)encoder_read_deg());
}
const int it_ofs = m_conf->foc_encoder_ratio * 3.0;
s_sum = 0.0;
c_sum = 0.0;
for (int i = 0;i < it_ofs;i++) {
m_phase_now_override = ((float)i * 2.0 * M_PI * m_conf->foc_encoder_ratio) / ((float)it_ofs);
chThdSleepMilliseconds(500);
float diff = utils_angle_difference_rad(m_phase_now_encoder, m_phase_now_override);
float s, c;
sincosf(diff, &s, &c);
s_sum += s;
c_sum += c;
if (print) {
commands_printf("%.2f", (double)(diff * 180.0 / M_PI));
}
}
for (int i = it_ofs;i > 0;i--) {