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► Improved controller: faster and better overall

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- the controller is faster and more light in memory footprint
- motor control is now done intependenly using Reusable code generation setting in Simulink
- fixed bug when chaging direction fast
This commit is contained in:
EmanuelFeru
2019-06-05 22:39:30 +02:00
parent 19e4115d06
commit fe4bd76d7e
339 changed files with 30978 additions and 148177 deletions
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116
Src/bldc.c
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@@ -27,15 +27,27 @@
#include "setup.h"
#include "config.h"
// Matlab includes
// Matlab includes and defines - from auto-code generation
// ###############################################################################
#include "BLDC_controller.h" /* Model's header file */
#include "rtwtypes.h"
extern RT_MODEL *const rtM_Left;
extern RT_MODEL *const rtM_Right;
extern DW rtDW_Left; /* Observable states */
extern ExtU rtU_Left; /* External inputs */
extern ExtY rtY_Left; /* External outputs */
extern DW rtDW_Right; /* Observable states */
extern ExtU rtU_Right; /* External inputs */
extern ExtY rtY_Right; /* External outputs */
// ###############################################################################
volatile int pwml = 0;
volatile int pwmr = 0;
extern volatile int speed;
extern volatile adc_buf_t adc_buffer;
extern volatile uint32_t timeout;
@@ -65,6 +77,7 @@ void DMA1_Channel1_IRQHandler() {
DMA1->IFCR = DMA_IFCR_CTCIF1;
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
// HAL_GPIO_TogglePin(LED_PORT, LED_PIN);
if(offsetcount < 1000) { // calibrate ADC offsets
offsetcount++;
@@ -107,17 +120,6 @@ void DMA1_Channel1_IRQHandler() {
}
// ############################### MOTOR CONTROL ###############################
int ul, vl, wl;
int ur, vr, wr;
// Get hall sensors values
uint8_t hall_ul = !(LEFT_HALL_U_PORT->IDR & LEFT_HALL_U_PIN);
uint8_t hall_vl = !(LEFT_HALL_V_PORT->IDR & LEFT_HALL_V_PIN);
uint8_t hall_wl = !(LEFT_HALL_W_PORT->IDR & LEFT_HALL_W_PIN);
uint8_t hall_ur = !(RIGHT_HALL_U_PORT->IDR & RIGHT_HALL_U_PIN);
uint8_t hall_vr = !(RIGHT_HALL_V_PORT->IDR & RIGHT_HALL_V_PIN);
uint8_t hall_wr = !(RIGHT_HALL_W_PORT->IDR & RIGHT_HALL_W_PIN);
static boolean_T OverrunFlag = false;
/* Check for overrun */
@@ -126,44 +128,68 @@ void DMA1_Channel1_IRQHandler() {
}
OverrunFlag = true;
int ul, vl, wl;
int ur, vr, wr;
// ========================= LEFT MOTOR ============================
// Get hall sensors values
uint8_t hall_ul = !(LEFT_HALL_U_PORT->IDR & LEFT_HALL_U_PIN);
uint8_t hall_vl = !(LEFT_HALL_V_PORT->IDR & LEFT_HALL_V_PIN);
uint8_t hall_wl = !(LEFT_HALL_W_PORT->IDR & LEFT_HALL_W_PIN);
/* Set motor inputs here */
rtU.b_hallALeft = hall_ul;
rtU.b_hallBLeft = hall_vl;
rtU.b_hallCLeft = hall_wl;
rtU.r_DCLeft = pwml;
rtU.b_hallARight = hall_ur;
rtU.b_hallBRight = hall_vr;
rtU.b_hallCRight = hall_wr;
rtU.r_DCRight = pwmr;
rtU_Left.b_hallA = hall_ul;
rtU_Left.b_hallB = hall_vl;
rtU_Left.b_hallC = hall_wl;
rtU_Left.r_DC = pwml;
/* Step the controller */
BLDC_controller_step();
BLDC_controller_step(rtM_Left);
/* Get motor outputs here */
ul = rtY.DC_phaALeft;
vl = rtY.DC_phaBLeft;
wl = rtY.DC_phaCLeft;
// motSpeedLeft = rtY.n_motLeft;
// motAngleLeft = rtY.a_elecAngleLeft;
ul = rtY_Left.DC_phaA;
vl = rtY_Left.DC_phaB;
wl = rtY_Left.DC_phaC;
// motSpeedLeft = rtY_Left.n_mot;
// motAngleLeft = rtY_Left.a_elecAngle;
ur = rtY.DC_phaARight;
vr = rtY.DC_phaBRight;
wr = rtY.DC_phaCRight;
// motSpeedRight = rtY.n_motRight;
// motAngleRight = rtY.a_elecAngleRight;
/* Apply commands */
LEFT_TIM->LEFT_TIM_U = CLAMP(ul + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_V = CLAMP(vl + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_W = CLAMP(wl + pwm_res / 2, 10, pwm_res-10);
// =================================================================
// ========================= RIGHT MOTOR ===========================
// Get hall sensors values
uint8_t hall_ur = !(RIGHT_HALL_U_PORT->IDR & RIGHT_HALL_U_PIN);
uint8_t hall_vr = !(RIGHT_HALL_V_PORT->IDR & RIGHT_HALL_V_PIN);
uint8_t hall_wr = !(RIGHT_HALL_W_PORT->IDR & RIGHT_HALL_W_PIN);
/* Set motor inputs here */
rtU_Right.b_hallA = hall_ur;
rtU_Right.b_hallB = hall_vr;
rtU_Right.b_hallC = hall_wr;
rtU_Right.r_DC = pwmr;
/* Step the controller */
BLDC_controller_step(rtM_Right);
/* Get motor outputs here */
ur = rtY_Right.DC_phaA;
vr = rtY_Right.DC_phaB;
wr = rtY_Right.DC_phaC;
// motSpeedRight = rtY_Right.n_mot;
// motAngleRight = rtY_Right.a_elecAngle;
/* Apply commands */
RIGHT_TIM->RIGHT_TIM_U = CLAMP(ur + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_V = CLAMP(vr + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_W = CLAMP(wr + pwm_res / 2, 10, pwm_res-10);
// =================================================================
/* Indicate task complete */
OverrunFlag = false;
// ###############################################################################
LEFT_TIM->LEFT_TIM_U = CLAMP(ul + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_V = CLAMP(vl + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_W = CLAMP(wl + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_U = CLAMP(ur + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_V = CLAMP(vr + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_W = CLAMP(wr + pwm_res / 2, 10, pwm_res-10);
// ###############################################################################
}