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Added new BLDC motor control

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EmanuelFeru
2019-05-26 15:33:57 +02:00
parent f06ce1fcd3
commit febbfc823c
11 changed files with 2428 additions and 1412 deletions
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58
Src/main.c
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@@ -23,8 +23,13 @@
#include "defines.h"
#include "setup.h"
#include "config.h"
#include <stdlib.h>
//#include "hd44780.h"
// Matlab includes - from auto-code generation
#include "BLDC_controller.h" /* Model's header file */
#include "rtwtypes.h"
void SystemClock_Config(void);
extern TIM_HandleTypeDef htim_left;
@@ -38,7 +43,6 @@ extern UART_HandleTypeDef huart2;
int cmd1; // normalized input values. -1000 to 1000
int cmd2;
int cmd3;
typedef struct{
int16_t steer;
@@ -55,8 +59,6 @@ int speed; // global variable for speed. -1000 to 1000
extern volatile int pwml; // global variable for pwm left. -1000 to 1000
extern volatile int pwmr; // global variable for pwm right. -1000 to 1000
extern volatile int weakl; // global variable for field weakening left. -1000 to 1000
extern volatile int weakr; // global variable for field weakening right. -1000 to 1000
extern uint8_t buzzerFreq; // global variable for the buzzer pitch. can be 1, 2, 3, 4, 5, 6, 7...
extern uint8_t buzzerPattern; // global variable for the buzzer pattern. can be 1, 2, 3, 4, 5, 6, 7...
@@ -77,7 +79,7 @@ int milli_vel_error_sum = 0;
void poweroff() {
if (abs(speed) < 20) {
// if (abs(speed) < 20) { // wait for the speed to drop, then shut down -> this is commented out for SAFETY reasons
buzzerPattern = 0;
enable = 0;
for (int i = 0; i < 8; i++) {
@@ -86,11 +88,12 @@ void poweroff() {
}
HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, 0);
while(1) {}
}
// }
}
int main(void) {
HAL_Init();
__HAL_RCC_AFIO_CLK_ENABLE();
HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_4);
@@ -127,6 +130,19 @@ int main(void) {
HAL_ADC_Start(&hadc1);
HAL_ADC_Start(&hadc2);
//////////////////////////////////////
/* Set BLDC controller parameters */
rtP.z_ctrlTypSel = CTRL_TYP_SEL;
rtP.b_phaAdvEna = PHASE_ADV_ENA;
rtP.n_commDeacvHi = COMM_DEACV_HI;
rtP.n_commAcvLo = COMM_ACV_LO;
/* Initialize BLDC controller */
BLDC_controller_initialize();
/////////////////////////////////////
for (int i = 8; i >= 0; i--) {
buzzerFreq = i;
HAL_Delay(100);
@@ -137,7 +153,6 @@ int main(void) {
int lastSpeedL = 0, lastSpeedR = 0;
int speedL = 0, speedR = 0;
float direction = 1;
#ifdef CONTROL_PPM
PPM_Init();
@@ -180,6 +195,7 @@ int main(void) {
enable = 1; // enable motors
while(1) {
HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
@@ -201,8 +217,8 @@ int main(void) {
#ifdef CONTROL_ADC
// ADC values range: 0-4095, see ADC-calibration in config.h
cmd1 = CLAMP(adc_buffer.l_tx2 - ADC1_MIN, 0, ADC1_MAX) / (ADC1_MAX / 1000.0f); // ADC1
cmd2 = CLAMP(adc_buffer.l_rx2 - ADC2_MIN, 0, ADC2_MAX) / (ADC2_MAX / 1000.0f); // ADC2
cmd1 = CLAMP(adc_buffer.l_tx2 - ADC1_MIN, 0, ADC1_MAX) / (ADC1_MAX / 1000.0f); // ADC1
cmd2 = CLAMP(adc_buffer.l_rx2 - ADC2_MIN, 0, ADC2_MAX) / (ADC2_MAX / 1000.0f); // ADC2
// use ADCs as button inputs:
button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); // ADC1
@@ -218,7 +234,6 @@ int main(void) {
timeout = 0;
#endif
// ####### LOW-PASS FILTER #######
steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
@@ -234,7 +249,7 @@ int main(void) {
#endif
// ####### SET OUTPUTS #######
// ####### SET OUTPUTS (if the target change less than +/- 50) #######
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
#ifdef INVERT_R_DIRECTION
pwmr = speedR;
@@ -256,24 +271,27 @@ int main(void) {
// ####### CALC BOARD TEMPERATURE #######
board_temp_adc_filtered = board_temp_adc_filtered * 0.99 + (float)adc_buffer.temp * 0.01;
board_temp_deg_c = ((float)TEMP_CAL_HIGH_DEG_C - (float)TEMP_CAL_LOW_DEG_C) / ((float)TEMP_CAL_HIGH_ADC - (float)TEMP_CAL_LOW_ADC) * (board_temp_adc_filtered - (float)TEMP_CAL_LOW_ADC) + (float)TEMP_CAL_LOW_DEG_C;
// ####### DEBUG SERIAL OUT #######
#ifdef CONTROL_ADC
setScopeChannel(0, (int)adc_buffer.l_tx2); // 1: ADC1
setScopeChannel(1, (int)adc_buffer.l_rx2); // 2: ADC2
// setScopeChannel(0, (int)adc_buffer.l_tx2); // 1: ADC1
// setScopeChannel(1, (int)adc_buffer.l_rx2); // 2: ADC2
#endif
setScopeChannel(2, (int)speedR); // 3: output speed: 0-1000
setScopeChannel(3, (int)speedL); // 4: output speed: 0-1000
setScopeChannel(4, (int)adc_buffer.batt1); // 5: for battery voltage calibration
setScopeChannel(5, (int)(batteryVoltage * 100.0f)); // 6: for verifying battery voltage calibration
setScopeChannel(6, (int)board_temp_adc_filtered); // 7: for board temperature calibration
setScopeChannel(7, (int)board_temp_deg_c); // 8: for verifying board temperature calibration
setScopeChannel(0, (int)speedR); // 1: output command: [-1000, 1000]
setScopeChannel(1, (int)speedL); // 2: output command: [-1000, 1000]
setScopeChannel(2, (int)rtY.n_motRight); // 3: Real motor speed [rpm]
setScopeChannel(3, (int)rtY.n_motLeft); // 4: Real motor speed [rpm]
setScopeChannel(4, (int)adc_buffer.batt1); // 5: for battery voltage calibration
setScopeChannel(5, (int)(batteryVoltage * 100.0f)); // 6: for verifying battery voltage calibration
setScopeChannel(6, (int)board_temp_adc_filtered); // 7: for board temperature calibration
setScopeChannel(7, (int)board_temp_deg_c); // 8: for verifying board temperature calibration
consoleScope();
}
// ####### POWEROFF BY POWER-BUTTON #######
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && weakr == 0 && weakl == 0) {
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
enable = 0;
while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}
poweroff();