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mcpwm_foc.c
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mcpwm_foc.c
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/*
Copyright 2016 Benjamin Vedder benjamin@vedder.se
Copyright 2017 Nico Ackermann added cruise control status and handling and changed speed control calculation,
changed current limit truncation,
changed logic for observer update calculation but not the calculation,
added all parameters to mcpwm_foc_print_state,
check if values are NaN after false initialisation
This file is part of the VESC firmware.
The VESC firmware 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.
The VESC firmware 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/>.
*/
#ifndef _GNU_SOURCE
#define _GNU_SOURCE
#endif
#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 "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 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;
float vd_int;
float vq_int;
uint32_t svm_sector;
} 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 float m_openloop_speed;
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 int m_tachometer;
static volatile int m_tachometer_abs;
static volatile float last_inj_adc_isr_duration;
static volatile float m_pos_pid_now;
static volatile bool m_init_done;
static volatile float m_gamma_now;
#ifdef HW_HAS_3_SHUNTS
static volatile int m_curr2_sum;
static volatile int m_curr2_offset;
#endif
// 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, uint32_t *svm_sector);
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;
// Macros
#ifdef HW_HAS_3_SHUNTS
#define TIMER_UPDATE_DUTY(duty1, duty2, duty3) \
TIM1->CR1 |= TIM_CR1_UDIS; \
TIM1->CCR1 = duty1; \
TIM1->CCR2 = duty2; \
TIM1->CCR3 = duty3; \
TIM1->CR1 &= ~TIM_CR1_UDIS;
#else
#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;
#endif
#define TIMER_UPDATE_SAMP(samp) \
TIM8->CCR1 = samp;
#define TIMER_UPDATE_SAMP_TOP(samp, top) \
TIM1->CR1 |= TIM_CR1_UDIS; \
TIM8->CR1 |= TIM_CR1_UDIS; \
TIM1->ARR = top; \
TIM8->CCR1 = samp; \
TIM1->CR1 &= ~TIM_CR1_UDIS; \
TIM8->CR1 &= ~TIM_CR1_UDIS;
#ifdef HW_HAS_3_SHUNTS
#define TIMER_UPDATE_DUTY_SAMP(duty1, duty2, duty3, samp) \
TIM1->CR1 |= TIM_CR1_UDIS; \
TIM8->CR1 |= TIM_CR1_UDIS; \
TIM1->CCR1 = duty1; \
TIM1->CCR2 = duty2; \
TIM1->CCR3 = duty3; \
TIM8->CCR1 = samp; \
TIM1->CR1 &= ~TIM_CR1_UDIS; \
TIM8->CR1 &= ~TIM_CR1_UDIS;
#else
#define TIMER_UPDATE_DUTY_SAMP(duty1, duty2, duty3, samp) \
TIM1->CR1 |= TIM_CR1_UDIS; \
TIM8->CR1 |= TIM_CR1_UDIS; \
TIM1->CCR1 = duty1; \
TIM1->CCR2 = duty3; \
TIM1->CCR3 = duty2; \
TIM8->CCR1 = samp; \
TIM1->CR1 &= ~TIM_CR1_UDIS; \
TIM8->CR1 &= ~TIM_CR1_UDIS;
#endif
void mcpwm_foc_init(volatile mc_configuration *configuration) {
utils_sys_lock_cnt();
m_init_done = false;
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_openloop_speed = 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;
m_tachometer_abs = 0;
last_inj_adc_isr_duration = 0;
m_pos_pid_now = 0.0;
m_gamma_now = 0.0;
memset((void*)&m_motor_state, 0, sizeof(motor_state_t));
memset((void*)&m_samples, 0, sizeof(mc_sample_t));
#ifdef HW_HAS_3_SHUNTS
m_curr2_sum = 0;
#endif
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_CenterAligned1;
TIM_TimeBaseStructure.TIM_Period = SYSTEM_CORE_CLOCK / (int)m_conf->foc_f_sw;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
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 = HW_DEAD_TIME_VALUE;
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);
dmaStreamAllocate(STM32_DMA_STREAM(STM32_DMA_STREAM_ID(2, 4)),
3,
(stm32_dmaisr_t)mcpwm_foc_adc_int_handler,
(void *)0);
// 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);
// Enable transfer complete interrupt
DMA_ITConfig(DMA2_Stream4, DMA_IT_TC, 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);
hw_setup_adc_channels();
// 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_Up;
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
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_OC3Init(TIM8, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(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(MCPWM_FOC_CURRENT_SAMP_OFFSET);
// Enable CC1 interrupt, which will be fired in V0 and V7
TIM_ITConfig(TIM8, TIM_IT_CC1, ENABLE);
nvicEnableVector(TIM8_CC_IRQn, 6);
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);
m_init_done = true;
}
void mcpwm_foc_deinit(void) {
m_init_done = false;
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)));
}
bool mcpwm_foc_init_done(void) {
return m_init_done;
}
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(MCPWM_FOC_CURRENT_SAMP_OFFSET, 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) {
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) {
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;
}
// truncate by the higher value because it also could mean accelerate reverse
float max_c = fabsf(utils_max_abs(m_conf->l_current_min, m_conf->l_current_max));
utils_truncate_number(¤t, -max_c, max_c);
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->l_current_min, -m_conf->l_current_min);
m_control_mode = CONTROL_MODE_CURRENT_BRAKE;
m_iq_set = current;
if (m_state != MC_STATE_RUNNING) {
m_state = MC_STATE_RUNNING;
}
}
/**
* Apply a fixed static current vector in open loop to emulate an electric
* handbrake.
*
* @param current
* The brake current to use.
*/
void mcpwm_foc_set_handbrake(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->l_current_min, -m_conf->l_current_min);
m_control_mode = CONTROL_MODE_HANDBRAKE;
m_iq_set = current;
if (m_state != MC_STATE_RUNNING) {
m_state = MC_STATE_RUNNING;
}
}
/**
* Produce an openloop rotating current.
*
* @param current
* The current to use.
*
* @param rpm
* The RPM to use.
*/
void mcpwm_foc_set_openloop(float current, float rpm) {
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->l_current_max, m_conf->l_current_max);
m_control_mode = CONTROL_MODE_OPENLOOP;
m_iq_set = current;
m_openloop_speed = rpm * ((2.0 * M_PI) / 60.0);
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;
}
/**
* Get the current sampling frequency.
*
* @return
* The sampling frequency in Hz.
*/
float mcpwm_foc_get_sampling_frequency_now(void) {
#ifdef HW_HAS_PHASE_SHUNTS
if (m_conf->foc_sample_v0_v7) {
return m_conf->foc_f_sw;
} else {
return m_conf->foc_f_sw / 2.0;
}
#else
return m_conf->foc_f_sw / 2.0;
#endif
}
/**
* 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 magnitude of the motor voltage.
*
* @return
* The magnitude of the motor voltage.
*/
float mcpwm_foc_get_abs_motor_voltage(void) {
const float vd_tmp = m_motor_state.vd;
const float vq_tmp = m_motor_state.vq;
return sqrtf(SQ(vd_tmp) + SQ(vq_tmp));
}
/**
* 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 direct axis motor current.
*
* @return
* The D axis current.
*/
float mcpwm_foc_get_id(void) {
return m_motor_state.id;
}
/**
* Get the quadrature axis motor current.
*
* @return
* The Q axis current.
*/
float mcpwm_foc_get_iq(void) {
return m_motor_state.iq;
}
/**
* 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; // 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 = m_tachometer;
if (reset) {
m_tachometer = 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 = m_tachometer_abs;
if (reset) {
m_tachometer_abs = 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_reset();
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);