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modified: firmware/src/main.cpp

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vanyabeat 2024-03-05 21:00:46 +03:00
parent 1d998ea45b
commit 798b54aa91
1 changed files with 71 additions and 55 deletions
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126
firmware/src/main.cpp
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@ -12,55 +12,16 @@
#define AS5040_MISO PB14 #define AS5040_MISO PB14
#define AS5040_MOSI PC1 #define AS5040_MOSI PC1
#define AS5040_SCLK PB10 #define AS5040_SCLK PB10
#define CURRENT_SENSOR_1 PB1 // INA180A
#define EN_W_Pin LL_GPIO_PIN_6 #define CURRENT_SENSOR_2 PB0
#define EN_W_GPIO_Port GPIOC #define CURRENT_SENSOR_3 PC5
#define DRV_FAULT_Pin LL_GPIO_PIN_7
#define DRV_FAULT_GPIO_Port GPIOC
#define DRV_RESET_Pin LL_GPIO_PIN_8
#define DRV_RESET_GPIO_Port GPIOC
#define DRV_SLEEP_Pin LL_GPIO_PIN_9
#define DRV_SLEEP_GPIO_Port GPIOC
#define EN_U_Pin LL_GPIO_PIN_11
#define EN_U_GPIO_Port GPIOA
#define EN_V_Pin LL_GPIO_PIN_12
#define EN_V_GPIO_Port GPIOA
#define SENSE3_Pin GPIO_PIN_5
#define SENSE3_GPIO_Port GPIOC
#define SENSE2_Pin GPIO_PIN_0
#define SENSE2_GPIO_Port GPIOB
#define SENSE1_Pin GPIO_PIN_1
#define SENSE1_GPIO_Port GPIOB
#define AS5045_CS_Pin GPIO_PIN_15
#define AS5045_CS_GPIO_Port GPIOB
#define EN_W_Pin GPIO_PIN_6
#define EN_W_GPIO_Port GPIOC
#define DRV_FAULT_Pin GPIO_PIN_7
#define DRV_FAULT_GPIO_Port GPIOC
#define DRV_RESET_Pin GPIO_PIN_8
#define DRV_RESET_GPIO_Port GPIOC
#define DRV_SLEEP_Pin GPIO_PIN_9
#define DRV_SLEEP_GPIO_Port GPIOC
#define EN_U_Pin GPIO_PIN_11
#define EN_U_GPIO_Port GPIOA
#define EN_V_Pin GPIO_PIN_12
#define EN_V_GPIO_Port GPIOA
#define LED1_Pin GPIO_PIN_10
#define LED1_GPIO_Port GPIOC
#define LED2_Pin GPIO_PIN_11
#define LED2_GPIO_Port GPIOC
#define LED3_Pin GPIO_PIN_12
#define LED3_GPIO_Port GPIOC
#define spi1_cs_Pin GPIO_PIN_2
#define spi1_cs_GPIO_Port GPIOD
#pragma endregion #pragma endregion
AS5040Sensor sensor(AS5040_CS, AS5040_MOSI, AS5040_MISO, AS5040_SCLK); AS5040Sensor sensor(AS5040_CS, AS5040_MOSI, AS5040_MISO, AS5040_SCLK);
// Init iPower 6208 // Init iPower 6208
BLDCMotor motor = BLDCMotor(12); BLDCMotor motor = BLDCMotor(12);
BLDCDriver3PWM driver = BLDCDriver3PWM(PA10, PA11, PA12, PC6, PA11, PA12); BLDCDriver3PWM driver = BLDCDriver3PWM(PA10, PA11, PA12, PC6, PA11, PA12);
InlineCurrentSense current_sense = InlineCurrentSense(0.51, 50, PB1, PB0, PC5);
Commander command = Commander(Serial); Commander command = Commander(Serial);
void onMotor(char *cmd) { command.motor(&motor, cmd); } void onMotor(char *cmd) { command.motor(&motor, cmd); }
@ -83,32 +44,87 @@ void setup() {
digitalWrite(PA11, HIGH); digitalWrite(PA11, HIGH);
digitalWrite(PA12, HIGH); digitalWrite(PA12, HIGH);
digitalWrite(PC6, HIGH); digitalWrite(PC6, HIGH);
Serial.begin(115200);
// arduino pin initialization INA180A current sensor
pinMode(CURRENT_SENSOR_1, OUTPUT);
pinMode(CURRENT_SENSOR_2, OUTPUT);
pinMode(CURRENT_SENSOR_3, OUTPUT);
analogReadResolution(12);
sensor.init(); sensor.init();
motor.linkSensor(&sensor); motor.linkSensor(&sensor);
driver.pwm_frequency = 20000;
driver.voltage_power_supply = 12; driver.voltage_power_supply = 12;
driver.voltage_limit = 12;
driver.init(); driver.init();
motor.linkDriver(&driver); motor.linkDriver(&driver);
current_sense.linkDriver(&driver);
// init current sense
current_sense.init();
// link the motor to current sense
motor.linkCurrentSense(&current_sense);
// control loop type and torque mode
motor.torque_controller = TorqueControlType::foc_current;
motor.controller = MotionControlType::torque; motor.controller = MotionControlType::torque;
motor.PID_velocity.P = 0.2; motor.motion_downsample = 0;
motor.PID_velocity.I = 20;
// velocity loop PID
motor.PID_velocity.P = 0;
motor.PID_velocity.I = 0;
motor.PID_velocity.D = 0; motor.PID_velocity.D = 0;
motor.voltage_limit = 12; motor.PID_velocity.output_ramp = 0;
motor.LPF_velocity.Tf = 0.01; motor.PID_velocity.limit = 0;
motor.P_angle.P = 20; // Low pass filtering time constant
motor.velocity_limit = 50; motor.LPF_velocity.Tf = 0;
Serial.begin(115200); // angle loop PID
motor.P_angle.P = 0;
motor.P_angle.I = 0;
motor.P_angle.D = 0;
motor.P_angle.output_ramp = 0;
motor.P_angle.limit = 0;
// Low pass filtering time constant
motor.LPF_angle.Tf = 0;
// current q loop PID
motor.PID_current_q.P = 0;
motor.PID_current_q.I = 0;
motor.PID_current_q.D = 0;
motor.PID_current_q.output_ramp = 0;
motor.PID_current_q.limit = 0;
// Low pass filtering time constant
motor.LPF_current_q.Tf = 0;
// current d loop PID
motor.PID_current_d.P = 0;
motor.PID_current_d.I = 0;
motor.PID_current_d.D = 0;
motor.PID_current_d.output_ramp = 0;
motor.PID_current_d.limit = 0;
// Low pass filtering time constant
motor.LPF_current_d.Tf = 0;
// Limits
motor.velocity_limit = 0;
motor.voltage_limit = 0;
motor.current_limit = 0;
// sensor zero offset - home position
motor.sensor_offset = 0;
// general settings
// motor phase resistance
motor.phase_resistance = 0;
// pwm modulation settings
motor.foc_modulation = FOCModulationType::SinePWM;
motor.modulation_centered = 1;
command.add('A', onMotor, "motor");
// tell the motor to use the monitoring
motor.useMonitoring(Serial); motor.useMonitoring(Serial);
motor.monitor_downsample = 0; // disable monitor at first - optional
motor.init(); motor.init();
motor.initFOC(); motor.initFOC();
motor.target = 2;
command.add('A', onMotor, "motor");
_delay(1000);
} }
void loop() { void loop() {
motor.loopFOC(); motor.loopFOC();
motor.monitor();
motor.move(); motor.move();
command.run(); command.run();
} }