483 lines
13 KiB
C++
483 lines
13 KiB
C++
// clang-format off
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#include "Arduino.h"
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#include "reg_can.h"
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#include "stm32f446xx.h"
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#include <SimpleFOC.h>
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#include <STM32_CAN.h>
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#include <AS5045.h>
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#include <DRV8313.h>
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#include <cstring>
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#include "common/base_classes/FOCMotor.h"
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#include "hal_conf_extra.h"
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#include "wiring_constants.h"
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// clang-format on
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#include "flash.h"
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void SysTick_Handler(void) {
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HAL_IncTick();
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}
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STM32_CAN Can(CAN2, DEF);
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/* for FLASH */
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uint32_t flash_flag;
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uint8_t flag_can = 0;
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uint32_t flash_error;
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FLASH_EraseInitTypeDef pEraseInit;
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uint32_t SectorError;
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volatile uint16_t msg_id;
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volatile uint16_t id_x;
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volatile uint8_t msg_ch;
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volatile uint8_t crc_h;
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volatile uint8_t crc_l;
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volatile float kt = 0.1; //for torgue calculation
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static FLASH_RECORD* flash_rec;
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static FLASH_RECORD flash_buf[PARAM_COUNT];
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static CAN_message_t CAN_TX_msg;
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static CAN_message_t CAN_inMsg;
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SPIClass spi;
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MagneticSensorAS5045 encoder(AS5045_CS, AS5045_MOSI, AS5045_MISO, AS5045_SCLK);
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BLDCMotor motor(POLE_PAIRS);
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DRV8313Driver driver(TIM1_CH1, TIM1_CH2, TIM1_CH3, EN_W_GATE_DRIVER,
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EN_U_GATE_DRIVER, EN_V_GATE_DRIVER, SLEEP_DRIVER,
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RESET_DRIVER, FAULT_DRIVER);
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LowsideCurrentSense current_sense(0.01, 10.0, CURRENT_SENSOR_1,
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CURRENT_SENSOR_2, CURRENT_SENSOR_3);
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Commander command(Serial);
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struct MotorControlInputs {
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float target_angle = 0.0;
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float target_velocity = 0.0;
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bool motor_enabled = false;
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bool foc_state = false;
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};
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MotorControlInputs motor_control_inputs;
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void doMotor(char *cmd) {
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command.motor(&motor, cmd);
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digitalWrite(PC10, !digitalRead(PC10));
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delayMicroseconds(2);
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}
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void CAN2_RX0_IRQHandler() {
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// Пустая функция, но прерывание не приведет к Default Handler
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}
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void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
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DRV8313Driver *driver, LowsideCurrentSense *current_sense,
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Commander *commander, CommandCallback callback) {
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encoder->init(&spi);
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driver->pwm_frequency = 20000;
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driver->voltage_power_supply = 24;
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driver->voltage_limit = 24;
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driver->init();
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current_sense->linkDriver(driver);
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current_sense->init();
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motor->linkSensor(encoder);
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motor->linkDriver(driver);
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motor->linkCurrentSense(current_sense);
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motor->useMonitoring(Serial);
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motor->monitor_downsample = 5000; // default 0
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motor->controller = MotionControlType::angle;
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motor->torque_controller = TorqueControlType::voltage;
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motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
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// PID start
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motor->PID_velocity.P = 0.75;
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motor->PID_velocity.I = 20;
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motor->LPF_velocity.Tf = 0.005;
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motor->P_angle.P = 0.5;
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motor->LPF_angle.Tf = 0.001;
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// PID end
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motor->velocity_limit = 40; // Ограничение по скорости вращения rad/s (382 rpm)
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motor->voltage_limit = 24;
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motor->current_limit = 0.5;
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motor->sensor_direction = Direction::CCW;
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motor->init();
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motor->initFOC();
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}
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void send_can_with_id_crc(uint32_t id, uint8_t message_type, const void* data, size_t data_length) {
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// Создаем сообщение
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CAN_message_t msg;
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msg.id = id;
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msg.len = 8; // или как в протоколе
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msg.buf[0] = message_type;
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memcpy(&msg.buf[1], data, data_length);
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// Формируем массив для CRC, включающий ID и все данные
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size_t crc_data_size = sizeof(msg.id) + data_length;
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uint8_t crc_data[crc_data_size];
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// Копируем ID
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memcpy(crc_data, &msg.id, sizeof(msg.id));
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// Копируем все байты data
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memcpy(crc_data + sizeof(msg.id), data, data_length);
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// Расчет CRC
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uint16_t crc_value = validate_crc16(crc_data, crc_data_size);
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// Вставляем CRC в буфер
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msg.buf[6] = crc_value & 0xFF;
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msg.buf[7] = (crc_value >> 8) & 0xFF;
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// Отправляем
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Can.write(msg);
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__NOP();
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}
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void send_velocity() {
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float current_velocity = motor.shaft_velocity;
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flash_rec = load_params();
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if (flash_rec == nullptr) { // Проверка на NULL
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// Обработка ошибки: запись в лог, сигнализация и т.д.
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return;
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}
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uint8_t value = flash_rec[vel].value;
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uint8_t id = flash_rec[addr_id].value;
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send_can_with_id_crc(id, MOTOR_VELOCITY, &value,sizeof(value));
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}
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void send_angle() {
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float current_angle = motor.shaft_angle;
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flash_rec = load_params();
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if (flash_rec == nullptr) { // Проверка на NULL
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// Обработка ошибки: запись в лог, сигнализация и т.д.
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return;
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}
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// uint8_t value = flash_rec[angl].value;
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uint8_t id = flash_rec[addr_id].value;
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send_can_with_id_crc(id, MOTOR_ANGLE, ¤t_angle,sizeof(current_angle));
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}
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void send_motor_enabled() {
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uint8_t id = *(volatile uint8_t*)ADDR_VAR;
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CAN_TX_msg.id = id;
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CAN_TX_msg.buf[0] = MOTOR_ENABLED;
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memcpy(&CAN_TX_msg.buf[1], &motor_control_inputs.motor_enabled,
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sizeof(motor_control_inputs.motor_enabled));
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Can.write(CAN_TX_msg);
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}
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void send_foc_state() {
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/* data for reading of firmware */
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flash_rec = load_params();
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if (flash_rec == nullptr) { // Проверка на NULL
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// Обработка ошибки: запись в лог, сигнализация и т.д.
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return;
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}
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uint8_t value = flash_rec[foc_id].value;
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uint8_t id = flash_rec[addr_id].value;
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send_can_with_id_crc(id, FOC_STATE, &value,sizeof(value));
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}
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void send_id() {
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/* data for reading of firmware */
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flash_rec = load_params();
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if (flash_rec == nullptr) { // Проверка на NULL
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// Обработка ошибки: запись в лог, сигнализация и т.д.
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return;
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}
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uint8_t id = flash_rec[addr_id].value;
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send_can_with_id_crc(id, MOTOR_ID, &id,sizeof(id));
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__NOP();
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}
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void send_motor_torque() {
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float i_q = motor.current.q; // Ток по оси q (А)
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float torque = kt * i_q; // Расчет момента
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torque *= 100;
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flash_rec = load_params();
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CAN_TX_msg.id = flash_rec->value;
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CAN_TX_msg.buf[0] = MOTOR_TORQUE;
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CAN_TX_msg.len = 5;
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memcpy(&CAN_TX_msg.buf[1], &torque, sizeof(torque));
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Can.write(CAN_TX_msg);
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}
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void send_pid(uint8_t param_pid){
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flash_rec = load_params();
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if (flash_rec == nullptr) { // Проверка на NULL
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return;
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}
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uint8_t id = flash_rec[addr_id].value;
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uint8_t d = flash_rec[param_pid].value;
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uint8_t data_send = 0;
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int l = 0;
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while(d /= 10)
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l++;
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if(l >= 2)
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data_send = (float)d;
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else if(l == 1)
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data_send = (float)(d * 10);
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else
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data_send = (float)(d * 100);
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if(param_pid == pid_p)param_pid = REG_MOTOR_POSPID_Kp;
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else if(param_pid == pid_i)param_pid = REG_MOTOR_POSPID_Ki;
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else if(param_pid == pid_d)param_pid = REG_MOTOR_POSPID_Kd;
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send_can_with_id_crc(id,param_pid,&data_send,sizeof(data_send));
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}
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void setup_id(uint8_t my_id) {
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write_param(addr_id,my_id);
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// send_id();
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}
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void setup_angle(float target_angle) {
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if (!motor_control_inputs.motor_enabled) {
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motor.enable();
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}
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if (motor.controller != MotionControlType::angle) {
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motor.controller = MotionControlType::angle;
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}
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motor.move(target_angle);
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}
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void setup_pid_angle(uint8_t param_pid, float data){
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switch (param_pid)
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{
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case pid_p:
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motor.P_angle.P = data;
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break;
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case pid_i:
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motor.P_angle.I = data;
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break;
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case pid_d:
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motor.P_angle.D = data;
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break;
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default:
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break;
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}
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uint8_t check = uint8_t(data);
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uint8_t data_save = 0;
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if(check != 0)
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if(check /= 10)
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data_save = check;
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else
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data_save = (uint8_t)(data * 10);
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else
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data_save = (uint8_t)(data * 100);
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write_param(param_pid,data_save);
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}
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void listen_can(const CAN_message_t &msg) {
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msg_id = msg.id;
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msg_ch = msg_id & 0xF; // получения id, чтобы выбрать, что делать
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id_x = (msg_id >> 4) & 0x7FF; //получение адреса устройства страшие 2 бита msg_ch = msg_id & 0xF; // получения id, чтобы выбрать, что делать
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/* Вычисление CRC */
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// Объединение старшего и младшего байтов для получения полученного CRC
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uint16_t received_crc = (msg.buf[msg.len - 2]) | (msg.buf[msg.len - 1] << 8);
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uint8_t data[10] = {0}; //буфер хранения сообщения и расчета его CRC для проверки
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// Копируем ID сообщения в буфер данных для расчета CRC 2 байта
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memcpy(data, (uint8_t*)&msg_id, sizeof(msg_id));
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// Копируем данные сообщения в буфер (без байтов CRC)
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memcpy(data + sizeof(msg_id), msg.buf, msg.len - 2);
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// Рассчитываем CRC для полученных данных
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uint16_t calculated_crc = validate_crc16(data, sizeof(msg_id) + msg.len - 2);
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// Проверяем совпадение CRC
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if (calculated_crc != received_crc) {
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// Несовпадение CRC, игнорируем сообщение
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return;
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}
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/* 0x691
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69 - адрес устройства
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1 - что делать дальше с данными */
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if(id_x == flash_rec->value){
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if(msg_ch == REG_WRITE){
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switch(msg.buf[0]) {
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case REG_ID:
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/* setup new id */
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setup_id(msg.buf[1]);
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break;
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case REG_LED_BLINK:
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for (int i = 0; i < 10; i++) {
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GPIOC->ODR ^= GPIO_ODR_OD10;
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delay(100);
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}
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break;
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case MOTOR_ANGLE:
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memcpy(&motor_control_inputs.target_angle, &CAN_inMsg.buf[1],
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sizeof(motor_control_inputs.target_angle));
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setup_angle(motor_control_inputs.target_angle);
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break;
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case REG_MOTOR_POSPID_Kp:
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setup_pid_angle(pid_p,msg.buf[1]);
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break;
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case REG_MOTOR_POSPID_Ki:
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setup_pid_angle(pid_i,msg.buf[1]);
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break;
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case REG_MOTOR_POSPID_Kd:
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setup_pid_angle(pid_d,msg.buf[1]);
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break;
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case MOTOR_ENABLED:
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if (msg.buf[1] == 1) {
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motor.enable();
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motor_control_inputs.motor_enabled = 1;
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} else {
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motor.disable();
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motor_control_inputs.motor_enabled = 0;
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}
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default:
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break;
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}
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}
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else if (msg_ch == REG_READ) {
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switch (msg.buf[0]) {
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case REG_ID:
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send_id();
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break;
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case MOTOR_VELOCITY:
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send_velocity();
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break;
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case MOTOR_ANGLE:
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send_angle();
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break;
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case MOTOR_ENABLED:
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send_motor_enabled();
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break;
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case MOTOR_TORQUE:
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send_motor_torque();
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break;
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case FOC_STATE:
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send_foc_state();
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break;
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case REG_MOTOR_POSPID_Kp:
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send_pid(pid_p);
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break;
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case REG_MOTOR_POSPID_Ki:
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send_pid(pid_i);
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break;
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case REG_MOTOR_POSPID_Kd:
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send_pid(pid_d);
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break;
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default:
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break;
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}
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}
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}
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}
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volatile uint32_t ipsr_value = 0;
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void foc_step(BLDCMotor *motor, Commander *commander) {
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if (motor_control_inputs.target_velocity != 0 ||
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motor->controller == MotionControlType::velocity) {
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if (motor->controller != MotionControlType::velocity) {
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motor->controller = MotionControlType::velocity;
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}
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motor->target = motor_control_inputs.target_velocity;
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} else {
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if (motor->controller != MotionControlType::angle) {
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motor->controller = MotionControlType::angle;
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}
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motor->target = motor_control_inputs.target_angle;
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}
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motor->loopFOC();
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motor->move();
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motor->monitor();
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commander->run();
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}
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void setup(){
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/* bias for vector int */
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// __set_MSP(*(volatile uint32_t*)0x08008000);
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// SCB->VTOR = (volatile uint32_t)0x08008000;
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Serial.setRx(HARDWARE_SERIAL_RX_PIN);
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Serial.setTx(HARDWARE_SERIAL_TX_PIN);
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Serial.begin(115200);
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pinMode(PC11, OUTPUT);
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pinMode(PC10,OUTPUT);
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GPIOC->ODR &= ~GPIO_ODR_OD10;
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// Setup thermal sensor pin
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// pinMode(TH1, INPUT_ANALOG);
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Can.begin();
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Can.setBaudRate(1000000);
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TIM_TypeDef *Instance = TIM2;
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HardwareTimer *SendTimer = new HardwareTimer(Instance);
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// SendTimer->setOverflow(100, HERTZ_FORMAT); // 50 Hz
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// SendTimer->attachInterrupt(send_data);
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// SendTimer->resume();
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flash_rec = load_params();
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for(int i = 0;i < PARAM_COUNT;i++)
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flash_buf[i] = flash_rec[i];
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setup_foc(&encoder, &motor, &driver, ¤t_sense, &command, doMotor);
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GPIOC->ODR |= GPIO_ODR_OD11;
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motor.torque_controller = TorqueControlType::foc_current;
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motor.controller = MotionControlType::torque;
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__enable_irq();
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}
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void loop() {
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foc_step(&motor, &command);
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CAN_message_t msg;
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GPIOC->ODR ^= GPIO_ODR_OD11;
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delay(500);
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while (Can.read(msg)) {
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listen_can(msg);
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}
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}
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