130 lines
No EOL
3.5 KiB
C++
130 lines
No EOL
3.5 KiB
C++
#include <AS5040.h>
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#include <Arduino.h>
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#include <SPI.h>
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#include <SimpleFOC.h>
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#pragma region "Motor and sensor setup"
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#define LED1 PC10
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#define LED2 PC11
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#define HARDWARE_SERIAL_RX_PIN PB7
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#define HARDWARE_SERIAL_TX_PIN PB6
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#define AS5040_CS PB15
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#define AS5040_MISO PB14
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#define AS5040_MOSI PC1
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#define AS5040_SCLK PB10
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#define CURRENT_SENSOR_1 PB1 // INA180A
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#define CURRENT_SENSOR_2 PB0
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#define CURRENT_SENSOR_3 PC5
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#pragma endregion
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AS5040Sensor sensor(AS5040_CS, AS5040_MOSI, AS5040_MISO, AS5040_SCLK);
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// Init iPower 6208
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BLDCMotor motor = BLDCMotor(12);
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BLDCDriver3PWM driver = BLDCDriver3PWM(PA10, PA11, PA12, PC6, PA11, PA12);
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InlineCurrentSense current_sense = InlineCurrentSense(0.51, 50, PB1, PB0, PC5);
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Commander command = Commander(Serial);
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void onMotor(char *cmd) { command.motor(&motor, cmd); }
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void setup() {
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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(PC8, OUTPUT);
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pinMode(PC9, OUTPUT);
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pinMode(PA11, OUTPUT);
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pinMode(PA12, OUTPUT);
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pinMode(PC6, OUTPUT);
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pinMode(PA8, OUTPUT);
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pinMode(PA9, OUTPUT);
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pinMode(PA10, OUTPUT);
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digitalWrite(PC8, HIGH);
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digitalWrite(PC9, HIGH);
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delay(1);
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digitalWrite(PA11, HIGH);
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digitalWrite(PA12, HIGH);
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digitalWrite(PC6, HIGH);
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// arduino pin initialization INA180A current sensor
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pinMode(CURRENT_SENSOR_1, OUTPUT);
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pinMode(CURRENT_SENSOR_2, OUTPUT);
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pinMode(CURRENT_SENSOR_3, OUTPUT);
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analogReadResolution(12);
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sensor.init();
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motor.linkSensor(&sensor);
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driver.pwm_frequency = 20000;
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driver.voltage_power_supply = 12;
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driver.voltage_limit = 12;
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driver.init();
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motor.linkDriver(&driver);
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current_sense.linkDriver(&driver);
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// init current sense
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current_sense.init();
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// link the motor to current sense
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motor.linkCurrentSense(¤t_sense);
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// control loop type and torque mode
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motor.torque_controller = TorqueControlType::foc_current;
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motor.controller = MotionControlType::torque;
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motor.motion_downsample = 0;
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// velocity loop PID
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motor.PID_velocity.P = 0;
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motor.PID_velocity.I = 0;
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motor.PID_velocity.D = 0;
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motor.PID_velocity.output_ramp = 0;
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motor.PID_velocity.limit = 0;
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// Low pass filtering time constant
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motor.LPF_velocity.Tf = 0;
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// angle loop PID
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motor.P_angle.P = 0;
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motor.P_angle.I = 0;
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motor.P_angle.D = 0;
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motor.P_angle.output_ramp = 0;
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motor.P_angle.limit = 0;
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// Low pass filtering time constant
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motor.LPF_angle.Tf = 0;
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// current q loop PID
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motor.PID_current_q.P = 0;
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motor.PID_current_q.I = 0;
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motor.PID_current_q.D = 0;
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motor.PID_current_q.output_ramp = 0;
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motor.PID_current_q.limit = 0;
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// Low pass filtering time constant
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motor.LPF_current_q.Tf = 0;
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// current d loop PID
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motor.PID_current_d.P = 0;
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motor.PID_current_d.I = 0;
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motor.PID_current_d.D = 0;
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motor.PID_current_d.output_ramp = 0;
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motor.PID_current_d.limit = 0;
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// Low pass filtering time constant
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motor.LPF_current_d.Tf = 0;
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// Limits
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motor.velocity_limit = 0;
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motor.voltage_limit = 0;
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motor.current_limit = 0;
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// sensor zero offset - home position
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motor.sensor_offset = 0;
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// general settings
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// motor phase resistance
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motor.phase_resistance = 0;
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// pwm modulation settings
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motor.foc_modulation = FOCModulationType::SinePWM;
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motor.modulation_centered = 1;
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command.add('A', onMotor, "motor");
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// tell the motor to use the monitoring
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motor.useMonitoring(Serial);
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motor.monitor_downsample = 0; // disable monitor at first - optional
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motor.init();
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motor.initFOC();
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}
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void loop() {
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motor.loopFOC();
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motor.monitor();
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motor.move();
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command.run();
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} |