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ODrive/Firmware/MotorControl/low_level.c
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/* Includes ------------------------------------------------------------------*/
// Because of broken cmsis_os.h, we need to include arm_math first,
// otherwise chip specific defines are ommited
#include <stm32f405xx.h>
#include <stm32f4xx_hal.h> // Sets up the correct chip specifc defines required by arm_math
#define ARM_MATH_CM4
#include <arm_math.h>
#include <low_level.h>
#include <cmsis_os.h>
#include <math.h>
#include <stdint.h>
#include <stdlib.h>
#include <adc.h>
#include <gpio.h>
#include <main.h>
#include <spi.h>
#include <tim.h>
#include <utils.h>
/* Private defines -----------------------------------------------------------*/
// #define DEBUG_PRINT
/* Private macros ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
/* Global constant data ------------------------------------------------------*/
/* Global variables ----------------------------------------------------------*/
// This value is updated by the DC-bus reading ADC.
// Arbitrary non-zero inital value to avoid division by zero if ADC reading is late
float vbus_voltage = 12.0f;
#if HW_VERSION_MAJOR == 3
#if HW_VERSION_MINOR <= 3
#define SHUNT_RESISTANCE (675e-6f)
#else
#define SHUNT_RESISTANCE (500e-6f)
#endif
#endif
// TODO: Migrate to C++, clearly we are actually doing object oriented code here...
// TODO: For nice encapsulation, consider not having the motor objects public
// NOTE: for gimbal motors, all units of A are instead V.
// example: vel_gain is [V/(count/s)] instead of [A/(count/s)]
// example: current_lim and calibration_current will instead determine the maximum voltage applied to the motor.
Motor_t motors[] = {
{
// M0
.control_mode = CTRL_MODE_POSITION_CONTROL, //see: Motor_control_mode_t
.enable_step_dir = false, //auto enabled after calibration
.counts_per_step = 2.0f,
.error = ERROR_NO_ERROR,
.pole_pairs = 7, // This value is correct for N5065 motors and Turnigy SK3 series.
.pos_setpoint = 0.0f,
.pos_gain = 20.0f, // [(counts/s) / counts]
.vel_setpoint = 0.0f,
// .vel_setpoint = 800.0f, <sensorless example>
.vel_gain = 5.0f / 10000.0f, // [A/(counts/s)]
// .vel_gain = 15.0f / 200.0f, // [A/(rad/s)] <sensorless example>
.vel_integrator_gain = 10.0f / 10000.0f, // [A/(counts/s * s)]
// .vel_integrator_gain = 0.0f, // [A/(rad/s * s)] <sensorless example>
.vel_integrator_current = 0.0f, // [A]
.vel_limit = 20000.0f, // [counts/s]
.current_setpoint = 0.0f, // [A]
.calibration_current = 10.0f, // [A]
.resistance_calib_max_voltage = 1.0f, // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor.
.dc_bus_brownout_trip_level = 8.0f, // [V]
.phase_inductance = 0.0f, // to be set by measure_phase_inductance
.phase_resistance = 0.0f, // to be set by measure_phase_resistance
.motor_thread = 0,
.thread_ready = false,
// .enable_control = true,
// .do_calibration = true,
// .calibration_ok = false,
.motor_timer = &htim1,
.next_timings = {TIM_1_8_PERIOD_CLOCKS / 2, TIM_1_8_PERIOD_CLOCKS / 2, TIM_1_8_PERIOD_CLOCKS / 2},
.control_deadline = TIM_1_8_PERIOD_CLOCKS,
.last_cpu_time = 0,
.current_meas = {0.0f, 0.0f},
.DC_calib = {0.0f, 0.0f},
.gate_driver = {
.spiHandle = &hspi3,
// Note: this board has the EN_Gate pin shared!
.EngpioHandle = EN_GATE_GPIO_Port,
.EngpioNumber = EN_GATE_Pin,
.nCSgpioHandle = M0_nCS_GPIO_Port,
.nCSgpioNumber = M0_nCS_Pin,
.RxTimeOut = false,
.enableTimeOut = false,
},
// .gate_driver_regs Init by DRV8301_setup
.motor_type = MOTOR_TYPE_HIGH_CURRENT,
// .motor_type = MOTOR_TYPE_GIMBAL,
.shunt_conductance = 1.0f / SHUNT_RESISTANCE, //[S]
.phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup
.current_control = {
// Read out max_allowed_current to see max supported value for current_lim.
// You can change DRV8301_ShuntAmpGain to get a different range.
// .current_lim = 75.0f, //[A]
.current_lim = 10.0f, //[A]
.p_gain = 0.0f, // [V/A] should be auto set after resistance and inductance measurement
.i_gain = 0.0f, // [V/As] should be auto set after resistance and inductance measurement
.v_current_control_integral_d = 0.0f,
.v_current_control_integral_q = 0.0f,
.Ibus = 0.0f,
.final_v_alpha = 0.0f,
.final_v_beta = 0.0f,
.Iq_setpoint = 0.0f,
.Iq_measured = 0.0f,
.max_allowed_current = 0.0f,
},
// .rotor_mode = ROTOR_MODE_SENSORLESS,
// .rotor_mode = ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS,
.rotor_mode = ROTOR_MODE_ENCODER,
.encoder = {
.encoder_timer = &htim3,
.use_index = false,
.index_found = false,
.manually_calibrated = false,
.idx_search_speed = 10.0f, // [rad/s electrical]
.encoder_cpr = (2048 * 4), // Default resolution of CUI-AMT102 encoder,
.encoder_offset = 0,
.encoder_state = 0,
.motor_dir = 1, // 1 or -1
.encoder_calib_range = 0.02,
.phase = 0.0f, // [rad]
.pll_pos = 0.0f, // [rad]
.pll_vel = 0.0f, // [rad/s]
.pll_kp = 0.0f, // [rad/s / rad]
.pll_ki = 0.0f, // [(rad/s^2) / rad]
},
.sensorless = {
.phase = 0.0f, // [rad]
.pll_pos = 0.0f, // [rad]
.pll_vel = 0.0f, // [rad/s]
.pll_kp = 0.0f, // [rad/s / rad]
.pll_ki = 0.0f, // [(rad/s^2) / rad]
.observer_gain = 1000.0f, // [rad/s]
.flux_state = {0.0f, 0.0f}, // [Vs]
.V_alpha_beta_memory = {0.0f, 0.0f}, // [V]
.pm_flux_linkage = 1.58e-3f, // [V / (rad/s)] { 5.51328895422 / (<pole pairs> * <rpm/v>) }
.estimator_good = false,
.spin_up_current = 10.0f, // [A]
.spin_up_acceleration = 400.0f, // [rad/s^2]
.spin_up_target_vel = 400.0f, // [rad/s]
},
.loop_counter = 0,
.timing_log = {0},
.anticogging = {
.index = 0,
.cogging_map = NULL,
.use_anticogging = false,
.calib_anticogging = false,
.calib_pos_threshold = 1.0f,
.calib_vel_threshold = 1.0f,
},
.drv_fault = DRV8301_FaultType_NoFault,
},
{ // M1
.control_mode = CTRL_MODE_POSITION_CONTROL, //see: Motor_control_mode_t
.enable_step_dir = false, //auto enabled after calibration
.counts_per_step = 2.0f,
.error = ERROR_NO_ERROR,
.pole_pairs = 7, // This value is correct for N5065 motors and Turnigy SK3 series.
.pos_setpoint = 0.0f,
.pos_gain = 20.0f, // [(counts/s) / counts]
.vel_setpoint = 0.0f,
.vel_gain = 5.0f / 10000.0f, // [A/(counts/s)]
.vel_integrator_gain = 10.0f / 10000.0f, // [A/(counts/s * s)]
.vel_integrator_current = 0.0f, // [A]
.vel_limit = 20000.0f, // [counts/s]
.current_setpoint = 0.0f, // [A]
.calibration_current = 10.0f, // [A]
.resistance_calib_max_voltage = 1.0f, // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor.
.dc_bus_brownout_trip_level = 8.0f, // [V]
.phase_inductance = 0.0f, // to be set by measure_phase_inductance
.phase_resistance = 0.0f, // to be set by measure_phase_resistance
.motor_thread = 0,
.thread_ready = false,
// .enable_control = true,
// .do_calibration = true,
// .calibration_ok = false,
.motor_timer = &htim8,
.next_timings = {TIM_1_8_PERIOD_CLOCKS / 2, TIM_1_8_PERIOD_CLOCKS / 2, TIM_1_8_PERIOD_CLOCKS / 2},
.control_deadline = (3 * TIM_1_8_PERIOD_CLOCKS) / 2,
.last_cpu_time = 0,
.current_meas = {0.0f, 0.0f},
.DC_calib = {0.0f, 0.0f},
.gate_driver = {
.spiHandle = &hspi3,
// Note: this board has the EN_Gate pin shared!
.EngpioHandle = EN_GATE_GPIO_Port,
.EngpioNumber = EN_GATE_Pin,
.nCSgpioHandle = M1_nCS_GPIO_Port,
.nCSgpioNumber = M1_nCS_Pin,
.RxTimeOut = false,
.enableTimeOut = false,
},
// .gate_driver_regs Init by DRV8301_setup
.motor_type = MOTOR_TYPE_HIGH_CURRENT,
.shunt_conductance = 1.0f / SHUNT_RESISTANCE, //[S]
.phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup
.current_control = {
// Read out max_allowed_current to see max supported value for current_lim.
// You can change DRV8301_ShuntAmpGain to get a different range.
// .current_lim = 75.0f, //[A]
.current_lim = 10.0f, //[A]
.p_gain = 0.0f, // [V/A] should be auto set after resistance and inductance measurement
.i_gain = 0.0f, // [V/As] should be auto set after resistance and inductance measurement
.v_current_control_integral_d = 0.0f,
.v_current_control_integral_q = 0.0f,
.Ibus = 0.0f,
.final_v_alpha = 0.0f,
.final_v_beta = 0.0f,
.Iq_setpoint = 0.0f,
.Iq_measured = 0.0f,
.max_allowed_current = 0.0f,
},
.rotor_mode = ROTOR_MODE_ENCODER,
.encoder = {
.encoder_timer = &htim4,
.use_index = false,
.index_found = false,
.manually_calibrated = false,
.idx_search_speed = 10.0f, // [rad/s electrical]
.encoder_cpr = (2048 * 4), // Default resolution of CUI-AMT102 encoder,
.encoder_offset = 0,
.encoder_state = 0,
.motor_dir = 1, // 1 or -1
.encoder_calib_range = 0.02,
.phase = 0.0f, // [rad]
.pll_pos = 0.0f, // [rad]
.pll_vel = 0.0f, // [rad/s]
.pll_kp = 0.0f, // [rad/s / rad]
.pll_ki = 0.0f, // [(rad/s^2) / rad]
},
.sensorless = {
.phase = 0.0f, // [rad]
.pll_pos = 0.0f, // [rad]
.pll_vel = 0.0f, // [rad/s]
.pll_kp = 0.0f, // [rad/s / rad]
.pll_ki = 0.0f, // [(rad/s^2) / rad]
.observer_gain = 1000.0f, // [rad/s]
.flux_state = {0.0f, 0.0f}, // [Vs]
.V_alpha_beta_memory = {0.0f, 0.0f}, // [V]
.pm_flux_linkage = 1.58e-3f, // [V / (rad/s)] { 5.51328895422 / (<pole pairs> * <rpm/v>) }
.estimator_good = false,
.spin_up_current = 10.0f, // [A]
.spin_up_acceleration = 400.0f, // [rad/s^2]
.spin_up_target_vel = 400.0f, // [rad/s]
},
.loop_counter = 0,
.timing_log = {0},
.anticogging = {
.index = 0,
.cogging_map = NULL,
.use_anticogging = false,
.calib_anticogging = false,
.calib_pos_threshold = 1.0f,
.calib_vel_threshold = 1.0f,
},
.drv_fault = DRV8301_FaultType_NoFault,
}
};
const size_t num_motors = sizeof(motors) / sizeof(motors[0]);
float brake_resistance = 0.47f; // [ohm]
/* Private constant data -----------------------------------------------------*/
static const float one_by_sqrt3 = 0.57735026919f;
static const float sqrt3_by_2 = 0.86602540378f;
static const float current_meas_period = CURRENT_MEAS_PERIOD;
static const int current_meas_hz = CURRENT_MEAS_HZ;
/* Private variables ---------------------------------------------------------*/
/* Function implementations --------------------------------------------------*/
//--------------------------------
// Command Handling
//--------------------------------
void set_pos_setpoint(Motor_t* motor, float pos_setpoint, float vel_feed_forward, float current_feed_forward) {
motor->pos_setpoint = pos_setpoint;
motor->vel_setpoint = vel_feed_forward;
motor->current_setpoint = current_feed_forward;
motor->control_mode = CTRL_MODE_POSITION_CONTROL;
#ifdef DEBUG_PRINT
printf("POSITION_CONTROL %6.0f %3.3f %3.3f\n", motor->pos_setpoint, motor->vel_setpoint, motor->current_setpoint);
#endif
}
void set_vel_setpoint(Motor_t* motor, float vel_setpoint, float current_feed_forward) {
motor->vel_setpoint = vel_setpoint;
motor->current_setpoint = current_feed_forward;
motor->control_mode = CTRL_MODE_VELOCITY_CONTROL;
#ifdef DEBUG_PRINT
printf("VELOCITY_CONTROL %3.3f %3.3f\n", motor->vel_setpoint, motor->current_setpoint);
#endif
}
void set_current_setpoint(Motor_t* motor, float current_setpoint) {
motor->current_setpoint = current_setpoint;
motor->control_mode = CTRL_MODE_CURRENT_CONTROL;
#ifdef DEBUG_PRINT
printf("CURRENT_CONTROL %3.3f\n", motor->current_setpoint);
#endif
}
//--------------------------------
// Utility
//--------------------------------
uint16_t check_timing(Motor_t* motor, TimingLog_t log_idx) {
TIM_HandleTypeDef* htim = motor->motor_timer;
uint16_t timing = htim->Instance->CNT;
bool down = htim->Instance->CR1 & TIM_CR1_DIR;
if (down) {
uint16_t delta = TIM_1_8_PERIOD_CLOCKS - timing;
timing = TIM_1_8_PERIOD_CLOCKS + delta;
}
if (log_idx < TIMING_LOG_SIZE) {
motor->timing_log[log_idx] = timing;
}
return timing;
}
void global_fault(int error) {
// Disable motors NOW!
for (int i = 0; i < num_motors; ++i) {
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(motors[i].motor_timer);
}
// Set fault codes, etc.
for (int i = 0; i < num_motors; ++i) {
motors[i].error = error;
*(motors[i].axis_legacy.enable_control) = false;
}
// disable brake resistor
set_brake_current(0.0f);
}
float phase_current_from_adcval(Motor_t* motor, uint32_t ADCValue) {
int adcval_bal = (int)ADCValue - (1 << 11);
float amp_out_volt = (3.3f / (float)(1 << 12)) * (float)adcval_bal;
float shunt_volt = amp_out_volt * motor->phase_current_rev_gain;
float current = shunt_volt * motor->shunt_conductance;
return current;
}
//--------------------------------
// Initalisation
//--------------------------------
// Initalises the low level motor control and then starts the motor control threads
void init_motor_control() {
// Init gate drivers
DRV8301_setup(&motors[0]);
DRV8301_setup(&motors[1]);
// Start PWM and enable adc interrupts/callbacks
start_adc_pwm();
// Start Encoders
HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL);
//TODO: Enable index on only one channel
if (motors[0].encoder.use_index || motors[1].encoder.use_index) {
SetupENCIndexGPIO();
}
// Wait for current sense calibration to converge
// TODO make timing a function of calibration filter tau
osDelay(1500);
}
// Set up the gate drivers
void DRV8301_setup(Motor_t* motor) {
DRV8301_Obj* gate_driver = &motor->gate_driver;
DRV_SPI_8301_Vars_t* local_regs = &motor->gate_driver_regs;
DRV8301_enable(gate_driver);
DRV8301_setupSpi(gate_driver, local_regs);
// TODO we can use reporting only if we actually wire up the nOCTW pin
local_regs->Ctrl_Reg_1.OC_MODE = DRV8301_OcMode_LatchShutDown;
// Overcurrent set to approximately 150A at 100degC. This may need tweaking.
local_regs->Ctrl_Reg_1.OC_ADJ_SET = DRV8301_VdsLevel_0p730_V;
// 20V/V on 500uOhm gives a range of +/- 150A
// 40V/V on 500uOhm gives a range of +/- 75A
// 20V/V on 666uOhm gives a range of +/- 110A
// 40V/V on 666uOhm gives a range of +/- 55A
local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_40VpV;
// local_regs->Ctrl_Reg_2.GAIN = DRV8301_ShuntAmpGain_20VpV;
switch (local_regs->Ctrl_Reg_2.GAIN) {
case DRV8301_ShuntAmpGain_10VpV:
motor->phase_current_rev_gain = 1.0f / 10.0f;
break;
case DRV8301_ShuntAmpGain_20VpV:
motor->phase_current_rev_gain = 1.0f / 20.0f;
break;
case DRV8301_ShuntAmpGain_40VpV:
motor->phase_current_rev_gain = 1.0f / 40.0f;
break;
case DRV8301_ShuntAmpGain_80VpV:
motor->phase_current_rev_gain = 1.0f / 80.0f;
break;
}
float margin = 0.90f;
float max_input = margin * 0.3f * motor->shunt_conductance;
float max_swing = margin * 1.6f * motor->shunt_conductance * motor->phase_current_rev_gain;
motor->current_control.max_allowed_current = MACRO_MIN(max_input, max_swing);
local_regs->SndCmd = true;
DRV8301_writeData(gate_driver, local_regs);
local_regs->RcvCmd = true;
DRV8301_readData(gate_driver, local_regs);
}
void start_adc_pwm() {
// Enable ADC and interrupts
__HAL_ADC_ENABLE(&hadc1);
__HAL_ADC_ENABLE(&hadc2);
__HAL_ADC_ENABLE(&hadc3);
// Warp field stabilize.
osDelay(2);
__HAL_ADC_ENABLE_IT(&hadc1, ADC_IT_JEOC);
__HAL_ADC_ENABLE_IT(&hadc2, ADC_IT_JEOC);
__HAL_ADC_ENABLE_IT(&hadc3, ADC_IT_JEOC);
__HAL_ADC_ENABLE_IT(&hadc2, ADC_IT_EOC);
__HAL_ADC_ENABLE_IT(&hadc3, ADC_IT_EOC);
// Ensure that debug halting of the core doesn't leave the motor PWM running
__HAL_DBGMCU_FREEZE_TIM1();
__HAL_DBGMCU_FREEZE_TIM8();
start_pwm(&htim1);
start_pwm(&htim8);
// TODO: explain why this offset
sync_timers(&htim1, &htim8, TIM_CLOCKSOURCE_ITR0, TIM_1_8_PERIOD_CLOCKS / 2 - 1 * 128);
// Motor output starts in the disabled state
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(&htim1);
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(&htim8);
// Start brake resistor PWM in floating output configuration
htim2.Instance->CCR3 = 0;
htim2.Instance->CCR4 = TIM_APB1_PERIOD_CLOCKS + 1;
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
}
void start_pwm(TIM_HandleTypeDef* htim) {
// Init PWM
int half_load = TIM_1_8_PERIOD_CLOCKS / 2;
htim->Instance->CCR1 = half_load;
htim->Instance->CCR2 = half_load;
htim->Instance->CCR3 = half_load;
// This hardware obfustication layer really is getting on my nerves
HAL_TIM_PWM_Start(htim, TIM_CHANNEL_1);
HAL_TIMEx_PWMN_Start(htim, TIM_CHANNEL_1);
HAL_TIM_PWM_Start(htim, TIM_CHANNEL_2);
HAL_TIMEx_PWMN_Start(htim, TIM_CHANNEL_2);
HAL_TIM_PWM_Start(htim, TIM_CHANNEL_3);
HAL_TIMEx_PWMN_Start(htim, TIM_CHANNEL_3);
htim->Instance->CCR4 = 1;
HAL_TIM_PWM_Start_IT(htim, TIM_CHANNEL_4);
}
void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
uint16_t TIM_CLOCKSOURCE_ITRx, uint16_t count_offset) {
// Store intial timer configs
uint16_t MOE_store_a = htim_a->Instance->BDTR & (TIM_BDTR_MOE);
uint16_t MOE_store_b = htim_b->Instance->BDTR & (TIM_BDTR_MOE);
uint16_t CR2_store = htim_a->Instance->CR2;
uint16_t SMCR_store = htim_b->Instance->SMCR;
// Turn off output
htim_a->Instance->BDTR &= ~(TIM_BDTR_MOE);
htim_b->Instance->BDTR &= ~(TIM_BDTR_MOE);
// Disable both timer counters
htim_a->Instance->CR1 &= ~TIM_CR1_CEN;
htim_b->Instance->CR1 &= ~TIM_CR1_CEN;
// Set first timer to send TRGO on counter enable
htim_a->Instance->CR2 &= ~TIM_CR2_MMS;
htim_a->Instance->CR2 |= TIM_TRGO_ENABLE;
// Set Trigger Source of second timer to the TRGO of the first timer
htim_b->Instance->SMCR &= ~TIM_SMCR_TS;
htim_b->Instance->SMCR |= TIM_CLOCKSOURCE_ITRx;
// Set 2nd timer to start on trigger
htim_b->Instance->SMCR &= ~TIM_SMCR_SMS;
htim_b->Instance->SMCR |= TIM_SLAVEMODE_TRIGGER;
// Dir bit is read only in center aligned mode, so we clear the mode for now
uint16_t CMS_store_a = htim_a->Instance->CR1 & TIM_CR1_CMS;
uint16_t CMS_store_b = htim_b->Instance->CR1 & TIM_CR1_CMS;
htim_a->Instance->CR1 &= ~TIM_CR1_CMS;
htim_b->Instance->CR1 &= ~TIM_CR1_CMS;
// Set both timers to up-counting state
htim_a->Instance->CR1 &= ~TIM_CR1_DIR;
htim_b->Instance->CR1 &= ~TIM_CR1_DIR;
// Restore center aligned mode
htim_a->Instance->CR1 |= CMS_store_a;
htim_b->Instance->CR1 |= CMS_store_b;
// set counter offset
htim_a->Instance->CNT = count_offset;
htim_b->Instance->CNT = 0;
// Start Timer a
htim_a->Instance->CR1 |= (TIM_CR1_CEN);
// Restore timer configs
htim_a->Instance->CR2 = CR2_store;
htim_b->Instance->SMCR = SMCR_store;
// restore output
htim_a->Instance->BDTR |= MOE_store_a;
htim_b->Instance->BDTR |= MOE_store_b;
}
//--------------------------------
// IRQ Callbacks
//--------------------------------
// step/direction interface
void step_cb(uint16_t GPIO_Pin) {
GPIO_PinState dir_pin;
float dir;
switch (GPIO_Pin) {
case GPIO_1_Pin:
//M0 stepped
if (motors[0].enable_step_dir) {
dir_pin = HAL_GPIO_ReadPin(GPIO_2_GPIO_Port, GPIO_2_Pin);
dir = (dir_pin == GPIO_PIN_SET) ? 1.0f : -1.0f;
motors[0].pos_setpoint += dir * motors[0].counts_per_step;
}
break;
case GPIO_3_Pin:
//M1 stepped
if (motors[1].enable_step_dir) {
dir_pin = HAL_GPIO_ReadPin(GPIO_4_GPIO_Port, GPIO_4_Pin);
dir = (dir_pin == GPIO_PIN_SET) ? 1.0f : -1.0f;
motors[1].pos_setpoint += dir * motors[1].counts_per_step;
}
break;
default:
global_fault(ERROR_UNEXPECTED_STEP_SRC);
break;
}
}
// Triggered when an encoder passes over the "Index" pin
// TODO: only arm index edge interrupt when we know encoder has powered up
void enc_index_cb(uint16_t GPIO_Pin, uint8_t motor_index) {
Motor_t* motor = &motors[motor_index];
if (!motor->encoder.index_found) {
setEncoderCount(motor, 0);
motor->encoder.index_found = true;
}
//TODO: Hardcoded EXTI line not portable. Get mapping out of Cubemx by setting EXTI default
if(GPIO_Pin == M0_ENC_Z_Pin){
HAL_NVIC_DisableIRQ(EXTI15_10_IRQn);
} else {
HAL_NVIC_DisableIRQ(EXTI3_IRQn);
}
}
void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
static const float voltage_scale = 3.3f * VBUS_S_DIVIDER_RATIO / (float)(1 << 12);
// Only one conversion in sequence, so only rank1
uint32_t ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
vbus_voltage = ADCValue * voltage_scale;
}
// This is the callback from the ADC that we expect after the PWM has triggered an ADC conversion.
// TODO: Document how the phasing is done, link to timing diagram
void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
#define calib_tau 0.2f //@TOTO make more easily configurable
static const float calib_filter_k = CURRENT_MEAS_PERIOD / calib_tau;
// Ensure ADCs are expected ones to simplify the logic below
if (!(hadc == &hadc2 || hadc == &hadc3)) {
global_fault(ERROR_ADC_FAILED);
return;
};
// Motor 0 is on Timer 1, which triggers ADC 2 and 3 on an injected conversion
// Motor 1 is on Timer 8, which triggers ADC 2 and 3 on a regular conversion
// If the corresponding timer is counting up, we just sampled in SVM vector 0, i.e. real current
// If we are counting down, we just sampled in SVM vector 7, with zero current
Motor_t* motor = injected ? &motors[0] : &motors[1];
bool counting_down = motor->motor_timer->Instance->CR1 & TIM_CR1_DIR;
bool current_meas_not_DC_CAL;
if (motor == &motors[1] && counting_down) {
// We are measuring M1 DC_CAL here
current_meas_not_DC_CAL = false;
// Load next timings for M0 (only once is sufficient)
if (hadc == &hadc2) {
motors[0].motor_timer->Instance->CCR1 = motors[0].next_timings[0];
motors[0].motor_timer->Instance->CCR2 = motors[0].next_timings[1];
motors[0].motor_timer->Instance->CCR3 = motors[0].next_timings[2];
}
// Check the timing of the sequencing
check_timing(motor, TIMING_LOG_ADC_CB_M1_DC);
} else if (motor == &motors[0] && !counting_down) {
// We are measuring M0 current here
current_meas_not_DC_CAL = true;
// Load next timings for M1 (only once is sufficient)
if (hadc == &hadc2) {
motors[1].motor_timer->Instance->CCR1 = motors[1].next_timings[0];
motors[1].motor_timer->Instance->CCR2 = motors[1].next_timings[1];
motors[1].motor_timer->Instance->CCR3 = motors[1].next_timings[2];
}
// Check the timing of the sequencing
check_timing(motor, TIMING_LOG_ADC_CB_M0_I);
} else if (motor == &motors[1] && !counting_down) {
// We are measuring M1 current here
current_meas_not_DC_CAL = true;
// Check the timing of the sequencing
check_timing(motor, TIMING_LOG_ADC_CB_M1_I);
} else if (motor == &motors[0] && counting_down) {
// We are measuring M0 DC_CAL here
current_meas_not_DC_CAL = false;
// Check the timing of the sequencing
check_timing(motor, TIMING_LOG_ADC_CB_M0_DC);
} else {
global_fault(ERROR_PWM_SRC_FAIL);
return;
}
uint32_t ADCValue;
if (injected) {
ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
} else {
ADCValue = HAL_ADC_GetValue(hadc);
}
float current = phase_current_from_adcval(motor, ADCValue);
if (current_meas_not_DC_CAL) {
// ADC2 and ADC3 record the phB and phC currents concurrently,
// and their interrupts should arrive on the same clock cycle.
// We dispatch the callbacks in order, so ADC2 will always be processed before ADC3.
// Therefore we store the value from ADC2 and signal the thread that the
// measurement is ready when we receive the ADC3 measurement
// return or continue
if (hadc == &hadc2) {
motor->current_meas.phB = current - motor->DC_calib.phB;
return;
} else {
motor->current_meas.phC = current - motor->DC_calib.phC;
}
// Trigger motor thread
if (motor->thread_ready)
osSignalSet(motor->motor_thread, M_SIGNAL_PH_CURRENT_MEAS);
} else {
// DC_CAL measurement
if (hadc == &hadc2) {
motor->DC_calib.phB += (current - motor->DC_calib.phB) * calib_filter_k;
} else {
motor->DC_calib.phC += (current - motor->DC_calib.phC) * calib_filter_k;
}
}
}
//--------------------------------
// Measurement and calibration
//--------------------------------
// TODO check Ibeta balance to verify good motor connection
bool measure_phase_resistance(Motor_t* motor, float test_current, float max_voltage) {
static const float kI = 10.0f; // [(V/s)/A]
static const int num_test_cycles = 3.0f / CURRENT_MEAS_PERIOD; // Test runs for 3s
float test_voltage = 0.0f;
for (int i = 0; i < num_test_cycles; ++i) {
osEvent evt = osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, PH_CURRENT_MEAS_TIMEOUT);
if (evt.status != osEventSignal) {
motor->error = ERROR_PHASE_RESISTANCE_MEASUREMENT_TIMEOUT;
return false;
}
if (!do_checks(motor))
return false;
float Ialpha = -(motor->current_meas.phB + motor->current_meas.phC);
test_voltage += (kI * current_meas_period) * (test_current - Ialpha);
if (test_voltage > max_voltage) test_voltage = max_voltage;
if (test_voltage < -max_voltage) test_voltage = -max_voltage;
// Test voltage along phase A
queue_voltage_timings(motor, test_voltage, 0.0f);
// Check we meet deadlines after queueing
motor->last_cpu_time = check_timing(motor, TIMING_LOG_MEAS_R);
if (!(motor->last_cpu_time < motor->control_deadline)) {
motor->error = ERROR_PHASE_RESISTANCE_TIMING;
return false;
}
}
// De-energize motor
queue_voltage_timings(motor, 0.0f, 0.0f);
float R = test_voltage / test_current;
motor->phase_resistance = R;
if (fabs(test_voltage) == fabs(max_voltage) || R < 0.01f || R > 1.0f) {
motor->error = ERROR_PHASE_RESISTANCE_OUT_OF_RANGE;
return false;
}
return true;
}
bool measure_phase_inductance(Motor_t* motor, float voltage_low, float voltage_high) {
float test_voltages[2] = {voltage_low, voltage_high};
float Ialphas[2] = {0.0f};
static const int num_cycles = 5000;
for (int t = 0; t < num_cycles; ++t) {
for (int i = 0; i < 2; ++i) {
if (osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, PH_CURRENT_MEAS_TIMEOUT).status != osEventSignal) {
motor->error = ERROR_PHASE_INDUCTANCE_MEASUREMENT_TIMEOUT;
return false;
}
if (!do_checks(motor))
return false;
Ialphas[i] += -motor->current_meas.phB - motor->current_meas.phC;
// Test voltage along phase A
queue_voltage_timings(motor, test_voltages[i], 0.0f);
// Check we meet deadlines after queueing
motor->last_cpu_time = check_timing(motor, TIMING_LOG_MEAS_L);
if (!(motor->last_cpu_time < motor->control_deadline)) {
motor->error = ERROR_PHASE_INDUCTANCE_TIMING;
return false;
}
}
}
// De-energize motor
queue_voltage_timings(motor, 0.0f, 0.0f);
float v_L = 0.5f * (voltage_high - voltage_low);
// Note: A more correct formula would also take into account that there is a finite timestep.
// However, the discretisation in the current control loop inverts the same discrepancy
float dI_by_dt = (Ialphas[1] - Ialphas[0]) / (current_meas_period * (float)num_cycles);
float L = v_L / dI_by_dt;
motor->phase_inductance = L;
// TODO arbitrary values set for now
if (L < 1e-6f || L > 500e-6f) {
motor->error = ERROR_PHASE_INDUCTANCE_OUT_OF_RANGE;
return false;
}
return true;
}
// TODO: Do the scan with current, not voltage!
// TODO: add check_timing
bool calib_enc_offset(Motor_t* motor, float voltage_magnitude) {
static const float start_lock_duration = 1.0f;
static const int num_steps = 1024*2;
static const float dt_step = 1.0f / 500.0f;
static const float scan_range = 16.0f * M_PI;
const float step_size = scan_range / (float)num_steps; // TODO handle const expressions better (maybe switch to C++ ?)
// go to motor zero phase for start_lock_duration to get ready to scan
for (int i = 0; i < start_lock_duration * current_meas_hz; ++i) {
if (osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, PH_CURRENT_MEAS_TIMEOUT).status != osEventSignal) {
motor->error = ERROR_ENCODER_MEASUREMENT_TIMEOUT;
return false;
}
if (!do_checks(motor))
return false;
queue_voltage_timings(motor, voltage_magnitude, 0.0f);
}
int32_t init_enc_val = (int16_t)motor->encoder.encoder_timer->Instance->CNT;
int32_t encvaluesum = 0;
// scan forwards
for (float ph = -scan_range / 2.0f; ph < scan_range / 2.0f; ph += step_size) {
for (int i = 0; i < dt_step * (float)current_meas_hz; ++i) {
if (osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, PH_CURRENT_MEAS_TIMEOUT).status != osEventSignal) {
motor->error = ERROR_ENCODER_MEASUREMENT_TIMEOUT;
return false;
}
if (!do_checks(motor))
return false;
float v_alpha = voltage_magnitude * arm_cos_f32(ph);
float v_beta = voltage_magnitude * arm_sin_f32(ph);
queue_voltage_timings(motor, v_alpha, v_beta);
}
encvaluesum += (int16_t)motor->encoder.encoder_timer->Instance->CNT;
}
//TODO avoid recomputing elec_rad_per_enc every time
float elec_rad_per_enc = motor->pole_pairs * 2 * M_PI * (1.0f / (float)(motor->encoder.encoder_cpr));
float expected_encoder_delta = scan_range / elec_rad_per_enc;
float actual_encoder_delta_abs = fabsf((int16_t)motor->encoder.encoder_timer->Instance->CNT-init_enc_val);
if(fabsf(actual_encoder_delta_abs - expected_encoder_delta)/expected_encoder_delta > motor->encoder.encoder_calib_range)
{
motor->error = ERROR_ENCODER_CPR_OUT_OF_RANGE;
return false;
}
// check direction
if ((int16_t)motor->encoder.encoder_timer->Instance->CNT > init_enc_val + 8) {
// motor same dir as encoder
motor->encoder.motor_dir = 1;
} else if ((int16_t)motor->encoder.encoder_timer->Instance->CNT < init_enc_val - 8) {
// motor opposite dir as encoder
motor->encoder.motor_dir = -1;
} else {
// Encoder response error
motor->error = ERROR_ENCODER_RESPONSE;
return false;
}
// scan backwards
for (float ph = scan_range / 2.0f; ph > -scan_range / 2.0f; ph -= step_size) {
for (int i = 0; i < dt_step * (float)current_meas_hz; ++i) {
if (osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, PH_CURRENT_MEAS_TIMEOUT).status != osEventSignal) {
motor->error = ERROR_ENCODER_MEASUREMENT_TIMEOUT;
return false;
}
if (!do_checks(motor))
return false;
float v_alpha = voltage_magnitude * arm_cos_f32(ph);
float v_beta = voltage_magnitude * arm_sin_f32(ph);
queue_voltage_timings(motor, v_alpha, v_beta);
}
encvaluesum += (int16_t)motor->encoder.encoder_timer->Instance->CNT;
}
int offset = encvaluesum / (num_steps * 2);
motor->encoder.encoder_offset = offset;
return true;
}
bool motor_calibration(Motor_t* motor) {
motor->error = ERROR_NO_ERROR;
float R_calib_max_voltage = motor->resistance_calib_max_voltage;
float enc_calibration_voltage = 0.0f;
if (motor->motor_type == MOTOR_TYPE_HIGH_CURRENT) {
if (!measure_phase_resistance(motor, motor->calibration_current, R_calib_max_voltage))
return false;
enc_calibration_voltage = motor->calibration_current * motor->phase_resistance;
if (!measure_phase_inductance(motor, -R_calib_max_voltage, R_calib_max_voltage))
return false;
} else if (motor->motor_type == MOTOR_TYPE_GIMBAL) {
enc_calibration_voltage = motor->calibration_current;
} else {
return false;
}
if (motor->rotor_mode == ROTOR_MODE_ENCODER ||
motor->rotor_mode == ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS) {
if (motor->encoder.use_index && !motor->encoder.index_found)
if (!scan_for_enc_idx(motor,
(float)(motor->encoder.motor_dir) * motor->encoder.idx_search_speed,
enc_calibration_voltage))
return false;
if (!motor->encoder.manually_calibrated)
if (!calib_enc_offset(motor, enc_calibration_voltage))
return false;
}
// Calculate current control gains
float current_control_bandwidth = 1000.0f; // [rad/s]
motor->current_control.p_gain = current_control_bandwidth * motor->phase_inductance;
float plant_pole = motor->phase_resistance / motor->phase_inductance;
motor->current_control.i_gain = plant_pole * motor->current_control.p_gain;
// Calculate encoder pll gains
float encoder_pll_bandwidth = 1000.0f; // [rad/s]
motor->encoder.pll_kp = 2.0f * encoder_pll_bandwidth;
// Check that we don't get problems with discrete time approximation
if (!(current_meas_period * motor->encoder.pll_kp < 1.0f)) {
motor->error = ERROR_CALIBRATION_TIMING;
return false;
}
// Critically damped
motor->encoder.pll_ki = 0.25f * (motor->encoder.pll_kp * motor->encoder.pll_kp);
// sensorless pll same as encoder (for now)
motor->sensorless.pll_kp = motor->encoder.pll_kp;
motor->sensorless.pll_ki = motor->encoder.pll_ki;
return true;
}
/*
* This anti-cogging implementation iterates through each encoder position,
* waits for zero velocity & position error,
* then samples the current required to maintain that position.
*
* This holding current is added as a feedforward term in the control loop.
*/
bool anti_cogging_calibration(Motor_t* motor) {
if (motor->anticogging.calib_anticogging && motor->anticogging.cogging_map != NULL) {
float pos_err = motor->anticogging.index - motor->encoder.pll_pos;
if (fabsf(pos_err) <= motor->anticogging.calib_pos_threshold &&
fabsf(motor->encoder.pll_vel) < motor->anticogging.calib_vel_threshold) {
motor->anticogging.cogging_map[motor->anticogging.index++] = motor->vel_integrator_current;
}
if (motor->anticogging.index < motor->encoder.encoder_cpr) {
set_pos_setpoint(motor, motor->anticogging.index, 0.0f, 0.0f);
return false;
} else {
motor->anticogging.index = 0;
set_pos_setpoint(motor, 0.0f, 0.0f, 0.0f); // Send the motor home
motor->anticogging.use_anticogging = true; // We're good to go, enable anti-cogging
motor->anticogging.calib_anticogging = false;
return true;
}
}
return false;
}
//--------------------------------
// Test functions
//--------------------------------
bool scan_for_enc_idx(Motor_t* motor, float omega, float voltage_magnitude) {
for (;;) {
for (float ph = 0.0f; ph < 2.0f * M_PI; ph += omega * current_meas_period) {
osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, osWaitForever);
if (!do_checks(motor))
return false;
if (motor->encoder.index_found)
return true;
float v_alpha = voltage_magnitude * arm_cos_f32(ph);
float v_beta = voltage_magnitude * arm_sin_f32(ph);
queue_voltage_timings(motor, v_alpha, v_beta);
// Check we meet deadlines after queueing
motor->last_cpu_time = check_timing(motor, TIMING_LOG_IDX_SEARCH);
if (!(motor->last_cpu_time < motor->control_deadline)) {
motor->error = ERROR_SCAN_MOTOR_TIMING;
return false;
}
}
}
}
//--------------------------------
// Main motor control
//--------------------------------
void update_rotor(Motor_t* motor) {
switch (motor->rotor_mode) {
case ROTOR_MODE_ENCODER:
case ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS: {
//for convenience
Encoder_t* encoder = &motor->encoder;
// update internal encoder state
int16_t delta_enc = (int16_t)encoder->encoder_timer->Instance->CNT - (int16_t)encoder->encoder_state;
encoder->encoder_state += (int32_t)delta_enc;
// compute electrical phase
int corrected_enc = encoder->encoder_state % motor->encoder.encoder_cpr;
corrected_enc -= encoder->encoder_offset;
corrected_enc *= encoder->motor_dir;
//TODO avoid recomputing elec_rad_per_enc every time
float elec_rad_per_enc = motor->pole_pairs * 2 * M_PI * (1.0f / (float)(motor->encoder.encoder_cpr));
float ph = elec_rad_per_enc * (float)corrected_enc;
// ph = fmodf(ph, 2*M_PI);
encoder->phase = wrap_pm_pi(ph);
// run pll (for now pll is in units of encoder counts)
// TODO pll_pos runs out of precision very quickly here! Perhaps decompose into integer and fractional part?
// Predict current pos
encoder->pll_pos += current_meas_period * encoder->pll_vel;
// discrete phase detector
float delta_pos = (float)(encoder->encoder_state - (int32_t)floorf(encoder->pll_pos));
// pll feedback
encoder->pll_pos += current_meas_period * encoder->pll_kp * delta_pos;
encoder->pll_vel += current_meas_period * encoder->pll_ki * delta_pos;
}
// Drop through to sensorless if also testing
if (motor->rotor_mode != ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS)
break;
case ROTOR_MODE_SENSORLESS: {
// Algorithm based on paper: Sensorless Control of Surface-Mount Permanent-Magnet Synchronous Motors Based on a Nonlinear Observer
// http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf
// In particular, equation 8 (and by extension eqn 4 and 6).
// The V_alpha_beta applied immedietly prior to the current measurement associated with this cycle
// is the one computed two cycles ago. To get the correct measurement, it was stored twice:
// once by final_v_alpha/final_v_beta in the current control reporting, and once by V_alpha_beta_memory.
//for convenience
Sensorless_t* sensorless = &motor->sensorless;
// Clarke transform
float I_alpha_beta[2] = {
-motor->current_meas.phB - motor->current_meas.phC,
one_by_sqrt3 * (motor->current_meas.phB - motor->current_meas.phC)};
// alpha-beta vector operations
float eta[2];
for (int i = 0; i <= 1; ++i) {
// y is the total flux-driving voltage (see paper eqn 4)
float y = -motor->phase_resistance * I_alpha_beta[i] + sensorless->V_alpha_beta_memory[i];
// flux dynamics (prediction)
float x_dot = y;
// integrate prediction to current timestep
sensorless->flux_state[i] += x_dot * current_meas_period;
// eta is the estimated permanent magnet flux (see paper eqn 6)
eta[i] = sensorless->flux_state[i] - motor->phase_inductance * I_alpha_beta[i];
}
// Non-linear observer (see paper eqn 8):
float pm_flux_sqr = sensorless->pm_flux_linkage * sensorless->pm_flux_linkage;
float est_pm_flux_sqr = eta[0] * eta[0] + eta[1] * eta[1];
float bandwidth_factor = 1.0f / (sensorless->pm_flux_linkage * sensorless->pm_flux_linkage);
float eta_factor = 0.5f * (sensorless->observer_gain * bandwidth_factor) * (pm_flux_sqr - est_pm_flux_sqr);
static float eta_factor_avg_test = 0.0f;
eta_factor_avg_test += 0.001f * (eta_factor - eta_factor_avg_test);
// alpha-beta vector operations
for (int i = 0; i <= 1; ++i) {
// add observer action to flux estimate dynamics
float x_dot = eta_factor * eta[i];
// convert action to discrete-time
sensorless->flux_state[i] += x_dot * current_meas_period;
// update new eta
eta[i] = sensorless->flux_state[i] - motor->phase_inductance * I_alpha_beta[i];
}
// Flux state estimation done, store V_alpha_beta for next timestep
sensorless->V_alpha_beta_memory[0] = motor->current_control.final_v_alpha;
sensorless->V_alpha_beta_memory[1] = motor->current_control.final_v_beta;
// PLL
// predict PLL phase with velocity
sensorless->pll_pos = wrap_pm_pi(sensorless->pll_pos + current_meas_period * sensorless->pll_vel);
// update PLL phase with observer permanent magnet phase
sensorless->phase = fast_atan2(eta[1], eta[0]);
float delta_phase = wrap_pm_pi(sensorless->phase - sensorless->pll_pos);
sensorless->pll_pos = wrap_pm_pi(sensorless->pll_pos + current_meas_period * sensorless->pll_kp * delta_phase);
// update PLL velocity
sensorless->pll_vel += current_meas_period * sensorless->pll_ki * delta_phase;
//TODO TEMP TEST HACK
// static int trigger_ctr = 0;
// if (++trigger_ctr >= 3*current_meas_hz) {
// trigger_ctr = 0;
// //Change to sensorless units
// motor->vel_gain = 15.0f / 200.0f;
// motor->vel_setpoint = 800.0f * motor->encoder.motor_dir;
// //Change mode
// motor->rotor_mode = ROTOR_MODE_SENSORLESS;
// }
} break;
default:
//TODO error handling
break;
}
}
bool using_encoder(Motor_t* motor) {
if (motor->rotor_mode == ROTOR_MODE_ENCODER ||
motor->rotor_mode == ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS)
return true;
else
return false;
}
bool using_sensorless(Motor_t* motor) {
if (motor->rotor_mode == ROTOR_MODE_SENSORLESS)
return true;
else
return false;
}
float get_rotor_phase(Motor_t* motor) {
if (using_encoder(motor))
return motor->encoder.phase;
else if (using_sensorless(motor))
return motor->sensorless.phase;
else
//TODO error handling
return 0.0f;
}
float get_pll_vel(Motor_t* motor) {
if (using_encoder(motor))
return motor->encoder.pll_vel;
else if (using_sensorless(motor))
return motor->sensorless.pll_vel;
else
//TODO error handling
return 0.0f;
}
// Function that sets the current encoder count to a desired 32-bit value.
void setEncoderCount(Motor_t* motor, uint32_t count) {
// Disable interrupts to make a critical section to avoid race condition
uint32_t prim = __get_PRIMASK();
__disable_irq();
motor->encoder.encoder_state = count;
motor->encoder.encoder_timer->Instance->CNT = count;
motor->encoder.pll_pos = (float)count;
__set_PRIMASK(prim);
}
bool spin_up_timestep(Motor_t* motor, float phase, float I_mag) {
// wait for new timestep
if (osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, PH_CURRENT_MEAS_TIMEOUT).status != osEventSignal) {
motor->error = ERROR_SPIN_UP_TIMEOUT;
return false;
}
if (!do_checks(motor))
return false;
// run estimator
if (!loop_updates(motor))
return false;
// override the phase during spinup
motor->sensorless.phase = phase;
// run current control (with the phase override)
FOC_current(motor, I_mag, 0.0f);
return true;
}
bool spin_up_sensorless(Motor_t* motor) {
static const float ramp_up_time = 0.4f;
static const float ramp_up_distance = 4 * M_PI;
float ramp_step = current_meas_period / ramp_up_time;
float phase = 0.0f;
float vel = ramp_up_distance / ramp_up_time;
float I_mag = 0.0f;
// spiral up current
for (float x = 0.0f; x < 1.0f; x += ramp_step) {
phase = wrap_pm_pi(ramp_up_distance * x);
I_mag = motor->sensorless.spin_up_current * x;
if (!spin_up_timestep(motor, phase, I_mag))
return false;
}
// accelerate
while (vel < motor->sensorless.spin_up_target_vel) {
vel += motor->sensorless.spin_up_acceleration * current_meas_period;
phase = wrap_pm_pi(phase + vel * current_meas_period);
if (!spin_up_timestep(motor, phase, motor->sensorless.spin_up_current))
return false;
}
// // test keep spinning
// while (true) {
// phase = wrap_pm_pi(phase + vel * current_meas_period);
// if(!spin_up_timestep(motor, phase, motor->sensorless.spin_up_current))
// return false;
// }
return true;
// TODO: check pll vel (abs ratio, 0.8)
}
void update_brake_current() {
float Ibus_sum = 0.0f;
for (int i = 0; i < num_motors; ++i) {
Ibus_sum += motors[i].current_control.Ibus;
}
// Note: set_brake_current will clip negative values to 0.0f
set_brake_current(-Ibus_sum);
}
void set_brake_current(float brake_current) {
if (brake_current < 0.0f) brake_current = 0.0f;
float brake_duty = brake_current * brake_resistance / vbus_voltage;
// Duty limit at 90% to allow bootstrap caps to charge
if (brake_duty > 0.9f) brake_duty = 0.9f;
int high_on = TIM_APB1_PERIOD_CLOCKS * (1.0f - brake_duty);
int low_off = high_on - TIM_APB1_DEADTIME_CLOCKS;
if (low_off < 0) low_off = 0;
// Safe update of low and high side timings
// To avoid race condition, first reset timings to safe state
// ch3 is low side, ch4 is high side
htim2.Instance->CCR3 = 0;
htim2.Instance->CCR4 = TIM_APB1_PERIOD_CLOCKS + 1;
htim2.Instance->CCR3 = low_off;
htim2.Instance->CCR4 = high_on;
}
void queue_modulation_timings(Motor_t* motor, float mod_alpha, float mod_beta) {
float tA, tB, tC;
SVM(mod_alpha, mod_beta, &tA, &tB, &tC);
motor->next_timings[0] = (uint16_t)(tA * (float)TIM_1_8_PERIOD_CLOCKS);
motor->next_timings[1] = (uint16_t)(tB * (float)TIM_1_8_PERIOD_CLOCKS);
motor->next_timings[2] = (uint16_t)(tC * (float)TIM_1_8_PERIOD_CLOCKS);
}
void queue_voltage_timings(Motor_t* motor, float v_alpha, float v_beta) {
float vfactor = 1.0f / ((2.0f / 3.0f) * vbus_voltage);
float mod_alpha = vfactor * v_alpha;
float mod_beta = vfactor * v_beta;
queue_modulation_timings(motor, mod_alpha, mod_beta);
}
// TODO: This doesn't update brake current
// We should probably make FOC Current call FOC Voltage to avoid duplication.
bool FOC_voltage(Motor_t* motor, float v_d, float v_q) {
float phase = get_rotor_phase(motor);
float c = arm_cos_f32(phase);
float s = arm_sin_f32(phase);
float v_alpha = c*v_d - s*v_q;
float v_beta = c*v_q + s*v_d;
queue_voltage_timings(motor, v_alpha, v_beta);
// Check we meet deadlines after queueing
if (!(check_timing(motor, TIMING_LOG_FOC_VOLTAGE) < motor->control_deadline)) {
motor->error = ERROR_FOC_VOLTAGE_TIMING;
return false;
}
return true;
}
bool FOC_current(Motor_t* motor, float Id_des, float Iq_des) {
Current_control_t* ictrl = &motor->current_control;
// For Reporting
ictrl->Iq_setpoint = Iq_des;
// Clarke transform
float Ialpha = -motor->current_meas.phB - motor->current_meas.phC;
float Ibeta = one_by_sqrt3 * (motor->current_meas.phB - motor->current_meas.phC);
// Park transform
float phase = get_rotor_phase(motor);
float c = arm_cos_f32(phase);
float s = arm_sin_f32(phase);
float Id = c * Ialpha + s * Ibeta;
float Iq = c * Ibeta - s * Ialpha;
ictrl->Iq_measured = Iq;
// Current error
float Ierr_d = Id_des - Id;
float Ierr_q = Iq_des - Iq;
// TODO look into feed forward terms (esp omega, since PI pole maps to RL tau)
// Apply PI control
float Vd = ictrl->v_current_control_integral_d + Ierr_d * ictrl->p_gain;
float Vq = ictrl->v_current_control_integral_q + Ierr_q * ictrl->p_gain;
float mod_to_V = (2.0f / 3.0f) * vbus_voltage;
float V_to_mod = 1.0f / mod_to_V;
float mod_d = V_to_mod * Vd;
float mod_q = V_to_mod * Vq;
// Vector modulation saturation, lock integrator if saturated
// TODO make maximum modulation configurable
float mod_scalefactor = 0.80f * sqrt3_by_2 * 1.0f / sqrtf(mod_d * mod_d + mod_q * mod_q);
if (mod_scalefactor < 1.0f) {
mod_d *= mod_scalefactor;
mod_q *= mod_scalefactor;
// TODO make decayfactor configurable
ictrl->v_current_control_integral_d *= 0.99f;
ictrl->v_current_control_integral_q *= 0.99f;
} else {
ictrl->v_current_control_integral_d += Ierr_d * (ictrl->i_gain * current_meas_period);
ictrl->v_current_control_integral_q += Ierr_q * (ictrl->i_gain * current_meas_period);
}
// Compute estimated bus current
ictrl->Ibus = mod_d * Id + mod_q * Iq;
// Inverse park transform
float mod_alpha = c * mod_d - s * mod_q;
float mod_beta = c * mod_q + s * mod_d;
// Report final applied voltage in stationary frame (for sensorles estimator)
ictrl->final_v_alpha = mod_to_V * mod_alpha;
ictrl->final_v_beta = mod_to_V * mod_beta;
// Apply SVM
queue_modulation_timings(motor, mod_alpha, mod_beta);
// Check we meet deadlines after queueing
motor->last_cpu_time = check_timing(motor, TIMING_LOG_FOC_CURRENT);
if (!(motor->last_cpu_time < motor->control_deadline)) {
motor->error = ERROR_FOC_TIMING;
return false;
}
update_brake_current();
return true;
}
//Returns true if everything is OK (no fault)
bool check_DRV_fault(Motor_t* motor) {
//TODO: make this pin configurable per motor ch
GPIO_PinState nFAULT_state = HAL_GPIO_ReadPin(nFAULT_GPIO_Port, nFAULT_Pin);
return (nFAULT_state == GPIO_PIN_RESET) ? false : true;
}
//Returns true if everything is OK (no fault)
bool check_PSU_brownout(Motor_t* motor) {
if(vbus_voltage < motor->dc_bus_brownout_trip_level)
return false;
return true;
}
// Returns true if everything is ok. Sets motor->error and returns false otherwise.
bool do_checks(Motor_t* motor) {
if (!check_DRV_fault(motor)) {
motor->error = ERROR_DRV_FAULT;
// Update DRV Fault Code
motor->drv_fault = DRV8301_getFaultType(&motor->gate_driver);
// Update/Cache all SPI device registers
DRV_SPI_8301_Vars_t* local_regs = &motor->gate_driver_regs;
local_regs->RcvCmd = true;
DRV8301_readData(&motor->gate_driver, local_regs);
return false;
}
if (!check_PSU_brownout(motor)) {
motor->error = ERROR_DC_BUS_BROWNOUT;
return false;
}
return true;
}
bool loop_updates(Motor_t* motor) {
update_rotor(motor);
return true;
}
void control_motor_loop(Motor_t* motor) {
while (*(motor->axis_legacy.enable_control)) {
if (osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, PH_CURRENT_MEAS_TIMEOUT).status != osEventSignal) {
motor->error = ERROR_FOC_MEASUREMENT_TIMEOUT;
break;
}
if (!do_checks(motor))
break;
if (!loop_updates(motor))
break;
// Only runs if anticogging.calib_anticogging is true; non-blocking
anti_cogging_calibration(motor);
// Position control
// TODO Decide if we want to use encoder or pll position here
float vel_des = motor->vel_setpoint;
if (motor->control_mode >= CTRL_MODE_POSITION_CONTROL) {
if (motor->rotor_mode == ROTOR_MODE_SENSORLESS) {
motor->error = ERROR_POS_CTRL_DURING_SENSORLESS;
break;
}
float pos_err = motor->pos_setpoint - motor->encoder.pll_pos;
vel_des += motor->pos_gain * pos_err;
}
// Velocity limiting
float vel_lim = motor->vel_limit;
if (vel_des > vel_lim) vel_des = vel_lim;
if (vel_des < -vel_lim) vel_des = -vel_lim;
// Velocity control
float Iq = motor->current_setpoint;
// Anti-cogging is enabled after calibration
// We get the current position and apply a current feed-forward
// ensuring that we handle negative encoder positions properly (-1 == motor->encoder.encoder_cpr - 1)
if (motor->anticogging.use_anticogging) {
Iq += motor->anticogging.cogging_map[mod(motor->encoder.pll_pos, motor->encoder.encoder_cpr)];
}
float v_err = vel_des - get_pll_vel(motor);
if (motor->control_mode >= CTRL_MODE_VELOCITY_CONTROL) {
Iq += motor->vel_gain * v_err;
}
// Velocity integral action before limiting
Iq += motor->vel_integrator_current;
// Apply motor direction correction
if (motor->rotor_mode == ROTOR_MODE_ENCODER ||
motor->rotor_mode == ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS) {
Iq *= motor->encoder.motor_dir;
}
// Current limiting
float Ilim = MACRO_MIN(motor->current_control.current_lim, motor->current_control.max_allowed_current);
bool limited = false;
if (Iq > Ilim) {
limited = true;
Iq = Ilim;
}
if (Iq < -Ilim) {
limited = true;
Iq = -Ilim;
}
// Velocity integrator (behaviour dependent on limiting)
if (motor->control_mode < CTRL_MODE_VELOCITY_CONTROL) {
// reset integral if not in use
motor->vel_integrator_current = 0.0f;
} else {
if (limited) {
// TODO make decayfactor configurable
motor->vel_integrator_current *= 0.99f;
} else {
motor->vel_integrator_current += (motor->vel_integrator_gain * current_meas_period) * v_err;
}
}
// Execute current command
if (motor->motor_type == MOTOR_TYPE_HIGH_CURRENT) {
if(!FOC_current(motor, 0.0f, Iq)){
break; // in case of error exit loop, motor->error has been set by FOC_current
}
} else if (motor->motor_type == MOTOR_TYPE_GIMBAL) {
//In gimbal motor mode, current is reinterptreted as voltage.
if(!FOC_voltage(motor, 0.0f, Iq)){
break; // in case of error exit loop, motor->error has been set by FOC_voltage
}
} else {
motor->error = ERROR_NOT_IMPLEMENTED_MOTOR_TYPE;
break;
}
++(motor->loop_counter);
}
//We are exiting control, reset Ibus, and update brake current
motor->current_control.Ibus = 0.0f;
update_brake_current();
}
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