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ODrive/Firmware/MotorControl/low_level.cpp
Paul Guenette db2c02c680 Allow for regen current before braking
2019-03-25 20:04:45 +01:00

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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 <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>
#include "odrive_main.h"
/* Private defines -----------------------------------------------------------*/
// #define DEBUG_PRINT
/* Private macros ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
/* Global constant data ------------------------------------------------------*/
const float adc_full_scale = (float)(1 << 12);
const float adc_ref_voltage = 3.3f;
/* 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;
bool brake_resistor_armed = false;
/* Private constant data -----------------------------------------------------*/
static const GPIO_TypeDef* GPIOs_to_samp[] = { GPIOA, GPIOB, GPIOC };
static const int num_GPIO = sizeof(GPIOs_to_samp) / sizeof(GPIOs_to_samp[0]);
/* Private variables ---------------------------------------------------------*/
// Two motors, sampling port A,B,C (coherent with current meas timing)
static uint16_t GPIO_port_samples [2][num_GPIO];
/* CPU critical section helpers ----------------------------------------------*/
/* Safety critical functions -------------------------------------------------*/
/*
* This section contains all accesses to safety critical hardware registers.
* Specifically, these registers:
* Motor0 PWMs:
* Timer1.MOE (master output enabled)
* Timer1.CCR1 (counter compare register 1)
* Timer1.CCR2 (counter compare register 2)
* Timer1.CCR3 (counter compare register 3)
* Motor1 PWMs:
* Timer8.MOE (master output enabled)
* Timer8.CCR1 (counter compare register 1)
* Timer8.CCR2 (counter compare register 2)
* Timer8.CCR3 (counter compare register 3)
* Brake resistor PWM:
* Timer2.CCR3 (counter compare register 3)
* Timer2.CCR4 (counter compare register 4)
*
* The following assumptions are made:
* - The hardware operates as described in the datasheet:
* http://www.st.com/content/ccc/resource/technical/document/reference_manual/3d/6d/5a/66/b4/99/40/d4/DM00031020.pdf/files/DM00031020.pdf/jcr:content/translations/en.DM00031020.pdf
* This assumption also requires for instance that there are no radiation
* caused hardware errors.
* - After startup, all variables used in this section are exclusively modified
* by the code in this section (this excludes function parameters)
* This assumption also requires that there is no memory corruption.
* - This code is compiled by a C standard compliant compiler.
*
* Furthermore:
* - Between calls to safety_critical_arm_motor_pwm and
* safety_critical_disarm_motor_pwm the motor's Ibus current is
* set to the correct value and update_brake_resistor is called
* at a high rate.
*/
// @brief Floats ALL phases immediately and disarms both motors and the brake resistor.
void low_level_fault(Motor::Error_t error) {
// Disable all motors NOW!
for (size_t i = 0; i < AXIS_COUNT; ++i) {
safety_critical_disarm_motor_pwm(axes[i]->motor_);
axes[i]->motor_.error_ |= error;
}
safety_critical_disarm_brake_resistor();
}
// @brief Kicks off the arming process of the motor.
// All calls to this function must clearly originate
// from user input.
void safety_critical_arm_motor_pwm(Motor& motor) {
uint32_t mask = cpu_enter_critical();
if (brake_resistor_armed) {
motor.armed_state_ = Motor::ARMED_STATE_WAITING_FOR_TIMINGS;
}
cpu_exit_critical(mask);
}
// @brief Disarms the motor PWM.
// After calling this function, it is guaranteed that all three
// motor phases are floating and will not be enabled again until
// safety_critical_arm_motor_phases is called.
// @returns true if the motor was in a state other than disarmed before
bool safety_critical_disarm_motor_pwm(Motor& motor) {
uint32_t mask = cpu_enter_critical();
bool was_armed = motor.armed_state_ != Motor::ARMED_STATE_DISARMED;
motor.armed_state_ = Motor::ARMED_STATE_DISARMED;
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(motor.hw_config_.timer);
cpu_exit_critical(mask);
return was_armed;
}
// @brief Updates the phase timings unless the motor is disarmed.
//
// If this is called at a rate higher than the motor's timer period,
// the actual PMW timings on the pins can be undefined for up to one
// timer period.
void safety_critical_apply_motor_pwm_timings(Motor& motor, uint16_t timings[3]) {
uint32_t mask = cpu_enter_critical();
if (!brake_resistor_armed) {
motor.armed_state_ = Motor::ARMED_STATE_DISARMED;
}
motor.hw_config_.timer->Instance->CCR1 = timings[0];
motor.hw_config_.timer->Instance->CCR2 = timings[1];
motor.hw_config_.timer->Instance->CCR3 = timings[2];
if (motor.armed_state_ == Motor::ARMED_STATE_WAITING_FOR_TIMINGS) {
// timings were just loaded into the timer registers
// the timer register are buffered, so they won't have an effect
// on the output just yet so we need to wait until the next
// interrupt before we actually enable the output
motor.armed_state_ = Motor::ARMED_STATE_WAITING_FOR_UPDATE;
} else if (motor.armed_state_ == Motor::ARMED_STATE_WAITING_FOR_UPDATE) {
// now we waited long enough. Enter armed state and
// enable the actual PWM outputs.
motor.armed_state_ = Motor::ARMED_STATE_ARMED;
__HAL_TIM_MOE_ENABLE(motor.hw_config_.timer); // enable pwm outputs
} else if (motor.armed_state_ == Motor::ARMED_STATE_ARMED) {
// nothing to do, PWM is running, all good
} else {
// unknown state oh no
safety_critical_disarm_motor_pwm(motor);
}
cpu_exit_critical(mask);
}
// @brief Arms the brake resistor
void safety_critical_arm_brake_resistor() {
uint32_t mask = cpu_enter_critical();
brake_resistor_armed = true;
htim2.Instance->CCR3 = 0;
htim2.Instance->CCR4 = TIM_APB1_PERIOD_CLOCKS + 1;
cpu_exit_critical(mask);
}
// @brief Disarms the brake resistor and by extension
// all motor PWM outputs.
// After calling this, the brake resistor can only be armed again
// by calling safety_critical_arm_brake_resistor().
void safety_critical_disarm_brake_resistor() {
uint32_t mask = cpu_enter_critical();
brake_resistor_armed = false;
htim2.Instance->CCR3 = 0;
htim2.Instance->CCR4 = TIM_APB1_PERIOD_CLOCKS + 1;
for (size_t i = 0; i < AXIS_COUNT; ++i) {
safety_critical_disarm_motor_pwm(axes[i]->motor_);
}
cpu_exit_critical(mask);
}
// @brief Updates the brake resistor PWM timings unless
// the brake resistor is disarmed.
void safety_critical_apply_brake_resistor_timings(uint32_t low_off, uint32_t high_on) {
if (high_on - low_off < TIM_APB1_DEADTIME_CLOCKS)
low_level_fault(Motor::ERROR_BRAKE_DEADTIME_VIOLATION);
uint32_t mask = cpu_enter_critical();
if (brake_resistor_armed) {
// 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;
}
cpu_exit_critical(mask);
}
/* Function implementations --------------------------------------------------*/
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,
&htim13);
// Motor output starts in the disabled state
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(&htim1);
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(&htim8);
// Enable the update interrupt (used to coherently sample GPIO)
__HAL_TIM_ENABLE_IT(&htim1, TIM_IT_UPDATE);
__HAL_TIM_ENABLE_IT(&htim8, TIM_IT_UPDATE);
// 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);
// Disarm motors and arm brake resistor
for (size_t i = 0; i < AXIS_COUNT; ++i) {
safety_critical_disarm_motor_pwm(axes[i]->motor_);
}
safety_critical_arm_brake_resistor();
}
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,
TIM_HandleTypeDef* htim_refbase) {
// 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;
// Set and start reference timebase timer (if used)
if (htim_refbase) {
htim_refbase->Instance->CNT = count_offset;
htim_refbase->Instance->CR1 |= (TIM_CR1_CEN); // start
}
// 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;
}
// @brief ADC1 measurements are written to this buffer by DMA
uint16_t adc_measurements_[ADC_CHANNEL_COUNT] = { 0 };
// @brief Starts the general purpose ADC on the ADC1 peripheral.
// The measured ADC voltages can be read with get_adc_voltage().
//
// ADC1 is set up to continuously sample all channels 0 to 15 in a
// round-robin fashion.
// DMA is used to copy the measured 12-bit values to adc_measurements_.
//
// The injected (high priority) channel of ADC1 is used to sample vbus_voltage.
// This conversion is triggered by TIM1 at the frequency of the motor control loop.
void start_general_purpose_adc() {
ADC_ChannelConfTypeDef sConfig;
// Configure the global features of the ADC (Clock, Resolution, Data Alignment and number of conversion)
hadc1.Instance = ADC1;
hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4;
hadc1.Init.Resolution = ADC_RESOLUTION_12B;
hadc1.Init.ScanConvMode = ENABLE;
hadc1.Init.ContinuousConvMode = ENABLE;
hadc1.Init.DiscontinuousConvMode = DISABLE;
hadc1.Init.ExternalTrigConvEdge = ADC_EXTERNALTRIGCONVEDGE_NONE;
hadc1.Init.ExternalTrigConv = ADC_SOFTWARE_START;
hadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT;
hadc1.Init.NbrOfConversion = ADC_CHANNEL_COUNT;
hadc1.Init.DMAContinuousRequests = ENABLE;
hadc1.Init.EOCSelection = ADC_EOC_SINGLE_CONV;
if (HAL_ADC_Init(&hadc1) != HAL_OK)
{
_Error_Handler((char*)__FILE__, __LINE__);
}
// Set up sampling sequence (channel 0 ... channel 15)
sConfig.SamplingTime = ADC_SAMPLETIME_15CYCLES;
for (uint32_t channel = 0; channel < ADC_CHANNEL_COUNT; ++channel) {
sConfig.Channel = channel << ADC_CR1_AWDCH_Pos;
sConfig.Rank = channel + 1; // rank numbering starts at 1
if (HAL_ADC_ConfigChannel(&hadc1, &sConfig) != HAL_OK)
_Error_Handler((char*)__FILE__, __LINE__);
}
HAL_ADC_Start_DMA(&hadc1, reinterpret_cast<uint32_t*>(adc_measurements_), ADC_CHANNEL_COUNT);
}
// @brief Returns the ADC voltage associated with the specified pin.
// GPIO_set_to_analog() must be called first to put the Pin into
// analog mode.
// Returns NaN if the pin has no associated ADC1 channel.
//
// On ODrive 3.3 and 3.4 the following pins can be used with this function:
// GPIO_1, GPIO_2, GPIO_3, GPIO_4 and some pins that are connected to
// on-board sensors (M0_TEMP, M1_TEMP, AUX_TEMP)
//
// The ADC values are sampled in background at ~30kHz without
// any CPU involvement.
//
// Details: each of the 16 conversion takes (15+26) ADC clock
// cycles and the ADC, so the update rate of the entire sequence is:
// 21000kHz / (15+26) / 16 = 32kHz
// The true frequency is slightly lower because of the injected vbus
// measurements
float get_adc_voltage(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin) {
uint32_t channel = UINT32_MAX;
if (GPIO_port == GPIOA) {
if (GPIO_pin == GPIO_PIN_0)
channel = 0;
else if (GPIO_pin == GPIO_PIN_1)
channel = 1;
else if (GPIO_pin == GPIO_PIN_2)
channel = 2;
else if (GPIO_pin == GPIO_PIN_3)
channel = 3;
else if (GPIO_pin == GPIO_PIN_4)
channel = 4;
else if (GPIO_pin == GPIO_PIN_5)
channel = 5;
else if (GPIO_pin == GPIO_PIN_6)
channel = 6;
else if (GPIO_pin == GPIO_PIN_7)
channel = 7;
} else if (GPIO_port == GPIOB) {
if (GPIO_pin == GPIO_PIN_0)
channel = 8;
else if (GPIO_pin == GPIO_PIN_1)
channel = 9;
} else if (GPIO_port == GPIOC) {
if (GPIO_pin == GPIO_PIN_0)
channel = 10;
else if (GPIO_pin == GPIO_PIN_1)
channel = 11;
else if (GPIO_pin == GPIO_PIN_2)
channel = 12;
else if (GPIO_pin == GPIO_PIN_3)
channel = 13;
else if (GPIO_pin == GPIO_PIN_4)
channel = 14;
else if (GPIO_pin == GPIO_PIN_5)
channel = 15;
}
if (channel < ADC_CHANNEL_COUNT)
return ((float)adc_measurements_[channel]) * (adc_ref_voltage / adc_full_scale);
else
return 0.0f / 0.0f; // NaN
}
//--------------------------------
// IRQ Callbacks
//--------------------------------
void vbus_sense_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
static const float voltage_scale = adc_ref_voltage * VBUS_S_DIVIDER_RATIO / adc_full_scale;
// Only one conversion in sequence, so only rank1
uint32_t ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
vbus_voltage = ADCValue * voltage_scale;
if (axes[0] && !axes[0]->error_ && axes[1] && !axes[1]->error_) {
if (oscilloscope_pos >= OSCILLOSCOPE_SIZE)
oscilloscope_pos = 0;
oscilloscope[oscilloscope_pos++] = vbus_voltage;
}
}
static void decode_hall_samples(Encoder& enc, uint16_t GPIO_samples[num_GPIO]) {
GPIO_TypeDef* hall_ports[] = {
enc.hw_config_.hallC_port,
enc.hw_config_.hallB_port,
enc.hw_config_.hallA_port,
};
uint16_t hall_pins[] = {
enc.hw_config_.hallC_pin,
enc.hw_config_.hallB_pin,
enc.hw_config_.hallA_pin,
};
uint8_t hall_state = 0x0;
for (int i = 0; i < 3; ++i) {
int port_idx = 0;
for (;;) {
auto port = GPIOs_to_samp[port_idx];
if (port == hall_ports[i])
break;
++port_idx;
}
hall_state <<= 1;
hall_state |= (GPIO_samples[port_idx] & hall_pins[i]) ? 1 : 0;
}
enc.hall_state_ = hall_state;
}
// 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)) {
low_level_fault(Motor::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
Axis& axis = injected ? *axes[0] : *axes[1];
int axis_num = injected ? 0 : 1;
Axis& other_axis = injected ? *axes[1] : *axes[0];
bool counting_down = axis.motor_.hw_config_.timer->Instance->CR1 & TIM_CR1_DIR;
bool current_meas_not_DC_CAL = !counting_down;
// Check the timing of the sequencing
if (current_meas_not_DC_CAL)
axis.motor_.log_timing(Motor::TIMING_LOG_ADC_CB_I);
else
axis.motor_.log_timing(Motor::TIMING_LOG_ADC_CB_DC);
bool update_timings = false;
if (hadc == &hadc2) {
if (&axis == axes[1] && counting_down)
update_timings = true; // update timings of M0
else if (&axis == axes[0] && !counting_down)
update_timings = true; // update timings of M1
}
// Load next timings for the motor that we're not currently sampling
if (update_timings) {
if (!other_axis.motor_.next_timings_valid_) {
// the motor control loop failed to update the timings in time
// we must assume that it died and therefore float all phases
bool was_armed = safety_critical_disarm_motor_pwm(other_axis.motor_);
if (was_armed) {
other_axis.motor_.error_ |= Motor::ERROR_CONTROL_DEADLINE_MISSED;
}
} else {
other_axis.motor_.next_timings_valid_ = false;
safety_critical_apply_motor_pwm_timings(
other_axis.motor_, other_axis.motor_.next_timings_
);
}
update_brake_current();
}
uint32_t ADCValue;
if (injected) {
ADCValue = HAL_ADCEx_InjectedGetValue(hadc, ADC_INJECTED_RANK_1);
} else {
ADCValue = HAL_ADC_GetValue(hadc);
}
float current = axis.motor_.phase_current_from_adcval(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) {
axis.motor_.current_meas_.phB = current - axis.motor_.DC_calib_.phB;
return;
} else {
axis.motor_.current_meas_.phC = current - axis.motor_.DC_calib_.phC;
}
// Prepare hall readings
// TODO move this to inside encoder update function
decode_hall_samples(axis.encoder_, GPIO_port_samples[axis_num]);
// Trigger axis thread
axis.signal_current_meas();
} else {
// DC_CAL measurement
if (hadc == &hadc2) {
axis.motor_.DC_calib_.phB += (current - axis.motor_.DC_calib_.phB) * calib_filter_k;
} else {
axis.motor_.DC_calib_.phC += (current - axis.motor_.DC_calib_.phC) * calib_filter_k;
}
}
}
void tim_update_cb(TIM_HandleTypeDef* htim) {
// 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
bool counting_down = htim->Instance->CR1 & TIM_CR1_DIR;
if (counting_down)
return;
int sample_ch;
Axis* axis;
if (htim == &htim1) {
sample_ch = 0;
axis = axes[0];
} else if (htim == &htim8) {
sample_ch = 1;
axis = axes[1];
} else {
low_level_fault(Motor::ERROR_UNEXPECTED_TIMER_CALLBACK);
return;
}
axis->encoder_.sample_now();
for (int i = 0; i < num_GPIO; ++i) {
GPIO_port_samples[sample_ch][i] = GPIOs_to_samp[i]->IDR;
}
}
// @brief Sums up the Ibus contribution of each motor and updates the
// brake resistor PWM accordingly.
void update_brake_current() {
float Ibus_sum = 0.0f;
for (size_t i = 0; i < AXIS_COUNT; ++i) {
if (axes[i]->motor_.armed_state_ == Motor::ARMED_STATE_ARMED) {
Ibus_sum += axes[i]->motor_.current_control_.Ibus;
}
}
// Don't start braking until -Ibus > regen_current_allowed
float brake_current = std::max(-Ibus_sum - board_config.max_regen_current, 0.0f);
float brake_duty = std::max(brake_current * std::abs(board_config.brake_resistance) / vbus_voltage, 0.0f);
// Duty limit at 90% to allow bootstrap caps to charge
// If brake_duty is NaN, this expression will also evaluate to false
if ((brake_duty >= 0.0f) && (brake_duty <= 0.9f)) {
int high_on = static_cast<int>(TIM_APB1_PERIOD_CLOCKS * (1.0f - brake_duty));
int low_off = high_on - TIM_APB1_DEADTIME_CLOCKS;
if (low_off < 0) low_off = 0;
safety_critical_apply_brake_resistor_timings(low_off, high_on);
} else {
//shuts off all motors AND brake resistor, sets error code on all motors.
low_level_fault(Motor::ERROR_BRAKE_CURRENT_OUT_OF_RANGE);
}
}
/* RC PWM input --------------------------------------------------------------*/
// @brief Returns the ODrive GPIO number for a given
// TIM2 or TIM5 input capture channel number.
int tim_2_5_channel_num_to_gpio_num(int channel) {
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 3
if (channel >= 1 && channel <= 4) {
// the channel numbers just happen to coincide with
// the GPIO numbers
return channel;
} else {
return -1;
}
#else
// Only ch4 is available on v3.2
if (channel == 4) {
return 4;
} else {
return -1;
}
#endif
}
// @brief Returns the TIM2 or TIM5 channel number
// for a given GPIO number.
uint32_t gpio_num_to_tim_2_5_channel(int gpio_num) {
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 3
switch (gpio_num) {
case 1: return TIM_CHANNEL_1;
case 2: return TIM_CHANNEL_2;
case 3: return TIM_CHANNEL_3;
case 4: return TIM_CHANNEL_4;
default: return 0;
}
#else
// Only ch4 is available on v3.2
if (gpio_num == 4) {
return TIM_CHANNEL_4;
} else {
return 0;
}
#endif
}
void pwm_in_init() {
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
TIM_IC_InitTypeDef sConfigIC;
sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_BOTHEDGE;
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 15;
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 3
for (int gpio_num = 1; gpio_num <= 4; ++gpio_num) {
#else
int gpio_num = 4; {
#endif
if (is_endpoint_ref_valid(board_config.pwm_mappings[gpio_num - 1].endpoint)) {
GPIO_InitStruct.Pin = get_gpio_pin_by_pin(gpio_num);
HAL_GPIO_DeInit(get_gpio_port_by_pin(gpio_num), get_gpio_pin_by_pin(gpio_num));
HAL_GPIO_Init(get_gpio_port_by_pin(gpio_num), &GPIO_InitStruct);
HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, gpio_num_to_tim_2_5_channel(gpio_num));
HAL_TIM_IC_Start_IT(&htim5, gpio_num_to_tim_2_5_channel(gpio_num));
}
}
}
//TODO: These expressions have integer division by 1MHz, so it will be incorrect for clock speeds of not-integer MHz
#define TIM_2_5_CLOCK_HZ TIM_APB1_CLOCK_HZ
#define PWM_MIN_HIGH_TIME ((TIM_2_5_CLOCK_HZ / 1000000UL) * 1000UL) // 1ms high is considered full reverse
#define PWM_MAX_HIGH_TIME ((TIM_2_5_CLOCK_HZ / 1000000UL) * 2000UL) // 2ms high is considered full forward
#define PWM_MIN_LEGAL_HIGH_TIME ((TIM_2_5_CLOCK_HZ / 1000000UL) * 500UL) // ignore high periods shorter than 0.5ms
#define PWM_MAX_LEGAL_HIGH_TIME ((TIM_2_5_CLOCK_HZ / 1000000UL) * 2500UL) // ignore high periods longer than 2.5ms
#define PWM_INVERT_INPUT false
void handle_pulse(int gpio_num, uint32_t high_time) {
if (high_time < PWM_MIN_LEGAL_HIGH_TIME || high_time > PWM_MAX_LEGAL_HIGH_TIME)
return;
if (high_time < PWM_MIN_HIGH_TIME)
high_time = PWM_MIN_HIGH_TIME;
if (high_time > PWM_MAX_HIGH_TIME)
high_time = PWM_MAX_HIGH_TIME;
float fraction = (float)(high_time - PWM_MIN_HIGH_TIME) / (float)(PWM_MAX_HIGH_TIME - PWM_MIN_HIGH_TIME);
float value = board_config.pwm_mappings[gpio_num - 1].min +
(fraction * (board_config.pwm_mappings[gpio_num - 1].max - board_config.pwm_mappings[gpio_num - 1].min));
Endpoint* endpoint = get_endpoint(board_config.pwm_mappings[gpio_num - 1].endpoint);
if (!endpoint)
return;
endpoint->set_from_float(value);
}
void pwm_in_cb(int channel, uint32_t timestamp) {
static uint32_t last_timestamp[GPIO_COUNT] = { 0 };
static bool last_pin_state[GPIO_COUNT] = { false };
static bool last_sample_valid[GPIO_COUNT] = { false };
int gpio_num = tim_2_5_channel_num_to_gpio_num(channel);
if (gpio_num < 1 || gpio_num > GPIO_COUNT)
return;
bool current_pin_state = HAL_GPIO_ReadPin(get_gpio_port_by_pin(gpio_num), get_gpio_pin_by_pin(gpio_num)) != GPIO_PIN_RESET;
if (last_sample_valid[gpio_num - 1]
&& (last_pin_state[gpio_num - 1] != PWM_INVERT_INPUT)
&& (current_pin_state == PWM_INVERT_INPUT)) {
handle_pulse(gpio_num, timestamp - last_timestamp[gpio_num - 1]);
}
last_timestamp[gpio_num - 1] = timestamp;
last_pin_state[gpio_num - 1] = current_pin_state;
last_sample_valid[gpio_num - 1] = true;
}
/* Analog speed control input */
static void update_analog_endpoint(const struct PWMMapping_t *map, int gpio)
{
float fraction = get_adc_voltage(get_gpio_port_by_pin(gpio), get_gpio_pin_by_pin(gpio)) / 3.3f;
float value = map->min + (fraction * (map->max - map->min));
get_endpoint(map->endpoint)->set_from_float(value);
}
static void analog_polling_thread(void *)
{
while (true) {
for (int i = 0; i < GPIO_COUNT; i++) {
struct PWMMapping_t *map = &board_config.analog_mappings[i];
if (is_endpoint_ref_valid(map->endpoint))
update_analog_endpoint(map, i + 1);
}
osDelay(10);
}
}
void start_analog_thread()
{
osThreadDef(thread_def, analog_polling_thread, osPriorityLow, 0, 4*512);
osThreadCreate(osThread(thread_def), NULL);
}
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