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ppm test

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This commit is contained in:
Rene Hopf
2017-11-07 15:31:32 +01:00
parent 528e71b910
commit e6a8ae1be8
8 changed files with 177 additions and 32 deletions
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38
shared/comps/d.c Normal file
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@@ -0,0 +1,38 @@
#include "commands.h"
#include "hal.h"
#include "math.h"
#include "defines.h"
#include "angle.h"
HAL_COMP(d);
HAL_PIN(pwm_volt);//max volt in
HAL_PIN(uq);//volt in
HAL_PIN(limit);//voltage limit
HAL_PIN(id);//d current out
HAL_PIN(p);//gain
static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
// struct rev_ctx_t * ctx = (struct rev_ctx_t *)ctx_ptr;
struct d_pin_ctx_t *pins = (struct d_pin_ctx_t *)pin_ptr;
float reserve = PIN(pwm_volt) - ABS(PIN(uq)) - PIN(limit);
if(reserve <= 0){
PIN(id) = reserve * PIN(p);
}else{
PIN(id) = 0;
}
}
hal_comp_t d_comp_struct = {
.name = "d",
.nrt = 0,
.rt = rt_func,
.frt = 0,
.nrt_init = 0,
.rt_start = 0,
.frt_start = 0,
.rt_stop = 0,
.frt_stop = 0,
.ctx_size = 0,
.pin_count = sizeof(struct d_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
};

4
shared/hal.h
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@@ -22,8 +22,8 @@
#include <stdint.h>
#include <stdio.h>
#define HAL_CALC_TIME
#define HAL_COMP_CALC_TIME
//#define HAL_CALC_TIME
//#define HAL_COMP_CALC_TIME
//#define HAL_WATCHDOG
#ifndef HAL_MAX_PINS

10
stm32f303/Makefile
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@@ -31,11 +31,11 @@ SOURCES += stm32f303/src/hal_tbl.c
CFLAGS += -DHAL_MAX_CTX=1024
COMPS += stm32f303/src/comps/hv.c
COMPS += stm32f303/src/comps/hvdc.c
# COMPS += stm32f303/src/comps/hvdc.c
COMPS += stm32f303/src/comps/io.c
COMPS += stm32f303/src/comps/ls.c
COMPS += stm32f303/src/comps/enc.c
COMPS += stm32f303/src/comps/uart.c
# COMPS += stm32f303/src/comps/ls.c
COMPS += stm32f303/src/comps/ppm.c
# COMPS += stm32f303/src/comps/uart.c
COMPS += shared/comps/sim.c
COMPS += shared/comps/term.c
@@ -242,7 +242,7 @@ showsize: build
btburn: build showsize $(TARGET).dfu
@tools/bootloader.py
@sleep 1
@dfu-util -d 0483:df11 -a 0 -s 0x8004000:leave -D $(TARGET).dfu
@dfu-util -d 0483:df11 -a 0 -s 0x8000000:leave -D $(TARGET).dfu
flash: $(TARGET).bin
st-flash --reset write $(TARGET).bin 0x8004000

15
stm32f303/src/comps/hv.c
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@@ -86,13 +86,14 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
temp_error = 0;
}
if(PIN(mot_temp) > 110.0) {
mot_error = 1;
}
if(PIN(mot_temp) < 85.0) {
mot_error = 0;
}
// if(PIN(mot_temp) > 110.0) {
// mot_error = 1;
// }
//
// if(PIN(mot_temp) < 85.0) {
// mot_error = 0;
// }
mot_error = 0;
if(PIN(en) > 0.0 && !temp_error && !mot_error){
TIM8->BDTR |= TIM_BDTR_MOE; // on

22
stm32f303/src/comps/io.c
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@@ -144,21 +144,21 @@ static void rt_func(float period, volatile void * ctx_ptr, volatile hal_pin_inst
PIN(iw) = -AMP((float)(a12 & 0xFFFF) / 5.0, SHUNT_GAIN) + ctx->w_offset; // 1u
PIN(iu) = -AMP((float)(a12 >> 16) / 5.0, SHUNT_GAIN) + ctx->u_offset;
PIN(iv) = -AMP((float)(a34 & 0xFFFF) / 5.0, SHUNT_GAIN) + ctx->v_offset;
PIN(w) = VOLT(adc_12_buf[5] & 0xFFFF) * 0.05 + PIN(w) * 0.95; // 0.6u
PIN(v) = VOLT(adc_12_buf[5] >> 16) * 0.05 + PIN(v) * 0.95;
PIN(u) = VOLT(adc_34_buf[5] & 0xFFFF) * 0.05 + PIN(u) * 0.95;
//PIN(w) = VOLT(adc_12_buf[5] & 0xFFFF) * 0.05 + PIN(w) * 0.95; // 0.6u
//PIN(v) = VOLT(adc_12_buf[5] >> 16) * 0.05 + PIN(v) * 0.95;
//PIN(u) = VOLT(adc_34_buf[5] & 0xFFFF) * 0.05 + PIN(u) * 0.95;
PIN(udc) = VOLT(adc_34_buf[5] >> 16) * 0.05 + PIN(udc) * 0.95;
PIN(udc_pwm) = PIN(udc) / 2.0;
PIN(temp_v) = ADC(adc_34_buf[4] >> 16);
toggle = !toggle;
if (toggle) {
// PIN(temp_v) = ADC(adc_34_buf[4] >> 16);
// toggle = !toggle;
// if (toggle) {
PIN(hv_temp) = r2temp(HV_R(ADC(adc_34_buf[4] >> 16))) * 0.01 + PIN(hv_temp) * 0.99; // 5.5u
}
else {
PIN(mot_temp) = r2temp(HV_R(ADC(adc_34_buf[1] >> 16))) * 0.01 + PIN(mot_temp) * 0.99; // 5.5u//MOT_R(MOT_REF(ADC(adc_34_buf[0] >> 16))); // 1.4u
}
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, PIN(led) > 0 ? GPIO_PIN_SET : GPIO_PIN_RESET); // 0.1u
// }
// else {
// PIN(mot_temp) = r2temp(HV_R(ADC(adc_34_buf[1] >> 16))) * 0.01 + PIN(mot_temp) * 0.99; // 5.5u//MOT_R(MOT_REF(ADC(adc_34_buf[0] >> 16))); // 1.4u
// }
//HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, PIN(led) > 0 ? GPIO_PIN_SET : GPIO_PIN_RESET); // 0.1u
PIN(in0) = HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_8);
PIN(in1) = HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_9);

105
stm32f303/src/comps/ppm.c Normal file
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@@ -0,0 +1,105 @@
#include "commands.h"
#include "hal.h"
#include "math.h"
#include "defines.h"
#include "angle.h"
#include "stm32f3xx_hal.h"
HAL_COMP(ppm);
HAL_PIN(pos);
HAL_PIN(a);
HAL_PIN(b);
HAL_PIN(cnt);
HAL_PIN(c1);
HAL_PIN(c2);
HAL_PIN(diff);
HAL_PIN(out);
HAL_PIN(zero);
HAL_PIN(max);
HAL_PIN(en);
HAL_PIN(gain);
float timeout = 100;
static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
// struct ppm_ctx_t * ctx = (struct ppm_ctx_t *)ctx_ptr;
struct ppm_pin_ctx_t * pins = (struct ppm_pin_ctx_t *)pin_ptr;
__HAL_RCC_TIM2_CLK_ENABLE();
/**TIM1 GPIO Configuration
PB10,tx ------> TIM2_CH3
PA11,rx ------> TIM2_CH4
*/
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = GPIO_PIN_10 | GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
// TIM_encoder_InitTypeDef sConfig;
// TIM_MasterConfigTypeDef sMasterConfig;
TIM_HandleTypeDef htim2;
htim2.Instance = TIM2;
htim2.Init.Prescaler = 10;
htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
htim2.Init.Period = 65535;
htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV4;
htim2.Init.RepetitionCounter = 0;
HAL_TIM_Base_Init(&htim2);
TIM2->CCMR2 |= TIM_CCMR2_CC3S_0 | TIM_CCMR2_CC4S_1;
TIM2->CCER |= TIM_CCER_CC3E | TIM_CCER_CC4E | TIM_CCER_CC4P;
//TIM2->SMCR |= TIM_SMCR_TS_2 | TIM_SMCR_TS_0 | TIM_SMCR_SMS_2;
TIM2->CR1 |= TIM_CR1_CEN;
PIN(zero) = 32125;
PIN(max) = 3350;
PIN(gain) = 20;
}
//diff:
// 28956.000000
// 32045.000000
// 35317.000000
static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
// struct ppm_ctx_t * ctx = (struct ppm_ctx_t *)ctx_ptr;
struct ppm_pin_ctx_t *pins = (struct ppm_pin_ctx_t *)pin_ptr;
PIN(cnt) = TIM2->CNT;
if((TIM2->SR & TIM_SR_CC3IF) && (TIM2->SR & TIM_SR_CC4IF)){
PIN(c1) = TIM2->CCR3;
PIN(c2) = TIM2->CCR4;
float diff = PIN(c2) - PIN(c1);
if(diff < 0){
diff += 65535;
}
if(diff > 28000 && diff < 36000){
PIN(diff) = diff;
PIN(out) = ((diff-PIN(zero))/PIN(max))*PIN(gain);
timeout = 0;
PIN(en) = 1;
}
}
if(timeout > 0.5){
PIN(en) = 0;
PIN(out) = 0;
}
timeout += 0.0001;
}
hal_comp_t ppm_comp_struct = {
.name = "ppm",
.nrt = 0,
.rt = rt_func,
.frt = 0,
.nrt_init = nrt_init,
.rt_start = 0,
.frt_start = 0,
.rt_stop = 0,
.frt_stop = 0,
.ctx_size = 0,
.pin_count = sizeof(struct ppm_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
};

13
stm32f303/src/main.c
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@@ -227,10 +227,10 @@ int main(void) {
load_comp(comp_by_name("hv"));
load_comp(comp_by_name("uvw"));
load_comp(comp_by_name("curpid"));
load_comp(comp_by_name("uart"));
load_comp(comp_by_name("ppm"));
hal_parse("term0.rt_prio = 0.1");
hal_parse("uart0.rt_prio = 0.2");
hal_parse("ppm0.rt_prio = 0.2");
hal_parse("ls0.rt_prio = 0.6");
hal_parse("io0.rt_prio = 1.0");
@@ -251,7 +251,8 @@ int main(void) {
hal_parse("term0.gain6 = 10.0");
hal_parse("term0.gain7 = 10.0");
hal_parse("curpid0.max_cur = 100.0");
hal_parse("curpid0.max_cur = 80.0");
hal_parse("ppm0.gain = 80.0");
//link LS
hal_parse("ls0.mot_temp = io0.mot_temp");
@@ -324,9 +325,9 @@ int main(void) {
hal_parse("idq0.mode = 2.0");
hal_parse("dq0.mode = 2.0");
hal_parse("curpid0.iq_cmd = uart0.current");
hal_parse("hv0.en = uart0.en");
hal_parse("curpid0.en = uart0.en");
hal_parse("curpid0.iq_cmd = ppm0.out");
hal_parse("hv0.en = ppm0.en");
hal_parse("curpid0.en = ppm0.en");
hal_parse("uart0.rpm = uvw0.rpm");
hal_parse("uart0.iabs = curpid0.iq_fb");

2
toolchain.mak
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@@ -1,5 +1,5 @@
# Define programs and commands for the toolchain
TOOLCHAIN = /home/niklas/gcc-arm-none-eabi-5_4-2016q3/bin/arm-none-eabi-
TOOLCHAIN = arm-none-eabi-
CC = $(TOOLCHAIN)gcc
OBJCOPY = $(TOOLCHAIN)objcopy
OBJDUMP = $(TOOLCHAIN)objdump