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mcpwm_foc.c
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/*
Copyright 2016 - 2022 Benjamin Vedder [email protected]
This file is part of the VESC firmware.
The VESC firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
The VESC firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef _GNU_SOURCE
#define _GNU_SOURCE
#endif
#include "mcpwm_foc.h"
#include "mc_interface.h"
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
#include "digital_filter.h"
#include "utils_math.h"
#include "utils_sys.h"
#include "ledpwm.h"
#include "terminal.h"
#include "encoder/encoder.h"
#include "commands.h"
#include "timeout.h"
#include "timer.h"
#include <math.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include "virtual_motor.h"
#include "foc_math.h"
// Private variables
static volatile bool m_dccal_done = false;
static volatile float m_last_adc_isr_duration;
static volatile bool m_init_done = false;
static volatile motor_all_state_t m_motor_1;
#ifdef HW_HAS_DUAL_MOTORS
static volatile motor_all_state_t m_motor_2;
#endif
static volatile int m_isr_motor = 0;
// Private functions
static void control_current(motor_all_state_t *motor, float dt);
static void update_valpha_vbeta(motor_all_state_t *motor, float mod_alpha, float mod_beta);
static void stop_pwm_hw(motor_all_state_t *motor);
static void start_pwm_hw(motor_all_state_t *motor);
static void full_brake_hw(motor_all_state_t *motor);
static void terminal_plot_hfi(int argc, const char **argv);
static void timer_update(motor_all_state_t *motor, float dt);
static void hfi_update(volatile motor_all_state_t *motor, float dt);
// Threads
static THD_WORKING_AREA(timer_thread_wa, 512);
static THD_FUNCTION(timer_thread, arg);
static volatile bool timer_thd_stop;
static THD_WORKING_AREA(hfi_thread_wa, 512);
static THD_FUNCTION(hfi_thread, arg);
static volatile bool hfi_thd_stop;
static THD_WORKING_AREA(pid_thread_wa, 256);
static THD_FUNCTION(pid_thread, arg);
static volatile bool pid_thd_stop;
// Macros
#ifdef HW_HAS_3_SHUNTS
#define TIMER_UPDATE_DUTY_M1(duty1, duty2, duty3) \
TIM1->CR1 |= TIM_CR1_UDIS; \
TIM1->CCR1 = duty1; \
TIM1->CCR2 = duty2; \
TIM1->CCR3 = duty3; \
TIM1->CR1 &= ~TIM_CR1_UDIS;
#define TIMER_UPDATE_DUTY_M2(duty1, duty2, duty3) \
TIM8->CR1 |= TIM_CR1_UDIS; \
TIM8->CCR1 = duty1; \
TIM8->CCR2 = duty2; \
TIM8->CCR3 = duty3; \
TIM8->CR1 &= ~TIM_CR1_UDIS;
#else
#define TIMER_UPDATE_DUTY_M1(duty1, duty2, duty3) \
TIM1->CR1 |= TIM_CR1_UDIS; \
TIM1->CCR1 = duty1; \
TIM1->CCR2 = duty3; \
TIM1->CCR3 = duty2; \
TIM1->CR1 &= ~TIM_CR1_UDIS;
#define TIMER_UPDATE_DUTY_M2(duty1, duty2, duty3) \
TIM8->CR1 |= TIM_CR1_UDIS; \
TIM8->CCR1 = duty1; \
TIM8->CCR2 = duty3; \
TIM8->CCR3 = duty2; \
TIM8->CR1 &= ~TIM_CR1_UDIS;
#endif
#define TIMER_UPDATE_SAMP(samp) \
TIM2->CCR2 = (samp / 2);
#define TIMER_UPDATE_SAMP_TOP_M1(samp, top) \
TIM1->CR1 |= TIM_CR1_UDIS; \
TIM2->CR1 |= TIM_CR1_UDIS; \
TIM1->ARR = top; \
TIM2->CCR2 = samp / 2; \
TIM1->CR1 &= ~TIM_CR1_UDIS; \
TIM2->CR1 &= ~TIM_CR1_UDIS;
#define TIMER_UPDATE_SAMP_TOP_M2(samp, top) \
TIM8->CR1 |= TIM_CR1_UDIS; \
TIM2->CR1 |= TIM_CR1_UDIS; \
TIM8->ARR = top; \
TIM2->CCR2 = samp / 2; \
TIM8->CR1 &= ~TIM_CR1_UDIS; \
TIM2->CR1 &= ~TIM_CR1_UDIS;
// #define M_MOTOR: For single motor compilation, expands to &m_motor_1.
// For dual motors, expands to &m_motor_1 or _2, depending on is_second_motor.
#ifdef HW_HAS_DUAL_MOTORS
#define M_MOTOR(is_second_motor) (is_second_motor ? &m_motor_2 : &m_motor_1)
#else
#define M_MOTOR(is_second_motor) (((void)is_second_motor), &m_motor_1)
#endif
static void update_hfi_samples(foc_hfi_samples samples, volatile motor_all_state_t *motor) {
utils_sys_lock_cnt();
memset((void*)&motor->m_hfi, 0, sizeof(motor->m_hfi));
switch (samples) {
case HFI_SAMPLES_8:
motor->m_hfi.samples = 8;
motor->m_hfi.table_fact = 4;
motor->m_hfi.fft_bin0_func = utils_fft8_bin0;
motor->m_hfi.fft_bin1_func = utils_fft8_bin1;
motor->m_hfi.fft_bin2_func = utils_fft8_bin2;
break;
case HFI_SAMPLES_16:
motor->m_hfi.samples = 16;
motor->m_hfi.table_fact = 2;
motor->m_hfi.fft_bin0_func = utils_fft16_bin0;
motor->m_hfi.fft_bin1_func = utils_fft16_bin1;
motor->m_hfi.fft_bin2_func = utils_fft16_bin2;
break;
case HFI_SAMPLES_32:
motor->m_hfi.samples = 32;
motor->m_hfi.table_fact = 1;
motor->m_hfi.fft_bin0_func = utils_fft32_bin0;
motor->m_hfi.fft_bin1_func = utils_fft32_bin1;
motor->m_hfi.fft_bin2_func = utils_fft32_bin2;
break;
}
utils_sys_unlock_cnt();
}
#pragma GCC push_options
#pragma GCC optimize ("Os")
static void timer_reinit(int f_zv) {
utils_sys_lock_cnt();
TIM_DeInit(TIM1);
TIM_DeInit(TIM8);
TIM_DeInit(TIM2);
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
TIM1->CNT = 0;
TIM2->CNT = 0;
TIM8->CNT = 0;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned1;
TIM_TimeBaseStructure.TIM_Period = (SYSTEM_CORE_CLOCK / f_zv);
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse = TIM1->ARR / 2;
#ifndef INVERTED_TOP_DRIVER_INPUT
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; // gpio high = top fets on
#else
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low;
#endif
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
#ifndef INVERTED_BOTTOM_DRIVER_INPUT
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High; // gpio high = bottom fets on
#else
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low;
#endif
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
TIM_OC4Init(TIM1, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable);
TIM_OC1Init(TIM8, &TIM_OCInitStructure);
TIM_OC2Init(TIM8, &TIM_OCInitStructure);
TIM_OC3Init(TIM8, &TIM_OCInitStructure);
TIM_OC4Init(TIM8, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM8, TIM_OCPreload_Enable);
TIM_OC4PreloadConfig(TIM8, TIM_OCPreload_Enable);
// Automatic Output enable, Break, dead time and lock configuration
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = conf_general_calculate_deadtime(HW_DEAD_TIME_NSEC, SYSTEM_CORE_CLOCK);
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
#ifdef HW_USE_BRK
// Enable BRK function. Hardware will asynchronously stop any PWM activity upon an
// external fault signal. PWM outputs remain disabled until MCU is reset.
// software will catch the BRK flag to report the fault code
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;
#else
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
#endif
TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
TIM_CCPreloadControl(TIM1, ENABLE);
TIM_ARRPreloadConfig(TIM1, ENABLE);
TIM_BDTRConfig(TIM8, &TIM_BDTRInitStructure);
TIM_CCPreloadControl(TIM8, ENABLE);
TIM_ARRPreloadConfig(TIM8, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 250;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;
TIM_OC1Init(TIM2, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC2Init(TIM2, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_OC3Init(TIM2, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM2, ENABLE);
TIM_CCPreloadControl(TIM2, ENABLE);
// PWM outputs have to be enabled in order to trigger ADC on CCx
TIM_CtrlPWMOutputs(TIM2, ENABLE);
#if defined HW_HAS_DUAL_MOTORS || defined HW_HAS_DUAL_PARALLEL
// See: https://www.cnblogs.com/shangdawei/p/4758988.html
TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Enable);
TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);
TIM_SelectInputTrigger(TIM8, TIM_TS_ITR0);
TIM_SelectSlaveMode(TIM8, TIM_SlaveMode_Trigger);
TIM_SelectOutputTrigger(TIM8, TIM_TRGOSource_Enable);
TIM_SelectOutputTrigger(TIM8, TIM_TRGOSource_Update);
TIM_SelectInputTrigger(TIM2, TIM_TS_ITR1);
TIM_SelectSlaveMode(TIM2, TIM_SlaveMode_Reset);
#else
TIM_SelectOutputTrigger(TIM1, TIM_TRGOSource_Update);
TIM_SelectMasterSlaveMode(TIM1, TIM_MasterSlaveMode_Enable);
TIM_SelectInputTrigger(TIM2, TIM_TS_ITR0);
TIM_SelectSlaveMode(TIM2, TIM_SlaveMode_Reset);
#endif
#ifdef HW_HAS_DUAL_MOTORS
TIM8->CNT = TIM1->ARR;
#else
TIM8->CNT = 0;
#endif
TIM1->CNT = 0;
TIM_Cmd(TIM1, ENABLE);
TIM_Cmd(TIM2, ENABLE);
// Prevent all low side FETs from switching on
stop_pwm_hw((motor_all_state_t*)&m_motor_1);
#ifdef HW_HAS_DUAL_MOTORS
stop_pwm_hw((motor_all_state_t*)&m_motor_2);
#endif
TIM_CtrlPWMOutputs(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM8, ENABLE);
TIMER_UPDATE_SAMP(MCPWM_FOC_CURRENT_SAMP_OFFSET);
// Enable CC2 interrupt, which will be fired in V0 and V7
TIM_ITConfig(TIM2, TIM_IT_CC2, ENABLE);
utils_sys_unlock_cnt();
nvicEnableVector(TIM2_IRQn, 6);
}
static void init_audio_state(volatile mc_audio_state *s) {
memset((void*)s, 0, sizeof(mc_audio_state));
s->mode = MC_AUDIO_OFF;
for (int i = 0;i < MC_AUDIO_CHANNELS;i++) {
s->table[i] = utils_tab_sin_32_1;
s->table_len[i] = 32;
s->table_voltage[i] = 0.0;
s->table_freq[i] = 1000.0;
s->table_pos[i] = 0.0;
}
}
void mcpwm_foc_init(mc_configuration *conf_m1, mc_configuration *conf_m2) {
utils_sys_lock_cnt();
#ifndef HW_HAS_DUAL_MOTORS
(void)conf_m2;
#endif
m_init_done = false;
memset((void*)&m_motor_1, 0, sizeof(motor_all_state_t));
m_isr_motor = 0;
m_motor_1.m_conf = conf_m1;
m_motor_1.m_state = MC_STATE_OFF;
m_motor_1.m_control_mode = CONTROL_MODE_NONE;
m_motor_1.m_hall_dt_diff_last = 1.0;
m_motor_1.m_hall_dt_diff_now = 1.0;
m_motor_1.m_ang_hall_int_prev = -1;
foc_precalc_values((motor_all_state_t*)&m_motor_1);
update_hfi_samples(m_motor_1.m_conf->foc_hfi_samples, &m_motor_1);
init_audio_state(&m_motor_1.m_audio);
#ifdef HW_HAS_DUAL_MOTORS
memset((void*)&m_motor_2, 0, sizeof(motor_all_state_t));
m_motor_2.m_conf = conf_m2;
m_motor_2.m_state = MC_STATE_OFF;
m_motor_2.m_control_mode = CONTROL_MODE_NONE;
m_motor_2.m_hall_dt_diff_last = 1.0;
m_motor_2.m_hall_dt_diff_now = 1.0;
m_motor_2.m_ang_hall_int_prev = -1;
foc_precalc_values((motor_all_state_t*)&m_motor_2);
update_hfi_samples(m_motor_2.m_conf->foc_hfi_samples, &m_motor_2);
init_audio_state(&m_motor_2.m_audio);
#endif
virtual_motor_init(conf_m1);
TIM_DeInit(TIM1);
TIM_DeInit(TIM2);
TIM_DeInit(TIM8);
TIM1->CNT = 0;
TIM2->CNT = 0;
TIM8->CNT = 0;
ADC_CommonInitTypeDef ADC_CommonInitStructure;
DMA_InitTypeDef DMA_InitStructure;
ADC_InitTypeDef ADC_InitStructure;
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2 | RCC_AHB1Periph_GPIOA | RCC_AHB1Periph_GPIOC, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2 | RCC_APB2Periph_ADC3, ENABLE);
dmaStreamAllocate(STM32_DMA_STREAM(STM32_DMA_STREAM_ID(2, 4)),
5,
(stm32_dmaisr_t)mcpwm_foc_adc_int_handler,
(void *)0);
DMA_InitStructure.DMA_Channel = DMA_Channel_0;
DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&ADC_Value;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC->CDR;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
DMA_InitStructure.DMA_BufferSize = HW_ADC_CHANNELS;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable;
DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull;
DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single;
DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
DMA_Init(DMA2_Stream4, &DMA_InitStructure);
DMA_Cmd(DMA2_Stream4, ENABLE);
// Note: The half transfer interrupt is used as we already have all current and voltage
// samples by then and we can start processing them. Entering the interrupt earlier gives
// more cycles to finish it and update the timer before the next zero vector. This helps
// at higher f_zv. Only use this if the three first samples are current samples.
#if ADC_IND_CURR1 < 3 && ADC_IND_CURR2 < 3 && ADC_IND_CURR3 < 3
DMA_ITConfig(DMA2_Stream4, DMA_IT_HT, ENABLE);
#else
DMA_ITConfig(DMA2_Stream4, DMA_IT_TC, ENABLE);
#endif
// Note that the ADC is running at 42MHz, which is higher than the
// specified 36MHz in the data sheet, but it works.
ADC_CommonInitStructure.ADC_Mode = ADC_TripleMode_RegSimult;
ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div2;
ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_1;
ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles;
ADC_CommonInit(&ADC_CommonInitStructure);
ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b;
ADC_InitStructure.ADC_ScanConvMode = ENABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_Falling;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T2_CC2;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfConversion = HW_ADC_NBR_CONV;
ADC_Init(ADC1, &ADC_InitStructure);
ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None;
ADC_InitStructure.ADC_ExternalTrigConv = 0;
ADC_Init(ADC2, &ADC_InitStructure);
ADC_Init(ADC3, &ADC_InitStructure);
ADC_TempSensorVrefintCmd(ENABLE);
ADC_MultiModeDMARequestAfterLastTransferCmd(ENABLE);
hw_setup_adc_channels();
ADC_Cmd(ADC1, ENABLE);
ADC_Cmd(ADC2, ENABLE);
ADC_Cmd(ADC3, ENABLE);
timer_reinit((int)m_motor_1.m_conf->foc_f_zv);
stop_pwm_hw((motor_all_state_t*)&m_motor_1);
#ifdef HW_HAS_DUAL_MOTORS
stop_pwm_hw((motor_all_state_t*)&m_motor_2);
#endif
utils_sys_unlock_cnt();
CURRENT_FILTER_ON();
CURRENT_FILTER_ON_M2();
ENABLE_GATE();
DCCAL_OFF();
#ifdef HW_USE_ALTERNATIVE_DC_CAL
m_dccal_done = true;
#else
if (m_motor_1.m_conf->foc_offsets_cal_mode & (1 << 0)) {
systime_t cal_start_time = chVTGetSystemTimeX();
float cal_start_timeout = 10.0;
// Wait for input voltage to rise above minimum voltage
while (mc_interface_get_input_voltage_filtered() < m_motor_1.m_conf->l_min_vin) {
chThdSleepMilliseconds(1);
if (UTILS_AGE_S(cal_start_time) >= cal_start_timeout) {
m_dccal_done = true;
break;
}
}
// Wait for input voltage to settle
if (!m_dccal_done) {
float v_in_last = mc_interface_get_input_voltage_filtered();
systime_t v_in_stable_time = chVTGetSystemTimeX();
while (UTILS_AGE_S(v_in_stable_time) < 2.0) {
chThdSleepMilliseconds(1);
float v_in_now = mc_interface_get_input_voltage_filtered();
if (fabsf(v_in_now - v_in_last) > 1.5) {
v_in_last = v_in_now;
v_in_stable_time = chVTGetSystemTimeX();
}
if (UTILS_AGE_S(cal_start_time) >= cal_start_timeout) {
m_dccal_done = true;
break;
}
}
}
// Wait for fault codes to go away
if (!m_dccal_done) {
while (mc_interface_get_fault() != FAULT_CODE_NONE) {
chThdSleepMilliseconds(1);
if (UTILS_AGE_S(cal_start_time) >= cal_start_timeout) {
m_dccal_done = true;
break;
}
}
}
if (!m_dccal_done) {
m_motor_1.m_conf->foc_offsets_voltage[0] = MCCONF_FOC_OFFSETS_VOLTAGE_0;
m_motor_1.m_conf->foc_offsets_voltage[1] = MCCONF_FOC_OFFSETS_VOLTAGE_1;
m_motor_1.m_conf->foc_offsets_voltage[2] = MCCONF_FOC_OFFSETS_VOLTAGE_2;
m_motor_1.m_conf->foc_offsets_voltage_undriven[0] = MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_0;
m_motor_1.m_conf->foc_offsets_voltage_undriven[1] = MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_1;
m_motor_1.m_conf->foc_offsets_voltage_undriven[2] = MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_2;
m_motor_1.m_conf->foc_offsets_current[0] = MCCONF_FOC_OFFSETS_CURRENT_0;
m_motor_1.m_conf->foc_offsets_current[1] = MCCONF_FOC_OFFSETS_CURRENT_1;
m_motor_1.m_conf->foc_offsets_current[2] = MCCONF_FOC_OFFSETS_CURRENT_2;
#ifdef HW_HAS_DUAL_MOTORS
m_motor_2.m_conf->foc_offsets_voltage[0] = MCCONF_FOC_OFFSETS_VOLTAGE_0;
m_motor_2.m_conf->foc_offsets_voltage[1] = MCCONF_FOC_OFFSETS_VOLTAGE_1;
m_motor_2.m_conf->foc_offsets_voltage[2] = MCCONF_FOC_OFFSETS_VOLTAGE_2;
m_motor_2.m_conf->foc_offsets_voltage_undriven[0] = MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_0;
m_motor_2.m_conf->foc_offsets_voltage_undriven[1] = MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_1;
m_motor_2.m_conf->foc_offsets_voltage_undriven[2] = MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_2;
m_motor_2.m_conf->foc_offsets_current[0] = MCCONF_FOC_OFFSETS_CURRENT_0;
m_motor_2.m_conf->foc_offsets_current[1] = MCCONF_FOC_OFFSETS_CURRENT_1;
m_motor_2.m_conf->foc_offsets_current[2] = MCCONF_FOC_OFFSETS_CURRENT_2;
#endif
mcpwm_foc_dc_cal(false);
}
} else {
m_dccal_done = true;
}
#endif
// Start threads
timer_thd_stop = false;
chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
hfi_thd_stop = false;
chThdCreateStatic(hfi_thread_wa, sizeof(hfi_thread_wa), NORMALPRIO, hfi_thread, NULL);
pid_thd_stop = false;
chThdCreateStatic(pid_thread_wa, sizeof(pid_thread_wa), NORMALPRIO, pid_thread, NULL);
// Check if the system has resumed from IWDG reset and generate fault if it has. This can be used to
// tell if some frozen thread caused a watchdog reset. Note that this also will trigger after running
// the bootloader and after the reset command.
if (timeout_had_IWDG_reset()) {
mc_interface_fault_stop(FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET, false, false);
}
terminal_register_command_callback(
"foc_plot_hfi_en",
"Enable HFI plotting. 0: off, 1: DFT, 2: Raw",
"[en]",
terminal_plot_hfi);
m_init_done = true;
}
void mcpwm_foc_deinit(void) {
if (!m_init_done) {
return;
}
m_init_done = false;
timer_thd_stop = true;
while (timer_thd_stop) {
chThdSleepMilliseconds(1);
}
hfi_thd_stop = true;
while (hfi_thd_stop) {
chThdSleepMilliseconds(1);
}
pid_thd_stop = true;
while (pid_thd_stop) {
chThdSleepMilliseconds(1);
}
TIM_DeInit(TIM1);
TIM_DeInit(TIM2);
TIM_DeInit(TIM8);
ADC_DeInit();
DMA_DeInit(DMA2_Stream4);
nvicDisableVector(ADC_IRQn);
dmaStreamRelease(STM32_DMA_STREAM(STM32_DMA_STREAM_ID(2, 4)));
}
static volatile motor_all_state_t *get_motor_now(void) {
#ifdef HW_HAS_DUAL_MOTORS
return mc_interface_motor_now() == 1 ? &m_motor_1 : &m_motor_2;
#else
return &m_motor_1;
#endif
}
bool mcpwm_foc_init_done(void) {
return m_init_done;
}
void mcpwm_foc_set_configuration(mc_configuration *configuration) {
get_motor_now()->m_conf = configuration;
foc_precalc_values((motor_all_state_t*)get_motor_now());
// Below we check if anything in the configuration changed that requires stopping the motor.
uint32_t top = SYSTEM_CORE_CLOCK / (int)configuration->foc_f_zv;
if (TIM1->ARR != top) {
#ifdef HW_HAS_DUAL_MOTORS
m_motor_1.m_control_mode = CONTROL_MODE_NONE;
m_motor_1.m_state = MC_STATE_OFF;
stop_pwm_hw((motor_all_state_t*)&m_motor_1);
m_motor_2.m_control_mode = CONTROL_MODE_NONE;
m_motor_2.m_state = MC_STATE_OFF;
stop_pwm_hw((motor_all_state_t*)&m_motor_2);
timer_reinit((int)configuration->foc_f_zv);
#else
get_motor_now()->m_control_mode = CONTROL_MODE_NONE;
get_motor_now()->m_state = MC_STATE_OFF;
stop_pwm_hw((motor_all_state_t*)get_motor_now());
TIMER_UPDATE_SAMP_TOP_M1(MCPWM_FOC_CURRENT_SAMP_OFFSET, top);
#ifdef HW_HAS_DUAL_PARALLEL
TIMER_UPDATE_SAMP_TOP_M2(MCPWM_FOC_CURRENT_SAMP_OFFSET, top);
#endif
#endif
}
if (((1 << get_motor_now()->m_conf->foc_hfi_samples) * 8) != get_motor_now()->m_hfi.samples) {
get_motor_now()->m_control_mode = CONTROL_MODE_NONE;
get_motor_now()->m_state = MC_STATE_OFF;
stop_pwm_hw((motor_all_state_t*)get_motor_now());
update_hfi_samples(get_motor_now()->m_conf->foc_hfi_samples, get_motor_now());
}
virtual_motor_set_configuration(configuration);
}
mc_state mcpwm_foc_get_state(void) {
return get_motor_now()->m_state;
}
mc_control_mode mcpwm_foc_control_mode(void) {
return get_motor_now()->m_control_mode;
}
bool mcpwm_foc_is_dccal_done(void) {
return m_dccal_done;
}
/**
* Get the current motor used in the mcpwm ISR
*
* @return
* 0: Not in ISR
* 1: Motor 1
* 2: Motor 2
*/
int mcpwm_foc_isr_motor(void) {
return m_isr_motor;
}
/**
* Switch off all FETs.
*/
void mcpwm_foc_stop_pwm(bool is_second_motor) {
motor_all_state_t *motor = (motor_all_state_t*)M_MOTOR(is_second_motor);
motor->m_control_mode = CONTROL_MODE_NONE;
motor->m_state = MC_STATE_OFF;
stop_pwm_hw(motor);
}
/**
* Use duty cycle control. Absolute values less than MCPWM_MIN_DUTY_CYCLE will
* stop the motor.
*
* @param dutyCycle
* The duty cycle to use
*/
void mcpwm_foc_set_duty(float dutyCycle) {
get_motor_now()->m_control_mode = CONTROL_MODE_DUTY;
get_motor_now()->m_duty_cycle_set = dutyCycle;
if (get_motor_now()->m_state != MC_STATE_RUNNING) {
get_motor_now()->m_motor_released = false;
get_motor_now()->m_state = MC_STATE_RUNNING;
}
}
/**
* Use duty cycle control. Absolute values less than MCPWM_MIN_DUTY_CYCLE will
* stop the motor.
*
* WARNING: This function does not use ramping. A too large step with a large motor
* can destroy hardware.
*
* @param dutyCycle
* The duty cycle to use.
*/
void mcpwm_foc_set_duty_noramp(float dutyCycle) {
// TODO: Actually do this without ramping
mcpwm_foc_set_duty(dutyCycle);
}
/**
* Use PID rpm control. Note that this value has to be multiplied by half of
* the number of motor poles.
*
* @param rpm
* The electrical RPM goal value to use.
*/
void mcpwm_foc_set_pid_speed(float rpm) {
volatile motor_all_state_t *motor = get_motor_now();
if (motor->m_conf->s_pid_ramp_erpms_s > 0.0 ) {
if (motor->m_control_mode != CONTROL_MODE_SPEED ||
motor->m_state != MC_STATE_RUNNING) {
motor->m_speed_pid_set_rpm = mcpwm_foc_get_rpm();
}
motor->m_speed_command_rpm = rpm;
} else {
motor->m_speed_pid_set_rpm = rpm;
}
motor->m_control_mode = CONTROL_MODE_SPEED;
if (motor->m_state != MC_STATE_RUNNING &&
fabsf(rpm) >= motor->m_conf->s_pid_min_erpm) {
motor->m_motor_released = false;
motor->m_state = MC_STATE_RUNNING;
}
}
/**
* Use PID position control. Note that this only works when encoder support
* is enabled.
*
* @param pos
* The desired position of the motor in degrees.
*/
void mcpwm_foc_set_pid_pos(float pos) {
get_motor_now()->m_control_mode = CONTROL_MODE_POS;
get_motor_now()->m_pos_pid_set = pos;
if (get_motor_now()->m_state != MC_STATE_RUNNING) {
get_motor_now()->m_motor_released = false;
get_motor_now()->m_state = MC_STATE_RUNNING;
}
}
/**
* Use current control and specify a goal current to use. The sign determines
* the direction of the torque. Absolute values less than
* conf->cc_min_current will release the motor.
*
* @param current
* The current to use.
*/
void mcpwm_foc_set_current(float current) {
volatile motor_all_state_t *motor = get_motor_now();
motor->m_control_mode = CONTROL_MODE_CURRENT;
motor->m_iq_set = current;
motor->m_id_set = 0;
if (fabsf(current) < motor->m_conf->cc_min_current) {
return;
}
if (motor->m_state != MC_STATE_RUNNING) {
motor->m_motor_released = false;
motor->m_state = MC_STATE_RUNNING;
}
}
void mcpwm_foc_release_motor(void) {
get_motor_now()->m_control_mode = CONTROL_MODE_CURRENT;
get_motor_now()->m_iq_set = 0.0;
get_motor_now()->m_id_set = 0.0;
get_motor_now()->m_motor_released = true;
}
/**
* Brake the motor with a desired current. Absolute values less than
* conf->cc_min_current will release the motor.
*
* @param current
* The current to use. Positive and negative values give the same effect.
*/
void mcpwm_foc_set_brake_current(float current) {
get_motor_now()->m_control_mode = CONTROL_MODE_CURRENT_BRAKE;
get_motor_now()->m_iq_set = current;
if (fabsf(current) < get_motor_now()->m_conf->cc_min_current) {
return;
}
if (get_motor_now()->m_state != MC_STATE_RUNNING) {
get_motor_now()->m_motor_released = false;
get_motor_now()->m_state = MC_STATE_RUNNING;
}
}
/**
* Apply a fixed static current vector in open loop to emulate an electric
* handbrake.
*
* @param current
* The brake current to use.
*/
void mcpwm_foc_set_handbrake(float current) {
get_motor_now()->m_control_mode = CONTROL_MODE_HANDBRAKE;
get_motor_now()->m_iq_set = current;
if (fabsf(current) < get_motor_now()->m_conf->cc_min_current) {
return;
}
if (get_motor_now()->m_state != MC_STATE_RUNNING) {
get_motor_now()->m_motor_released = false;
get_motor_now()->m_state = MC_STATE_RUNNING;
}
}
/**
* Produce an openloop rotating current.
*
* @param current
* The current to use.
*
* @param rpm
* The RPM to use.
*
*/
void mcpwm_foc_set_openloop_current(float current, float rpm) {
utils_truncate_number(¤t, -get_motor_now()->m_conf->l_current_max * get_motor_now()->m_conf->l_current_max_scale,
get_motor_now()->m_conf->l_current_max * get_motor_now()->m_conf->l_current_max_scale);
get_motor_now()->m_control_mode = CONTROL_MODE_OPENLOOP;
get_motor_now()->m_iq_set = current;
get_motor_now()->m_openloop_speed = RPM2RADPS_f(rpm);
if (fabsf(current) < get_motor_now()->m_conf->cc_min_current) {
return;
}
if (get_motor_now()->m_state != MC_STATE_RUNNING) {
get_motor_now()->m_motor_released = false;
get_motor_now()->m_state = MC_STATE_RUNNING;
}
}
/**
* Produce an openloop current at a fixed phase.
*
* @param current
* The current to use.
*
* @param phase
* The phase to use in degrees, range [0.0 360.0]
*/
void mcpwm_foc_set_openloop_phase(float current, float phase) {
utils_truncate_number(¤t, -get_motor_now()->m_conf->l_current_max * get_motor_now()->m_conf->l_current_max_scale,
get_motor_now()->m_conf->l_current_max * get_motor_now()->m_conf->l_current_max_scale);
get_motor_now()->m_control_mode = CONTROL_MODE_OPENLOOP_PHASE;
get_motor_now()->m_id_set = current;
get_motor_now()->m_iq_set = 0;
get_motor_now()->m_openloop_phase = DEG2RAD_f(phase);
utils_norm_angle_rad((float*)&get_motor_now()->m_openloop_phase);
if (fabsf(current) < get_motor_now()->m_conf->cc_min_current) {
return;
}
if (get_motor_now()->m_state != MC_STATE_RUNNING) {
get_motor_now()->m_motor_released = false;
get_motor_now()->m_state = MC_STATE_RUNNING;
}
}
/**
* Get current offsets,
* this is used by the virtual motor to save the current offsets,
* when it is connected
*/
void mcpwm_foc_get_current_offsets(
volatile float *curr0_offset,
volatile float *curr1_offset,
volatile float *curr2_offset,
bool is_second_motor) {
volatile motor_all_state_t *motor = M_MOTOR(is_second_motor);
*curr0_offset = motor->m_conf->foc_offsets_current[0];
*curr1_offset = motor->m_conf->foc_offsets_current[1];
*curr2_offset = motor->m_conf->foc_offsets_current[2];
}
/**
* Set current offsets values,
* this is used by the virtual motor to set the previously saved offsets back,
* when it is disconnected
*/
void mcpwm_foc_set_current_offsets(volatile float curr0_offset,
volatile float curr1_offset,
volatile float curr2_offset) {
get_motor_now()->m_conf->foc_offsets_current[0] = curr0_offset;
get_motor_now()->m_conf->foc_offsets_current[1] = curr1_offset;
get_motor_now()->m_conf->foc_offsets_current[2] = curr2_offset;
}
void mcpwm_foc_get_voltage_offsets(
float *v0_offset,
float *v1_offset,
float *v2_offset,
bool is_second_motor) {
volatile motor_all_state_t *motor = M_MOTOR(is_second_motor);
*v0_offset = motor->m_conf->foc_offsets_voltage[0];
*v1_offset = motor->m_conf->foc_offsets_voltage[1];
*v2_offset = motor->m_conf->foc_offsets_voltage[2];
}
void mcpwm_foc_get_voltage_offsets_undriven(
float *v0_offset,
float *v1_offset,
float *v2_offset,
bool is_second_motor) {
volatile motor_all_state_t *motor = M_MOTOR(is_second_motor);
*v0_offset = motor->m_conf->foc_offsets_voltage_undriven[0];
*v1_offset = motor->m_conf->foc_offsets_voltage_undriven[1];
*v2_offset = motor->m_conf->foc_offsets_voltage_undriven[2];
}
void mcpwm_foc_get_currents_adc(
float *ph0,
float *ph1,
float *ph2,
bool is_second_motor) {
volatile motor_all_state_t *motor = M_MOTOR(is_second_motor);
*ph0 = motor->m_currents_adc[0];
*ph1 = motor->m_currents_adc[1];
*ph2 = motor->m_currents_adc[2];
}
/**
* Produce an openloop rotating voltage.
*
* @param dutyCycle
* The duty cycle to use.
*
* @param rpm
* The RPM to use.
*/
void mcpwm_foc_set_openloop_duty(float dutyCycle, float rpm) {
get_motor_now()->m_control_mode = CONTROL_MODE_OPENLOOP_DUTY;
get_motor_now()->m_duty_cycle_set = dutyCycle;
get_motor_now()->m_openloop_speed = RPM2RADPS_f(rpm);
if (get_motor_now()->m_state != MC_STATE_RUNNING) {
get_motor_now()->m_motor_released = false;
get_motor_now()->m_state = MC_STATE_RUNNING;
}
}
/**
* Produce an openloop voltage at a fixed phase.
*
* @param dutyCycle
* The duty cycle to use.
*