firmware defines

firmware/src/clock.c

@@ -0,0 +1,50 @@
+#include "pins_arduino.h"
+
+/**
+  * @brief System Clock Configuration
+  * @retval None
+  */
+void SystemClock_Config(void)
+{
+  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
+  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
+
+  /** Configure the main internal regulator output voltage
+  */
+  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);
+
+  /** Initializes the RCC Oscillators according to the specified parameters
+  * in the RCC_OscInitTypeDef structure.
+  */
+  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_HSI48
+                              |RCC_OSCILLATORTYPE_HSE;
+  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
+  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
+  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
+  RCC_OscInitStruct.HSI48State = RCC_HSI48_ON;
+  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
+  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
+  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV1;
+  RCC_OscInitStruct.PLL.PLLN = 28;
+  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
+  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV8;
+  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
+  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
+  {
+    Error_Handler();
+  }
+
+  /** Initializes the CPU, AHB and APB buses clocks
+  */
+  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
+                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
+  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
+  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
+  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
+  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
+
+  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
+  {
+    Error_Handler();
+  }
+}

firmware/src/main.cpp

@@ -0,0 +1,163 @@
+#include <Arduino.h>
+#include <EEPROM.h>
+#include <SPI.h>
+
+#include <SimpleFOC.h>
+#include <SimpleFOCDrivers.h>
+#include "encoders/MT6835/MagneticSensorMT6835.h"
+
+#include "stm32g4xx_hal_conf.h"
+#include "stm32g4xx_hal_fdcan.h"
+
+#include "can.h"
+#include "dfu.h"
+#include "lemon-pepper.h"
+
+#define USBD_MANUFACTURER_STRING     	"matei repair lab"
+#define USBD_PRODUCT_STRING_FS     		"lemon-pepper-stepper"
+
+// board specific data
+typedef struct
+{
+	uint16_t signature;
+	int8_t electricalDir;
+	float electricalZero;
+	uint8_t canID;
+}userData;
+
+userData boardData;
+const uint16_t magicWord = 0xAF0C;
+
+// canbus things
+extern uint8_t TxData[8];
+extern uint8_t RxData[8];
+
+// simpleFOC things
+#define POLEPAIRS 7
+#define RPHASE 1.4
+#define MOTORKV 1000
+
+SPISettings myMT6835SPISettings(1000000, MT6835_BITORDER, SPI_MODE3);
+MagneticSensorMT6835 sensor = MagneticSensorMT6835(ENC_CS, myMT6835SPISettings);
+
+BLDCDriver3PWM driver = BLDCDriver3PWM(U_PWM, V_PWM, W_PWM, U_EN, V_EN, W_EN);
+BLDCMotor motor = BLDCMotor(POLEPAIRS, RPHASE, MOTORKV);
+MagneticSensorMT6701SSI enc = MagneticSensorMT6701SSI(ENC_CS);
+Commander commander = Commander(SerialUSB);
+
+// Prototypes
+void configureFOC(void);
+void configureCAN(void);
+void userButton_IT(void);
+
+void setup()
+{
+	// SCB->VTOR == 0x08000000;
+	pinMode(USER_LED, OUTPUT);
+	attachInterrupt(USER_BUTTON, userButton_IT, HIGH);
+
+	SerialUSB.begin(115200);
+
+	EEPROM.get(0, boardData);
+
+	configureCAN();
+	configureFOC();
+
+	if(boardData.canID == 0x000)
+	{
+		// If the can ID is not initialized, then we'll look for a free ID.
+		boardData.canID = FDCAN_FindUniqueID();
+		SerialUSB.println(boardData.canID);
+	}
+
+	if(boardData.signature != magicWord)
+	{
+		// If the EEPROM has not been initalized yet, save all the known data.
+		EEPROM.put(0, boardData);
+	}
+}
+
+void loop()
+{
+	motor.loopFOC();
+	motor.move();
+	commander.run();
+		
+	#ifdef HAS_MONITOR
+	motor.monitor();
+	#endif
+}
+
+void doMotor(char *cmd)
+{
+	commander.motor(&motor, cmd);
+}
+
+void configureFOC(void){
+	commander.add('M', doMotor, "motor");
+	commander.verbose = VerboseMode::machine_readable;
+	
+	#ifdef SIMPLEFOC_STM32_DEBUG
+	SimpleFOCDebug::enable(&SerialUSB);
+	#endif
+
+	// Encoder initialization.
+	// Encoder on SPI1
+	enc.init();
+
+	// Driver initialization.
+	driver.pwm_frequency = 32000;
+	driver.voltage_power_supply = 5;
+	driver.voltage_limit = 2.5;
+	driver.init();
+
+	// Motor PID parameters.
+	motor.PID_velocity.P = 0.2;
+	motor.PID_velocity.I = 3;
+	motor.PID_velocity.D = 0.002;
+	motor.PID_velocity.output_ramp = 100;
+	motor.LPF_velocity.Tf = 0.5;
+	motor.LPF_angle.Tf = 0; // try to avoid
+
+	// Motor initialization.
+	motor.voltage_sensor_align = 2;
+	motor.current_limit = 0.5;
+	motor.velocity_limit = 50;
+	motor.controller = MotionControlType::velocity;
+	motor.foc_modulation = FOCModulationType::SinePWM;
+
+	// Monitor initialization
+	#ifdef HAS_MONITOR
+	motor.useMonitoring(SerialUSB);
+	motor.monitor_start_char = 'M';
+	motor.monitor_end_char = 'M';
+	motor.monitor_downsample = 250;
+	#endif
+
+	motor.linkSensor(&enc);
+	motor.linkDriver(&driver);
+
+	motor.target = 0;
+
+	if(boardData.signature != magicWord){
+		// If we have not initialized the EEPROM before.
+		motor.init();
+		motor.initFOC();
+
+		boardData.signature = magicWord;
+		boardData.electricalZero = motor.zero_electric_angle;
+		boardData.electricalDir = motor.sensor_direction;
+	}
+	else{
+		motor.zero_electric_angle = boardData.electricalZero;
+		motor.sensor_direction = boardData.electricalDir;
+		motor.init();
+		motor.initFOC();
+	}
+}
+
+void configureCAN(void){
+	FDCAN_Start(0x000);
+}
+
+