matei/lemon-pepper-stepper
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Change references to BLDCDriver to FOCDriver in current sense base class

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change setPwm function in FOCDriver to accept 3 args, with a default value for the 3rd

Change stepper driver classes to use 3 arg setPwm, ignoring 3rd arg.

created InlineCurrentSenseSync class in lib/currentsense.

fixed timer bug in calibrate encoder, in main

defined a label for serialusb, to make it easier to swap out.
This commit is contained in:
copper280z
2023-11-10 21:49:39 -05:00
parent deea94b076
commit 5125602875
11 changed files with 390 additions and 38 deletions
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55
firmware/src/main.cpp
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@@ -13,6 +13,7 @@
#include "can.h"
#include "dfu.h"
#include "utils.h"
#include "InlineCurrentSenseSync.h"
#include "lemon-pepper.h"
#define USBD_MANUFACTURER_STRING "matei repair lab"
@@ -44,6 +45,8 @@ extern uint8_t RxData[8];
#define MOTORKV 40
#define ENC_PPR 16383 // max 16383 (zero index) -> *4 for CPR, -1 is done in init to prevent rollover on 16 bit timer
#define SERIALPORT SerialUSB
/**
* SPI clockdiv of 16 gives ~10.5MHz clock. May still be stable with lower divisor.
* The HW encoder is configured using PPR, which is then *4 for CPR (full 12384 gives overflow on 16 bit timer.)
@@ -56,11 +59,11 @@ STM32HWEncoder enc = STM32HWEncoder(ENC_PPR, ENC_A, ENC_B, ENC_Z);
* The current sense amps have a gain of 90mA/V -> over 1.5A this is 135mA so we need gain of 24 to get full-scale.
* Actually we are limited to powers of 2 for gain. So it should be 16. This gives sensitivity of 1440mV/A.
* */
InlineCurrentSense currentsense = InlineCurrentSense(1440, ISENSE_U, ISENSE_V, ISENSE_W);
InlineCurrentSenseSync currentsense = InlineCurrentSenseSync(1440, ISENSE_U, ISENSE_V);
StepperDriver4PWM driver = StepperDriver4PWM(MOT_A1, MOT_A2, MOT_B1, MOT_B2);
StepperMotor motor = StepperMotor(POLEPAIRS);
Commander commander = Commander(SerialUSB);
Commander commander = Commander(SERIALPORT);
uint16_t counter = 0;
@@ -76,17 +79,23 @@ void setup()
pinMode(CAL_EN, OUTPUT);
pinMode(MOT_EN, OUTPUT);
SerialUSB.begin(115200);
SERIALPORT.begin(115200);
EEPROM.get(0, boardData);
digitalWrite(MOT_EN, HIGH);
digitalWrite(CAL_EN, LOW);
if (!configureCAN())
uint8_t ret = configureCAN();
if (!ret){
SIMPLEFOC_DEBUG("CAN init failed.");
if (!configureFOC())
digitalWrite(LED_FAULT, HIGH);
}
ret = configureFOC();
if (!ret){
SIMPLEFOC_DEBUG("FOC init failed.");
digitalWrite(LED_FAULT, HIGH);
}
if (sensor.getABZResolution() != ENC_PPR) // Check that PPR of the encoder matches our expectation.
{
@@ -137,16 +146,24 @@ void loop()
motor.move();
commander.run();
if (counter == 0xFFF)
{
digitalToggle(LED_GOOD);
SerialUSB.print(sensor.getAngle());
SerialUSB.print("\t");
SerialUSB.print(enc.getAngle());
SerialUSB.print("\t");
SerialUSB.println(sensor.getABZResolution());
// SerialUSB.printf("%d\t%d\t%d\n", sensor.getAngle(), sensor.getABZResolution(), enc.getAngle());
if (counter == 0xFF)
{
PhaseCurrent_s current = currentsense.getPhaseCurrents();
digitalToggle(LED_GOOD);
SERIALPORT.print(current.a);
SERIALPORT.print("\t");
SERIALPORT.print(current.b);
SERIALPORT.print("\t");
SERIALPORT.println(current.c);
// SERIALPORT.print(sensor.getAngle());
// SERIALPORT.print("\t");
// SERIALPORT.print(enc.getAngle());
// SERIALPORT.print("\t");
// SERIALPORT.println(sensor.getABZResolution());
// SERIALPORT.printf("%d\t%d\t%d\n", sensor.getAngle(), sensor.getABZResolution(), enc.getAngle());
counter = 0;
}
@@ -168,7 +185,7 @@ uint8_t configureFOC(void)
commander.verbose = VerboseMode::machine_readable;
#ifdef SIMPLEFOC_STM32_DEBUG
SimpleFOCDebug::enable(&SerialUSB);
SimpleFOCDebug::enable(&SERIALPORT);
#endif
// Encoder initialization.
@@ -227,7 +244,7 @@ uint8_t configureFOC(void)
// Monitor initialization
#ifdef HAS_MONITOR
motor.useMonitoring(SerialUSB);
motor.useMonitoring(SERIALPORT);
motor.monitor_start_char = 'M';
motor.monitor_end_char = 'M';
motor.monitor_downsample = 250;
@@ -283,13 +300,13 @@ uint8_t calibrateEncoder(void)
currentSettings.autocal_freq = 0x1;
sensor.setOptions4(currentSettings);
uint16_t calTime = micros();
while (calTime - micros() < 2000000)
uint32_t calTime = micros();
while ((micros() - calTime) < 2000000)
{
motor.loopFOC();
motor.move();
if (calTime - micros() > 2000)
if ((micros() -calTime) > 2000)
{
// after motor is spinning at constant speed, enable calibration.
digitalWrite(LED_GOOD, HIGH);