matei/lemon-pepper-stepper
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add DFU button. update defines for v3

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This commit is contained in:
matei jordache
2023-11-17 20:46:57 -05:00
parent 7d617df636
commit c825db4dd8
2 changed files with 25 additions and 16 deletions
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40
firmware/src/main.cpp
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@@ -58,14 +58,11 @@ MagneticSensorMT6835 sensor = MagneticSensorMT6835(ENC_CS, myMT6835SPISettings);
STM32HWEncoder enc = STM32HWEncoder(ENC_PPR, ENC_A, ENC_B, ENC_Z); 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. * TODO: Change the current sense code to reflect the new inline current sense amplifier choice with sense resistor.
* Actually we are limited to powers of 2 for gain. So it should be 16. This gives sensitivity of 1440mV/A. */
* */ // InlineCurrentSenseSync currentsense = InlineCurrentSenseSync(90, ISENSE_U, ISENSE_V, ISENSE_W);
InlineCurrentSenseSync currentsense = InlineCurrentSenseSync(90, ISENSE_U, ISENSE_V, ISENSE_W);
StepperDriver4PWM driver = StepperDriver4PWM(MOT_A1, MOT_A2, MOT_B1, MOT_B2); StepperDriver4PWM driver = StepperDriver4PWM(MOT_A1, MOT_A2, MOT_B1, MOT_B2);
// StepperDriver4PWM driver = StepperDriver4PWM(PA0, PA9, PA1, PA10, PB12);
// StepperDriver4PWM driver = StepperDriver4PWM(MOT_A1, MOT_A2, MOT_B1, MOT_B2);
// StepperMotor motor = StepperMotor(POLEPAIRS, RPHASE, MOTORKV, 0.0045); // StepperMotor motor = StepperMotor(POLEPAIRS, RPHASE, MOTORKV, 0.0045);
StepperMotor motor = StepperMotor(POLEPAIRS); StepperMotor motor = StepperMotor(POLEPAIRS);
Commander commander = Commander(SERIALPORT); Commander commander = Commander(SERIALPORT);
@@ -74,17 +71,26 @@ uint16_t counter = 0;
extern volatile uint16_t adc1Result[3]; extern volatile uint16_t adc1Result[3];
extern volatile uint16_t adc2Result[2]; extern volatile uint16_t adc2Result[2];
DQCurrent_s foc_currents;
float electrical_angle;
PhaseCurrent_s phase_currents;
// Prototypes // Prototypes
uint8_t configureFOC(void); uint8_t configureFOC(void);
uint8_t configureCAN(void); uint8_t configureCAN(void);
uint8_t calibrateEncoder(void); uint8_t calibrateEncoder(void);
void userButton(void);
void setup() void setup()
{ {
pinMode(LED_GOOD, OUTPUT); pinMode(LED_GOOD, OUTPUT);
pinMode(LED_FAULT, OUTPUT); pinMode(LED_FAULT, OUTPUT);
pinMode(CAL_EN, OUTPUT); pinMode(CAL_EN, OUTPUT);
pinMode(MOT_EN, OUTPUT); pinMode(MOT_EN, OUTPUT);
pinMode(USER_BUTTON, INPUT);
attachInterrupt(USER_BUTTON, userButton, RISING);
SERIALPORT.begin(115200); SERIALPORT.begin(115200);
@@ -148,10 +154,6 @@ void setup()
// } // }
} }
DQCurrent_s foc_currents;
float electrical_angle;
PhaseCurrent_s phase_currents;
void loop() void loop()
{ {
motor.loopFOC(); motor.loopFOC();
@@ -159,8 +161,8 @@ void loop()
commander.run(); commander.run();
electrical_angle = motor.electricalAngle(); electrical_angle = motor.electricalAngle();
phase_currents = currentsense.getPhaseCurrents(); // phase_currents = currentsense.getPhaseCurrents();
foc_currents = currentsense.getFOCCurrents(electrical_angle); // foc_currents = currentsense.getFOCCurrents(electrical_angle);
if(counter == 0xFFF){ if(counter == 0xFFF){
digitalToggle(LED_GOOD); digitalToggle(LED_GOOD);
@@ -254,10 +256,10 @@ uint8_t configureFOC(void)
motor.linkSensor(&sensor); motor.linkSensor(&sensor);
motor.linkDriver(&driver); motor.linkDriver(&driver);
currentsense.linkDriver(&driver); // currentsense.linkDriver(&driver);
int ret = currentsense.init(); // int ret = currentsense.init();
SERIALPORT.printf("Current Sense init result: %i\n", ret); // SERIALPORT.printf("Current Sense init result: %i\n", ret);
motor.linkCurrentSense(&currentsense); // motor.linkCurrentSense(&currentsense);
motor.target = 10; motor.target = 10;
@@ -320,3 +322,9 @@ uint8_t calibrateEncoder(void)
return sensor.getCalibrationStatus(); return sensor.getCalibrationStatus();
} }
void userButton(void)
{
if(USB->DADDR != 0)
jump_to_bootloader();
}

1
platformio.ini
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@@ -38,6 +38,7 @@ build_flags =
-D SN65HVD23x -D SN65HVD23x
-D ARDUINO_GENERIC_G431CBUX -D ARDUINO_GENERIC_G431CBUX
-D SIMPLEFOC_STM32_CUSTOMCURRENTSENSE -D SIMPLEFOC_STM32_CUSTOMCURRENTSENSE
-D LEMONPEPPER
; -D PCB_REV1 ; or PCB_REV2 ; -D PCB_REV1 ; or PCB_REV2
; -D HAS_MONITOR ; -D HAS_MONITOR