matei/lemon-pepper-stepper
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fix bringup issues

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This commit is contained in:
matei jordache
2023-11-01 23:03:33 -04:00
parent 4e71a6c509
commit e15533d740
9 changed files with 1188 additions and 1020 deletions
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15
firmware/include/lemon-pepper.h
View File

@@ -5,10 +5,10 @@
#define V_PWM PA9
#define W_PWM PA1
#define A1 PA0
#define A2 PA1
#define B1 PA9
#define B2 PA10
#define MOT_A1 PA0
#define MOT_A2 PA10
#define MOT_B1 PA9
#define MOT_B2 PA1
#define MOT_EN PB12
@@ -21,7 +21,6 @@
#define ENC_CIPO PA6
#define ENC_SCK PA5
#define ENC_CS PC4
#define ENC_CAL PA4
// CURRENT SENSE
#define ISENSE_U PA3
@@ -32,10 +31,12 @@
#define CAN_TX PB8
#define CAN_RX PB9
// CONTROL INPUTS
// PCB REV CHANGES
#ifdef PCB_REV1
#define STEP_PIN PB14
#define DIR_PIN PB15
#define CAL_EN PB1
#endif
#ifdef PCB_REV2
@@ -44,6 +45,8 @@
#define I2C_SDA PC11
#define I2C_SCL PA8
#define CAL_EN PA4
#endif
// AUX

137
firmware/src/main.cpp
View File

@@ -5,11 +5,12 @@
#include <SimpleFOC.h>
#include <SimpleFOCDrivers.h>
#include "encoders/MT6835/MagneticSensorMT6835.h"
#include "encoders/stm32hwencoder/STM32HWEncoder.h"
#include "stm32g4xx_hal_conf.h"
#include "stm32g4xx_hal_fdcan.h"
#include "can.h"
// #include "can.h"
#include "dfu.h"
#include "lemon-pepper.h"
@@ -33,56 +34,69 @@ extern uint8_t TxData[8];
extern uint8_t RxData[8];
// simpleFOC things
#define POLEPAIRS 7
#define RPHASE 1.4
#define MOTORKV 1000
#define POLEPAIRS 50
#define RPHASE 3
#define MOTORKV 200
#define ENC_PPR 0xFFFD // 65533 -> 65534 ppr (65535 cause overflow on 16 bit timer)
SPISettings myMT6835SPISettings(1000000, MT6835_BITORDER, SPI_MODE3);
SPIClass spi1(ENC_COPI, ENC_CIPO, ENC_SCK);
SPISettings myMT6835SPISettings(168000000/16, MT6835_BITORDER, SPI_MODE3);
MagneticSensorMT6835 sensor = MagneticSensorMT6835(ENC_CS, myMT6835SPISettings);
STM32HWEncoder enc = STM32HWEncoder(ENC_PPR, ENC_A, ENC_B, ENC_Z);
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);
StepperDriver4PWM driver = StepperDriver4PWM(MOT_A1, MOT_A2, MOT_B1, MOT_B2);
StepperMotor motor = StepperMotor(POLEPAIRS, RPHASE, MOTORKV);
Commander commander = Commander(SerialUSB);
uint16_t counter = 0;
// Prototypes
void configureFOC(void);
void configureCAN(void);
void userButton_IT(void);
// void configureCAN(void);
// void configureEncoder(void);
void setup()
{
// SCB->VTOR == 0x08000000;
pinMode(USER_LED, OUTPUT);
attachInterrupt(USER_BUTTON, userButton_IT, HIGH);
pinMode(LED_GOOD, OUTPUT);
pinMode(LED_FAULT, OUTPUT);
pinMode(CAL_EN, OUTPUT);
pinMode(MOT_EN, OUTPUT);
SerialUSB.begin(115200);
EEPROM.get(0, boardData);
// EEPROM.get(0, boardData);
configureCAN();
configureFOC();
digitalWrite(MOT_EN, HIGH);
digitalWrite(CAL_EN, LOW);
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);
}
// configureCAN();
// configureEncoder();
// configureFOC();
sensor.init(&spi1);
if(boardData.signature != magicWord)
{
// If the EEPROM has not been initalized yet, save all the known data.
EEPROM.put(0, boardData);
}
// 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();
{
// motor.loopFOC();
// motor.move();
// commander.run();
sensor.update();
delay(10);
SerialUSB.printf("%#06x\n", sensor.readRawAngle21());
#ifdef HAS_MONITOR
motor.monitor();
#endif
@@ -102,13 +116,16 @@ void configureFOC(void){
#endif
// Encoder initialization.
// Encoder on SPI1
enc.init();
// Ideally configuring the sensor over SPI then use STM32HWEncoder
// sensor.init(&spi1);
// sensor.setABZResolution(ENC_PPR);
// enc.init();
// Driver initialization.
driver.pwm_frequency = 32000;
driver.voltage_power_supply = 5;
driver.voltage_limit = 2.5;
driver.voltage_power_supply = 9;
driver.voltage_limit = driver.voltage_power_supply/2;
driver.init();
// Motor PID parameters.
@@ -121,10 +138,10 @@ void configureFOC(void){
// Motor initialization.
motor.voltage_sensor_align = 2;
motor.current_limit = 0.5;
motor.current_limit = 0.35;
motor.velocity_limit = 50;
motor.controller = MotionControlType::velocity;
motor.foc_modulation = FOCModulationType::SinePWM;
motor.controller = MotionControlType::velocity_openloop;
motor.foc_modulation = FOCModulationType::SpaceVectorPWM;
// Monitor initialization
#ifdef HAS_MONITOR
@@ -137,27 +154,33 @@ void configureFOC(void){
motor.linkSensor(&enc);
motor.linkDriver(&driver);
motor.target = 0;
motor.target = 10;
if(boardData.signature != magicWord){
// If we have not initialized the EEPROM before.
motor.init();
motor.initFOC();
motor.zero_electric_angle = NOT_SET;
motor.sensor_direction = Direction::UNKNOWN;
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();
}
motor.init();
motor.initFOC();
// 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);
}
// void configureCAN(void){
// FDCAN_Start(0x000);
// }