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body/board/bldc/bldc.c

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/*
* This file implements FOC motor control.
* This control method offers superior performanace
* compared to previous cummutation method. The new method features:
* ► reduced noise and vibrations
* ► smooth torque output
* ► improved motor efficiency -> lower energy consumption
*
* Copyright (C) 2019-2020 Emanuel FERU <aerdronix@gmail.com>
*
* This program 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.
*
* This program 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/>.
*/
#include "stm32f4xx_hal.h"
#include "defines.h"
#include "config.h"
#include "util.h"
// Matlab includes and defines - from auto-code generation
// ###############################################################################
#include "BLDC_controller.h" /* Model's header file */
#include "rtwtypes.h"
extern board_t board;
extern RT_MODEL *const rtM_Left;
extern RT_MODEL *const rtM_Right;
extern DW rtDW_Left; /* Observable states */
extern ExtU rtU_Left; /* External inputs */
extern ExtY rtY_Left; /* External outputs */
extern P rtP_Left;
extern DW rtDW_Right; /* Observable states */
extern ExtU rtU_Right; /* External inputs */
extern ExtY rtY_Right; /* External outputs */
// ###############################################################################
static int16_t pwm_margin; /* This margin allows to have a window in the PWM signal for proper FOC Phase currents measurement */
extern uint8_t ctrlModReq;
static int16_t curDC_max = (I_DC_MAX * A2BIT_CONV);
int16_t curL_phaA = 0, curL_phaB = 0, curL_DC = 0;
int16_t curR_phaB = 0, curR_phaC = 0, curR_DC = 0;
volatile int pwml = 0;
volatile int pwmr = 0;
extern volatile adc_buf_t adc_buffer;
uint8_t buzzerFreq = 0;
uint8_t buzzerPattern = 0;
uint8_t buzzerCount = 0;
volatile uint32_t buzzerTimer = 0;
static uint8_t buzzerPrev = 0;
static uint8_t buzzerIdx = 0;
uint8_t enable_motors = 0; // initially motors are disabled for SAFETY
static uint8_t enableFin = 0;
static const uint16_t pwm_res = CORE_FREQ / 2 / PWM_FREQ;
static uint16_t offsetcount = 0;
static int16_t offsetrlA = 2000;
static int16_t offsetrlB = 2000;
static int16_t offsetrrB = 2000;
static int16_t offsetrrC = 2000;
static int16_t offsetdcl = 2000;
static int16_t offsetdcr = 2000;
int16_t batVoltage = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE;
static int32_t batVoltageFixdt = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 16; // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point
int32_t motPosL = 0;
int32_t motPosR = 0;
// DMA interrupt frequency =~ 16 kHz
void DMA2_Stream0_IRQHandler(void) {
DMA2->LIFCR = DMA_LIFCR_CTCIF0;
if(offsetcount < 2000) { // calibrate ADC offsets
offsetcount++;
offsetrlA = (adc_buffer.rlA + offsetrlA) / 2;
offsetrlB = (adc_buffer.rlB + offsetrlB) / 2;
offsetrrB = (adc_buffer.rrB + offsetrrB) / 2;
offsetrrC = (adc_buffer.rrC + offsetrrC) / 2;
offsetdcl = (adc_buffer.dcl + offsetdcl) / 2;
offsetdcr = (adc_buffer.dcr + offsetdcr) / 2;
return;
}
if (buzzerTimer % 1000 == 0) { // Filter battery voltage at a slower sampling rate
filtLowPass32(adc_buffer.batt1, BAT_FILT_COEF, &batVoltageFixdt);
batVoltage = (int16_t)(batVoltageFixdt >> 16); // convert fixed-point to integer
}
// Get Left motor currents
curL_phaA = (int16_t)(offsetrlA - adc_buffer.rlA);
curL_phaB = (int16_t)(offsetrlB - adc_buffer.rlB);
curL_DC = (int16_t)(offsetdcl - adc_buffer.dcl);
// Get Right motor currents
curR_phaB = (int16_t)(offsetrrB - adc_buffer.rrB);
curR_phaC = (int16_t)(offsetrrC - adc_buffer.rrC);
curR_DC = (int16_t)(offsetdcr - adc_buffer.dcr);
// Disable PWM when current limit is reached (current chopping)
// This is the Level 2 of current protection. The Level 1 should kick in first given by I_MOT_MAX
if(ABS(curL_DC) > curDC_max || enable_motors == 0) {
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
} else {
LEFT_TIM->BDTR |= TIM_BDTR_MOE;
}
if(ABS(curR_DC) > curDC_max || enable_motors == 0) {
RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
} else {
RIGHT_TIM->BDTR |= TIM_BDTR_MOE;
}
// Create square wave for buzzer
buzzerTimer++;
if (buzzerFreq != 0 && (buzzerTimer / 5000) % (buzzerPattern + 1) == 0) {
if (buzzerPrev == 0) {
buzzerPrev = 1;
if (++buzzerIdx > (buzzerCount + 2)) { // pause 2 periods
buzzerIdx = 1;
}
}
if (buzzerTimer % buzzerFreq == 0 && (buzzerIdx <= buzzerCount || buzzerCount == 0)) {
HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN);
}
} else if (buzzerPrev) {
HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, GPIO_PIN_RESET);
buzzerPrev = 0;
}
// Adjust pwm_margin depending on the selected Control Type
if (rtP_Left.z_ctrlTypSel == FOC_CTRL) {
pwm_margin = 110;
} else {
pwm_margin = 0;
}
// ############################### MOTOR CONTROL ###############################
int ul, vl, wl;
int ur, vr, wr;
static boolean_T OverrunFlag = false;
if (OverrunFlag) {
return;
}
OverrunFlag = true;
/* Make sure to stop BOTH motors in case of an error */
enableFin = enable_motors && !rtY_Left.z_errCode && !rtY_Right.z_errCode;
// ========================= LEFT MOTOR ============================
uint8_t hall_ul = !(board.hall_left.hall_portA->IDR & board.hall_left.hall_pinA);
uint8_t hall_vl = !(board.hall_left.hall_portB->IDR & board.hall_left.hall_pinB);
uint8_t hall_wl = !(board.hall_left.hall_portC->IDR & board.hall_left.hall_pinC);
rtU_Left.b_motEna = enableFin;
rtU_Left.z_ctrlModReq = ctrlModReq;
rtU_Left.r_inpTgt = pwml;
rtU_Left.b_hallA = hall_wl;
rtU_Left.b_hallB = hall_vl;
rtU_Left.b_hallC = hall_ul;
rtU_Left.i_phaAB = curL_phaA;
rtU_Left.i_phaBC = curL_phaB;
rtU_Left.i_DCLink = curL_DC;
#ifdef MOTOR_LEFT_ENA
BLDC_controller_step(rtM_Left);
#endif
ul = rtY_Left.DC_phaA;
vl = rtY_Left.DC_phaB;
wl = rtY_Left.DC_phaC;
/* Apply commands */
LEFT_TIM->LEFT_TIM_U = (uint16_t)CLAMP(ul + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
LEFT_TIM->LEFT_TIM_V = (uint16_t)CLAMP(vl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
LEFT_TIM->LEFT_TIM_W = (uint16_t)CLAMP(wl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
// =================================================================
// ========================= RIGHT MOTOR ===========================
uint8_t hall_ur = !(board.hall_right.hall_portA->IDR & board.hall_right.hall_pinA);
uint8_t hall_vr = !(board.hall_right.hall_portB->IDR & board.hall_right.hall_pinB);
uint8_t hall_wr = !(board.hall_right.hall_portC->IDR & board.hall_right.hall_pinC);
rtU_Right.b_motEna = enableFin;
rtU_Right.z_ctrlModReq = ctrlModReq;
rtU_Right.r_inpTgt = pwmr;
rtU_Right.b_hallA = hall_ur;
rtU_Right.b_hallB = hall_vr;
rtU_Right.b_hallC = hall_wr;
rtU_Right.i_phaAB = curR_phaB;
rtU_Right.i_phaBC = curR_phaC;
rtU_Right.i_DCLink = curR_DC;
#ifdef MOTOR_RIGHT_ENA
BLDC_controller_step(rtM_Right);
#endif
ur = rtY_Right.DC_phaA;
vr = rtY_Right.DC_phaB;
wr = rtY_Right.DC_phaC;
/* Apply commands */
RIGHT_TIM->RIGHT_TIM_U = (uint16_t)CLAMP(ur + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
RIGHT_TIM->RIGHT_TIM_V = (uint16_t)CLAMP(vr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
RIGHT_TIM->RIGHT_TIM_W = (uint16_t)CLAMP(wr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
// =================================================================
OverrunFlag = false;
static int16_t motAngleLeftLast = 0;
static int16_t motAngleRightLast = 0;
static int32_t cycleDegsL = 0; // wheel encoder roll over count in deg
static int32_t cycleDegsR = 0; // wheel encoder roll over count in deg
int16_t diffL = 0;
int16_t diffR = 0;
static int16_t cnt = 0;
if (enable_motors == 0) { // Reset everything if motors are disabled
cycleDegsL = 0;
cycleDegsR = 0;
diffL = 0;
diffR = 0;
cnt = 0;
}
if (cnt == 0) {
motAngleLeftLast = rtY_Left.a_elecAngle;
motAngleRightLast = rtY_Right.a_elecAngle;
}
diffL = rtY_Left.a_elecAngle - motAngleLeftLast;
if (diffL < -180) {
cycleDegsL = cycleDegsL - 360;
} else if (diffL > 180) {
cycleDegsL = cycleDegsL + 360;
}
motPosL = cycleDegsL + (360 - rtY_Left.a_elecAngle);
diffR = rtY_Right.a_elecAngle - motAngleRightLast;
if (diffR < -180) {
cycleDegsR = cycleDegsR - 360;
} else if (diffR > 180) {
cycleDegsR = cycleDegsR + 360;
}
motPosR = cycleDegsR + (360 - rtY_Right.a_elecAngle);
motAngleLeftLast = rtY_Left.a_elecAngle;
motAngleRightLast = rtY_Right.a_elecAngle;
cnt++;
}
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