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added current reading

This commit is contained in:
Nicolas Trimborn 2021-08-08 14:03:37 +02:00
parent a12432df36
commit 5234c7031b
6 changed files with 61 additions and 97 deletions
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27
2_Motor_Master/Motor_Master/Motor_Master/EtherCAT_SlaveDef.h
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@ -129,10 +129,10 @@ static volatile int16_t *M4_Spare = ((int16_t *)&QSPI_rx_buffer[15]+1);
void update_telemetry(void) void update_telemetry(void)
{ {
//inline int16_t convert_to_mA(volatile float32_t current_PU) inline int16_t convert_to_mA(volatile float32_t current_PU)
//{ {
//return (int16_t)(current_PU*1000.0f); return (int16_t)(current_PU*1000.0f);
//} }
// //
//*M1_Status = 0; //*M1_Status = 0;
//*M1_Mode = 0; //*M1_Mode = 0;
@ -141,11 +141,10 @@ void update_telemetry(void)
*M1_Joint_rel_position = Motor1.motor_status.Num_Steps; *M1_Joint_rel_position = Motor1.motor_status.Num_Steps;
//*M1_Joint_abs_position = ((int16_t *)&QSPI_tx_buffer[1]); //*M1_Joint_abs_position = ((int16_t *)&QSPI_tx_buffer[1]);
//*M1_Motor_speed = (((int16_t *)&QSPI_tx_buffer[1])+1); //*M1_Motor_speed = (((int16_t *)&QSPI_tx_buffer[1])+1);
*M1_Motor_current_bus = COMMUTATION_PATTERN[Motor1.motor_status.currentHallPattern + *M1_Motor_current_bus = convert_to_mA(Motor1.Iphase_pu.Bus);
Motor1.motor_setpoints.directionOffset]; *M1_Motor_currentPhA = convert_to_mA(Motor1.Iphase_pu.A);
//*M1_Motor_currentPhA = (((int16_t *)&QSPI_tx_buffer[2])+1); *M1_Motor_currentPhB = convert_to_mA(Motor1.Iphase_pu.B);
//*M1_Motor_currentPhB = ((int16_t *)&QSPI_tx_buffer[3]); *M1_Motor_currentPhC = convert_to_mA(Motor1.Iphase_pu.C);
//*M1_Motor_currentPhC = (((int16_t *)&QSPI_tx_buffer[3])+1);
*M1_Motor__hallState = Motor1.motor_status.currentHallPattern; *M1_Motor__hallState = Motor1.motor_status.currentHallPattern;
*M1_Motor_dutyCycle = Motor1.motor_status.duty_cycle; *M1_Motor_dutyCycle = Motor1.motor_status.duty_cycle;
// //
@ -153,12 +152,10 @@ void update_telemetry(void)
*M2_Joint_rel_position = Motor2.motor_status.Num_Steps; *M2_Joint_rel_position = Motor2.motor_status.Num_Steps;
//*M1_Joint_abs_position = ((int16_t *)&QSPI_tx_buffer[1]); //*M1_Joint_abs_position = ((int16_t *)&QSPI_tx_buffer[1]);
//*M1_Motor_speed = (((int16_t *)&QSPI_tx_buffer[1])+1); //*M1_Motor_speed = (((int16_t *)&QSPI_tx_buffer[1])+1);
*M2_Motor_current_bus = COMMUTATION_PATTERN[Motor2.motor_status.currentHallPattern + *M2_Motor_current_bus = convert_to_mA( Motor2.Iphase_pu.Bus);
Motor2.motor_setpoints.directionOffset]; *M2_Motor_currentPhA = convert_to_mA( Motor2.Iphase_pu.A);
//*M1_Motor_current_bus = ((int16_t *)&QSPI_tx_buffer[2]); *M2_Motor_currentPhB = convert_to_mA( Motor2.Iphase_pu.B);
//*M1_Motor_currentPhA = (((int16_t *)&QSPI_tx_buffer[2])+1); *M2_Motor_currentPhC = convert_to_mA(Motor2.Iphase_pu.C);
//*M1_Motor_currentPhB = ((int16_t *)&QSPI_tx_buffer[3]);
//*M1_Motor_currentPhC = (((int16_t *)&QSPI_tx_buffer[3])+1);
*M2_Motor__hallState = Motor2.motor_status.currentHallPattern; *M2_Motor__hallState = Motor2.motor_status.currentHallPattern;
*M2_Motor_dutyCycle = Motor2.motor_status.duty_cycle; *M2_Motor_dutyCycle = Motor2.motor_status.duty_cycle;

29
2_Motor_Master/Motor_Master/Motor_Master/bldc.c
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@ -158,35 +158,6 @@ void exec_commutation(BLDCMotor_t *motor)
//toc_port(DEBUG_2_PORT); //toc_port(DEBUG_2_PORT);
} }
void process_currents(BLDCMotor_t *motor1, BLDCMotor_t *motor2)
{
Motor1.timerflags.adc_readings_ready_tic = false;
Motor2.timerflags.adc_readings_ready_tic = false;
////tic_port(DEBUG_2_PORT);
//volatile int16_t phase_A_current_raw, phase_B_current_raw;
//
///* Motor 1 */
//phase_A_current_raw = (adc_res[0] - Motor1.Voffset_lsb.A);
//phase_B_current_raw = (adc_res[1] - Motor1.Voffset_lsb.B)*-1;
//// Covert from LSB to PU (A) and filter out small readings
//Motor1.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU;
//Motor1.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU;
//// i_c = -i_a - i_b because i_a + i_b + i_c = 0
//Motor1.Iphase_pu.C = -Motor1.Iphase_pu.A - Motor1.Iphase_pu.B;
//
///* Motor 2 */
//phase_A_current_raw = (adc_res[2] - Motor2.Voffset_lsb.A);
//phase_B_current_raw = (adc_res[3] - Motor2.Voffset_lsb.B)*-1;
//// Covert from LSB to PU (A) and filter out small readings
//Motor2.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU;
//Motor2.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU;
//// i_c = -i_a - i_b because i_a + i_b + i_c = 0
//Motor2.Iphase_pu.C = -Motor2.Iphase_pu.A - Motor2.Iphase_pu.B;
// Set Current Loop Flag
Motor1.timerflags.current_loop_tic = true;
Motor2.timerflags.current_loop_tic = true;
}
void calculate_motor_speed(BLDCMotor_t *motor) void calculate_motor_speed(BLDCMotor_t *motor)
{ {

6
2_Motor_Master/Motor_Master/Motor_Master/bldc.h
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@ -69,19 +69,13 @@ static const uint8_t MOTOR_COMMUTATION_STEPS[8] = {9, 1, 3, 2, 5, 6, 4, 9};
volatile BLDCMotor_t Motor1; volatile BLDCMotor_t Motor1;
volatile BLDCMotor_t Motor2; volatile BLDCMotor_t Motor2;
static uint32_t adc_seq_regs[4] = {0x1806, 0x1807, 0x1808, 0x1809};
static volatile uint16_t adc_res[4] = {0};
static volatile bool adc_dma_done = 0;
struct _dma_resource *adc_sram_dma_resource;
struct _dma_resource *adc_dmac_sequence_resource;
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
// functions // functions
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
void BldcInitStruct(BLDCMotor_t *motor, BLDCMotor_param_t *motor_param); void BldcInitStruct(BLDCMotor_t *motor, BLDCMotor_param_t *motor_param);
void exec_commutation(BLDCMotor_t *motor); void exec_commutation(BLDCMotor_t *motor);
void process_currents(BLDCMotor_t *motor1, BLDCMotor_t *motor2);
static void select_active_phase(BLDCMotor_t *Motor, const uint8_t hall_state); static void select_active_phase(BLDCMotor_t *Motor, const uint8_t hall_state);
static void calculate_motor_speed(BLDCMotor_t *motor); static void calculate_motor_speed(BLDCMotor_t *motor);
static void BLDC_runSpeedCntl(BLDCMotor_t *motor, const float32_t speedfbk, const float32_t speedRef); static void BLDC_runSpeedCntl(BLDCMotor_t *motor, const float32_t speedfbk, const float32_t speedRef);

5
2_Motor_Master/Motor_Master/Motor_Master/configuration.h
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@ -18,6 +18,11 @@
#define DMAC_CHANNEL_ADC_SEQ 2U #define DMAC_CHANNEL_ADC_SEQ 2U
#define DMAC_CHANNEL_ADC_SRAM 3U #define DMAC_CHANNEL_ADC_SRAM 3U
const uint32_t adc_seq_regs[4] = {0x1806, 0x1807, 0x1808, 0x1809};
volatile uint16_t adc_res[4] = {0};
struct _dma_resource *adc_sram_dma_resource;
struct _dma_resource *adc_dmac_sequence_resource;
inline static void configure_tcc_pwm(void) inline static void configure_tcc_pwm(void)
{ {
/* TCC0 */ /* TCC0 */

44
2_Motor_Master/Motor_Master/Motor_Master/interrupts.h
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@ -15,53 +15,13 @@
// ---------------------------------------------------------------------- // ----------------------------------------------------------------------
static void pwm_cb(const struct pwm_descriptor *const descr) static void pwm_cb(const struct pwm_descriptor *const descr)
{ {
//tic_port(DEBUG_2_PORT);
volatile uint8_t x = 1;
} }
void adc_sram_dma_callback(struct _dma_resource *adc_dma_res) void adc_sram_dma_callback(struct _dma_resource *adc_dma_res)
{ {
volatile uint8_t x = 1;
Motor1.timerflags.adc_readings_ready_tic = true; Motor1.timerflags.adc_readings_ready_tic = true;
//tic_port(DEBUG_2_PORT); Motor2.timerflags.adc_readings_ready_tic = true;
//Motor1.timerflags.adc_readings_ready_tic = true;
//tic_port(DEBUG_2_PORT);
//toc_port(DEBUG_2_PORT);
//tic_port(DEBUG_3_PORT);
//tic_port(DEBUG_3_PORT);
//volatile int16_t phase_A_current_raw;
//volatile int16_t phase_B_current_raw;
//
///* Motor 1 */
//phase_A_current_raw = (adc_res[0] - Motor1.Voffset_lsb.A);
//phase_B_current_raw = (adc_res[1] - Motor1.Voffset_lsb.B)*-1;
//// Covert from LSB to PU (A) and filter out small readings
//Motor1.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU;
//Motor1.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU;
//// i_c = -i_a - i_b because i_a + i_b + i_c = 0
//Motor1.Iphase_pu.C = -Motor1.Iphase_pu.A - Motor1.Iphase_pu.B;
/* Motor 2 */
//phase_A_current_raw = (adc_res[2] - Motor2.Voffset_lsb.A);
//phase_B_current_raw = (adc_res[3] - Motor2.Voffset_lsb.B)*-1;
//Motor2.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU;
//Motor2.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU;
//// i_c = -i_a - i_b because i_a + i_b + i_c = 0
//Motor2.Iphase_pu.C = -Motor2.Iphase_pu.A - Motor2.Iphase_pu.B;
//
///* Motor 3 */
//phase_A_current_raw = (adc_res[4] - Motor3.Voffset_lsb.A);
//phase_B_current_raw = (adc_res[5] - Motor3.Voffset_lsb.B)*-1;
//Motor3.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU;
//Motor3.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU;
//// i_c = -i_a - i_b because i_a + i_b + i_c = 0
//Motor3.Iphase_pu.C = -Motor3.Iphase_pu.A - Motor3.Iphase_pu.B;
// Set Current Loop Flag
//Motor1.timerflags.current_loop_tic = true;
//toc_port(DEBUG_3_PORT);
} }

45
2_Motor_Master/Motor_Master/Motor_Master/main.c
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@ -11,13 +11,49 @@
#include "interrupts.h" #include "interrupts.h"
#include "statemachine.h" #include "statemachine.h"
void process_currents()
{
Motor1.timerflags.adc_readings_ready_tic = false;
Motor2.timerflags.adc_readings_ready_tic = false;
//////tic_port(DEBUG_2_PORT);
volatile int16_t phase_A_current_raw, phase_B_current_raw;
/* Motor 1 */
phase_A_current_raw = (adc_res[0] - Motor1.Voffset_lsb.A);
phase_B_current_raw = (adc_res[1] - Motor1.Voffset_lsb.B)*-1;
// Covert from LSB to PU (A) and filter out small readings
Motor1.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU;
Motor1.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU;
// i_c = -i_a - i_b because i_a + i_b + i_c = 0
Motor1.Iphase_pu.C = -Motor1.Iphase_pu.A - Motor1.Iphase_pu.B;
/* Motor 2 */
phase_A_current_raw = (adc_res[2] - Motor2.Voffset_lsb.A);
phase_B_current_raw = (adc_res[3] - Motor2.Voffset_lsb.B)*-1;
// Covert from LSB to PU (A) and filter out small readings
Motor2.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU;
Motor2.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU;
// i_c = -i_a - i_b because i_a + i_b + i_c = 0
Motor2.Iphase_pu.C = -Motor2.Iphase_pu.A - Motor2.Iphase_pu.B;
// Set Current Loop Flag
Motor1.timerflags.current_loop_tic = true;
Motor2.timerflags.current_loop_tic = true;
}
/** /**
* Example of using TIMER_0. * Example of using TIMER_0.
*/ */
static void One_ms_cycle_callback(const struct timer_task *const timer_task) static void One_ms_cycle_callback(const struct timer_task *const timer_task)
{ {
if ((ecat_state == wait2)|(ecat_state == wait)) ecat_state= write_fifo; if ((ecat_state == wait2)|(ecat_state == wait))
{
ecat_state= write_fifo;
run_ECAT =true; run_ECAT =true;
}
update_telemetry(); update_telemetry();
//run_ECAT = true; //run_ECAT = true;
} }
@ -137,9 +173,10 @@ int main(void)
//x += 1; //x += 1;
//comms_check(); //comms_check();
//update_setpoints(); //update_setpoints();
if (run_ECAT) ECAT_STATE_MACHINE(); if (Motor1.timerflags.adc_readings_ready_tic) {process_currents();}
if (Motor1.timerflags.adc_readings_ready_tic) process_currents(&Motor1, &Motor2); if (Motor1.timerflags.current_loop_tic) {CONTROLLER_StateMachine();}
if (Motor1.timerflags.current_loop_tic) CONTROLLER_StateMachine(); if (run_ECAT) {ECAT_STATE_MACHINE();}
} }
} }