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VI controller added

This commit is contained in:
Nicolas Trimborn 2021-08-12 12:33:46 +02:00
parent 1b6dab7143
commit ce627e4963
10 changed files with 129 additions and 59 deletions
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12
2_Motor_Master/Motor_Master/Motor_Master/.atmelstart/atmel_start_config.atstart
View File

@ -839,8 +839,8 @@ drivers:
eic_arch_asynch11: false
eic_arch_asynch12: false
eic_arch_asynch13: false
eic_arch_asynch14: false
eic_arch_asynch15: false
eic_arch_asynch14: true
eic_arch_asynch15: true
eic_arch_asynch2: false
eic_arch_asynch3: false
eic_arch_asynch4: false
@ -872,8 +872,8 @@ drivers:
eic_arch_enable_irq_setting11: false
eic_arch_enable_irq_setting12: false
eic_arch_enable_irq_setting13: false
eic_arch_enable_irq_setting14: false
eic_arch_enable_irq_setting15: false
eic_arch_enable_irq_setting14: true
eic_arch_enable_irq_setting15: true
eic_arch_enable_irq_setting2: false
eic_arch_enable_irq_setting3: false
eic_arch_enable_irq_setting4: false
@ -926,8 +926,8 @@ drivers:
eic_arch_sense11: No detection
eic_arch_sense12: No detection
eic_arch_sense13: No detection
eic_arch_sense14: No detection
eic_arch_sense15: No detection
eic_arch_sense14: Both-edges detection
eic_arch_sense15: Both-edges detection
eic_arch_sense2: No detection
eic_arch_sense3: No detection
eic_arch_sense4: No detection

12
2_Motor_Master/Motor_Master/Motor_Master/Config/hpl_eic_config.h
View File

@ -749,7 +749,7 @@
// <e> Interrupt 14 Settings
// <id> eic_arch_enable_irq_setting14
#ifndef CONF_EIC_ENABLE_IRQ_SETTING14
#define CONF_EIC_ENABLE_IRQ_SETTING14 0
#define CONF_EIC_ENABLE_IRQ_SETTING14 1
#endif
// <q> External Interrupt 14 Filter Enable
@ -783,14 +783,14 @@
// <i> This defines input sense trigger
// <id> eic_arch_sense14
#ifndef CONF_EIC_SENSE14
#define CONF_EIC_SENSE14 EIC_NMICTRL_NMISENSE_NONE_Val
#define CONF_EIC_SENSE14 EIC_NMICTRL_NMISENSE_BOTH_Val
#endif
// <q> External Interrupt 14 Asynchronous Edge Detection Mode
// <i> Indicates the external interrupt 14 detection mode operated synchronously or asynchronousl
// <id> eic_arch_asynch14
#ifndef CONF_EIC_ASYNCH14
#define CONF_EIC_ASYNCH14 0
#define CONF_EIC_ASYNCH14 1
#endif
// </e>
@ -798,7 +798,7 @@
// <e> Interrupt 15 Settings
// <id> eic_arch_enable_irq_setting15
#ifndef CONF_EIC_ENABLE_IRQ_SETTING15
#define CONF_EIC_ENABLE_IRQ_SETTING15 0
#define CONF_EIC_ENABLE_IRQ_SETTING15 1
#endif
// <q> External Interrupt 15 Filter Enable
@ -832,14 +832,14 @@
// <i> This defines input sense trigger
// <id> eic_arch_sense15
#ifndef CONF_EIC_SENSE15
#define CONF_EIC_SENSE15 EIC_NMICTRL_NMISENSE_NONE_Val
#define CONF_EIC_SENSE15 EIC_NMICTRL_NMISENSE_BOTH_Val
#endif
// <q> External Interrupt 15 Asynchronous Edge Detection Mode
// <i> Indicates the external interrupt 15 detection mode operated synchronously or asynchronousl
// <id> eic_arch_asynch15
#ifndef CONF_EIC_ASYNCH15
#define CONF_EIC_ASYNCH15 0
#define CONF_EIC_ASYNCH15 1
#endif
// </e>

15
2_Motor_Master/Motor_Master/Motor_Master/EtherCAT_SlaveDef.h
View File

@ -167,7 +167,20 @@ static void update_telemetry(void)
static void update_setpoints(void)
{
//Motor1.motor_setpoints. = *desired_position;
Motor1.motor_setpoints.desired_position = *M1_Desired_pos;
Motor1.motor_setpoints.desired_speed = *M1_Desired_speed;
Motor1.motor_setpoints.desired_torque = *M1_Desired_current;
Motor1.motor_setpoints.max_current = *M1_Max_current;
Motor1.motor_setpoints.max_torque = *M1_Max_current;
Motor1.motor_setpoints.max_velocity = *M1_Max_velocity;
Motor2.motor_setpoints.desired_position = *M2_Desired_pos;
Motor2.motor_setpoints.desired_speed = *M2_Desired_speed;
Motor2.motor_setpoints.desired_torque = *M2_Desired_current;
Motor2.motor_setpoints.max_current = *M2_Max_current;
Motor2.motor_setpoints.max_torque = *M2_Max_current;
Motor2.motor_setpoints.max_velocity = *M2_Max_velocity;
//volatile uint8_t a = *M1_Control_mode;
//volatile uint8_t b = *M1_Control_set;
//volatile int16_t c = *M1_Desired_pos;

15
2_Motor_Master/Motor_Master/Motor_Master/Ethercat_SlaveDef.h
View File

@ -167,7 +167,20 @@ static void update_telemetry(void)
static void update_setpoints(void)
{
//Motor1.motor_setpoints. = *desired_position;
Motor1.motor_setpoints.desired_position = *M1_Desired_pos;
Motor1.motor_setpoints.desired_speed = *M1_Desired_speed;
Motor1.motor_setpoints.desired_torque = *M1_Desired_current;
Motor1.motor_setpoints.max_current = *M1_Max_current;
Motor1.motor_setpoints.max_torque = *M1_Max_current;
Motor1.motor_setpoints.max_velocity = *M1_Max_velocity;
Motor2.motor_setpoints.desired_position = *M2_Desired_pos;
Motor2.motor_setpoints.desired_speed = *M2_Desired_speed;
Motor2.motor_setpoints.desired_torque = *M2_Desired_current;
Motor2.motor_setpoints.max_current = *M2_Max_current;
Motor2.motor_setpoints.max_torque = *M2_Max_current;
Motor2.motor_setpoints.max_velocity = *M2_Max_velocity;
//volatile uint8_t a = *M1_Control_mode;
//volatile uint8_t b = *M1_Control_set;
//volatile int16_t c = *M1_Desired_pos;

10
2_Motor_Master/Motor_Master/Motor_Master/Motor_Master.cproj
View File

@ -211,7 +211,7 @@
<AcmeProjectActionInfo Action="File" Source="config/hpl_ccl_config.h" IsConfig="true" Hash="Q1yijLwNXjFOsGrwEEma+g" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_cmcc_config.h" IsConfig="true" Hash="bmtxQ8rLloaRtAo2HeXZRQ" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_dmac_config.h" IsConfig="true" Hash="xCXhbdBwXKUe304TPFonTw" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_eic_config.h" IsConfig="true" Hash="TppQbvFQZJVVi94ogHlIog" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_eic_config.h" IsConfig="true" Hash="xKw8xm4k4XPALg++/jSPcw" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_evsys_config.h" IsConfig="true" Hash="/3bNiu/UgpvPbmvfRA+w3g" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_gclk_config.h" IsConfig="true" Hash="fvc5nhPTGTNHCTNlzs6nhA" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_mclk_config.h" IsConfig="true" Hash="pxBzoQXTG66x4dbzVzxteg" />
@ -387,7 +387,6 @@
<armgcc.compiler.directories.IncludePaths>
<ListValues>
<Value>%24(PackRepoDir)\arm\CMSIS\5.4.0\CMSIS\Core\Include\</Value>
<Value>%24(PackRepoDir)\atmel\SAME51_DFP\1.1.139\include</Value>
<Value>../Config</Value>
<Value>../</Value>
<Value>../examples</Value>
@ -412,12 +411,13 @@
<Value>../hpl/tc</Value>
<Value>../hpl/tcc</Value>
<Value>../hri</Value>
<Value>%24(PackRepoDir)\atmel\SAME51_DFP\1.1.139\include</Value>
</ListValues>
</armgcc.compiler.directories.IncludePaths>
<armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>True</armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>
<armgcc.compiler.optimization.DebugLevel>Maximum (-g3)</armgcc.compiler.optimization.DebugLevel>
<armgcc.compiler.warnings.AllWarnings>True</armgcc.compiler.warnings.AllWarnings>
<armgcc.compiler.miscellaneous.OtherFlags>-std=gnu11 -mfloat-abi=hard -mfpu=fpv4-sp-d16</armgcc.compiler.miscellaneous.OtherFlags>
<armgcc.compiler.miscellaneous.OtherFlags>-std=gnu99 -mfloat-abi=hard -mfpu=fpv4-sp-d16</armgcc.compiler.miscellaneous.OtherFlags>
<armgcc.linker.general.UseNewlibNano>True</armgcc.linker.general.UseNewlibNano>
<armgcc.linker.libraries.Libraries>
<ListValues>
@ -438,7 +438,6 @@
<armgcc.assembler.general.IncludePaths>
<ListValues>
<Value>%24(PackRepoDir)\arm\CMSIS\5.4.0\CMSIS\Core\Include\</Value>
<Value>%24(PackRepoDir)\atmel\SAME51_DFP\1.1.139\include</Value>
<Value>../Config</Value>
<Value>../</Value>
<Value>../examples</Value>
@ -463,13 +462,13 @@
<Value>../hpl/tc</Value>
<Value>../hpl/tcc</Value>
<Value>../hri</Value>
<Value>%24(PackRepoDir)\atmel\SAME51_DFP\1.1.139\include</Value>
</ListValues>
</armgcc.assembler.general.IncludePaths>
<armgcc.assembler.debugging.DebugLevel>Default (-g)</armgcc.assembler.debugging.DebugLevel>
<armgcc.preprocessingassembler.general.IncludePaths>
<ListValues>
<Value>%24(PackRepoDir)\arm\CMSIS\5.4.0\CMSIS\Core\Include\</Value>
<Value>%24(PackRepoDir)\atmel\SAME51_DFP\1.1.139\include</Value>
<Value>../Config</Value>
<Value>../</Value>
<Value>../examples</Value>
@ -494,6 +493,7 @@
<Value>../hpl/tc</Value>
<Value>../hpl/tcc</Value>
<Value>../hri</Value>
<Value>%24(PackRepoDir)\atmel\SAME51_DFP\1.1.139\include</Value>
</ListValues>
</armgcc.preprocessingassembler.general.IncludePaths>
<armgcc.preprocessingassembler.debugging.DebugLevel>Default (-Wa,-g)</armgcc.preprocessingassembler.debugging.DebugLevel>

95
2_Motor_Master/Motor_Master/Motor_Master/bldc.c
View File

@ -33,15 +33,34 @@ void motor_StateMachine(BLDCMotor_t* const motor)
motor->motor_state.currentstate = MOTOR_IDLE;
break;
case MOTOR_IDLE:
hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw, DISABLE_PATTERN);
//hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw, DISABLE_PATTERN);
motor->motor_state.previousstate = motor->motor_state.currentstate;
motor->motor_state.currentstate = MOTOR_OPEN_LOOP_STATE;
motor->motor_state.currentstate = MOTOR_VI_CTRL_STATE;
break;
case MOTOR_OPEN_LOOP_STATE:
BLDC_runOpenLoop(motor, *M1_Desired_dc);
calculate_motor_speed(motor);
motor->motor_state.previousstate = motor->motor_state.currentstate;
break;
case MOTOR_V_CTRL_STATE:
calculate_motor_speed(motor);
BLDC_runSpeedCntl(motor, (float32_t)motor->motor_status.calc_rpm, (float32_t)motor->motor_setpoints.desired_speed);
motor->motor_state.previousstate = motor->motor_state.currentstate;
break;
case MOTOR_VI_CTRL_STATE:
switch (motor->regulation_loop_count) {
case 0: /* PWM FREQ / 25 - 1kHz */
case 5: case 10: case 15: case 20:/* PWM FREQ / 5 - 5kHz */
calculate_motor_speed(motor);
BLDC_runSpeedCntl(motor, (float32_t)motor->motor_status.calc_rpm, (float32_t)motor->motor_setpoints.desired_speed);
default: /* PWM FREQ - 25kHz */
select_active_phase(motor);
BLDC_runCurrentCntl(motor,(float32_t)motor->Iphase_pu.Bus, (float32_t)motor->controllers.Pi_Idc.Ref_pu);
break;
} // end switch(regulation_loop_count)
if(motor->regulation_loop_count > 23) motor->regulation_loop_count = 0;
else motor->regulation_loop_count++;
break;
case MOTOR_PVI_CTRL_STATE:
switch (Motor1.regulation_loop_count) {
case 0: /* PWM FREQ / 25 - 1kHz */
@ -100,8 +119,10 @@ void BldcInitStruct(BLDCMotor_t* const motor, BLDCMotor_param_t * const motor_pa
motor->motor_status.cur_comm_step = 0;
motor->motor_status.currentHallPattern = 1;
//motor->motor_status.nextHallPattern = 3;
motor->motor_setpoints.directionOffset = 0;
motor->motor_status.speed_average = 0;
motor->motor_status.count =1;
// ----------------------------------------------------------------------
// Initialize Phase Current Struct:
// ----------------------------------------------------------------------
@ -146,6 +167,7 @@ void BldcInitStruct(BLDCMotor_t* const motor, BLDCMotor_param_t * const motor_pa
motor->motor_setpoints.max_current = 0.0;
motor->motor_setpoints.max_torque = 0.0;
motor->motor_setpoints.max_velocity = 0;
motor->motor_setpoints.directionOffset = 0;
//// ------------------------------------------------------------------------------
//// Initialize PI current control
@ -160,14 +182,20 @@ void BldcInitStruct(BLDCMotor_t* const motor, BLDCMotor_param_t * const motor_pa
//// Initialize PD Vel control
//// ------------------------------------------------------------------------------
PID_objectInit(&motor->controllers.Pid_Speed);
/* V Control Gains */
//motor->controllers.Pid_Speed.Kp = 0.005f;
//motor->controllers.Pid_Speed.Ki = 0.00001f;
//motor->controllers.Pid_Speed.Kd = 0.001f;
/* VI Control Gains */
//motor->controllers.Pid_Speed.Kp = 0.0003f;
//motor->controllers.Pid_Speed.Ki = 0.001f;
motor->controllers.Pid_Speed.Kp = 0.0005f;
motor->controllers.Pid_Speed.Ki = 0.0f;
motor->controllers.Pid_Speed.Kd = 0.0001f;
//motor->controllers.Pid_Speed.Ki = 0.0001f;
motor->controllers.Pid_Speed.Kp = 0.0002f;
motor->controllers.Pid_Speed.Ki = 0.0000001f;
//motor->controllers.Pid_Speed.Kp = 0.0005f;
//motor->controllers.Pid_Speed.Ki = 0.0f;
//motor->controllers.Pid_Speed.Kd = 0.0001f;
/* Limits */
motor->controllers.Pid_Speed.OutMax_pu = (motor_param->motor_Max_Current_IDC_A);
motor->controllers.Pid_Speed.OutMin_pu = -(motor_param->motor_Max_Current_IDC_A);
@ -280,7 +308,7 @@ void calculate_motor_speed(BLDCMotor_t* const motor)
////uint32_t test = (SPEEDFACTOR, period_after_capture);
////temp_rpm = SPEEDFACTOR / period_after_capture;
////tic_port(DEBUG_3_PORT);
temp_rpm = HZ_TO_RPM / (period_after_capture * 42);
temp_rpm = HZ_TO_RPM / (period_after_capture * motor->motor_param->motor_commutationStates);
//temp_rpm = HZ_TO_RPM * period_after_capture;
////toc_port(DEBUG_3_PORT);
@ -297,32 +325,31 @@ void calculate_motor_speed(BLDCMotor_t* const motor)
temp_rpm = temp_rpm;
}
motor->motor_status.calc_rpm = (int16_t)temp_rpm;
//motor->motor_status.calc_rpm = (int16_t)temp_rpm;
#ifdef AVERAGE_SPEED_MEASURE
//volatile uint32_t speed_average = 0;
//volatile uint8_t count = 1;
//// To avoid noise an average is realized on 8 samples
//speed_average += temp_rpm;
//if(count >= n_SAMPLE)
//{
//count = 1;
//motor->motor_status.calc_rpm = (speed_average >> 3); // divide by 8
////Motor1.motor_status.calc_rpm = (speed_average); // divide by 8
//speed_average = 0;
////*Spare_byte1 = motorState.actualDirection;
//if(motor->motor_status.actualDirection == CCW) /* Changed from CCW */
//{
////*motor_speed = -1* Motor1.calc_rpm;
//motor->motor_status.calc_rpm = -1* motor->motor_status.calc_rpm;
//} else {
////*motor_speed = Motor1.calc_rpm;
//motor->motor_status.calc_rpm = motor->motor_status.calc_rpm;
//}
//return;
//}
//else count++;
// To avoid noise an average is realized on 8 samples
motor->motor_status.speed_average += temp_rpm;
if(motor->motor_status.count >= n_SAMPLE)
{
motor->motor_status.count = 1;
motor->motor_status.calc_rpm = (motor->motor_status.speed_average >> 3); // divide by 8
//Motor1.motor_status.calc_rpm = (speed_average); // divide by 8
motor->motor_status.speed_average = 0;
//*Spare_byte1 = motorState.actualDirection;
if(motor->motor_status.actualDirection == CCW) /* Changed from CCW */
{
//*motor_speed = -1* Motor1.calc_rpm;
motor->motor_status.calc_rpm = -1* motor->motor_status.calc_rpm;
} else {
//*motor_speed = Motor1.calc_rpm;
motor->motor_status.calc_rpm = motor->motor_status.calc_rpm;
}
return;
}
else motor->motor_status.count++;
#endif
motor->motor_status.calc_rpm = (int16_t)temp_rpm;
@ -371,7 +398,7 @@ void BLDC_runSpeedCntl(BLDCMotor_t *motor, const float32_t speedfbk, const float
motor->controllers.Pid_Speed.Ref_pu = f_clamp(speedRef, -motor->motor_param->motor_Max_Spd_RPM,
motor->motor_param->motor_Max_Spd_RPM);
if (applicationStatus.currentstate == MOTOR_V_CTRL_STATE)
if (motor->motor_state.currentstate == MOTOR_V_CTRL_STATE)
{
/* Output Pu in Volts (PWM %) */
motor->controllers.Pid_Speed.OutMax_pu = motor->VdcBus_pu;

6
2_Motor_Master/Motor_Master/Motor_Master/bldc.h
View File

@ -17,7 +17,7 @@
#include "statemachine.h"
#define PWM_TOP (1000)
#define MAX_PWM (600)
#define MAX_PWM (400)
//#define MAX_VEL 3800
#define CW (0) //CBA
@ -29,7 +29,7 @@
#define INVALID_HALL_0 (0)
#define INVALID_HALL_7 (7)
//#define AVERAGE_SPEED_MEASURE
//#define AVERAGE_SPEED_MEASURE 1
#define n_SAMPLE 8
// ----------------------------------------------------------------------
@ -75,6 +75,7 @@ volatile BLDCMotor_t Motor2;
volatile MOTOR_STATE_t Motor1_Status;
volatile MOTOR_STATE_t Motor2_Status;
// ----------------------------------------------------------------------
// functions
// ----------------------------------------------------------------------
@ -92,6 +93,5 @@ static void BLDC_runPosCntl(BLDCMotor_t *motor, int16_t posfbk, int16_t posRef);
static void BLDC_runOpenLoop(BLDCMotor_t *motor, int16_t duty);
volatile uint8_t readHallSensorM1(void);
volatile uint8_t readHallSensorM2(void);
volatile uint8_t readHallSensorM1v2(void);
#endif /* BLDC_H_ */

4
2_Motor_Master/Motor_Master/Motor_Master/bldc_types.h
View File

@ -68,7 +68,7 @@ volatile typedef struct
{
volatile uint8_t actualDirection; //! The actual direction of rotation.
volatile uint16_t duty_cycle;
volatile int16_t calc_rpm;
volatile int16_t calc_rpm;
volatile int16_t Num_Steps;
/* Hall States */
//volatile uint8_t prevHallPattern;
@ -77,6 +77,8 @@ volatile typedef struct
/* Commutation State */
volatile uint8_t cur_comm_step;
volatile uint8_t prev_comm_step;
volatile uint32_t speed_average;
volatile uint8_t count;
} MOTOR_Status;
// ----------------------------------------------------------------------

13
2_Motor_Master/Motor_Master/Motor_Master/interrupts.h
View File

@ -47,6 +47,19 @@ void TC4_Handler(void)
}
static void M1_RESET_BAR(void)
{
volatile int x = 0;
}
static void M2_RESET_BAR(void)
{
volatile int x = 0;
}
#endif /* INTERRUPTS_H_ */

6
2_Motor_Master/Motor_Master/Motor_Master/main.c
View File

@ -55,6 +55,7 @@ static void One_ms_cycle_callback(const struct timer_task *const timer_task)
}
update_telemetry();
update_setpoints();
//run_ECAT = true;
}
@ -79,8 +80,9 @@ void One_ms_timer_init(void)
void enable_NVIC_IRQ(void)
{
//hri_tc_clear_INTEN_OVF_bit(TC2);
//hri_tc_clear_INTEN_OVF_bit(TC4);
ext_irq_register(M1_RST_Bar, M1_RESET_BAR);
ext_irq_register(M2_RST_Bar, M2_RESET_BAR);
NVIC_EnableIRQ(TC2_IRQn); // TC2: M1_Speed_Timer
NVIC_EnableIRQ(TC4_IRQn); // TC4: M2_Speed_Timer
NVIC_EnableIRQ(DMAC_0_IRQn);