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UGR-Gen3-Torque-Controller
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added motor test code as starting point

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bitscuit 2023-04-11 14:13:36 +02:00
parent f2a99ede08
commit 1a690a3722
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3
.gitignore vendored
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# Custom stuffs
.vscode
# ---> C # ---> C
# Prerequisites # Prerequisites
*.d *.d

39
include/README Normal file
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This directory is intended for project header files.
A header file is a file containing C declarations and macro definitions
to be shared between several project source files. You request the use of a
header file in your project source file (C, C++, etc) located in `src` folder
by including it, with the C preprocessing directive `#include'.
```src/main.c
#include "header.h"
int main (void)
{
...
}
```
Including a header file produces the same results as copying the header file
into each source file that needs it. Such copying would be time-consuming
and error-prone. With a header file, the related declarations appear
in only one place. If they need to be changed, they can be changed in one
place, and programs that include the header file will automatically use the
new version when next recompiled. The header file eliminates the labor of
finding and changing all the copies as well as the risk that a failure to
find one copy will result in inconsistencies within a program.
In C, the usual convention is to give header files names that end with `.h'.
It is most portable to use only letters, digits, dashes, and underscores in
header file names, and at most one dot.
Read more about using header files in official GCC documentation:
* Include Syntax
* Include Operation
* Once-Only Headers
* Computed Includes
https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

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platformio.ini Normal file
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; PlatformIO Project Configuration File
;
; Build options: build flags, source filter
; Upload options: custom upload port, speed and extra flags
; Library options: dependencies, extra library storages
; Advanced options: extra scripting
;
; Please visit documentation for the other options and examples
; https://docs.platformio.org/page/projectconf.html
[env:teensy40]
platform = teensy
board = teensy40
framework = arduino

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src/main.cpp Normal file
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#include <Arduino.h>
#include <FlexCAN_T4.h>
/*CODE BY TIM VAN HAUWERMEIREN 2022*/
/*SLIGHT CHANGES BY NIELS DANZON 2023*/
#define FILTER_ID -1
/*
0: ERPM, Duty Cycle, Input Voltage
1: AC Current, DC Current
2: Controller temperature, Motor temperature, Fault code
3: Id, Iq
4: Throttle Signal, Brake Signal, DI1, DI2, DI3, DI4, DO1, DO2, DO3, DO4, Drive Enable, Capacitor Temp Limit, DC Current Limit,
Drive Enable Limit, IGBT Acceleration Temp Limit, IGBT Temp Limit, Input Voltage Limit, Motor Acceleration Temp Limit, Motor Temp Limit, RPM Min Limit, RPM Max Limit, Power Limit
*/
//Pin Declaration
#define AnalogIn 17
#define statusLED 13
#define AnalogAct 12
#define ManualAct 11
#define Stop 10
//Set Speed value used in Set Mode
#define setSpeed 500
//Function Declaration
void printMessage(const CAN_message_t *); // function for writing to the terminal
void setupCan();
void sendEnable(); // function to turn the inverter on DON'T FORGET TO EDIT THE ID OF THE DRIVE
void sendERPM(); // function to change the speed DON'T FORGET TO EDIT THE ID OF THE DRIVE
void calculateSpeed();
void blinkLED();
//Variable Declaration
uint64_t time_last_update;
uint64_t time_last_update_can;
FlexCAN_T4<CAN1, RX_SIZE_256, TX_SIZE_16> Can0;
elapsedMillis sinceSpeedUpdate; // counter voor snelheidssignaal
long speed;
bool analog = false;
bool manual = false;
bool stop = false;
void setup() {
// put your setup code here, to run once:
setupCan();
pinMode(statusLED, OUTPUT);
pinMode(AnalogIn, INPUT);
pinMode(AnalogAct, INPUT_PULLUP);
pinMode(ManualAct, INPUT_PULLUP);
pinMode(Stop, INPUT_PULLUP);
Serial.print("Over 5 sec: test starten");
delay(5000); // 5 seconden wachten
// onderstaande code geschreven door Niels Danzon (nog niet getest dus als het niet werkt aanpassen of die van Tim gebruiken)
speed = 1000; // Set ERPM=RPM*number of poles --> RPM = ERPM/10 (for emrax 208)
sendERPM();
sinceSpeedUpdate = 0;
while (speed <= 50000)
{
sendERPM();
if (sinceSpeedUpdate >= 2000)
{
sinceSpeedUpdate = 0;
speed += 1000;
}
}
/* OLD CODE BY TIM VAN HAUWERMEIREN:
problem with code is that it constantly accelerates and deaccelerates the motor because of the delay between the commands
delay(10000);
speed = 1000;
sendERPM();
delay(2000);
speed = 2000;
sendERPM();
delay(2000);
speed = 3000;
sendERPM();
speed = 4000;
sendERPM();
delay(2000);
speed = 5000;
sendERPM();
delay(2000);
speed = 6000;
sendERPM();
delay(2000);
speed = 7000;
sendERPM();
delay(2000);
speed = 8000;
sendERPM();
delay(2000);
speed = 9000;
sendERPM();
delay(2000);
speed = 10000;
sendERPM();
delay(2000);
speed = 11000;
sendERPM();
delay(2000);
speed = 12000;
sendERPM();
delay(2000);
speed = 13000;
sendERPM();
delay(2000);
speed = 14000;
sendERPM();
delay(2000);
speed = 15000;
sendERPM();
speed = 16000;
sendERPM();
delay(2000);
speed = 17000;
sendERPM();
delay(2000);
speed = 18000;
sendERPM();
delay(2000);
speed = 19000;
sendERPM();
delay(2000);
speed = 20000;
sendERPM();
delay(2000);
speed = 21000;
sendERPM();
delay(2000);
speed = 22000;
sendERPM();
delay(2000);
speed = 23000;
sendERPM();
delay(2000);
speed = 24000;
sendERPM();
delay(2000);
speed = 25000;
sendERPM();
speed = 26000;
sendERPM();
delay(2000);
speed = 27000;
sendERPM();
delay(2000);
speed = 28000;
sendERPM();
delay(2000);
speed = 29000;
sendERPM();
delay(2000);
speed = 30000;
sendERPM();
delay(2000);
speed = 31000;
sendERPM();
delay(2000);
speed = 32000;
sendERPM();
delay(2000);
speed = 33000;
sendERPM();
speed = 34000;
sendERPM();
delay(2000);
speed = 35000;
sendERPM();
delay(2000);
speed = 36000;
sendERPM();
delay(2000);
speed = 37000;
sendERPM();
delay(2000);
speed = 38000;
sendERPM();
delay(2000);
speed = 39000;
sendERPM();
delay(2000);
speed = 40000;
sendERPM();
delay(2000);
speed = 41000;
sendERPM();
delay(2000);
speed = 41500;
sendERPM();
delay(2000);
speed = 42000;
sendERPM();
delay(2000);
speed = 42500;
sendERPM();
delay(2000);
speed = 43000;
sendERPM();
delay(2000);
speed = 43500;
sendERPM();
delay(2000);
speed = 44000;
sendERPM();
delay(2000);
speed = 44500;
sendERPM();
delay(2000);
speed = 45000;
sendERPM();
delay(2000);
speed = 46000;
sendERPM();
delay(2000);
speed = 47000;
sendERPM();
delay(2000);
speed = 48000;
sendERPM();
delay(2000);
speed = 49000;
sendERPM();
delay(2000);
speed = 50000;
sendERPM();
delay(2000);*/
}
void loop() { // no idea if this is still needed with the new code (I don't know C++)
// Wait Loop
while(!(analog || manual)){
stop = false;
//calculateSpeed();
speed = 50000;
sendERPM();
//delay(500);
//blinkLED();
if(digitalRead(AnalogAct)){
analog = false;
}
else{
analog = true;
Serial.print("Analog Mode\n");
}
if(digitalRead(ManualAct)){
manual = false;
}
else{
manual = true;
Serial.print("Manual Mode\n");
}
Serial.print("Waiting\n");
delay(1000);
}
//Analog Mode
while(analog){
calculateSpeed();
sendERPM();
if(digitalRead(Stop)){
analog = true;
}
else{
analog = false;
}
}
//Set Mode
while(manual){
speed = 500;
sendERPM();
if(digitalRead(Stop)){
manual = true;
}
else{
manual = false;
}
}
}
void printMessage(const CAN_message_t &msg) {
/*This function is called when a CAN message is received via the CAN bus. The message will be printed to the Serial for debugging purposes.
:param msg: Received Can message
:type msg: CAN_message_t
:return: void
:rtype: void
*/
Serial.println("test");
if(msg.id == FILTER_ID || FILTER_ID == -1){
Serial.print("MB "); Serial.print(msg.mb);
Serial.print(" LEN: "); Serial.print(msg.len);
Serial.print(" TS: "); Serial.print(msg.timestamp);
Serial.print(" ID: "); Serial.print(msg.id, HEX);
Serial.print(" Buffer: ");
for ( uint8_t i = 0; i < msg.len; i++ ) {
Serial.print(msg.buf[i]); Serial.print(" ");
}
Serial.println();
}
}
void setupCan() {
/*Initialize all CAN elements
:return: void
:rtype: void
*/
Serial.begin(115200);
delay(400);
//Set up the clock and controller
Can0.begin();
//Set the symbol datarate to 1.000.000, TODO check max value
Can0.setBaudRate(500000);
//Set the maximal amount of MailBox'es (MB), an MB is a single buffer for a specific message type
//For transmitting frames on the CAN bus you can put them into a mailbox and they'll be scheduled to be sent when possible.
//Each mailbox is set either as a transmission or reception box.
Can0.setMaxMB(16);
// Enable FIFO, allows more than one instance of the same message to be stored before the CPU is interrupted
// therefore preventing any information loss for high frequency messages
Can0.enableFIFO();
// This allows frames to be interrupt driven rather than polling them in the loop.
Can0.enableFIFOInterrupt();
Can0.onReceive(printMessage);
}
// ID bij ons was 79 = 0x4F
void sendEnable() {
CAN_message_t msg_DriveEnable;
msg_DriveEnable.flags.extended = 1;
msg_DriveEnable.id = 0x24 << 8 | 0x4F; // INVERTER ID INSTELLEN VOLGENS VOLGEND FORMAT: 0x24 << 8 | 0x"ID"
msg_DriveEnable.buf[0] = 1;
msg_DriveEnable.buf[1] = 255;
msg_DriveEnable.buf[2] = 0xFF;
msg_DriveEnable.buf[3] = 0xFF;
msg_DriveEnable.buf[4] = 0xFF;
msg_DriveEnable.buf[5] = 0xFF;
msg_DriveEnable.buf[6] = 0xFF;
msg_DriveEnable.buf[7] = 0xFF;
Can0.write(msg_DriveEnable);
Serial.println();
}
void sendERPM() {
if ( millis() - time_last_update_can > 100 ) {
sendEnable();
Serial.print("Enable");
CAN_message_t msg_ERPM;
msg_ERPM.flags.extended = 1;
msg_ERPM.id = 0x1C << 8 | 0x4F; // INVERTER ID INSTELLEN VOLGENS VOLGEND FORMAT: 0x1C << 8 | 0x"ID"
msg_ERPM.buf[0] = (speed >> 24);
msg_ERPM.buf[1] = (speed >> 16) & 0xFF;
msg_ERPM.buf[2] = (speed >> 8) & 0xFF;
msg_ERPM.buf[3] = speed & 0xFF;
Can0.write(msg_ERPM);
Serial.println("ERPM");
printMessage(msg_ERPM);
time_last_update_can = millis();
}
}
void calculateSpeed(){
uint64_t analogSpeed = analogRead(AnalogIn);
speed = map(analogSpeed, 0, 1023, 0, 45000);
}
void blinkLED(){
digitalWrite(statusLED, HIGH);
delay(500);
digitalWrite(statusLED, LOW);
delay(500);
}