pwm_update_cb(uint32_t output_timestamp)
apply_pwm_timings(uint16_t timings[3], bool tentative)
Idq_setpoint_ = Idq_setpoint_src_.present();
??? FOC电流控制的，d,q轴电流给定值，是如何更新的 ???
class FieldOrientedController
update
void FieldOrientedController::update(uint32_t timestamp) {
CRITICAL_SECTION() {
ctrl_timestamp_ = timestamp;
enable_current_control_ = enable_current_control_src_;
Idq_setpoint_ = Idq_setpoint_src_.present();
Vdq_setpoint_ = Vdq_setpoint_src_.present();
phase_ = phase_src_.present();
phase_vel_ = phase_vel_src_.present();
}
}
vbus_voltage_measured_ = vbus_voltage;
Ialpha_beta_measured_ = Ialpha_beta;
class FieldOrientedController
on_measurement
Store the measurements,存储到:
vbus_voltage_measured_,
Ialpha_beta_measured_,
class AlphaBetaFrameController
on_measurement
进行Clark变换，由3相电流，
计算得到Ialpha_beta
void ControlLoop_IRQHandler(void)
定义电机的3相电流采样的结构体
current0, current1
// Ensure that all the ADCs are done
std::optional<Iph_ABC_t> current0;
std::optional<Iph_ABC_t> current1;
调用函数fetch_and_reset_adcs(¤t0, ¤t1),
以取出ADC采样的电机的3相电流
if (!fetch_and_reset_adcs(¤t0, ¤t1)) {
motors[0].disarm_with_error(Motor::ERROR_BAD_TIMING);
motors[1].disarm_with_error(Motor::ERROR_BAD_TIMING);
}
...
// If the motor FETs are not switching then we can't measure the current
// because for this we need the low side FET to conduct.
// So for now we guess the current to be 0 (this is not correct shortly after
// disarming and when the motor spins fast in idle). Passing an invalid
// current reading would create problems with starting FOC.
if (!(TIM1->BDTR & TIM_BDTR_MOE_Msk)) {
current0 = {0.0f, 0.0f};
}
if (!(TIM8->BDTR & TIM_BDTR_MOE_Msk)) {
current1 = {0.0f, 0.0f};
}
电流测量并校准 current_meas_cb()
motors[0].current_meas_cb(timestamp - TIM1_INIT_COUNT, current0);
motors[1].current_meas_cb(timestamp, current1);
Runs the periodic control loop:
odrv.control_loop_cb(timestamp);
...
// By this time the ADCs for both M0 and M1 should have fired again. But
// let's wait for them just to be sure.
MEASURE_TIME(odrv.task_times_.dc_calib_wait) {
while (!(ADC2->SR & ADC_SR_EOC));
}
调用函数fetch_and_reset_adcs(¤t0, ¤t1),
以取出ADC采样的电机的3相电流
if (!fetch_and_reset_adcs(¤t0, ¤t1)) {
motors[0].disarm_with_error(Motor::ERROR_BAD_TIMING);
motors[1].disarm_with_error(Motor::ERROR_BAD_TIMING);
}
计算dc校准值
motors[0].dc_calib_cb(timestamp + TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1) - TIM1_INIT_COUNT, current0);
motors[1].dc_calib_cb(timestamp + TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1), current1);
调用函数pwm_update_cb()，
以更新PWM
motors[0].pwm_update_cb(timestamp + 3 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1) - TIM1_INIT_COUNT);
motors[1].pwm_update_cb(timestamp + 3 * TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1));
...
if (timestamp_ != timestamp + TIM_1_8_PERIOD_CLOCKS * (TIM_1_8_RCR + 1)) {
motors[0].disarm_with_error(Motor::ERROR_CONTROL_DEADLINE_MISSED);
motors[1].disarm_with_error(Motor::ERROR_CONTROL_DEADLINE_MISSED);
}
...
odrv.task_timers_armed_ = odrv.task_timers_armed_ && !TaskTimer::enabled;
...
TaskTimer::enabled = false;
tim->CCR1 = timings[0];
tim->CCR2 = timings[1];
tim->CCR3 = timings[2];
class Motor
pwm_update_cb
进行SVPWM计算，输出为：
pwm_timings[0],pwm_timings[1],pwm_timings[2]
class FieldOrientedController
get_alpha_beta_output
进行FOC算法，包括：
Park变换，电流环PI计算，Inverse Park变换；
class AlphaBetaFrameController
get_output
进行SVPWM计算，输出为：
pwm_timings[0],pwm_timings[1],pwm_timings[2]
File inclusion relationship
class AlphaBetaFrameController
on_measurement
进行Clark变换，由3相电流，
计算得到Ialpha_beta
get_output
进行SVPWM计算，输出为：
pwm_timings[0],pwm_timings[1],pwm_timings[2]
class FieldOrientedController
on_measurement
Store the measurements,存储到:
vbus_voltage_measured_,
Ialpha_beta_measured_,
get_alpha_beta_output
进行FOC算法，包括：
Park变换，电流环PI计算，Inverse Park变换；
update
用于更新下面的变量：
ctrl_timestamp_, [HCLK ticks]
enable_current_control_, (true or false)
Idq_setpoint_, (d,q轴电流给定)[A]
Vdq_setpoint_, (d,q轴电压给定)[V]
phase_, ()[rad]
phase_vel_, ()[rad/s]
phase_control_law.hpp
!!!No phase_control_law.cpp!!!
class FieldOrientedController
virtual ODriveIntf::MotorIntf::Error get_output(
uint32_t output_timestamp,
float (&pwm_timings)[N_PHASES],
std::optional<float>* ibus)
= 0
virtual ODriveIntf::MotorIntf::Error on_measurement(
std::optional<float> vbus_voltage,
std::optional<std::array<float, N_PHASES>> currents,
uint32_t input_timestamp)
= 0
class AlphaBetaFrameController
on_measurement()
ODriveIntf::MotorIntf::Error on_measurement(
std::optional<float> vbus_voltage,
std::optional<std::array<float, 3>> currents,
uint32_t input_timestamp) final;
get_output()
ODriveIntf::MotorIntf::Error get_output(
uint32_t output_timestamp,
float (&pwm_timings)[3],
std::optional<float>* ibus) final;
on_measurement()
virtual ODriveIntf::MotorIntf::Error on_measurement(
std::optional<float> vbus_voltage,
std::optional<float2D> Ialpha_beta,
uint32_t input_timestamp) = 0;
get_alpha_beta_output()
virtual ODriveIntf::MotorIntf::Error get_alpha_beta_output(
uint32_t output_timestamp,
std::optional<float2D>* mod_alpha_beta,
std::optional<float>* ibus) = 0;
class PhaseControlLaw
reset()
virtual void reset() = 0;
on_measurement()
virtual ODriveIntf::MotorIntf::Error on_measurement(
std::optional<float> vbus_voltage,
std::optional<std::array<float, N_PHASES>> currents,
uint32_t input_timestamp) = 0;
get_output()
virtual ODriveIntf::MotorIntf::Error get_output(
uint32_t output_timestamp,
float (&pwm_timings)[N_PHASES],
std::optional<float>* ibus) = 0;
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