diff --git a/Firmware/carteHRI.uvoptx b/Firmware/carteHRI.uvoptx index d6bfb59..e2a61f6 100644 --- a/Firmware/carteHRI.uvoptx +++ b/Firmware/carteHRI.uvoptx @@ -1,713 +1,718 @@ 1.0
### uVision Project, (C) Keil Software
*.c *.s*; *.src; *.a* *.obj *.lib *.txt; *.h; *.inc *.plm *.cpp 0 0 0 Target 1 0x4 ARM-ADS 168000000 1 1 0 1 0 1 65535 0 0 0 79 66 8 .\lst\ 1 1 1 0 1 1 0 1 0 0 0 0 1 1 1 1 1 1 1 0 0 1 0 1 18 0 User Manual (MCBSTM32F400) C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.3.0\MDK\Boards\Keil\MCBSTM32F400\Documentation\mcbstm32f200.chm 1 Schematics (MCBSTM32F400) C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.3.0\MDK\Boards\Keil\MCBSTM32F400\Documentation\mcbstm32f400-schematics.pdf 2 Getting Started (STM32F4-Discovery) C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.3.0\MDK\Boards\ST\STM32F4-Discovery\Documentation\DM00037368.pdf 3 User Manual (STM32F4-Discovery) C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.3.0\MDK\Boards\ST\STM32F4-Discovery\Documentation\DM00039084.pdf 4 Bill of Materials (STM32F4-Discovery) C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.3.0\MDK\Boards\ST\STM32F4-Discovery\Documentation\stm32f4discovery_bom.zip 5 Gerber Files (STM32F4-Discovery) C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.3.0\MDK\Boards\ST\STM32F4-Discovery\Documentation\stm32f4discovery_gerber.zip 6 Schematics (STM32F4-Discovery) C:\Keil_v5\ARM\PACK\Keil\STM32F4xx_DFP\2.3.0\MDK\Boards\ST\STM32F4-Discovery\Documentation\stm32f4discovery_sch.zip 7 MCBSTM32F400 Evaluation Board Web Page (MCBSTM32F400) http://www.keil.com/mcbstm32f400/ 8 STM32F4-Discovery Web Page (STM32F4-Discovery) http://www.st.com/web/catalog/tools/FM116/SC959/SS1532/LN1199/PF252419 0 1 1 1 1 1 1 1 1 1 0 1 1 1 0 1 1 1 1 0 0 11 STLink\ST-LINKIII-KEIL_SWO.dll 0 ARMRTXEVENTFLAGS -L50 -Z18 -C0 -M0 -T0 0 DLGDARM (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0) 0 DLGTARM (1010=-1,-1,-1,-1,0)(1007=-1,-1,-1,-1,0)(1008=-1,-1,-1,-1,0)(1009=-1,-1,-1,-1,0)(1012=-1,-1,-1,-1,0) 0 ARMDBGFLAGS -T0 0 DLGUARM (105=-1,-1,-1,-1,0) 0 ST-LINKIII-KEIL_SWO -U303030303030303030303031 -I0 -O8398 -S1 -C0 -A0 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO19 -TC168000000 -TP21 -TDS8053 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC800 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407VG$CMSIS\Flash\STM32F4xx_1024.FLM) 0 UL2CM3 UL2CM3(-S0 -C0 -P0 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024 -FS08000000 -FL0100000 -FP0($$Device:STM32F407VG$Flash\STM32F4xx_1024.FLM)) 0 1 motorTorque_mNm_dbg 1 1 adc_currentSensOffset,0x0A + + 2 + 1 + statusReg,0x0A + 0 2 motorTorque_mNm 1 2 nCycles 2 2 motorPosCod,0x0A 3 2 CurrentSensOffset,0x0A 4 2 motorCurrent_mA_mean 5 2 motorCurrent_mA 6 2 ADCValuesBuffer,0x0A 7 2 motorCurrent_mA 8 2 motorCurrentSum 9 2 debugVar01,0x0A 10 2 adcValues1,0x0A 11 2 motorCurrent_mA 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 STM32_files 1 0 0 0 1 1 1 0 0 0 0 .\src\system_stm32f4xx.c system_stm32f4xx.c 0 0 1 2 2 0 0 0 0 .\startup_stm32f4xx.s startup_stm32f4xx.s 0 0 SRC 1 0 0 0 2 3 1 0 0 0 0 .\src\main.c main.c 0 0 2 4 1 0 0 0 0 .\src\communication.c communication.c 0 0 2 5 1 0 0 0 0 .\src\controller.c controller.c 0 0 STM32_libs 1 0 0 0 3 6 1 0 0 0 0 C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_gpio.c stm32f4xx_gpio.c 0 0 3 7 1 0 0 0 0 C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_rcc.c stm32f4xx_rcc.c 0 0 3 8 1 0 0 0 0 C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_tim.c stm32f4xx_tim.c 0 0 3 9 1 0 0 0 0 C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\misc.c misc.c 0 0 3 10 1 0 0 0 0 C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_exti.c stm32f4xx_exti.c 0 0 3 11 1 0 0 0 0 C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_syscfg.c stm32f4xx_syscfg.c 0 0 3 12 1 0 0 0 0 C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_adc.c stm32f4xx_adc.c 0 0 3 13 1 0 0 0 0 C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_dac.c stm32f4xx_dac.c 0 0 3 14 1 0 0 0 0 C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_dma.c stm32f4xx_dma.c 0 0 3 15 1 0 0 0 0 C:\STM32F4-Discovery_FW_V1.1.0\Libraries\STM32F4xx_StdPeriph_Driver\src\stm32f4xx_usart.c stm32f4xx_usart.c 0 0 3 16 4 0 0 0 0 C:\STM32F4-Discovery_FW_V1.1.0\Libraries\CMSIS\Lib\ARM\arm_cortexM4lf_math.lib arm_cortexM4lf_math.lib 0 0 SRC_drivers 1 0 0 0 4 17 1 0 0 0 0 .\src\drivers\adc.c adc.c 0 0 4 18 1 0 0 0 0 .\src\drivers\callback_timers.c callback_timers.c 0 0 4 19 1 0 0 0 0 .\src\drivers\dac.c dac.c 0 0 4 20 1 0 0 0 0 .\src\drivers\h_bridge.c h_bridge.c 0 0 4 21 1 0 0 0 0 .\src\drivers\incr_encoder.c incr_encoder.c 0 0 4 22 1 0 0 0 0 .\src\drivers\uart.c uart.c 0 0 4 23 1 0 0 0 0 .\src\drivers\hall.c hall.c 0 0 4 24 1 0 0 0 0 .\src\drivers\strain_gauge.c strain_gauge.c 0 0 4 25 1 0 0 0 0 .\src\drivers\tachometer.c tachometer.c 0 0 SRC_lib 1 0 0 0 5 26 1 0 0 0 0 .\src\lib\basic_filter.c basic_filter.c 0 0 5 27 1 0 0 0 0 .\src\lib\pid.c pid.c 0 0 5 28 1 0 0 0 0 .\src\lib\utils.c utils.c 0 0 diff --git a/Firmware/src/communication.c b/Firmware/src/communication.c index 0914f0a..fbce055 100644 --- a/Firmware/src/communication.c +++ b/Firmware/src/communication.c @@ -1,317 +1,317 @@ #include "communication.h" #include "controller.h" #include "drivers/callback_timers.h" #include "drivers/adc.h" #include "drivers/dac.h" #include "drivers/hall.h" #include "drivers/strain_gauge.h" #include "drivers/tachometer.h" #include "drivers/uart.h" #include "lib/basic_filter.h" #include "lib/pid.h" #include "lib/utils.h" extern uint32_t statusReg, ctrl_timestamp, ctrl_currentFilterType; extern float32_t ctrl_motorPosCod, ctrl_motorPosCod_c; -extern float32_t ctrl_motorTorque_mNm_c, ctrl_motorPosCodFilt, ctrl_firstOrderFilterTau; +extern float32_t ctrl_motorTorque_Nm_c, ctrl_motorPosCodFilt, ctrl_firstOrderFilterTau; extern float32_t hall_angle, tac_speed, sg_force; extern pid_Pid ctrl_positionPid; extern bfilt_BasicFilter ctrl_encoderFilter; extern float32_t ctrl_sineAmplitude, ctrl_sinePeriod; uint32_t selectedVariablesToStream; // Bitfield that indicates for each variable if it should be streamed or not. void* variablesArray[N_VARIABLES]; // Pointers to variables to stream. uint8_t txBuffer[1024]; uint8_t rxCurrentMessageType = PC_MESSAGE_DO_NOTHING; // Current message type for RX bytes. uint32_t rxBytesCount; // Number of received bytes for the current message. uint8_t firstHalfByte; // First half of the data byte to receive. uint8_t rxDataBytesBuffer[32]; // Data bytes received (ready to use, bytes already merged). void comm_SendPacket(uint8_t messageType, uint8_t *data, uint16_t dataLength); void comm_HandleByte(uint8_t rxData); void comm_Stream(void); uint32_t comm_GetVar(uint8_t variableIndex); /** * @brief Init the communication manager. */ void comm_Init(void) { // Initialize the array with all the pointers on variables. // Note that this array contains pointers only to uint32_t, even if the // variables are actually float32_t. This does not matter, since we only use // these pointers to perform byte-to-byte copies. // Do not modify this by hand, copy-paste code generated by the excel sheet. variablesArray[VAR_TIMESTAMP] = (uint32_t*) &ctrl_timestamp; variablesArray[VAR_POS_REG_PID_P] = (uint32_t*) &ctrl_positionPid.kp; variablesArray[VAR_POS_REG_PID_I] = (uint32_t*) &ctrl_positionPid.ki; variablesArray[VAR_POS_REG_PID_D] = (uint32_t*) &ctrl_positionPid.kd; variablesArray[VAR_POS_REG_PID_ARW] = (uint32_t*) &ctrl_positionPid.arw; variablesArray[VAR_POS_REG_PID_INTEGRATOR] = (uint32_t*) &ctrl_positionPid.integrator; - variablesArray[VAR_POS_REG_PID_OUTPUT] = (uint32_t*) &ctrl_motorTorque_mNm_c; + variablesArray[VAR_POS_REG_PID_OUTPUT] = (uint32_t*) &ctrl_motorTorque_Nm_c; variablesArray[VAR_POS_REG_SAMPLING_PERIOD] = NULL; variablesArray[VAR_WALL_POSITION] = (uint32_t*) &ctrl_motorPosCod_c; variablesArray[VAR_MEASURED_ANGLE_RAW] = (uint32_t*) &ctrl_motorPosCod; variablesArray[VAR_MEASURED_ANGLE_FILTERED] = (uint32_t*) &ctrl_motorPosCodFilt; variablesArray[VAR_COMM_TX_PERIOD] = NULL; variablesArray[VAR_ACTIVE_FILTER] = (uint32_t*) &ctrl_currentFilterType; variablesArray[VAR_1ST_FILT_TAU] = (uint32_t*) &ctrl_encoderFilter.tau; variablesArray[VAR_DAC1_VOLTAGE] = NULL; variablesArray[VAR_DAC2_VOLTAGE] = NULL; variablesArray[VAR_ADC1_VOLTAGE] = NULL; variablesArray[VAR_ADC2_VOLTAGE] = NULL; variablesArray[VAR_HALL_ANGLE] = NULL; variablesArray[VAR_TACHO_SPEED] = NULL; variablesArray[VAR_STRAIN_GAUGE_FORCE] = NULL; variablesArray[VAR_USER_VAR_1] = NULL; variablesArray[VAR_USER_VAR_2] = NULL; variablesArray[VAR_USER_VAR_3] = NULL; variablesArray[VAR_USER_VAR_4] = NULL; variablesArray[VAR_USER_VAR_5] = NULL; // Setup the UART peripheral, and specify the function that will be called // each time a byte is received. uart_Init(comm_HandleByte); // Make the streaming function periodically called by the timer 7. cbt_SetCommLoopTimer(comm_Stream, TE_DATA_LOOP_DEFAULT_VAL); } /** * @brief UART data streaming "loop" function. */ void comm_Stream() { // If the data streaming is enabled, send a stream packet to the PC. if(statusReg & DATA_UPSTREAM_ENB) { uint32_t i; int nDataBytesToSend = 0; for(i=0; i> 4); // Most significant bits. uart_SendByte((data[i]&0x0f)); // Least significant bits. } } /** * @brief Process the received byte to interpret the messages. * @param rxData: the byte to be processed and interpreted. */ void comm_HandleByte(uint8_t rxData) { if(rxData & (1<<7)) // The start byte has the most significant bit high. { rxCurrentMessageType = (rxData & ~(1<<7)); // Remove the start bit. rxBytesCount = 0; } else rxBytesCount++; if(rxBytesCount % 2 == 1) // First half of the data byte has been received. firstHalfByte = rxData; // Store it until the second half arrives. else // Second half of the data byte has been received (or no data bytes yet). { int dataBytesReady = rxBytesCount/2; rxDataBytesBuffer[dataBytesReady-1] = (firstHalfByte<<4) + (rxData & 0xf); switch(rxCurrentMessageType) { case PC_MESSAGE_DO_NOTHING: if(dataBytesReady == 0) ; // Do nothing. break; case PC_MESSAGE_SEND_STATUS: if(dataBytesReady == 0) comm_SendPacket(STM_MESSAGE_STATUS, (uint8_t*)(&statusReg), 4); break; case PC_MESSAGE_START_STREAMING: if(dataBytesReady == 0) { statusReg |= DATA_UPSTREAM_ENB; TIM_SetCounter(TIM7, 0); TIM_Cmd(TIM7, ENABLE); } break; case PC_MESSAGE_STOP_STREAMING: if(dataBytesReady == 0) { TIM_Cmd(TIM7, DISABLE); statusReg &= ~DATA_UPSTREAM_ENB; } break; case PC_MESSAGE_GET_VAR: if(dataBytesReady == 1) { uint32_t variableValue; // Extract the index, that indicates which variable will be sent. uint8_t variableIndex = rxDataBytesBuffer[0]; // If the variable index is out of range, ignore the request. if(variableIndex >= N_VARIABLES) return; // Prepare the message to be sent to the PC. // First byte: variable index. txBuffer[0] = variableIndex; // Four following bytes: actual value of the variable. variableValue = comm_GetVar(variableIndex); memcpy(&txBuffer[1], &variableValue, 4); // Send the message to the PC. comm_SendPacket(STM_MESSAGE_VAR, txBuffer, 5); } break; case PC_MESSAGE_SET_VAR: if(dataBytesReady == 5) { // Extract the index (that indicates which variable will change), // and the new value of the variable. uint32_t newValue; uint8_t variableIndex = rxDataBytesBuffer[0]; memcpy(&newValue, &rxDataBytesBuffer[1], 4); // Set the selected variable with the new value. comm_SetVar(variableIndex, newValue); } break; case PC_MESSAGE_SET_STREAMED_VAR: if(dataBytesReady == 4) { uint8_t *newSelectedVars = &rxDataBytesBuffer[0]; memcpy(&selectedVariablesToStream, newSelectedVars, 4); } break; default: // No data bytes for the other message types. break; } } } diff --git a/Firmware/src/controller.c b/Firmware/src/controller.c index 415e9c6..5006400 100644 --- a/Firmware/src/controller.c +++ b/Firmware/src/controller.c @@ -1,128 +1,129 @@ #include "controller.h" #include "communication.h" #include "drivers/adc.h" #include "drivers/dac.h" #include "drivers/incr_encoder.h" #include "drivers/hall.h" #include "drivers/h_bridge.h" #include "drivers/callback_timers.h" #include "lib/basic_filter.h" #include "lib/pid.h" #include "lib/utils.h" extern uint32_t statusReg; volatile uint32_t ctrl_timestamp = 0; // [us]. volatile float32_t ctrl_motorPosCod; volatile float32_t ctrl_motorPosCod_c; volatile float32_t ctrl_motorPosCodFilt = 0.0f; -volatile float32_t ctrl_motorTorque_mNm_c = 0.0f; +volatile float32_t ctrl_motorTorque_Nm_c = 0.0f; volatile uint32_t ctrl_currentFilterType = FILTER_TYPE_NONE; volatile pid_Pid ctrl_currentPid, ctrl_positionPid; volatile bfilt_BasicFilter ctrl_encoderFilter; -volatile float32_t motorTorque_mNm_dbg; - void ctrl_RegulateCurrent(void); void ctrl_RegulatePosition(void); /** * @brief Initialize the position and current controllers. */ void ctrl_Init(void) { // Setup the PIDs. - pid_Init((pid_Pid*)&ctrl_currentPid, KP_CURRENT_DEFAULT_VAL, KI_CURRENT_DEFAULT_VAL, 0.0f, CURRENT_INTEGRATOR_SAT); + pid_Init((pid_Pid*)&ctrl_currentPid, KP_CURRENT_DEFAULT_VAL, KI_CURRENT_DEFAULT_VAL, 0.0f, CURRENT_INTEGRATOR_SAT, FF_CURRENT_DEFAULT_VAL); #ifdef REGULATION_TYPE_SYMMETRIC - pid_Init((pid_Pid*)&ctrl_positionPid, KP_POSITION_DEFAULT_VAL, KI_POSITION_DEFAULT_VAL, KD_POSITION_DEFAULT_VAL, POSITION_INTEGRATOR_SAT_DEFAULT_VAL); + pid_Init((pid_Pid*)&ctrl_positionPid, KP_POSITION_DEFAULT_VAL, KI_POSITION_DEFAULT_VAL, KD_POSITION_DEFAULT_VAL, POSITION_INTEGRATOR_SAT_DEFAULT_VAL, 0.0f); #else - pid_Init((pid_Pid*)&ctrl_positionPid, KP_POSITION_DEFAULT_VAL, 0.0f, KD_POSITION_DEFAULT_VAL, 0.0f); + pid_Init((pid_Pid*)&ctrl_positionPid, KP_POSITION_DEFAULT_VAL, 0.0f, KD_POSITION_DEFAULT_VAL, 0.0f, 0.0f); #endif // Setup the increment encoder filter. bfilt_Init((bfilt_BasicFilter*)&ctrl_encoderFilter, ENCODER_FILT_TAU_DEFAULT_VAL, 0.0f); // Make the timers call the regulation functions periodically. cbt_SetCurrentLoopTimer(ctrl_RegulateCurrent, TE_CURRENT_LOOP_DEFAULT_VAL); cbt_SetPositionLoopTimer(ctrl_RegulatePosition, TE_CONTROL_LOOP_DEFAULT_VAL); } /** * @brief Current regulation "loop" function. */ void ctrl_RegulateCurrent() { - float32_t pwmNormalizedDutyCycle, motorTorque_mNm; + float32_t motorVoltage, // Motor command voltage [V]. + pwmNormalizedDutyCycle, // Motor normalized PWM duty (-1 ot 1). + targetCurrent; // [A]. // Get the current. - float32_t motorCurrent_mA = adc_GetCurrent(); + float32_t motorCurrrentCurrent = adc_GetCurrent(); - // Convert to torque. - motorTorque_mNm = motorCurrent_mA * TORQUE_CONST; - motorTorque_mNm_dbg = motorTorque_mNm; + // Convert the target torque to current. + targetCurrent = ctrl_motorTorque_Nm_c / MOTOR_TORQUE_CONST; // Regulate. - pwmNormalizedDutyCycle = -pid_Step((pid_Pid*)&ctrl_currentPid, - motorTorque_mNm, - ctrl_motorTorque_mNm_c, - (float32_t)cbt_GetCurrentLoopPeriod()*MICROSECOND_TO_SECOND); + motorVoltage = -pid_Step((pid_Pid*)&ctrl_currentPid, + motorCurrrentCurrent, + targetCurrent, + (float32_t)cbt_GetCurrentLoopPeriod()*MICROSECOND_TO_SECOND); + // Normalize to get a signed PWM duty (between -1 and 1). + pwmNormalizedDutyCycle = motorVoltage / H_BRIDGE_SUPPLY_VOLTAGE; utils_SaturateF(&pwmNormalizedDutyCycle, -CURRENT_LOOP_PWM_MAX_DUTY_CYCLE, CURRENT_LOOP_PWM_MAX_DUTY_CYCLE); // Apply the computed PWM duty. hb_SetPWM(pwmNormalizedDutyCycle); } /** * @brief Position regulation "loop" function. * @note As an example, a basic position regulator that uses the encoder is * implemented. Feel free to remove all the content of the function to add your * own code. */ void ctrl_RegulatePosition() { // Increment the timestamp. ctrl_timestamp += cbt_GetPositionLoopPeriod(); - + /* // Get the encoder position. ctrl_motorPosCod = enc_GetPosition(); // Filter the position given by the encoder. if(ctrl_currentFilterType == FILTER_TYPE_FIRST_ORDER) { ctrl_motorPosCodFilt = bfilt_Step((bfilt_BasicFilter*)&ctrl_encoderFilter, ctrl_motorPosCod); } else if(ctrl_currentFilterType == FILTER_TYPE_RUNNING_MEAN) { // TODO. ctrl_motorPosCodFilt = ctrl_motorPosCod; } else // No filter. ctrl_motorPosCodFilt = ctrl_motorPosCod; // Regulate. #ifdef REGULATION_TYPE_SYMMETRIC // No wall, just regulation on a point. - ctrl_motorTorque_mNm_c = -pid_Step((pid_Pid*)&ctrl_positionPid, + ctrl_motorTorque_Nm_c = -pid_Step((pid_Pid*)&ctrl_positionPid, ctrl_motorPosCodFilt, ctrl_motorPosCod_c, (float32_t)(cbt_GetPositionLoopPeriod())*MICROSECOND_TO_SECOND); #else // Wall, regulate only if not touching the wall. if(ctrl_motorPosCodFilt < ctrl_motorPosCod_c) // Touching the wall. { - ctrl_motorTorque_mNm_c = -pid_Step((pid_Pid*)&ctrl_positionPid, + ctrl_motorTorque_Nm_c = -pid_Step((pid_Pid*)&ctrl_positionPid, ctrl_motorPosCodFilt, (float32_t)ctrl_motorPosCod_c, (float32_t)(cbt_GetPositionLoopPeriod())*MICROSECOND_TO_SECOND); } else - ctrl_motorTorque_mNm_c = 0.0f; -#endif + ctrl_motorTorque_Nm_c = 0.0f; +#endif*/ } diff --git a/Firmware/src/controller.h b/Firmware/src/controller.h index 8d30590..123687e 100644 --- a/Firmware/src/controller.h +++ b/Firmware/src/controller.h @@ -1,63 +1,62 @@ #ifndef __CONTROLLER_H #define __CONTROLLER_H #include "main.h" // Type of regulation. // Comment out to get the "wall" non-symetric behavior. #define REGULATION_TYPE_SYMMETRIC // Loops periode values #define TE_LOOP_MIN_VALUE 50 // Minimum period for any loop [us]. #define TE_LOOP_MAX_VALUE 65534 // Maximum period for any loop [us]. -#define TE_CURRENT_LOOP_DEFAULT_VAL 60 // Current control loop period [us] (max 2^16-1) (default value at reset). +#define TE_CURRENT_LOOP_DEFAULT_VAL 30 // Current control loop period [us] (max 2^16-1) (default value at reset). #define TE_CONTROL_LOOP_DEFAULT_VAL 350 // Main control loop period [us] (max 2^16-1) (default value at reset). #define TE_DATA_LOOP_DEFAULT_VAL 8000 // Data loop period [us] (max 2^16-1) (default value at reset). // Current loop parameters -#define KP_CURRENT_DEFAULT_VAL 0.0011f -#define KI_CURRENT_DEFAULT_VAL (0.0000002*TE_CURRENT_LOOP_DEFAULT_VAL) -#define CURRENT_INTEGRATOR_SAT 0.7f +#define KP_CURRENT_DEFAULT_VAL 0.5f +#define KI_CURRENT_DEFAULT_VAL 10.0f +#define FF_CURRENT_DEFAULT_VAL MOTOR_RESISTANCE +#define CURRENT_INTEGRATOR_SAT 2.0f #define CURRENT_LOOP_PWM_MAX_DUTY_CYCLE 0.98f // Max PWM value (normalized) duty cycle (less than 1 to ensure bootstrap capacitor charging) // Main control loop parameters -#define KP_POSITION_DEFAULT_VAL 4.0f -#define KD_POSITION_DEFAULT_VAL 0.00075f -#define KI_POSITION_DEFAULT_VAL 0.0000049f -#define POSITION_INTEGRATOR_SAT_DEFAULT_VAL 50.0f +#define KP_POSITION_DEFAULT_VAL 0.1f +#define KD_POSITION_DEFAULT_VAL 0.0f +#define KI_POSITION_DEFAULT_VAL 0.0f +#define POSITION_INTEGRATOR_SAT_DEFAULT_VAL 0.01f // Increment encoder filter default coef. #define ENCODER_FILT_TAU_DEFAULT_VAL 0.999f // Filter types #define FILTER_TYPE_NONE 0 #define FILTER_TYPE_FIRST_ORDER 1 #define FILTER_TYPE_RUNNING_MEAN 2 -#define TORQUE_CONST 0.0538f // Nm/A =~ (mNm/mA) - /** @defgroup Controller Main / Controllers * @brief Control the paddle * * This module is the high-level controller of the board. It runs two "loops" * (in fact, functions called periodically by the interrupt of a timer), one to * regulate the motor current (ctrl_RegulateCurrent(), high frequency) and * another to control the rest (ctrl_RegulatePosition(), lower frequency). * The content of ctrl_RegulatePosition() is typically what the user of the * board will modify, depending on the selected sensors and control algorithms. * * Call ctrl_Init() to setup this module. Its interrupt functions will be called * automatically periodically. * * @addtogroup Controller * @{ */ void ctrl_Init(void); /** * @} */ #endif diff --git a/Firmware/src/drivers/adc.c b/Firmware/src/drivers/adc.c index 1da28f9..582231f 100644 --- a/Firmware/src/drivers/adc.c +++ b/Firmware/src/drivers/adc.c @@ -1,235 +1,233 @@ #include "adc.h" #include "../lib/basic_filter.h" #include "../lib/utils.h" volatile uint16_t adc_currentValuesBuffer[ADC_BUFFER_SIZE]; bfilt_BasicFilter adc_currentFilter; -uint16_t adc_currentSensOffset = 2048; - +float32_t adc_currentSensOffset = 0.0f; void adc_DmaInit(void); /** * @brief Initialize the ADC converter (2 analog inputs + current sense). */ void adc_Init(void) { ADC_InitTypeDef ADC_InitStructure; ADC_CommonInitTypeDef ADC_CommonInitStructure; GPIO_InitTypeDef GPIO_InitStructure; adc_DmaInit(); // Periph clock enable RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1|RCC_APB2Periph_ADC2, ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC3,ENABLE); // GPIO configuration GPIO_InitStructure.GPIO_Pin = ADC1_Input_Pin; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN; GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; GPIO_Init(ADC1_Input_Port, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = ADC2_Input_Pin; GPIO_Init(ADC2_Input_Port, &GPIO_InitStructure); GPIO_InitStructure.GPIO_Pin = ADC_Current_Sens_Pin; GPIO_Init(ADC_Current_Sens_Port, &GPIO_InitStructure); // ADC Common configuration ADC_DeInit(); ADC_CommonInitStructure.ADC_Mode = ADC_Mode_Independent; ADC_CommonInitStructure.ADC_TwoSamplingDelay = ADC_TwoSamplingDelay_5Cycles; // Useless here (only used in dual or triple interleaved modes). ADC_CommonInitStructure.ADC_DMAAccessMode = ADC_DMAAccessMode_Disabled; ADC_CommonInitStructure.ADC_Prescaler = ADC_Prescaler_Div4; ADC_CommonInit(&ADC_CommonInitStructure); // ADC regular channel configuration ADC_InitStructure.ADC_Resolution = ADC_Resolution_12b; ADC_InitStructure.ADC_ScanConvMode = DISABLE; ADC_InitStructure.ADC_ContinuousConvMode = DISABLE; ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_None; ADC_InitStructure.ADC_ExternalTrigConv = 0; ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right; ADC_InitStructure.ADC_NbrOfConversion = 1; ADC_Init(ADC1, &ADC_InitStructure); ADC_Init(ADC2, &ADC_InitStructure); // ADC_InitStructure.ADC_ExternalTrigConvEdge = ADC_ExternalTrigConvEdge_Rising; // ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_T8_TRGO; // ADC_InitStructure.ADC_ContinuousConvMode = DISABLE; // Synchronous sampling with the PWM replaced by a high-frequency sampling at ~300kHz (over-sampling), because of the commutation noise of the current measuring amplifier at ~120kHz. ADC_InitStructure.ADC_ContinuousConvMode = ENABLE; ADC_Init(ADC3, &ADC_InitStructure); ADC_RegularChannelConfig(ADC1, ADC1_Input_Chan, 1, ADC_SampleTime_56Cycles); ADC_Cmd(ADC1, ENABLE); ADC_SoftwareStartConv(ADC1); ADC_RegularChannelConfig(ADC2, ADC2_Input_Chan, 1, ADC_SampleTime_56Cycles); ADC_Cmd(ADC2, ENABLE); ADC_SoftwareStartConv(ADC2); ADC_RegularChannelConfig(ADC3, ADC_Current_Sens_Chan, 1, ADC_SampleTime_28Cycles); ADC_DMARequestAfterLastTransferCmd(ADC3, ENABLE); ADC_DMACmd(ADC3, ENABLE); ADC_Cmd(ADC3, ENABLE); ADC_SoftwareStartConv(ADC3); // Setup the filter of the ADC current samples over time. bfilt_Init(&adc_currentFilter, 0.2f, 0.0f); } /** * @brief Setup the DMA that copies the current ADC samples to the RAM. */ void adc_DmaInit(void) { DMA_InitTypeDef DMA_InitStructure; RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_DMA2, ENABLE); DMA_InitStructure.DMA_Memory0BaseAddr = (uint32_t)&adc_currentValuesBuffer; DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory; DMA_InitStructure.DMA_BufferSize = ADC_BUFFER_SIZE; DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable; DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable; DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord; DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord; DMA_InitStructure.DMA_Mode = DMA_Mode_Circular; DMA_InitStructure.DMA_Priority = DMA_Priority_High; DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Enable; DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_HalfFull; DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single; DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single; DMA_InitStructure.DMA_Channel = DMA_Channel_2; DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC3->DR; DMA_Init(DMA2_Stream1, &DMA_InitStructure); DMA_Cmd(DMA2_Stream1, ENABLE); } /** * @brief Compute the current sense offset. * @note Run before enabling current regulation. */ void adc_CalibrateCurrentSens(void) { + float32_t offset; int32_t i=0; - for(i=0; i<1000; i++) + for(i=0; i 0.0f) - adc_currentSensOffset++; - else - adc_currentSensOffset--; } + + adc_currentSensOffset = offset; } /** * @brief Compute the current sense offset. * @retval The measured current in [mA]. */ float32_t adc_GetCurrent(void) { int32_t motorCurrentSum; float32_t motorCurrentMean; int32_t i; // Compute the average of all the ADC values in the buffer. motorCurrentSum = 0; // [ADC raw value]. for(i=0; iCR2 |= (uint32_t)ADC_CR2_SWSTART; else if(channel == ANIN2) ADC2->CR2 |= (uint32_t)ADC_CR2_SWSTART; } /** * @brief Get the ADC conversion status of the selected channel. * @retval 1 if the conversion is finished, 0 otherwise. */ uint8_t adc_ConversionIsFinished(AdcChannel channel) { if(channel == ANIN1) return (ADC1->SR & ADC_SR_EOC) != 0; else if(channel == ANIN2) return (ADC2->SR & ADC_SR_EOC) != 0; else return 0; } /** * @brief Get the voltage measured by the selected ADC channel. * @param channel: the channel of the ADC. * @param scale: the full scale, depends of the switches position. * @return the measured voltage, in [V], or 0.0f if the channel is invalid. * @note make sure that the conversion is finished before calling. */ float32_t adc_GetConversionResult(AdcChannel channel, float32_t scale) { float32_t adcRawVal, voltage; if(channel == ANIN1) adcRawVal = (float32_t)ADC1->DR; else if(channel == ANIN2) adcRawVal = (float32_t)ADC2->DR; else adcRawVal = 0.0f; voltage = (1.0f - (adcRawVal / (float32_t)ADC_MAX) * 2.0f) * scale; return voltage; } /** * @brief Get the voltage measured by the selected ADC channel. * @param channel: the channel of the ADC. * @param scale: the full scale, depends of the switches position. * @return the measured voltage, in [V], or 0.0f if the channel is invalid. * @note make sure that the conversion is finished before calling. */ float32_t adc_GetChannelVoltage(AdcChannel channel, float32_t scale) { int32_t conversionTime = 0; adc_StartConversion(channel); while(!adc_ConversionIsFinished(channel)) { if(conversionTime < ADC_MAX_CONVERSION_TIME) conversionTime++; else break; } return adc_GetConversionResult(channel, scale); } diff --git a/Firmware/src/drivers/adc.h b/Firmware/src/drivers/adc.h index a74c388..381e6d8 100644 --- a/Firmware/src/drivers/adc.h +++ b/Firmware/src/drivers/adc.h @@ -1,77 +1,78 @@ #ifndef __ADC_H #define __ADC_H #include "../main.h" #define ADC1_Input_Pin GPIO_Pin_4 // Analog diff. input 1 #define ADC1_Input_Port GPIOC #define ADC1_Input_Chan ADC_Channel_14 #define ADC2_Input_Pin GPIO_Pin_5 // Analog diff. input 2 #define ADC2_Input_Port GPIOC #define ADC2_Input_Chan ADC_Channel_15 #define ADC_Current_Sens_Pin GPIO_Pin_3 // Current sense channel #define ADC_Current_Sens_Port GPIOA #define ADC_Current_Sens_Chan ADC_Channel_3 -#define ADC_BUFFER_SIZE 33 // Fadc =~300kHz -> TE_ADC = 3.33us -> Average over 32 sample => usable bandwidth <10kHz -#define CURRENT_SCALE (700.0f/1000.0f) // Scale between ADC increment -> mA (700inc. = 1000mA) -#define ADC_MAX 4095 +#define ADC_MAX 4095 // Maximum value of the ADC register (2^12 - 1). #define ADC_MAX_CONVERSION_TIME 100 // To avoid locking if the conversion was not started properly. +#define ADC_BUFFER_SIZE 33 // Fadc =~300kHz -> TE_ADC = 3.33us -> Average over 32 sample => usable bandwidth <10kHz +#define ADC_CURRENT_SCALE (STM_SUPPLY_VOLTAGE / (CURRENT_SHUNT_RESISTANCE * CURRENT_SHUNT_AMPLIFIER_GAIN * ADC_MAX)) // Scale between ADC increment and current [A/incr]. +#define ADC_CALIB_N_SAMPLES 1000 /** @defgroup ADC Driver / ADC * @brief Driver for the analog-to-digital peripheral of the STM32. * * An analog-to-digital converter (ADC) is used to measure the voltage of one * or several microcontroller pins. In the HRI board, there are two pins that * can be used. An intermediate electronic stage allows to modify the input * range from +-33mV to +-10V, in order to get the best sensitivity and range * for a wide range of analog sensors. Note that the input connector * (J2-ANALOG IN) provides differential inputs, so one pair of pins per * channel. * * In addition, there is an additional channel to measure the current going * through the motor (useful for current regulation). * * Call adc_Init() first, in the initialization code. Then, call * adc_GetChannelVoltage() every time you need the voltage. * * To measure accurately the motor current, a calibration has to be performed * first. Call dc_CalibrateCurrentSens() in the main(), when the current * regulation is disabled (see H-bridge documentation). Then, call * adc_GetCurrent() every time it is needed. This function returns the last * value transfered by the DMA, so there is no conversion delay when calling * this function. * * @addtogroup ADC * @{ */ // Switches-selectable scale of the ADC circuit. // Could be useful to perform a calibration, to precise readings. #define ADC_SCALE_0_033_V 0.033f ///< +-33mV, switches position: 0100 #define ADC_SCALE_0_165_V 0.165f ///< +-165mV, switches position: 0010 #define ADC_SCALE_0_400_V 0.400f ///< +-400mV, switches position: 1100 #define ADC_SCALE_0_830_V 0.830f ///< +-830mV, switches position: 0001 #define ADC_SCALE_2_V 2.000f ///< +-2V, switches position: 1010 #define ADC_SCALE_10_V 10.00f ///< +-10V, switches position: 1001 /** * @brief Enum that corresponds to the two ADC input channels of the board. */ typedef enum { ANIN1=1, ///< Channel 1, pins ANIN1+ (3) and ANIN1- (4) of the connector J2. ANIN2=2 ///< Channel 2, pins ANIN2+ (7) and ANIN2- (8) of the connector J2. } AdcChannel; void adc_Init(void); void adc_CalibrateCurrentSens(void); float32_t adc_GetCurrent(void); // [mA]. float32_t adc_GetChannelVoltage(AdcChannel channel, float32_t scale); /** * @} */ #endif diff --git a/Firmware/src/lib/pid.c b/Firmware/src/lib/pid.c index d6ad11a..925d84c 100644 --- a/Firmware/src/lib/pid.c +++ b/Firmware/src/lib/pid.c @@ -1,53 +1,58 @@ #include "pid.h" #include "utils.h" /** * @brief Initialize the PID structure. * @param pid: pointer to the PID structure. * @param kp: proportionnal coefficient of the PID. * @param ki: integral coefficient of the PID. * @param kd: derivative coefficient of the PID. * @param arw: maximum value of the integrator (anti-reset windup). Disabled if negative. */ -void pid_Init(pid_Pid *pid, float32_t kp, float32_t ki, float32_t kd, float32_t arw) +void pid_Init(pid_Pid *pid, float32_t kp, float32_t ki, float32_t kd, + float32_t arw, float32_t feedforward) { pid->kp = kp; pid->ki = ki; pid->kd = kd; pid->arw = arw; pid->previousErr = 0.0f; pid->integrator = 0.0f; + pid->feedforward = feedforward; } /** * @brief Step the PID structure. * @param pid: pointer to the PID structure. * @param current: current state of the system to control. * @param target: target state of the system to control. * @param dt: timestep (time since the last call of this function) [s]. * @retval command to apply to the system. */ float32_t pid_Step(pid_Pid *pid, float32_t current, float32_t target, float32_t dt) { float32_t err = target - current; + // Feedforward part. + pid->command = pid->feedforward * target; + // Proportionnal part. - pid->command = pid->kp * err; + pid->command += pid->kp * err; // Integral part. if(pid->ki > 0.0f) { pid->integrator += pid->ki * (err * dt); if(pid->arw > 0.0f) utils_SaturateF(&pid->integrator, -pid->arw, pid->arw); pid->command += pid->integrator; } // Derivative part. pid->command += pid->kd * ((err - pid->previousErr) / dt); pid->previousErr = err; return pid->command; } diff --git a/Firmware/src/lib/pid.h b/Firmware/src/lib/pid.h index 254d67e..ca6f782 100644 --- a/Firmware/src/lib/pid.h +++ b/Firmware/src/lib/pid.h @@ -1,39 +1,41 @@ #ifndef __PID_H #define __PID_H #include "../main.h" /** @defgroup PID Lib / PID regulator * @brief Proportionnal-integral-derivative regulator with integrator * saturation capability. * * First, instantiate a pid_Pid structure (e.g. "pid_Pid pid;"), then * initialize it once with pid_Init(). Then, every time a new command needs to * be computed (typically when a new measurement arrives), call pid_Step(). * * @addtogroup PID * @{ */ /** *@brief PID regulator structure */ typedef struct { float32_t kp, ///< Proportional coefficient. ki, ///< Integral coefficient. Disabled if negative or zero. kd, ///< Derivative coefficient. arw, ///< Max value of the integrator ("anti-reset windup"). Disabled if negative or zero. previousErr, ///< Error (current-target) at the previous timestep, for derivative computation. integrator, ///< Integrator value for the integral part of the PID. - command; ///< Output command computed by the PID regulator. + command, ///< Output command computed by the PID regulator. + feedforward; ///< Feedforward coefficient. } pid_Pid; -void pid_Init(pid_Pid *pid, float32_t kp, float32_t ki, float32_t kd, float32_t arw); +void pid_Init(pid_Pid *pid, float32_t kp, float32_t ki, float32_t kd, + float32_t arw, float32_t feedforward); float32_t pid_Step(pid_Pid *pid, float32_t current, float32_t target, float32_t dt); /** * @} */ #endif diff --git a/Firmware/src/main.c b/Firmware/src/main.c index 1eca0c7..e61e1fe 100644 --- a/Firmware/src/main.c +++ b/Firmware/src/main.c @@ -1,47 +1,53 @@ #include "main.h" #include "communication.h" #include "controller.h" #include "drivers/adc.h" #include "drivers/callback_timers.h" #include "drivers/dac.h" #include "drivers/h_bridge.h" #include "drivers/hall.h" #include "drivers/incr_encoder.h" #include "drivers/strain_gauge.h" #include "drivers/tachometer.h" +#include "lib/utils.h" volatile uint32_t statusReg = 0x00000000; // Main state register. /** * @brief Main function, setups all the drivers and controllers. */ int main(void) { cbt_Init(); // Setup the timers that will call the loops functions. adc_Init(); // Setup the ADC. comm_Init(); // Setup the communication module. ctrl_Init(); // Setup the controllers. enc_Init(); // Incremental encoders. hb_Init(); // H-bridge. hb_Enable(); + + // Delay to let the power electronics stabilize before calibrating the + // current sensor. + utils_DelayMs(200); + adc_CalibrateCurrentSens(); statusReg |= RUN_CURRENT_LOOP; dac_Init(); // Init external sensors drivers, connected to the ADC. hall_Init(ANIN1); //sg_Init(ANIN2); //tac_Init(ANIN2); // Endless loop. It is empty, because all the control is performed in the // functions called periodically by the interrupts. while(1) { } } diff --git a/Firmware/src/main.h b/Firmware/src/main.h index 4dc174c..b2190a0 100644 --- a/Firmware/src/main.h +++ b/Firmware/src/main.h @@ -1,92 +1,97 @@ /** \mainpage HRI board firmware documentation * \section intro_sec Introduction * This is the documentation of the HRI board firmware. You will find a * description of the provided library and drivers. As all the hardware and * software is very new, please do not hesitate to suggest improvements to the * course assistants (Romain Baud, Philipp Hörler and Laurent Jenni). * * \section code_struct_sec Code structure * The code is divided into 3 parts: * - main: this is where the controllers and the communication protocol are * implemented. The call of all the initialization functions is also made here. * - library: all the algorithms, data structures that could be used at many * places, are put into the library. * - drivers: there is one driver per peripheral. All the hardware-specific * code is wrapped into these files, so that the user does not have to use a * * One module (controller, communication, library or driver) is always splitted * in two files, .h and .c, like in C++. * @image html soft_architecture.png * * \section lib_how_to How to use the provided library * For most of the driver/library modules, call x_Init() only once, when the * program starts (typically in the main()). Then, you can call * x_Step()/x_Set()/x_Get() everytime as needed, typically in the control * functions called periodically (ctrl_RegulatePosition()...). * * See the "Modules" section of this documentation to see how they work. */ #ifndef __MAIN_H #define __MAIN_H #include "stm32f4_discovery.h" #include #include "arm_math.h" // Clocks configuration. #define APB1_PRESCALER 4 #define APB2_PRESCALER 2 #define TIM_MULTIPLIER 2 // Interupt priority. #define CURRENT_LOOP_IRQ_PRIORITY 1 // High freq loop, should not be interrupted. #define CONTROL_LOOP_IRQ_PRIORITY 2 #define CODER_INDEX_IRQ_PRIORITY 2 // Useless, remove? #define UART_RX_IRQ_PRIORIY 3 #define DATA_LOOP_IRQ_PRIORITY 4 // Streaming packets, lowest priority. -// Electrical parameters +// Electrical parameters. #define STM_SUPPLY_VOLTAGE 3.3f // [V]. +#define H_BRIDGE_SUPPLY_VOLTAGE 24.0f // [V]. +#define CURRENT_SHUNT_RESISTANCE 0.01f // [ohm]. +#define CURRENT_SHUNT_AMPLIFIER_GAIN 50 // []. +#define MOTOR_RESISTANCE 10.6f + 5.0f // 10.6 ohm according to the datasheet, actually more, depends on the motor [ohm]. // Mechanical parameters. #define REDUCTION_RATIO 15.0f +#define MOTOR_TORQUE_CONST 0.0538f // [N.m/A]. // Status register bit list. #define STREG_0 ((uint32_t)0x00000001) #define STREG_1 ((uint32_t)0x00000002) #define REF_POS_INIT ((uint32_t)0x00000004) // 1 -> Ref position succesfully found #define CALIBRE ((uint32_t)0x00000008) // 1 -> Calibration done #define RUN_CURRENT_LOOP ((uint32_t)0x00000010) // 1 -> Current loop active (if motorDrv eneable but RUN_CURRENT_LOOP=false -> fixed 50% PWM on the motor) #define UN_CONTROL_LOOP ((uint32_t)0x00000020) // 1 -> Control loop active #define STREG_6 ((uint32_t)0x00000040) #define STREG_7 ((uint32_t)0x00000080) #define STREG_8 ((uint32_t)0x00000100) #define DATA_UPSTREAM_ENB ((uint32_t)0x00000200) // 1 -> data upstream active #define STREG_10 ((uint32_t)0x00000400) #define RX_COMPLETED ((uint32_t)0x00000800) // 1 -> packet recieved #define RX_ERROR ((uint32_t)0x00001000) // 1 -> last received packet incorrect #define PROCESSING_REQUEST ((uint32_t)0x00002000) // 1 -> processing last received packet in progress (can not receive new data) #define LAST_REQUEST_IGNORED ((uint32_t)0x00004000) #define STREG_15 ((uint32_t)0x00008000) #define STREG_16 ((uint32_t)0x00010000) #define STREG_17 ((uint32_t)0x00020000) #define STREG_18 ((uint32_t)0x00040000) #define STREG_19 ((uint32_t)0x00080000) #define STREG_20 ((uint32_t)0x00100000) #define STREG_21 ((uint32_t)0x00200000) #define STREG_22 ((uint32_t)0x00400000) #define STREG_23 ((uint32_t)0x00800000) #define INDEX_ERROR ((uint32_t)0x01000000) // 1 -> wrong step count over 1 rotation #define STREG_25 ((uint32_t)0x02000000) #define STREG_26 ((uint32_t)0x04000000) #define STREG_27 ((uint32_t)0x08000000) #define STREG_28 ((uint32_t)0x10000000) #define STREG_29 ((uint32_t)0x20000000) #define STREG_30 ((uint32_t)0x40000000) #define STREG_31 ((uint32_t)0x80000000) #endif