├── .gitignore ├── .vscode ├── c_cpp_properties.json ├── extensions.json ├── launch.json └── settings.json ├── CMakeLists.txt ├── LICENSE ├── README.md ├── motor.c ├── motor.h ├── pico-bldc.c ├── pico_sdk_import.cmake └── pwm.pio /.gitignore: -------------------------------------------------------------------------------- 1 | CMakeLists.txt.user 2 | CMakeCache.txt 3 | CMakeFiles 4 | CMakeScripts 5 | Testing 6 | Makefile 7 | cmake_install.cmake 8 | install_manifest.txt 9 | compile_commands.json 10 | CTestTestfile.cmake 11 | _deps 12 | build 13 | -------------------------------------------------------------------------------- /.vscode/c_cpp_properties.json: -------------------------------------------------------------------------------- 1 | { 2 | "configurations": [ 3 | { 4 | "name": "Linux", 5 | "includePath": [ 6 | "${workspaceFolder}/**", 7 | "${env:PICO_SDK_PATH}/**" 8 | ], 9 | "defines": [ 10 | "_Accum=int", 11 | "_Fract=int", 12 | "_Sat=", 13 | "VSCODE" 14 | ], 15 | "compilerPath": "/usr/bin/arm-none-eabi-gcc", 16 | "cStandard": "gnu23", 17 | "cppStandard": "gnu++23", 18 | "intelliSenseMode": "linux-gcc-arm", 19 | "configurationProvider" : "ms-vscode.cmake-tools" 20 | } 21 | ], 22 | "version": 4 23 | } 24 | -------------------------------------------------------------------------------- /.vscode/extensions.json: -------------------------------------------------------------------------------- 1 | { 2 | "recommendations": [ 3 | "marus25.cortex-debug", 4 | "ms-vscode.cmake-tools", 5 | "ms-vscode.cpptools" 6 | ] 7 | } 8 | -------------------------------------------------------------------------------- /.vscode/launch.json: -------------------------------------------------------------------------------- 1 | { 2 | // Use IntelliSense to learn about possible attributes. 3 | // Hover to view descriptions of existing attributes. 4 | // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387 5 | "version": "0.2.0", 6 | "configurations": [ 7 | { 8 | "name": "Cortex Debug", 9 | "cwd": "${workspaceRoot}", 10 | "executable": "${command:cmake.launchTargetPath}", 11 | "request": "launch", 12 | "type": "cortex-debug", 13 | "servertype": "openocd", 14 | "gdbPath": "gdb-multiarch", 15 | "serverArgs": [ 16 | 17 | ], 18 | "device": "RP2040", 19 | "configFiles": [ 20 | "interface/raspberrypi-swd.cfg", 21 | "target/rp2040.cfg" 22 | ], 23 | "svdFile": "${env:PICO_SDK_PATH}/src/rp2040/hardware_regs/rp2040.svd", 24 | "runToEntryPoint": "main", 25 | // Give restart the same functionality as runToEntryPoint - main 26 | "postRestartCommands": [ 27 | "break main", 28 | "continue" 29 | ] 30 | } 31 | ] 32 | } 33 | -------------------------------------------------------------------------------- /.vscode/settings.json: -------------------------------------------------------------------------------- 1 | { 2 | "cmake.configureOnOpen": false, 3 | "cmake.statusbar.advanced": { 4 | "debug" : { 5 | "visibility": "hidden" 6 | }, 7 | "launch" : { 8 | "visibility": "hidden" 9 | }, 10 | "build" : { 11 | "visibility": "hidden" 12 | }, 13 | "buildTarget" : { 14 | "visibility": "hidden" 15 | }, 16 | }, 17 | "files.associations": { 18 | "divider.h": "c", 19 | "pwm.h": "c", 20 | "optional": "c", 21 | "system_error": "c", 22 | "array": "c", 23 | "functional": "c", 24 | "tuple": "c", 25 | "type_traits": "c", 26 | "utility": "c", 27 | "stdfix.h": "c", 28 | "pwminvl.pio.h": "c", 29 | "random": "c", 30 | "gpio.h": "c", 31 | "stdlib.h": "c", 32 | "i2c_slave.h": "c", 33 | "math.h": "c", 34 | "compare": "c" 35 | }, 36 | } 37 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | # Generated Cmake Pico project file 2 | 3 | cmake_minimum_required(VERSION 3.13) 4 | add_compile_options(-fwrapv) 5 | 6 | set(CMAKE_C_STANDARD 11) 7 | set(CMAKE_CXX_STANDARD 17) 8 | 9 | # Initialise pico_sdk from installed location 10 | # (note this can come from environment, CMake cache etc) 11 | set(PICO_SDK_PATH "/home/shaun/pico/pico-sdk") 12 | 13 | set(PICO_BOARD pico_w CACHE STRING "Board type") 14 | 15 | # Pull in Raspberry Pi Pico SDK (must be before project) 16 | include(pico_sdk_import.cmake) 17 | 18 | if (PICO_SDK_VERSION_STRING VERSION_LESS "1.4.0") 19 | message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.4.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}") 20 | endif() 21 | 22 | project(pico-bldc C CXX ASM) 23 | 24 | # Initialise the Raspberry Pi Pico SDK 25 | pico_sdk_init() 26 | 27 | # Add executable. Default name is the project name, version 0.1 28 | 29 | add_executable(pico-bldc pico-bldc.c motor.c) 30 | 31 | pico_generate_pio_header(pico-bldc ${CMAKE_CURRENT_LIST_DIR}/pwm.pio) 32 | 33 | pico_set_program_name(pico-bldc "pico-bldc") 34 | pico_set_program_version(pico-bldc "0.1") 35 | 36 | pico_enable_stdio_uart(pico-bldc 0) 37 | pico_enable_stdio_usb(pico-bldc 1) 38 | 39 | # Add the standard library to the build 40 | target_link_libraries(pico-bldc 41 | pico_stdlib) 42 | 43 | # Add the standard include files to the build 44 | target_include_directories(pico-bldc PRIVATE 45 | ${CMAKE_CURRENT_LIST_DIR} 46 | ${CMAKE_CURRENT_LIST_DIR}/.. # for our common lwipopts or any other standard includes, if required 47 | ) 48 | 49 | # Add any user requested libraries 50 | target_link_libraries(pico-bldc 51 | hardware_adc 52 | hardware_spi 53 | hardware_i2c 54 | pico_i2c_slave 55 | pico_multicore 56 | hardware_dma 57 | hardware_pio 58 | hardware_pwm 59 | ) 60 | 61 | pico_add_extra_outputs(pico-bldc) 62 | 63 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # pico-bldc 2 | RP2040-based BLDC motor controller that I designed for our 2024 [PiWars](https://piwars.org/) robot, Firebot. 3 | 4 | It controls four BLDC motors with field-oriented control and provides an I2C 5 | interface so it can be controlled by the main processor of the robot. 6 | 7 | I wrote up the build of the controller on our blog, from slow-and-janky in Python 8 | through to controlling 4 motors from one core in C: 9 | 10 | https://www.hardwarehacker.co.uk/blog/tag/bldc/ 11 | -------------------------------------------------------------------------------- /motor.c: -------------------------------------------------------------------------------- 1 | #include "motor.h" 2 | #include "hardware/dma.h" 3 | #include "hardware/timer.h" 4 | 5 | #define MOTOR_NUM_POLES 22 6 | 7 | // PWM_TOP = 3100 gives roughly 40kHz. 8 | #define PWM_TOP 3100 9 | #define LUT_LEN 4096 10 | static u_int16_t pwm_lut[LUT_LEN]; 11 | 12 | static PIO pio; 13 | static uint pio_offset_pwm; 14 | 15 | static uint32_t pwm_slice_mask; 16 | 17 | void motor_global_init(PIO p) { 18 | // Init LUT for sine. 19 | #define PWM_OFFSET 0.032f 20 | for (int i=0; i PWM_TOP ? PWM_TOP : scaled; 26 | pwm_lut[i] = (uint16_t)(clamped); 27 | } 28 | 29 | // Load PIO programs to measure PWM interval and high time 30 | // from the motor position sensor. 31 | pio = p; 32 | pio_offset_pwm = pio_add_program(pio, &pwm_program); 33 | } 34 | 35 | void motor_enable_pwms() { 36 | printf("Enabling PWM slices: %x\n", pwm_slice_mask); 37 | pwm_set_mask_enabled(pwm_slice_mask); 38 | } 39 | 40 | void motor_init(struct motor_cb *cb, uint pin_a, uint pin_b, uint pin_c, uint pin_pwm_in) { 41 | // Configure motor PWM outputs. 42 | pwm_config pwm_c = pwm_get_default_config(); 43 | pwm_config_set_wrap(&pwm_c, PWM_TOP); 44 | pwm_config_set_clkdiv_int(&pwm_c, 1); 45 | pwm_config_set_phase_correct(&pwm_c, 1); 46 | 47 | gpio_set_function(pin_a, GPIO_FUNC_PWM); 48 | cb->pwm_slice_a = pwm_gpio_to_slice_num(pin_a); 49 | cb->pwm_chan_a = pwm_gpio_to_channel(pin_a); 50 | pwm_init(cb->pwm_slice_a, &pwm_c, false); 51 | 52 | gpio_set_function(pin_b, GPIO_FUNC_PWM); 53 | cb->pwm_slice_b = pwm_gpio_to_slice_num(pin_b); 54 | cb->pwm_chan_b = pwm_gpio_to_channel(pin_b); 55 | pwm_init(cb->pwm_slice_b, &pwm_c, false); 56 | 57 | gpio_set_function(pin_c, GPIO_FUNC_PWM); 58 | cb->pwm_slice_c = pwm_gpio_to_slice_num(pin_c); 59 | cb->pwm_chan_c = pwm_gpio_to_channel(pin_c); 60 | pwm_init(cb->pwm_slice_c, &pwm_c, false); 61 | 62 | // Record which PWMs we're using so they can be enabled in sync. 63 | pwm_slice_mask |= ((1<pwm_slice_a) | 64 | (1<pwm_slice_b) | 65 | (1<pwm_slice_c)); 66 | 67 | // Set up the PIO state machines. We can use the same programs 68 | // for every motor instance. 69 | cb->sm_pwm = pio_claim_unused_sm(pio, true); 70 | printf("Init PIO on SM %d pin %d\n", cb->sm_pwm, pin_pwm_in); 71 | pwm_program_init(pio, cb->sm_pwm, pio_offset_pwm, pin_pwm_in); 72 | 73 | // Set up a pair of DMAs, the first to copy HIGH times out of the PIO, 74 | // the second to write a timestamp. Chain them to each other so that 75 | // they ping-pong. 76 | int pio_chan = dma_claim_unused_channel(true); 77 | int time_chan = dma_claim_unused_channel(true); 78 | 79 | { 80 | dma_channel_config c = dma_channel_get_default_config(pio_chan); 81 | channel_config_set_transfer_data_size(&c, DMA_SIZE_32); 82 | channel_config_set_read_increment(&c, false); 83 | channel_config_set_write_increment(&c, false); 84 | int dreq; 85 | if (pio == pio0) { 86 | dreq = DREQ_PIO0_RX0 + cb->sm_pwm; 87 | } else { 88 | dreq = DREQ_PIO1_RX0 + cb->sm_pwm; 89 | } 90 | channel_config_set_dreq(&c, dreq); 91 | channel_config_set_chain_to(&c, time_chan); 92 | 93 | dma_channel_configure( 94 | pio_chan, // Channel to be configured 95 | &c, // The configuration we just created 96 | NULL, // Write address 97 | &pio->rxf[cb->sm_pwm], // Read address 98 | 1, // Number of transfers. 99 | false // Don't start yet. 100 | ); 101 | } 102 | { 103 | dma_channel_config c = dma_channel_get_default_config(time_chan); 104 | channel_config_set_transfer_data_size(&c, DMA_SIZE_32); 105 | channel_config_set_read_increment(&c, false); 106 | channel_config_set_write_increment(&c, false); 107 | channel_config_set_chain_to(&c, pio_chan); 108 | 109 | dma_channel_configure( 110 | time_chan, // Channel to be configured 111 | &c, // The configuration we just created 112 | &cb->next_timestamp, // Write address 113 | &timer_hw->timerawl, // Read address 114 | 1, // Number of transfers. 115 | false // Don't start yet. 116 | ); 117 | } 118 | 119 | // Trigger the PIO DMA. 120 | dma_channel_set_write_addr(pio_chan, &cb->next_raw_high, true); 121 | } 122 | 123 | void motor_calibrate(struct motor_cb *cb) { 124 | // TODO Port the calibration code to the same fixed-point approach as the main loop. 125 | 126 | // Get some values to make sure the PWM signal is working... 127 | printf("Starting calibration...\n"); 128 | for (int i=0; i<2; i++) { 129 | printf("Wait on PWM reading...\n"); 130 | uint32_t v = pio_sm_get_blocking(pio, cb->sm_pwm); 131 | uint32_t high = 0xffff - (v>>16); 132 | uint32_t invl = 0xffff - (v & 0xffff); 133 | printf("%08x -> high=%06d invl=%06d\n", v, high, invl); 134 | } 135 | 136 | // Determine angle offset of the motor. Do a slow round of open loop 137 | // control to capture the rotor and then read the position. 138 | const uint fp_bits = 12; // Fixed point bits to use for division 139 | uint32_t pole_angle = 0; 140 | uint32_t angle_offset = 2048; 141 | uint32_t meas_pole_angle = 0; 142 | for (pole_angle = 0; pole_angle < 256; pole_angle++) { 143 | // Load the PWM high time from the PIO. 144 | uint32_t raw = drain_pio_fifo_blocking(pio, cb->sm_pwm); 145 | uint32_t high = 0xffff - (raw>>16); 146 | uint32_t invl = 0xffff - (raw & 0xffff); 147 | uint32_t one_clock = (invl << fp_bits) / (16+4095+8); 148 | uint32_t half_clock = one_clock / 2; 149 | 150 | // Convert to fixed point for better precision. 151 | high = high << fp_bits; 152 | // Convert to angle (in 4096ths of a circle). 153 | int32_t wheel_angle = (((high + half_clock) / one_clock) - 16) & 0xfff; 154 | 155 | // Using 0-4095 for our angle range. 156 | // Convert wheel angle to angle relative to pole of 157 | // magnet. 158 | meas_pole_angle = (wheel_angle * MOTOR_NUM_POLES/2) % 4096; 159 | 160 | if ((pole_angle % 8) == 0) { 161 | printf("%04d %04d\n", pole_angle, wheel_angle); 162 | } 163 | 164 | u_int16_t duty_a = pwm_lut[(pole_angle) % LUT_LEN]; 165 | u_int16_t duty_b = pwm_lut[(pole_angle + (LUT_LEN/3)) % LUT_LEN]; 166 | u_int16_t duty_c = pwm_lut[(pole_angle + (2*LUT_LEN/3)) % LUT_LEN]; 167 | 168 | pwm_set_chan_level(cb->pwm_slice_a, cb->pwm_chan_a, duty_a/2); 169 | pwm_set_chan_level(cb->pwm_slice_b, cb->pwm_chan_b, duty_b/2); 170 | pwm_set_chan_level(cb->pwm_slice_c, cb->pwm_chan_c, duty_c/2); 171 | } 172 | 173 | angle_offset = (pole_angle - meas_pole_angle) % 4096; 174 | 175 | pwm_set_chan_level(cb->pwm_slice_a, cb->pwm_chan_a, 0); 176 | pwm_set_chan_level(cb->pwm_slice_b, cb->pwm_chan_b, 0); 177 | pwm_set_chan_level(cb->pwm_slice_c, cb->pwm_chan_c, 0); 178 | 179 | printf("Pole angle: %04d meas_pole_angle: %04d angle_offset: %04d\n", 180 | pole_angle, meas_pole_angle, angle_offset); 181 | 182 | cb->angle_offset = ((fix15_t)angle_offset)/4096/(MOTOR_NUM_POLES/2); 183 | print_fix15("Angle offset", cb->angle_offset); 184 | } 185 | 186 | uint16_t motor_get_calibration(struct motor_cb *cb) { 187 | uint32_t angle_offset_bits = bitsk(cb->angle_offset); 188 | // Offset should be <1, so it should fit in the bottom 15 bits. 189 | return (uint16_t)angle_offset_bits; 190 | } 191 | 192 | void motor_restore_calibration(struct motor_cb *cb, uint16_t c) { 193 | int16_t c_signed = (int16_t)c; 194 | int32_t c_ext = c; 195 | uint32_t angle_offset_bits = (uint32_t)(c_ext); 196 | cb->angle_offset = kbits(angle_offset_bits); 197 | } 198 | 199 | void motor_set_v(struct motor_cb *cb, int16_t v) { 200 | // If we just put the bits of an int16 into the low bits 201 | // of a fix15_t then we'd get a range of -1.0 to 1.0. Shift 202 | // by 5 gives a range of -32 to 32 RPS. 203 | int32_t v_ext = v << 5; 204 | cb->target_velocity = kbits((uint32_t)v_ext); 205 | } 206 | 207 | void motor_record_pwm_reading(struct motor_cb *cb, uint32_t raw_pio_output, uint32_t timestamp) { 208 | uint32_t high = 0xffff - (raw_pio_output>>16); 209 | high <<= 12; 210 | uint32_t invl = 0xffff - (raw_pio_output & 0xffff); 211 | if ((invl < 30000) || (invl > 45000)) { 212 | // 38000 is typical. 213 | printf("Bad invl! %d / %d\n", high, invl); 214 | return; 215 | } 216 | invl <<= 12; 217 | uint32_t one_clock = invl / 218 | (16/*start bits*/ + 4095/*data bits*/ + 8/*end bits*/); 219 | // Integer division truncates; add half a clock to get 220 | // round-to-nearest. 221 | uint32_t half_clock = one_clock / 2; 222 | uint32_t clocks = (high+half_clock)/one_clock; 223 | if (clocks < 13) { 224 | // 16 should be the minimum, less than means "error". 225 | printf("PWM error! %d / %d\n", high, invl); 226 | return; 227 | } 228 | //printf("h=%d i=%d ", high, invl); 229 | fix15_t angle = (fix15_t)clocks - fix15c(16); 230 | //print_fix15("raw", angle); 231 | angle >>= 12; 232 | angle += cb->angle_offset; 233 | angle = clamp_angle(angle); 234 | motor_record_angle_meas(cb, angle, timestamp); 235 | } 236 | 237 | void motor_record_angle_meas(struct motor_cb *cb, fix15_t angle, uint32_t now) { 238 | int next_idx = cb->angle_buf_idx+1; 239 | if (next_idx == ANGLE_RING_BUF_SIZE) { 240 | next_idx = 0; 241 | } 242 | cb->measured_angles_ring_buf[next_idx].time_us = now; 243 | cb->measured_angles_ring_buf[next_idx].angle = angle; 244 | cb->angle_buf_idx = next_idx; 245 | cb->angle_meas_pending = true; 246 | } 247 | 248 | // Using kbits effectively divides by 2^15 so, to get seconds, 249 | // we need to multiply by 2^15 / 1,000,000. 250 | #define USEC_TO_FIX15_S(us) (kbits(us) * fix15c(0.032768)) 251 | 252 | void motor_process_angle_meas(struct motor_cb *cb) { 253 | int idx = cb->angle_buf_idx; 254 | int tap = 1; 255 | int prev_idx = (idx-tap)&(ANGLE_RING_BUF_SIZE-1); 256 | fix15_t prev_angle = cb->measured_angles_ring_buf[prev_idx].angle; 257 | uint32_t prev_time = cb->measured_angles_ring_buf[prev_idx].time_us; 258 | if (prev_time == 0) { 259 | // Need to wait for second reading. 260 | return; 261 | } 262 | fix15_t current_angle = cb->measured_angles_ring_buf[idx].angle; 263 | uint32_t current_time = cb->measured_angles_ring_buf[idx].time_us; 264 | 265 | uint32_t delta_t_us = current_time - prev_time; 266 | fix15_t delta_angle = current_angle - prev_angle; 267 | if (delta_angle > fix15c(0.5)) { 268 | delta_angle -= 1; 269 | } else if (delta_angle < fix15c(-0.5)) { 270 | delta_angle += 1; 271 | } 272 | cb->distance_traveled += delta_angle; 273 | 274 | fix15_t delta_t_s = USEC_TO_FIX15_S(delta_t_us); 275 | fix15_t est_v = delta_angle / delta_t_s; 276 | 277 | // static int n; 278 | // if ((n++ % 1) == 0) { 279 | // print_fix15("an", current_angle); 280 | // print_fix15("dan", delta_angle); 281 | // print_fix15("dt", delta_t_s); 282 | // print_fix15("ev", est_v); 283 | // printf("\n"); 284 | // } 285 | 286 | fix15_t v_error = -(cb->target_velocity - est_v); 287 | cb->output_throttle += v_error * fix15c(0.02); 288 | #define MAX_THROTTLE fix15c(1) 289 | if (cb->output_throttle > MAX_THROTTLE) { 290 | cb->output_throttle = MAX_THROTTLE; 291 | } else if (cb->output_throttle < -MAX_THROTTLE) { 292 | cb->output_throttle = -MAX_THROTTLE; 293 | } 294 | 295 | cb->last_pole_angle = current_angle * (MOTOR_NUM_POLES/2); 296 | cb->last_angle_upd_time = current_time; 297 | cb->est_pole_v = est_v * (MOTOR_NUM_POLES/2); 298 | if (cb->output_throttle < 0) { 299 | cb->drive_angle_offset = fix15c(0.25); 300 | } else if (cb->output_throttle > 0) { 301 | cb->drive_angle_offset = fix15c(-0.25); 302 | } else { 303 | cb->drive_angle_offset = 0; 304 | } 305 | } 306 | 307 | void motor_update(struct motor_cb *cb) { 308 | int idx = cb->angle_buf_idx; 309 | uint32_t last_reading_time = cb->measured_angles_ring_buf[idx].time_us; 310 | uint32_t next_raw_pwm = cb->next_raw_high; 311 | uint32_t next_timestamp = cb->next_timestamp; 312 | if (next_timestamp == last_reading_time) { 313 | return; 314 | } 315 | motor_record_pwm_reading(cb, next_raw_pwm, next_timestamp); 316 | motor_process_angle_meas(cb); 317 | } 318 | 319 | // Nature of the PWM signal means we're always 1ms behind. 320 | #define READING_DELAY_US 1000 321 | 322 | void motor_update_output(struct motor_cb *cb) { 323 | uint32_t now = time_us_32(); 324 | uint32_t us_since_reading = now - cb->last_angle_upd_time + READING_DELAY_US; 325 | fix15_t s_since_reading = USEC_TO_FIX15_S(us_since_reading); 326 | fix15_t pole_angle_est = cb->last_pole_angle + (cb->est_pole_v * s_since_reading); 327 | //print_fix15("s", s_since_reading); 328 | //print_fix15("pv", cb->est_pole_v); 329 | //print_fix15("npa", pole_angle_est); 330 | fix15_t drive_angle = pole_angle_est+cb->drive_angle_offset; 331 | drive_angle = clamp_angle(drive_angle); 332 | motor_set_pwms(cb, drive_angle); 333 | //motor_update_output_old(cb); 334 | //printf("\n"); 335 | } 336 | 337 | void motor_set_pwms(struct motor_cb *cb, fix15_t drive_angle) { 338 | u_int16_t duty_a = 0, duty_b = 0, duty_c = 0; 339 | uint lut_bin = drive_angle * LUT_LEN; 340 | 341 | // static int n; 342 | // if ((n++ % 1) == 0) 343 | // print_fix15("l", lut_bin); 344 | 345 | fix15_t factor = cb->output_throttle < 0?-cb->output_throttle:cb->output_throttle; 346 | if (cb->output_throttle != 0) { 347 | duty_a = pwm_lut[(lut_bin) % LUT_LEN] * factor; 348 | duty_b = pwm_lut[(lut_bin + (LUT_LEN/3)) % LUT_LEN] * factor; 349 | duty_c = pwm_lut[(lut_bin + (2*LUT_LEN/3)) % LUT_LEN] * factor; 350 | } 351 | 352 | // printf("a=%4hd b=%4hd c=%4hd", duty_a, duty_b, duty_c); 353 | 354 | pwm_set_chan_level(cb->pwm_slice_a, cb->pwm_chan_a, duty_a); 355 | pwm_set_chan_level(cb->pwm_slice_b, cb->pwm_chan_b, duty_b); 356 | pwm_set_chan_level(cb->pwm_slice_c, cb->pwm_chan_c, duty_c); 357 | } -------------------------------------------------------------------------------- /motor.h: -------------------------------------------------------------------------------- 1 | #ifndef _MOTOR_H_ 2 | #define _MOTOR_H_ 3 | 4 | #include 5 | #include 6 | #include "pico/stdlib.h" 7 | #include "pico/i2c_slave.h" 8 | #include "hardware/gpio.h" 9 | #include "hardware/pwm.h" 10 | #include "hardware/divider.h" 11 | #include "hardware/spi.h" 12 | #include "hardware/timer.h" 13 | #include "hardware/i2c.h" 14 | #include "pico/critical_section.h" 15 | #include "hardware/pio.h" 16 | #include "pwm.pio.h" 17 | 18 | #include 19 | // Make VSCode intellisense happy. 20 | //#define VSCODE 21 | #ifdef VSCODE 22 | #define _Accum int 23 | #define _Fract int 24 | #define fix15c(x) x 25 | #error VSCODE hack enabled 26 | #else 27 | #define fix15c(x) x ## k 28 | #endif 29 | 30 | #define fix15_t signed accum 31 | static inline fix15_t kbits(uint32_t x) { 32 | union { 33 | fix15_t f; 34 | uint32_t y; 35 | } u; 36 | u.y = x; 37 | return u.f; 38 | } 39 | 40 | static inline uint32_t bitsk(fix15_t x) { 41 | union { 42 | fix15_t f; 43 | uint32_t y; 44 | } u; 45 | u.f = x; 46 | return u.y; 47 | } 48 | 49 | static inline void print_fix15(char *msg, fix15_t v) { 50 | printf("%s=%+f ", msg, (float)v); 51 | } 52 | 53 | static inline fix15_t clamp_angle(fix15_t a) { 54 | uint32_t au32 = *(uint32_t*)(&a); 55 | au32 &= 0x7fff; 56 | return *(fix15_t*)(&au32); 57 | } 58 | 59 | #define ANGLE_RING_BUF_SIZE 4 60 | struct motor_cb { 61 | fix15_t target_velocity; // Revs/s 62 | fix15_t angle_offset; // Calibration offset to align poles. 63 | 64 | PIO pio; 65 | uint sm_pwm; 66 | 67 | uint pwm_slice_a, pwm_slice_b, pwm_slice_c; 68 | uint pwm_chan_a, pwm_chan_b, pwm_chan_c; 69 | 70 | fix15_t distance_traveled; // 1.0 = 1 rotation. 71 | fix15_t est_pole_v; 72 | fix15_t last_pole_angle; 73 | uint32_t last_angle_upd_time; 74 | fix15_t drive_angle_offset; 75 | //fix15_t estimated_accel; // Revs/sec sq 76 | 77 | fix15_t output_throttle; // -1.0 to 1.0 78 | 79 | struct { 80 | uint32_t time_us; 81 | fix15_t angle; // Range 0.0-1.0 82 | } measured_angles_ring_buf[ANGLE_RING_BUF_SIZE]; 83 | int angle_buf_idx; 84 | 85 | volatile uint32_t next_raw_high; 86 | volatile uint32_t next_timestamp; 87 | 88 | bool angle_meas_pending; 89 | bool output_update_pending; 90 | }; 91 | 92 | void motor_global_init(PIO p); 93 | void motor_enable_pwms(); 94 | void motor_init(struct motor_cb *cb, uint pin_a, uint pin_b, uint pin_C, uint pin_pwm_in); 95 | void motor_calibrate(struct motor_cb *cb); 96 | uint16_t motor_get_calibration(struct motor_cb *cb); 97 | void motor_restore_calibration(struct motor_cb *cb, uint16_t); 98 | void motor_set_v(struct motor_cb *cb, int16_t); 99 | void motor_record_pwm_reading(struct motor_cb *cb, uint32_t raw_pio_output, uint32_t timestamp); 100 | void motor_record_angle_meas(struct motor_cb *cb, fix15_t angle, uint32_t timestamp); 101 | void motor_process_angle_meas(struct motor_cb *cb); 102 | void motor_set_pwms(struct motor_cb *cb, fix15_t drive_angle); 103 | void motor_update_output(struct motor_cb *cb); 104 | void motor_update(struct motor_cb *cb); 105 | 106 | static uint32_t drain_pio_fifo_blocking(PIO pio, uint sm) { 107 | uint32_t v; 108 | do { 109 | v = pio_sm_get_blocking(pio, sm); 110 | } while (!pio_sm_is_rx_fifo_empty(pio, sm)); 111 | return v; 112 | } 113 | 114 | static uint32_t drain_pio_fifo_non_block(PIO pio, uint sm) { 115 | uint32_t v = 0; 116 | while (!pio_sm_is_rx_fifo_empty(pio, sm)) { 117 | v = pio_sm_get(pio, sm); 118 | } 119 | return v; 120 | } 121 | 122 | #endif -------------------------------------------------------------------------------- /pico-bldc.c: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include "pico/stdlib.h" 4 | #include "pico/divider.h" 5 | #include "pico/i2c_slave.h" 6 | #include "hardware/adc.h" 7 | #include "hardware/gpio.h" 8 | #include "hardware/pwm.h" 9 | #include "hardware/divider.h" 10 | #include "hardware/spi.h" 11 | #include "hardware/timer.h" 12 | #include "hardware/i2c.h" 13 | #include "pico/multicore.h" 14 | #include "pico/critical_section.h" 15 | #include "hardware/pio.h" 16 | 17 | #include "motor.h" // Must be last; includes stdfix.h, conflicts with SDK 18 | 19 | // GPIO defines 20 | #define PIN_DEBUG 6 21 | 22 | #define PIN_PWM0_IN 4 23 | #define PIN_PWM1_IN 5 24 | #define PIN_PWM2_IN 26 25 | #define PIN_PWM3_IN 22 26 | 27 | #define PIN_MOTOR_NRESET 28 28 | #define PIN_MOTOR_NFAULT 27 29 | 30 | #define PIN_MOT0_A 10 31 | #define PIN_MOT0_B 12 32 | #define PIN_MOT0_C 11 33 | 34 | #define PIN_MOT1_A 13 35 | #define PIN_MOT1_B 14 36 | #define PIN_MOT1_C 15 37 | 38 | #define PIN_MOT2_A 16 39 | #define PIN_MOT2_B 17 40 | #define PIN_MOT2_C 18 41 | 42 | #define PIN_MOT3_A 19 43 | #define PIN_MOT3_B 20 44 | #define PIN_MOT3_C 21 45 | 46 | #define PIN_BUTT_A 7 47 | #define PIN_BUTT_B 8 48 | 49 | // I2C defines, first the port where we act as peripheral. 50 | #define I2C_PERIPH_PORT i2c0 51 | #define I2C_PERIPH_SDA 0 52 | #define I2C_PERIPH_SCL 1 53 | #define I2C_PERIPH_ADDR 0x42 54 | 55 | // I2C defines for the controler port, where we read the INA219. 56 | #define I2C_CONT_PORT i2c1 57 | #define I2C_CONT_SDA 2 58 | #define I2C_CONT_SCL 3 59 | 60 | #define I2C_INA219_ADDR 0x40 61 | #define INA219_REG_CONF 0 62 | #define INA219_REG_SHUNT_V 1 63 | #define INA219_REG_BUS_V 2 64 | #define INA219_REG_POWER 3 65 | #define INA219_REG_CURRENT 4 66 | #define INA219_REG_CALIB 5 67 | 68 | 69 | typedef uint16_t i2c_reg_t; 70 | 71 | static struct 72 | { 73 | uint8_t addr; 74 | i2c_reg_t value; 75 | i2c_reg_t value_out; 76 | int num_bytes_received; 77 | bool addr_received; 78 | uint32_t volatile last_i2c_write_time; 79 | } i2c_context = {}; 80 | 81 | enum I2CRegs { 82 | I2C_REG_CTRL, 83 | I2C_REG_STATUS, 84 | I2C_REG_WDOG_TIMEOUT_MS, 85 | I2C_REG_FAULT_COUNT, 86 | 87 | I2C_REG_MOT0_V, 88 | I2C_REG_MOT1_V, 89 | I2C_REG_MOT2_V, 90 | I2C_REG_MOT3_V, 91 | 92 | I2C_REG_MOT0_CALIB, 93 | I2C_REG_MOT1_CALIB, 94 | I2C_REG_MOT2_CALIB, 95 | I2C_REG_MOT3_CALIB, 96 | 97 | I2C_REG_BATT_V, // LSB = 4mV 98 | I2C_REG_CURRENT, // LSB depend on calibration 99 | I2C_REG_POWER, // LSB = 20 * I2C_REG_CURRENT LSB 100 | 101 | I2C_REG_TEMPERATURE, // LSB = 0.01C 102 | 103 | I2C_REG_MOT0_TRAVEL, 104 | I2C_REG_MOT1_TRAVEL, 105 | I2C_REG_MOT2_TRAVEL, 106 | I2C_REG_MOT3_TRAVEL, 107 | 108 | I2C_REG_COUNT, 109 | }; 110 | 111 | #define I2C_REG_CTRL_EN (1<<0) 112 | #define I2C_REG_CTRL_RUN (1<<1) 113 | #define I2C_REG_CTRL_CALIB (1<<2) 114 | #define I2C_REG_CTRL_RESET (1<<3) 115 | #define I2C_REG_CTRL_WDEN (1<<4) 116 | 117 | #define I2C_REG_STATUS_FAULT (1<<0) 118 | #define I2C_REG_STATUS_CALIBRATION_DONE (1<<1) 119 | #define I2C_REG_STATUS_WDOG_EXPIRED (1<<2) 120 | 121 | static critical_section_t i2c_reg_lock; 122 | static i2c_reg_t volatile i2c_registers[I2C_REG_COUNT] = {}; 123 | 124 | static inline i2c_reg_t i2c_reg_get(enum I2CRegs num) { 125 | critical_section_enter_blocking(&i2c_reg_lock); 126 | uint32_t out = i2c_registers[num]; 127 | critical_section_exit(&i2c_reg_lock); 128 | return out; 129 | } 130 | 131 | static inline i2c_reg_t i2c_reg_get_and_clear_mask(enum I2CRegs num, i2c_reg_t mask) { 132 | critical_section_enter_blocking(&i2c_reg_lock); 133 | uint32_t out = i2c_registers[num]; 134 | i2c_registers[num] &= ~mask; 135 | critical_section_exit(&i2c_reg_lock); 136 | return out & mask; 137 | } 138 | 139 | static inline void i2c_reg_set(enum I2CRegs num, i2c_reg_t value) { 140 | critical_section_enter_blocking(&i2c_reg_lock); 141 | i2c_registers[num] = value; 142 | critical_section_exit(&i2c_reg_lock); 143 | } 144 | 145 | static inline void i2c_reg_set_mask(enum I2CRegs num, i2c_reg_t mask) { 146 | critical_section_enter_blocking(&i2c_reg_lock); 147 | i2c_registers[num] |= mask; 148 | critical_section_exit(&i2c_reg_lock); 149 | } 150 | 151 | // Our handler is called from the I2C ISR, so it must complete quickly. Blocking calls / 152 | // printing to stdio may interfere with interrupt handling. 153 | static void i2c_periph_handler(i2c_inst_t *i2c, i2c_slave_event_t event) { 154 | switch (event) { 155 | case I2C_SLAVE_RECEIVE: // master has written some data 156 | uint8_t data = i2c_read_byte_raw(i2c); 157 | if (i2c_context.addr_received) { 158 | i2c_context.value = (i2c_context.value << 8) | data; 159 | i2c_context.num_bytes_received++; 160 | } else { 161 | i2c_context.addr = data; 162 | i2c_context.addr_received = true; 163 | i2c_context.value = 0; 164 | i2c_context.num_bytes_received = 0; 165 | if (i2c_context.addr < I2C_REG_COUNT) { 166 | i2c_context.value_out = i2c_reg_get(i2c_context.addr); 167 | } else { 168 | i2c_context.value_out = 0; 169 | } 170 | } 171 | break; 172 | case I2C_SLAVE_REQUEST: // master is requesting data, called once per byte. 173 | i2c_write_byte_raw(i2c, (uint8_t)(i2c_context.value_out>>(sizeof(i2c_reg_t)*8 - 8))); 174 | i2c_context.value_out <<= 8; 175 | break; 176 | case I2C_SLAVE_FINISH: // master has signalled Stop / Restart 177 | if (i2c_context.addr_received && 178 | (i2c_context.addr < I2C_REG_COUNT) && 179 | (i2c_context.num_bytes_received == sizeof(i2c_reg_t))) { 180 | // Valid address, received all bytes to write. 181 | switch (i2c_context.addr) { 182 | case I2C_REG_STATUS: 183 | // Special handling: write clears the bits that were written. 184 | i2c_reg_get_and_clear_mask(i2c_context.addr, i2c_context.value); 185 | break; 186 | default: 187 | i2c_reg_set(i2c_context.addr, i2c_context.value); 188 | break; 189 | } 190 | i2c_context.last_i2c_write_time = time_us_32(); 191 | } 192 | i2c_context.addr_received = false; 193 | break; 194 | default: 195 | break; 196 | } 197 | } 198 | 199 | void core1_entry(); 200 | 201 | int main() 202 | { 203 | stdio_init_all(); 204 | 205 | printf("Pico-BLDC booting...\n"); 206 | multicore_launch_core1(core1_entry); 207 | 208 | // Init "debug" pin, which we toggle for reading by the 209 | // oscilloscope. 210 | gpio_init(PIN_DEBUG); 211 | gpio_set_dir(PIN_DEBUG, GPIO_OUT); 212 | gpio_put(PIN_DEBUG, 0); 213 | 214 | gpio_init(PIN_BUTT_A); 215 | gpio_set_dir(PIN_BUTT_A, GPIO_IN); 216 | gpio_pull_up(PIN_BUTT_A); 217 | 218 | gpio_init(PIN_BUTT_B); 219 | gpio_set_dir(PIN_BUTT_B, GPIO_IN); 220 | gpio_pull_up(PIN_BUTT_B); 221 | 222 | // Shared motor reset/fault pins 223 | gpio_init(PIN_MOTOR_NFAULT); 224 | gpio_set_dir(PIN_MOTOR_NFAULT, GPIO_IN); 225 | gpio_pull_up(PIN_MOTOR_NFAULT); 226 | 227 | gpio_init(PIN_MOTOR_NRESET); 228 | gpio_set_dir(PIN_MOTOR_NRESET, GPIO_OUT); 229 | gpio_put(PIN_MOTOR_NRESET, 1); // high = run 230 | 231 | // I2C Initialisation. 232 | critical_section_init(&i2c_reg_lock); 233 | i2c_reg_set(I2C_REG_WDOG_TIMEOUT_MS, 2000); 234 | gpio_set_function(I2C_PERIPH_SDA, GPIO_FUNC_I2C); 235 | gpio_set_function(I2C_PERIPH_SCL, GPIO_FUNC_I2C); 236 | gpio_pull_up(I2C_PERIPH_SDA); 237 | gpio_pull_up(I2C_PERIPH_SCL); 238 | i2c_init(I2C_PERIPH_PORT, 100*1000); 239 | i2c_slave_init(I2C_PERIPH_PORT, I2C_PERIPH_ADDR, &i2c_periph_handler); 240 | 241 | // Initialise global state for all motors. This: 242 | // - Loads PIO programs. 243 | // - Sets up the motor sine() LUT. 244 | motor_global_init(pio0); 245 | 246 | uint32_t last_print = 0; 247 | while (1) { 248 | // Wait for the (active low) button to be pressed. 249 | if (!gpio_get(PIN_BUTT_A)) { 250 | break; 251 | } 252 | // Or for Enter on the UART. 253 | int chr = getchar_timeout_us(0); 254 | if (chr == '\r') { 255 | break; 256 | } else if (chr >= 0) { 257 | printf("Unexpected char: %x\n", chr); 258 | } 259 | // Or for I2C control to be enabled. 260 | if (i2c_reg_get(I2C_REG_CTRL) & I2C_REG_CTRL_EN) { 261 | printf("I2C enabled\n"); 262 | break; 263 | } 264 | 265 | uint32_t now = time_us_32(); 266 | if ((now - last_print) > 1000000) { 267 | printf("Waiting for Enter, button A, or I2C_REG_CTRL bit 0...\n"); 268 | last_print = now; 269 | } 270 | } 271 | 272 | // Start closed-loop control. 273 | #define NUM_MOTORS 4 274 | struct motor_cb m[NUM_MOTORS] = {}; 275 | 276 | while (1) { 277 | if (gpio_get(PIN_MOTOR_NFAULT)) { 278 | break; 279 | } 280 | uint32_t now = time_us_32(); 281 | if ((now - last_print) > 1000000) { 282 | printf("Motor fault; is motor power on?\n"); 283 | last_print = now; 284 | } 285 | } 286 | 287 | printf("Initialising motor control blocks...\n"); 288 | motor_init(&m[0], PIN_MOT0_A, PIN_MOT0_B, PIN_MOT0_C, PIN_PWM0_IN); 289 | motor_init(&m[1], PIN_MOT1_A, PIN_MOT1_B, PIN_MOT1_C, PIN_PWM1_IN); 290 | motor_init(&m[2], PIN_MOT2_A, PIN_MOT2_B, PIN_MOT2_C, PIN_PWM2_IN); 291 | motor_init(&m[3], PIN_MOT3_A, PIN_MOT3_B, PIN_MOT3_C, PIN_PWM3_IN); 292 | 293 | printf("Syncing PWMs...\n"); 294 | motor_enable_pwms(); 295 | 296 | // If I2C control is _disabled_ or the I2C "do calibration" flag is 297 | // set. 298 | if (!(i2c_reg_get(I2C_REG_CTRL) & I2C_REG_CTRL_EN) || 299 | (i2c_reg_get(I2C_REG_CTRL) & I2C_REG_CTRL_CALIB)) { 300 | calibrate: 301 | i2c_reg_get_and_clear_mask(I2C_REG_CTRL, I2C_REG_CTRL_CALIB); 302 | gpio_put(PIN_MOTOR_NRESET, 1); // Enable motors 303 | for (int i = 0; i < NUM_MOTORS; i++) { 304 | printf("Calibrating motor %d...\n", i); 305 | motor_calibrate(&m[i]); 306 | uint16_t calibration_data = motor_get_calibration(&m[i]); 307 | i2c_reg_set(I2C_REG_MOT0_CALIB+i, calibration_data); 308 | } 309 | i2c_reg_set_mask(I2C_REG_STATUS, I2C_REG_STATUS_CALIBRATION_DONE); 310 | printf("Calibration done.\n"); 311 | 312 | // Calibration takes a while, make sure we don't trigger the watchdog 313 | // immediately. 314 | i2c_context.last_i2c_write_time = time_us_32(); 315 | } 316 | 317 | int n = 0; 318 | uint num_faults = 0; 319 | uint32_t last_fault_report = 0; 320 | uint32_t last_speed_report = 0; 321 | while (true) { 322 | i2c_reg_t i2c_ctrl = i2c_reg_get(I2C_REG_CTRL); 323 | if (i2c_ctrl & I2C_REG_CTRL_EN) { 324 | // I2C control is enabled. 325 | if (i2c_reg_get_and_clear_mask(I2C_REG_CTRL, I2C_REG_CTRL_CALIB)) { 326 | // Told to do a calibration. 327 | printf("I2C says to do calibration...\n"); 328 | goto calibrate; 329 | } 330 | for (int i = 0; i< NUM_MOTORS; i++) { 331 | motor_restore_calibration(&m[i], i2c_reg_get(I2C_REG_MOT0_CALIB+i)); 332 | i2c_reg_set(I2C_REG_MOT0_TRAVEL+i, m[i].distance_traveled<<8); 333 | } 334 | 335 | if ((i2c_ctrl & I2C_REG_CTRL_WDEN) && (i2c_ctrl & I2C_REG_CTRL_RUN)) { 336 | // Watchdog is enabled. Check it. 337 | 338 | // Must read last_write_time first since an interrupt could 339 | // update it at any point. 340 | uint32_t lwt = i2c_context.last_i2c_write_time; 341 | uint32_t now = time_us_32(); 342 | uint32_t us_since_last_i2c_write = now - lwt; 343 | 344 | uint32_t timeout = (uint32_t)i2c_reg_get(I2C_REG_WDOG_TIMEOUT_MS) * 1000; 345 | if (us_since_last_i2c_write > timeout) { 346 | puts("Watchdog expired!!!\n"); 347 | i2c_ctrl &= (~I2C_REG_CTRL_RUN); 348 | i2c_reg_get_and_clear_mask(I2C_REG_CTRL, I2C_REG_CTRL_RUN); 349 | i2c_ctrl |= I2C_REG_CTRL_RESET; 350 | i2c_reg_set_mask(I2C_REG_STATUS, I2C_REG_STATUS_WDOG_EXPIRED); 351 | } 352 | } 353 | 354 | if (i2c_ctrl & I2C_REG_CTRL_RESET) { 355 | puts("Reset motor speeds.\n"); 356 | i2c_reg_get_and_clear_mask(I2C_REG_CTRL, I2C_REG_CTRL_RESET); 357 | for (int i = 0; i < NUM_MOTORS; i++) { 358 | i2c_reg_set(I2C_REG_MOT0_V+i, 0); 359 | } 360 | } 361 | 362 | if (i2c_ctrl & I2C_REG_CTRL_RUN) { 363 | // Motor power enabled. 364 | for (int i = 0; i < NUM_MOTORS; i++) { 365 | motor_set_v(&m[i], i2c_reg_get(I2C_REG_MOT0_V+i)); 366 | } 367 | gpio_put(PIN_MOTOR_NRESET, 1); // high = run 368 | } else { 369 | // Motor power disabled. 370 | for (int i = 0; i < NUM_MOTORS; i++) { 371 | motor_set_v(&m[i], 0); 372 | } 373 | gpio_put(PIN_MOTOR_NRESET, 0); // low = hold in reset. 374 | } 375 | } else { 376 | // Read buttons (which are pull-downs) and adjust target speed accordingly. 377 | int chr = getchar_timeout_us(0); 378 | if ((!gpio_get(PIN_BUTT_A) || chr == '.') && m[3].target_velocity > -20) { 379 | m[0].target_velocity -= fix15c(0.1); 380 | m[1].target_velocity -= fix15c(0.2); 381 | m[2].target_velocity -= fix15c(0.3); 382 | m[3].target_velocity -= fix15c(0.4); 383 | print_fix15("v", m[3].target_velocity); 384 | printf("\n"); 385 | } 386 | if ((!gpio_get(PIN_BUTT_B) || chr == ',') && m[3].target_velocity < 20) { 387 | m[0].target_velocity += fix15c(0.1); 388 | m[1].target_velocity += fix15c(0.2); 389 | m[2].target_velocity += fix15c(0.3); 390 | m[3].target_velocity += fix15c(0.4); 391 | print_fix15("v", m[3].target_velocity); 392 | printf("\n"); 393 | } 394 | gpio_put(PIN_MOTOR_NRESET, 1); // high = run 395 | } 396 | 397 | uint32_t start_time = time_us_32(); 398 | while ((time_us_32()-start_time) < 1000) { 399 | for (int m_out_idx = 0; m_out_idx<4; m_out_idx++) { 400 | // Poll all four motors to see if they have updated sensor 401 | // inputs. If there's no update, this returns immediately 402 | // so effectively, we prioritise sensor updates if there 403 | // are any, then default to updating outputs. 404 | for (int m_upd_idx = 0; m_upd_idx<4; m_upd_idx++) { 405 | motor_update(&m[m_upd_idx]); 406 | } 407 | // Then update one motor per loop. 408 | motor_update_output(&m[m_out_idx]); 409 | } 410 | gpio_put(PIN_DEBUG, n++&1); 411 | } 412 | 413 | if (!gpio_get(PIN_MOTOR_NFAULT)) { 414 | num_faults++; 415 | i2c_reg_set(I2C_REG_FAULT_COUNT, (i2c_reg_t)num_faults); 416 | if ((time_us_32() - last_fault_report) > 1000000) { 417 | printf("Motor fault (count=%d)!\n", num_faults); 418 | last_fault_report = time_us_32(); 419 | } 420 | i2c_reg_set_mask(I2C_REG_STATUS, I2C_REG_STATUS_FAULT); 421 | } else { 422 | i2c_reg_get_and_clear_mask(I2C_REG_STATUS, I2C_REG_STATUS_FAULT); 423 | } 424 | if ((time_us_32() - last_speed_report) > 1000000) { 425 | //print_fix15("pv", m[3].est_pole_v/11); 426 | //printf("\n"); 427 | last_speed_report = time_us_32(); 428 | } 429 | } 430 | 431 | return 0; 432 | } 433 | 434 | static int i2c_write_16(i2c_inst_t *i2c, uint8_t addr, uint8_t reg, uint16_t value) { 435 | uint8_t buf[3] = {reg, (uint8_t)(value >> 8), (uint8_t)value}; 436 | int count = i2c_write_blocking(i2c, addr, buf, 3, false); 437 | if (count < 0) { 438 | puts("Couldn't write to I2C, please check wiring!"); 439 | return count; 440 | } 441 | return 0; 442 | } 443 | 444 | static int i2c_read_16(i2c_inst_t *i2c, uint8_t addr, uint8_t reg, uint16_t *result) { 445 | uint8_t buf[2]; 446 | buf[0] = reg; 447 | // Write address on the bus, holding the trasactino open. 448 | int count = i2c_write_blocking(i2c, addr, buf, 1, true); 449 | if (count < 0) { 450 | puts("Couldn't write to I2C, please check wiring!"); 451 | return count; 452 | } 453 | // Read back two bytes. 454 | count = i2c_read_blocking(i2c, addr, buf, 2, false); 455 | if (count < 0) { 456 | puts("Couldn't read I2C, please check wiring!"); 457 | return count; 458 | } 459 | // I2C is generally big-endian. 460 | *result = ((uint16_t)buf[0])<<8 | buf[1]; 461 | return 0; 462 | } 463 | 464 | float read_onboard_temperature() { 465 | // From the Pico examples... 466 | /* 12-bit conversion, assume max value == ADC_VREF == 3.3 V */ 467 | const float conversionFactor = 3.3f / (1 << 12); 468 | float adc = (float)adc_read() * conversionFactor; 469 | float tempC = 27.0f - (adc - 0.706f) / 0.001721f; 470 | return tempC; 471 | } 472 | 473 | void core1_entry() { 474 | printf("Second core booting...\n"); 475 | 476 | // Set up our I2C controller port, which we use to 477 | // read the INA219. 478 | gpio_set_function(I2C_CONT_SDA, GPIO_FUNC_I2C); 479 | gpio_set_function(I2C_CONT_SCL, GPIO_FUNC_I2C); 480 | gpio_pull_up(I2C_CONT_SDA); 481 | gpio_pull_up(I2C_CONT_SCL); 482 | i2c_init(I2C_CONT_PORT, 100*1000); 483 | 484 | // Init the ADC, which we use to read the internal temperature. 485 | adc_init(); 486 | adc_set_temp_sensor_enabled(true); 487 | adc_select_input(4); 488 | 489 | float temp_c = read_onboard_temperature(); 490 | 491 | #define INA219_R_SHUNT 0.05 492 | #define INA219_MAX_EXPECTED_CURRENT 6.0 493 | #define INA219_CURRENT_LSB (INA219_MAX_EXPECTED_CURRENT / 32768) 494 | uint16_t ina_cal = (uint16_t)(0.04096 / (INA219_CURRENT_LSB * INA219_R_SHUNT)); 495 | uint8_t buf[3] = {INA219_REG_CALIB, ina_cal>>8, ina_cal}; 496 | bool done_calib = false; 497 | uint32_t last_print = 0; 498 | while (true) { 499 | if (!done_calib) { 500 | uint16_t conf = 0x3b9f; 501 | int err = i2c_write_16(I2C_CONT_PORT, I2C_INA219_ADDR, 502 | INA219_REG_CONF, conf); 503 | if (err) { 504 | puts("Couldn't write to INA219, please check wiring!"); 505 | continue; 506 | } 507 | printf("Writing INA219 calibration word: %d\n", ina_cal); 508 | err = i2c_write_16(I2C_CONT_PORT, I2C_INA219_ADDR, 509 | INA219_REG_CALIB, ina_cal); 510 | if (err) { 511 | puts("Couldn't write to INA219, please check wiring!"); 512 | continue; 513 | } 514 | done_calib = true; 515 | } 516 | 517 | int16_t shunt_v; 518 | int err = i2c_read_16(I2C_CONT_PORT, I2C_INA219_ADDR, INA219_REG_SHUNT_V, &shunt_v); 519 | if (err) { 520 | continue; 521 | } 522 | int16_t batt_v; 523 | err = i2c_read_16(I2C_CONT_PORT, I2C_INA219_ADDR, INA219_REG_BUS_V, &batt_v); 524 | if (err) { 525 | continue; 526 | } 527 | batt_v = batt_v >> 3; // Ignore control bits. 528 | i2c_reg_set(I2C_REG_BATT_V, batt_v); 529 | 530 | int16_t current; 531 | err = i2c_read_16(I2C_CONT_PORT, I2C_INA219_ADDR, INA219_REG_CURRENT, ¤t); 532 | if (err) { 533 | continue; 534 | } 535 | i2c_reg_set(I2C_REG_CURRENT, current); 536 | 537 | int16_t power; 538 | err = i2c_read_16(I2C_CONT_PORT, I2C_INA219_ADDR, INA219_REG_POWER, &power); 539 | if (err) { 540 | continue; 541 | } 542 | i2c_reg_set(I2C_REG_POWER, power); 543 | 544 | temp_c = read_onboard_temperature() * 0.05 + temp_c * 0.94; 545 | i2c_reg_set(I2C_REG_TEMPERATURE, (i2c_reg_t)(temp_c * 100)); 546 | 547 | uint32_t now = time_us_32(); 548 | if ((now - last_print) >= 1000000) { 549 | printf("Temp: %.1fC bus_v: %.2fV shunt_v: %.3fV current: %.3fA power: %.2fW\n", 550 | temp_c, batt_v * 0.004f, shunt_v * 0.00001f, current * 0.0001831054688f , power * 0.003662109375f); 551 | last_print = now; 552 | } 553 | sleep_ms(10); 554 | } 555 | } -------------------------------------------------------------------------------- /pico_sdk_import.cmake: -------------------------------------------------------------------------------- 1 | # This is a copy of /external/pico_sdk_import.cmake 2 | 3 | # This can be dropped into an external project to help locate this SDK 4 | # It should be include()ed prior to project() 5 | 6 | if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH)) 7 | set(PICO_SDK_PATH $ENV{PICO_SDK_PATH}) 8 | message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')") 9 | endif () 10 | 11 | if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT)) 12 | set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT}) 13 | message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')") 14 | endif () 15 | 16 | if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH)) 17 | set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH}) 18 | message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')") 19 | endif () 20 | 21 | set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK") 22 | set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable") 23 | set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK") 24 | 25 | if (NOT PICO_SDK_PATH) 26 | if (PICO_SDK_FETCH_FROM_GIT) 27 | include(FetchContent) 28 | set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR}) 29 | if (PICO_SDK_FETCH_FROM_GIT_PATH) 30 | get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}") 31 | endif () 32 | # GIT_SUBMODULES_RECURSE was added in 3.17 33 | if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0") 34 | FetchContent_Declare( 35 | pico_sdk 36 | GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk 37 | GIT_TAG master 38 | GIT_SUBMODULES_RECURSE FALSE 39 | ) 40 | else () 41 | FetchContent_Declare( 42 | pico_sdk 43 | GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk 44 | GIT_TAG master 45 | ) 46 | endif () 47 | 48 | if (NOT pico_sdk) 49 | message("Downloading Raspberry Pi Pico SDK") 50 | FetchContent_Populate(pico_sdk) 51 | set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR}) 52 | endif () 53 | set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE}) 54 | else () 55 | message(FATAL_ERROR 56 | "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git." 57 | ) 58 | endif () 59 | endif () 60 | 61 | get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}") 62 | if (NOT EXISTS ${PICO_SDK_PATH}) 63 | message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found") 64 | endif () 65 | 66 | set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake) 67 | if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE}) 68 | message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK") 69 | endif () 70 | 71 | set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE) 72 | 73 | include(${PICO_SDK_INIT_CMAKE_FILE}) 74 | -------------------------------------------------------------------------------- /pwm.pio: -------------------------------------------------------------------------------- 1 | .program pwm 2 | 3 | .wrap_target 4 | mov x, !NULL ; x = 0xffffffff 5 | 6 | loop_high: ; do { 7 | jmp x-- cont_loop_high ; x-- 8 | cont_loop_high: ; 9 | nop ; nop to match number of cycles below 10 | jmp pin loop_high ; } while pin is high 11 | 12 | in x, 16 ; Copy 16 bits of counter into ISR 13 | 14 | loop_low: ; do { 15 | jmp x-- cont_loop_low ; x-- 16 | cont_loop_low: ; 17 | jmp pin exit_loop_low ; if pin is high: break 18 | jmp loop_low ; } while 1 19 | 20 | exit_loop_low: 21 | in x, 16 ; Copy 16 bits of counter into ISR 22 | .wrap 23 | 24 | % c-sdk { 25 | #include "hardware/gpio.h" 26 | #include "hardware/pio.h" 27 | 28 | static inline void pwm_program_init( 29 | PIO pio, 30 | uint sm, 31 | uint offset, 32 | uint pin 33 | ) { 34 | // Set the pin direction to input at the PIO 35 | pio_sm_set_consecutive_pindirs(pio, sm, pin, 1, false); 36 | pio_gpio_init(pio, pin); 37 | gpio_pull_up(pin); 38 | 39 | // Map the pin as both input and jump pin. 40 | pio_sm_config c = pwm_program_get_default_config(offset); 41 | sm_config_set_in_pins(&c, pin); 42 | sm_config_set_jmp_pin(&c, pin); 43 | sm_config_set_in_shift(&c, false, true, 32); 44 | 45 | // Load our configuration, and jump to the start of the program 46 | pio_sm_init(pio, sm, offset, &c); 47 | // Set the state machine running 48 | pio_sm_set_enabled(pio, sm, true); 49 | } 50 | %} --------------------------------------------------------------------------------