motor control code by JYB
Dependencies: mbed-dev-f303 FastPWM3
PositionSensor/PositionSensor.cpp@48:e9f6441bacf5, 2020-12-15 (annotated)
- Committer:
- MrStark
- Date:
- Tue Dec 15 08:46:20 2020 +0000
- Revision:
- 48:e9f6441bacf5
- Parent:
- 47:f4ecf3e0576a
Try to publish
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 0:4e1c4df6aabd | 1 | |
benkatz | 0:4e1c4df6aabd | 2 | #include "mbed.h" |
benkatz | 0:4e1c4df6aabd | 3 | #include "PositionSensor.h" |
benkatz | 45:aadebe074af6 | 4 | #include "math_ops.h" |
benkatz | 22:60276ba87ac6 | 5 | //#include "offset_lut.h" |
benkatz | 6:4ee1cdc43aa8 | 6 | //#include <math.h> |
benkatz | 0:4e1c4df6aabd | 7 | |
benkatz | 14:80ce59119d93 | 8 | PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){ |
benkatz | 14:80ce59119d93 | 9 | //_CPR = CPR; |
benkatz | 14:80ce59119d93 | 10 | _CPR = CPR; |
benkatz | 14:80ce59119d93 | 11 | _ppairs = ppairs; |
benkatz | 22:60276ba87ac6 | 12 | ElecOffset = offset; |
benkatz | 14:80ce59119d93 | 13 | rotations = 0; |
Wooden | 47:f4ecf3e0576a | 14 | spi = new SPI(PA_7, PA_6, PA_5); |
benkatz | 36:d88fd41f60a6 | 15 | spi->format(16, 1); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words |
benkatz | 26:2b865c00d7e9 | 16 | spi->frequency(25000000); |
benkatz | 37:c0f352d6e8e3 | 17 | |
Wooden | 47:f4ecf3e0576a | 18 | cs = new DigitalOut(PA_4); |
benkatz | 14:80ce59119d93 | 19 | cs->write(1); |
benkatz | 22:60276ba87ac6 | 20 | readAngleCmd = 0xffff; |
benkatz | 37:c0f352d6e8e3 | 21 | MechOffset = offset; |
benkatz | 22:60276ba87ac6 | 22 | modPosition = 0; |
benkatz | 22:60276ba87ac6 | 23 | oldModPosition = 0; |
benkatz | 22:60276ba87ac6 | 24 | oldVel = 0; |
benkatz | 22:60276ba87ac6 | 25 | raw = 0; |
Wooden | 47:f4ecf3e0576a | 26 | flag_first_time = true; |
benkatz | 22:60276ba87ac6 | 27 | } |
benkatz | 22:60276ba87ac6 | 28 | |
benkatz | 45:aadebe074af6 | 29 | void PositionSensorAM5147::Sample(float dt){ |
Wooden | 47:f4ecf3e0576a | 30 | GPIOA->ODR &= ~(1 << 4); |
benkatz | 36:d88fd41f60a6 | 31 | raw = spi->write(readAngleCmd); |
benkatz | 25:f5741040c4bb | 32 | raw &= 0x3FFF; //Extract last 14 bits |
Wooden | 47:f4ecf3e0576a | 33 | GPIOA->ODR |= (1 << 4); |
benkatz | 25:f5741040c4bb | 34 | int off_1 = offset_lut[raw>>7]; |
benkatz | 25:f5741040c4bb | 35 | int off_2 = offset_lut[((raw>>7)+1)%128]; |
benkatz | 25:f5741040c4bb | 36 | int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries |
benkatz | 25:f5741040c4bb | 37 | int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration |
Wooden | 47:f4ecf3e0576a | 38 | // if(flag_first_time){ |
Wooden | 47:f4ecf3e0576a | 39 | // old_counts = angle; |
Wooden | 47:f4ecf3e0576a | 40 | // flag_first_time = false; |
Wooden | 47:f4ecf3e0576a | 41 | // } |
benkatz | 22:60276ba87ac6 | 42 | if(angle - old_counts > _CPR/2){ |
benkatz | 22:60276ba87ac6 | 43 | rotations -= 1; |
benkatz | 22:60276ba87ac6 | 44 | } |
benkatz | 22:60276ba87ac6 | 45 | else if (angle - old_counts < -_CPR/2){ |
benkatz | 22:60276ba87ac6 | 46 | rotations += 1; |
benkatz | 22:60276ba87ac6 | 47 | } |
benkatz | 22:60276ba87ac6 | 48 | |
benkatz | 22:60276ba87ac6 | 49 | old_counts = angle; |
benkatz | 22:60276ba87ac6 | 50 | oldModPosition = modPosition; |
benkatz | 45:aadebe074af6 | 51 | modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR); |
benkatz | 45:aadebe074af6 | 52 | position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR; |
benkatz | 22:60276ba87ac6 | 53 | MechPosition = position - MechOffset; |
benkatz | 45:aadebe074af6 | 54 | float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset; |
benkatz | 45:aadebe074af6 | 55 | if(elec < 0) elec += 2.0f*PI; |
benkatz | 45:aadebe074af6 | 56 | else if(elec > 2.0f*PI) elec -= 2.0f*PI ; |
benkatz | 22:60276ba87ac6 | 57 | ElecPosition = elec; |
benkatz | 22:60276ba87ac6 | 58 | |
benkatz | 22:60276ba87ac6 | 59 | float vel; |
benkatz | 45:aadebe074af6 | 60 | //if(modPosition<.1f && oldModPosition>6.1f){ |
benkatz | 45:aadebe074af6 | 61 | |
benkatz | 45:aadebe074af6 | 62 | if((modPosition-oldModPosition) < -3.0f){ |
benkatz | 45:aadebe074af6 | 63 | vel = (modPosition - oldModPosition + 2.0f*PI)/dt; |
benkatz | 22:60276ba87ac6 | 64 | } |
benkatz | 45:aadebe074af6 | 65 | //else if(modPosition>6.1f && oldModPosition<0.1f){ |
benkatz | 45:aadebe074af6 | 66 | else if((modPosition - oldModPosition) > 3.0f){ |
benkatz | 45:aadebe074af6 | 67 | vel = (modPosition - oldModPosition - 2.0f*PI)/dt; |
benkatz | 22:60276ba87ac6 | 68 | } |
benkatz | 22:60276ba87ac6 | 69 | else{ |
benkatz | 45:aadebe074af6 | 70 | vel = (modPosition-oldModPosition)/dt; |
benkatz | 22:60276ba87ac6 | 71 | } |
benkatz | 22:60276ba87ac6 | 72 | |
benkatz | 35:69b24894c11d | 73 | int n = 40; |
benkatz | 22:60276ba87ac6 | 74 | float sum = vel; |
benkatz | 22:60276ba87ac6 | 75 | for (int i = 1; i < (n); i++){ |
benkatz | 22:60276ba87ac6 | 76 | velVec[n - i] = velVec[n-i-1]; |
benkatz | 22:60276ba87ac6 | 77 | sum += velVec[n-i]; |
benkatz | 22:60276ba87ac6 | 78 | } |
benkatz | 22:60276ba87ac6 | 79 | velVec[0] = vel; |
benkatz | 45:aadebe074af6 | 80 | MechVelocity = sum/((float)n); |
benkatz | 22:60276ba87ac6 | 81 | ElecVelocity = MechVelocity*_ppairs; |
benkatz | 34:51647c6c500d | 82 | ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity; |
benkatz | 14:80ce59119d93 | 83 | } |
benkatz | 8:10ae7bc88d6e | 84 | |
benkatz | 14:80ce59119d93 | 85 | int PositionSensorAM5147::GetRawPosition(){ |
benkatz | 22:60276ba87ac6 | 86 | return raw; |
benkatz | 14:80ce59119d93 | 87 | } |
benkatz | 38:67e4e1453a4b | 88 | |
benkatz | 38:67e4e1453a4b | 89 | float PositionSensorAM5147::GetMechPositionFixed(){ |
benkatz | 38:67e4e1453a4b | 90 | return MechPosition+MechOffset; |
benkatz | 38:67e4e1453a4b | 91 | } |
benkatz | 14:80ce59119d93 | 92 | |
benkatz | 14:80ce59119d93 | 93 | float PositionSensorAM5147::GetMechPosition(){ |
benkatz | 14:80ce59119d93 | 94 | return MechPosition; |
benkatz | 14:80ce59119d93 | 95 | } |
benkatz | 14:80ce59119d93 | 96 | |
benkatz | 14:80ce59119d93 | 97 | float PositionSensorAM5147::GetElecPosition(){ |
benkatz | 22:60276ba87ac6 | 98 | return ElecPosition; |
benkatz | 14:80ce59119d93 | 99 | } |
benkatz | 14:80ce59119d93 | 100 | |
benkatz | 37:c0f352d6e8e3 | 101 | float PositionSensorAM5147::GetElecVelocity(){ |
benkatz | 37:c0f352d6e8e3 | 102 | return ElecVelocity; |
benkatz | 37:c0f352d6e8e3 | 103 | } |
benkatz | 37:c0f352d6e8e3 | 104 | |
benkatz | 14:80ce59119d93 | 105 | float PositionSensorAM5147::GetMechVelocity(){ |
benkatz | 22:60276ba87ac6 | 106 | return MechVelocity; |
benkatz | 14:80ce59119d93 | 107 | } |
benkatz | 14:80ce59119d93 | 108 | |
benkatz | 14:80ce59119d93 | 109 | void PositionSensorAM5147::ZeroPosition(){ |
benkatz | 14:80ce59119d93 | 110 | rotations = 0; |
benkatz | 28:8c7e29f719c5 | 111 | MechOffset = 0; |
Wooden | 47:f4ecf3e0576a | 112 | //flag_first_time = true; |
benkatz | 45:aadebe074af6 | 113 | Sample(.00025f); |
benkatz | 14:80ce59119d93 | 114 | MechOffset = GetMechPosition(); |
benkatz | 14:80ce59119d93 | 115 | } |
benkatz | 0:4e1c4df6aabd | 116 | |
benkatz | 22:60276ba87ac6 | 117 | void PositionSensorAM5147::SetElecOffset(float offset){ |
benkatz | 22:60276ba87ac6 | 118 | ElecOffset = offset; |
benkatz | 22:60276ba87ac6 | 119 | } |
benkatz | 37:c0f352d6e8e3 | 120 | void PositionSensorAM5147::SetMechOffset(float offset){ |
benkatz | 37:c0f352d6e8e3 | 121 | MechOffset = offset; |
benkatz | 37:c0f352d6e8e3 | 122 | } |
benkatz | 22:60276ba87ac6 | 123 | |
benkatz | 22:60276ba87ac6 | 124 | int PositionSensorAM5147::GetCPR(){ |
benkatz | 22:60276ba87ac6 | 125 | return _CPR; |
benkatz | 22:60276ba87ac6 | 126 | } |
benkatz | 22:60276ba87ac6 | 127 | |
benkatz | 22:60276ba87ac6 | 128 | |
benkatz | 22:60276ba87ac6 | 129 | void PositionSensorAM5147::WriteLUT(int new_lut[128]){ |
benkatz | 22:60276ba87ac6 | 130 | memcpy(offset_lut, new_lut, sizeof(offset_lut)); |
benkatz | 22:60276ba87ac6 | 131 | } |
benkatz | 20:bf9ea5125d52 | 132 | |
benkatz | 22:60276ba87ac6 | 133 | |
Wooden | 47:f4ecf3e0576a | 134 | // |
Wooden | 47:f4ecf3e0576a | 135 | //PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) { |
Wooden | 47:f4ecf3e0576a | 136 | // _ppairs = ppairs; |
Wooden | 47:f4ecf3e0576a | 137 | // _CPR = CPR; |
Wooden | 47:f4ecf3e0576a | 138 | // _offset = offset; |
Wooden | 47:f4ecf3e0576a | 139 | // MechPosition = 0; |
Wooden | 47:f4ecf3e0576a | 140 | // out_old = 0; |
Wooden | 47:f4ecf3e0576a | 141 | // oldVel = 0; |
Wooden | 47:f4ecf3e0576a | 142 | // raw = 0; |
Wooden | 47:f4ecf3e0576a | 143 | // |
Wooden | 47:f4ecf3e0576a | 144 | // // Enable clock for GPIOA |
Wooden | 47:f4ecf3e0576a | 145 | // __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h |
Wooden | 47:f4ecf3e0576a | 146 | // |
Wooden | 47:f4ecf3e0576a | 147 | // GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ |
Wooden | 47:f4ecf3e0576a | 148 | // GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ |
Wooden | 47:f4ecf3e0576a | 149 | // GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ |
Wooden | 47:f4ecf3e0576a | 150 | // GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ |
Wooden | 47:f4ecf3e0576a | 151 | // GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
Wooden | 47:f4ecf3e0576a | 152 | // GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
Wooden | 47:f4ecf3e0576a | 153 | // |
Wooden | 47:f4ecf3e0576a | 154 | // // configure TIM3 as Encoder input |
Wooden | 47:f4ecf3e0576a | 155 | // // Enable clock for TIM3 |
Wooden | 47:f4ecf3e0576a | 156 | // __TIM3_CLK_ENABLE(); |
Wooden | 47:f4ecf3e0576a | 157 | // |
Wooden | 47:f4ecf3e0576a | 158 | // TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 |
Wooden | 47:f4ecf3e0576a | 159 | // TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register |
Wooden | 47:f4ecf3e0576a | 160 | // TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering |
Wooden | 47:f4ecf3e0576a | 161 | // TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 |
Wooden | 47:f4ecf3e0576a | 162 | // TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register |
Wooden | 47:f4ecf3e0576a | 163 | // TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler |
Wooden | 47:f4ecf3e0576a | 164 | // TIM3->ARR = CPR; // IM auto-reload register |
Wooden | 47:f4ecf3e0576a | 165 | // |
Wooden | 47:f4ecf3e0576a | 166 | // TIM3->CNT = 0x000; //reset the counter before we use it |
Wooden | 47:f4ecf3e0576a | 167 | // |
Wooden | 47:f4ecf3e0576a | 168 | // // Extra Timer for velocity measurement |
Wooden | 47:f4ecf3e0576a | 169 | // |
Wooden | 47:f4ecf3e0576a | 170 | // __TIM2_CLK_ENABLE(); |
Wooden | 47:f4ecf3e0576a | 171 | // TIM3->CR2 = 0x030; //MMS = 101 |
Wooden | 47:f4ecf3e0576a | 172 | // |
Wooden | 47:f4ecf3e0576a | 173 | // TIM2->PSC = 0x03; |
Wooden | 47:f4ecf3e0576a | 174 | // //TIM2->CR2 |= TIM_CR2_TI1S; |
Wooden | 47:f4ecf3e0576a | 175 | // TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge) |
Wooden | 47:f4ecf3e0576a | 176 | // TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC |
Wooden | 47:f4ecf3e0576a | 177 | // |
Wooden | 47:f4ecf3e0576a | 178 | // //TIM2->CR2 |= TIM_CR2_TI1S; |
Wooden | 47:f4ecf3e0576a | 179 | // TIM2->CCER |= TIM_CCER_CC1P; |
Wooden | 47:f4ecf3e0576a | 180 | // //TIM2->CCER |= TIM_CCER_CC1NP; |
Wooden | 47:f4ecf3e0576a | 181 | // TIM2->CCER |= TIM_CCER_CC1E; |
Wooden | 47:f4ecf3e0576a | 182 | // |
Wooden | 47:f4ecf3e0576a | 183 | // |
Wooden | 47:f4ecf3e0576a | 184 | // TIM2->CR1 = 0x01; //CEN, enable timer |
Wooden | 47:f4ecf3e0576a | 185 | // |
Wooden | 47:f4ecf3e0576a | 186 | // TIM3->CR1 = 0x01; // CEN |
Wooden | 47:f4ecf3e0576a | 187 | // ZPulse = new InterruptIn(PC_4); |
Wooden | 47:f4ecf3e0576a | 188 | // ZSense = new DigitalIn(PC_4); |
Wooden | 47:f4ecf3e0576a | 189 | // //ZPulse = new InterruptIn(PB_0); |
Wooden | 47:f4ecf3e0576a | 190 | // //ZSense = new DigitalIn(PB_0); |
Wooden | 47:f4ecf3e0576a | 191 | // ZPulse->enable_irq(); |
Wooden | 47:f4ecf3e0576a | 192 | // ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount); |
Wooden | 47:f4ecf3e0576a | 193 | // //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown); |
Wooden | 47:f4ecf3e0576a | 194 | // ZPulse->mode(PullDown); |
Wooden | 47:f4ecf3e0576a | 195 | // flag = 0; |
Wooden | 47:f4ecf3e0576a | 196 | // |
Wooden | 47:f4ecf3e0576a | 197 | // |
Wooden | 47:f4ecf3e0576a | 198 | // //ZTest = new DigitalOut(PC_2); |
Wooden | 47:f4ecf3e0576a | 199 | // //ZTest->write(1); |
Wooden | 47:f4ecf3e0576a | 200 | // } |
Wooden | 47:f4ecf3e0576a | 201 | // |
Wooden | 47:f4ecf3e0576a | 202 | //void PositionSensorEncoder::Sample(float dt){ |
Wooden | 47:f4ecf3e0576a | 203 | // |
Wooden | 47:f4ecf3e0576a | 204 | // } |
Wooden | 47:f4ecf3e0576a | 205 | // |
Wooden | 47:f4ecf3e0576a | 206 | // |
Wooden | 47:f4ecf3e0576a | 207 | //float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians. |
Wooden | 47:f4ecf3e0576a | 208 | // int raw = TIM3->CNT; |
Wooden | 47:f4ecf3e0576a | 209 | // float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR); |
Wooden | 47:f4ecf3e0576a | 210 | // return (float) unsigned_mech;// + 6.28318530718f* (float) rotations; |
Wooden | 47:f4ecf3e0576a | 211 | //} |
Wooden | 47:f4ecf3e0576a | 212 | // |
Wooden | 47:f4ecf3e0576a | 213 | //float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians. |
Wooden | 47:f4ecf3e0576a | 214 | // int raw = TIM3->CNT; |
Wooden | 47:f4ecf3e0576a | 215 | // float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset; |
Wooden | 47:f4ecf3e0576a | 216 | // if(elec < 0) elec += 6.28318530718f; |
Wooden | 47:f4ecf3e0576a | 217 | // return elec; |
Wooden | 47:f4ecf3e0576a | 218 | //} |
Wooden | 47:f4ecf3e0576a | 219 | // |
Wooden | 47:f4ecf3e0576a | 220 | // |
Wooden | 47:f4ecf3e0576a | 221 | // |
Wooden | 47:f4ecf3e0576a | 222 | //float PositionSensorEncoder::GetMechVelocity(){ |
Wooden | 47:f4ecf3e0576a | 223 | // |
Wooden | 47:f4ecf3e0576a | 224 | // float out = 0; |
Wooden | 47:f4ecf3e0576a | 225 | // float rawPeriod = TIM2->CCR1; //Clock Ticks |
Wooden | 47:f4ecf3e0576a | 226 | // int currentTime = TIM2->CNT; |
Wooden | 47:f4ecf3e0576a | 227 | // if(currentTime > 2000000){rawPeriod = currentTime;} |
Wooden | 47:f4ecf3e0576a | 228 | // float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1 |
Wooden | 47:f4ecf3e0576a | 229 | // float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod; |
Wooden | 47:f4ecf3e0576a | 230 | // if(isinf(meas)){ meas = 1;} |
Wooden | 47:f4ecf3e0576a | 231 | // out = meas; |
Wooden | 47:f4ecf3e0576a | 232 | // //if(meas == oldVel){ |
Wooden | 47:f4ecf3e0576a | 233 | // // out = .9f*out_old; |
Wooden | 47:f4ecf3e0576a | 234 | // // } |
Wooden | 47:f4ecf3e0576a | 235 | // |
Wooden | 47:f4ecf3e0576a | 236 | // |
Wooden | 47:f4ecf3e0576a | 237 | // oldVel = meas; |
Wooden | 47:f4ecf3e0576a | 238 | // out_old = out; |
Wooden | 47:f4ecf3e0576a | 239 | // int n = 16; |
Wooden | 47:f4ecf3e0576a | 240 | // float sum = out; |
Wooden | 47:f4ecf3e0576a | 241 | // for (int i = 1; i < (n); i++){ |
Wooden | 47:f4ecf3e0576a | 242 | // velVec[n - i] = velVec[n-i-1]; |
Wooden | 47:f4ecf3e0576a | 243 | // sum += velVec[n-i]; |
Wooden | 47:f4ecf3e0576a | 244 | // } |
Wooden | 47:f4ecf3e0576a | 245 | // velVec[0] = out; |
Wooden | 47:f4ecf3e0576a | 246 | // return sum/(float)n; |
Wooden | 47:f4ecf3e0576a | 247 | // } |
Wooden | 47:f4ecf3e0576a | 248 | // |
Wooden | 47:f4ecf3e0576a | 249 | //float PositionSensorEncoder::GetElecVelocity(){ |
Wooden | 47:f4ecf3e0576a | 250 | // return _ppairs*GetMechVelocity(); |
Wooden | 47:f4ecf3e0576a | 251 | // } |
Wooden | 47:f4ecf3e0576a | 252 | // |
Wooden | 47:f4ecf3e0576a | 253 | //void PositionSensorEncoder::ZeroEncoderCount(void){ |
Wooden | 47:f4ecf3e0576a | 254 | // if (ZSense->read() == 1 & flag == 0){ |
Wooden | 47:f4ecf3e0576a | 255 | // if (ZSense->read() == 1){ |
Wooden | 47:f4ecf3e0576a | 256 | // GPIOC->ODR ^= (1 << 4); |
Wooden | 47:f4ecf3e0576a | 257 | // TIM3->CNT = 0x000; |
Wooden | 47:f4ecf3e0576a | 258 | // //state = !state; |
Wooden | 47:f4ecf3e0576a | 259 | // //ZTest->write(state); |
Wooden | 47:f4ecf3e0576a | 260 | // GPIOC->ODR ^= (1 << 4); |
Wooden | 47:f4ecf3e0576a | 261 | // //flag = 1; |
Wooden | 47:f4ecf3e0576a | 262 | // } |
Wooden | 47:f4ecf3e0576a | 263 | // } |
Wooden | 47:f4ecf3e0576a | 264 | // } |
Wooden | 47:f4ecf3e0576a | 265 | // |
Wooden | 47:f4ecf3e0576a | 266 | //void PositionSensorEncoder::ZeroPosition(void){ |
Wooden | 47:f4ecf3e0576a | 267 | // |
Wooden | 47:f4ecf3e0576a | 268 | // } |
Wooden | 47:f4ecf3e0576a | 269 | // |
Wooden | 47:f4ecf3e0576a | 270 | //void PositionSensorEncoder::ZeroEncoderCountDown(void){ |
Wooden | 47:f4ecf3e0576a | 271 | // if (ZSense->read() == 0){ |
Wooden | 47:f4ecf3e0576a | 272 | // if (ZSense->read() == 0){ |
Wooden | 47:f4ecf3e0576a | 273 | // GPIOC->ODR ^= (1 << 4); |
Wooden | 47:f4ecf3e0576a | 274 | // flag = 0; |
Wooden | 47:f4ecf3e0576a | 275 | // float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; |
Wooden | 47:f4ecf3e0576a | 276 | // if(dir != dir){ |
Wooden | 47:f4ecf3e0576a | 277 | // dir = dir; |
Wooden | 47:f4ecf3e0576a | 278 | // rotations += dir; |
Wooden | 47:f4ecf3e0576a | 279 | // } |
Wooden | 47:f4ecf3e0576a | 280 | // |
Wooden | 47:f4ecf3e0576a | 281 | // GPIOC->ODR ^= (1 << 4); |
Wooden | 47:f4ecf3e0576a | 282 | // |
Wooden | 47:f4ecf3e0576a | 283 | // } |
Wooden | 47:f4ecf3e0576a | 284 | // } |
Wooden | 47:f4ecf3e0576a | 285 | // } |
Wooden | 47:f4ecf3e0576a | 286 | //void PositionSensorEncoder::SetElecOffset(float offset){ |
Wooden | 47:f4ecf3e0576a | 287 | // |
Wooden | 47:f4ecf3e0576a | 288 | // } |
Wooden | 47:f4ecf3e0576a | 289 | // |
Wooden | 47:f4ecf3e0576a | 290 | //int PositionSensorEncoder::GetRawPosition(void){ |
Wooden | 47:f4ecf3e0576a | 291 | // return 0; |
Wooden | 47:f4ecf3e0576a | 292 | // } |
Wooden | 47:f4ecf3e0576a | 293 | // |
Wooden | 47:f4ecf3e0576a | 294 | //int PositionSensorEncoder::GetCPR(){ |
Wooden | 47:f4ecf3e0576a | 295 | // return _CPR; |
Wooden | 47:f4ecf3e0576a | 296 | // } |
Wooden | 47:f4ecf3e0576a | 297 | // |
Wooden | 47:f4ecf3e0576a | 298 | // |
Wooden | 47:f4ecf3e0576a | 299 | //void PositionSensorEncoder::WriteLUT(int new_lut[128]){ |
Wooden | 47:f4ecf3e0576a | 300 | // memcpy(offset_lut, new_lut, sizeof(offset_lut)); |
Wooden | 47:f4ecf3e0576a | 301 | // } |