Tony Stark
motor control code by JYB
Dependencies: mbed-dev-f303 FastPWM3
Diff: PositionSensor/PositionSensor.cpp
- Revision:
- 47:f4ecf3e0576a
- Parent:
- 45:aadebe074af6
--- a/PositionSensor/PositionSensor.cpp Mon Jul 30 20:33:23 2018 +0000
+++ b/PositionSensor/PositionSensor.cpp Wed May 13 09:53:27 2020 +0000
@@ -11,11 +11,11 @@
_ppairs = ppairs;
ElecOffset = offset;
rotations = 0;
- spi = new SPI(PC_12, PC_11, PC_10);
+ spi = new SPI(PA_7, PA_6, PA_5);
spi->format(16, 1); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words
spi->frequency(25000000);
- cs = new DigitalOut(PA_15);
+ cs = new DigitalOut(PA_4);
cs->write(1);
readAngleCmd = 0xffff;
MechOffset = offset;
@@ -23,17 +23,22 @@
oldModPosition = 0;
oldVel = 0;
raw = 0;
+ flag_first_time = true;
}
void PositionSensorAM5147::Sample(float dt){
- GPIOA->ODR &= ~(1 << 15);
+ GPIOA->ODR &= ~(1 << 4);
raw = spi->write(readAngleCmd);
raw &= 0x3FFF; //Extract last 14 bits
- GPIOA->ODR |= (1 << 15);
+ GPIOA->ODR |= (1 << 4);
int off_1 = offset_lut[raw>>7];
int off_2 = offset_lut[((raw>>7)+1)%128];
int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries
int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration
+// if(flag_first_time){
+// old_counts = angle;
+// flag_first_time = false;
+// }
if(angle - old_counts > _CPR/2){
rotations -= 1;
}
@@ -104,6 +109,7 @@
void PositionSensorAM5147::ZeroPosition(){
rotations = 0;
MechOffset = 0;
+ //flag_first_time = true;
Sample(.00025f);
MechOffset = GetMechPosition();
}
@@ -125,171 +131,171 @@
}
-
-PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
- _ppairs = ppairs;
- _CPR = CPR;
- _offset = offset;
- MechPosition = 0;
- out_old = 0;
- oldVel = 0;
- raw = 0;
-
- // Enable clock for GPIOA
- __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
-
- GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */
- GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */
- GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
- GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */
- GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
- GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
-
- // configure TIM3 as Encoder input
- // Enable clock for TIM3
- __TIM3_CLK_ENABLE();
-
- TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
- TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
- TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
- TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
- TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
- TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
- TIM3->ARR = CPR; // IM auto-reload register
-
- TIM3->CNT = 0x000; //reset the counter before we use it
-
- // Extra Timer for velocity measurement
-
- __TIM2_CLK_ENABLE();
- TIM3->CR2 = 0x030; //MMS = 101
-
- TIM2->PSC = 0x03;
- //TIM2->CR2 |= TIM_CR2_TI1S;
- TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
- TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC
-
- //TIM2->CR2 |= TIM_CR2_TI1S;
- TIM2->CCER |= TIM_CCER_CC1P;
- //TIM2->CCER |= TIM_CCER_CC1NP;
- TIM2->CCER |= TIM_CCER_CC1E;
-
-
- TIM2->CR1 = 0x01; //CEN, enable timer
-
- TIM3->CR1 = 0x01; // CEN
- ZPulse = new InterruptIn(PC_4);
- ZSense = new DigitalIn(PC_4);
- //ZPulse = new InterruptIn(PB_0);
- //ZSense = new DigitalIn(PB_0);
- ZPulse->enable_irq();
- ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
- //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
- ZPulse->mode(PullDown);
- flag = 0;
-
-
- //ZTest = new DigitalOut(PC_2);
- //ZTest->write(1);
- }
-
-void PositionSensorEncoder::Sample(float dt){
-
- }
-
-
-float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
- int raw = TIM3->CNT;
- float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
- return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
-}
-
-float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
- int raw = TIM3->CNT;
- float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
- if(elec < 0) elec += 6.28318530718f;
- return elec;
-}
-
-
-
-float PositionSensorEncoder::GetMechVelocity(){
-
- float out = 0;
- float rawPeriod = TIM2->CCR1; //Clock Ticks
- int currentTime = TIM2->CNT;
- if(currentTime > 2000000){rawPeriod = currentTime;}
- float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
- float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
- if(isinf(meas)){ meas = 1;}
- out = meas;
- //if(meas == oldVel){
- // out = .9f*out_old;
- // }
-
-
- oldVel = meas;
- out_old = out;
- int n = 16;
- float sum = out;
- for (int i = 1; i < (n); i++){
- velVec[n - i] = velVec[n-i-1];
- sum += velVec[n-i];
- }
- velVec[0] = out;
- return sum/(float)n;
- }
-
-float PositionSensorEncoder::GetElecVelocity(){
- return _ppairs*GetMechVelocity();
- }
-
-void PositionSensorEncoder::ZeroEncoderCount(void){
- if (ZSense->read() == 1 & flag == 0){
- if (ZSense->read() == 1){
- GPIOC->ODR ^= (1 << 4);
- TIM3->CNT = 0x000;
- //state = !state;
- //ZTest->write(state);
- GPIOC->ODR ^= (1 << 4);
- //flag = 1;
- }
- }
- }
-
-void PositionSensorEncoder::ZeroPosition(void){
-
- }
-
-void PositionSensorEncoder::ZeroEncoderCountDown(void){
- if (ZSense->read() == 0){
- if (ZSense->read() == 0){
- GPIOC->ODR ^= (1 << 4);
- flag = 0;
- float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
- if(dir != dir){
- dir = dir;
- rotations += dir;
- }
-
- GPIOC->ODR ^= (1 << 4);
-
- }
- }
- }
-void PositionSensorEncoder::SetElecOffset(float offset){
-
- }
-
-int PositionSensorEncoder::GetRawPosition(void){
- return 0;
- }
-
-int PositionSensorEncoder::GetCPR(){
- return _CPR;
- }
-
-
-void PositionSensorEncoder::WriteLUT(int new_lut[128]){
- memcpy(offset_lut, new_lut, sizeof(offset_lut));
- }
+//
+//PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
+// _ppairs = ppairs;
+// _CPR = CPR;
+// _offset = offset;
+// MechPosition = 0;
+// out_old = 0;
+// oldVel = 0;
+// raw = 0;
+//
+// // Enable clock for GPIOA
+// __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
+//
+// GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */
+// GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */
+// GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
+// GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */
+// GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
+// GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
+//
+// // configure TIM3 as Encoder input
+// // Enable clock for TIM3
+// __TIM3_CLK_ENABLE();
+//
+// TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
+// TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
+// TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
+// TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
+// TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
+// TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
+// TIM3->ARR = CPR; // IM auto-reload register
+//
+// TIM3->CNT = 0x000; //reset the counter before we use it
+//
+// // Extra Timer for velocity measurement
+//
+// __TIM2_CLK_ENABLE();
+// TIM3->CR2 = 0x030; //MMS = 101
+//
+// TIM2->PSC = 0x03;
+// //TIM2->CR2 |= TIM_CR2_TI1S;
+// TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
+// TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC
+//
+// //TIM2->CR2 |= TIM_CR2_TI1S;
+// TIM2->CCER |= TIM_CCER_CC1P;
+// //TIM2->CCER |= TIM_CCER_CC1NP;
+// TIM2->CCER |= TIM_CCER_CC1E;
+//
+//
+// TIM2->CR1 = 0x01; //CEN, enable timer
+//
+// TIM3->CR1 = 0x01; // CEN
+// ZPulse = new InterruptIn(PC_4);
+// ZSense = new DigitalIn(PC_4);
+// //ZPulse = new InterruptIn(PB_0);
+// //ZSense = new DigitalIn(PB_0);
+// ZPulse->enable_irq();
+// ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
+// //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
+// ZPulse->mode(PullDown);
+// flag = 0;
+//
+//
+// //ZTest = new DigitalOut(PC_2);
+// //ZTest->write(1);
+// }
+//
+//void PositionSensorEncoder::Sample(float dt){
+//
+// }
+//
+//
+//float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
+// int raw = TIM3->CNT;
+// float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
+// return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
+//}
+//
+//float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
+// int raw = TIM3->CNT;
+// float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
+// if(elec < 0) elec += 6.28318530718f;
+// return elec;
+//}
+//
+//
+//
+//float PositionSensorEncoder::GetMechVelocity(){
+//
+// float out = 0;
+// float rawPeriod = TIM2->CCR1; //Clock Ticks
+// int currentTime = TIM2->CNT;
+// if(currentTime > 2000000){rawPeriod = currentTime;}
+// float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
+// float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
+// if(isinf(meas)){ meas = 1;}
+// out = meas;
+// //if(meas == oldVel){
+// // out = .9f*out_old;
+// // }
+//
+//
+// oldVel = meas;
+// out_old = out;
+// int n = 16;
+// float sum = out;
+// for (int i = 1; i < (n); i++){
+// velVec[n - i] = velVec[n-i-1];
+// sum += velVec[n-i];
+// }
+// velVec[0] = out;
+// return sum/(float)n;
+// }
+//
+//float PositionSensorEncoder::GetElecVelocity(){
+// return _ppairs*GetMechVelocity();
+// }
+//
+//void PositionSensorEncoder::ZeroEncoderCount(void){
+// if (ZSense->read() == 1 & flag == 0){
+// if (ZSense->read() == 1){
+// GPIOC->ODR ^= (1 << 4);
+// TIM3->CNT = 0x000;
+// //state = !state;
+// //ZTest->write(state);
+// GPIOC->ODR ^= (1 << 4);
+// //flag = 1;
+// }
+// }
+// }
+//
+//void PositionSensorEncoder::ZeroPosition(void){
+//
+// }
+//
+//void PositionSensorEncoder::ZeroEncoderCountDown(void){
+// if (ZSense->read() == 0){
+// if (ZSense->read() == 0){
+// GPIOC->ODR ^= (1 << 4);
+// flag = 0;
+// float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
+// if(dir != dir){
+// dir = dir;
+// rotations += dir;
+// }
+//
+// GPIOC->ODR ^= (1 << 4);
+//
+// }
+// }
+// }
+//void PositionSensorEncoder::SetElecOffset(float offset){
+//
+// }
+//
+//int PositionSensorEncoder::GetRawPosition(void){
+// return 0;
+// }
+//
+//int PositionSensorEncoder::GetCPR(){
+// return _CPR;
+// }
+//
+//
+//void PositionSensorEncoder::WriteLUT(int new_lut[128]){
+// memcpy(offset_lut, new_lut, sizeof(offset_lut));
+// }