Winnie Liu / Hobbyking_Cheetah_modify1105

hobbyking_cheetah source code modified 2020/12/15

Dependencies:   mbed-dev-f303 FastPWM3

PositionSensor/PositionSensor.cpp@12:c473a25f54f7, 2016-05-22 (annotated)

Committer:
benkatz
Date:
Sun May 22 03:38:19 2016 +0000
Revision:
12:c473a25f54f7
Parent:
11:c83b18d41e54
Child:
13:a3fa0a31b114
experimental feed-forward decoupling;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 0:4e1c4df6aabd 1
benkatz 0:4e1c4df6aabd 2 #include "mbed.h"
benkatz 0:4e1c4df6aabd 3 #include "PositionSensor.h"
benkatz 6:4ee1cdc43aa8 4 //#include <math.h>
benkatz 0:4e1c4df6aabd 5
benkatz 10:370851e6e132 6 PositionSensorSPI::PositionSensorSPI(int CPR, float offset, int ppairs){
benkatz 8:10ae7bc88d6e 7 //_CPR = CPR;
benkatz 10:370851e6e132 8 _CPR = CPR;
benkatz 10:370851e6e132 9 _ppairs = ppairs;
benkatz 8:10ae7bc88d6e 10 _offset = offset;
benkatz 8:10ae7bc88d6e 11 rotations = 0;
benkatz 8:10ae7bc88d6e 12 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 8:10ae7bc88d6e 13 spi->format(16, 0);
benkatz 8:10ae7bc88d6e 14 cs = new DigitalOut(PA_15);
benkatz 8:10ae7bc88d6e 15 cs->write(1);
benkatz 9:d7eb815cb057 16 MechOffset = 0;
benkatz 8:10ae7bc88d6e 17 }
benkatz 11:c83b18d41e54 18
benkatz 11:c83b18d41e54 19 int PositionSensorSPI::GetRawPosition(){
benkatz 11:c83b18d41e54 20 cs->write(0);
benkatz 11:c83b18d41e54 21 int response = spi->write(0)>>4;
benkatz 11:c83b18d41e54 22 cs->write(1);
benkatz 11:c83b18d41e54 23 return response;
benkatz 11:c83b18d41e54 24 }
benkatz 8:10ae7bc88d6e 25
benkatz 11:c83b18d41e54 26
benkatz 8:10ae7bc88d6e 27 float PositionSensorSPI::GetMechPosition(){
benkatz 8:10ae7bc88d6e 28 cs->write(0);
benkatz 8:10ae7bc88d6e 29 int response = spi->write(0)>>4;
benkatz 8:10ae7bc88d6e 30 cs->write(1);
benkatz 8:10ae7bc88d6e 31 if(response - old_counts > _CPR/4){
benkatz 8:10ae7bc88d6e 32 rotations -= 1;
benkatz 8:10ae7bc88d6e 33 }
benkatz 8:10ae7bc88d6e 34 else if (response - old_counts < -_CPR/4){
benkatz 8:10ae7bc88d6e 35 rotations += 1;
benkatz 8:10ae7bc88d6e 36 }
benkatz 8:10ae7bc88d6e 37 old_counts = response;
benkatz 8:10ae7bc88d6e 38 MechPosition = (6.28318530718f * ((float) response+(_CPR*rotations)))/ (float)_CPR;
benkatz 11:c83b18d41e54 39 //return MechPosition - MechOffset;
benkatz 11:c83b18d41e54 40 return MechPosition;
benkatz 8:10ae7bc88d6e 41 }
benkatz 8:10ae7bc88d6e 42
benkatz 8:10ae7bc88d6e 43 float PositionSensorSPI::GetElecPosition(){
benkatz 8:10ae7bc88d6e 44 cs->write(0);
benkatz 8:10ae7bc88d6e 45 int response = spi->write(0)>>4;
benkatz 8:10ae7bc88d6e 46 cs->write(1);
benkatz 10:370851e6e132 47 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*response)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 48 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 49 return elec;
benkatz 8:10ae7bc88d6e 50 }
benkatz 9:d7eb815cb057 51
benkatz 9:d7eb815cb057 52 float PositionSensorSPI::GetMechVelocity(){
benkatz 9:d7eb815cb057 53 return 0;
benkatz 9:d7eb815cb057 54 }
benkatz 9:d7eb815cb057 55
benkatz 9:d7eb815cb057 56 void PositionSensorSPI::ZeroPosition(){
benkatz 9:d7eb815cb057 57 rotations = 0;
benkatz 9:d7eb815cb057 58 MechOffset = GetMechPosition();
benkatz 9:d7eb815cb057 59 }
benkatz 8:10ae7bc88d6e 60
benkatz 8:10ae7bc88d6e 61
benkatz 0:4e1c4df6aabd 62
benkatz 10:370851e6e132 63 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
benkatz 10:370851e6e132 64 _ppairs = ppairs;
benkatz 0:4e1c4df6aabd 65 _CPR = CPR;
benkatz 0:4e1c4df6aabd 66 _offset = offset;
benkatz 3:6a0015d88d06 67 MechPosition = 0;
benkatz 0:4e1c4df6aabd 68
benkatz 0:4e1c4df6aabd 69 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 70 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 71
benkatz 0:4e1c4df6aabd 72 GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */
benkatz 0:4e1c4df6aabd 73 GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */
benkatz 0:4e1c4df6aabd 74 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 0:4e1c4df6aabd 75 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */
benkatz 0:4e1c4df6aabd 76 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 77 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 78
benkatz 0:4e1c4df6aabd 79 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 80 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 81 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 82
benkatz 0:4e1c4df6aabd 83 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 0:4e1c4df6aabd 84 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 1:b8bceb4daed5 85 TIM3->CCMR1 = 0xf1f1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 0:4e1c4df6aabd 86 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 0:4e1c4df6aabd 87 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 0:4e1c4df6aabd 88 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 8:10ae7bc88d6e 89 TIM3->ARR = CPR-1; // reload at 0xfffffff < TIM auto-reload register
benkatz 0:4e1c4df6aabd 90
benkatz 7:dc5f27756e02 91 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 92
benkatz 3:6a0015d88d06 93 // Extra Timer for velocity measurement
benkatz 9:d7eb815cb057 94
benkatz 3:6a0015d88d06 95 __TIM2_CLK_ENABLE();
benkatz 3:6a0015d88d06 96 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 97
benkatz 3:6a0015d88d06 98 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 99 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 100 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 3:6a0015d88d06 101 TIM2->CCMR1 = 0x3;// CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 102
benkatz 3:6a0015d88d06 103 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 104 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 105 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 106 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 107
benkatz 3:6a0015d88d06 108
benkatz 3:6a0015d88d06 109 TIM2->CR1 = 0x01; //CEN
benkatz 9:d7eb815cb057 110
benkatz 3:6a0015d88d06 111 TIM3->CR1 = 0x01; // CEN
benkatz 8:10ae7bc88d6e 112 ZPulse = new InterruptIn(PC_4);
benkatz 8:10ae7bc88d6e 113 ZSense = new DigitalIn(PC_4);
benkatz 8:10ae7bc88d6e 114 //ZPulse = new InterruptIn(PB_0);
benkatz 8:10ae7bc88d6e 115 //ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 116 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 117 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 7:dc5f27756e02 118 //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 0:4e1c4df6aabd 119 ZPulse->mode(PullDown);
benkatz 7:dc5f27756e02 120 flag = 0;
benkatz 0:4e1c4df6aabd 121
benkatz 0:4e1c4df6aabd 122
benkatz 1:b8bceb4daed5 123 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 124 //ZTest->write(1);
benkatz 0:4e1c4df6aabd 125
benkatz 0:4e1c4df6aabd 126
benkatz 0:4e1c4df6aabd 127 }
benkatz 0:4e1c4df6aabd 128
benkatz 0:4e1c4df6aabd 129 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 8:10ae7bc88d6e 130 int raw = TIM3->CNT;
benkatz 7:dc5f27756e02 131 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 7:dc5f27756e02 132 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 0:4e1c4df6aabd 133 }
benkatz 0:4e1c4df6aabd 134
benkatz 0:4e1c4df6aabd 135 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 7:dc5f27756e02 136 int raw = TIM3->CNT;
benkatz 10:370851e6e132 137 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 138 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 139 return elec;
benkatz 0:4e1c4df6aabd 140 }
benkatz 0:4e1c4df6aabd 141
benkatz 3:6a0015d88d06 142 float PositionSensorEncoder::GetElecVelocity(){
benkatz 12:c473a25f54f7 143 return _ppairs*GetMechVelocity();
benkatz 3:6a0015d88d06 144 }
benkatz 3:6a0015d88d06 145
benkatz 3:6a0015d88d06 146 float PositionSensorEncoder::GetMechVelocity(){
benkatz 9:d7eb815cb057 147 float out = 0;
benkatz 3:6a0015d88d06 148 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 9:d7eb815cb057 149
benkatz 3:6a0015d88d06 150 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 9:d7eb815cb057 151 float meas = dir*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 11:c83b18d41e54 152 out = meas;
benkatz 9:d7eb815cb057 153 if(meas == vel_old){
benkatz 9:d7eb815cb057 154 out = .95f*out_old;
benkatz 9:d7eb815cb057 155 }
benkatz 9:d7eb815cb057 156 else{
benkatz 9:d7eb815cb057 157 out = meas;
benkatz 9:d7eb815cb057 158 }
benkatz 9:d7eb815cb057 159
benkatz 9:d7eb815cb057 160 /*
benkatz 9:d7eb815cb057 161 if(abs(vel) < 2.0f){
benkatz 9:d7eb815cb057 162 vel = 0;
benkatz 9:d7eb815cb057 163 }
benkatz 9:d7eb815cb057 164 */
benkatz 9:d7eb815cb057 165 vel_old = meas;
benkatz 9:d7eb815cb057 166
benkatz 9:d7eb815cb057 167 //out = .5f*out + .5f*out_old;
benkatz 9:d7eb815cb057 168 out_old = out;
benkatz 9:d7eb815cb057 169 return out;
benkatz 3:6a0015d88d06 170 }
benkatz 3:6a0015d88d06 171
benkatz 0:4e1c4df6aabd 172 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 7:dc5f27756e02 173 if (ZSense->read() == 1 & flag == 0){
benkatz 0:4e1c4df6aabd 174 if (ZSense->read() == 1){
benkatz 8:10ae7bc88d6e 175 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 176 TIM3->CNT = 0x000;
benkatz 1:b8bceb4daed5 177 //state = !state;
benkatz 1:b8bceb4daed5 178 //ZTest->write(state);
benkatz 7:dc5f27756e02 179 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 180 //flag = 1;
benkatz 7:dc5f27756e02 181 }
benkatz 7:dc5f27756e02 182 }
benkatz 7:dc5f27756e02 183 }
benkatz 7:dc5f27756e02 184
benkatz 7:dc5f27756e02 185 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 7:dc5f27756e02 186 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 187 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 188 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 189 flag = 0;
benkatz 7:dc5f27756e02 190 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 7:dc5f27756e02 191 if(dir != dir){
benkatz 7:dc5f27756e02 192 dir = dir;
benkatz 7:dc5f27756e02 193 rotations += dir;
benkatz 7:dc5f27756e02 194 }
benkatz 7:dc5f27756e02 195
benkatz 7:dc5f27756e02 196 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 197
benkatz 0:4e1c4df6aabd 198 }
benkatz 0:4e1c4df6aabd 199 }
benkatz 0:4e1c4df6aabd 200 }