Wooden Jin / BLDC_V2

bldc driver firmware based on hobbyking cheetah compact

Dependencies:   BLDC_V2 mbed-dev-f303 FastPWM3

Dependents:   BLDC_V2

PositionSensor/PositionSensor.cpp@48:a74e401a6d84, 2021-04-07 (annotated)

Committer:
Wooden
Date:
Wed Apr 07 10:12:43 2021 +0000
Revision:
48:a74e401a6d84
Parent:
47:f4ecf3e0576a 
wooden_bldc_test

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 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;
Wooden 48:a74e401a6d84 27 for(int i=0;i<40;i++){
Wooden 48:a74e401a6d84 28 velVec[i] = 0;
Wooden 48:a74e401a6d84 29 // MechPositionVec[i] = 0;
Wooden 48:a74e401a6d84 30 }
benkatz 22:60276ba87ac6 31 }
benkatz 22:60276ba87ac6 32
benkatz 45:aadebe074af6 33 void PositionSensorAM5147::Sample(float dt){
Wooden 47:f4ecf3e0576a 34 GPIOA->ODR &= ~(1 << 4);
benkatz 36:d88fd41f60a6 35 raw = spi->write(readAngleCmd);
benkatz 25:f5741040c4bb 36 raw &= 0x3FFF; //Extract last 14 bits
Wooden 47:f4ecf3e0576a 37 GPIOA->ODR |= (1 << 4);
benkatz 25:f5741040c4bb 38 int off_1 = offset_lut[raw>>7];
benkatz 25:f5741040c4bb 39 int off_2 = offset_lut[((raw>>7)+1)%128];
benkatz 25:f5741040c4bb 40 int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries
benkatz 25:f5741040c4bb 41 int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration
Wooden 47:f4ecf3e0576a 42 // if(flag_first_time){
Wooden 47:f4ecf3e0576a 43 // old_counts = angle;
Wooden 47:f4ecf3e0576a 44 // flag_first_time = false;
Wooden 47:f4ecf3e0576a 45 // }
benkatz 22:60276ba87ac6 46 if(angle - old_counts > _CPR/2){
benkatz 22:60276ba87ac6 47 rotations -= 1;
benkatz 22:60276ba87ac6 48 }
benkatz 22:60276ba87ac6 49 else if (angle - old_counts < -_CPR/2){
benkatz 22:60276ba87ac6 50 rotations += 1;
benkatz 22:60276ba87ac6 51 }
benkatz 22:60276ba87ac6 52
benkatz 22:60276ba87ac6 53 old_counts = angle;
benkatz 22:60276ba87ac6 54 oldModPosition = modPosition;
benkatz 45:aadebe074af6 55 modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR);
benkatz 45:aadebe074af6 56 position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
benkatz 22:60276ba87ac6 57 MechPosition = position - MechOffset;
benkatz 45:aadebe074af6 58 float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset;
benkatz 45:aadebe074af6 59 if(elec < 0) elec += 2.0f*PI;
benkatz 45:aadebe074af6 60 else if(elec > 2.0f*PI) elec -= 2.0f*PI ;
benkatz 22:60276ba87ac6 61 ElecPosition = elec;
benkatz 22:60276ba87ac6 62
benkatz 22:60276ba87ac6 63 float vel;
benkatz 45:aadebe074af6 64 //if(modPosition<.1f && oldModPosition>6.1f){
benkatz 45:aadebe074af6 65
benkatz 45:aadebe074af6 66 if((modPosition-oldModPosition) < -3.0f){
benkatz 45:aadebe074af6 67 vel = (modPosition - oldModPosition + 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 68 }
benkatz 45:aadebe074af6 69 //else if(modPosition>6.1f && oldModPosition<0.1f){
benkatz 45:aadebe074af6 70 else if((modPosition - oldModPosition) > 3.0f){
benkatz 45:aadebe074af6 71 vel = (modPosition - oldModPosition - 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 72 }
benkatz 22:60276ba87ac6 73 else{
benkatz 45:aadebe074af6 74 vel = (modPosition-oldModPosition)/dt;
benkatz 22:60276ba87ac6 75 }
benkatz 22:60276ba87ac6 76
benkatz 35:69b24894c11d 77 int n = 40;
benkatz 22:60276ba87ac6 78 float sum = vel;
Wooden 48:a74e401a6d84 79 //float sum2 = MechPosition;
benkatz 22:60276ba87ac6 80 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 81 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 82 sum += velVec[n-i];
Wooden 48:a74e401a6d84 83 //MechPositionVec[n-i] = MechPositionVec[n-i-1];
Wooden 48:a74e401a6d84 84 //sum2 += MechPositionVec[n-i];
benkatz 22:60276ba87ac6 85 }
benkatz 22:60276ba87ac6 86 velVec[0] = vel;
Wooden 48:a74e401a6d84 87 //MechPositionVec[0] = MechPosition;
Wooden 48:a74e401a6d84 88 //MechPosition = sum2 / ((float)n);
benkatz 45:aadebe074af6 89 MechVelocity = sum/((float)n);
benkatz 22:60276ba87ac6 90 ElecVelocity = MechVelocity*_ppairs;
Wooden 48:a74e401a6d84 91 // ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity;
Wooden 48:a74e401a6d84 92 ElecVelocityFilt = 0.76094f*ElecVelocityFilt + 0.23906f*ElecVelocity; // 2khz speed filter
benkatz 14:80ce59119d93 93 }
benkatz 8:10ae7bc88d6e 94
benkatz 14:80ce59119d93 95 int PositionSensorAM5147::GetRawPosition(){
benkatz 22:60276ba87ac6 96 return raw;
benkatz 14:80ce59119d93 97 }
benkatz 38:67e4e1453a4b 98
benkatz 38:67e4e1453a4b 99 float PositionSensorAM5147::GetMechPositionFixed(){
benkatz 38:67e4e1453a4b 100 return MechPosition+MechOffset;
benkatz 38:67e4e1453a4b 101 }
benkatz 14:80ce59119d93 102
benkatz 14:80ce59119d93 103 float PositionSensorAM5147::GetMechPosition(){
benkatz 14:80ce59119d93 104 return MechPosition;
benkatz 14:80ce59119d93 105 }
benkatz 14:80ce59119d93 106
benkatz 14:80ce59119d93 107 float PositionSensorAM5147::GetElecPosition(){
benkatz 22:60276ba87ac6 108 return ElecPosition;
benkatz 14:80ce59119d93 109 }
benkatz 14:80ce59119d93 110
benkatz 37:c0f352d6e8e3 111 float PositionSensorAM5147::GetElecVelocity(){
Wooden 48:a74e401a6d84 112 //return ElecVelocity;
Wooden 48:a74e401a6d84 113 return ElecVelocityFilt;
benkatz 37:c0f352d6e8e3 114 }
benkatz 37:c0f352d6e8e3 115
benkatz 14:80ce59119d93 116 float PositionSensorAM5147::GetMechVelocity(){
benkatz 22:60276ba87ac6 117 return MechVelocity;
benkatz 14:80ce59119d93 118 }
benkatz 14:80ce59119d93 119
benkatz 14:80ce59119d93 120 void PositionSensorAM5147::ZeroPosition(){
benkatz 14:80ce59119d93 121 rotations = 0;
benkatz 28:8c7e29f719c5 122 MechOffset = 0;
Wooden 47:f4ecf3e0576a 123 //flag_first_time = true;
benkatz 45:aadebe074af6 124 Sample(.00025f);
benkatz 14:80ce59119d93 125 MechOffset = GetMechPosition();
benkatz 14:80ce59119d93 126 }
benkatz 0:4e1c4df6aabd 127
benkatz 22:60276ba87ac6 128 void PositionSensorAM5147::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 129 ElecOffset = offset;
benkatz 22:60276ba87ac6 130 }
benkatz 37:c0f352d6e8e3 131 void PositionSensorAM5147::SetMechOffset(float offset){
benkatz 37:c0f352d6e8e3 132 MechOffset = offset;
benkatz 37:c0f352d6e8e3 133 }
benkatz 22:60276ba87ac6 134
benkatz 22:60276ba87ac6 135 int PositionSensorAM5147::GetCPR(){
benkatz 22:60276ba87ac6 136 return _CPR;
benkatz 22:60276ba87ac6 137 }
benkatz 22:60276ba87ac6 138
benkatz 22:60276ba87ac6 139
benkatz 22:60276ba87ac6 140 void PositionSensorAM5147::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 141 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 142 }
benkatz 20:bf9ea5125d52 143
benkatz 22:60276ba87ac6 144
Wooden 47:f4ecf3e0576a 145 //
Wooden 47:f4ecf3e0576a 146 //PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
Wooden 47:f4ecf3e0576a 147 // _ppairs = ppairs;
Wooden 47:f4ecf3e0576a 148 // _CPR = CPR;
Wooden 47:f4ecf3e0576a 149 // _offset = offset;
Wooden 47:f4ecf3e0576a 150 // MechPosition = 0;
Wooden 47:f4ecf3e0576a 151 // out_old = 0;
Wooden 47:f4ecf3e0576a 152 // oldVel = 0;
Wooden 47:f4ecf3e0576a 153 // raw = 0;
Wooden 47:f4ecf3e0576a 154 //
Wooden 47:f4ecf3e0576a 155 // // Enable clock for GPIOA
Wooden 47:f4ecf3e0576a 156 // __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
Wooden 47:f4ecf3e0576a 157 //
Wooden 47:f4ecf3e0576a 158 // 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 159 // 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 160 // GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
Wooden 47:f4ecf3e0576a 161 // 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 162 // GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
Wooden 47:f4ecf3e0576a 163 // GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
Wooden 47:f4ecf3e0576a 164 //
Wooden 47:f4ecf3e0576a 165 // // configure TIM3 as Encoder input
Wooden 47:f4ecf3e0576a 166 // // Enable clock for TIM3
Wooden 47:f4ecf3e0576a 167 // __TIM3_CLK_ENABLE();
Wooden 47:f4ecf3e0576a 168 //
Wooden 47:f4ecf3e0576a 169 // TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
Wooden 47:f4ecf3e0576a 170 // TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
Wooden 47:f4ecf3e0576a 171 // TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
Wooden 47:f4ecf3e0576a 172 // TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
Wooden 47:f4ecf3e0576a 173 // TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
Wooden 47:f4ecf3e0576a 174 // TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
Wooden 47:f4ecf3e0576a 175 // TIM3->ARR = CPR; // IM auto-reload register
Wooden 47:f4ecf3e0576a 176 //
Wooden 47:f4ecf3e0576a 177 // TIM3->CNT = 0x000; //reset the counter before we use it
Wooden 47:f4ecf3e0576a 178 //
Wooden 47:f4ecf3e0576a 179 // // Extra Timer for velocity measurement
Wooden 47:f4ecf3e0576a 180 //
Wooden 47:f4ecf3e0576a 181 // __TIM2_CLK_ENABLE();
Wooden 47:f4ecf3e0576a 182 // TIM3->CR2 = 0x030; //MMS = 101
Wooden 47:f4ecf3e0576a 183 //
Wooden 47:f4ecf3e0576a 184 // TIM2->PSC = 0x03;
Wooden 47:f4ecf3e0576a 185 // //TIM2->CR2 |= TIM_CR2_TI1S;
Wooden 47:f4ecf3e0576a 186 // TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
Wooden 47:f4ecf3e0576a 187 // TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC
Wooden 47:f4ecf3e0576a 188 //
Wooden 47:f4ecf3e0576a 189 // //TIM2->CR2 |= TIM_CR2_TI1S;
Wooden 47:f4ecf3e0576a 190 // TIM2->CCER |= TIM_CCER_CC1P;
Wooden 47:f4ecf3e0576a 191 // //TIM2->CCER |= TIM_CCER_CC1NP;
Wooden 47:f4ecf3e0576a 192 // TIM2->CCER |= TIM_CCER_CC1E;
Wooden 47:f4ecf3e0576a 193 //
Wooden 47:f4ecf3e0576a 194 //
Wooden 47:f4ecf3e0576a 195 // TIM2->CR1 = 0x01; //CEN, enable timer
Wooden 47:f4ecf3e0576a 196 //
Wooden 47:f4ecf3e0576a 197 // TIM3->CR1 = 0x01; // CEN
Wooden 47:f4ecf3e0576a 198 // ZPulse = new InterruptIn(PC_4);
Wooden 47:f4ecf3e0576a 199 // ZSense = new DigitalIn(PC_4);
Wooden 47:f4ecf3e0576a 200 // //ZPulse = new InterruptIn(PB_0);
Wooden 47:f4ecf3e0576a 201 // //ZSense = new DigitalIn(PB_0);
Wooden 47:f4ecf3e0576a 202 // ZPulse->enable_irq();
Wooden 47:f4ecf3e0576a 203 // ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
Wooden 47:f4ecf3e0576a 204 // //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
Wooden 47:f4ecf3e0576a 205 // ZPulse->mode(PullDown);
Wooden 47:f4ecf3e0576a 206 // flag = 0;
Wooden 47:f4ecf3e0576a 207 //
Wooden 47:f4ecf3e0576a 208 //
Wooden 47:f4ecf3e0576a 209 // //ZTest = new DigitalOut(PC_2);
Wooden 47:f4ecf3e0576a 210 // //ZTest->write(1);
Wooden 47:f4ecf3e0576a 211 // }
Wooden 47:f4ecf3e0576a 212 //
Wooden 47:f4ecf3e0576a 213 //void PositionSensorEncoder::Sample(float dt){
Wooden 47:f4ecf3e0576a 214 //
Wooden 47:f4ecf3e0576a 215 // }
Wooden 47:f4ecf3e0576a 216 //
Wooden 47:f4ecf3e0576a 217 //
Wooden 47:f4ecf3e0576a 218 //float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
Wooden 47:f4ecf3e0576a 219 // int raw = TIM3->CNT;
Wooden 47:f4ecf3e0576a 220 // float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
Wooden 47:f4ecf3e0576a 221 // return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
Wooden 47:f4ecf3e0576a 222 //}
Wooden 47:f4ecf3e0576a 223 //
Wooden 47:f4ecf3e0576a 224 //float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
Wooden 47:f4ecf3e0576a 225 // int raw = TIM3->CNT;
Wooden 47:f4ecf3e0576a 226 // float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
Wooden 47:f4ecf3e0576a 227 // if(elec < 0) elec += 6.28318530718f;
Wooden 47:f4ecf3e0576a 228 // return elec;
Wooden 47:f4ecf3e0576a 229 //}
Wooden 47:f4ecf3e0576a 230 //
Wooden 47:f4ecf3e0576a 231 //
Wooden 47:f4ecf3e0576a 232 //
Wooden 47:f4ecf3e0576a 233 //float PositionSensorEncoder::GetMechVelocity(){
Wooden 47:f4ecf3e0576a 234 //
Wooden 47:f4ecf3e0576a 235 // float out = 0;
Wooden 47:f4ecf3e0576a 236 // float rawPeriod = TIM2->CCR1; //Clock Ticks
Wooden 47:f4ecf3e0576a 237 // int currentTime = TIM2->CNT;
Wooden 47:f4ecf3e0576a 238 // if(currentTime > 2000000){rawPeriod = currentTime;}
Wooden 47:f4ecf3e0576a 239 // float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
Wooden 47:f4ecf3e0576a 240 // float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
Wooden 47:f4ecf3e0576a 241 // if(isinf(meas)){ meas = 1;}
Wooden 47:f4ecf3e0576a 242 // out = meas;
Wooden 47:f4ecf3e0576a 243 // //if(meas == oldVel){
Wooden 47:f4ecf3e0576a 244 // // out = .9f*out_old;
Wooden 47:f4ecf3e0576a 245 // // }
Wooden 47:f4ecf3e0576a 246 //
Wooden 47:f4ecf3e0576a 247 //
Wooden 47:f4ecf3e0576a 248 // oldVel = meas;
Wooden 47:f4ecf3e0576a 249 // out_old = out;
Wooden 47:f4ecf3e0576a 250 // int n = 16;
Wooden 47:f4ecf3e0576a 251 // float sum = out;
Wooden 47:f4ecf3e0576a 252 // for (int i = 1; i < (n); i++){
Wooden 47:f4ecf3e0576a 253 // velVec[n - i] = velVec[n-i-1];
Wooden 47:f4ecf3e0576a 254 // sum += velVec[n-i];
Wooden 47:f4ecf3e0576a 255 // }
Wooden 47:f4ecf3e0576a 256 // velVec[0] = out;
Wooden 47:f4ecf3e0576a 257 // return sum/(float)n;
Wooden 47:f4ecf3e0576a 258 // }
Wooden 47:f4ecf3e0576a 259 //
Wooden 47:f4ecf3e0576a 260 //float PositionSensorEncoder::GetElecVelocity(){
Wooden 47:f4ecf3e0576a 261 // return _ppairs*GetMechVelocity();
Wooden 47:f4ecf3e0576a 262 // }
Wooden 47:f4ecf3e0576a 263 //
Wooden 47:f4ecf3e0576a 264 //void PositionSensorEncoder::ZeroEncoderCount(void){
Wooden 47:f4ecf3e0576a 265 // if (ZSense->read() == 1 & flag == 0){
Wooden 47:f4ecf3e0576a 266 // if (ZSense->read() == 1){
Wooden 47:f4ecf3e0576a 267 // GPIOC->ODR ^= (1 << 4);
Wooden 47:f4ecf3e0576a 268 // TIM3->CNT = 0x000;
Wooden 47:f4ecf3e0576a 269 // //state = !state;
Wooden 47:f4ecf3e0576a 270 // //ZTest->write(state);
Wooden 47:f4ecf3e0576a 271 // GPIOC->ODR ^= (1 << 4);
Wooden 47:f4ecf3e0576a 272 // //flag = 1;
Wooden 47:f4ecf3e0576a 273 // }
Wooden 47:f4ecf3e0576a 274 // }
Wooden 47:f4ecf3e0576a 275 // }
Wooden 47:f4ecf3e0576a 276 //
Wooden 47:f4ecf3e0576a 277 //void PositionSensorEncoder::ZeroPosition(void){
Wooden 47:f4ecf3e0576a 278 //
Wooden 47:f4ecf3e0576a 279 // }
Wooden 47:f4ecf3e0576a 280 //
Wooden 47:f4ecf3e0576a 281 //void PositionSensorEncoder::ZeroEncoderCountDown(void){
Wooden 47:f4ecf3e0576a 282 // if (ZSense->read() == 0){
Wooden 47:f4ecf3e0576a 283 // if (ZSense->read() == 0){
Wooden 47:f4ecf3e0576a 284 // GPIOC->ODR ^= (1 << 4);
Wooden 47:f4ecf3e0576a 285 // flag = 0;
Wooden 47:f4ecf3e0576a 286 // float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
Wooden 47:f4ecf3e0576a 287 // if(dir != dir){
Wooden 47:f4ecf3e0576a 288 // dir = dir;
Wooden 47:f4ecf3e0576a 289 // rotations += dir;
Wooden 47:f4ecf3e0576a 290 // }
Wooden 47:f4ecf3e0576a 291 //
Wooden 47:f4ecf3e0576a 292 // GPIOC->ODR ^= (1 << 4);
Wooden 47:f4ecf3e0576a 293 //
Wooden 47:f4ecf3e0576a 294 // }
Wooden 47:f4ecf3e0576a 295 // }
Wooden 47:f4ecf3e0576a 296 // }
Wooden 47:f4ecf3e0576a 297 //void PositionSensorEncoder::SetElecOffset(float offset){
Wooden 47:f4ecf3e0576a 298 //
Wooden 47:f4ecf3e0576a 299 // }
Wooden 47:f4ecf3e0576a 300 //
Wooden 47:f4ecf3e0576a 301 //int PositionSensorEncoder::GetRawPosition(void){
Wooden 47:f4ecf3e0576a 302 // return 0;
Wooden 47:f4ecf3e0576a 303 // }
Wooden 47:f4ecf3e0576a 304 //
Wooden 47:f4ecf3e0576a 305 //int PositionSensorEncoder::GetCPR(){
Wooden 47:f4ecf3e0576a 306 // return _CPR;
Wooden 47:f4ecf3e0576a 307 // }
Wooden 47:f4ecf3e0576a 308 //
Wooden 47:f4ecf3e0576a 309 //
Wooden 47:f4ecf3e0576a 310 //void PositionSensorEncoder::WriteLUT(int new_lut[128]){
Wooden 47:f4ecf3e0576a 311 // memcpy(offset_lut, new_lut, sizeof(offset_lut));
Wooden 47:f4ecf3e0576a 312 // }