Modified Motor Driver Firmware to include Flash + Thermal
Dependencies: FastPWM3 mbed-dev-STM-lean
PositionSensor/PositionSensor.cpp@76:4fd876d4cf2b, 2022-10-18 (annotated)
- Committer:
- adimmit
- Date:
- Tue Oct 18 16:22:24 2022 +0000
- Revision:
- 76:4fd876d4cf2b
- Parent:
- 67:96a4052a1705
added some position data logging;
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 | 47:e1196a851f76 | 4 | #include "../math_ops.h" |
benkatz | 22:60276ba87ac6 | 5 | //#include "offset_lut.h" |
benkatz | 6:4ee1cdc43aa8 | 6 | //#include <math.h> |
benkatz | 0:4e1c4df6aabd | 7 | |
saloutos | 58:32e8927fe39f | 8 | PositionSensoriCMU::PositionSensoriCMU(int CPR, float offset, int ppairs){ |
saloutos | 58:32e8927fe39f | 9 | //_CPR = CPR; |
saloutos | 58:32e8927fe39f | 10 | _CPR = CPR; |
saloutos | 58:32e8927fe39f | 11 | _ppairs = ppairs; |
saloutos | 58:32e8927fe39f | 12 | ElecOffset = offset; |
saloutos | 58:32e8927fe39f | 13 | rotations = 0; |
saloutos | 58:32e8927fe39f | 14 | spi = new SPI(PC_12, PC_11, PC_10); |
saloutos | 58:32e8927fe39f | 15 | spi->format(8, 0); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words |
elijahsj | 67:96a4052a1705 | 16 | spi->frequency(25000000); |
saloutos | 58:32e8927fe39f | 17 | |
saloutos | 58:32e8927fe39f | 18 | cs = new DigitalOut(PA_15); |
saloutos | 58:32e8927fe39f | 19 | cs->write(1); |
saloutos | 58:32e8927fe39f | 20 | readAngleCmd = 0xffff; |
saloutos | 58:32e8927fe39f | 21 | MechOffset = offset; |
saloutos | 58:32e8927fe39f | 22 | modPosition = 0; |
saloutos | 58:32e8927fe39f | 23 | oldModPosition = 0; |
saloutos | 58:32e8927fe39f | 24 | oldVel = 0; |
saloutos | 58:32e8927fe39f | 25 | raw = 0; |
saloutos | 58:32e8927fe39f | 26 | lut_shift = 12; // shift from 19bit data to 7bit lut index |
saloutos | 58:32e8927fe39f | 27 | first_sample = 0; |
saloutos | 58:32e8927fe39f | 28 | |
saloutos | 58:32e8927fe39f | 29 | // set any iCMU registers here...filter values? |
saloutos | 58:32e8927fe39f | 30 | |
saloutos | 58:32e8927fe39f | 31 | for(int i = 0; i<100; i++) // Initial measurement is really noisy |
saloutos | 58:32e8927fe39f | 32 | { |
saloutos | 58:32e8927fe39f | 33 | cs->write(0); |
saloutos | 58:32e8927fe39f | 34 | spi->write(0xA6); |
saloutos | 58:32e8927fe39f | 35 | spi->write(0); |
saloutos | 58:32e8927fe39f | 36 | spi->write(0); |
saloutos | 58:32e8927fe39f | 37 | spi->write(0); |
saloutos | 58:32e8927fe39f | 38 | cs->write(1); |
saloutos | 58:32e8927fe39f | 39 | wait_us(100); |
saloutos | 58:32e8927fe39f | 40 | } |
saloutos | 58:32e8927fe39f | 41 | |
saloutos | 58:32e8927fe39f | 42 | } |
saloutos | 58:32e8927fe39f | 43 | |
saloutos | 58:32e8927fe39f | 44 | void PositionSensoriCMU::Sample(float dt){ |
saloutos | 58:32e8927fe39f | 45 | //GPIOA->ODR &= ~(1 << 15); |
saloutos | 58:32e8927fe39f | 46 | //raw = spi->write(readAngleCmd); |
saloutos | 58:32e8927fe39f | 47 | //raw &= 0x3FFF; |
saloutos | 58:32e8927fe39f | 48 | cs->write(0); |
saloutos | 58:32e8927fe39f | 49 | raw_bytes[0] = spi->write(0xA6); // Read Register |
saloutos | 58:32e8927fe39f | 50 | raw_bytes[1] = spi->write(0); |
saloutos | 58:32e8927fe39f | 51 | raw_bytes[2] = spi->write(0); |
saloutos | 58:32e8927fe39f | 52 | raw_bytes[3] = spi->write(0); |
saloutos | 58:32e8927fe39f | 53 | cs->write(1); |
saloutos | 58:32e8927fe39f | 54 | |
saloutos | 58:32e8927fe39f | 55 | //for(int i=0; i<8; i++){printf("%d ", raw_bytes[i]);} |
saloutos | 58:32e8927fe39f | 56 | //printf("\n\r"); |
saloutos | 58:32e8927fe39f | 57 | |
saloutos | 58:32e8927fe39f | 58 | raw = raw_bytes[1]<<16 | raw_bytes[2]<<8 | raw_bytes[3]; |
saloutos | 58:32e8927fe39f | 59 | // From 24 received bits: 14bits MAS, 5 bits NON, 5 zero bits |
saloutos | 58:32e8927fe39f | 60 | // With default filter, get 14 bits of usable data |
saloutos | 58:32e8927fe39f | 61 | // But, still extract 19 bits |
saloutos | 58:32e8927fe39f | 62 | raw = raw>>5; |
saloutos | 58:32e8927fe39f | 63 | |
saloutos | 58:32e8927fe39f | 64 | //GPIOA->ODR |= (1 << 15); |
saloutos | 58:32e8927fe39f | 65 | int off_1 = offset_lut[raw>>lut_shift]; // shift 12 bits to go from 19-bit to 7-bit lut index |
saloutos | 58:32e8927fe39f | 66 | int off_2 = offset_lut[((raw>>lut_shift)+1)%128]; |
saloutos | 58:32e8927fe39f | 67 | |
saloutos | 58:32e8927fe39f | 68 | |
saloutos | 58:32e8927fe39f | 69 | int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>lut_shift)<<lut_shift))>>lut_shift); // Interpolate between lookup table entries |
saloutos | 58:32e8927fe39f | 70 | int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration |
saloutos | 58:32e8927fe39f | 71 | |
saloutos | 58:32e8927fe39f | 72 | if(first_sample){ |
saloutos | 58:32e8927fe39f | 73 | if(angle - old_counts > _CPR/2){ |
saloutos | 58:32e8927fe39f | 74 | rotations -= 1; |
saloutos | 58:32e8927fe39f | 75 | } |
saloutos | 58:32e8927fe39f | 76 | else if (angle - old_counts < -_CPR/2){ |
saloutos | 58:32e8927fe39f | 77 | rotations += 1; |
saloutos | 58:32e8927fe39f | 78 | } |
saloutos | 58:32e8927fe39f | 79 | } |
saloutos | 58:32e8927fe39f | 80 | if(!first_sample){first_sample = 1;} |
saloutos | 58:32e8927fe39f | 81 | |
saloutos | 58:32e8927fe39f | 82 | old_counts = angle; |
saloutos | 58:32e8927fe39f | 83 | oldModPosition = modPosition; |
saloutos | 58:32e8927fe39f | 84 | modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR); |
saloutos | 58:32e8927fe39f | 85 | position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR; |
saloutos | 58:32e8927fe39f | 86 | |
saloutos | 58:32e8927fe39f | 87 | MechPosition = position - MechOffset; // is this mech position of the rotor or output? |
saloutos | 58:32e8927fe39f | 88 | |
saloutos | 58:32e8927fe39f | 89 | float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset; |
saloutos | 58:32e8927fe39f | 90 | if(elec < 0) elec += 2.0f*PI; |
saloutos | 58:32e8927fe39f | 91 | else if(elec > 2.0f*PI) elec -= 2.0f*PI ; |
saloutos | 58:32e8927fe39f | 92 | ElecPosition = elec; |
saloutos | 58:32e8927fe39f | 93 | |
saloutos | 58:32e8927fe39f | 94 | float vel; |
saloutos | 58:32e8927fe39f | 95 | //if(modPosition<.1f && oldModPosition>6.1f){ |
saloutos | 58:32e8927fe39f | 96 | |
saloutos | 58:32e8927fe39f | 97 | if((modPosition-oldModPosition) < -3.0f){ |
saloutos | 58:32e8927fe39f | 98 | vel = (modPosition - oldModPosition + 2.0f*PI)/dt; |
saloutos | 58:32e8927fe39f | 99 | } |
saloutos | 58:32e8927fe39f | 100 | //else if(modPosition>6.1f && oldModPosition<0.1f){ |
saloutos | 58:32e8927fe39f | 101 | else if((modPosition - oldModPosition) > 3.0f){ |
saloutos | 58:32e8927fe39f | 102 | vel = (modPosition - oldModPosition - 2.0f*PI)/dt; |
saloutos | 58:32e8927fe39f | 103 | } |
saloutos | 58:32e8927fe39f | 104 | else{ |
saloutos | 58:32e8927fe39f | 105 | vel = (modPosition-oldModPosition)/dt; |
saloutos | 58:32e8927fe39f | 106 | } |
saloutos | 58:32e8927fe39f | 107 | |
saloutos | 58:32e8927fe39f | 108 | int n = 40; |
saloutos | 58:32e8927fe39f | 109 | float sum = vel; |
saloutos | 58:32e8927fe39f | 110 | for (int i = 1; i < (n); i++){ |
saloutos | 58:32e8927fe39f | 111 | velVec[n - i] = velVec[n-i-1]; |
saloutos | 58:32e8927fe39f | 112 | sum += velVec[n-i]; |
saloutos | 58:32e8927fe39f | 113 | } |
saloutos | 58:32e8927fe39f | 114 | velVec[0] = vel; |
saloutos | 58:32e8927fe39f | 115 | MechVelocity = sum/((float)n); // is this mech velocity of the rotor or output? |
saloutos | 58:32e8927fe39f | 116 | |
saloutos | 58:32e8927fe39f | 117 | ElecVelocity = MechVelocity*_ppairs; |
saloutos | 58:32e8927fe39f | 118 | ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity; |
saloutos | 58:32e8927fe39f | 119 | } |
saloutos | 58:32e8927fe39f | 120 | |
saloutos | 58:32e8927fe39f | 121 | int PositionSensoriCMU::GetRawPosition(){ |
saloutos | 58:32e8927fe39f | 122 | return raw; |
saloutos | 58:32e8927fe39f | 123 | } |
saloutos | 58:32e8927fe39f | 124 | |
saloutos | 58:32e8927fe39f | 125 | float PositionSensoriCMU::GetMechPositionFixed(){ |
saloutos | 58:32e8927fe39f | 126 | return MechPosition+MechOffset; |
saloutos | 58:32e8927fe39f | 127 | } |
saloutos | 58:32e8927fe39f | 128 | |
saloutos | 58:32e8927fe39f | 129 | float PositionSensoriCMU::GetMechPosition(){ |
saloutos | 58:32e8927fe39f | 130 | return MechPosition; |
saloutos | 58:32e8927fe39f | 131 | } |
saloutos | 58:32e8927fe39f | 132 | |
saloutos | 58:32e8927fe39f | 133 | float PositionSensoriCMU::GetElecPosition(){ |
saloutos | 58:32e8927fe39f | 134 | return ElecPosition; |
saloutos | 58:32e8927fe39f | 135 | } |
saloutos | 58:32e8927fe39f | 136 | |
saloutos | 58:32e8927fe39f | 137 | float PositionSensoriCMU::GetElecVelocity(){ |
saloutos | 58:32e8927fe39f | 138 | return ElecVelocity; |
saloutos | 58:32e8927fe39f | 139 | } |
saloutos | 58:32e8927fe39f | 140 | |
saloutos | 58:32e8927fe39f | 141 | float PositionSensoriCMU::GetMechVelocity(){ |
saloutos | 58:32e8927fe39f | 142 | return MechVelocity; |
saloutos | 58:32e8927fe39f | 143 | } |
saloutos | 58:32e8927fe39f | 144 | |
saloutos | 58:32e8927fe39f | 145 | void PositionSensoriCMU::ZeroPosition(){ |
saloutos | 58:32e8927fe39f | 146 | rotations = 0; |
saloutos | 58:32e8927fe39f | 147 | MechOffset = 0; |
saloutos | 58:32e8927fe39f | 148 | Sample(.00025f); |
saloutos | 58:32e8927fe39f | 149 | MechOffset = GetMechPosition(); |
saloutos | 58:32e8927fe39f | 150 | } |
saloutos | 58:32e8927fe39f | 151 | |
saloutos | 58:32e8927fe39f | 152 | void PositionSensoriCMU::SetElecOffset(float offset){ |
saloutos | 58:32e8927fe39f | 153 | ElecOffset = offset; |
saloutos | 58:32e8927fe39f | 154 | } |
saloutos | 58:32e8927fe39f | 155 | void PositionSensoriCMU::SetMechOffset(float offset){ |
saloutos | 58:32e8927fe39f | 156 | MechOffset = offset; |
saloutos | 58:32e8927fe39f | 157 | first_sample = 0; |
saloutos | 58:32e8927fe39f | 158 | } |
saloutos | 58:32e8927fe39f | 159 | |
saloutos | 58:32e8927fe39f | 160 | int PositionSensoriCMU::GetCPR(){ |
saloutos | 58:32e8927fe39f | 161 | return _CPR; |
saloutos | 58:32e8927fe39f | 162 | } |
saloutos | 58:32e8927fe39f | 163 | |
saloutos | 58:32e8927fe39f | 164 | |
saloutos | 58:32e8927fe39f | 165 | void PositionSensoriCMU::WriteLUT(int new_lut[128]){ |
saloutos | 58:32e8927fe39f | 166 | memcpy(offset_lut, new_lut, sizeof(offset_lut)); |
saloutos | 58:32e8927fe39f | 167 | } |
saloutos | 58:32e8927fe39f | 168 | |
saloutos | 58:32e8927fe39f | 169 | |
saloutos | 58:32e8927fe39f | 170 | |
saloutos | 58:32e8927fe39f | 171 | |
saloutos | 58:32e8927fe39f | 172 | |
saloutos | 58:32e8927fe39f | 173 | |
saloutos | 58:32e8927fe39f | 174 | |
saloutos | 58:32e8927fe39f | 175 | |
saloutos | 58:32e8927fe39f | 176 | |
saloutos | 58:32e8927fe39f | 177 | |
benkatz | 14:80ce59119d93 | 178 | PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){ |
benkatz | 14:80ce59119d93 | 179 | //_CPR = CPR; |
benkatz | 14:80ce59119d93 | 180 | _CPR = CPR; |
benkatz | 14:80ce59119d93 | 181 | _ppairs = ppairs; |
benkatz | 22:60276ba87ac6 | 182 | ElecOffset = offset; |
benkatz | 14:80ce59119d93 | 183 | rotations = 0; |
benkatz | 14:80ce59119d93 | 184 | spi = new SPI(PC_12, PC_11, PC_10); |
benkatz | 36:d88fd41f60a6 | 185 | spi->format(16, 1); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words |
benkatz | 26:2b865c00d7e9 | 186 | spi->frequency(25000000); |
benkatz | 37:c0f352d6e8e3 | 187 | |
benkatz | 14:80ce59119d93 | 188 | cs = new DigitalOut(PA_15); |
benkatz | 14:80ce59119d93 | 189 | cs->write(1); |
benkatz | 22:60276ba87ac6 | 190 | readAngleCmd = 0xffff; |
benkatz | 37:c0f352d6e8e3 | 191 | MechOffset = offset; |
benkatz | 22:60276ba87ac6 | 192 | modPosition = 0; |
benkatz | 22:60276ba87ac6 | 193 | oldModPosition = 0; |
benkatz | 22:60276ba87ac6 | 194 | oldVel = 0; |
benkatz | 22:60276ba87ac6 | 195 | raw = 0; |
benkatz | 56:fe5056ac6740 | 196 | first_sample = 0; |
benkatz | 56:fe5056ac6740 | 197 | for(int i = 0; i<100; i++) // Initial measurement is really noisy |
benkatz | 56:fe5056ac6740 | 198 | { |
benkatz | 56:fe5056ac6740 | 199 | spi->write(0); |
benkatz | 56:fe5056ac6740 | 200 | wait_us(100); |
benkatz | 56:fe5056ac6740 | 201 | } |
benkatz | 56:fe5056ac6740 | 202 | |
benkatz | 22:60276ba87ac6 | 203 | } |
benkatz | 22:60276ba87ac6 | 204 | |
benkatz | 47:e1196a851f76 | 205 | void PositionSensorAM5147::Sample(float dt){ |
benkatz | 46:2d4b1dafcfe3 | 206 | GPIOA->ODR &= ~(1 << 15); |
benkatz | 47:e1196a851f76 | 207 | //raw = spi->write(readAngleCmd); |
benkatz | 47:e1196a851f76 | 208 | //raw &= 0x3FFF; |
benkatz | 47:e1196a851f76 | 209 | raw = spi->write(0); |
benkatz | 48:74a40481740c | 210 | raw = raw>>2; //Extract last 14 bits |
benkatz | 46:2d4b1dafcfe3 | 211 | GPIOA->ODR |= (1 << 15); |
benkatz | 25:f5741040c4bb | 212 | int off_1 = offset_lut[raw>>7]; |
benkatz | 25:f5741040c4bb | 213 | int off_2 = offset_lut[((raw>>7)+1)%128]; |
benkatz | 25:f5741040c4bb | 214 | int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries |
benkatz | 25:f5741040c4bb | 215 | int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration |
benkatz | 56:fe5056ac6740 | 216 | |
benkatz | 56:fe5056ac6740 | 217 | if(first_sample){ |
benkatz | 56:fe5056ac6740 | 218 | if(angle - old_counts > _CPR/2){ |
benkatz | 56:fe5056ac6740 | 219 | rotations -= 1; |
benkatz | 56:fe5056ac6740 | 220 | } |
benkatz | 56:fe5056ac6740 | 221 | else if (angle - old_counts < -_CPR/2){ |
benkatz | 56:fe5056ac6740 | 222 | rotations += 1; |
benkatz | 56:fe5056ac6740 | 223 | } |
benkatz | 56:fe5056ac6740 | 224 | } |
benkatz | 56:fe5056ac6740 | 225 | if(!first_sample){first_sample = 1;} |
benkatz | 22:60276ba87ac6 | 226 | |
benkatz | 22:60276ba87ac6 | 227 | old_counts = angle; |
benkatz | 22:60276ba87ac6 | 228 | oldModPosition = modPosition; |
benkatz | 46:2d4b1dafcfe3 | 229 | modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR); |
benkatz | 46:2d4b1dafcfe3 | 230 | position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR; |
benkatz | 22:60276ba87ac6 | 231 | MechPosition = position - MechOffset; |
benkatz | 46:2d4b1dafcfe3 | 232 | float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset; |
benkatz | 46:2d4b1dafcfe3 | 233 | if(elec < 0) elec += 2.0f*PI; |
benkatz | 46:2d4b1dafcfe3 | 234 | else if(elec > 2.0f*PI) elec -= 2.0f*PI ; |
benkatz | 22:60276ba87ac6 | 235 | ElecPosition = elec; |
benkatz | 22:60276ba87ac6 | 236 | |
benkatz | 22:60276ba87ac6 | 237 | float vel; |
benkatz | 46:2d4b1dafcfe3 | 238 | //if(modPosition<.1f && oldModPosition>6.1f){ |
benkatz | 47:e1196a851f76 | 239 | |
benkatz | 46:2d4b1dafcfe3 | 240 | if((modPosition-oldModPosition) < -3.0f){ |
benkatz | 47:e1196a851f76 | 241 | vel = (modPosition - oldModPosition + 2.0f*PI)/dt; |
benkatz | 22:60276ba87ac6 | 242 | } |
benkatz | 46:2d4b1dafcfe3 | 243 | //else if(modPosition>6.1f && oldModPosition<0.1f){ |
benkatz | 46:2d4b1dafcfe3 | 244 | else if((modPosition - oldModPosition) > 3.0f){ |
benkatz | 47:e1196a851f76 | 245 | vel = (modPosition - oldModPosition - 2.0f*PI)/dt; |
benkatz | 22:60276ba87ac6 | 246 | } |
benkatz | 22:60276ba87ac6 | 247 | else{ |
benkatz | 47:e1196a851f76 | 248 | vel = (modPosition-oldModPosition)/dt; |
benkatz | 22:60276ba87ac6 | 249 | } |
benkatz | 22:60276ba87ac6 | 250 | |
benkatz | 35:69b24894c11d | 251 | int n = 40; |
benkatz | 22:60276ba87ac6 | 252 | float sum = vel; |
benkatz | 22:60276ba87ac6 | 253 | for (int i = 1; i < (n); i++){ |
benkatz | 22:60276ba87ac6 | 254 | velVec[n - i] = velVec[n-i-1]; |
benkatz | 22:60276ba87ac6 | 255 | sum += velVec[n-i]; |
benkatz | 22:60276ba87ac6 | 256 | } |
benkatz | 22:60276ba87ac6 | 257 | velVec[0] = vel; |
benkatz | 46:2d4b1dafcfe3 | 258 | MechVelocity = sum/((float)n); |
benkatz | 22:60276ba87ac6 | 259 | ElecVelocity = MechVelocity*_ppairs; |
benkatz | 34:51647c6c500d | 260 | ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity; |
benkatz | 14:80ce59119d93 | 261 | } |
benkatz | 8:10ae7bc88d6e | 262 | |
benkatz | 14:80ce59119d93 | 263 | int PositionSensorAM5147::GetRawPosition(){ |
benkatz | 22:60276ba87ac6 | 264 | return raw; |
benkatz | 14:80ce59119d93 | 265 | } |
benkatz | 38:67e4e1453a4b | 266 | |
benkatz | 38:67e4e1453a4b | 267 | float PositionSensorAM5147::GetMechPositionFixed(){ |
benkatz | 38:67e4e1453a4b | 268 | return MechPosition+MechOffset; |
benkatz | 38:67e4e1453a4b | 269 | } |
benkatz | 14:80ce59119d93 | 270 | |
benkatz | 14:80ce59119d93 | 271 | float PositionSensorAM5147::GetMechPosition(){ |
benkatz | 14:80ce59119d93 | 272 | return MechPosition; |
benkatz | 14:80ce59119d93 | 273 | } |
benkatz | 14:80ce59119d93 | 274 | |
benkatz | 14:80ce59119d93 | 275 | float PositionSensorAM5147::GetElecPosition(){ |
benkatz | 22:60276ba87ac6 | 276 | return ElecPosition; |
benkatz | 14:80ce59119d93 | 277 | } |
benkatz | 14:80ce59119d93 | 278 | |
benkatz | 37:c0f352d6e8e3 | 279 | float PositionSensorAM5147::GetElecVelocity(){ |
benkatz | 37:c0f352d6e8e3 | 280 | return ElecVelocity; |
benkatz | 37:c0f352d6e8e3 | 281 | } |
benkatz | 37:c0f352d6e8e3 | 282 | |
benkatz | 14:80ce59119d93 | 283 | float PositionSensorAM5147::GetMechVelocity(){ |
benkatz | 22:60276ba87ac6 | 284 | return MechVelocity; |
benkatz | 14:80ce59119d93 | 285 | } |
benkatz | 14:80ce59119d93 | 286 | |
benkatz | 14:80ce59119d93 | 287 | void PositionSensorAM5147::ZeroPosition(){ |
benkatz | 14:80ce59119d93 | 288 | rotations = 0; |
benkatz | 28:8c7e29f719c5 | 289 | MechOffset = 0; |
benkatz | 47:e1196a851f76 | 290 | Sample(.00025f); |
benkatz | 14:80ce59119d93 | 291 | MechOffset = GetMechPosition(); |
benkatz | 14:80ce59119d93 | 292 | } |
benkatz | 0:4e1c4df6aabd | 293 | |
benkatz | 22:60276ba87ac6 | 294 | void PositionSensorAM5147::SetElecOffset(float offset){ |
benkatz | 22:60276ba87ac6 | 295 | ElecOffset = offset; |
benkatz | 22:60276ba87ac6 | 296 | } |
benkatz | 37:c0f352d6e8e3 | 297 | void PositionSensorAM5147::SetMechOffset(float offset){ |
benkatz | 37:c0f352d6e8e3 | 298 | MechOffset = offset; |
benkatz | 56:fe5056ac6740 | 299 | first_sample = 0; |
benkatz | 37:c0f352d6e8e3 | 300 | } |
benkatz | 22:60276ba87ac6 | 301 | |
benkatz | 22:60276ba87ac6 | 302 | int PositionSensorAM5147::GetCPR(){ |
benkatz | 22:60276ba87ac6 | 303 | return _CPR; |
benkatz | 22:60276ba87ac6 | 304 | } |
benkatz | 22:60276ba87ac6 | 305 | |
benkatz | 22:60276ba87ac6 | 306 | |
benkatz | 22:60276ba87ac6 | 307 | void PositionSensorAM5147::WriteLUT(int new_lut[128]){ |
benkatz | 22:60276ba87ac6 | 308 | memcpy(offset_lut, new_lut, sizeof(offset_lut)); |
benkatz | 22:60276ba87ac6 | 309 | } |
benkatz | 22:60276ba87ac6 | 310 | |
benkatz | 37:c0f352d6e8e3 | 311 | |
benkatz | 10:370851e6e132 | 312 | PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) { |
benkatz | 10:370851e6e132 | 313 | _ppairs = ppairs; |
benkatz | 0:4e1c4df6aabd | 314 | _CPR = CPR; |
benkatz | 0:4e1c4df6aabd | 315 | _offset = offset; |
benkatz | 3:6a0015d88d06 | 316 | MechPosition = 0; |
benkatz | 22:60276ba87ac6 | 317 | out_old = 0; |
benkatz | 22:60276ba87ac6 | 318 | oldVel = 0; |
benkatz | 22:60276ba87ac6 | 319 | raw = 0; |
benkatz | 0:4e1c4df6aabd | 320 | |
benkatz | 0:4e1c4df6aabd | 321 | // Enable clock for GPIOA |
benkatz | 0:4e1c4df6aabd | 322 | __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h |
benkatz | 0:4e1c4df6aabd | 323 | |
benkatz | 0:4e1c4df6aabd | 324 | 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 | 325 | 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 | 326 | GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ |
benkatz | 0:4e1c4df6aabd | 327 | 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 | 328 | GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
benkatz | 0:4e1c4df6aabd | 329 | GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
benkatz | 0:4e1c4df6aabd | 330 | |
benkatz | 0:4e1c4df6aabd | 331 | // configure TIM3 as Encoder input |
benkatz | 0:4e1c4df6aabd | 332 | // Enable clock for TIM3 |
benkatz | 0:4e1c4df6aabd | 333 | __TIM3_CLK_ENABLE(); |
benkatz | 0:4e1c4df6aabd | 334 | |
benkatz | 22:60276ba87ac6 | 335 | TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 |
benkatz | 22:60276ba87ac6 | 336 | TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register |
benkatz | 22:60276ba87ac6 | 337 | TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering |
benkatz | 22:60276ba87ac6 | 338 | TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 |
benkatz | 22:60276ba87ac6 | 339 | TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register |
benkatz | 22:60276ba87ac6 | 340 | TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler |
benkatz | 22:60276ba87ac6 | 341 | TIM3->ARR = CPR; // IM auto-reload register |
benkatz | 0:4e1c4df6aabd | 342 | |
benkatz | 7:dc5f27756e02 | 343 | TIM3->CNT = 0x000; //reset the counter before we use it |
benkatz | 0:4e1c4df6aabd | 344 | |
benkatz | 3:6a0015d88d06 | 345 | // Extra Timer for velocity measurement |
benkatz | 9:d7eb815cb057 | 346 | |
benkatz | 3:6a0015d88d06 | 347 | __TIM2_CLK_ENABLE(); |
benkatz | 22:60276ba87ac6 | 348 | TIM3->CR2 = 0x030; //MMS = 101 |
benkatz | 3:6a0015d88d06 | 349 | |
benkatz | 3:6a0015d88d06 | 350 | TIM2->PSC = 0x03; |
benkatz | 3:6a0015d88d06 | 351 | //TIM2->CR2 |= TIM_CR2_TI1S; |
benkatz | 22:60276ba87ac6 | 352 | TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge) |
benkatz | 22:60276ba87ac6 | 353 | TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC |
benkatz | 3:6a0015d88d06 | 354 | |
benkatz | 3:6a0015d88d06 | 355 | //TIM2->CR2 |= TIM_CR2_TI1S; |
benkatz | 3:6a0015d88d06 | 356 | TIM2->CCER |= TIM_CCER_CC1P; |
benkatz | 3:6a0015d88d06 | 357 | //TIM2->CCER |= TIM_CCER_CC1NP; |
benkatz | 3:6a0015d88d06 | 358 | TIM2->CCER |= TIM_CCER_CC1E; |
benkatz | 3:6a0015d88d06 | 359 | |
benkatz | 3:6a0015d88d06 | 360 | |
benkatz | 22:60276ba87ac6 | 361 | TIM2->CR1 = 0x01; //CEN, enable timer |
benkatz | 9:d7eb815cb057 | 362 | |
benkatz | 22:60276ba87ac6 | 363 | TIM3->CR1 = 0x01; // CEN |
benkatz | 8:10ae7bc88d6e | 364 | ZPulse = new InterruptIn(PC_4); |
benkatz | 8:10ae7bc88d6e | 365 | ZSense = new DigitalIn(PC_4); |
benkatz | 8:10ae7bc88d6e | 366 | //ZPulse = new InterruptIn(PB_0); |
benkatz | 8:10ae7bc88d6e | 367 | //ZSense = new DigitalIn(PB_0); |
benkatz | 0:4e1c4df6aabd | 368 | ZPulse->enable_irq(); |
benkatz | 0:4e1c4df6aabd | 369 | ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount); |
benkatz | 7:dc5f27756e02 | 370 | //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown); |
benkatz | 0:4e1c4df6aabd | 371 | ZPulse->mode(PullDown); |
benkatz | 7:dc5f27756e02 | 372 | flag = 0; |
benkatz | 0:4e1c4df6aabd | 373 | |
benkatz | 0:4e1c4df6aabd | 374 | |
benkatz | 1:b8bceb4daed5 | 375 | //ZTest = new DigitalOut(PC_2); |
benkatz | 1:b8bceb4daed5 | 376 | //ZTest->write(1); |
benkatz | 22:60276ba87ac6 | 377 | } |
benkatz | 0:4e1c4df6aabd | 378 | |
benkatz | 47:e1196a851f76 | 379 | void PositionSensorEncoder::Sample(float dt){ |
benkatz | 0:4e1c4df6aabd | 380 | |
benkatz | 22:60276ba87ac6 | 381 | } |
benkatz | 22:60276ba87ac6 | 382 | |
benkatz | 0:4e1c4df6aabd | 383 | |
benkatz | 22:60276ba87ac6 | 384 | float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians. |
benkatz | 8:10ae7bc88d6e | 385 | int raw = TIM3->CNT; |
benkatz | 7:dc5f27756e02 | 386 | float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR); |
benkatz | 7:dc5f27756e02 | 387 | return (float) unsigned_mech;// + 6.28318530718f* (float) rotations; |
benkatz | 0:4e1c4df6aabd | 388 | } |
benkatz | 0:4e1c4df6aabd | 389 | |
benkatz | 22:60276ba87ac6 | 390 | float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians. |
benkatz | 7:dc5f27756e02 | 391 | int raw = TIM3->CNT; |
benkatz | 10:370851e6e132 | 392 | float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset; |
benkatz | 8:10ae7bc88d6e | 393 | if(elec < 0) elec += 6.28318530718f; |
benkatz | 8:10ae7bc88d6e | 394 | return elec; |
benkatz | 0:4e1c4df6aabd | 395 | } |
benkatz | 0:4e1c4df6aabd | 396 | |
benkatz | 13:a3fa0a31b114 | 397 | |
benkatz | 3:6a0015d88d06 | 398 | |
benkatz | 3:6a0015d88d06 | 399 | float PositionSensorEncoder::GetMechVelocity(){ |
benkatz | 22:60276ba87ac6 | 400 | |
benkatz | 9:d7eb815cb057 | 401 | float out = 0; |
benkatz | 3:6a0015d88d06 | 402 | float rawPeriod = TIM2->CCR1; //Clock Ticks |
benkatz | 22:60276ba87ac6 | 403 | int currentTime = TIM2->CNT; |
benkatz | 22:60276ba87ac6 | 404 | if(currentTime > 2000000){rawPeriod = currentTime;} |
benkatz | 3:6a0015d88d06 | 405 | float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1 |
benkatz | 22:60276ba87ac6 | 406 | float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod; |
benkatz | 22:60276ba87ac6 | 407 | if(isinf(meas)){ meas = 1;} |
benkatz | 11:c83b18d41e54 | 408 | out = meas; |
benkatz | 22:60276ba87ac6 | 409 | //if(meas == oldVel){ |
benkatz | 22:60276ba87ac6 | 410 | // out = .9f*out_old; |
benkatz | 22:60276ba87ac6 | 411 | // } |
benkatz | 22:60276ba87ac6 | 412 | |
benkatz | 22:60276ba87ac6 | 413 | |
benkatz | 22:60276ba87ac6 | 414 | oldVel = meas; |
benkatz | 22:60276ba87ac6 | 415 | out_old = out; |
benkatz | 22:60276ba87ac6 | 416 | int n = 16; |
benkatz | 22:60276ba87ac6 | 417 | float sum = out; |
benkatz | 22:60276ba87ac6 | 418 | for (int i = 1; i < (n); i++){ |
benkatz | 22:60276ba87ac6 | 419 | velVec[n - i] = velVec[n-i-1]; |
benkatz | 22:60276ba87ac6 | 420 | sum += velVec[n-i]; |
benkatz | 9:d7eb815cb057 | 421 | } |
benkatz | 22:60276ba87ac6 | 422 | velVec[0] = out; |
benkatz | 22:60276ba87ac6 | 423 | return sum/(float)n; |
benkatz | 3:6a0015d88d06 | 424 | } |
benkatz | 13:a3fa0a31b114 | 425 | |
benkatz | 13:a3fa0a31b114 | 426 | float PositionSensorEncoder::GetElecVelocity(){ |
benkatz | 13:a3fa0a31b114 | 427 | return _ppairs*GetMechVelocity(); |
benkatz | 13:a3fa0a31b114 | 428 | } |
benkatz | 13:a3fa0a31b114 | 429 | |
benkatz | 0:4e1c4df6aabd | 430 | void PositionSensorEncoder::ZeroEncoderCount(void){ |
benkatz | 7:dc5f27756e02 | 431 | if (ZSense->read() == 1 & flag == 0){ |
benkatz | 0:4e1c4df6aabd | 432 | if (ZSense->read() == 1){ |
benkatz | 8:10ae7bc88d6e | 433 | GPIOC->ODR ^= (1 << 4); |
benkatz | 7:dc5f27756e02 | 434 | TIM3->CNT = 0x000; |
benkatz | 1:b8bceb4daed5 | 435 | //state = !state; |
benkatz | 1:b8bceb4daed5 | 436 | //ZTest->write(state); |
benkatz | 7:dc5f27756e02 | 437 | GPIOC->ODR ^= (1 << 4); |
benkatz | 7:dc5f27756e02 | 438 | //flag = 1; |
benkatz | 7:dc5f27756e02 | 439 | } |
benkatz | 7:dc5f27756e02 | 440 | } |
benkatz | 7:dc5f27756e02 | 441 | } |
benkatz | 22:60276ba87ac6 | 442 | |
benkatz | 22:60276ba87ac6 | 443 | void PositionSensorEncoder::ZeroPosition(void){ |
benkatz | 22:60276ba87ac6 | 444 | |
benkatz | 22:60276ba87ac6 | 445 | } |
benkatz | 7:dc5f27756e02 | 446 | |
benkatz | 7:dc5f27756e02 | 447 | void PositionSensorEncoder::ZeroEncoderCountDown(void){ |
benkatz | 7:dc5f27756e02 | 448 | if (ZSense->read() == 0){ |
benkatz | 7:dc5f27756e02 | 449 | if (ZSense->read() == 0){ |
benkatz | 7:dc5f27756e02 | 450 | GPIOC->ODR ^= (1 << 4); |
benkatz | 7:dc5f27756e02 | 451 | flag = 0; |
benkatz | 7:dc5f27756e02 | 452 | float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; |
benkatz | 7:dc5f27756e02 | 453 | if(dir != dir){ |
benkatz | 7:dc5f27756e02 | 454 | dir = dir; |
benkatz | 7:dc5f27756e02 | 455 | rotations += dir; |
benkatz | 7:dc5f27756e02 | 456 | } |
benkatz | 7:dc5f27756e02 | 457 | |
benkatz | 7:dc5f27756e02 | 458 | GPIOC->ODR ^= (1 << 4); |
benkatz | 7:dc5f27756e02 | 459 | |
benkatz | 0:4e1c4df6aabd | 460 | } |
benkatz | 0:4e1c4df6aabd | 461 | } |
benkatz | 22:60276ba87ac6 | 462 | } |
benkatz | 22:60276ba87ac6 | 463 | void PositionSensorEncoder::SetElecOffset(float offset){ |
benkatz | 22:60276ba87ac6 | 464 | |
benkatz | 22:60276ba87ac6 | 465 | } |
benkatz | 22:60276ba87ac6 | 466 | |
benkatz | 22:60276ba87ac6 | 467 | int PositionSensorEncoder::GetRawPosition(void){ |
benkatz | 22:60276ba87ac6 | 468 | return 0; |
benkatz | 22:60276ba87ac6 | 469 | } |
benkatz | 22:60276ba87ac6 | 470 | |
benkatz | 22:60276ba87ac6 | 471 | int PositionSensorEncoder::GetCPR(){ |
benkatz | 22:60276ba87ac6 | 472 | return _CPR; |
benkatz | 22:60276ba87ac6 | 473 | } |
benkatz | 22:60276ba87ac6 | 474 | |
benkatz | 22:60276ba87ac6 | 475 | |
benkatz | 22:60276ba87ac6 | 476 | void PositionSensorEncoder::WriteLUT(int new_lut[128]){ |
benkatz | 22:60276ba87ac6 | 477 | memcpy(offset_lut, new_lut, sizeof(offset_lut)); |
benkatz | 22:60276ba87ac6 | 478 | } |