Aditya Mehrotra / motor_driver

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

PositionSensor/PositionSensor.cpp@76:4fd876d4cf2b, 19 months ago (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?

UserRevisionLine numberNew 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 }