Austin Brown
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PositionSensor/PositionSensor.cpp@0:9edd6ec0f56a, 2017-05-20 (annotated)
- Committer:
- austinbrown124
- Date:
- Sat May 20 21:42:20 2017 +0000
- Revision:
- 0:9edd6ec0f56a
First Commit
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
austinbrown124 | 0:9edd6ec0f56a | 1 | |
austinbrown124 | 0:9edd6ec0f56a | 2 | #include "mbed.h" |
austinbrown124 | 0:9edd6ec0f56a | 3 | #include "PositionSensor.h" |
austinbrown124 | 0:9edd6ec0f56a | 4 | //#include "offset_lut.h" |
austinbrown124 | 0:9edd6ec0f56a | 5 | //#include <math.h> |
austinbrown124 | 0:9edd6ec0f56a | 6 | /* |
austinbrown124 | 0:9edd6ec0f56a | 7 | PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){ |
austinbrown124 | 0:9edd6ec0f56a | 8 | //_CPR = CPR; |
austinbrown124 | 0:9edd6ec0f56a | 9 | _CPR = CPR; |
austinbrown124 | 0:9edd6ec0f56a | 10 | _ppairs = ppairs; |
austinbrown124 | 0:9edd6ec0f56a | 11 | ElecOffset = offset; |
austinbrown124 | 0:9edd6ec0f56a | 12 | rotations = 0; |
austinbrown124 | 0:9edd6ec0f56a | 13 | spi = new SPI(PC_12, PC_11, PC_10); |
austinbrown124 | 0:9edd6ec0f56a | 14 | spi->format(16, 1); |
austinbrown124 | 0:9edd6ec0f56a | 15 | spi->frequency(5000000); |
austinbrown124 | 0:9edd6ec0f56a | 16 | cs = new DigitalOut(PA_15); |
austinbrown124 | 0:9edd6ec0f56a | 17 | cs->write(1); |
austinbrown124 | 0:9edd6ec0f56a | 18 | readAngleCmd = 0xffff; |
austinbrown124 | 0:9edd6ec0f56a | 19 | MechOffset = 0; |
austinbrown124 | 0:9edd6ec0f56a | 20 | modPosition = 0; |
austinbrown124 | 0:9edd6ec0f56a | 21 | oldModPosition = 0; |
austinbrown124 | 0:9edd6ec0f56a | 22 | oldVel = 0; |
austinbrown124 | 0:9edd6ec0f56a | 23 | raw = 0; |
austinbrown124 | 0:9edd6ec0f56a | 24 | } |
austinbrown124 | 0:9edd6ec0f56a | 25 | |
austinbrown124 | 0:9edd6ec0f56a | 26 | void PositionSensorAM5147::Sample(){ |
austinbrown124 | 0:9edd6ec0f56a | 27 | cs->write(0); |
austinbrown124 | 0:9edd6ec0f56a | 28 | raw = spi->write(readAngleCmd); |
austinbrown124 | 0:9edd6ec0f56a | 29 | raw &= 0x3FFF; //Extract last 14 bits |
austinbrown124 | 0:9edd6ec0f56a | 30 | cs->write(1); |
austinbrown124 | 0:9edd6ec0f56a | 31 | int angle = raw + offset_lut[raw>>7]; |
austinbrown124 | 0:9edd6ec0f56a | 32 | if(angle - old_counts > _CPR/2){ |
austinbrown124 | 0:9edd6ec0f56a | 33 | rotations -= 1; |
austinbrown124 | 0:9edd6ec0f56a | 34 | } |
austinbrown124 | 0:9edd6ec0f56a | 35 | else if (angle - old_counts < -_CPR/2){ |
austinbrown124 | 0:9edd6ec0f56a | 36 | rotations += 1; |
austinbrown124 | 0:9edd6ec0f56a | 37 | } |
austinbrown124 | 0:9edd6ec0f56a | 38 | |
austinbrown124 | 0:9edd6ec0f56a | 39 | old_counts = angle; |
austinbrown124 | 0:9edd6ec0f56a | 40 | oldModPosition = modPosition; |
austinbrown124 | 0:9edd6ec0f56a | 41 | modPosition = ((6.28318530718f * ((float) angle))/ (float)_CPR); |
austinbrown124 | 0:9edd6ec0f56a | 42 | position = (6.28318530718f * ((float) angle+(_CPR*rotations)))/ (float)_CPR; |
austinbrown124 | 0:9edd6ec0f56a | 43 | MechPosition = position - MechOffset; |
austinbrown124 | 0:9edd6ec0f56a | 44 | float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) - ElecOffset; |
austinbrown124 | 0:9edd6ec0f56a | 45 | if(elec < 0) elec += 6.28318530718f; |
austinbrown124 | 0:9edd6ec0f56a | 46 | else if(elec > 6.28318530718f) elec -= 6.28318530718f ; |
austinbrown124 | 0:9edd6ec0f56a | 47 | ElecPosition = elec; |
austinbrown124 | 0:9edd6ec0f56a | 48 | |
austinbrown124 | 0:9edd6ec0f56a | 49 | float vel; |
austinbrown124 | 0:9edd6ec0f56a | 50 | if(modPosition<.1f && oldModPosition>6.1f){ |
austinbrown124 | 0:9edd6ec0f56a | 51 | vel = (modPosition - oldModPosition + 6.28318530718f)*40000.0f; |
austinbrown124 | 0:9edd6ec0f56a | 52 | } |
austinbrown124 | 0:9edd6ec0f56a | 53 | else if(modPosition>6.1f && oldModPosition<0.1f){ |
austinbrown124 | 0:9edd6ec0f56a | 54 | vel = (modPosition - oldModPosition - 6.28318530718f)*40000.0f; |
austinbrown124 | 0:9edd6ec0f56a | 55 | } |
austinbrown124 | 0:9edd6ec0f56a | 56 | else{ |
austinbrown124 | 0:9edd6ec0f56a | 57 | vel = (modPosition-oldModPosition)*40000.0f; |
austinbrown124 | 0:9edd6ec0f56a | 58 | } |
austinbrown124 | 0:9edd6ec0f56a | 59 | |
austinbrown124 | 0:9edd6ec0f56a | 60 | int n = 16; |
austinbrown124 | 0:9edd6ec0f56a | 61 | float sum = vel; |
austinbrown124 | 0:9edd6ec0f56a | 62 | for (int i = 1; i < (n); i++){ |
austinbrown124 | 0:9edd6ec0f56a | 63 | velVec[n - i] = velVec[n-i-1]; |
austinbrown124 | 0:9edd6ec0f56a | 64 | sum += velVec[n-i]; |
austinbrown124 | 0:9edd6ec0f56a | 65 | } |
austinbrown124 | 0:9edd6ec0f56a | 66 | velVec[0] = vel; |
austinbrown124 | 0:9edd6ec0f56a | 67 | MechVelocity = sum/(float)n; |
austinbrown124 | 0:9edd6ec0f56a | 68 | ElecVelocity = MechVelocity*_ppairs; |
austinbrown124 | 0:9edd6ec0f56a | 69 | } |
austinbrown124 | 0:9edd6ec0f56a | 70 | |
austinbrown124 | 0:9edd6ec0f56a | 71 | int PositionSensorAM5147::GetRawPosition(){ |
austinbrown124 | 0:9edd6ec0f56a | 72 | return raw; |
austinbrown124 | 0:9edd6ec0f56a | 73 | } |
austinbrown124 | 0:9edd6ec0f56a | 74 | |
austinbrown124 | 0:9edd6ec0f56a | 75 | float PositionSensorAM5147::GetMechPosition(){ |
austinbrown124 | 0:9edd6ec0f56a | 76 | return MechPosition; |
austinbrown124 | 0:9edd6ec0f56a | 77 | } |
austinbrown124 | 0:9edd6ec0f56a | 78 | |
austinbrown124 | 0:9edd6ec0f56a | 79 | float PositionSensorAM5147::GetElecPosition(){ |
austinbrown124 | 0:9edd6ec0f56a | 80 | return ElecPosition; |
austinbrown124 | 0:9edd6ec0f56a | 81 | } |
austinbrown124 | 0:9edd6ec0f56a | 82 | |
austinbrown124 | 0:9edd6ec0f56a | 83 | float PositionSensorAM5147::GetMechVelocity(){ |
austinbrown124 | 0:9edd6ec0f56a | 84 | return MechVelocity; |
austinbrown124 | 0:9edd6ec0f56a | 85 | } |
austinbrown124 | 0:9edd6ec0f56a | 86 | |
austinbrown124 | 0:9edd6ec0f56a | 87 | void PositionSensorAM5147::ZeroPosition(){ |
austinbrown124 | 0:9edd6ec0f56a | 88 | rotations = 0; |
austinbrown124 | 0:9edd6ec0f56a | 89 | MechOffset = GetMechPosition(); |
austinbrown124 | 0:9edd6ec0f56a | 90 | } |
austinbrown124 | 0:9edd6ec0f56a | 91 | |
austinbrown124 | 0:9edd6ec0f56a | 92 | void PositionSensorAM5147::SetElecOffset(float offset){ |
austinbrown124 | 0:9edd6ec0f56a | 93 | ElecOffset = offset; |
austinbrown124 | 0:9edd6ec0f56a | 94 | } |
austinbrown124 | 0:9edd6ec0f56a | 95 | |
austinbrown124 | 0:9edd6ec0f56a | 96 | int PositionSensorAM5147::GetCPR(){ |
austinbrown124 | 0:9edd6ec0f56a | 97 | return _CPR; |
austinbrown124 | 0:9edd6ec0f56a | 98 | } |
austinbrown124 | 0:9edd6ec0f56a | 99 | |
austinbrown124 | 0:9edd6ec0f56a | 100 | |
austinbrown124 | 0:9edd6ec0f56a | 101 | void PositionSensorAM5147::WriteLUT(int new_lut[128]){ |
austinbrown124 | 0:9edd6ec0f56a | 102 | memcpy(offset_lut, new_lut, sizeof(offset_lut)); |
austinbrown124 | 0:9edd6ec0f56a | 103 | } |
austinbrown124 | 0:9edd6ec0f56a | 104 | |
austinbrown124 | 0:9edd6ec0f56a | 105 | */ |
austinbrown124 | 0:9edd6ec0f56a | 106 | PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) { |
austinbrown124 | 0:9edd6ec0f56a | 107 | _ppairs = ppairs; |
austinbrown124 | 0:9edd6ec0f56a | 108 | _CPR = CPR; |
austinbrown124 | 0:9edd6ec0f56a | 109 | _offset = offset; |
austinbrown124 | 0:9edd6ec0f56a | 110 | MechPosition = 0; |
austinbrown124 | 0:9edd6ec0f56a | 111 | out_old = 0; |
austinbrown124 | 0:9edd6ec0f56a | 112 | oldVel = 0; |
austinbrown124 | 0:9edd6ec0f56a | 113 | raw = 0; |
austinbrown124 | 0:9edd6ec0f56a | 114 | |
austinbrown124 | 0:9edd6ec0f56a | 115 | // Enable clock for GPIOA |
austinbrown124 | 0:9edd6ec0f56a | 116 | __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h |
austinbrown124 | 0:9edd6ec0f56a | 117 | |
austinbrown124 | 0:9edd6ec0f56a | 118 | GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ |
austinbrown124 | 0:9edd6ec0f56a | 119 | GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ |
austinbrown124 | 0:9edd6ec0f56a | 120 | GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ |
austinbrown124 | 0:9edd6ec0f56a | 121 | GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ |
austinbrown124 | 0:9edd6ec0f56a | 122 | GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
austinbrown124 | 0:9edd6ec0f56a | 123 | GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
austinbrown124 | 0:9edd6ec0f56a | 124 | |
austinbrown124 | 0:9edd6ec0f56a | 125 | // configure TIM3 as Encoder input |
austinbrown124 | 0:9edd6ec0f56a | 126 | // Enable clock for TIM3 |
austinbrown124 | 0:9edd6ec0f56a | 127 | __TIM3_CLK_ENABLE(); |
austinbrown124 | 0:9edd6ec0f56a | 128 | |
austinbrown124 | 0:9edd6ec0f56a | 129 | TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 |
austinbrown124 | 0:9edd6ec0f56a | 130 | TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register |
austinbrown124 | 0:9edd6ec0f56a | 131 | TIM3->CCMR1 = 0x0101; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering |
austinbrown124 | 0:9edd6ec0f56a | 132 | TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 |
austinbrown124 | 0:9edd6ec0f56a | 133 | TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register |
austinbrown124 | 0:9edd6ec0f56a | 134 | TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler |
austinbrown124 | 0:9edd6ec0f56a | 135 | TIM3->ARR = CPR; // IM auto-reload register |
austinbrown124 | 0:9edd6ec0f56a | 136 | |
austinbrown124 | 0:9edd6ec0f56a | 137 | TIM3->CNT = 0x000; //reset the counter before we use it |
austinbrown124 | 0:9edd6ec0f56a | 138 | |
austinbrown124 | 0:9edd6ec0f56a | 139 | // Extra Timer for velocity measurement |
austinbrown124 | 0:9edd6ec0f56a | 140 | |
austinbrown124 | 0:9edd6ec0f56a | 141 | __TIM2_CLK_ENABLE(); |
austinbrown124 | 0:9edd6ec0f56a | 142 | TIM3->CR2 = 0x030; //MMS = 101 |
austinbrown124 | 0:9edd6ec0f56a | 143 | |
austinbrown124 | 0:9edd6ec0f56a | 144 | TIM2->PSC = 0x03; |
austinbrown124 | 0:9edd6ec0f56a | 145 | //TIM2->CR2 |= TIM_CR2_TI1S; |
austinbrown124 | 0:9edd6ec0f56a | 146 | TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge) |
austinbrown124 | 0:9edd6ec0f56a | 147 | TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC |
austinbrown124 | 0:9edd6ec0f56a | 148 | |
austinbrown124 | 0:9edd6ec0f56a | 149 | //TIM2->CR2 |= TIM_CR2_TI1S; |
austinbrown124 | 0:9edd6ec0f56a | 150 | TIM2->CCER |= TIM_CCER_CC1P; |
austinbrown124 | 0:9edd6ec0f56a | 151 | //TIM2->CCER |= TIM_CCER_CC1NP; |
austinbrown124 | 0:9edd6ec0f56a | 152 | TIM2->CCER |= TIM_CCER_CC1E; |
austinbrown124 | 0:9edd6ec0f56a | 153 | |
austinbrown124 | 0:9edd6ec0f56a | 154 | |
austinbrown124 | 0:9edd6ec0f56a | 155 | TIM2->CR1 = 0x01; //CEN, enable timer |
austinbrown124 | 0:9edd6ec0f56a | 156 | |
austinbrown124 | 0:9edd6ec0f56a | 157 | TIM3->CR1 = 0x01; // CEN |
austinbrown124 | 0:9edd6ec0f56a | 158 | ZPulse = new InterruptIn(PA_5); |
austinbrown124 | 0:9edd6ec0f56a | 159 | ZSense = new DigitalIn(PA_5); |
austinbrown124 | 0:9edd6ec0f56a | 160 | //ZPulse = new InterruptIn(PB_0); |
austinbrown124 | 0:9edd6ec0f56a | 161 | //ZSense = new DigitalIn(PB_0); |
austinbrown124 | 0:9edd6ec0f56a | 162 | ZPulse->enable_irq(); |
austinbrown124 | 0:9edd6ec0f56a | 163 | ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount); |
austinbrown124 | 0:9edd6ec0f56a | 164 | //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown); |
austinbrown124 | 0:9edd6ec0f56a | 165 | ZPulse->mode(PullDown); |
austinbrown124 | 0:9edd6ec0f56a | 166 | flag = 0; |
austinbrown124 | 0:9edd6ec0f56a | 167 | |
austinbrown124 | 0:9edd6ec0f56a | 168 | |
austinbrown124 | 0:9edd6ec0f56a | 169 | //ZTest = new DigitalOut(PC_2); |
austinbrown124 | 0:9edd6ec0f56a | 170 | //ZTest->write(1); |
austinbrown124 | 0:9edd6ec0f56a | 171 | } |
austinbrown124 | 0:9edd6ec0f56a | 172 | |
austinbrown124 | 0:9edd6ec0f56a | 173 | void PositionSensorEncoder::Sample(){ |
austinbrown124 | 0:9edd6ec0f56a | 174 | |
austinbrown124 | 0:9edd6ec0f56a | 175 | } |
austinbrown124 | 0:9edd6ec0f56a | 176 | |
austinbrown124 | 0:9edd6ec0f56a | 177 | |
austinbrown124 | 0:9edd6ec0f56a | 178 | float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians. |
austinbrown124 | 0:9edd6ec0f56a | 179 | int raw = TIM3->CNT; |
austinbrown124 | 0:9edd6ec0f56a | 180 | float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR); |
austinbrown124 | 0:9edd6ec0f56a | 181 | return (float) unsigned_mech;// + 6.28318530718f* (float) rotations; |
austinbrown124 | 0:9edd6ec0f56a | 182 | } |
austinbrown124 | 0:9edd6ec0f56a | 183 | |
austinbrown124 | 0:9edd6ec0f56a | 184 | float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians. |
austinbrown124 | 0:9edd6ec0f56a | 185 | int raw = TIM3->CNT; |
austinbrown124 | 0:9edd6ec0f56a | 186 | float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset; |
austinbrown124 | 0:9edd6ec0f56a | 187 | if(elec < 0) elec += 6.28318530718f; |
austinbrown124 | 0:9edd6ec0f56a | 188 | return elec; |
austinbrown124 | 0:9edd6ec0f56a | 189 | } |
austinbrown124 | 0:9edd6ec0f56a | 190 | |
austinbrown124 | 0:9edd6ec0f56a | 191 | |
austinbrown124 | 0:9edd6ec0f56a | 192 | |
austinbrown124 | 0:9edd6ec0f56a | 193 | float PositionSensorEncoder::GetMechVelocity(){ |
austinbrown124 | 0:9edd6ec0f56a | 194 | |
austinbrown124 | 0:9edd6ec0f56a | 195 | float out = 0; |
austinbrown124 | 0:9edd6ec0f56a | 196 | float rawPeriod = TIM2->CCR1; //Clock Ticks |
austinbrown124 | 0:9edd6ec0f56a | 197 | int currentTime = TIM2->CNT; |
austinbrown124 | 0:9edd6ec0f56a | 198 | if(currentTime > 2000000){rawPeriod = currentTime;} |
austinbrown124 | 0:9edd6ec0f56a | 199 | float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1 |
austinbrown124 | 0:9edd6ec0f56a | 200 | float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod; |
austinbrown124 | 0:9edd6ec0f56a | 201 | if(isinf(meas)){ meas = 1;} |
austinbrown124 | 0:9edd6ec0f56a | 202 | out = meas; |
austinbrown124 | 0:9edd6ec0f56a | 203 | //if(meas == oldVel){ |
austinbrown124 | 0:9edd6ec0f56a | 204 | // out = .9f*out_old; |
austinbrown124 | 0:9edd6ec0f56a | 205 | // } |
austinbrown124 | 0:9edd6ec0f56a | 206 | |
austinbrown124 | 0:9edd6ec0f56a | 207 | |
austinbrown124 | 0:9edd6ec0f56a | 208 | oldVel = meas; |
austinbrown124 | 0:9edd6ec0f56a | 209 | out_old = out; |
austinbrown124 | 0:9edd6ec0f56a | 210 | int n = 16; |
austinbrown124 | 0:9edd6ec0f56a | 211 | float sum = out; |
austinbrown124 | 0:9edd6ec0f56a | 212 | for (int i = 1; i < (n); i++){ |
austinbrown124 | 0:9edd6ec0f56a | 213 | velVec[n - i] = velVec[n-i-1]; |
austinbrown124 | 0:9edd6ec0f56a | 214 | sum += velVec[n-i]; |
austinbrown124 | 0:9edd6ec0f56a | 215 | } |
austinbrown124 | 0:9edd6ec0f56a | 216 | velVec[0] = out; |
austinbrown124 | 0:9edd6ec0f56a | 217 | return sum/(float)n; |
austinbrown124 | 0:9edd6ec0f56a | 218 | } |
austinbrown124 | 0:9edd6ec0f56a | 219 | |
austinbrown124 | 0:9edd6ec0f56a | 220 | float PositionSensorEncoder::GetElecVelocity(){ |
austinbrown124 | 0:9edd6ec0f56a | 221 | return _ppairs*GetMechVelocity(); |
austinbrown124 | 0:9edd6ec0f56a | 222 | } |
austinbrown124 | 0:9edd6ec0f56a | 223 | |
austinbrown124 | 0:9edd6ec0f56a | 224 | void PositionSensorEncoder::ZeroEncoderCount(void){ |
austinbrown124 | 0:9edd6ec0f56a | 225 | if (ZSense->read() == 1 & flag == 0){ |
austinbrown124 | 0:9edd6ec0f56a | 226 | if (ZSense->read() == 1){ |
austinbrown124 | 0:9edd6ec0f56a | 227 | GPIOC->ODR ^= (1 << 4); |
austinbrown124 | 0:9edd6ec0f56a | 228 | TIM3->CNT = 0x000; |
austinbrown124 | 0:9edd6ec0f56a | 229 | //state = !state; |
austinbrown124 | 0:9edd6ec0f56a | 230 | //ZTest->write(state); |
austinbrown124 | 0:9edd6ec0f56a | 231 | GPIOC->ODR ^= (1 << 4); |
austinbrown124 | 0:9edd6ec0f56a | 232 | //flag = 1; |
austinbrown124 | 0:9edd6ec0f56a | 233 | } |
austinbrown124 | 0:9edd6ec0f56a | 234 | } |
austinbrown124 | 0:9edd6ec0f56a | 235 | } |
austinbrown124 | 0:9edd6ec0f56a | 236 | |
austinbrown124 | 0:9edd6ec0f56a | 237 | void PositionSensorEncoder::ZeroPosition(void){ |
austinbrown124 | 0:9edd6ec0f56a | 238 | |
austinbrown124 | 0:9edd6ec0f56a | 239 | } |
austinbrown124 | 0:9edd6ec0f56a | 240 | |
austinbrown124 | 0:9edd6ec0f56a | 241 | void PositionSensorEncoder::ZeroEncoderCountDown(void){ |
austinbrown124 | 0:9edd6ec0f56a | 242 | if (ZSense->read() == 0){ |
austinbrown124 | 0:9edd6ec0f56a | 243 | if (ZSense->read() == 0){ |
austinbrown124 | 0:9edd6ec0f56a | 244 | GPIOC->ODR ^= (1 << 4); |
austinbrown124 | 0:9edd6ec0f56a | 245 | flag = 0; |
austinbrown124 | 0:9edd6ec0f56a | 246 | float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; |
austinbrown124 | 0:9edd6ec0f56a | 247 | if(dir != dir){ |
austinbrown124 | 0:9edd6ec0f56a | 248 | dir = dir; |
austinbrown124 | 0:9edd6ec0f56a | 249 | rotations += dir; |
austinbrown124 | 0:9edd6ec0f56a | 250 | } |
austinbrown124 | 0:9edd6ec0f56a | 251 | |
austinbrown124 | 0:9edd6ec0f56a | 252 | GPIOC->ODR ^= (1 << 4); |
austinbrown124 | 0:9edd6ec0f56a | 253 | |
austinbrown124 | 0:9edd6ec0f56a | 254 | } |
austinbrown124 | 0:9edd6ec0f56a | 255 | } |
austinbrown124 | 0:9edd6ec0f56a | 256 | } |
austinbrown124 | 0:9edd6ec0f56a | 257 | void PositionSensorEncoder::SetElecOffset(float offset){ |
austinbrown124 | 0:9edd6ec0f56a | 258 | |
austinbrown124 | 0:9edd6ec0f56a | 259 | } |
austinbrown124 | 0:9edd6ec0f56a | 260 | |
austinbrown124 | 0:9edd6ec0f56a | 261 | int PositionSensorEncoder::GetRawPosition(void){ |
austinbrown124 | 0:9edd6ec0f56a | 262 | return 0; |
austinbrown124 | 0:9edd6ec0f56a | 263 | } |
austinbrown124 | 0:9edd6ec0f56a | 264 | |
austinbrown124 | 0:9edd6ec0f56a | 265 | int PositionSensorEncoder::GetCPR(){ |
austinbrown124 | 0:9edd6ec0f56a | 266 | return _CPR; |
austinbrown124 | 0:9edd6ec0f56a | 267 | } |
austinbrown124 | 0:9edd6ec0f56a | 268 | |
austinbrown124 | 0:9edd6ec0f56a | 269 | |
austinbrown124 | 0:9edd6ec0f56a | 270 | void PositionSensorEncoder::WriteLUT(int new_lut[128]){ |
austinbrown124 | 0:9edd6ec0f56a | 271 | memcpy(offset_lut, new_lut, sizeof(offset_lut)); |
austinbrown124 | 0:9edd6ec0f56a | 272 | } |