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Dependencies:   CANnucleo FastPWM3 mbed

Fork of Hobbyking_Cheetah_Compact by Ben Katz

PositionSensor/PositionSensor.cpp@23:db1263aae417, 2017-11-02 (annotated)

Committer:
benkatz
Date:
Thu Nov 02 22:28:25 2017 +0000
Revision:
23:db1263aae417
derp;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
benkatz 23:db1263aae417 1
benkatz 23:db1263aae417 2 #include "mbed.h"
benkatz 23:db1263aae417 3 #include "PositionSensor.h"
benkatz 23:db1263aae417 4 //#include <math.h>
benkatz 23:db1263aae417 5
benkatz 23:db1263aae417 6 PositionSensorMA700::PositionSensorMA700(int CPR, float offset, int ppairs){
benkatz 23:db1263aae417 7 //_CPR = CPR;
benkatz 23:db1263aae417 8 _CPR = CPR;
benkatz 23:db1263aae417 9 _ppairs = ppairs;
benkatz 23:db1263aae417 10 _offset = offset;
benkatz 23:db1263aae417 11 rotations = 0;
benkatz 23:db1263aae417 12 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 23:db1263aae417 13 spi->format(16, 0);
benkatz 23:db1263aae417 14 cs = new DigitalOut(PA_15);
benkatz 23:db1263aae417 15 cs->write(1);
benkatz 23:db1263aae417 16 MechOffset = 0;
benkatz 23:db1263aae417 17
benkatz 23:db1263aae417 18 }
benkatz 23:db1263aae417 19
benkatz 23:db1263aae417 20 void PositionSensorMA700::Sample(){
benkatz 23:db1263aae417 21
benkatz 23:db1263aae417 22
benkatz 23:db1263aae417 23 }
benkatz 23:db1263aae417 24
benkatz 23:db1263aae417 25 int PositionSensorMA700::GetRawPosition(){
benkatz 23:db1263aae417 26 cs->write(0);
benkatz 23:db1263aae417 27 int response = spi->write(0)>>4;
benkatz 23:db1263aae417 28 cs->write(1);
benkatz 23:db1263aae417 29 return response;
benkatz 23:db1263aae417 30 }
benkatz 23:db1263aae417 31
benkatz 23:db1263aae417 32
benkatz 23:db1263aae417 33 float PositionSensorMA700::GetMechPosition(){
benkatz 23:db1263aae417 34 cs->write(0);
benkatz 23:db1263aae417 35 int response = spi->write(0)>>4;
benkatz 23:db1263aae417 36 cs->write(1);
benkatz 23:db1263aae417 37 if(response - old_counts > _CPR/4){
benkatz 23:db1263aae417 38 rotations -= 1;
benkatz 23:db1263aae417 39 }
benkatz 23:db1263aae417 40 else if (response - old_counts < -_CPR/4){
benkatz 23:db1263aae417 41 rotations += 1;
benkatz 23:db1263aae417 42 }
benkatz 23:db1263aae417 43 old_counts = response;
benkatz 23:db1263aae417 44 MechPosition = (6.28318530718f * ((float) response+(_CPR*rotations)))/ (float)_CPR;
benkatz 23:db1263aae417 45 //return MechPosition - MechOffset;
benkatz 23:db1263aae417 46 return MechPosition;
benkatz 23:db1263aae417 47 }
benkatz 23:db1263aae417 48
benkatz 23:db1263aae417 49 float PositionSensorMA700::GetElecPosition(){
benkatz 23:db1263aae417 50 cs->write(0);
benkatz 23:db1263aae417 51 int response = spi->write(0)>>4;
benkatz 23:db1263aae417 52 cs->write(1);
benkatz 23:db1263aae417 53 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*response)%_CPR)) - _offset;
benkatz 23:db1263aae417 54 if(elec < 0) elec += 6.28318530718f;
benkatz 23:db1263aae417 55 return elec;
benkatz 23:db1263aae417 56 }
benkatz 23:db1263aae417 57
benkatz 23:db1263aae417 58 float PositionSensorMA700::GetMechVelocity(){
benkatz 23:db1263aae417 59 return 0;
benkatz 23:db1263aae417 60 }
benkatz 23:db1263aae417 61
benkatz 23:db1263aae417 62 void PositionSensorMA700::ZeroPosition(){
benkatz 23:db1263aae417 63 rotations = 0;
benkatz 23:db1263aae417 64 MechOffset = GetMechPosition();
benkatz 23:db1263aae417 65 }
benkatz 23:db1263aae417 66
benkatz 23:db1263aae417 67 PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){
benkatz 23:db1263aae417 68 //_CPR = CPR;
benkatz 23:db1263aae417 69 _CPR = CPR;
benkatz 23:db1263aae417 70 _ppairs = ppairs;
benkatz 23:db1263aae417 71 ElecOffset = offset;
benkatz 23:db1263aae417 72 rotations = 0;
benkatz 23:db1263aae417 73 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 23:db1263aae417 74 spi->format(16, 1);
benkatz 23:db1263aae417 75 spi->frequency(5000000);
benkatz 23:db1263aae417 76 cs = new DigitalOut(PA_15);
benkatz 23:db1263aae417 77 cs->write(1);
benkatz 23:db1263aae417 78 readAngleCmd = 0xffff;
benkatz 23:db1263aae417 79 MechOffset = 0;
benkatz 23:db1263aae417 80 modPosition = 0;
benkatz 23:db1263aae417 81 oldModPosition = 0;
benkatz 23:db1263aae417 82 oldVel = 0;
benkatz 23:db1263aae417 83 }
benkatz 23:db1263aae417 84
benkatz 23:db1263aae417 85 void PositionSensorAM5147::Sample(){
benkatz 23:db1263aae417 86 cs->write(0);
benkatz 23:db1263aae417 87 int angle = spi->write(readAngleCmd);
benkatz 23:db1263aae417 88 angle &= 0x3FFF; //Extract last 14 bits
benkatz 23:db1263aae417 89 cs->write(1);
benkatz 23:db1263aae417 90 raw = angle;
benkatz 23:db1263aae417 91 if(angle - old_counts > _CPR/4){
benkatz 23:db1263aae417 92 rotations -= 1;
benkatz 23:db1263aae417 93 }
benkatz 23:db1263aae417 94 else if (angle - old_counts < -_CPR/4){
benkatz 23:db1263aae417 95 rotations += 1;
benkatz 23:db1263aae417 96 }
benkatz 23:db1263aae417 97
benkatz 23:db1263aae417 98 old_counts = angle;
benkatz 23:db1263aae417 99 oldModPosition = modPosition;
benkatz 23:db1263aae417 100 modPosition = ((6.28318530718f * ((float) angle))/ (float)_CPR);
benkatz 23:db1263aae417 101 position = (6.28318530718f * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
benkatz 23:db1263aae417 102 MechPosition = position - MechOffset;
benkatz 23:db1263aae417 103 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) - ElecOffset;
benkatz 23:db1263aae417 104 if(elec < 0) elec += 6.28318530718f;
benkatz 23:db1263aae417 105 ElecPosition = elec;
benkatz 23:db1263aae417 106
benkatz 23:db1263aae417 107 float vel;
benkatz 23:db1263aae417 108 if(modPosition<.1f && oldModPosition>6.1f){
benkatz 23:db1263aae417 109 vel = (modPosition - oldModPosition + 6.28318530718f)*40000.0f;
benkatz 23:db1263aae417 110 }
benkatz 23:db1263aae417 111 else if(modPosition>6.1f && oldModPosition<0.1f){
benkatz 23:db1263aae417 112 vel = (modPosition - oldModPosition - 6.28318530718f)*40000.0f;
benkatz 23:db1263aae417 113 }
benkatz 23:db1263aae417 114 else{
benkatz 23:db1263aae417 115 vel = (modPosition-oldModPosition)*40000.0f;
benkatz 23:db1263aae417 116 }
benkatz 23:db1263aae417 117
benkatz 23:db1263aae417 118 int n = 16;
benkatz 23:db1263aae417 119 float sum = vel;
benkatz 23:db1263aae417 120 for (int i = 1; i < (n); i++){
benkatz 23:db1263aae417 121 velVec[n - i] = velVec[n-i-1];
benkatz 23:db1263aae417 122 sum += velVec[n-i];
benkatz 23:db1263aae417 123 }
benkatz 23:db1263aae417 124 velVec[0] = vel;
benkatz 23:db1263aae417 125 MechVelocity = sum/(float)n;
benkatz 23:db1263aae417 126 ElecVelocity = MechVelocity*_ppairs;
benkatz 23:db1263aae417 127 }
benkatz 23:db1263aae417 128
benkatz 23:db1263aae417 129 int PositionSensorAM5147::GetRawPosition(){
benkatz 23:db1263aae417 130 return raw;
benkatz 23:db1263aae417 131 }
benkatz 23:db1263aae417 132
benkatz 23:db1263aae417 133 float PositionSensorAM5147::GetMechPosition(){
benkatz 23:db1263aae417 134 return MechPosition;
benkatz 23:db1263aae417 135 }
benkatz 23:db1263aae417 136
benkatz 23:db1263aae417 137 float PositionSensorAM5147::GetElecPosition(){
benkatz 23:db1263aae417 138 return ElecPosition;
benkatz 23:db1263aae417 139 }
benkatz 23:db1263aae417 140
benkatz 23:db1263aae417 141 float PositionSensorAM5147::GetMechVelocity(){
benkatz 23:db1263aae417 142 return MechVelocity;
benkatz 23:db1263aae417 143 }
benkatz 23:db1263aae417 144
benkatz 23:db1263aae417 145 void PositionSensorAM5147::ZeroPosition(){
benkatz 23:db1263aae417 146 rotations = 0;
benkatz 23:db1263aae417 147 MechOffset = GetMechPosition();
benkatz 23:db1263aae417 148 }
benkatz 23:db1263aae417 149
benkatz 23:db1263aae417 150
benkatz 23:db1263aae417 151 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
benkatz 23:db1263aae417 152 _ppairs = ppairs;
benkatz 23:db1263aae417 153 _CPR = CPR;
benkatz 23:db1263aae417 154 _offset = offset;
benkatz 23:db1263aae417 155 MechPosition = 0;
benkatz 23:db1263aae417 156 out_old = 0;
benkatz 23:db1263aae417 157 oldVel = 0;
benkatz 23:db1263aae417 158
benkatz 23:db1263aae417 159
benkatz 23:db1263aae417 160 // Enable clock for GPIOA
benkatz 23:db1263aae417 161 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 23:db1263aae417 162
benkatz 23:db1263aae417 163 GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */
benkatz 23:db1263aae417 164 GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */
benkatz 23:db1263aae417 165 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 23:db1263aae417 166 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */
benkatz 23:db1263aae417 167 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 23:db1263aae417 168 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 23:db1263aae417 169
benkatz 23:db1263aae417 170 // configure TIM3 as Encoder input
benkatz 23:db1263aae417 171 // Enable clock for TIM3
benkatz 23:db1263aae417 172 __TIM3_CLK_ENABLE();
benkatz 23:db1263aae417 173
benkatz 23:db1263aae417 174 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 23:db1263aae417 175 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 23:db1263aae417 176 TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 23:db1263aae417 177 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 23:db1263aae417 178 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 23:db1263aae417 179 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 23:db1263aae417 180 TIM3->ARR = CPR-1; // reload at 0xfffffff < TIM auto-reload register
benkatz 23:db1263aae417 181
benkatz 23:db1263aae417 182 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 23:db1263aae417 183
benkatz 23:db1263aae417 184 // Extra Timer for velocity measurement
benkatz 23:db1263aae417 185
benkatz 23:db1263aae417 186 __TIM2_CLK_ENABLE();
benkatz 23:db1263aae417 187 TIM3->CR2 = 0x030; //MMS = 101
benkatz 23:db1263aae417 188
benkatz 23:db1263aae417 189 TIM2->PSC = 0x03;
benkatz 23:db1263aae417 190 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 23:db1263aae417 191 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 23:db1263aae417 192 TIM2->CCMR1 = 0x3;// CC1S = 11, IC1 mapped on TRC
benkatz 23:db1263aae417 193
benkatz 23:db1263aae417 194 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 23:db1263aae417 195 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 23:db1263aae417 196 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 23:db1263aae417 197 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 23:db1263aae417 198
benkatz 23:db1263aae417 199
benkatz 23:db1263aae417 200 TIM2->CR1 = 0x01; //CEN
benkatz 23:db1263aae417 201
benkatz 23:db1263aae417 202 TIM3->CR1 = 0x01; // CEN
benkatz 23:db1263aae417 203 ZPulse = new InterruptIn(PC_4);
benkatz 23:db1263aae417 204 ZSense = new DigitalIn(PC_4);
benkatz 23:db1263aae417 205 //ZPulse = new InterruptIn(PB_0);
benkatz 23:db1263aae417 206 //ZSense = new DigitalIn(PB_0);
benkatz 23:db1263aae417 207 ZPulse->enable_irq();
benkatz 23:db1263aae417 208 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 23:db1263aae417 209 //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 23:db1263aae417 210 ZPulse->mode(PullDown);
benkatz 23:db1263aae417 211 flag = 0;
benkatz 23:db1263aae417 212
benkatz 23:db1263aae417 213
benkatz 23:db1263aae417 214 //ZTest = new DigitalOut(PC_2);
benkatz 23:db1263aae417 215 //ZTest->write(1);
benkatz 23:db1263aae417 216 }
benkatz 23:db1263aae417 217
benkatz 23:db1263aae417 218 void PositionSensorEncoder::Sample(){
benkatz 23:db1263aae417 219
benkatz 23:db1263aae417 220 }
benkatz 23:db1263aae417 221
benkatz 23:db1263aae417 222
benkatz 23:db1263aae417 223 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 23:db1263aae417 224 int raw = TIM3->CNT;
benkatz 23:db1263aae417 225 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 23:db1263aae417 226 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 23:db1263aae417 227 }
benkatz 23:db1263aae417 228
benkatz 23:db1263aae417 229 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 23:db1263aae417 230 int raw = TIM3->CNT;
benkatz 23:db1263aae417 231 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
benkatz 23:db1263aae417 232 if(elec < 0) elec += 6.28318530718f;
benkatz 23:db1263aae417 233 return elec;
benkatz 23:db1263aae417 234 }
benkatz 23:db1263aae417 235
benkatz 23:db1263aae417 236
benkatz 23:db1263aae417 237
benkatz 23:db1263aae417 238 float PositionSensorEncoder::GetMechVelocity(){
benkatz 23:db1263aae417 239
benkatz 23:db1263aae417 240 float out = 0;
benkatz 23:db1263aae417 241 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 23:db1263aae417 242 int currentTime = TIM2->CNT;
benkatz 23:db1263aae417 243 if(currentTime > 2000000){rawPeriod = currentTime;}
benkatz 23:db1263aae417 244 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 23:db1263aae417 245 float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 23:db1263aae417 246 if(isinf(meas)){ meas = 1;}
benkatz 23:db1263aae417 247 out = meas;
benkatz 23:db1263aae417 248 //if(meas == oldVel){
benkatz 23:db1263aae417 249 // out = .9f*out_old;
benkatz 23:db1263aae417 250 // }
benkatz 23:db1263aae417 251
benkatz 23:db1263aae417 252
benkatz 23:db1263aae417 253 oldVel = meas;
benkatz 23:db1263aae417 254 out_old = out;
benkatz 23:db1263aae417 255 int n = 16;
benkatz 23:db1263aae417 256 float sum = out;
benkatz 23:db1263aae417 257 for (int i = 1; i < (n); i++){
benkatz 23:db1263aae417 258 velVec[n - i] = velVec[n-i-1];
benkatz 23:db1263aae417 259 sum += velVec[n-i];
benkatz 23:db1263aae417 260 }
benkatz 23:db1263aae417 261 velVec[0] = out;
benkatz 23:db1263aae417 262 return sum/(float)n;
benkatz 23:db1263aae417 263 }
benkatz 23:db1263aae417 264
benkatz 23:db1263aae417 265 float PositionSensorEncoder::GetElecVelocity(){
benkatz 23:db1263aae417 266 return _ppairs*GetMechVelocity();
benkatz 23:db1263aae417 267 }
benkatz 23:db1263aae417 268
benkatz 23:db1263aae417 269 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 23:db1263aae417 270 if (ZSense->read() == 1 & flag == 0){
benkatz 23:db1263aae417 271 if (ZSense->read() == 1){
benkatz 23:db1263aae417 272 GPIOC->ODR ^= (1 << 4);
benkatz 23:db1263aae417 273 TIM3->CNT = 0x000;
benkatz 23:db1263aae417 274 //state = !state;
benkatz 23:db1263aae417 275 //ZTest->write(state);
benkatz 23:db1263aae417 276 GPIOC->ODR ^= (1 << 4);
benkatz 23:db1263aae417 277 //flag = 1;
benkatz 23:db1263aae417 278 }
benkatz 23:db1263aae417 279 }
benkatz 23:db1263aae417 280 }
benkatz 23:db1263aae417 281
benkatz 23:db1263aae417 282 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 23:db1263aae417 283 if (ZSense->read() == 0){
benkatz 23:db1263aae417 284 if (ZSense->read() == 0){
benkatz 23:db1263aae417 285 GPIOC->ODR ^= (1 << 4);
benkatz 23:db1263aae417 286 flag = 0;
benkatz 23:db1263aae417 287 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 23:db1263aae417 288 if(dir != dir){
benkatz 23:db1263aae417 289 dir = dir;
benkatz 23:db1263aae417 290 rotations += dir;
benkatz 23:db1263aae417 291 }
benkatz 23:db1263aae417 292
benkatz 23:db1263aae417 293 GPIOC->ODR ^= (1 << 4);
benkatz 23:db1263aae417 294
benkatz 23:db1263aae417 295 }
benkatz 23:db1263aae417 296 }
benkatz 23:db1263aae417 297 }