Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.cpp@3:6a0015d88d06, 2016-03-09 (annotated)

Committer:
benkatz
Date:
Wed Mar 09 04:00:48 2016 +0000
Revision:
3:6a0015d88d06
Parent:
1:b8bceb4daed5
Child:
5:51c6560bf624
more motter;

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 0:4e1c4df6aabd 4 #include <math.h>
benkatz 0:4e1c4df6aabd 5
benkatz 0:4e1c4df6aabd 6
benkatz 0:4e1c4df6aabd 7 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset) {
benkatz 0:4e1c4df6aabd 8 _CPR = CPR;
benkatz 0:4e1c4df6aabd 9 _offset = offset;
benkatz 3:6a0015d88d06 10 MechPosition = 0;
benkatz 0:4e1c4df6aabd 11
benkatz 0:4e1c4df6aabd 12 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 13 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 14
benkatz 0:4e1c4df6aabd 15 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 16 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 17 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 0:4e1c4df6aabd 18 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 19 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 20 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 21
benkatz 0:4e1c4df6aabd 22 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 23 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 24 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 25
benkatz 0:4e1c4df6aabd 26 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 0:4e1c4df6aabd 27 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 1:b8bceb4daed5 28 TIM3->CCMR1 = 0xf1f1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 0:4e1c4df6aabd 29 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 0:4e1c4df6aabd 30 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 0:4e1c4df6aabd 31 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 0:4e1c4df6aabd 32 TIM3->ARR = 0xffffffff; // reload at 0xfffffff < TIM auto-reload register
benkatz 0:4e1c4df6aabd 33
benkatz 0:4e1c4df6aabd 34 TIM3->CNT = 0x8000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 35
benkatz 3:6a0015d88d06 36 // Extra Timer for velocity measurement
benkatz 3:6a0015d88d06 37 /*
benkatz 3:6a0015d88d06 38 __TIM2_CLK_ENABLE();
benkatz 3:6a0015d88d06 39 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 40
benkatz 3:6a0015d88d06 41 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 42 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 43 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 3:6a0015d88d06 44 TIM2->CCMR1 = 0x3;// CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 45
benkatz 3:6a0015d88d06 46 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 47 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 48 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 49 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 50
benkatz 3:6a0015d88d06 51
benkatz 3:6a0015d88d06 52 TIM2->CR1 = 0x01; //CEN
benkatz 3:6a0015d88d06 53 */
benkatz 3:6a0015d88d06 54 TIM3->CR1 = 0x01; // CEN
benkatz 3:6a0015d88d06 55
benkatz 0:4e1c4df6aabd 56 ZPulse = new InterruptIn(PB_0);
benkatz 0:4e1c4df6aabd 57 ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 58 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 59 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 0:4e1c4df6aabd 60 ZPulse->mode(PullDown);
benkatz 0:4e1c4df6aabd 61
benkatz 0:4e1c4df6aabd 62
benkatz 1:b8bceb4daed5 63 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 64 //ZTest->write(1);
benkatz 0:4e1c4df6aabd 65
benkatz 0:4e1c4df6aabd 66
benkatz 0:4e1c4df6aabd 67 }
benkatz 0:4e1c4df6aabd 68
benkatz 0:4e1c4df6aabd 69 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 0:4e1c4df6aabd 70 int raw = TIM3->CNT-0x8000;
benkatz 0:4e1c4df6aabd 71 if (raw < 0) raw += _CPR;
benkatz 0:4e1c4df6aabd 72 if (raw >= _CPR) raw -= _CPR;
benkatz 3:6a0015d88d06 73 float signed_mech = fmod(((6.28318530718f*(raw)/(float)_CPR + _offset)), 6.28318530718f); //7 pole pairs
benkatz 3:6a0015d88d06 74 if (signed_mech < 0){
benkatz 3:6a0015d88d06 75 return signed_mech + 6.28318530718f;
benkatz 3:6a0015d88d06 76 }
benkatz 3:6a0015d88d06 77 else{
benkatz 3:6a0015d88d06 78 return signed_mech;
benkatz 3:6a0015d88d06 79 }
benkatz 0:4e1c4df6aabd 80 }
benkatz 0:4e1c4df6aabd 81
benkatz 0:4e1c4df6aabd 82 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 0:4e1c4df6aabd 83 int raw = TIM3->CNT-0x8000;
benkatz 0:4e1c4df6aabd 84 if (raw < 0) raw += _CPR;
benkatz 0:4e1c4df6aabd 85 if (raw >= _CPR) raw -= _CPR;
benkatz 3:6a0015d88d06 86 float signed_elec = fmod((7.0f*(6.28318530718f*(raw)/(float)_CPR + _offset)), 6.28318530718f); //7 pole pairs
benkatz 0:4e1c4df6aabd 87 //float signed_elec = (7*(6.28318530718*(TIM3->CNT-0x8000)/(float)_CPR + _offset));
benkatz 0:4e1c4df6aabd 88 if (signed_elec < 0){
benkatz 0:4e1c4df6aabd 89 return signed_elec + 6.28318530718f;
benkatz 0:4e1c4df6aabd 90 }
benkatz 0:4e1c4df6aabd 91 else{
benkatz 0:4e1c4df6aabd 92 return signed_elec;
benkatz 0:4e1c4df6aabd 93 }
benkatz 0:4e1c4df6aabd 94 }
benkatz 0:4e1c4df6aabd 95
benkatz 3:6a0015d88d06 96 float PositionSensorEncoder::GetElecVelocity(){
benkatz 3:6a0015d88d06 97 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 3:6a0015d88d06 98 float dir = (((TIM3->CR1)>>4)&1)*2-1; // +/- 1
benkatz 3:6a0015d88d06 99 return dir*7*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 3:6a0015d88d06 100 }
benkatz 3:6a0015d88d06 101
benkatz 3:6a0015d88d06 102 float PositionSensorEncoder::GetMechVelocity(){
benkatz 3:6a0015d88d06 103 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 3:6a0015d88d06 104 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 3:6a0015d88d06 105 return dir*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 3:6a0015d88d06 106
benkatz 3:6a0015d88d06 107 }
benkatz 3:6a0015d88d06 108
benkatz 0:4e1c4df6aabd 109 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 0:4e1c4df6aabd 110 if (ZSense->read() == 1){
benkatz 0:4e1c4df6aabd 111 if (ZSense->read() == 1){
benkatz 0:4e1c4df6aabd 112 TIM3->CNT=0x8000;
benkatz 1:b8bceb4daed5 113 //state = !state;
benkatz 1:b8bceb4daed5 114 //ZTest->write(state);
benkatz 0:4e1c4df6aabd 115 }
benkatz 0:4e1c4df6aabd 116 }
benkatz 0:4e1c4df6aabd 117 }