Ben Katz / Mbed 2 deprecated Hobbyking_Cheetah_V1

FOC Implementation for putting multirotor motors in robots

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.cpp@14:80ce59119d93, 2016-10-31 (annotated)

Committer:
benkatz
Date:
Mon Oct 31 16:48:16 2016 +0000
Revision:
14:80ce59119d93
Parent:
13:a3fa0a31b114 
Misc. changes.  Finally fixed transforms (turns out B and C current measurements were accidentally swapped)

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 6:4ee1cdc43aa8 4 //#include <math.h>
benkatz 0:4e1c4df6aabd 5
benkatz 14:80ce59119d93 6 PositionSensorMA700::PositionSensorMA700(int CPR, float offset, int ppairs){
benkatz 8:10ae7bc88d6e 7 //_CPR = CPR;
benkatz 10:370851e6e132 8 _CPR = CPR;
benkatz 10:370851e6e132 9 _ppairs = ppairs;
benkatz 8:10ae7bc88d6e 10 _offset = offset;
benkatz 8:10ae7bc88d6e 11 rotations = 0;
benkatz 8:10ae7bc88d6e 12 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 8:10ae7bc88d6e 13 spi->format(16, 0);
benkatz 8:10ae7bc88d6e 14 cs = new DigitalOut(PA_15);
benkatz 8:10ae7bc88d6e 15 cs->write(1);
benkatz 9:d7eb815cb057 16 MechOffset = 0;
benkatz 8:10ae7bc88d6e 17 }
benkatz 11:c83b18d41e54 18
benkatz 14:80ce59119d93 19 int PositionSensorMA700::GetRawPosition(){
benkatz 11:c83b18d41e54 20 cs->write(0);
benkatz 11:c83b18d41e54 21 int response = spi->write(0)>>4;
benkatz 11:c83b18d41e54 22 cs->write(1);
benkatz 11:c83b18d41e54 23 return response;
benkatz 11:c83b18d41e54 24 }
benkatz 8:10ae7bc88d6e 25
benkatz 11:c83b18d41e54 26
benkatz 14:80ce59119d93 27 float PositionSensorMA700::GetMechPosition(){
benkatz 8:10ae7bc88d6e 28 cs->write(0);
benkatz 8:10ae7bc88d6e 29 int response = spi->write(0)>>4;
benkatz 8:10ae7bc88d6e 30 cs->write(1);
benkatz 8:10ae7bc88d6e 31 if(response - old_counts > _CPR/4){
benkatz 8:10ae7bc88d6e 32 rotations -= 1;
benkatz 8:10ae7bc88d6e 33 }
benkatz 8:10ae7bc88d6e 34 else if (response - old_counts < -_CPR/4){
benkatz 8:10ae7bc88d6e 35 rotations += 1;
benkatz 8:10ae7bc88d6e 36 }
benkatz 8:10ae7bc88d6e 37 old_counts = response;
benkatz 8:10ae7bc88d6e 38 MechPosition = (6.28318530718f * ((float) response+(_CPR*rotations)))/ (float)_CPR;
benkatz 11:c83b18d41e54 39 //return MechPosition - MechOffset;
benkatz 11:c83b18d41e54 40 return MechPosition;
benkatz 8:10ae7bc88d6e 41 }
benkatz 8:10ae7bc88d6e 42
benkatz 14:80ce59119d93 43 float PositionSensorMA700::GetElecPosition(){
benkatz 8:10ae7bc88d6e 44 cs->write(0);
benkatz 8:10ae7bc88d6e 45 int response = spi->write(0)>>4;
benkatz 8:10ae7bc88d6e 46 cs->write(1);
benkatz 10:370851e6e132 47 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*response)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 48 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 49 return elec;
benkatz 8:10ae7bc88d6e 50 }
benkatz 9:d7eb815cb057 51
benkatz 14:80ce59119d93 52 float PositionSensorMA700::GetMechVelocity(){
benkatz 9:d7eb815cb057 53 return 0;
benkatz 9:d7eb815cb057 54 }
benkatz 9:d7eb815cb057 55
benkatz 14:80ce59119d93 56 void PositionSensorMA700::ZeroPosition(){
benkatz 9:d7eb815cb057 57 rotations = 0;
benkatz 9:d7eb815cb057 58 MechOffset = GetMechPosition();
benkatz 9:d7eb815cb057 59 }
benkatz 8:10ae7bc88d6e 60
benkatz 14:80ce59119d93 61 PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){
benkatz 14:80ce59119d93 62 //_CPR = CPR;
benkatz 14:80ce59119d93 63 _CPR = CPR;
benkatz 14:80ce59119d93 64 _ppairs = ppairs;
benkatz 14:80ce59119d93 65 _offset = offset;
benkatz 14:80ce59119d93 66 rotations = 0;
benkatz 14:80ce59119d93 67 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 14:80ce59119d93 68 spi->format(16, 1);
benkatz 14:80ce59119d93 69 spi->frequency(10000000);
benkatz 14:80ce59119d93 70 cs = new DigitalOut(PA_15);
benkatz 14:80ce59119d93 71 cs->write(1);
benkatz 14:80ce59119d93 72 readAngleCmd = 0xffff;
benkatz 14:80ce59119d93 73 MechOffset = 0;
benkatz 14:80ce59119d93 74 }
benkatz 8:10ae7bc88d6e 75
benkatz 14:80ce59119d93 76 int PositionSensorAM5147::GetRawPosition(){
benkatz 14:80ce59119d93 77 cs->write(0);
benkatz 14:80ce59119d93 78 int angle = spi->write(0xffff);
benkatz 14:80ce59119d93 79 angle &= 0x3FFF; //Extract last 14 bits
benkatz 14:80ce59119d93 80 cs->write(1);
benkatz 14:80ce59119d93 81 return angle;
benkatz 14:80ce59119d93 82 }
benkatz 14:80ce59119d93 83
benkatz 14:80ce59119d93 84
benkatz 14:80ce59119d93 85 float PositionSensorAM5147::GetMechPosition(){
benkatz 14:80ce59119d93 86 cs->write(0);
benkatz 14:80ce59119d93 87 int angle = spi->write(readAngleCmd);
benkatz 14:80ce59119d93 88 angle &= 0x3FFF; //Extract last 14 bits
benkatz 14:80ce59119d93 89 cs->write(1);
benkatz 14:80ce59119d93 90 if(angle - old_counts > _CPR/4){
benkatz 14:80ce59119d93 91 rotations -= 1;
benkatz 14:80ce59119d93 92 }
benkatz 14:80ce59119d93 93 else if (angle - old_counts < -_CPR/4){
benkatz 14:80ce59119d93 94 rotations += 1;
benkatz 14:80ce59119d93 95 }
benkatz 14:80ce59119d93 96 old_counts = angle;
benkatz 14:80ce59119d93 97 MechPosition = (6.28318530718f * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
benkatz 14:80ce59119d93 98 //return MechPosition - MechOffset;
benkatz 14:80ce59119d93 99 return MechPosition;
benkatz 14:80ce59119d93 100 }
benkatz 14:80ce59119d93 101
benkatz 14:80ce59119d93 102 float PositionSensorAM5147::GetElecPosition(){
benkatz 14:80ce59119d93 103 cs->write(0);
benkatz 14:80ce59119d93 104 int angle = spi->write(readAngleCmd);
benkatz 14:80ce59119d93 105 angle &= 0x3FFF; //Extract last 14 bits
benkatz 14:80ce59119d93 106 cs->write(1);
benkatz 14:80ce59119d93 107 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) - _offset;
benkatz 14:80ce59119d93 108 if(elec < 0) elec += 6.28318530718f;
benkatz 14:80ce59119d93 109 return elec;
benkatz 14:80ce59119d93 110 }
benkatz 14:80ce59119d93 111
benkatz 14:80ce59119d93 112 float PositionSensorAM5147::GetMechVelocity(){
benkatz 14:80ce59119d93 113 return 0;
benkatz 14:80ce59119d93 114 }
benkatz 14:80ce59119d93 115
benkatz 14:80ce59119d93 116 void PositionSensorAM5147::ZeroPosition(){
benkatz 14:80ce59119d93 117 rotations = 0;
benkatz 14:80ce59119d93 118 MechOffset = GetMechPosition();
benkatz 14:80ce59119d93 119 }
benkatz 0:4e1c4df6aabd 120
benkatz 10:370851e6e132 121 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
benkatz 10:370851e6e132 122 _ppairs = ppairs;
benkatz 0:4e1c4df6aabd 123 _CPR = CPR;
benkatz 0:4e1c4df6aabd 124 _offset = offset;
benkatz 3:6a0015d88d06 125 MechPosition = 0;
benkatz 0:4e1c4df6aabd 126
benkatz 0:4e1c4df6aabd 127 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 128 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 129
benkatz 0:4e1c4df6aabd 130 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 131 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 132 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 0:4e1c4df6aabd 133 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 134 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 135 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 136
benkatz 0:4e1c4df6aabd 137 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 138 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 139 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 140
benkatz 0:4e1c4df6aabd 141 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 0:4e1c4df6aabd 142 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 1:b8bceb4daed5 143 TIM3->CCMR1 = 0xf1f1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 0:4e1c4df6aabd 144 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 0:4e1c4df6aabd 145 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 0:4e1c4df6aabd 146 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 8:10ae7bc88d6e 147 TIM3->ARR = CPR-1; // reload at 0xfffffff < TIM auto-reload register
benkatz 0:4e1c4df6aabd 148
benkatz 7:dc5f27756e02 149 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 150
benkatz 3:6a0015d88d06 151 // Extra Timer for velocity measurement
benkatz 9:d7eb815cb057 152
benkatz 3:6a0015d88d06 153 __TIM2_CLK_ENABLE();
benkatz 3:6a0015d88d06 154 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 155
benkatz 3:6a0015d88d06 156 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 157 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 158 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 3:6a0015d88d06 159 TIM2->CCMR1 = 0x3;// CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 160
benkatz 3:6a0015d88d06 161 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 162 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 163 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 164 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 165
benkatz 3:6a0015d88d06 166
benkatz 3:6a0015d88d06 167 TIM2->CR1 = 0x01; //CEN
benkatz 9:d7eb815cb057 168
benkatz 3:6a0015d88d06 169 TIM3->CR1 = 0x01; // CEN
benkatz 8:10ae7bc88d6e 170 ZPulse = new InterruptIn(PC_4);
benkatz 8:10ae7bc88d6e 171 ZSense = new DigitalIn(PC_4);
benkatz 8:10ae7bc88d6e 172 //ZPulse = new InterruptIn(PB_0);
benkatz 8:10ae7bc88d6e 173 //ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 174 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 175 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 7:dc5f27756e02 176 //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 0:4e1c4df6aabd 177 ZPulse->mode(PullDown);
benkatz 7:dc5f27756e02 178 flag = 0;
benkatz 0:4e1c4df6aabd 179
benkatz 0:4e1c4df6aabd 180
benkatz 1:b8bceb4daed5 181 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 182 //ZTest->write(1);
benkatz 0:4e1c4df6aabd 183
benkatz 0:4e1c4df6aabd 184
benkatz 0:4e1c4df6aabd 185 }
benkatz 0:4e1c4df6aabd 186
benkatz 0:4e1c4df6aabd 187 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 8:10ae7bc88d6e 188 int raw = TIM3->CNT;
benkatz 7:dc5f27756e02 189 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 7:dc5f27756e02 190 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 0:4e1c4df6aabd 191 }
benkatz 0:4e1c4df6aabd 192
benkatz 0:4e1c4df6aabd 193 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 7:dc5f27756e02 194 int raw = TIM3->CNT;
benkatz 10:370851e6e132 195 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 196 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 197 return elec;
benkatz 0:4e1c4df6aabd 198 }
benkatz 0:4e1c4df6aabd 199
benkatz 13:a3fa0a31b114 200
benkatz 3:6a0015d88d06 201
benkatz 3:6a0015d88d06 202 float PositionSensorEncoder::GetMechVelocity(){
benkatz 9:d7eb815cb057 203 float out = 0;
benkatz 3:6a0015d88d06 204 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 9:d7eb815cb057 205
benkatz 3:6a0015d88d06 206 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 9:d7eb815cb057 207 float meas = dir*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 11:c83b18d41e54 208 out = meas;
benkatz 9:d7eb815cb057 209 if(meas == vel_old){
benkatz 14:80ce59119d93 210 out = .99f*out_old;
benkatz 9:d7eb815cb057 211 }
benkatz 9:d7eb815cb057 212 else{
benkatz 9:d7eb815cb057 213 out = meas;
benkatz 9:d7eb815cb057 214 }
benkatz 9:d7eb815cb057 215
benkatz 9:d7eb815cb057 216 vel_old = meas;
benkatz 9:d7eb815cb057 217 out_old = out;
benkatz 9:d7eb815cb057 218 return out;
benkatz 3:6a0015d88d06 219 }
benkatz 13:a3fa0a31b114 220
benkatz 13:a3fa0a31b114 221 float PositionSensorEncoder::GetElecVelocity(){
benkatz 13:a3fa0a31b114 222 return _ppairs*GetMechVelocity();
benkatz 13:a3fa0a31b114 223 }
benkatz 13:a3fa0a31b114 224
benkatz 0:4e1c4df6aabd 225 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 7:dc5f27756e02 226 if (ZSense->read() == 1 & flag == 0){
benkatz 0:4e1c4df6aabd 227 if (ZSense->read() == 1){
benkatz 8:10ae7bc88d6e 228 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 229 TIM3->CNT = 0x000;
benkatz 1:b8bceb4daed5 230 //state = !state;
benkatz 1:b8bceb4daed5 231 //ZTest->write(state);
benkatz 7:dc5f27756e02 232 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 233 //flag = 1;
benkatz 7:dc5f27756e02 234 }
benkatz 7:dc5f27756e02 235 }
benkatz 7:dc5f27756e02 236 }
benkatz 7:dc5f27756e02 237
benkatz 7:dc5f27756e02 238 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 7:dc5f27756e02 239 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 240 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 241 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 242 flag = 0;
benkatz 7:dc5f27756e02 243 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 7:dc5f27756e02 244 if(dir != dir){
benkatz 7:dc5f27756e02 245 dir = dir;
benkatz 7:dc5f27756e02 246 rotations += dir;
benkatz 7:dc5f27756e02 247 }
benkatz 7:dc5f27756e02 248
benkatz 7:dc5f27756e02 249 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 250
benkatz 0:4e1c4df6aabd 251 }
benkatz 0:4e1c4df6aabd 252 }
benkatz 0:4e1c4df6aabd 253 }