Ben Katz / Hobbyking_Cheetah_general

auto-measurements

Dependencies:   FastPWM3 mbed-dev

Fork of Hobbyking_Cheetah_Compact by Ben Katz

PositionSensor/PositionSensor.cpp@10:370851e6e132, 2016-05-12 (annotated)

Committer:
benkatz
Date:
Thu May 12 05:02:52 2016 +0000
Revision:
10:370851e6e132
Parent:
9:d7eb815cb057
Child:
11:c83b18d41e54
Now featuring hobbyking startup tone!

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