Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.cpp@24:5e18a87a0e95, 2016-11-05 (annotated)

Committer:
bwang
Date:
Sat Nov 05 14:02:22 2016 +0000
Revision:
24:5e18a87a0e95
Parent:
15:b583cd30b063
Child:
26:955a1dfc2705
working velocity code, with caveats; fixed 50A iq

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:bac9c3a3a6ca 1
bwang 0:bac9c3a3a6ca 2 #include "mbed.h"
bwang 0:bac9c3a3a6ca 3 #include "PositionSensor.h"
bwang 15:b583cd30b063 4 #include "config_motor.h"
bwang 0:bac9c3a3a6ca 5 #include <math.h>
bwang 0:bac9c3a3a6ca 6
bwang 0:bac9c3a3a6ca 7 /*
bwang 0:bac9c3a3a6ca 8 * CPR: counts per revolution (4x lines per revolution)
bwang 0:bac9c3a3a6ca 9 * offset: mechanical position offset in radians
bwang 0:bac9c3a3a6ca 10 */
bwang 0:bac9c3a3a6ca 11
bwang 9:074575151e4b 12 PositionSensorEncoder::PositionSensorEncoder(int cpr, float offset) {
bwang 9:074575151e4b 13 _cpr = cpr;
bwang 0:bac9c3a3a6ca 14 _offset = offset;
bwang 0:bac9c3a3a6ca 15
bwang 0:bac9c3a3a6ca 16 __GPIOA_CLK_ENABLE();
bwang 0:bac9c3a3a6ca 17 __GPIOB_CLK_ENABLE();
bwang 0:bac9c3a3a6ca 18
bwang 0:bac9c3a3a6ca 19 GPIOB->MODER |= GPIO_MODER_MODER3_1;
bwang 0:bac9c3a3a6ca 20 GPIOB->OTYPER |= GPIO_OTYPER_OT_3 | GPIO_OTYPER_OT_10 ;
bwang 0:bac9c3a3a6ca 21 GPIOB->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR3 | GPIO_OSPEEDER_OSPEEDR10 ;
bwang 0:bac9c3a3a6ca 22 GPIOB->AFR[0] |= 0x00001000 ;
bwang 0:bac9c3a3a6ca 23
bwang 0:bac9c3a3a6ca 24 GPIOA->MODER |= GPIO_MODER_MODER15_1;
bwang 0:bac9c3a3a6ca 25 GPIOA->OTYPER |= GPIO_OTYPER_OT_15;
bwang 0:bac9c3a3a6ca 26 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR15;
bwang 0:bac9c3a3a6ca 27 GPIOA->AFR[1] |= 0x10000000 ;
bwang 0:bac9c3a3a6ca 28
bwang 0:bac9c3a3a6ca 29 __TIM2_CLK_ENABLE();
bwang 0:bac9c3a3a6ca 30
bwang 0:bac9c3a3a6ca 31 TIM2->CR1 = 0x0001;
bwang 0:bac9c3a3a6ca 32 TIM2->SMCR = TIM_ENCODERMODE_TI12;
bwang 0:bac9c3a3a6ca 33 TIM2->CCMR1 = 0xf1f1;
bwang 0:bac9c3a3a6ca 34 TIM2->CCMR2 = 0x0000;
bwang 0:bac9c3a3a6ca 35 TIM2->CCER = 0x0011;
bwang 0:bac9c3a3a6ca 36 TIM2->PSC = 0x0000;
bwang 0:bac9c3a3a6ca 37 TIM2->ARR = 0xffffffff;
bwang 0:bac9c3a3a6ca 38
bwang 0:bac9c3a3a6ca 39 TIM2->CNT = 0;
bwang 0:bac9c3a3a6ca 40
bwang 0:bac9c3a3a6ca 41 ZPulse = new InterruptIn(PB_12);
bwang 0:bac9c3a3a6ca 42 ZSense = new DigitalIn(PB_12);
bwang 0:bac9c3a3a6ca 43 ZPulse->enable_irq();
bwang 0:bac9c3a3a6ca 44 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
bwang 0:bac9c3a3a6ca 45 ZPulse->mode(PullDown);
bwang 0:bac9c3a3a6ca 46
bwang 0:bac9c3a3a6ca 47 ZTest = new DigitalOut(PC_10);
bwang 0:bac9c3a3a6ca 48 ZTest->write(1);
bwang 0:bac9c3a3a6ca 49 state = 0;
bwang 0:bac9c3a3a6ca 50 }
bwang 0:bac9c3a3a6ca 51
bwang 0:bac9c3a3a6ca 52 /*
bwang 0:bac9c3a3a6ca 53 * Returns mechanical position in radians
bwang 0:bac9c3a3a6ca 54 */
bwang 0:bac9c3a3a6ca 55
bwang 0:bac9c3a3a6ca 56 float PositionSensorEncoder::GetMechPosition() {
bwang 0:bac9c3a3a6ca 57 int raw = TIM2->CNT;
bwang 9:074575151e4b 58 if (raw < 0) raw += _cpr;
bwang 9:074575151e4b 59 if (raw >= _cpr) raw -= _cpr;
bwang 24:5e18a87a0e95 60 float mp = fmod(1 / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset), 2 * PI);
bwang 24:5e18a87a0e95 61 if (mp < 0){
bwang 24:5e18a87a0e95 62 return mp + 2 * PI;
bwang 15:b583cd30b063 63 } else {
bwang 24:5e18a87a0e95 64 return mp;
bwang 0:bac9c3a3a6ca 65 }
bwang 0:bac9c3a3a6ca 66 }
bwang 0:bac9c3a3a6ca 67
bwang 0:bac9c3a3a6ca 68 /*
bwang 0:bac9c3a3a6ca 69 * Returns electrical position in radians
bwang 0:bac9c3a3a6ca 70 */
bwang 0:bac9c3a3a6ca 71
bwang 0:bac9c3a3a6ca 72 float PositionSensorEncoder::GetElecPosition() {
bwang 0:bac9c3a3a6ca 73 int raw = TIM2->CNT;
bwang 9:074575151e4b 74 if (raw < 0) raw += _cpr;
bwang 9:074575151e4b 75 if (raw >= _cpr) raw -= _cpr;
bwang 24:5e18a87a0e95 76 float ep = fmod((POLE_PAIRS / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset)), 2 * PI);
bwang 24:5e18a87a0e95 77 if (ep < 0) {
bwang 24:5e18a87a0e95 78 return ep + 2 * PI;
bwang 0:bac9c3a3a6ca 79 } else {
bwang 24:5e18a87a0e95 80 return ep;
bwang 0:bac9c3a3a6ca 81 }
bwang 0:bac9c3a3a6ca 82 }
bwang 0:bac9c3a3a6ca 83
bwang 0:bac9c3a3a6ca 84 void PositionSensorEncoder::ZeroEncoderCount(void){
bwang 0:bac9c3a3a6ca 85 if (ZSense->read() == 1){
bwang 0:bac9c3a3a6ca 86 if (ZSense->read() == 1){
bwang 24:5e18a87a0e95 87 TIM2->CNT = 0;
bwang 0:bac9c3a3a6ca 88 }
bwang 0:bac9c3a3a6ca 89 }
bwang 0:bac9c3a3a6ca 90 }