Bayley Wang
/
foc-ed_in_the_bot_compact
robot
PositionSensor/PositionSensor.cpp@225:81b72a4bf18b, 2018-10-27 (annotated)
- Committer:
- bwang
- Date:
- Sat Oct 27 23:13:31 2018 +0000
- Revision:
- 225:81b72a4bf18b
- Parent:
- 192:3152a86cd108
10/27/2018 19:12 - moved encoder object to use PA_1 and PA_15; removed some spurious analog registers in BREMSConfigRegisters which are no longer being used
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bwang | 186:c18db1e31da6 | 1 | #include <math.h> |
bwang | 0:bac9c3a3a6ca | 2 | #include "mbed.h" |
bwang | 0:bac9c3a3a6ca | 3 | #include "PositionSensor.h" |
bwang | 186:c18db1e31da6 | 4 | |
bwang | 185:5c102874b490 | 5 | #include "derived.h" |
bwang | 192:3152a86cd108 | 6 | #include "prefs.h" |
bwang | 185:5c102874b490 | 7 | |
bwang | 0:bac9c3a3a6ca | 8 | /* |
bwang | 0:bac9c3a3a6ca | 9 | * CPR: counts per revolution (4x lines per revolution) |
bwang | 0:bac9c3a3a6ca | 10 | * offset: mechanical position offset in radians |
bwang | 0:bac9c3a3a6ca | 11 | */ |
bwang | 124:e70ca81676fc | 12 | |
bwang | 9:074575151e4b | 13 | PositionSensorEncoder::PositionSensorEncoder(int cpr, float offset) { |
bwang | 9:074575151e4b | 14 | _cpr = cpr; |
bwang | 0:bac9c3a3a6ca | 15 | _offset = offset; |
bwang | 192:3152a86cd108 | 16 | _lobes = (int) (_RESOLVER_LOBES); |
bwang | 119:ad7a6af6fba3 | 17 | |
bwang | 28:ed9c1ca386fd | 18 | _valid = false; |
bwang | 119:ad7a6af6fba3 | 19 | _rotations = 0; |
bwang | 0:bac9c3a3a6ca | 20 | |
bwang | 225:81b72a4bf18b | 21 | __GPIOA_CLK_ENABLE(); |
bwang | 0:bac9c3a3a6ca | 22 | |
bwang | 225:81b72a4bf18b | 23 | GPIOA->MODER |= GPIO_MODER_MODER15_1 | GPIO_MODER_MODER1_1; |
bwang | 225:81b72a4bf18b | 24 | GPIOA->OTYPER |= GPIO_OTYPER_OT_15 | GPIO_OTYPER_OT_1; |
bwang | 225:81b72a4bf18b | 25 | GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR15 | GPIO_OSPEEDER_OSPEEDR1; |
bwang | 225:81b72a4bf18b | 26 | GPIOA->AFR[0] |= 0x00000010; |
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 | 26:955a1dfc2705 | 33 | TIM2->CCMR1 = 0x0101; |
bwang | 0:bac9c3a3a6ca | 34 | TIM2->CCMR2 = 0x0000; |
bwang | 0:bac9c3a3a6ca | 35 | TIM2->CCER = 0x0011; |
bwang | 0:bac9c3a3a6ca | 36 | TIM2->PSC = 0x0000; |
bwang | 156:cf92f967983d | 37 | TIM2->ARR = _cpr - 1; |
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 | |
bwang | 0:bac9c3a3a6ca | 48 | /* |
bwang | 0:bac9c3a3a6ca | 49 | * Returns mechanical position in radians |
bwang | 0:bac9c3a3a6ca | 50 | */ |
bwang | 0:bac9c3a3a6ca | 51 | |
bwang | 0:bac9c3a3a6ca | 52 | float PositionSensorEncoder::GetMechPosition() { |
bwang | 192:3152a86cd108 | 53 | return GetUnlimitedElecPosition() / _POLE_PAIRS; |
bwang | 0:bac9c3a3a6ca | 54 | } |
bwang | 0:bac9c3a3a6ca | 55 | |
bwang | 0:bac9c3a3a6ca | 56 | /* |
bwang | 0:bac9c3a3a6ca | 57 | * Returns electrical position in radians |
bwang | 0:bac9c3a3a6ca | 58 | */ |
bwang | 0:bac9c3a3a6ca | 59 | |
bwang | 0:bac9c3a3a6ca | 60 | float PositionSensorEncoder::GetElecPosition() { |
bwang | 0:bac9c3a3a6ca | 61 | int raw = TIM2->CNT; |
bwang | 9:074575151e4b | 62 | if (raw < 0) raw += _cpr; |
bwang | 9:074575151e4b | 63 | if (raw >= _cpr) raw -= _cpr; |
bwang | 192:3152a86cd108 | 64 | float ep = fmod((_POLE_PAIRS / _RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset)), 2 * PI); |
bwang | 24:5e18a87a0e95 | 65 | if (ep < 0) { |
bwang | 24:5e18a87a0e95 | 66 | return ep + 2 * PI; |
bwang | 0:bac9c3a3a6ca | 67 | } else { |
bwang | 24:5e18a87a0e95 | 68 | return ep; |
bwang | 0:bac9c3a3a6ca | 69 | } |
bwang | 0:bac9c3a3a6ca | 70 | } |
bwang | 0:bac9c3a3a6ca | 71 | |
bwang | 119:ad7a6af6fba3 | 72 | /* |
bwang | 120:57b6f3b1356b | 73 | * Return the electrical position in radians (no limit, INT_MAX * 2 * PI max value) |
bwang | 119:ad7a6af6fba3 | 74 | */ |
bwang | 119:ad7a6af6fba3 | 75 | |
bwang | 119:ad7a6af6fba3 | 76 | float PositionSensorEncoder::GetUnlimitedElecPosition() { |
bwang | 119:ad7a6af6fba3 | 77 | int raw = TIM2->CNT; |
bwang | 192:3152a86cd108 | 78 | float ep = _POLE_PAIRS / _RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset); |
bwang | 119:ad7a6af6fba3 | 79 | return ep + _rotations * 2 * PI; |
bwang | 119:ad7a6af6fba3 | 80 | } |
bwang | 119:ad7a6af6fba3 | 81 | |
bwang | 0:bac9c3a3a6ca | 82 | void PositionSensorEncoder::ZeroEncoderCount(void){ |
bwang | 0:bac9c3a3a6ca | 83 | if (ZSense->read() == 1){ |
bwang | 0:bac9c3a3a6ca | 84 | if (ZSense->read() == 1){ |
bwang | 24:5e18a87a0e95 | 85 | TIM2->CNT = 0; |
bwang | 119:ad7a6af6fba3 | 86 | int dir = TIM2->CR1 & (1 << 4); |
bwang | 119:ad7a6af6fba3 | 87 | if (!_valid) { |
bwang | 119:ad7a6af6fba3 | 88 | _valid = true; |
bwang | 119:ad7a6af6fba3 | 89 | return; |
bwang | 119:ad7a6af6fba3 | 90 | } |
bwang | 119:ad7a6af6fba3 | 91 | if (dir == 0) {//upcounting |
bwang | 119:ad7a6af6fba3 | 92 | _rotations++; |
bwang | 119:ad7a6af6fba3 | 93 | } else {//downcounting |
bwang | 119:ad7a6af6fba3 | 94 | _rotations--; |
bwang | 119:ad7a6af6fba3 | 95 | } |
bwang | 0:bac9c3a3a6ca | 96 | } |
bwang | 0:bac9c3a3a6ca | 97 | } |
bwang | 28:ed9c1ca386fd | 98 | } |
bwang | 28:ed9c1ca386fd | 99 | |
bwang | 28:ed9c1ca386fd | 100 | bool PositionSensorEncoder::IsValid() { |
bwang | 28:ed9c1ca386fd | 101 | return _valid; |
bwang | 0:bac9c3a3a6ca | 102 | } |