Bayley Wang
/
foc-ed_in_the_bot_compact
robot
PositionSensor/PositionSensor.cpp@119:ad7a6af6fba3, 2017-04-25 (annotated)
- Committer:
- bwang
- Date:
- Tue Apr 25 04:49:46 2017 +0000
- Revision:
- 119:ad7a6af6fba3
- Parent:
- 28:ed9c1ca386fd
- Child:
- 120:57b6f3b1356b
running code, new phase (5.7614) working sensor calibration code, some new PositionSensor functions
Who changed what in which revision?
User | Revision | Line number | New 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 | 119:ad7a6af6fba3 | 15 | _lobes = (int) (RESOLVER_LOBES); |
bwang | 119:ad7a6af6fba3 | 16 | |
bwang | 28:ed9c1ca386fd | 17 | _valid = false; |
bwang | 119:ad7a6af6fba3 | 18 | _rotations = 0; |
bwang | 0:bac9c3a3a6ca | 19 | |
bwang | 0:bac9c3a3a6ca | 20 | __GPIOA_CLK_ENABLE(); |
bwang | 0:bac9c3a3a6ca | 21 | __GPIOB_CLK_ENABLE(); |
bwang | 0:bac9c3a3a6ca | 22 | |
bwang | 0:bac9c3a3a6ca | 23 | GPIOB->MODER |= GPIO_MODER_MODER3_1; |
bwang | 0:bac9c3a3a6ca | 24 | GPIOB->OTYPER |= GPIO_OTYPER_OT_3 | GPIO_OTYPER_OT_10 ; |
bwang | 0:bac9c3a3a6ca | 25 | GPIOB->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR3 | GPIO_OSPEEDER_OSPEEDR10 ; |
bwang | 0:bac9c3a3a6ca | 26 | GPIOB->AFR[0] |= 0x00001000 ; |
bwang | 0:bac9c3a3a6ca | 27 | |
bwang | 0:bac9c3a3a6ca | 28 | GPIOA->MODER |= GPIO_MODER_MODER15_1; |
bwang | 0:bac9c3a3a6ca | 29 | GPIOA->OTYPER |= GPIO_OTYPER_OT_15; |
bwang | 0:bac9c3a3a6ca | 30 | GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR15; |
bwang | 0:bac9c3a3a6ca | 31 | GPIOA->AFR[1] |= 0x10000000 ; |
bwang | 0:bac9c3a3a6ca | 32 | |
bwang | 0:bac9c3a3a6ca | 33 | __TIM2_CLK_ENABLE(); |
bwang | 0:bac9c3a3a6ca | 34 | |
bwang | 0:bac9c3a3a6ca | 35 | TIM2->CR1 = 0x0001; |
bwang | 0:bac9c3a3a6ca | 36 | TIM2->SMCR = TIM_ENCODERMODE_TI12; |
bwang | 26:955a1dfc2705 | 37 | TIM2->CCMR1 = 0x0101; |
bwang | 0:bac9c3a3a6ca | 38 | TIM2->CCMR2 = 0x0000; |
bwang | 0:bac9c3a3a6ca | 39 | TIM2->CCER = 0x0011; |
bwang | 0:bac9c3a3a6ca | 40 | TIM2->PSC = 0x0000; |
bwang | 0:bac9c3a3a6ca | 41 | TIM2->ARR = 0xffffffff; |
bwang | 0:bac9c3a3a6ca | 42 | |
bwang | 0:bac9c3a3a6ca | 43 | TIM2->CNT = 0; |
bwang | 0:bac9c3a3a6ca | 44 | |
bwang | 0:bac9c3a3a6ca | 45 | ZPulse = new InterruptIn(PB_12); |
bwang | 0:bac9c3a3a6ca | 46 | ZSense = new DigitalIn(PB_12); |
bwang | 0:bac9c3a3a6ca | 47 | ZPulse->enable_irq(); |
bwang | 0:bac9c3a3a6ca | 48 | ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount); |
bwang | 0:bac9c3a3a6ca | 49 | ZPulse->mode(PullDown); |
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 | 119:ad7a6af6fba3 | 84 | /* |
bwang | 119:ad7a6af6fba3 | 85 | * Return the electrical position in radians |
bwang | 119:ad7a6af6fba3 | 86 | */ |
bwang | 119:ad7a6af6fba3 | 87 | |
bwang | 119:ad7a6af6fba3 | 88 | float PositionSensorEncoder::GetUnlimitedElecPosition() { |
bwang | 119:ad7a6af6fba3 | 89 | int raw = TIM2->CNT; |
bwang | 119:ad7a6af6fba3 | 90 | float ep = POLE_PAIRS / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset); |
bwang | 119:ad7a6af6fba3 | 91 | return ep + _rotations * 2 * PI; |
bwang | 119:ad7a6af6fba3 | 92 | } |
bwang | 119:ad7a6af6fba3 | 93 | |
bwang | 0:bac9c3a3a6ca | 94 | void PositionSensorEncoder::ZeroEncoderCount(void){ |
bwang | 0:bac9c3a3a6ca | 95 | if (ZSense->read() == 1){ |
bwang | 0:bac9c3a3a6ca | 96 | if (ZSense->read() == 1){ |
bwang | 24:5e18a87a0e95 | 97 | TIM2->CNT = 0; |
bwang | 119:ad7a6af6fba3 | 98 | int dir = TIM2->CR1 & (1 << 4); |
bwang | 119:ad7a6af6fba3 | 99 | if (!_valid) { |
bwang | 119:ad7a6af6fba3 | 100 | _valid = true; |
bwang | 119:ad7a6af6fba3 | 101 | return; |
bwang | 119:ad7a6af6fba3 | 102 | } |
bwang | 119:ad7a6af6fba3 | 103 | if (dir == 0) {//upcounting |
bwang | 119:ad7a6af6fba3 | 104 | _rotations++; |
bwang | 119:ad7a6af6fba3 | 105 | } else {//downcounting |
bwang | 119:ad7a6af6fba3 | 106 | _rotations--; |
bwang | 119:ad7a6af6fba3 | 107 | } |
bwang | 0:bac9c3a3a6ca | 108 | } |
bwang | 0:bac9c3a3a6ca | 109 | } |
bwang | 28:ed9c1ca386fd | 110 | } |
bwang | 28:ed9c1ca386fd | 111 | |
bwang | 28:ed9c1ca386fd | 112 | bool PositionSensorEncoder::IsValid() { |
bwang | 28:ed9c1ca386fd | 113 | return _valid; |
bwang | 0:bac9c3a3a6ca | 114 | } |