Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.cpp@186:c18db1e31da6, 2018-02-09 (annotated)

Committer:
bwang
Date:
Fri Feb 09 22:25:44 2018 +0000
Revision:
186:c18db1e31da6
Parent:
185:5c102874b490
Child:
192:3152a86cd108
temp commit while working on moving definitions around

Who changed what in which revision?

UserRevisionLine numberNew 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 "defaults.h"
bwang 185:5c102874b490 6 #include "derived.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 119:ad7a6af6fba3 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 0:bac9c3a3a6ca 21 __GPIOA_CLK_ENABLE();
bwang 0:bac9c3a3a6ca 22 __GPIOB_CLK_ENABLE();
bwang 0:bac9c3a3a6ca 23
bwang 0:bac9c3a3a6ca 24 GPIOB->MODER |= GPIO_MODER_MODER3_1;
bwang 0:bac9c3a3a6ca 25 GPIOB->OTYPER |= GPIO_OTYPER_OT_3 | GPIO_OTYPER_OT_10 ;
bwang 0:bac9c3a3a6ca 26 GPIOB->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR3 | GPIO_OSPEEDER_OSPEEDR10 ;
bwang 0:bac9c3a3a6ca 27 GPIOB->AFR[0] |= 0x00001000 ;
bwang 0:bac9c3a3a6ca 28
bwang 0:bac9c3a3a6ca 29 GPIOA->MODER |= GPIO_MODER_MODER15_1;
bwang 0:bac9c3a3a6ca 30 GPIOA->OTYPER |= GPIO_OTYPER_OT_15;
bwang 0:bac9c3a3a6ca 31 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR15;
bwang 0:bac9c3a3a6ca 32 GPIOA->AFR[1] |= 0x10000000 ;
bwang 0:bac9c3a3a6ca 33
bwang 0:bac9c3a3a6ca 34 __TIM2_CLK_ENABLE();
bwang 0:bac9c3a3a6ca 35
bwang 0:bac9c3a3a6ca 36 TIM2->CR1 = 0x0001;
bwang 0:bac9c3a3a6ca 37 TIM2->SMCR = TIM_ENCODERMODE_TI12;
bwang 26:955a1dfc2705 38 TIM2->CCMR1 = 0x0101;
bwang 0:bac9c3a3a6ca 39 TIM2->CCMR2 = 0x0000;
bwang 0:bac9c3a3a6ca 40 TIM2->CCER = 0x0011;
bwang 0:bac9c3a3a6ca 41 TIM2->PSC = 0x0000;
bwang 156:cf92f967983d 42 TIM2->ARR = _cpr - 1;
bwang 0:bac9c3a3a6ca 43
bwang 0:bac9c3a3a6ca 44 TIM2->CNT = 0;
bwang 0:bac9c3a3a6ca 45
bwang 0:bac9c3a3a6ca 46 ZPulse = new InterruptIn(PB_12);
bwang 0:bac9c3a3a6ca 47 ZSense = new DigitalIn(PB_12);
bwang 0:bac9c3a3a6ca 48 ZPulse->enable_irq();
bwang 0:bac9c3a3a6ca 49 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
bwang 0:bac9c3a3a6ca 50 ZPulse->mode(PullDown);
bwang 0:bac9c3a3a6ca 51 }
bwang 0:bac9c3a3a6ca 52
bwang 0:bac9c3a3a6ca 53 /*
bwang 0:bac9c3a3a6ca 54 * Returns mechanical position in radians
bwang 0:bac9c3a3a6ca 55 */
bwang 0:bac9c3a3a6ca 56
bwang 0:bac9c3a3a6ca 57 float PositionSensorEncoder::GetMechPosition() {
bwang 121:de10418bf2c2 58 return GetUnlimitedElecPosition() / 3.0f;
bwang 0:bac9c3a3a6ca 59 }
bwang 0:bac9c3a3a6ca 60
bwang 0:bac9c3a3a6ca 61 /*
bwang 0:bac9c3a3a6ca 62 * Returns electrical position in radians
bwang 0:bac9c3a3a6ca 63 */
bwang 0:bac9c3a3a6ca 64
bwang 0:bac9c3a3a6ca 65 float PositionSensorEncoder::GetElecPosition() {
bwang 0:bac9c3a3a6ca 66 int raw = TIM2->CNT;
bwang 9:074575151e4b 67 if (raw < 0) raw += _cpr;
bwang 9:074575151e4b 68 if (raw >= _cpr) raw -= _cpr;
bwang 24:5e18a87a0e95 69 float ep = fmod((POLE_PAIRS / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset)), 2 * PI);
bwang 24:5e18a87a0e95 70 if (ep < 0) {
bwang 24:5e18a87a0e95 71 return ep + 2 * PI;
bwang 0:bac9c3a3a6ca 72 } else {
bwang 24:5e18a87a0e95 73 return ep;
bwang 0:bac9c3a3a6ca 74 }
bwang 0:bac9c3a3a6ca 75 }
bwang 0:bac9c3a3a6ca 76
bwang 119:ad7a6af6fba3 77 /*
bwang 120:57b6f3b1356b 78 * Return the electrical position in radians (no limit, INT_MAX * 2 * PI max value)
bwang 119:ad7a6af6fba3 79 */
bwang 119:ad7a6af6fba3 80
bwang 119:ad7a6af6fba3 81 float PositionSensorEncoder::GetUnlimitedElecPosition() {
bwang 119:ad7a6af6fba3 82 int raw = TIM2->CNT;
bwang 119:ad7a6af6fba3 83 float ep = POLE_PAIRS / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset);
bwang 119:ad7a6af6fba3 84 return ep + _rotations * 2 * PI;
bwang 119:ad7a6af6fba3 85 }
bwang 119:ad7a6af6fba3 86
bwang 0:bac9c3a3a6ca 87 void PositionSensorEncoder::ZeroEncoderCount(void){
bwang 0:bac9c3a3a6ca 88 if (ZSense->read() == 1){
bwang 0:bac9c3a3a6ca 89 if (ZSense->read() == 1){
bwang 24:5e18a87a0e95 90 TIM2->CNT = 0;
bwang 119:ad7a6af6fba3 91 int dir = TIM2->CR1 & (1 << 4);
bwang 119:ad7a6af6fba3 92 if (!_valid) {
bwang 119:ad7a6af6fba3 93 _valid = true;
bwang 119:ad7a6af6fba3 94 return;
bwang 119:ad7a6af6fba3 95 }
bwang 119:ad7a6af6fba3 96 if (dir == 0) {//upcounting
bwang 119:ad7a6af6fba3 97 _rotations++;
bwang 119:ad7a6af6fba3 98 } else {//downcounting
bwang 119:ad7a6af6fba3 99 _rotations--;
bwang 119:ad7a6af6fba3 100 }
bwang 0:bac9c3a3a6ca 101 }
bwang 0:bac9c3a3a6ca 102 }
bwang 28:ed9c1ca386fd 103 }
bwang 28:ed9c1ca386fd 104
bwang 28:ed9c1ca386fd 105 bool PositionSensorEncoder::IsValid() {
bwang 28:ed9c1ca386fd 106 return _valid;
bwang 0:bac9c3a3a6ca 107 }