Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.cpp@155:7c6005933d4c, 2017-05-04 (annotated)

Committer:
bwang
Date:
Thu May 04 17:35:10 2017 +0000
Revision:
155:7c6005933d4c
Parent:
124:e70ca81676fc
Child:
156:cf92f967983d
05/04/2017 13:34 - changed logic in PwmIn::handle_fall, which no longer resets timer on invalid edges

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 124:e70ca81676fc 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 121:de10418bf2c2 57 return GetUnlimitedElecPosition() / 3.0f;
bwang 0:bac9c3a3a6ca 58 }
bwang 0:bac9c3a3a6ca 59
bwang 0:bac9c3a3a6ca 60 /*
bwang 0:bac9c3a3a6ca 61 * Returns electrical position in radians
bwang 0:bac9c3a3a6ca 62 */
bwang 0:bac9c3a3a6ca 63
bwang 0:bac9c3a3a6ca 64 float PositionSensorEncoder::GetElecPosition() {
bwang 0:bac9c3a3a6ca 65 int raw = TIM2->CNT;
bwang 9:074575151e4b 66 if (raw < 0) raw += _cpr;
bwang 9:074575151e4b 67 if (raw >= _cpr) raw -= _cpr;
bwang 24:5e18a87a0e95 68 float ep = fmod((POLE_PAIRS / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset)), 2 * PI);
bwang 24:5e18a87a0e95 69 if (ep < 0) {
bwang 24:5e18a87a0e95 70 return ep + 2 * PI;
bwang 0:bac9c3a3a6ca 71 } else {
bwang 24:5e18a87a0e95 72 return ep;
bwang 0:bac9c3a3a6ca 73 }
bwang 0:bac9c3a3a6ca 74 }
bwang 0:bac9c3a3a6ca 75
bwang 119:ad7a6af6fba3 76 /*
bwang 120:57b6f3b1356b 77 * Return the electrical position in radians (no limit, INT_MAX * 2 * PI max value)
bwang 119:ad7a6af6fba3 78 */
bwang 119:ad7a6af6fba3 79
bwang 119:ad7a6af6fba3 80 float PositionSensorEncoder::GetUnlimitedElecPosition() {
bwang 119:ad7a6af6fba3 81 int raw = TIM2->CNT;
bwang 119:ad7a6af6fba3 82 float ep = POLE_PAIRS / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset);
bwang 119:ad7a6af6fba3 83 return ep + _rotations * 2 * PI;
bwang 119:ad7a6af6fba3 84 }
bwang 119:ad7a6af6fba3 85
bwang 0:bac9c3a3a6ca 86 void PositionSensorEncoder::ZeroEncoderCount(void){
bwang 0:bac9c3a3a6ca 87 if (ZSense->read() == 1){
bwang 0:bac9c3a3a6ca 88 if (ZSense->read() == 1){
bwang 24:5e18a87a0e95 89 TIM2->CNT = 0;
bwang 119:ad7a6af6fba3 90 int dir = TIM2->CR1 & (1 << 4);
bwang 119:ad7a6af6fba3 91 if (!_valid) {
bwang 119:ad7a6af6fba3 92 _valid = true;
bwang 119:ad7a6af6fba3 93 return;
bwang 119:ad7a6af6fba3 94 }
bwang 119:ad7a6af6fba3 95 if (dir == 0) {//upcounting
bwang 119:ad7a6af6fba3 96 _rotations++;
bwang 119:ad7a6af6fba3 97 } else {//downcounting
bwang 119:ad7a6af6fba3 98 _rotations--;
bwang 119:ad7a6af6fba3 99 }
bwang 0:bac9c3a3a6ca 100 }
bwang 0:bac9c3a3a6ca 101 }
bwang 28:ed9c1ca386fd 102 }
bwang 28:ed9c1ca386fd 103
bwang 28:ed9c1ca386fd 104 bool PositionSensorEncoder::IsValid() {
bwang 28:ed9c1ca386fd 105 return _valid;
bwang 0:bac9c3a3a6ca 106 }