Test the set param mode
PositionSensor/PositionSensor.cpp@7:dc5f27756e02, 2016-03-29 (annotated)
- Committer:
- benkatz
- Date:
- Tue Mar 29 01:05:46 2016 +0000
- Revision:
- 7:dc5f27756e02
- Parent:
- 6:4ee1cdc43aa8
- Child:
- 8:10ae7bc88d6e
propper svm;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
benkatz | 0:4e1c4df6aabd | 1 | |
benkatz | 0:4e1c4df6aabd | 2 | #include "mbed.h" |
benkatz | 0:4e1c4df6aabd | 3 | #include "PositionSensor.h" |
benkatz | 6:4ee1cdc43aa8 | 4 | //#include <math.h> |
benkatz | 0:4e1c4df6aabd | 5 | |
benkatz | 0:4e1c4df6aabd | 6 | |
benkatz | 0:4e1c4df6aabd | 7 | PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset) { |
benkatz | 0:4e1c4df6aabd | 8 | _CPR = CPR; |
benkatz | 0:4e1c4df6aabd | 9 | _offset = offset; |
benkatz | 3:6a0015d88d06 | 10 | MechPosition = 0; |
benkatz | 0:4e1c4df6aabd | 11 | |
benkatz | 0:4e1c4df6aabd | 12 | // Enable clock for GPIOA |
benkatz | 0:4e1c4df6aabd | 13 | __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h |
benkatz | 0:4e1c4df6aabd | 14 | |
benkatz | 0:4e1c4df6aabd | 15 | GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ |
benkatz | 0:4e1c4df6aabd | 16 | GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ |
benkatz | 0:4e1c4df6aabd | 17 | GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ |
benkatz | 0:4e1c4df6aabd | 18 | GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ |
benkatz | 0:4e1c4df6aabd | 19 | GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
benkatz | 0:4e1c4df6aabd | 20 | GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
benkatz | 0:4e1c4df6aabd | 21 | |
benkatz | 0:4e1c4df6aabd | 22 | // configure TIM3 as Encoder input |
benkatz | 0:4e1c4df6aabd | 23 | // Enable clock for TIM3 |
benkatz | 0:4e1c4df6aabd | 24 | __TIM3_CLK_ENABLE(); |
benkatz | 0:4e1c4df6aabd | 25 | |
benkatz | 0:4e1c4df6aabd | 26 | TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 |
benkatz | 0:4e1c4df6aabd | 27 | TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register |
benkatz | 1:b8bceb4daed5 | 28 | TIM3->CCMR1 = 0xf1f1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering |
benkatz | 0:4e1c4df6aabd | 29 | TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 |
benkatz | 0:4e1c4df6aabd | 30 | TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register |
benkatz | 0:4e1c4df6aabd | 31 | TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler |
benkatz | 7:dc5f27756e02 | 32 | TIM3->ARR = 0xfffffff; // reload at 0xfffffff < TIM auto-reload register |
benkatz | 0:4e1c4df6aabd | 33 | |
benkatz | 7:dc5f27756e02 | 34 | TIM3->CNT = 0x000; //reset the counter before we use it |
benkatz | 0:4e1c4df6aabd | 35 | |
benkatz | 3:6a0015d88d06 | 36 | // Extra Timer for velocity measurement |
benkatz | 3:6a0015d88d06 | 37 | /* |
benkatz | 3:6a0015d88d06 | 38 | __TIM2_CLK_ENABLE(); |
benkatz | 3:6a0015d88d06 | 39 | TIM3->CR2 = 0x030; //MMS = 101 |
benkatz | 3:6a0015d88d06 | 40 | |
benkatz | 3:6a0015d88d06 | 41 | TIM2->PSC = 0x03; |
benkatz | 3:6a0015d88d06 | 42 | //TIM2->CR2 |= TIM_CR2_TI1S; |
benkatz | 3:6a0015d88d06 | 43 | TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge) |
benkatz | 3:6a0015d88d06 | 44 | TIM2->CCMR1 = 0x3;// CC1S = 11, IC1 mapped on TRC |
benkatz | 3:6a0015d88d06 | 45 | |
benkatz | 3:6a0015d88d06 | 46 | //TIM2->CR2 |= TIM_CR2_TI1S; |
benkatz | 3:6a0015d88d06 | 47 | TIM2->CCER |= TIM_CCER_CC1P; |
benkatz | 3:6a0015d88d06 | 48 | //TIM2->CCER |= TIM_CCER_CC1NP; |
benkatz | 3:6a0015d88d06 | 49 | TIM2->CCER |= TIM_CCER_CC1E; |
benkatz | 3:6a0015d88d06 | 50 | |
benkatz | 3:6a0015d88d06 | 51 | |
benkatz | 3:6a0015d88d06 | 52 | TIM2->CR1 = 0x01; //CEN |
benkatz | 3:6a0015d88d06 | 53 | */ |
benkatz | 3:6a0015d88d06 | 54 | TIM3->CR1 = 0x01; // CEN |
benkatz | 3:6a0015d88d06 | 55 | |
benkatz | 0:4e1c4df6aabd | 56 | ZPulse = new InterruptIn(PB_0); |
benkatz | 0:4e1c4df6aabd | 57 | ZSense = new DigitalIn(PB_0); |
benkatz | 0:4e1c4df6aabd | 58 | ZPulse->enable_irq(); |
benkatz | 0:4e1c4df6aabd | 59 | ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount); |
benkatz | 7:dc5f27756e02 | 60 | //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown); |
benkatz | 0:4e1c4df6aabd | 61 | ZPulse->mode(PullDown); |
benkatz | 7:dc5f27756e02 | 62 | flag = 0; |
benkatz | 0:4e1c4df6aabd | 63 | |
benkatz | 0:4e1c4df6aabd | 64 | |
benkatz | 1:b8bceb4daed5 | 65 | //ZTest = new DigitalOut(PC_2); |
benkatz | 1:b8bceb4daed5 | 66 | //ZTest->write(1); |
benkatz | 0:4e1c4df6aabd | 67 | |
benkatz | 0:4e1c4df6aabd | 68 | |
benkatz | 0:4e1c4df6aabd | 69 | } |
benkatz | 0:4e1c4df6aabd | 70 | |
benkatz | 0:4e1c4df6aabd | 71 | float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians. |
benkatz | 0:4e1c4df6aabd | 72 | int raw = TIM3->CNT-0x8000; |
benkatz | 7:dc5f27756e02 | 73 | float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR); |
benkatz | 7:dc5f27756e02 | 74 | return (float) unsigned_mech;// + 6.28318530718f* (float) rotations; |
benkatz | 0:4e1c4df6aabd | 75 | } |
benkatz | 0:4e1c4df6aabd | 76 | |
benkatz | 0:4e1c4df6aabd | 77 | float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians. |
benkatz | 7:dc5f27756e02 | 78 | |
benkatz | 7:dc5f27756e02 | 79 | int raw = TIM3->CNT; |
benkatz | 7:dc5f27756e02 | 80 | float unsigned_elec = (6.28318530718f/(float)_CPR) * (float) ((7*raw)%_CPR); |
benkatz | 7:dc5f27756e02 | 81 | return unsigned_elec; |
benkatz | 0:4e1c4df6aabd | 82 | } |
benkatz | 0:4e1c4df6aabd | 83 | |
benkatz | 3:6a0015d88d06 | 84 | float PositionSensorEncoder::GetElecVelocity(){ |
benkatz | 3:6a0015d88d06 | 85 | float rawPeriod = TIM2->CCR1; //Clock Ticks |
benkatz | 3:6a0015d88d06 | 86 | float dir = (((TIM3->CR1)>>4)&1)*2-1; // +/- 1 |
benkatz | 3:6a0015d88d06 | 87 | return dir*7*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod; |
benkatz | 3:6a0015d88d06 | 88 | } |
benkatz | 3:6a0015d88d06 | 89 | |
benkatz | 3:6a0015d88d06 | 90 | float PositionSensorEncoder::GetMechVelocity(){ |
benkatz | 3:6a0015d88d06 | 91 | float rawPeriod = TIM2->CCR1; //Clock Ticks |
benkatz | 3:6a0015d88d06 | 92 | float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1 |
benkatz | 7:dc5f27756e02 | 93 | return dir*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod; |
benkatz | 3:6a0015d88d06 | 94 | } |
benkatz | 3:6a0015d88d06 | 95 | |
benkatz | 0:4e1c4df6aabd | 96 | void PositionSensorEncoder::ZeroEncoderCount(void){ |
benkatz | 7:dc5f27756e02 | 97 | if (ZSense->read() == 1 & flag == 0){ |
benkatz | 0:4e1c4df6aabd | 98 | if (ZSense->read() == 1){ |
benkatz | 7:dc5f27756e02 | 99 | GPIOC->ODR ^= (1 << 4); |
benkatz | 7:dc5f27756e02 | 100 | dir = -2*((int)(((TIM3->CR1)-0x000)>>4)&1)+1; |
benkatz | 7:dc5f27756e02 | 101 | int old_count = _CPR*rotations + TIM3->CNT; |
benkatz | 7:dc5f27756e02 | 102 | if( abs(_CPR*(rotations+dir) - old_count) <= _CPR>>2){ |
benkatz | 7:dc5f27756e02 | 103 | rotations += dir; |
benkatz | 7:dc5f27756e02 | 104 | } |
benkatz | 7:dc5f27756e02 | 105 | |
benkatz | 7:dc5f27756e02 | 106 | TIM3->CNT = 0x000; |
benkatz | 7:dc5f27756e02 | 107 | |
benkatz | 1:b8bceb4daed5 | 108 | //state = !state; |
benkatz | 1:b8bceb4daed5 | 109 | //ZTest->write(state); |
benkatz | 7:dc5f27756e02 | 110 | GPIOC->ODR ^= (1 << 4); |
benkatz | 7:dc5f27756e02 | 111 | //flag = 1; |
benkatz | 7:dc5f27756e02 | 112 | } |
benkatz | 7:dc5f27756e02 | 113 | } |
benkatz | 7:dc5f27756e02 | 114 | } |
benkatz | 7:dc5f27756e02 | 115 | |
benkatz | 7:dc5f27756e02 | 116 | void PositionSensorEncoder::ZeroEncoderCountDown(void){ |
benkatz | 7:dc5f27756e02 | 117 | if (ZSense->read() == 0){ |
benkatz | 7:dc5f27756e02 | 118 | if (ZSense->read() == 0){ |
benkatz | 7:dc5f27756e02 | 119 | GPIOC->ODR ^= (1 << 4); |
benkatz | 7:dc5f27756e02 | 120 | flag = 0; |
benkatz | 7:dc5f27756e02 | 121 | float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; |
benkatz | 7:dc5f27756e02 | 122 | if(dir != dir){ |
benkatz | 7:dc5f27756e02 | 123 | dir = dir; |
benkatz | 7:dc5f27756e02 | 124 | rotations += dir; |
benkatz | 7:dc5f27756e02 | 125 | } |
benkatz | 7:dc5f27756e02 | 126 | |
benkatz | 7:dc5f27756e02 | 127 | GPIOC->ODR ^= (1 << 4); |
benkatz | 7:dc5f27756e02 | 128 | |
benkatz | 0:4e1c4df6aabd | 129 | } |
benkatz | 0:4e1c4df6aabd | 130 | } |
benkatz | 0:4e1c4df6aabd | 131 | } |