Test the set param mode
PositionSensor/PositionSensor.cpp
- Committer:
- benkatz
- Date:
- 2016-02-05
- Revision:
- 1:b8bceb4daed5
- Parent:
- 0:4e1c4df6aabd
- Child:
- 3:6a0015d88d06
File content as of revision 1:b8bceb4daed5:
#include "mbed.h" #include "PositionSensor.h" #include <math.h> PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset) { _CPR = CPR; _offset = offset; // Enable clock for GPIOA __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ // configure TIM3 as Encoder input // Enable clock for TIM3 __TIM3_CLK_ENABLE(); TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register TIM3->CCMR1 = 0xf1f1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler TIM3->ARR = 0xffffffff; // reload at 0xfffffff < TIM auto-reload register TIM3->CNT = 0x8000; //reset the counter before we use it ZPulse = new InterruptIn(PB_0); ZSense = new DigitalIn(PB_0); ZPulse->enable_irq(); ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount); ZPulse->mode(PullDown); //ZTest = new DigitalOut(PC_2); //ZTest->write(1); } float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians. int raw = TIM3->CNT-0x8000; if (raw < 0) raw += _CPR; if (raw >= _CPR) raw -= _CPR; return 6.28318530718f*(raw)/(float)_CPR + _offset; } float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians. int raw = TIM3->CNT-0x8000; if (raw < 0) raw += _CPR; if (raw >= _CPR) raw -= _CPR; float signed_elec = fmod((7.0f*(6.28318530718f*(raw)/(float)_CPR + _offset)), 6.28318530718f); //float signed_elec = (7*(6.28318530718*(TIM3->CNT-0x8000)/(float)_CPR + _offset)); if (signed_elec < 0){ return signed_elec + 6.28318530718f; } else{ return signed_elec; } } void PositionSensorEncoder::ZeroEncoderCount(void){ if (ZSense->read() == 1){ if (ZSense->read() == 1){ TIM3->CNT=0x8000; //state = !state; //ZTest->write(state); } } }