Test the set param mode
Diff: PositionSensor/PositionSensor.cpp
- Revision:
- 0:4e1c4df6aabd
- Child:
- 1:b8bceb4daed5
diff -r 000000000000 -r 4e1c4df6aabd PositionSensor/PositionSensor.cpp --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/PositionSensor/PositionSensor.cpp Fri Feb 05 00:52:53 2016 +0000 @@ -0,0 +1,80 @@ + +#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 + 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); + //TIM5->CCMR1 = 0xf1f1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1 + + + ZTest = new DigitalOut(PC_2); + ZTest->write(1); + //int state = 0; + + +} + +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); + } + } + } \ No newline at end of file