kinoko john / airboot

hh

Dependencies:   FastPWM3

PositionSensor/PositionSensor.cpp@8:10ae7bc88d6e, 2016-04-13 (annotated)

Committer:
benkatz
Date:
Wed Apr 13 04:09:56 2016 +0000
Revision:
8:10ae7bc88d6e
Parent:
7:dc5f27756e02
Child:
9:d7eb815cb057
Multi-turn mechanical position, MA700 position sensing over SPI.  Placeholder torque controller for cogging/ripple compensation;

Who changed what in which revision?

UserRevisionLine numberNew 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 8:10ae7bc88d6e 6 PositionSensorSPI::PositionSensorSPI(int CPR, float offset){
benkatz 8:10ae7bc88d6e 7 //_CPR = CPR;
benkatz 8:10ae7bc88d6e 8 _CPR = 2048;
benkatz 8:10ae7bc88d6e 9 _offset = offset;
benkatz 8:10ae7bc88d6e 10 rotations = 0;
benkatz 8:10ae7bc88d6e 11 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 8:10ae7bc88d6e 12 spi->format(16, 0);
benkatz 8:10ae7bc88d6e 13 cs = new DigitalOut(PA_15);
benkatz 8:10ae7bc88d6e 14 cs->write(1);
benkatz 8:10ae7bc88d6e 15
benkatz 8:10ae7bc88d6e 16 }
benkatz 8:10ae7bc88d6e 17
benkatz 8:10ae7bc88d6e 18 float PositionSensorSPI::GetMechPosition(){
benkatz 8:10ae7bc88d6e 19 cs->write(0);
benkatz 8:10ae7bc88d6e 20 int response = spi->write(0)>>4;
benkatz 8:10ae7bc88d6e 21 cs->write(1);
benkatz 8:10ae7bc88d6e 22 if(response - old_counts > _CPR/4){
benkatz 8:10ae7bc88d6e 23 rotations -= 1;
benkatz 8:10ae7bc88d6e 24 }
benkatz 8:10ae7bc88d6e 25 else if (response - old_counts < -_CPR/4){
benkatz 8:10ae7bc88d6e 26 rotations += 1;
benkatz 8:10ae7bc88d6e 27 }
benkatz 8:10ae7bc88d6e 28 old_counts = response;
benkatz 8:10ae7bc88d6e 29 MechPosition = (6.28318530718f * ((float) response+(_CPR*rotations)))/ (float)_CPR;
benkatz 8:10ae7bc88d6e 30 return MechPosition;
benkatz 8:10ae7bc88d6e 31
benkatz 8:10ae7bc88d6e 32 }
benkatz 8:10ae7bc88d6e 33
benkatz 8:10ae7bc88d6e 34 float PositionSensorSPI::GetElecPosition(){
benkatz 8:10ae7bc88d6e 35 cs->write(0);
benkatz 8:10ae7bc88d6e 36 int response = spi->write(0)>>4;
benkatz 8:10ae7bc88d6e 37 cs->write(1);
benkatz 8:10ae7bc88d6e 38 float elec = ((6.28318530718f/(float)_CPR) * (float) ((7*response)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 39 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 40 return elec;
benkatz 8:10ae7bc88d6e 41 }
benkatz 8:10ae7bc88d6e 42
benkatz 8:10ae7bc88d6e 43
benkatz 0:4e1c4df6aabd 44
benkatz 0:4e1c4df6aabd 45 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset) {
benkatz 0:4e1c4df6aabd 46 _CPR = CPR;
benkatz 0:4e1c4df6aabd 47 _offset = offset;
benkatz 3:6a0015d88d06 48 MechPosition = 0;
benkatz 0:4e1c4df6aabd 49
benkatz 0:4e1c4df6aabd 50 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 51 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 52
benkatz 0:4e1c4df6aabd 53 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 54 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 55 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 0:4e1c4df6aabd 56 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 57 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 58 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 59
benkatz 0:4e1c4df6aabd 60 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 61 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 62 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 63
benkatz 0:4e1c4df6aabd 64 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 0:4e1c4df6aabd 65 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 1:b8bceb4daed5 66 TIM3->CCMR1 = 0xf1f1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 0:4e1c4df6aabd 67 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 0:4e1c4df6aabd 68 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 0:4e1c4df6aabd 69 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 8:10ae7bc88d6e 70 TIM3->ARR = CPR-1; // reload at 0xfffffff < TIM auto-reload register
benkatz 0:4e1c4df6aabd 71
benkatz 7:dc5f27756e02 72 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 73
benkatz 3:6a0015d88d06 74 // Extra Timer for velocity measurement
benkatz 3:6a0015d88d06 75 /*
benkatz 3:6a0015d88d06 76 __TIM2_CLK_ENABLE();
benkatz 3:6a0015d88d06 77 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 78
benkatz 3:6a0015d88d06 79 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 80 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 81 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 3:6a0015d88d06 82 TIM2->CCMR1 = 0x3;// CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 83
benkatz 3:6a0015d88d06 84 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 85 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 86 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 87 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 88
benkatz 3:6a0015d88d06 89
benkatz 3:6a0015d88d06 90 TIM2->CR1 = 0x01; //CEN
benkatz 3:6a0015d88d06 91 */
benkatz 3:6a0015d88d06 92 TIM3->CR1 = 0x01; // CEN
benkatz 8:10ae7bc88d6e 93 ZPulse = new InterruptIn(PC_4);
benkatz 8:10ae7bc88d6e 94 ZSense = new DigitalIn(PC_4);
benkatz 8:10ae7bc88d6e 95 //ZPulse = new InterruptIn(PB_0);
benkatz 8:10ae7bc88d6e 96 //ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 97 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 98 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 7:dc5f27756e02 99 //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 0:4e1c4df6aabd 100 ZPulse->mode(PullDown);
benkatz 7:dc5f27756e02 101 flag = 0;
benkatz 0:4e1c4df6aabd 102
benkatz 0:4e1c4df6aabd 103
benkatz 1:b8bceb4daed5 104 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 105 //ZTest->write(1);
benkatz 0:4e1c4df6aabd 106
benkatz 0:4e1c4df6aabd 107
benkatz 0:4e1c4df6aabd 108 }
benkatz 0:4e1c4df6aabd 109
benkatz 0:4e1c4df6aabd 110 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 8:10ae7bc88d6e 111 int raw = TIM3->CNT;
benkatz 7:dc5f27756e02 112 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 7:dc5f27756e02 113 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 0:4e1c4df6aabd 114 }
benkatz 0:4e1c4df6aabd 115
benkatz 0:4e1c4df6aabd 116 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 7:dc5f27756e02 117 int raw = TIM3->CNT;
benkatz 8:10ae7bc88d6e 118 float elec = ((6.28318530718f/(float)_CPR) * (float) ((7*raw)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 119 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 120 return elec;
benkatz 0:4e1c4df6aabd 121 }
benkatz 0:4e1c4df6aabd 122
benkatz 3:6a0015d88d06 123 float PositionSensorEncoder::GetElecVelocity(){
benkatz 3:6a0015d88d06 124 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 3:6a0015d88d06 125 float dir = (((TIM3->CR1)>>4)&1)*2-1; // +/- 1
benkatz 3:6a0015d88d06 126 return dir*7*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 3:6a0015d88d06 127 }
benkatz 3:6a0015d88d06 128
benkatz 3:6a0015d88d06 129 float PositionSensorEncoder::GetMechVelocity(){
benkatz 3:6a0015d88d06 130 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 3:6a0015d88d06 131 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 7:dc5f27756e02 132 return dir*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 3:6a0015d88d06 133 }
benkatz 3:6a0015d88d06 134
benkatz 0:4e1c4df6aabd 135 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 7:dc5f27756e02 136 if (ZSense->read() == 1 & flag == 0){
benkatz 0:4e1c4df6aabd 137 if (ZSense->read() == 1){
benkatz 8:10ae7bc88d6e 138 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 139 TIM3->CNT = 0x000;
benkatz 1:b8bceb4daed5 140 //state = !state;
benkatz 1:b8bceb4daed5 141 //ZTest->write(state);
benkatz 7:dc5f27756e02 142 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 143 //flag = 1;
benkatz 7:dc5f27756e02 144 }
benkatz 7:dc5f27756e02 145 }
benkatz 7:dc5f27756e02 146 }
benkatz 7:dc5f27756e02 147
benkatz 7:dc5f27756e02 148 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 7:dc5f27756e02 149 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 150 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 151 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 152 flag = 0;
benkatz 7:dc5f27756e02 153 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 7:dc5f27756e02 154 if(dir != dir){
benkatz 7:dc5f27756e02 155 dir = dir;
benkatz 7:dc5f27756e02 156 rotations += dir;
benkatz 7:dc5f27756e02 157 }
benkatz 7:dc5f27756e02 158
benkatz 7:dc5f27756e02 159 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 160
benkatz 0:4e1c4df6aabd 161 }
benkatz 0:4e1c4df6aabd 162 }
benkatz 0:4e1c4df6aabd 163 }