qiu dehua / Mbed 2 deprecated GT_MOTOR_24NM_V03

初定版本

Dependencies:   mbed Hobbyking_Cheetah FastPWM3

PositionSensor/PositionSensor.cpp@55:d57335792cb7, 2022-05-10 (annotated)

Committer:
qiudehua
Date:
Tue May 10 02:10:43 2022 +0000
Revision:
55:d57335792cb7
Parent:
48:74a40481740c 
GT_MOTOR_24NM_V03

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 47:e1196a851f76 4 #include "../math_ops.h"
benkatz 22:60276ba87ac6 5 //#include "offset_lut.h"
benkatz 6:4ee1cdc43aa8 6 //#include <math.h>
benkatz 0:4e1c4df6aabd 7
benkatz 14:80ce59119d93 8 PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){
benkatz 14:80ce59119d93 9 //_CPR = CPR;
benkatz 14:80ce59119d93 10 _CPR = CPR;
benkatz 14:80ce59119d93 11 _ppairs = ppairs;
benkatz 22:60276ba87ac6 12 ElecOffset = offset;
benkatz 14:80ce59119d93 13 rotations = 0;
benkatz 14:80ce59119d93 14 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 36:d88fd41f60a6 15 spi->format(16, 1); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words
benkatz 26:2b865c00d7e9 16 spi->frequency(25000000);
benkatz 37:c0f352d6e8e3 17
benkatz 14:80ce59119d93 18 cs = new DigitalOut(PA_15);
benkatz 14:80ce59119d93 19 cs->write(1);
benkatz 22:60276ba87ac6 20 readAngleCmd = 0xffff;
benkatz 37:c0f352d6e8e3 21 MechOffset = offset;
benkatz 22:60276ba87ac6 22 modPosition = 0;
benkatz 22:60276ba87ac6 23 oldModPosition = 0;
benkatz 22:60276ba87ac6 24 oldVel = 0;
benkatz 22:60276ba87ac6 25 raw = 0;
benkatz 22:60276ba87ac6 26 }
benkatz 22:60276ba87ac6 27
benkatz 47:e1196a851f76 28 void PositionSensorAM5147::Sample(float dt){
benkatz 46:2d4b1dafcfe3 29 GPIOA->ODR &= ~(1 << 15);
benkatz 47:e1196a851f76 30 //raw = spi->write(readAngleCmd);
benkatz 47:e1196a851f76 31 //raw &= 0x3FFF;
benkatz 47:e1196a851f76 32 raw = spi->write(0);
benkatz 48:74a40481740c 33 raw = raw>>2; //Extract last 14 bits
benkatz 46:2d4b1dafcfe3 34 GPIOA->ODR |= (1 << 15);
benkatz 25:f5741040c4bb 35 int off_1 = offset_lut[raw>>7];
benkatz 25:f5741040c4bb 36 int off_2 = offset_lut[((raw>>7)+1)%128];
benkatz 25:f5741040c4bb 37 int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries
benkatz 25:f5741040c4bb 38 int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration
benkatz 22:60276ba87ac6 39 if(angle - old_counts > _CPR/2){
benkatz 22:60276ba87ac6 40 rotations -= 1;
qiudehua 55:d57335792cb7 41 //if(rotations< -14) rotations = 14.5f; // modify by 20210706
qiudehua 55:d57335792cb7 42 }
benkatz 22:60276ba87ac6 43 else if (angle - old_counts < -_CPR/2){
qiudehua 55:d57335792cb7 44 rotations += 1;
qiudehua 55:d57335792cb7 45 //if(rotations> 14) rotations = -15.5f; // modify by 20210706
qiudehua 55:d57335792cb7 46 }
benkatz 22:60276ba87ac6 47
benkatz 22:60276ba87ac6 48 old_counts = angle;
benkatz 22:60276ba87ac6 49 oldModPosition = modPosition;
benkatz 46:2d4b1dafcfe3 50 modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR);
benkatz 46:2d4b1dafcfe3 51 position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
benkatz 22:60276ba87ac6 52 MechPosition = position - MechOffset;
benkatz 46:2d4b1dafcfe3 53 float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset;
benkatz 46:2d4b1dafcfe3 54 if(elec < 0) elec += 2.0f*PI;
benkatz 46:2d4b1dafcfe3 55 else if(elec > 2.0f*PI) elec -= 2.0f*PI ;
benkatz 22:60276ba87ac6 56 ElecPosition = elec;
benkatz 22:60276ba87ac6 57
benkatz 22:60276ba87ac6 58 float vel;
benkatz 46:2d4b1dafcfe3 59 //if(modPosition<.1f && oldModPosition>6.1f){
benkatz 47:e1196a851f76 60
benkatz 46:2d4b1dafcfe3 61 if((modPosition-oldModPosition) < -3.0f){
benkatz 47:e1196a851f76 62 vel = (modPosition - oldModPosition + 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 63 }
benkatz 46:2d4b1dafcfe3 64 //else if(modPosition>6.1f && oldModPosition<0.1f){
benkatz 46:2d4b1dafcfe3 65 else if((modPosition - oldModPosition) > 3.0f){
benkatz 47:e1196a851f76 66 vel = (modPosition - oldModPosition - 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 67 }
benkatz 22:60276ba87ac6 68 else{
benkatz 47:e1196a851f76 69 vel = (modPosition-oldModPosition)/dt;
qiudehua 55:d57335792cb7 70 }
benkatz 22:60276ba87ac6 71
qiudehua 55:d57335792cb7 72 /*
qiudehua 55:d57335792cb7 73 int n = 21;
benkatz 22:60276ba87ac6 74 float sum = vel;
benkatz 22:60276ba87ac6 75 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 76 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 77 sum += velVec[n-i];
qiudehua 55:d57335792cb7 78 }
benkatz 22:60276ba87ac6 79 velVec[0] = vel;
qiudehua 55:d57335792cb7 80 MechVelocity = sum/((float)n); // modify by 20210706
qiudehua 55:d57335792cb7 81
qiudehua 55:d57335792cb7 82 float sumLow = MechVelocity;
qiudehua 55:d57335792cb7 83 for (int i = 1; i < (n); i++){
qiudehua 55:d57335792cb7 84 velVecLow[n - i] = velVecLow[n-i-1];
qiudehua 55:d57335792cb7 85 sumLow += velVecLow[n-i];
qiudehua 55:d57335792cb7 86 }
qiudehua 55:d57335792cb7 87 velVecLow[0] = MechVelocity;
qiudehua 55:d57335792cb7 88 MechVelocityLow = sumLow/((float)n); // modify by 20210706
qiudehua 55:d57335792cb7 89 */
qiudehua 55:d57335792cb7 90
qiudehua 55:d57335792cb7 91 //*********************************************************
qiudehua 55:d57335792cb7 92 int n = 168;
qiudehua 55:d57335792cb7 93 float sum = vel;
qiudehua 55:d57335792cb7 94 float sumLow = vel;
qiudehua 55:d57335792cb7 95 for (int i = 1; i < (n); i++){
qiudehua 55:d57335792cb7 96 velVec[n - i] = velVec[n-i-1];
qiudehua 55:d57335792cb7 97 sumLow += velVec[n-i];
qiudehua 55:d57335792cb7 98 if(i > 147) sum +=velVec[n-i];
qiudehua 55:d57335792cb7 99 }
qiudehua 55:d57335792cb7 100
qiudehua 55:d57335792cb7 101 velVec[0] = vel;
qiudehua 55:d57335792cb7 102 MechVelocity = sum/21; // modify by 20210706
qiudehua 55:d57335792cb7 103 MechVelocityLow = sumLow/((float)n); // modify by 20210706
qiudehua 55:d57335792cb7 104 //*********************************************************
qiudehua 55:d57335792cb7 105
benkatz 22:60276ba87ac6 106 ElecVelocity = MechVelocity*_ppairs;
benkatz 34:51647c6c500d 107 ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity;
benkatz 14:80ce59119d93 108 }
benkatz 8:10ae7bc88d6e 109
benkatz 14:80ce59119d93 110 int PositionSensorAM5147::GetRawPosition(){
benkatz 22:60276ba87ac6 111 return raw;
benkatz 14:80ce59119d93 112 }
benkatz 38:67e4e1453a4b 113
benkatz 38:67e4e1453a4b 114 float PositionSensorAM5147::GetMechPositionFixed(){
benkatz 38:67e4e1453a4b 115 return MechPosition+MechOffset;
benkatz 38:67e4e1453a4b 116 }
benkatz 14:80ce59119d93 117
benkatz 14:80ce59119d93 118 float PositionSensorAM5147::GetMechPosition(){
benkatz 14:80ce59119d93 119 return MechPosition;
benkatz 14:80ce59119d93 120 }
benkatz 14:80ce59119d93 121
benkatz 14:80ce59119d93 122 float PositionSensorAM5147::GetElecPosition(){
benkatz 22:60276ba87ac6 123 return ElecPosition;
benkatz 14:80ce59119d93 124 }
benkatz 14:80ce59119d93 125
benkatz 37:c0f352d6e8e3 126 float PositionSensorAM5147::GetElecVelocity(){
benkatz 37:c0f352d6e8e3 127 return ElecVelocity;
benkatz 37:c0f352d6e8e3 128 }
benkatz 37:c0f352d6e8e3 129
benkatz 14:80ce59119d93 130 float PositionSensorAM5147::GetMechVelocity(){
benkatz 22:60276ba87ac6 131 return MechVelocity;
qiudehua 55:d57335792cb7 132 //return MechVelocityLow;
benkatz 14:80ce59119d93 133 }
benkatz 14:80ce59119d93 134
benkatz 14:80ce59119d93 135 void PositionSensorAM5147::ZeroPosition(){
benkatz 14:80ce59119d93 136 rotations = 0;
benkatz 28:8c7e29f719c5 137 MechOffset = 0;
benkatz 47:e1196a851f76 138 Sample(.00025f);
benkatz 14:80ce59119d93 139 MechOffset = GetMechPosition();
benkatz 14:80ce59119d93 140 }
benkatz 0:4e1c4df6aabd 141
benkatz 22:60276ba87ac6 142 void PositionSensorAM5147::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 143 ElecOffset = offset;
benkatz 22:60276ba87ac6 144 }
benkatz 37:c0f352d6e8e3 145 void PositionSensorAM5147::SetMechOffset(float offset){
benkatz 37:c0f352d6e8e3 146 MechOffset = offset;
benkatz 37:c0f352d6e8e3 147 }
benkatz 22:60276ba87ac6 148
benkatz 22:60276ba87ac6 149 int PositionSensorAM5147::GetCPR(){
benkatz 22:60276ba87ac6 150 return _CPR;
benkatz 22:60276ba87ac6 151 }
benkatz 22:60276ba87ac6 152
benkatz 22:60276ba87ac6 153
benkatz 22:60276ba87ac6 154 void PositionSensorAM5147::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 155 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 156 }
benkatz 20:bf9ea5125d52 157
benkatz 22:60276ba87ac6 158
benkatz 37:c0f352d6e8e3 159
benkatz 10:370851e6e132 160 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
benkatz 10:370851e6e132 161 _ppairs = ppairs;
benkatz 0:4e1c4df6aabd 162 _CPR = CPR;
benkatz 0:4e1c4df6aabd 163 _offset = offset;
benkatz 3:6a0015d88d06 164 MechPosition = 0;
benkatz 22:60276ba87ac6 165 out_old = 0;
benkatz 22:60276ba87ac6 166 oldVel = 0;
benkatz 22:60276ba87ac6 167 raw = 0;
benkatz 0:4e1c4df6aabd 168
benkatz 0:4e1c4df6aabd 169 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 170 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 171
benkatz 0:4e1c4df6aabd 172 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 173 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 174 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 0:4e1c4df6aabd 175 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 176 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 177 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 178
benkatz 0:4e1c4df6aabd 179 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 180 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 181 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 182
benkatz 22:60276ba87ac6 183 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 22:60276ba87ac6 184 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 22:60276ba87ac6 185 TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 22:60276ba87ac6 186 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 22:60276ba87ac6 187 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 22:60276ba87ac6 188 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 22:60276ba87ac6 189 TIM3->ARR = CPR; // IM auto-reload register
benkatz 0:4e1c4df6aabd 190
benkatz 7:dc5f27756e02 191 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 192
benkatz 3:6a0015d88d06 193 // Extra Timer for velocity measurement
benkatz 9:d7eb815cb057 194
benkatz 3:6a0015d88d06 195 __TIM2_CLK_ENABLE();
benkatz 22:60276ba87ac6 196 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 197
benkatz 3:6a0015d88d06 198 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 199 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 22:60276ba87ac6 200 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 22:60276ba87ac6 201 TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 202
benkatz 3:6a0015d88d06 203 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 204 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 205 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 206 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 207
benkatz 3:6a0015d88d06 208
benkatz 22:60276ba87ac6 209 TIM2->CR1 = 0x01; //CEN, enable timer
benkatz 9:d7eb815cb057 210
benkatz 22:60276ba87ac6 211 TIM3->CR1 = 0x01; // CEN
benkatz 8:10ae7bc88d6e 212 ZPulse = new InterruptIn(PC_4);
benkatz 8:10ae7bc88d6e 213 ZSense = new DigitalIn(PC_4);
benkatz 8:10ae7bc88d6e 214 //ZPulse = new InterruptIn(PB_0);
benkatz 8:10ae7bc88d6e 215 //ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 216 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 217 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 7:dc5f27756e02 218 //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 0:4e1c4df6aabd 219 ZPulse->mode(PullDown);
benkatz 7:dc5f27756e02 220 flag = 0;
benkatz 0:4e1c4df6aabd 221
benkatz 0:4e1c4df6aabd 222
benkatz 1:b8bceb4daed5 223 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 224 //ZTest->write(1);
benkatz 22:60276ba87ac6 225 }
benkatz 0:4e1c4df6aabd 226
benkatz 47:e1196a851f76 227 void PositionSensorEncoder::Sample(float dt){
benkatz 0:4e1c4df6aabd 228
benkatz 22:60276ba87ac6 229 }
benkatz 22:60276ba87ac6 230
benkatz 0:4e1c4df6aabd 231
benkatz 22:60276ba87ac6 232 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 8:10ae7bc88d6e 233 int raw = TIM3->CNT;
benkatz 7:dc5f27756e02 234 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 7:dc5f27756e02 235 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 0:4e1c4df6aabd 236 }
benkatz 0:4e1c4df6aabd 237
benkatz 22:60276ba87ac6 238 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 7:dc5f27756e02 239 int raw = TIM3->CNT;
benkatz 10:370851e6e132 240 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 241 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 242 return elec;
benkatz 0:4e1c4df6aabd 243 }
benkatz 0:4e1c4df6aabd 244
benkatz 13:a3fa0a31b114 245
benkatz 3:6a0015d88d06 246
benkatz 3:6a0015d88d06 247 float PositionSensorEncoder::GetMechVelocity(){
benkatz 22:60276ba87ac6 248
benkatz 9:d7eb815cb057 249 float out = 0;
benkatz 3:6a0015d88d06 250 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 22:60276ba87ac6 251 int currentTime = TIM2->CNT;
benkatz 22:60276ba87ac6 252 if(currentTime > 2000000){rawPeriod = currentTime;}
benkatz 3:6a0015d88d06 253 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 22:60276ba87ac6 254 float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 22:60276ba87ac6 255 if(isinf(meas)){ meas = 1;}
benkatz 11:c83b18d41e54 256 out = meas;
benkatz 22:60276ba87ac6 257 //if(meas == oldVel){
benkatz 22:60276ba87ac6 258 // out = .9f*out_old;
benkatz 22:60276ba87ac6 259 // }
benkatz 22:60276ba87ac6 260
benkatz 22:60276ba87ac6 261
benkatz 22:60276ba87ac6 262 oldVel = meas;
benkatz 22:60276ba87ac6 263 out_old = out;
benkatz 22:60276ba87ac6 264 int n = 16;
benkatz 22:60276ba87ac6 265 float sum = out;
benkatz 22:60276ba87ac6 266 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 267 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 268 sum += velVec[n-i];
benkatz 9:d7eb815cb057 269 }
benkatz 22:60276ba87ac6 270 velVec[0] = out;
benkatz 22:60276ba87ac6 271 return sum/(float)n;
benkatz 3:6a0015d88d06 272 }
benkatz 13:a3fa0a31b114 273
benkatz 13:a3fa0a31b114 274 float PositionSensorEncoder::GetElecVelocity(){
benkatz 13:a3fa0a31b114 275 return _ppairs*GetMechVelocity();
benkatz 13:a3fa0a31b114 276 }
benkatz 13:a3fa0a31b114 277
benkatz 0:4e1c4df6aabd 278 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 7:dc5f27756e02 279 if (ZSense->read() == 1 & flag == 0){
benkatz 0:4e1c4df6aabd 280 if (ZSense->read() == 1){
benkatz 8:10ae7bc88d6e 281 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 282 TIM3->CNT = 0x000;
benkatz 1:b8bceb4daed5 283 //state = !state;
benkatz 1:b8bceb4daed5 284 //ZTest->write(state);
benkatz 7:dc5f27756e02 285 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 286 //flag = 1;
benkatz 7:dc5f27756e02 287 }
benkatz 7:dc5f27756e02 288 }
benkatz 7:dc5f27756e02 289 }
benkatz 22:60276ba87ac6 290
benkatz 22:60276ba87ac6 291 void PositionSensorEncoder::ZeroPosition(void){
benkatz 22:60276ba87ac6 292
benkatz 22:60276ba87ac6 293 }
benkatz 7:dc5f27756e02 294
benkatz 7:dc5f27756e02 295 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 7:dc5f27756e02 296 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 297 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 298 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 299 flag = 0;
benkatz 7:dc5f27756e02 300 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 7:dc5f27756e02 301 if(dir != dir){
benkatz 7:dc5f27756e02 302 dir = dir;
benkatz 7:dc5f27756e02 303 rotations += dir;
benkatz 7:dc5f27756e02 304 }
benkatz 7:dc5f27756e02 305
benkatz 7:dc5f27756e02 306 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 307
benkatz 0:4e1c4df6aabd 308 }
benkatz 0:4e1c4df6aabd 309 }
benkatz 22:60276ba87ac6 310 }
benkatz 22:60276ba87ac6 311 void PositionSensorEncoder::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 312
benkatz 22:60276ba87ac6 313 }
benkatz 22:60276ba87ac6 314
benkatz 22:60276ba87ac6 315 int PositionSensorEncoder::GetRawPosition(void){
benkatz 22:60276ba87ac6 316 return 0;
benkatz 22:60276ba87ac6 317 }
benkatz 22:60276ba87ac6 318
benkatz 22:60276ba87ac6 319 int PositionSensorEncoder::GetCPR(){
benkatz 22:60276ba87ac6 320 return _CPR;
benkatz 22:60276ba87ac6 321 }
benkatz 22:60276ba87ac6 322
benkatz 22:60276ba87ac6 323
benkatz 22:60276ba87ac6 324 void PositionSensorEncoder::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 325 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 326 }