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?
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 | 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 | } |