Shao Rui / Joint_control_2AS5147_DRV8323RH_HKC_FOC_2020_9_17

1

Dependencies:   mbed-dev-f303 FastPWM3

PositionSensor/PositionSensor.cpp@48:1b51771c3647, 2020-02-07 (annotated)

Committer:
shaorui
Date:
Fri Feb 07 11:31:37 2020 +0000
Revision:
48:1b51771c3647
Parent:
47:55bdc4d5096b
Child:
52:d4d5e3414865
test;

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 45:aadebe074af6 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 45:aadebe074af6 28 void PositionSensorAM5147::Sample(float dt){
benkatz 37:c0f352d6e8e3 29 GPIOA->ODR &= ~(1 << 15);
benkatz 36:d88fd41f60a6 30 raw = spi->write(readAngleCmd);
Rushu 47:55bdc4d5096b 31 raw &= 0x3FFF;
Rushu 47:55bdc4d5096b 32 //raw = spi->write(0);
Rushu 47:55bdc4d5096b 33 //raw = raw>>1; //Extract last 14 bits
Rushu 47:55bdc4d5096b 34 //raw = raw>>2; //Extract last 14 bits
benkatz 37:c0f352d6e8e3 35 GPIOA->ODR |= (1 << 15);
benkatz 25:f5741040c4bb 36 int off_1 = offset_lut[raw>>7];
benkatz 25:f5741040c4bb 37 int off_2 = offset_lut[((raw>>7)+1)%128];
benkatz 25:f5741040c4bb 38 int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries
benkatz 25:f5741040c4bb 39 int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration
benkatz 22:60276ba87ac6 40 if(angle - old_counts > _CPR/2){
benkatz 22:60276ba87ac6 41 rotations -= 1;
benkatz 22:60276ba87ac6 42 }
benkatz 22:60276ba87ac6 43 else if (angle - old_counts < -_CPR/2){
benkatz 22:60276ba87ac6 44 rotations += 1;
benkatz 22:60276ba87ac6 45 }
benkatz 22:60276ba87ac6 46
benkatz 22:60276ba87ac6 47 old_counts = angle;
benkatz 22:60276ba87ac6 48 oldModPosition = modPosition;
benkatz 45:aadebe074af6 49 modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR);
benkatz 45:aadebe074af6 50 position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
benkatz 22:60276ba87ac6 51 MechPosition = position - MechOffset;
benkatz 45:aadebe074af6 52 float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset;
benkatz 45:aadebe074af6 53 if(elec < 0) elec += 2.0f*PI;
benkatz 45:aadebe074af6 54 else if(elec > 2.0f*PI) elec -= 2.0f*PI ;
benkatz 22:60276ba87ac6 55 ElecPosition = elec;
benkatz 22:60276ba87ac6 56
benkatz 22:60276ba87ac6 57 float vel;
benkatz 45:aadebe074af6 58 //if(modPosition<.1f && oldModPosition>6.1f){
benkatz 45:aadebe074af6 59
benkatz 45:aadebe074af6 60 if((modPosition-oldModPosition) < -3.0f){
benkatz 45:aadebe074af6 61 vel = (modPosition - oldModPosition + 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 62 }
benkatz 45:aadebe074af6 63 //else if(modPosition>6.1f && oldModPosition<0.1f){
benkatz 45:aadebe074af6 64 else if((modPosition - oldModPosition) > 3.0f){
benkatz 45:aadebe074af6 65 vel = (modPosition - oldModPosition - 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 66 }
benkatz 22:60276ba87ac6 67 else{
benkatz 45:aadebe074af6 68 vel = (modPosition-oldModPosition)/dt;
benkatz 22:60276ba87ac6 69 }
benkatz 22:60276ba87ac6 70
benkatz 35:69b24894c11d 71 int n = 40;
benkatz 22:60276ba87ac6 72 float sum = vel;
benkatz 22:60276ba87ac6 73 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 74 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 75 sum += velVec[n-i];
benkatz 22:60276ba87ac6 76 }
benkatz 22:60276ba87ac6 77 velVec[0] = vel;
benkatz 45:aadebe074af6 78 MechVelocity = sum/((float)n);
benkatz 22:60276ba87ac6 79 ElecVelocity = MechVelocity*_ppairs;
benkatz 34:51647c6c500d 80 ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity;
benkatz 14:80ce59119d93 81 }
benkatz 8:10ae7bc88d6e 82
benkatz 14:80ce59119d93 83 int PositionSensorAM5147::GetRawPosition(){
benkatz 22:60276ba87ac6 84 return raw;
benkatz 14:80ce59119d93 85 }
benkatz 38:67e4e1453a4b 86
benkatz 38:67e4e1453a4b 87 float PositionSensorAM5147::GetMechPositionFixed(){
benkatz 38:67e4e1453a4b 88 return MechPosition+MechOffset;
benkatz 38:67e4e1453a4b 89 }
benkatz 14:80ce59119d93 90
benkatz 14:80ce59119d93 91 float PositionSensorAM5147::GetMechPosition(){
benkatz 14:80ce59119d93 92 return MechPosition;
benkatz 14:80ce59119d93 93 }
benkatz 14:80ce59119d93 94
benkatz 14:80ce59119d93 95 float PositionSensorAM5147::GetElecPosition(){
benkatz 22:60276ba87ac6 96 return ElecPosition;
benkatz 14:80ce59119d93 97 }
benkatz 14:80ce59119d93 98
benkatz 37:c0f352d6e8e3 99 float PositionSensorAM5147::GetElecVelocity(){
benkatz 37:c0f352d6e8e3 100 return ElecVelocity;
benkatz 37:c0f352d6e8e3 101 }
benkatz 37:c0f352d6e8e3 102
benkatz 14:80ce59119d93 103 float PositionSensorAM5147::GetMechVelocity(){
benkatz 22:60276ba87ac6 104 return MechVelocity;
benkatz 14:80ce59119d93 105 }
benkatz 14:80ce59119d93 106
benkatz 14:80ce59119d93 107 void PositionSensorAM5147::ZeroPosition(){
benkatz 14:80ce59119d93 108 rotations = 0;
benkatz 28:8c7e29f719c5 109 MechOffset = 0;
benkatz 45:aadebe074af6 110 Sample(.00025f);
benkatz 14:80ce59119d93 111 MechOffset = GetMechPosition();
benkatz 14:80ce59119d93 112 }
benkatz 0:4e1c4df6aabd 113
benkatz 22:60276ba87ac6 114 void PositionSensorAM5147::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 115 ElecOffset = offset;
benkatz 22:60276ba87ac6 116 }
benkatz 37:c0f352d6e8e3 117 void PositionSensorAM5147::SetMechOffset(float offset){
benkatz 37:c0f352d6e8e3 118 MechOffset = offset;
benkatz 37:c0f352d6e8e3 119 }
benkatz 22:60276ba87ac6 120
benkatz 22:60276ba87ac6 121 int PositionSensorAM5147::GetCPR(){
benkatz 22:60276ba87ac6 122 return _CPR;
benkatz 22:60276ba87ac6 123 }
benkatz 22:60276ba87ac6 124
benkatz 22:60276ba87ac6 125
benkatz 22:60276ba87ac6 126 void PositionSensorAM5147::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 127 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 128 }
benkatz 20:bf9ea5125d52 129
benkatz 22:60276ba87ac6 130
shaorui 48:1b51771c3647 131 /*
benkatz 10:370851e6e132 132 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
benkatz 10:370851e6e132 133 _ppairs = ppairs;
benkatz 0:4e1c4df6aabd 134 _CPR = CPR;
benkatz 0:4e1c4df6aabd 135 _offset = offset;
benkatz 3:6a0015d88d06 136 MechPosition = 0;
benkatz 22:60276ba87ac6 137 out_old = 0;
benkatz 22:60276ba87ac6 138 oldVel = 0;
benkatz 22:60276ba87ac6 139 raw = 0;
benkatz 0:4e1c4df6aabd 140
benkatz 0:4e1c4df6aabd 141 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 142 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 143
shaorui 48:1b51771c3647 144 GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function //!< GPIO port mode register, Address offset: 0x00 //
shaorui 48:1b51771c3647 145 GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs //!< GPIO port output type register, Address offset: 0x04 //
shaorui 48:1b51771c3647 146 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed //!< GPIO port output speed register, Address offset: 0x08 //
shaorui 48:1b51771c3647 147 GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down //!< GPIO port pull-up/pull-down register, Address offset: 0x0C //
shaorui 48:1b51771c3647 148 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 //!< GPIO alternate function registers, Address offset: 0x20-0x24 //
shaorui 48:1b51771c3647 149 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 //!< GPIO alternate function registers, Address offset: 0x20-0x24 //
benkatz 0:4e1c4df6aabd 150
benkatz 0:4e1c4df6aabd 151 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 152 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 153 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 154
benkatz 22:60276ba87ac6 155 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 22:60276ba87ac6 156 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 22:60276ba87ac6 157 TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 22:60276ba87ac6 158 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 22:60276ba87ac6 159 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 22:60276ba87ac6 160 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 22:60276ba87ac6 161 TIM3->ARR = CPR; // IM auto-reload register
benkatz 0:4e1c4df6aabd 162
benkatz 7:dc5f27756e02 163 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 164
benkatz 3:6a0015d88d06 165 // Extra Timer for velocity measurement
benkatz 9:d7eb815cb057 166
benkatz 3:6a0015d88d06 167 __TIM2_CLK_ENABLE();
benkatz 22:60276ba87ac6 168 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 169
benkatz 3:6a0015d88d06 170 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 171 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 22:60276ba87ac6 172 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 22:60276ba87ac6 173 TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 174
benkatz 3:6a0015d88d06 175 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 176 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 177 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 178 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 179
benkatz 3:6a0015d88d06 180
benkatz 22:60276ba87ac6 181 TIM2->CR1 = 0x01; //CEN, enable timer
benkatz 9:d7eb815cb057 182
benkatz 22:60276ba87ac6 183 TIM3->CR1 = 0x01; // CEN
benkatz 8:10ae7bc88d6e 184 ZPulse = new InterruptIn(PC_4);
benkatz 8:10ae7bc88d6e 185 ZSense = new DigitalIn(PC_4);
benkatz 8:10ae7bc88d6e 186 //ZPulse = new InterruptIn(PB_0);
benkatz 8:10ae7bc88d6e 187 //ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 188 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 189 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 7:dc5f27756e02 190 //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 0:4e1c4df6aabd 191 ZPulse->mode(PullDown);
benkatz 7:dc5f27756e02 192 flag = 0;
benkatz 0:4e1c4df6aabd 193
benkatz 0:4e1c4df6aabd 194
benkatz 1:b8bceb4daed5 195 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 196 //ZTest->write(1);
benkatz 22:60276ba87ac6 197 }
benkatz 0:4e1c4df6aabd 198
benkatz 45:aadebe074af6 199 void PositionSensorEncoder::Sample(float dt){
benkatz 0:4e1c4df6aabd 200
benkatz 22:60276ba87ac6 201 }
benkatz 22:60276ba87ac6 202
benkatz 0:4e1c4df6aabd 203
benkatz 22:60276ba87ac6 204 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 8:10ae7bc88d6e 205 int raw = TIM3->CNT;
benkatz 7:dc5f27756e02 206 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 7:dc5f27756e02 207 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 0:4e1c4df6aabd 208 }
benkatz 0:4e1c4df6aabd 209
benkatz 22:60276ba87ac6 210 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 7:dc5f27756e02 211 int raw = TIM3->CNT;
benkatz 10:370851e6e132 212 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 213 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 214 return elec;
benkatz 0:4e1c4df6aabd 215 }
benkatz 0:4e1c4df6aabd 216
benkatz 13:a3fa0a31b114 217
benkatz 3:6a0015d88d06 218
benkatz 3:6a0015d88d06 219 float PositionSensorEncoder::GetMechVelocity(){
benkatz 22:60276ba87ac6 220
benkatz 9:d7eb815cb057 221 float out = 0;
benkatz 3:6a0015d88d06 222 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 22:60276ba87ac6 223 int currentTime = TIM2->CNT;
benkatz 22:60276ba87ac6 224 if(currentTime > 2000000){rawPeriod = currentTime;}
benkatz 3:6a0015d88d06 225 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 22:60276ba87ac6 226 float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 22:60276ba87ac6 227 if(isinf(meas)){ meas = 1;}
benkatz 11:c83b18d41e54 228 out = meas;
benkatz 22:60276ba87ac6 229 //if(meas == oldVel){
benkatz 22:60276ba87ac6 230 // out = .9f*out_old;
benkatz 22:60276ba87ac6 231 // }
benkatz 22:60276ba87ac6 232
benkatz 22:60276ba87ac6 233
benkatz 22:60276ba87ac6 234 oldVel = meas;
benkatz 22:60276ba87ac6 235 out_old = out;
benkatz 22:60276ba87ac6 236 int n = 16;
benkatz 22:60276ba87ac6 237 float sum = out;
benkatz 22:60276ba87ac6 238 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 239 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 240 sum += velVec[n-i];
benkatz 9:d7eb815cb057 241 }
benkatz 22:60276ba87ac6 242 velVec[0] = out;
benkatz 22:60276ba87ac6 243 return sum/(float)n;
benkatz 3:6a0015d88d06 244 }
benkatz 13:a3fa0a31b114 245
benkatz 13:a3fa0a31b114 246 float PositionSensorEncoder::GetElecVelocity(){
benkatz 13:a3fa0a31b114 247 return _ppairs*GetMechVelocity();
benkatz 13:a3fa0a31b114 248 }
benkatz 13:a3fa0a31b114 249
benkatz 0:4e1c4df6aabd 250 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 7:dc5f27756e02 251 if (ZSense->read() == 1 & flag == 0){
benkatz 0:4e1c4df6aabd 252 if (ZSense->read() == 1){
benkatz 8:10ae7bc88d6e 253 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 254 TIM3->CNT = 0x000;
benkatz 1:b8bceb4daed5 255 //state = !state;
benkatz 1:b8bceb4daed5 256 //ZTest->write(state);
benkatz 7:dc5f27756e02 257 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 258 //flag = 1;
benkatz 7:dc5f27756e02 259 }
benkatz 7:dc5f27756e02 260 }
benkatz 7:dc5f27756e02 261 }
benkatz 22:60276ba87ac6 262
benkatz 22:60276ba87ac6 263 void PositionSensorEncoder::ZeroPosition(void){
benkatz 22:60276ba87ac6 264
benkatz 22:60276ba87ac6 265 }
benkatz 7:dc5f27756e02 266
benkatz 7:dc5f27756e02 267 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 7:dc5f27756e02 268 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 269 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 270 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 271 flag = 0;
benkatz 7:dc5f27756e02 272 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 7:dc5f27756e02 273 if(dir != dir){
benkatz 7:dc5f27756e02 274 dir = dir;
benkatz 7:dc5f27756e02 275 rotations += dir;
benkatz 7:dc5f27756e02 276 }
benkatz 7:dc5f27756e02 277
benkatz 7:dc5f27756e02 278 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 279
benkatz 0:4e1c4df6aabd 280 }
benkatz 0:4e1c4df6aabd 281 }
benkatz 22:60276ba87ac6 282 }
benkatz 22:60276ba87ac6 283 void PositionSensorEncoder::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 284
benkatz 22:60276ba87ac6 285 }
benkatz 22:60276ba87ac6 286
benkatz 22:60276ba87ac6 287 int PositionSensorEncoder::GetRawPosition(void){
benkatz 22:60276ba87ac6 288 return 0;
benkatz 22:60276ba87ac6 289 }
benkatz 22:60276ba87ac6 290
benkatz 22:60276ba87ac6 291 int PositionSensorEncoder::GetCPR(){
benkatz 22:60276ba87ac6 292 return _CPR;
benkatz 22:60276ba87ac6 293 }
benkatz 22:60276ba87ac6 294
benkatz 22:60276ba87ac6 295
benkatz 22:60276ba87ac6 296 void PositionSensorEncoder::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 297 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 298 }
shaorui 48:1b51771c3647 299 */