Shao Rui / Joint_control_2AS5147_DRV8323RH_HKC_FOC_2020_9_17

1

Dependencies:   mbed-dev-f303 FastPWM3

PositionSensor/PositionSensor.cpp@9:d7eb815cb057, 2016-05-10 (annotated)

Committer:
benkatz
Date:
Tue May 10 01:15:57 2016 +0000
Revision:
9:d7eb815cb057
Parent:
8:10ae7bc88d6e
Child:
10:370851e6e132
Fixed current scaling hack

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 9:d7eb815cb057 15 MechOffset = 0;
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 9:d7eb815cb057 30 return MechPosition - MechOffset;
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 9:d7eb815cb057 42
benkatz 9:d7eb815cb057 43 float PositionSensorSPI::GetMechVelocity(){
benkatz 9:d7eb815cb057 44 return 0;
benkatz 9:d7eb815cb057 45 }
benkatz 9:d7eb815cb057 46
benkatz 9:d7eb815cb057 47 void PositionSensorSPI::ZeroPosition(){
benkatz 9:d7eb815cb057 48 rotations = 0;
benkatz 9:d7eb815cb057 49 MechOffset = GetMechPosition();
benkatz 9:d7eb815cb057 50 }
benkatz 8:10ae7bc88d6e 51
benkatz 8:10ae7bc88d6e 52
benkatz 0:4e1c4df6aabd 53
benkatz 0:4e1c4df6aabd 54 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset) {
benkatz 0:4e1c4df6aabd 55 _CPR = CPR;
benkatz 0:4e1c4df6aabd 56 _offset = offset;
benkatz 3:6a0015d88d06 57 MechPosition = 0;
benkatz 0:4e1c4df6aabd 58
benkatz 0:4e1c4df6aabd 59 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 60 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 61
benkatz 0:4e1c4df6aabd 62 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 63 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 64 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 0:4e1c4df6aabd 65 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 66 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 67 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 68
benkatz 0:4e1c4df6aabd 69 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 70 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 71 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 72
benkatz 0:4e1c4df6aabd 73 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 0:4e1c4df6aabd 74 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 1:b8bceb4daed5 75 TIM3->CCMR1 = 0xf1f1; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 0:4e1c4df6aabd 76 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 0:4e1c4df6aabd 77 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 0:4e1c4df6aabd 78 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 8:10ae7bc88d6e 79 TIM3->ARR = CPR-1; // reload at 0xfffffff < TIM auto-reload register
benkatz 0:4e1c4df6aabd 80
benkatz 7:dc5f27756e02 81 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 82
benkatz 3:6a0015d88d06 83 // Extra Timer for velocity measurement
benkatz 9:d7eb815cb057 84
benkatz 3:6a0015d88d06 85 __TIM2_CLK_ENABLE();
benkatz 3:6a0015d88d06 86 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 87
benkatz 3:6a0015d88d06 88 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 89 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 90 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 3:6a0015d88d06 91 TIM2->CCMR1 = 0x3;// CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 92
benkatz 3:6a0015d88d06 93 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 94 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 95 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 96 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 97
benkatz 3:6a0015d88d06 98
benkatz 3:6a0015d88d06 99 TIM2->CR1 = 0x01; //CEN
benkatz 9:d7eb815cb057 100
benkatz 3:6a0015d88d06 101 TIM3->CR1 = 0x01; // CEN
benkatz 8:10ae7bc88d6e 102 ZPulse = new InterruptIn(PC_4);
benkatz 8:10ae7bc88d6e 103 ZSense = new DigitalIn(PC_4);
benkatz 8:10ae7bc88d6e 104 //ZPulse = new InterruptIn(PB_0);
benkatz 8:10ae7bc88d6e 105 //ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 106 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 107 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 7:dc5f27756e02 108 //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 0:4e1c4df6aabd 109 ZPulse->mode(PullDown);
benkatz 7:dc5f27756e02 110 flag = 0;
benkatz 0:4e1c4df6aabd 111
benkatz 0:4e1c4df6aabd 112
benkatz 1:b8bceb4daed5 113 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 114 //ZTest->write(1);
benkatz 0:4e1c4df6aabd 115
benkatz 0:4e1c4df6aabd 116
benkatz 0:4e1c4df6aabd 117 }
benkatz 0:4e1c4df6aabd 118
benkatz 0:4e1c4df6aabd 119 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 8:10ae7bc88d6e 120 int raw = TIM3->CNT;
benkatz 7:dc5f27756e02 121 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 7:dc5f27756e02 122 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 0:4e1c4df6aabd 123 }
benkatz 0:4e1c4df6aabd 124
benkatz 0:4e1c4df6aabd 125 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 7:dc5f27756e02 126 int raw = TIM3->CNT;
benkatz 8:10ae7bc88d6e 127 float elec = ((6.28318530718f/(float)_CPR) * (float) ((7*raw)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 128 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 129 return elec;
benkatz 0:4e1c4df6aabd 130 }
benkatz 0:4e1c4df6aabd 131
benkatz 3:6a0015d88d06 132 float PositionSensorEncoder::GetElecVelocity(){
benkatz 3:6a0015d88d06 133 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 3:6a0015d88d06 134 float dir = (((TIM3->CR1)>>4)&1)*2-1; // +/- 1
benkatz 3:6a0015d88d06 135 return dir*7*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 3:6a0015d88d06 136 }
benkatz 3:6a0015d88d06 137
benkatz 3:6a0015d88d06 138 float PositionSensorEncoder::GetMechVelocity(){
benkatz 9:d7eb815cb057 139 float out = 0;
benkatz 3:6a0015d88d06 140 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 9:d7eb815cb057 141
benkatz 3:6a0015d88d06 142 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 9:d7eb815cb057 143 float meas = dir*90000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 9:d7eb815cb057 144
benkatz 9:d7eb815cb057 145 if(meas == vel_old){
benkatz 9:d7eb815cb057 146 out = .95f*out_old;
benkatz 9:d7eb815cb057 147 }
benkatz 9:d7eb815cb057 148 else{
benkatz 9:d7eb815cb057 149 out = meas;
benkatz 9:d7eb815cb057 150 }
benkatz 9:d7eb815cb057 151
benkatz 9:d7eb815cb057 152 /*
benkatz 9:d7eb815cb057 153 if(abs(vel) < 2.0f){
benkatz 9:d7eb815cb057 154 vel = 0;
benkatz 9:d7eb815cb057 155 }
benkatz 9:d7eb815cb057 156 */
benkatz 9:d7eb815cb057 157 vel_old = meas;
benkatz 9:d7eb815cb057 158
benkatz 9:d7eb815cb057 159 //out = .5f*out + .5f*out_old;
benkatz 9:d7eb815cb057 160 out_old = out;
benkatz 9:d7eb815cb057 161 return out;
benkatz 3:6a0015d88d06 162 }
benkatz 3:6a0015d88d06 163
benkatz 0:4e1c4df6aabd 164 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 7:dc5f27756e02 165 if (ZSense->read() == 1 & flag == 0){
benkatz 0:4e1c4df6aabd 166 if (ZSense->read() == 1){
benkatz 8:10ae7bc88d6e 167 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 168 TIM3->CNT = 0x000;
benkatz 1:b8bceb4daed5 169 //state = !state;
benkatz 1:b8bceb4daed5 170 //ZTest->write(state);
benkatz 7:dc5f27756e02 171 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 172 //flag = 1;
benkatz 7:dc5f27756e02 173 }
benkatz 7:dc5f27756e02 174 }
benkatz 7:dc5f27756e02 175 }
benkatz 7:dc5f27756e02 176
benkatz 7:dc5f27756e02 177 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 7:dc5f27756e02 178 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 179 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 180 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 181 flag = 0;
benkatz 7:dc5f27756e02 182 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 7:dc5f27756e02 183 if(dir != dir){
benkatz 7:dc5f27756e02 184 dir = dir;
benkatz 7:dc5f27756e02 185 rotations += dir;
benkatz 7:dc5f27756e02 186 }
benkatz 7:dc5f27756e02 187
benkatz 7:dc5f27756e02 188 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 189
benkatz 0:4e1c4df6aabd 190 }
benkatz 0:4e1c4df6aabd 191 }
benkatz 0:4e1c4df6aabd 192 }