1
Dependencies: mbed-dev-f303 FastPWM3
Position_Torque_Sensor/Position_Torque_Sensor.cpp@56:4f73fa55baa0, 2020-05-14 (annotated)
- Committer:
- shaorui
- Date:
- Thu May 14 10:44:41 2020 +0000
- Revision:
- 56:4f73fa55baa0
1
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shaorui | 56:4f73fa55baa0 | 1 | |
shaorui | 56:4f73fa55baa0 | 2 | #include "mbed.h" |
shaorui | 56:4f73fa55baa0 | 3 | #include "Position_Torque_Sensor.h" |
shaorui | 56:4f73fa55baa0 | 4 | #include "../math_ops.h" |
shaorui | 56:4f73fa55baa0 | 5 | //#include "offset_lut.h" |
shaorui | 56:4f73fa55baa0 | 6 | //#include <math.h> |
shaorui | 56:4f73fa55baa0 | 7 | |
shaorui | 56:4f73fa55baa0 | 8 | SensorAM5147::SensorAM5147(int CPR, float offset, int ppairs){ |
shaorui | 56:4f73fa55baa0 | 9 | //_CPR = CPR; |
shaorui | 56:4f73fa55baa0 | 10 | _CPR = CPR; |
shaorui | 56:4f73fa55baa0 | 11 | _ppairs = ppairs; |
shaorui | 56:4f73fa55baa0 | 12 | ElecOffset = offset; |
shaorui | 56:4f73fa55baa0 | 13 | rotations = 0; |
shaorui | 56:4f73fa55baa0 | 14 | spi = new SPI(PB_15, PB_14, PB_13); //MOSI MISO SCK (Electrical Board spi2) |
shaorui | 56:4f73fa55baa0 | 15 | spi->format(16, 1); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words |
shaorui | 56:4f73fa55baa0 | 16 | spi->frequency(25000000); |
shaorui | 56:4f73fa55baa0 | 17 | //spi->frequency(10000000); |
shaorui | 56:4f73fa55baa0 | 18 | |
shaorui | 56:4f73fa55baa0 | 19 | cs2 = new DigitalOut(PB_12); //spi2 CS2 |
shaorui | 56:4f73fa55baa0 | 20 | cs1 = new DigitalOut(PB_10); //spi2 CS1 |
shaorui | 56:4f73fa55baa0 | 21 | cs1->write(1); |
shaorui | 56:4f73fa55baa0 | 22 | readAngleCmd = 0xffff; |
shaorui | 56:4f73fa55baa0 | 23 | MechOffset = offset; |
shaorui | 56:4f73fa55baa0 | 24 | modPosition = 0; |
shaorui | 56:4f73fa55baa0 | 25 | oldModPosition = 0; |
shaorui | 56:4f73fa55baa0 | 26 | oldVel = 0; |
shaorui | 56:4f73fa55baa0 | 27 | raw = 0; |
shaorui | 56:4f73fa55baa0 | 28 | } |
shaorui | 56:4f73fa55baa0 | 29 | |
shaorui | 56:4f73fa55baa0 | 30 | void SensorAM5147::Sample(float dt){ |
shaorui | 56:4f73fa55baa0 | 31 | GPIOB->ODR &= ~(1 << 10); |
shaorui | 56:4f73fa55baa0 | 32 | |
shaorui | 56:4f73fa55baa0 | 33 | raw = spi->write(readAngleCmd); |
shaorui | 56:4f73fa55baa0 | 34 | raw &= 0x3FFF; |
shaorui | 56:4f73fa55baa0 | 35 | //raw = spi->write(0); |
shaorui | 56:4f73fa55baa0 | 36 | //raw = raw>>1; //Extract last 14 bits |
shaorui | 56:4f73fa55baa0 | 37 | GPIOB->ODR |= (1 << 10); |
shaorui | 56:4f73fa55baa0 | 38 | int off_1 = offset_lut[raw>>7]; |
shaorui | 56:4f73fa55baa0 | 39 | int off_2 = offset_lut[((raw>>7)+1)%128]; |
shaorui | 56:4f73fa55baa0 | 40 | int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries |
shaorui | 56:4f73fa55baa0 | 41 | int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration |
shaorui | 56:4f73fa55baa0 | 42 | if(angle - old_counts > _CPR/2){ |
shaorui | 56:4f73fa55baa0 | 43 | rotations -= 1; |
shaorui | 56:4f73fa55baa0 | 44 | } |
shaorui | 56:4f73fa55baa0 | 45 | else if (angle - old_counts < -_CPR/2){ |
shaorui | 56:4f73fa55baa0 | 46 | rotations += 1; |
shaorui | 56:4f73fa55baa0 | 47 | } |
shaorui | 56:4f73fa55baa0 | 48 | |
shaorui | 56:4f73fa55baa0 | 49 | old_counts = angle; |
shaorui | 56:4f73fa55baa0 | 50 | oldModPosition = modPosition; |
shaorui | 56:4f73fa55baa0 | 51 | modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR); |
shaorui | 56:4f73fa55baa0 | 52 | position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR; |
shaorui | 56:4f73fa55baa0 | 53 | MechPosition = position - MechOffset; |
shaorui | 56:4f73fa55baa0 | 54 | float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset; |
shaorui | 56:4f73fa55baa0 | 55 | if(elec < 0) elec += 2.0f*PI; |
shaorui | 56:4f73fa55baa0 | 56 | else if(elec > 2.0f*PI) elec -= 2.0f*PI ; |
shaorui | 56:4f73fa55baa0 | 57 | ElecPosition = elec; |
shaorui | 56:4f73fa55baa0 | 58 | |
shaorui | 56:4f73fa55baa0 | 59 | float vel; |
shaorui | 56:4f73fa55baa0 | 60 | //if(modPosition<.1f && oldModPosition>6.1f){ |
shaorui | 56:4f73fa55baa0 | 61 | |
shaorui | 56:4f73fa55baa0 | 62 | if((modPosition-oldModPosition) < -3.0f){ |
shaorui | 56:4f73fa55baa0 | 63 | vel = (modPosition - oldModPosition + 2.0f*PI)/dt; |
shaorui | 56:4f73fa55baa0 | 64 | } |
shaorui | 56:4f73fa55baa0 | 65 | //else if(modPosition>6.1f && oldModPosition<0.1f){ |
shaorui | 56:4f73fa55baa0 | 66 | else if((modPosition - oldModPosition) > 3.0f){ |
shaorui | 56:4f73fa55baa0 | 67 | vel = (modPosition - oldModPosition - 2.0f*PI)/dt; |
shaorui | 56:4f73fa55baa0 | 68 | } |
shaorui | 56:4f73fa55baa0 | 69 | else{ |
shaorui | 56:4f73fa55baa0 | 70 | vel = (modPosition-oldModPosition)/dt; |
shaorui | 56:4f73fa55baa0 | 71 | } |
shaorui | 56:4f73fa55baa0 | 72 | |
shaorui | 56:4f73fa55baa0 | 73 | int n = 40; |
shaorui | 56:4f73fa55baa0 | 74 | float sum = vel; |
shaorui | 56:4f73fa55baa0 | 75 | for (int i = 1; i < (n); i++){ |
shaorui | 56:4f73fa55baa0 | 76 | velVec[n - i] = velVec[n-i-1]; |
shaorui | 56:4f73fa55baa0 | 77 | sum += velVec[n-i]; |
shaorui | 56:4f73fa55baa0 | 78 | } |
shaorui | 56:4f73fa55baa0 | 79 | velVec[0] = vel; |
shaorui | 56:4f73fa55baa0 | 80 | MechVelocity = sum/((float)n); |
shaorui | 56:4f73fa55baa0 | 81 | ElecVelocity = MechVelocity*_ppairs; |
shaorui | 56:4f73fa55baa0 | 82 | ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity; |
shaorui | 56:4f73fa55baa0 | 83 | } |
shaorui | 56:4f73fa55baa0 | 84 | |
shaorui | 56:4f73fa55baa0 | 85 | int SensorAM5147::GetRawPosition(){ |
shaorui | 56:4f73fa55baa0 | 86 | return raw; |
shaorui | 56:4f73fa55baa0 | 87 | } |
shaorui | 56:4f73fa55baa0 | 88 | |
shaorui | 56:4f73fa55baa0 | 89 | float SensorAM5147::GetMechPositionFixed(){ |
shaorui | 56:4f73fa55baa0 | 90 | return MechPosition+MechOffset; |
shaorui | 56:4f73fa55baa0 | 91 | } |
shaorui | 56:4f73fa55baa0 | 92 | |
shaorui | 56:4f73fa55baa0 | 93 | float SensorAM5147::GetMechPosition(){ |
shaorui | 56:4f73fa55baa0 | 94 | return MechPosition; |
shaorui | 56:4f73fa55baa0 | 95 | } |
shaorui | 56:4f73fa55baa0 | 96 | |
shaorui | 56:4f73fa55baa0 | 97 | float SensorAM5147::GetElecPosition(){ |
shaorui | 56:4f73fa55baa0 | 98 | return ElecPosition; |
shaorui | 56:4f73fa55baa0 | 99 | } |
shaorui | 56:4f73fa55baa0 | 100 | |
shaorui | 56:4f73fa55baa0 | 101 | float SensorAM5147::GetElecVelocity(){ |
shaorui | 56:4f73fa55baa0 | 102 | return ElecVelocity; |
shaorui | 56:4f73fa55baa0 | 103 | } |
shaorui | 56:4f73fa55baa0 | 104 | |
shaorui | 56:4f73fa55baa0 | 105 | float SensorAM5147::GetMechVelocity(){ |
shaorui | 56:4f73fa55baa0 | 106 | return MechVelocity; |
shaorui | 56:4f73fa55baa0 | 107 | } |
shaorui | 56:4f73fa55baa0 | 108 | |
shaorui | 56:4f73fa55baa0 | 109 | void SensorAM5147::ZeroPosition(){ |
shaorui | 56:4f73fa55baa0 | 110 | rotations = 0; |
shaorui | 56:4f73fa55baa0 | 111 | MechOffset = 0; |
shaorui | 56:4f73fa55baa0 | 112 | Sample(.00025f); |
shaorui | 56:4f73fa55baa0 | 113 | MechOffset = GetMechPosition(); |
shaorui | 56:4f73fa55baa0 | 114 | } |
shaorui | 56:4f73fa55baa0 | 115 | |
shaorui | 56:4f73fa55baa0 | 116 | void SensorAM5147::SetElecOffset(float offset){ |
shaorui | 56:4f73fa55baa0 | 117 | ElecOffset = offset; |
shaorui | 56:4f73fa55baa0 | 118 | } |
shaorui | 56:4f73fa55baa0 | 119 | void SensorAM5147::SetMechOffset(float offset){ |
shaorui | 56:4f73fa55baa0 | 120 | MechOffset = offset; |
shaorui | 56:4f73fa55baa0 | 121 | } |
shaorui | 56:4f73fa55baa0 | 122 | |
shaorui | 56:4f73fa55baa0 | 123 | int SensorAM5147::GetCPR(){ |
shaorui | 56:4f73fa55baa0 | 124 | return _CPR; |
shaorui | 56:4f73fa55baa0 | 125 | } |
shaorui | 56:4f73fa55baa0 | 126 | |
shaorui | 56:4f73fa55baa0 | 127 | |
shaorui | 56:4f73fa55baa0 | 128 | void SensorAM5147::WriteLUT(int new_lut[128]){ |
shaorui | 56:4f73fa55baa0 | 129 | memcpy(offset_lut, new_lut, sizeof(offset_lut)); |
shaorui | 56:4f73fa55baa0 | 130 | } |
shaorui | 56:4f73fa55baa0 | 131 | |
shaorui | 56:4f73fa55baa0 | 132 | |
shaorui | 56:4f73fa55baa0 | 133 | |
shaorui | 56:4f73fa55baa0 | 134 | SensorEncoder::SensorEncoder(int CPR, float offset, int ppairs) { |
shaorui | 56:4f73fa55baa0 | 135 | _ppairs = ppairs; |
shaorui | 56:4f73fa55baa0 | 136 | _CPR = CPR; |
shaorui | 56:4f73fa55baa0 | 137 | _offset = offset; |
shaorui | 56:4f73fa55baa0 | 138 | MechPosition = 0; |
shaorui | 56:4f73fa55baa0 | 139 | out_old = 0; |
shaorui | 56:4f73fa55baa0 | 140 | oldVel = 0; |
shaorui | 56:4f73fa55baa0 | 141 | raw = 0; |
shaorui | 56:4f73fa55baa0 | 142 | |
shaorui | 56:4f73fa55baa0 | 143 | // Enable clock for GPIOA |
shaorui | 56:4f73fa55baa0 | 144 | __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h |
shaorui | 56:4f73fa55baa0 | 145 | |
shaorui | 56:4f73fa55baa0 | 146 | GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */ |
shaorui | 56:4f73fa55baa0 | 147 | GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */ |
shaorui | 56:4f73fa55baa0 | 148 | GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */ |
shaorui | 56:4f73fa55baa0 | 149 | GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */ |
shaorui | 56:4f73fa55baa0 | 150 | GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
shaorui | 56:4f73fa55baa0 | 151 | GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */ |
shaorui | 56:4f73fa55baa0 | 152 | |
shaorui | 56:4f73fa55baa0 | 153 | // configure TIM3 as Encoder input |
shaorui | 56:4f73fa55baa0 | 154 | // Enable clock for TIM3 |
shaorui | 56:4f73fa55baa0 | 155 | __TIM3_CLK_ENABLE(); |
shaorui | 56:4f73fa55baa0 | 156 | |
shaorui | 56:4f73fa55baa0 | 157 | TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1 |
shaorui | 56:4f73fa55baa0 | 158 | TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register |
shaorui | 56:4f73fa55baa0 | 159 | TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering |
shaorui | 56:4f73fa55baa0 | 160 | TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2 |
shaorui | 56:4f73fa55baa0 | 161 | TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register |
shaorui | 56:4f73fa55baa0 | 162 | TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler |
shaorui | 56:4f73fa55baa0 | 163 | TIM3->ARR = CPR; // IM auto-reload register |
shaorui | 56:4f73fa55baa0 | 164 | |
shaorui | 56:4f73fa55baa0 | 165 | TIM3->CNT = 0x000; //reset the counter before we use it |
shaorui | 56:4f73fa55baa0 | 166 | |
shaorui | 56:4f73fa55baa0 | 167 | // Extra Timer for velocity measurement |
shaorui | 56:4f73fa55baa0 | 168 | |
shaorui | 56:4f73fa55baa0 | 169 | __TIM2_CLK_ENABLE(); |
shaorui | 56:4f73fa55baa0 | 170 | TIM3->CR2 = 0x030; //MMS = 101 |
shaorui | 56:4f73fa55baa0 | 171 | |
shaorui | 56:4f73fa55baa0 | 172 | TIM2->PSC = 0x03; |
shaorui | 56:4f73fa55baa0 | 173 | //TIM2->CR2 |= TIM_CR2_TI1S; |
shaorui | 56:4f73fa55baa0 | 174 | TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge) |
shaorui | 56:4f73fa55baa0 | 175 | TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC |
shaorui | 56:4f73fa55baa0 | 176 | |
shaorui | 56:4f73fa55baa0 | 177 | //TIM2->CR2 |= TIM_CR2_TI1S; |
shaorui | 56:4f73fa55baa0 | 178 | TIM2->CCER |= TIM_CCER_CC1P; |
shaorui | 56:4f73fa55baa0 | 179 | //TIM2->CCER |= TIM_CCER_CC1NP; |
shaorui | 56:4f73fa55baa0 | 180 | TIM2->CCER |= TIM_CCER_CC1E; |
shaorui | 56:4f73fa55baa0 | 181 | |
shaorui | 56:4f73fa55baa0 | 182 | |
shaorui | 56:4f73fa55baa0 | 183 | TIM2->CR1 = 0x01; //CEN, enable timer |
shaorui | 56:4f73fa55baa0 | 184 | |
shaorui | 56:4f73fa55baa0 | 185 | TIM3->CR1 = 0x01; // CEN |
shaorui | 56:4f73fa55baa0 | 186 | ZPulse = new InterruptIn(PC_4); |
shaorui | 56:4f73fa55baa0 | 187 | ZSense = new DigitalIn(PC_4); |
shaorui | 56:4f73fa55baa0 | 188 | //ZPulse = new InterruptIn(PB_0); |
shaorui | 56:4f73fa55baa0 | 189 | //ZSense = new DigitalIn(PB_0); |
shaorui | 56:4f73fa55baa0 | 190 | ZPulse->enable_irq(); |
shaorui | 56:4f73fa55baa0 | 191 | ZPulse->rise(this, &SensorEncoder::ZeroEncoderCount); |
shaorui | 56:4f73fa55baa0 | 192 | //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown); |
shaorui | 56:4f73fa55baa0 | 193 | ZPulse->mode(PullDown); |
shaorui | 56:4f73fa55baa0 | 194 | flag = 0; |
shaorui | 56:4f73fa55baa0 | 195 | |
shaorui | 56:4f73fa55baa0 | 196 | |
shaorui | 56:4f73fa55baa0 | 197 | //ZTest = new DigitalOut(PC_2); |
shaorui | 56:4f73fa55baa0 | 198 | //ZTest->write(1); |
shaorui | 56:4f73fa55baa0 | 199 | } |
shaorui | 56:4f73fa55baa0 | 200 | |
shaorui | 56:4f73fa55baa0 | 201 | void SensorEncoder::Sample(float dt){ |
shaorui | 56:4f73fa55baa0 | 202 | |
shaorui | 56:4f73fa55baa0 | 203 | } |
shaorui | 56:4f73fa55baa0 | 204 | |
shaorui | 56:4f73fa55baa0 | 205 | |
shaorui | 56:4f73fa55baa0 | 206 | float SensorEncoder::GetMechPosition() { //returns rotor angle in radians. |
shaorui | 56:4f73fa55baa0 | 207 | int raw = TIM3->CNT; |
shaorui | 56:4f73fa55baa0 | 208 | float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR); |
shaorui | 56:4f73fa55baa0 | 209 | return (float) unsigned_mech;// + 6.28318530718f* (float) rotations; |
shaorui | 56:4f73fa55baa0 | 210 | } |
shaorui | 56:4f73fa55baa0 | 211 | |
shaorui | 56:4f73fa55baa0 | 212 | float SensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians. |
shaorui | 56:4f73fa55baa0 | 213 | int raw = TIM3->CNT; |
shaorui | 56:4f73fa55baa0 | 214 | float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset; |
shaorui | 56:4f73fa55baa0 | 215 | if(elec < 0) elec += 6.28318530718f; |
shaorui | 56:4f73fa55baa0 | 216 | return elec; |
shaorui | 56:4f73fa55baa0 | 217 | } |
shaorui | 56:4f73fa55baa0 | 218 | |
shaorui | 56:4f73fa55baa0 | 219 | |
shaorui | 56:4f73fa55baa0 | 220 | |
shaorui | 56:4f73fa55baa0 | 221 | float SensorEncoder::GetMechVelocity(){ |
shaorui | 56:4f73fa55baa0 | 222 | |
shaorui | 56:4f73fa55baa0 | 223 | float out = 0; |
shaorui | 56:4f73fa55baa0 | 224 | float rawPeriod = TIM2->CCR1; //Clock Ticks |
shaorui | 56:4f73fa55baa0 | 225 | int currentTime = TIM2->CNT; |
shaorui | 56:4f73fa55baa0 | 226 | if(currentTime > 2000000){rawPeriod = currentTime;} |
shaorui | 56:4f73fa55baa0 | 227 | float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1 |
shaorui | 56:4f73fa55baa0 | 228 | float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod; |
shaorui | 56:4f73fa55baa0 | 229 | if(isinf(meas)){ meas = 1;} |
shaorui | 56:4f73fa55baa0 | 230 | out = meas; |
shaorui | 56:4f73fa55baa0 | 231 | //if(meas == oldVel){ |
shaorui | 56:4f73fa55baa0 | 232 | // out = .9f*out_old; |
shaorui | 56:4f73fa55baa0 | 233 | // } |
shaorui | 56:4f73fa55baa0 | 234 | |
shaorui | 56:4f73fa55baa0 | 235 | |
shaorui | 56:4f73fa55baa0 | 236 | oldVel = meas; |
shaorui | 56:4f73fa55baa0 | 237 | out_old = out; |
shaorui | 56:4f73fa55baa0 | 238 | int n = 16; |
shaorui | 56:4f73fa55baa0 | 239 | float sum = out; |
shaorui | 56:4f73fa55baa0 | 240 | for (int i = 1; i < (n); i++){ |
shaorui | 56:4f73fa55baa0 | 241 | velVec[n - i] = velVec[n-i-1]; |
shaorui | 56:4f73fa55baa0 | 242 | sum += velVec[n-i]; |
shaorui | 56:4f73fa55baa0 | 243 | } |
shaorui | 56:4f73fa55baa0 | 244 | velVec[0] = out; |
shaorui | 56:4f73fa55baa0 | 245 | return sum/(float)n; |
shaorui | 56:4f73fa55baa0 | 246 | } |
shaorui | 56:4f73fa55baa0 | 247 | |
shaorui | 56:4f73fa55baa0 | 248 | float SensorEncoder::GetElecVelocity(){ |
shaorui | 56:4f73fa55baa0 | 249 | return _ppairs*GetMechVelocity(); |
shaorui | 56:4f73fa55baa0 | 250 | } |
shaorui | 56:4f73fa55baa0 | 251 | |
shaorui | 56:4f73fa55baa0 | 252 | void SensorEncoder::ZeroEncoderCount(void){ |
shaorui | 56:4f73fa55baa0 | 253 | if (ZSense->read() == 1 & flag == 0){ |
shaorui | 56:4f73fa55baa0 | 254 | if (ZSense->read() == 1){ |
shaorui | 56:4f73fa55baa0 | 255 | GPIOC->ODR ^= (1 << 4); |
shaorui | 56:4f73fa55baa0 | 256 | TIM3->CNT = 0x000; |
shaorui | 56:4f73fa55baa0 | 257 | //state = !state; |
shaorui | 56:4f73fa55baa0 | 258 | //ZTest->write(state); |
shaorui | 56:4f73fa55baa0 | 259 | GPIOC->ODR ^= (1 << 4); |
shaorui | 56:4f73fa55baa0 | 260 | //flag = 1; |
shaorui | 56:4f73fa55baa0 | 261 | } |
shaorui | 56:4f73fa55baa0 | 262 | } |
shaorui | 56:4f73fa55baa0 | 263 | } |
shaorui | 56:4f73fa55baa0 | 264 | |
shaorui | 56:4f73fa55baa0 | 265 | void SensorEncoder::ZeroPosition(void){ |
shaorui | 56:4f73fa55baa0 | 266 | |
shaorui | 56:4f73fa55baa0 | 267 | } |
shaorui | 56:4f73fa55baa0 | 268 | |
shaorui | 56:4f73fa55baa0 | 269 | void SensorEncoder::ZeroEncoderCountDown(void){ |
shaorui | 56:4f73fa55baa0 | 270 | if (ZSense->read() == 0){ |
shaorui | 56:4f73fa55baa0 | 271 | if (ZSense->read() == 0){ |
shaorui | 56:4f73fa55baa0 | 272 | GPIOC->ODR ^= (1 << 4); |
shaorui | 56:4f73fa55baa0 | 273 | flag = 0; |
shaorui | 56:4f73fa55baa0 | 274 | float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; |
shaorui | 56:4f73fa55baa0 | 275 | if(dir != dir){ |
shaorui | 56:4f73fa55baa0 | 276 | dir = dir; |
shaorui | 56:4f73fa55baa0 | 277 | rotations += dir; |
shaorui | 56:4f73fa55baa0 | 278 | } |
shaorui | 56:4f73fa55baa0 | 279 | |
shaorui | 56:4f73fa55baa0 | 280 | GPIOC->ODR ^= (1 << 4); |
shaorui | 56:4f73fa55baa0 | 281 | |
shaorui | 56:4f73fa55baa0 | 282 | } |
shaorui | 56:4f73fa55baa0 | 283 | } |
shaorui | 56:4f73fa55baa0 | 284 | } |
shaorui | 56:4f73fa55baa0 | 285 | void SensorEncoder::SetElecOffset(float offset){ |
shaorui | 56:4f73fa55baa0 | 286 | |
shaorui | 56:4f73fa55baa0 | 287 | } |
shaorui | 56:4f73fa55baa0 | 288 | |
shaorui | 56:4f73fa55baa0 | 289 | int SensorEncoder::GetRawPosition(void){ |
shaorui | 56:4f73fa55baa0 | 290 | return 0; |
shaorui | 56:4f73fa55baa0 | 291 | } |
shaorui | 56:4f73fa55baa0 | 292 | |
shaorui | 56:4f73fa55baa0 | 293 | int SensorEncoder::GetCPR(){ |
shaorui | 56:4f73fa55baa0 | 294 | return _CPR; |
shaorui | 56:4f73fa55baa0 | 295 | } |
shaorui | 56:4f73fa55baa0 | 296 | |
shaorui | 56:4f73fa55baa0 | 297 | |
shaorui | 56:4f73fa55baa0 | 298 | void SensorEncoder::WriteLUT(int new_lut[128]){ |
shaorui | 56:4f73fa55baa0 | 299 | memcpy(offset_lut, new_lut, sizeof(offset_lut)); |
shaorui | 56:4f73fa55baa0 | 300 | } |