yezhong yezhong / Motor_DRV8323RH_for_2019

11

Dependencies:   mbed-dev-f303 FastPWM3

PositionSensor/PositionSensor.cpp@53:89565c1d9115, 2021-12-27 (annotated)

Committer:
yezhong
Date:
Mon Dec 27 02:47:12 2021 +0000
Revision:
53:89565c1d9115
Parent:
52:8fff6f1a3f50
Child:
54:4ce8f97be6ae
1

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"
yezhong 53:89565c1d9115 5
yezhong 53:89565c1d9115 6 #include "user_config.h"
benkatz 22:60276ba87ac6 7 //#include "offset_lut.h"
benkatz 6:4ee1cdc43aa8 8 //#include <math.h>
benkatz 0:4e1c4df6aabd 9
benkatz 14:80ce59119d93 10 PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){
benkatz 14:80ce59119d93 11 //_CPR = CPR;
benkatz 14:80ce59119d93 12 _CPR = CPR;
benkatz 14:80ce59119d93 13 _ppairs = ppairs;
benkatz 22:60276ba87ac6 14 ElecOffset = offset;
benkatz 14:80ce59119d93 15 rotations = 0;
benkatz 14:80ce59119d93 16 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 36:d88fd41f60a6 17 spi->format(16, 1); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words
benkatz 26:2b865c00d7e9 18 spi->frequency(25000000);
benkatz 37:c0f352d6e8e3 19
benkatz 14:80ce59119d93 20 cs = new DigitalOut(PA_15);
benkatz 14:80ce59119d93 21 cs->write(1);
benkatz 22:60276ba87ac6 22 readAngleCmd = 0xffff;
benkatz 37:c0f352d6e8e3 23 MechOffset = offset;
benkatz 22:60276ba87ac6 24 modPosition = 0;
benkatz 22:60276ba87ac6 25 oldModPosition = 0;
benkatz 22:60276ba87ac6 26 oldVel = 0;
benkatz 22:60276ba87ac6 27 raw = 0;
benkatz 22:60276ba87ac6 28 }
benkatz 22:60276ba87ac6 29
benkatz 45:aadebe074af6 30 void PositionSensorAM5147::Sample(float dt){
benkatz 37:c0f352d6e8e3 31 GPIOA->ODR &= ~(1 << 15);
benkatz 36:d88fd41f60a6 32 raw = spi->write(readAngleCmd);
Rushu 47:55bdc4d5096b 33 raw &= 0x3FFF;
Rushu 47:55bdc4d5096b 34 //raw = spi->write(0);
Rushu 47:55bdc4d5096b 35 //raw = raw>>1; //Extract last 14 bits
Rushu 47:55bdc4d5096b 36 //raw = raw>>2; //Extract last 14 bits
benkatz 37:c0f352d6e8e3 37 GPIOA->ODR |= (1 << 15);
benkatz 25:f5741040c4bb 38 int off_1 = offset_lut[raw>>7];
benkatz 25:f5741040c4bb 39 int off_2 = offset_lut[((raw>>7)+1)%128];
benkatz 25:f5741040c4bb 40 int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries
benkatz 25:f5741040c4bb 41 int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration
benkatz 22:60276ba87ac6 42 if(angle - old_counts > _CPR/2){
benkatz 22:60276ba87ac6 43 rotations -= 1;
benkatz 22:60276ba87ac6 44 }
benkatz 22:60276ba87ac6 45 else if (angle - old_counts < -_CPR/2){
benkatz 22:60276ba87ac6 46 rotations += 1;
benkatz 22:60276ba87ac6 47 }
yezhong 53:89565c1d9115 48 //////
yezhong 53:89565c1d9115 49 aa=rotations;
yezhong 53:89565c1d9115 50 /////
benkatz 22:60276ba87ac6 51 old_counts = angle;
benkatz 22:60276ba87ac6 52 oldModPosition = modPosition;
benkatz 45:aadebe074af6 53 modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR);
benkatz 45:aadebe074af6 54 position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
yezhong 53:89565c1d9115 55 MechPosition = position - MechOffset;
benkatz 45:aadebe074af6 56 float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset;
benkatz 45:aadebe074af6 57 if(elec < 0) elec += 2.0f*PI;
benkatz 45:aadebe074af6 58 else if(elec > 2.0f*PI) elec -= 2.0f*PI ;
benkatz 22:60276ba87ac6 59 ElecPosition = elec;
benkatz 22:60276ba87ac6 60
yezhong 53:89565c1d9115 61
benkatz 22:60276ba87ac6 62 float vel;
benkatz 45:aadebe074af6 63 //if(modPosition<.1f && oldModPosition>6.1f){
benkatz 45:aadebe074af6 64
benkatz 45:aadebe074af6 65 if((modPosition-oldModPosition) < -3.0f){
benkatz 45:aadebe074af6 66 vel = (modPosition - oldModPosition + 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 67 }
benkatz 45:aadebe074af6 68 //else if(modPosition>6.1f && oldModPosition<0.1f){
benkatz 45:aadebe074af6 69 else if((modPosition - oldModPosition) > 3.0f){
benkatz 45:aadebe074af6 70 vel = (modPosition - oldModPosition - 2.0f*PI)/dt;
benkatz 22:60276ba87ac6 71 }
benkatz 22:60276ba87ac6 72 else{
benkatz 45:aadebe074af6 73 vel = (modPosition-oldModPosition)/dt;
benkatz 22:60276ba87ac6 74 }
benkatz 22:60276ba87ac6 75
benkatz 35:69b24894c11d 76 int n = 40;
benkatz 22:60276ba87ac6 77 float sum = vel;
benkatz 22:60276ba87ac6 78 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 79 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 80 sum += velVec[n-i];
benkatz 22:60276ba87ac6 81 }
benkatz 22:60276ba87ac6 82 velVec[0] = vel;
benkatz 45:aadebe074af6 83 MechVelocity = sum/((float)n);
benkatz 22:60276ba87ac6 84 ElecVelocity = MechVelocity*_ppairs;
benkatz 34:51647c6c500d 85 ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity;
benkatz 14:80ce59119d93 86 }
benkatz 8:10ae7bc88d6e 87
benkatz 14:80ce59119d93 88 int PositionSensorAM5147::GetRawPosition(){
benkatz 22:60276ba87ac6 89 return raw;
benkatz 14:80ce59119d93 90 }
benkatz 38:67e4e1453a4b 91
benkatz 38:67e4e1453a4b 92 float PositionSensorAM5147::GetMechPositionFixed(){
benkatz 38:67e4e1453a4b 93 return MechPosition+MechOffset;
benkatz 38:67e4e1453a4b 94 }
benkatz 14:80ce59119d93 95
benkatz 14:80ce59119d93 96 float PositionSensorAM5147::GetMechPosition(){
benkatz 14:80ce59119d93 97 return MechPosition;
benkatz 14:80ce59119d93 98 }
benkatz 14:80ce59119d93 99
benkatz 14:80ce59119d93 100 float PositionSensorAM5147::GetElecPosition(){
benkatz 22:60276ba87ac6 101 return ElecPosition;
benkatz 14:80ce59119d93 102 }
benkatz 14:80ce59119d93 103
benkatz 37:c0f352d6e8e3 104 float PositionSensorAM5147::GetElecVelocity(){
benkatz 37:c0f352d6e8e3 105 return ElecVelocity;
benkatz 37:c0f352d6e8e3 106 }
benkatz 37:c0f352d6e8e3 107
benkatz 14:80ce59119d93 108 float PositionSensorAM5147::GetMechVelocity(){
benkatz 22:60276ba87ac6 109 return MechVelocity;
benkatz 14:80ce59119d93 110 }
benkatz 14:80ce59119d93 111
benkatz 14:80ce59119d93 112 void PositionSensorAM5147::ZeroPosition(){
benkatz 14:80ce59119d93 113 rotations = 0;
yezhong 53:89565c1d9115 114 //rotations= quanshu;
benkatz 28:8c7e29f719c5 115 MechOffset = 0;
yezhong 53:89565c1d9115 116 //MechOffset = GetMechPosition();
benkatz 45:aadebe074af6 117 Sample(.00025f);
benkatz 14:80ce59119d93 118 MechOffset = GetMechPosition();
benkatz 14:80ce59119d93 119 }
benkatz 0:4e1c4df6aabd 120
benkatz 22:60276ba87ac6 121 void PositionSensorAM5147::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 122 ElecOffset = offset;
benkatz 22:60276ba87ac6 123 }
benkatz 37:c0f352d6e8e3 124 void PositionSensorAM5147::SetMechOffset(float offset){
benkatz 37:c0f352d6e8e3 125 MechOffset = offset;
benkatz 37:c0f352d6e8e3 126 }
benkatz 22:60276ba87ac6 127
benkatz 22:60276ba87ac6 128 int PositionSensorAM5147::GetCPR(){
benkatz 22:60276ba87ac6 129 return _CPR;
benkatz 22:60276ba87ac6 130 }
benkatz 22:60276ba87ac6 131
benkatz 22:60276ba87ac6 132
benkatz 22:60276ba87ac6 133 void PositionSensorAM5147::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 134 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 135 }
benkatz 20:bf9ea5125d52 136
benkatz 22:60276ba87ac6 137
benkatz 37:c0f352d6e8e3 138
benkatz 10:370851e6e132 139 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
benkatz 10:370851e6e132 140 _ppairs = ppairs;
benkatz 0:4e1c4df6aabd 141 _CPR = CPR;
benkatz 0:4e1c4df6aabd 142 _offset = offset;
benkatz 3:6a0015d88d06 143 MechPosition = 0;
benkatz 22:60276ba87ac6 144 out_old = 0;
benkatz 22:60276ba87ac6 145 oldVel = 0;
benkatz 22:60276ba87ac6 146 raw = 0;
benkatz 0:4e1c4df6aabd 147
benkatz 0:4e1c4df6aabd 148 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 149 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 150
benkatz 0:4e1c4df6aabd 151 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 152 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 153 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 0:4e1c4df6aabd 154 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 155 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 156 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 157
benkatz 0:4e1c4df6aabd 158 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 159 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 160 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 161
benkatz 22:60276ba87ac6 162 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 22:60276ba87ac6 163 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 22:60276ba87ac6 164 TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 22:60276ba87ac6 165 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 22:60276ba87ac6 166 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 22:60276ba87ac6 167 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 22:60276ba87ac6 168 TIM3->ARR = CPR; // IM auto-reload register
benkatz 0:4e1c4df6aabd 169
benkatz 7:dc5f27756e02 170 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 171
benkatz 3:6a0015d88d06 172 // Extra Timer for velocity measurement
benkatz 9:d7eb815cb057 173
benkatz 3:6a0015d88d06 174 __TIM2_CLK_ENABLE();
benkatz 22:60276ba87ac6 175 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 176
benkatz 3:6a0015d88d06 177 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 178 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 22:60276ba87ac6 179 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 22:60276ba87ac6 180 TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 181
benkatz 3:6a0015d88d06 182 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 183 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 184 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 185 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 186
benkatz 3:6a0015d88d06 187
benkatz 22:60276ba87ac6 188 TIM2->CR1 = 0x01; //CEN, enable timer
benkatz 9:d7eb815cb057 189
benkatz 22:60276ba87ac6 190 TIM3->CR1 = 0x01; // CEN
benkatz 8:10ae7bc88d6e 191 ZPulse = new InterruptIn(PC_4);
benkatz 8:10ae7bc88d6e 192 ZSense = new DigitalIn(PC_4);
benkatz 8:10ae7bc88d6e 193 //ZPulse = new InterruptIn(PB_0);
benkatz 8:10ae7bc88d6e 194 //ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 195 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 196 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
yezhong 52:8fff6f1a3f50 197 // ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 0:4e1c4df6aabd 198 ZPulse->mode(PullDown);
benkatz 7:dc5f27756e02 199 flag = 0;
benkatz 0:4e1c4df6aabd 200
benkatz 0:4e1c4df6aabd 201
benkatz 1:b8bceb4daed5 202 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 203 //ZTest->write(1);
benkatz 22:60276ba87ac6 204 }
benkatz 0:4e1c4df6aabd 205
benkatz 45:aadebe074af6 206 void PositionSensorEncoder::Sample(float dt){
benkatz 0:4e1c4df6aabd 207
benkatz 22:60276ba87ac6 208 }
benkatz 22:60276ba87ac6 209
benkatz 0:4e1c4df6aabd 210
benkatz 22:60276ba87ac6 211 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 8:10ae7bc88d6e 212 int raw = TIM3->CNT;
benkatz 7:dc5f27756e02 213 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 7:dc5f27756e02 214 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 0:4e1c4df6aabd 215 }
benkatz 0:4e1c4df6aabd 216
benkatz 22:60276ba87ac6 217 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 7:dc5f27756e02 218 int raw = TIM3->CNT;
benkatz 10:370851e6e132 219 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 220 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 221 return elec;
benkatz 0:4e1c4df6aabd 222 }
benkatz 0:4e1c4df6aabd 223
benkatz 13:a3fa0a31b114 224
benkatz 3:6a0015d88d06 225
benkatz 3:6a0015d88d06 226 float PositionSensorEncoder::GetMechVelocity(){
benkatz 22:60276ba87ac6 227
benkatz 9:d7eb815cb057 228 float out = 0;
benkatz 3:6a0015d88d06 229 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 22:60276ba87ac6 230 int currentTime = TIM2->CNT;
benkatz 22:60276ba87ac6 231 if(currentTime > 2000000){rawPeriod = currentTime;}
benkatz 3:6a0015d88d06 232 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 22:60276ba87ac6 233 float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 22:60276ba87ac6 234 if(isinf(meas)){ meas = 1;}
benkatz 11:c83b18d41e54 235 out = meas;
benkatz 22:60276ba87ac6 236 //if(meas == oldVel){
benkatz 22:60276ba87ac6 237 // out = .9f*out_old;
benkatz 22:60276ba87ac6 238 // }
benkatz 22:60276ba87ac6 239
benkatz 22:60276ba87ac6 240
benkatz 22:60276ba87ac6 241 oldVel = meas;
benkatz 22:60276ba87ac6 242 out_old = out;
benkatz 22:60276ba87ac6 243 int n = 16;
benkatz 22:60276ba87ac6 244 float sum = out;
benkatz 22:60276ba87ac6 245 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 246 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 247 sum += velVec[n-i];
benkatz 9:d7eb815cb057 248 }
benkatz 22:60276ba87ac6 249 velVec[0] = out;
benkatz 22:60276ba87ac6 250 return sum/(float)n;
benkatz 3:6a0015d88d06 251 }
benkatz 13:a3fa0a31b114 252
benkatz 13:a3fa0a31b114 253 float PositionSensorEncoder::GetElecVelocity(){
benkatz 13:a3fa0a31b114 254 return _ppairs*GetMechVelocity();
benkatz 13:a3fa0a31b114 255 }
benkatz 13:a3fa0a31b114 256
benkatz 0:4e1c4df6aabd 257 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 7:dc5f27756e02 258 if (ZSense->read() == 1 & flag == 0){
benkatz 0:4e1c4df6aabd 259 if (ZSense->read() == 1){
benkatz 8:10ae7bc88d6e 260 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 261 TIM3->CNT = 0x000;
benkatz 1:b8bceb4daed5 262 //state = !state;
benkatz 1:b8bceb4daed5 263 //ZTest->write(state);
benkatz 7:dc5f27756e02 264 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 265 //flag = 1;
benkatz 7:dc5f27756e02 266 }
benkatz 7:dc5f27756e02 267 }
benkatz 7:dc5f27756e02 268 }
benkatz 22:60276ba87ac6 269
benkatz 22:60276ba87ac6 270 void PositionSensorEncoder::ZeroPosition(void){
benkatz 22:60276ba87ac6 271
benkatz 22:60276ba87ac6 272 }
benkatz 7:dc5f27756e02 273
benkatz 7:dc5f27756e02 274 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 7:dc5f27756e02 275 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 276 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 277 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 278 flag = 0;
benkatz 7:dc5f27756e02 279 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 7:dc5f27756e02 280 if(dir != dir){
benkatz 7:dc5f27756e02 281 dir = dir;
benkatz 7:dc5f27756e02 282 rotations += dir;
benkatz 7:dc5f27756e02 283 }
benkatz 7:dc5f27756e02 284
benkatz 7:dc5f27756e02 285 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 286
benkatz 0:4e1c4df6aabd 287 }
benkatz 0:4e1c4df6aabd 288 }
benkatz 22:60276ba87ac6 289 }
benkatz 22:60276ba87ac6 290 void PositionSensorEncoder::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 291
benkatz 22:60276ba87ac6 292 }
benkatz 22:60276ba87ac6 293
benkatz 22:60276ba87ac6 294 int PositionSensorEncoder::GetRawPosition(void){
benkatz 22:60276ba87ac6 295 return 0;
benkatz 22:60276ba87ac6 296 }
benkatz 22:60276ba87ac6 297
benkatz 22:60276ba87ac6 298 int PositionSensorEncoder::GetCPR(){
benkatz 22:60276ba87ac6 299 return _CPR;
benkatz 22:60276ba87ac6 300 }
benkatz 22:60276ba87ac6 301
benkatz 22:60276ba87ac6 302
benkatz 22:60276ba87ac6 303 void PositionSensorEncoder::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 304 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 305 }