Ben Katz / HKC_MiniCheetah

Mini Cheetah Actuator Branch Superseded by: https://github.com/bgkatz/motorcontrol

Dependencies:   mbed-dev-f303 FastPWM3

Superseded by: https://github.com/bgkatz/motorcontrol

PositionSensor/PositionSensor.cpp@45:26801179208e, 2018-06-27 (annotated)

Committer:
benkatz
Date:
Wed Jun 27 03:44:44 2018 +0000
Revision:
45:26801179208e
Parent:
38:67e4e1453a4b
Child:
46:2d4b1dafcfe3
Lots of changes, seems to have broken calibration

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 22:60276ba87ac6 4 //#include "offset_lut.h"
benkatz 6:4ee1cdc43aa8 5 //#include <math.h>
benkatz 0:4e1c4df6aabd 6
benkatz 14:80ce59119d93 7 PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){
benkatz 14:80ce59119d93 8 //_CPR = CPR;
benkatz 14:80ce59119d93 9 _CPR = CPR;
benkatz 14:80ce59119d93 10 _ppairs = ppairs;
benkatz 22:60276ba87ac6 11 ElecOffset = offset;
benkatz 14:80ce59119d93 12 rotations = 0;
benkatz 14:80ce59119d93 13 spi = new SPI(PC_12, PC_11, PC_10);
benkatz 36:d88fd41f60a6 14 spi->format(16, 1); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words
benkatz 26:2b865c00d7e9 15 spi->frequency(25000000);
benkatz 37:c0f352d6e8e3 16
benkatz 14:80ce59119d93 17 cs = new DigitalOut(PA_15);
benkatz 14:80ce59119d93 18 cs->write(1);
benkatz 22:60276ba87ac6 19 readAngleCmd = 0xffff;
benkatz 37:c0f352d6e8e3 20 MechOffset = offset;
benkatz 22:60276ba87ac6 21 modPosition = 0;
benkatz 22:60276ba87ac6 22 oldModPosition = 0;
benkatz 22:60276ba87ac6 23 oldVel = 0;
benkatz 22:60276ba87ac6 24 raw = 0;
benkatz 22:60276ba87ac6 25 }
benkatz 22:60276ba87ac6 26
benkatz 22:60276ba87ac6 27 void PositionSensorAM5147::Sample(){
benkatz 36:d88fd41f60a6 28 raw = spi->write(readAngleCmd);
benkatz 25:f5741040c4bb 29 raw &= 0x3FFF; //Extract last 14 bits
benkatz 25:f5741040c4bb 30 int off_1 = offset_lut[raw>>7];
benkatz 25:f5741040c4bb 31 int off_2 = offset_lut[((raw>>7)+1)%128];
benkatz 25:f5741040c4bb 32 int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries
benkatz 25:f5741040c4bb 33 int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration
benkatz 22:60276ba87ac6 34 if(angle - old_counts > _CPR/2){
benkatz 22:60276ba87ac6 35 rotations -= 1;
benkatz 22:60276ba87ac6 36 }
benkatz 22:60276ba87ac6 37 else if (angle - old_counts < -_CPR/2){
benkatz 22:60276ba87ac6 38 rotations += 1;
benkatz 22:60276ba87ac6 39 }
benkatz 22:60276ba87ac6 40
benkatz 22:60276ba87ac6 41 old_counts = angle;
benkatz 22:60276ba87ac6 42 oldModPosition = modPosition;
benkatz 22:60276ba87ac6 43 modPosition = ((6.28318530718f * ((float) angle))/ (float)_CPR);
benkatz 22:60276ba87ac6 44 position = (6.28318530718f * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
benkatz 22:60276ba87ac6 45 MechPosition = position - MechOffset;
benkatz 26:2b865c00d7e9 46 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset;
benkatz 22:60276ba87ac6 47 if(elec < 0) elec += 6.28318530718f;
benkatz 23:2adf23ee0305 48 else if(elec > 6.28318530718f) elec -= 6.28318530718f ;
benkatz 22:60276ba87ac6 49 ElecPosition = elec;
benkatz 22:60276ba87ac6 50
benkatz 22:60276ba87ac6 51 float vel;
benkatz 22:60276ba87ac6 52 if(modPosition<.1f && oldModPosition>6.1f){
benkatz 22:60276ba87ac6 53 vel = (modPosition - oldModPosition + 6.28318530718f)*40000.0f;
benkatz 22:60276ba87ac6 54 }
benkatz 22:60276ba87ac6 55 else if(modPosition>6.1f && oldModPosition<0.1f){
benkatz 22:60276ba87ac6 56 vel = (modPosition - oldModPosition - 6.28318530718f)*40000.0f;
benkatz 22:60276ba87ac6 57 }
benkatz 22:60276ba87ac6 58 else{
benkatz 22:60276ba87ac6 59 vel = (modPosition-oldModPosition)*40000.0f;
benkatz 22:60276ba87ac6 60 }
benkatz 22:60276ba87ac6 61
benkatz 35:69b24894c11d 62 int n = 40;
benkatz 22:60276ba87ac6 63 float sum = vel;
benkatz 22:60276ba87ac6 64 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 65 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 66 sum += velVec[n-i];
benkatz 22:60276ba87ac6 67 }
benkatz 22:60276ba87ac6 68 velVec[0] = vel;
benkatz 22:60276ba87ac6 69 MechVelocity = sum/(float)n;
benkatz 22:60276ba87ac6 70 ElecVelocity = MechVelocity*_ppairs;
benkatz 34:51647c6c500d 71 ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity;
benkatz 14:80ce59119d93 72 }
benkatz 8:10ae7bc88d6e 73
benkatz 14:80ce59119d93 74 int PositionSensorAM5147::GetRawPosition(){
benkatz 22:60276ba87ac6 75 return raw;
benkatz 14:80ce59119d93 76 }
benkatz 38:67e4e1453a4b 77
benkatz 38:67e4e1453a4b 78 float PositionSensorAM5147::GetMechPositionFixed(){
benkatz 38:67e4e1453a4b 79 return MechPosition+MechOffset;
benkatz 38:67e4e1453a4b 80 }
benkatz 14:80ce59119d93 81
benkatz 14:80ce59119d93 82 float PositionSensorAM5147::GetMechPosition(){
benkatz 14:80ce59119d93 83 return MechPosition;
benkatz 14:80ce59119d93 84 }
benkatz 14:80ce59119d93 85
benkatz 14:80ce59119d93 86 float PositionSensorAM5147::GetElecPosition(){
benkatz 22:60276ba87ac6 87 return ElecPosition;
benkatz 14:80ce59119d93 88 }
benkatz 14:80ce59119d93 89
benkatz 37:c0f352d6e8e3 90 float PositionSensorAM5147::GetElecVelocity(){
benkatz 37:c0f352d6e8e3 91 return ElecVelocity;
benkatz 37:c0f352d6e8e3 92 }
benkatz 37:c0f352d6e8e3 93
benkatz 14:80ce59119d93 94 float PositionSensorAM5147::GetMechVelocity(){
benkatz 22:60276ba87ac6 95 return MechVelocity;
benkatz 14:80ce59119d93 96 }
benkatz 14:80ce59119d93 97
benkatz 14:80ce59119d93 98 void PositionSensorAM5147::ZeroPosition(){
benkatz 14:80ce59119d93 99 rotations = 0;
benkatz 28:8c7e29f719c5 100 MechOffset = 0;
benkatz 28:8c7e29f719c5 101 Sample();
benkatz 14:80ce59119d93 102 MechOffset = GetMechPosition();
benkatz 14:80ce59119d93 103 }
benkatz 0:4e1c4df6aabd 104
benkatz 22:60276ba87ac6 105 void PositionSensorAM5147::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 106 ElecOffset = offset;
benkatz 22:60276ba87ac6 107 }
benkatz 37:c0f352d6e8e3 108 void PositionSensorAM5147::SetMechOffset(float offset){
benkatz 37:c0f352d6e8e3 109 MechOffset = offset;
benkatz 37:c0f352d6e8e3 110 }
benkatz 22:60276ba87ac6 111
benkatz 22:60276ba87ac6 112 int PositionSensorAM5147::GetCPR(){
benkatz 22:60276ba87ac6 113 return _CPR;
benkatz 22:60276ba87ac6 114 }
benkatz 22:60276ba87ac6 115
benkatz 22:60276ba87ac6 116
benkatz 22:60276ba87ac6 117 void PositionSensorAM5147::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 118 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 119 }
benkatz 20:bf9ea5125d52 120
benkatz 22:60276ba87ac6 121
benkatz 37:c0f352d6e8e3 122
benkatz 10:370851e6e132 123 PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
benkatz 10:370851e6e132 124 _ppairs = ppairs;
benkatz 0:4e1c4df6aabd 125 _CPR = CPR;
benkatz 0:4e1c4df6aabd 126 _offset = offset;
benkatz 3:6a0015d88d06 127 MechPosition = 0;
benkatz 22:60276ba87ac6 128 out_old = 0;
benkatz 22:60276ba87ac6 129 oldVel = 0;
benkatz 22:60276ba87ac6 130 raw = 0;
benkatz 0:4e1c4df6aabd 131
benkatz 0:4e1c4df6aabd 132 // Enable clock for GPIOA
benkatz 0:4e1c4df6aabd 133 __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
benkatz 0:4e1c4df6aabd 134
benkatz 0:4e1c4df6aabd 135 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 136 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 137 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
benkatz 0:4e1c4df6aabd 138 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 139 GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 140 GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
benkatz 0:4e1c4df6aabd 141
benkatz 0:4e1c4df6aabd 142 // configure TIM3 as Encoder input
benkatz 0:4e1c4df6aabd 143 // Enable clock for TIM3
benkatz 0:4e1c4df6aabd 144 __TIM3_CLK_ENABLE();
benkatz 0:4e1c4df6aabd 145
benkatz 22:60276ba87ac6 146 TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
benkatz 22:60276ba87ac6 147 TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
benkatz 22:60276ba87ac6 148 TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
benkatz 22:60276ba87ac6 149 TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
benkatz 22:60276ba87ac6 150 TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
benkatz 22:60276ba87ac6 151 TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
benkatz 22:60276ba87ac6 152 TIM3->ARR = CPR; // IM auto-reload register
benkatz 0:4e1c4df6aabd 153
benkatz 7:dc5f27756e02 154 TIM3->CNT = 0x000; //reset the counter before we use it
benkatz 0:4e1c4df6aabd 155
benkatz 3:6a0015d88d06 156 // Extra Timer for velocity measurement
benkatz 9:d7eb815cb057 157
benkatz 3:6a0015d88d06 158 __TIM2_CLK_ENABLE();
benkatz 22:60276ba87ac6 159 TIM3->CR2 = 0x030; //MMS = 101
benkatz 3:6a0015d88d06 160
benkatz 3:6a0015d88d06 161 TIM2->PSC = 0x03;
benkatz 3:6a0015d88d06 162 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 22:60276ba87ac6 163 TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
benkatz 22:60276ba87ac6 164 TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC
benkatz 3:6a0015d88d06 165
benkatz 3:6a0015d88d06 166 //TIM2->CR2 |= TIM_CR2_TI1S;
benkatz 3:6a0015d88d06 167 TIM2->CCER |= TIM_CCER_CC1P;
benkatz 3:6a0015d88d06 168 //TIM2->CCER |= TIM_CCER_CC1NP;
benkatz 3:6a0015d88d06 169 TIM2->CCER |= TIM_CCER_CC1E;
benkatz 3:6a0015d88d06 170
benkatz 3:6a0015d88d06 171
benkatz 22:60276ba87ac6 172 TIM2->CR1 = 0x01; //CEN, enable timer
benkatz 9:d7eb815cb057 173
benkatz 22:60276ba87ac6 174 TIM3->CR1 = 0x01; // CEN
benkatz 8:10ae7bc88d6e 175 ZPulse = new InterruptIn(PC_4);
benkatz 8:10ae7bc88d6e 176 ZSense = new DigitalIn(PC_4);
benkatz 8:10ae7bc88d6e 177 //ZPulse = new InterruptIn(PB_0);
benkatz 8:10ae7bc88d6e 178 //ZSense = new DigitalIn(PB_0);
benkatz 0:4e1c4df6aabd 179 ZPulse->enable_irq();
benkatz 0:4e1c4df6aabd 180 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
benkatz 7:dc5f27756e02 181 //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
benkatz 0:4e1c4df6aabd 182 ZPulse->mode(PullDown);
benkatz 7:dc5f27756e02 183 flag = 0;
benkatz 0:4e1c4df6aabd 184
benkatz 0:4e1c4df6aabd 185
benkatz 1:b8bceb4daed5 186 //ZTest = new DigitalOut(PC_2);
benkatz 1:b8bceb4daed5 187 //ZTest->write(1);
benkatz 22:60276ba87ac6 188 }
benkatz 0:4e1c4df6aabd 189
benkatz 22:60276ba87ac6 190 void PositionSensorEncoder::Sample(){
benkatz 0:4e1c4df6aabd 191
benkatz 22:60276ba87ac6 192 }
benkatz 22:60276ba87ac6 193
benkatz 0:4e1c4df6aabd 194
benkatz 22:60276ba87ac6 195 float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
benkatz 8:10ae7bc88d6e 196 int raw = TIM3->CNT;
benkatz 7:dc5f27756e02 197 float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
benkatz 7:dc5f27756e02 198 return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
benkatz 0:4e1c4df6aabd 199 }
benkatz 0:4e1c4df6aabd 200
benkatz 22:60276ba87ac6 201 float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
benkatz 7:dc5f27756e02 202 int raw = TIM3->CNT;
benkatz 10:370851e6e132 203 float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
benkatz 8:10ae7bc88d6e 204 if(elec < 0) elec += 6.28318530718f;
benkatz 8:10ae7bc88d6e 205 return elec;
benkatz 0:4e1c4df6aabd 206 }
benkatz 0:4e1c4df6aabd 207
benkatz 13:a3fa0a31b114 208
benkatz 3:6a0015d88d06 209
benkatz 3:6a0015d88d06 210 float PositionSensorEncoder::GetMechVelocity(){
benkatz 22:60276ba87ac6 211
benkatz 9:d7eb815cb057 212 float out = 0;
benkatz 3:6a0015d88d06 213 float rawPeriod = TIM2->CCR1; //Clock Ticks
benkatz 22:60276ba87ac6 214 int currentTime = TIM2->CNT;
benkatz 22:60276ba87ac6 215 if(currentTime > 2000000){rawPeriod = currentTime;}
benkatz 3:6a0015d88d06 216 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
benkatz 22:60276ba87ac6 217 float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
benkatz 22:60276ba87ac6 218 if(isinf(meas)){ meas = 1;}
benkatz 11:c83b18d41e54 219 out = meas;
benkatz 22:60276ba87ac6 220 //if(meas == oldVel){
benkatz 22:60276ba87ac6 221 // out = .9f*out_old;
benkatz 22:60276ba87ac6 222 // }
benkatz 22:60276ba87ac6 223
benkatz 22:60276ba87ac6 224
benkatz 22:60276ba87ac6 225 oldVel = meas;
benkatz 22:60276ba87ac6 226 out_old = out;
benkatz 22:60276ba87ac6 227 int n = 16;
benkatz 22:60276ba87ac6 228 float sum = out;
benkatz 22:60276ba87ac6 229 for (int i = 1; i < (n); i++){
benkatz 22:60276ba87ac6 230 velVec[n - i] = velVec[n-i-1];
benkatz 22:60276ba87ac6 231 sum += velVec[n-i];
benkatz 9:d7eb815cb057 232 }
benkatz 22:60276ba87ac6 233 velVec[0] = out;
benkatz 22:60276ba87ac6 234 return sum/(float)n;
benkatz 3:6a0015d88d06 235 }
benkatz 13:a3fa0a31b114 236
benkatz 13:a3fa0a31b114 237 float PositionSensorEncoder::GetElecVelocity(){
benkatz 13:a3fa0a31b114 238 return _ppairs*GetMechVelocity();
benkatz 13:a3fa0a31b114 239 }
benkatz 13:a3fa0a31b114 240
benkatz 0:4e1c4df6aabd 241 void PositionSensorEncoder::ZeroEncoderCount(void){
benkatz 7:dc5f27756e02 242 if (ZSense->read() == 1 & flag == 0){
benkatz 0:4e1c4df6aabd 243 if (ZSense->read() == 1){
benkatz 8:10ae7bc88d6e 244 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 245 TIM3->CNT = 0x000;
benkatz 1:b8bceb4daed5 246 //state = !state;
benkatz 1:b8bceb4daed5 247 //ZTest->write(state);
benkatz 7:dc5f27756e02 248 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 249 //flag = 1;
benkatz 7:dc5f27756e02 250 }
benkatz 7:dc5f27756e02 251 }
benkatz 7:dc5f27756e02 252 }
benkatz 22:60276ba87ac6 253
benkatz 22:60276ba87ac6 254 void PositionSensorEncoder::ZeroPosition(void){
benkatz 22:60276ba87ac6 255
benkatz 22:60276ba87ac6 256 }
benkatz 7:dc5f27756e02 257
benkatz 7:dc5f27756e02 258 void PositionSensorEncoder::ZeroEncoderCountDown(void){
benkatz 7:dc5f27756e02 259 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 260 if (ZSense->read() == 0){
benkatz 7:dc5f27756e02 261 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 262 flag = 0;
benkatz 7:dc5f27756e02 263 float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
benkatz 7:dc5f27756e02 264 if(dir != dir){
benkatz 7:dc5f27756e02 265 dir = dir;
benkatz 7:dc5f27756e02 266 rotations += dir;
benkatz 7:dc5f27756e02 267 }
benkatz 7:dc5f27756e02 268
benkatz 7:dc5f27756e02 269 GPIOC->ODR ^= (1 << 4);
benkatz 7:dc5f27756e02 270
benkatz 0:4e1c4df6aabd 271 }
benkatz 0:4e1c4df6aabd 272 }
benkatz 22:60276ba87ac6 273 }
benkatz 22:60276ba87ac6 274 void PositionSensorEncoder::SetElecOffset(float offset){
benkatz 22:60276ba87ac6 275
benkatz 22:60276ba87ac6 276 }
benkatz 22:60276ba87ac6 277
benkatz 22:60276ba87ac6 278 int PositionSensorEncoder::GetRawPosition(void){
benkatz 22:60276ba87ac6 279 return 0;
benkatz 22:60276ba87ac6 280 }
benkatz 22:60276ba87ac6 281
benkatz 22:60276ba87ac6 282 int PositionSensorEncoder::GetCPR(){
benkatz 22:60276ba87ac6 283 return _CPR;
benkatz 22:60276ba87ac6 284 }
benkatz 22:60276ba87ac6 285
benkatz 22:60276ba87ac6 286
benkatz 22:60276ba87ac6 287 void PositionSensorEncoder::WriteLUT(int new_lut[128]){
benkatz 22:60276ba87ac6 288 memcpy(offset_lut, new_lut, sizeof(offset_lut));
benkatz 22:60276ba87ac6 289 }