Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

PositionSensor/PositionSensor.cpp@119:ad7a6af6fba3, 2017-04-25 (annotated)

Committer:
bwang
Date:
Tue Apr 25 04:49:46 2017 +0000
Revision:
119:ad7a6af6fba3
Parent:
28:ed9c1ca386fd
Child:
120:57b6f3b1356b
running code, new phase (5.7614) working sensor calibration code, some new PositionSensor functions

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 0:bac9c3a3a6ca 1
bwang 0:bac9c3a3a6ca 2 #include "mbed.h"
bwang 0:bac9c3a3a6ca 3 #include "PositionSensor.h"
bwang 15:b583cd30b063 4 #include "config_motor.h"
bwang 0:bac9c3a3a6ca 5 #include <math.h>
bwang 0:bac9c3a3a6ca 6
bwang 0:bac9c3a3a6ca 7 /*
bwang 0:bac9c3a3a6ca 8 * CPR: counts per revolution (4x lines per revolution)
bwang 0:bac9c3a3a6ca 9 * offset: mechanical position offset in radians
bwang 0:bac9c3a3a6ca 10 */
bwang 0:bac9c3a3a6ca 11
bwang 9:074575151e4b 12 PositionSensorEncoder::PositionSensorEncoder(int cpr, float offset) {
bwang 9:074575151e4b 13 _cpr = cpr;
bwang 0:bac9c3a3a6ca 14 _offset = offset;
bwang 119:ad7a6af6fba3 15 _lobes = (int) (RESOLVER_LOBES);
bwang 119:ad7a6af6fba3 16
bwang 28:ed9c1ca386fd 17 _valid = false;
bwang 119:ad7a6af6fba3 18 _rotations = 0;
bwang 0:bac9c3a3a6ca 19
bwang 0:bac9c3a3a6ca 20 __GPIOA_CLK_ENABLE();
bwang 0:bac9c3a3a6ca 21 __GPIOB_CLK_ENABLE();
bwang 0:bac9c3a3a6ca 22
bwang 0:bac9c3a3a6ca 23 GPIOB->MODER |= GPIO_MODER_MODER3_1;
bwang 0:bac9c3a3a6ca 24 GPIOB->OTYPER |= GPIO_OTYPER_OT_3 | GPIO_OTYPER_OT_10 ;
bwang 0:bac9c3a3a6ca 25 GPIOB->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR3 | GPIO_OSPEEDER_OSPEEDR10 ;
bwang 0:bac9c3a3a6ca 26 GPIOB->AFR[0] |= 0x00001000 ;
bwang 0:bac9c3a3a6ca 27
bwang 0:bac9c3a3a6ca 28 GPIOA->MODER |= GPIO_MODER_MODER15_1;
bwang 0:bac9c3a3a6ca 29 GPIOA->OTYPER |= GPIO_OTYPER_OT_15;
bwang 0:bac9c3a3a6ca 30 GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR15;
bwang 0:bac9c3a3a6ca 31 GPIOA->AFR[1] |= 0x10000000 ;
bwang 0:bac9c3a3a6ca 32
bwang 0:bac9c3a3a6ca 33 __TIM2_CLK_ENABLE();
bwang 0:bac9c3a3a6ca 34
bwang 0:bac9c3a3a6ca 35 TIM2->CR1 = 0x0001;
bwang 0:bac9c3a3a6ca 36 TIM2->SMCR = TIM_ENCODERMODE_TI12;
bwang 26:955a1dfc2705 37 TIM2->CCMR1 = 0x0101;
bwang 0:bac9c3a3a6ca 38 TIM2->CCMR2 = 0x0000;
bwang 0:bac9c3a3a6ca 39 TIM2->CCER = 0x0011;
bwang 0:bac9c3a3a6ca 40 TIM2->PSC = 0x0000;
bwang 0:bac9c3a3a6ca 41 TIM2->ARR = 0xffffffff;
bwang 0:bac9c3a3a6ca 42
bwang 0:bac9c3a3a6ca 43 TIM2->CNT = 0;
bwang 0:bac9c3a3a6ca 44
bwang 0:bac9c3a3a6ca 45 ZPulse = new InterruptIn(PB_12);
bwang 0:bac9c3a3a6ca 46 ZSense = new DigitalIn(PB_12);
bwang 0:bac9c3a3a6ca 47 ZPulse->enable_irq();
bwang 0:bac9c3a3a6ca 48 ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
bwang 0:bac9c3a3a6ca 49 ZPulse->mode(PullDown);
bwang 0:bac9c3a3a6ca 50 }
bwang 0:bac9c3a3a6ca 51
bwang 0:bac9c3a3a6ca 52 /*
bwang 0:bac9c3a3a6ca 53 * Returns mechanical position in radians
bwang 0:bac9c3a3a6ca 54 */
bwang 0:bac9c3a3a6ca 55
bwang 0:bac9c3a3a6ca 56 float PositionSensorEncoder::GetMechPosition() {
bwang 0:bac9c3a3a6ca 57 int raw = TIM2->CNT;
bwang 9:074575151e4b 58 if (raw < 0) raw += _cpr;
bwang 9:074575151e4b 59 if (raw >= _cpr) raw -= _cpr;
bwang 24:5e18a87a0e95 60 float mp = fmod(1 / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset), 2 * PI);
bwang 24:5e18a87a0e95 61 if (mp < 0){
bwang 24:5e18a87a0e95 62 return mp + 2 * PI;
bwang 15:b583cd30b063 63 } else {
bwang 24:5e18a87a0e95 64 return mp;
bwang 0:bac9c3a3a6ca 65 }
bwang 0:bac9c3a3a6ca 66 }
bwang 0:bac9c3a3a6ca 67
bwang 0:bac9c3a3a6ca 68 /*
bwang 0:bac9c3a3a6ca 69 * Returns electrical position in radians
bwang 0:bac9c3a3a6ca 70 */
bwang 0:bac9c3a3a6ca 71
bwang 0:bac9c3a3a6ca 72 float PositionSensorEncoder::GetElecPosition() {
bwang 0:bac9c3a3a6ca 73 int raw = TIM2->CNT;
bwang 9:074575151e4b 74 if (raw < 0) raw += _cpr;
bwang 9:074575151e4b 75 if (raw >= _cpr) raw -= _cpr;
bwang 24:5e18a87a0e95 76 float ep = fmod((POLE_PAIRS / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset)), 2 * PI);
bwang 24:5e18a87a0e95 77 if (ep < 0) {
bwang 24:5e18a87a0e95 78 return ep + 2 * PI;
bwang 0:bac9c3a3a6ca 79 } else {
bwang 24:5e18a87a0e95 80 return ep;
bwang 0:bac9c3a3a6ca 81 }
bwang 0:bac9c3a3a6ca 82 }
bwang 0:bac9c3a3a6ca 83
bwang 119:ad7a6af6fba3 84 /*
bwang 119:ad7a6af6fba3 85 * Return the electrical position in radians
bwang 119:ad7a6af6fba3 86 */
bwang 119:ad7a6af6fba3 87
bwang 119:ad7a6af6fba3 88 float PositionSensorEncoder::GetUnlimitedElecPosition() {
bwang 119:ad7a6af6fba3 89 int raw = TIM2->CNT;
bwang 119:ad7a6af6fba3 90 float ep = POLE_PAIRS / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset);
bwang 119:ad7a6af6fba3 91 return ep + _rotations * 2 * PI;
bwang 119:ad7a6af6fba3 92 }
bwang 119:ad7a6af6fba3 93
bwang 0:bac9c3a3a6ca 94 void PositionSensorEncoder::ZeroEncoderCount(void){
bwang 0:bac9c3a3a6ca 95 if (ZSense->read() == 1){
bwang 0:bac9c3a3a6ca 96 if (ZSense->read() == 1){
bwang 24:5e18a87a0e95 97 TIM2->CNT = 0;
bwang 119:ad7a6af6fba3 98 int dir = TIM2->CR1 & (1 << 4);
bwang 119:ad7a6af6fba3 99 if (!_valid) {
bwang 119:ad7a6af6fba3 100 _valid = true;
bwang 119:ad7a6af6fba3 101 return;
bwang 119:ad7a6af6fba3 102 }
bwang 119:ad7a6af6fba3 103 if (dir == 0) {//upcounting
bwang 119:ad7a6af6fba3 104 _rotations++;
bwang 119:ad7a6af6fba3 105 } else {//downcounting
bwang 119:ad7a6af6fba3 106 _rotations--;
bwang 119:ad7a6af6fba3 107 }
bwang 0:bac9c3a3a6ca 108 }
bwang 0:bac9c3a3a6ca 109 }
bwang 28:ed9c1ca386fd 110 }
bwang 28:ed9c1ca386fd 111
bwang 28:ed9c1ca386fd 112 bool PositionSensorEncoder::IsValid() {
bwang 28:ed9c1ca386fd 113 return _valid;
bwang 0:bac9c3a3a6ca 114 }