Bayley Wang
/
foc-ed_in_the_bot_compact
robot
PositionSensor/PositionSensor.cpp@79:d0b1bb3dcf68, 2017-02-28 (annotated)
- Committer:
- bwang
- Date:
- Tue Feb 28 03:32:21 2017 +0000
- Revision:
- 79:d0b1bb3dcf68
- Parent:
- 28:ed9c1ca386fd
- Child:
- 119:ad7a6af6fba3
added FlashWriter class
Who changed what in which revision?
User | Revision | Line number | New 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 | 28:ed9c1ca386fd | 15 | _valid = false; |
bwang | 0:bac9c3a3a6ca | 16 | |
bwang | 0:bac9c3a3a6ca | 17 | __GPIOA_CLK_ENABLE(); |
bwang | 0:bac9c3a3a6ca | 18 | __GPIOB_CLK_ENABLE(); |
bwang | 0:bac9c3a3a6ca | 19 | |
bwang | 0:bac9c3a3a6ca | 20 | GPIOB->MODER |= GPIO_MODER_MODER3_1; |
bwang | 0:bac9c3a3a6ca | 21 | GPIOB->OTYPER |= GPIO_OTYPER_OT_3 | GPIO_OTYPER_OT_10 ; |
bwang | 0:bac9c3a3a6ca | 22 | GPIOB->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR3 | GPIO_OSPEEDER_OSPEEDR10 ; |
bwang | 0:bac9c3a3a6ca | 23 | GPIOB->AFR[0] |= 0x00001000 ; |
bwang | 0:bac9c3a3a6ca | 24 | |
bwang | 0:bac9c3a3a6ca | 25 | GPIOA->MODER |= GPIO_MODER_MODER15_1; |
bwang | 0:bac9c3a3a6ca | 26 | GPIOA->OTYPER |= GPIO_OTYPER_OT_15; |
bwang | 0:bac9c3a3a6ca | 27 | GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR15; |
bwang | 0:bac9c3a3a6ca | 28 | GPIOA->AFR[1] |= 0x10000000 ; |
bwang | 0:bac9c3a3a6ca | 29 | |
bwang | 0:bac9c3a3a6ca | 30 | __TIM2_CLK_ENABLE(); |
bwang | 0:bac9c3a3a6ca | 31 | |
bwang | 0:bac9c3a3a6ca | 32 | TIM2->CR1 = 0x0001; |
bwang | 0:bac9c3a3a6ca | 33 | TIM2->SMCR = TIM_ENCODERMODE_TI12; |
bwang | 26:955a1dfc2705 | 34 | TIM2->CCMR1 = 0x0101; |
bwang | 0:bac9c3a3a6ca | 35 | TIM2->CCMR2 = 0x0000; |
bwang | 0:bac9c3a3a6ca | 36 | TIM2->CCER = 0x0011; |
bwang | 0:bac9c3a3a6ca | 37 | TIM2->PSC = 0x0000; |
bwang | 0:bac9c3a3a6ca | 38 | TIM2->ARR = 0xffffffff; |
bwang | 0:bac9c3a3a6ca | 39 | |
bwang | 0:bac9c3a3a6ca | 40 | TIM2->CNT = 0; |
bwang | 0:bac9c3a3a6ca | 41 | |
bwang | 0:bac9c3a3a6ca | 42 | ZPulse = new InterruptIn(PB_12); |
bwang | 0:bac9c3a3a6ca | 43 | ZSense = new DigitalIn(PB_12); |
bwang | 0:bac9c3a3a6ca | 44 | ZPulse->enable_irq(); |
bwang | 0:bac9c3a3a6ca | 45 | ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount); |
bwang | 0:bac9c3a3a6ca | 46 | ZPulse->mode(PullDown); |
bwang | 0:bac9c3a3a6ca | 47 | } |
bwang | 0:bac9c3a3a6ca | 48 | |
bwang | 0:bac9c3a3a6ca | 49 | /* |
bwang | 0:bac9c3a3a6ca | 50 | * Returns mechanical position in radians |
bwang | 0:bac9c3a3a6ca | 51 | */ |
bwang | 0:bac9c3a3a6ca | 52 | |
bwang | 0:bac9c3a3a6ca | 53 | float PositionSensorEncoder::GetMechPosition() { |
bwang | 0:bac9c3a3a6ca | 54 | int raw = TIM2->CNT; |
bwang | 9:074575151e4b | 55 | if (raw < 0) raw += _cpr; |
bwang | 9:074575151e4b | 56 | if (raw >= _cpr) raw -= _cpr; |
bwang | 24:5e18a87a0e95 | 57 | float mp = fmod(1 / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset), 2 * PI); |
bwang | 24:5e18a87a0e95 | 58 | if (mp < 0){ |
bwang | 24:5e18a87a0e95 | 59 | return mp + 2 * PI; |
bwang | 15:b583cd30b063 | 60 | } else { |
bwang | 24:5e18a87a0e95 | 61 | return mp; |
bwang | 0:bac9c3a3a6ca | 62 | } |
bwang | 0:bac9c3a3a6ca | 63 | } |
bwang | 0:bac9c3a3a6ca | 64 | |
bwang | 0:bac9c3a3a6ca | 65 | /* |
bwang | 0:bac9c3a3a6ca | 66 | * Returns electrical position in radians |
bwang | 0:bac9c3a3a6ca | 67 | */ |
bwang | 0:bac9c3a3a6ca | 68 | |
bwang | 0:bac9c3a3a6ca | 69 | float PositionSensorEncoder::GetElecPosition() { |
bwang | 0:bac9c3a3a6ca | 70 | int raw = TIM2->CNT; |
bwang | 9:074575151e4b | 71 | if (raw < 0) raw += _cpr; |
bwang | 9:074575151e4b | 72 | if (raw >= _cpr) raw -= _cpr; |
bwang | 24:5e18a87a0e95 | 73 | float ep = fmod((POLE_PAIRS / RESOLVER_LOBES * (2 * PI * (raw) / (float)_cpr + _offset)), 2 * PI); |
bwang | 24:5e18a87a0e95 | 74 | if (ep < 0) { |
bwang | 24:5e18a87a0e95 | 75 | return ep + 2 * PI; |
bwang | 0:bac9c3a3a6ca | 76 | } else { |
bwang | 24:5e18a87a0e95 | 77 | return ep; |
bwang | 0:bac9c3a3a6ca | 78 | } |
bwang | 0:bac9c3a3a6ca | 79 | } |
bwang | 0:bac9c3a3a6ca | 80 | |
bwang | 0:bac9c3a3a6ca | 81 | void PositionSensorEncoder::ZeroEncoderCount(void){ |
bwang | 0:bac9c3a3a6ca | 82 | if (ZSense->read() == 1){ |
bwang | 0:bac9c3a3a6ca | 83 | if (ZSense->read() == 1){ |
bwang | 24:5e18a87a0e95 | 84 | TIM2->CNT = 0; |
bwang | 28:ed9c1ca386fd | 85 | _valid = true; |
bwang | 0:bac9c3a3a6ca | 86 | } |
bwang | 0:bac9c3a3a6ca | 87 | } |
bwang | 28:ed9c1ca386fd | 88 | } |
bwang | 28:ed9c1ca386fd | 89 | |
bwang | 28:ed9c1ca386fd | 90 | bool PositionSensorEncoder::IsValid() { |
bwang | 28:ed9c1ca386fd | 91 | return _valid; |
bwang | 0:bac9c3a3a6ca | 92 | } |