2021-12-15 07:48:49 -08:00
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2021-12-15 07:26:36 -08:00
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#include "encoder/ENC_SINCOS.h"
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#include "ch.h"
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#include "hal.h"
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#include "stm32f4xx_conf.h"
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#include "mc_interface.h"
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#include "utils.h"
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#include <math.h>
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2021-12-20 05:18:51 -08:00
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#include "encoder/encoder_hwconf.h"
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2021-12-15 07:26:36 -08:00
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2021-12-17 05:05:39 -08:00
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ENCSINCOS_config_t enc_sincos_config_now = { 0 };
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2021-12-15 07:26:36 -08:00
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static float sin_gain = 0.0;
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static float sin_offset = 0.0;
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static float cos_gain = 0.0;
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static float cos_offset = 0.0;
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static float sincos_filter_constant = 0.0;
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static uint32_t sincos_signal_below_min_error_cnt = 0;
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static uint32_t sincos_signal_above_max_error_cnt = 0;
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static float sincos_signal_low_error_rate = 0.0;
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static float sincos_signal_above_max_error_rate = 0.0;
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static float last_enc_angle = 0.0;
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void ENC_SINCOS_deinit(void) {
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last_enc_angle = 0.0;
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sincos_signal_low_error_rate = 0.0;
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sincos_signal_above_max_error_rate = 0.0;
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enc_sincos_config_now.is_init = 0;
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}
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2021-12-17 05:05:39 -08:00
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encoders_ret_t ENC_SINCOS_init(ENCSINCOS_config_t *enc_sincos_config) {
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2021-12-15 07:26:36 -08:00
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//ADC inputs are already initialized in hw_init_gpio()
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sin_gain = enc_sincos_config->s_gain;
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sin_offset = enc_sincos_config->s_offset;
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cos_gain = enc_sincos_config->c_gain;
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cos_offset = enc_sincos_config->c_offset;
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sincos_filter_constant = enc_sincos_config->filter_constant;
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sincos_signal_below_min_error_cnt = 0;
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sincos_signal_above_max_error_cnt = 0;
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sincos_signal_low_error_rate = 0.0;
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sincos_signal_above_max_error_rate = 0.0;
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last_enc_angle = 0.0;
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// ADC measurements needs to be in sync with motor PWM
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#ifdef HW_HAS_SIN_COS_ENCODER
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enc_sincos_config->is_init = 1;
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2021-12-20 05:18:51 -08:00
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enc_sincos_config_now = *enc_sincos_config;
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2021-12-15 07:26:36 -08:00
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return ENCODERS_OK;
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#else
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enc_sincos_config->is_init = 0;
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return ENCODERS_ERROR;
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#endif
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}
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float ENC_SINCOS_read_deg(void) {
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#ifdef HW_HAS_SIN_COS_ENCODER
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float angle;
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float sin = ENCODER_SIN_VOLTS * sin_gain - sin_offset;
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float cos = ENCODER_COS_VOLTS * cos_gain - cos_offset;
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float module = SQ(sin) + SQ(cos);
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if (module > SQ(SINCOS_MAX_AMPLITUDE) ) {
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// signals vector outside of the valid area. Increase error count and discard measurement
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++sincos_signal_above_max_error_cnt;
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UTILS_LP_FAST(sincos_signal_above_max_error_rate, 1.0, 1./SINCOS_SAMPLE_RATE_HZ);
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angle = last_enc_angle;
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} else {
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if (module < SQ(SINCOS_MIN_AMPLITUDE)) {
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++sincos_signal_below_min_error_cnt;
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UTILS_LP_FAST(sincos_signal_low_error_rate, 1.0, 1./SINCOS_SAMPLE_RATE_HZ);
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angle = last_enc_angle;
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} else {
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UTILS_LP_FAST(sincos_signal_above_max_error_rate, 0.0, 1./SINCOS_SAMPLE_RATE_HZ);
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UTILS_LP_FAST(sincos_signal_low_error_rate, 0.0, 1./SINCOS_SAMPLE_RATE_HZ);
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float angle_tmp = RAD2DEG_f(utils_fast_atan2(sin, cos));
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UTILS_LP_FAST(angle, angle_tmp, sincos_filter_constant);
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last_enc_angle = angle;
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}
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}
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#endif
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return last_enc_angle;
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}
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2021-12-20 05:18:51 -08:00
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uint32_t ENC_SINCOS_get_signal_below_min_error_cnt(void) {
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return sincos_signal_below_min_error_cnt;
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}
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uint32_t ENC_SINCOS_get_signal_above_max_error_cnt(void) {
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return sincos_signal_above_max_error_cnt;
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}
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float ENC_SINCOS_get_signal_below_min_error_rate(void) {
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return sincos_signal_low_error_rate;
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}
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float ENC_SINCOS_get_signal_above_max_error_rate(void) {
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return sincos_signal_above_max_error_rate;
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}
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