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More refactoring, moved state out of AS504x so that multiple instances can be used

This commit is contained in:
Benjamin Vedder 2022-02-19 23:28:58 +01:00
parent 2e0a95e5ea
commit 95183ce724
15 changed files with 348 additions and 496 deletions
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9
conf_general.h
View File

@ -302,15 +302,6 @@
//#define V_REG 3.3
// Use the pins for the hardware SPI port instead of the hall/encoder pins for the AS5047
#ifndef AS5047_USE_HW_SPI_PINS
#define AS5047_USE_HW_SPI_PINS 0
#endif
#ifndef AD2S1205_USE_HW_SPI_PINS
#define AD2S1205_USE_HW_SPI_PINS 0
#endif
#ifndef MT6816_USE_HW_SPI_PINS
#define MT6816_USE_HW_SPI_PINS 0
#endif
#ifndef AS504x_USE_SW_MOSI_PIN
#define AS504x_USE_SW_MOSI_PIN 0
#endif

13
datatypes.h
View File

@ -838,19 +838,6 @@ typedef struct {
float gyro_offsets[3];
} imu_config;
typedef struct {
uint8_t is_connected;
uint8_t AGC_value;
uint16_t magnitude;
uint8_t is_OCF;
uint8_t is_COF;
uint8_t is_Comp_low;
uint8_t is_Comp_high;
uint16_t serial_diag_flgs;
uint16_t serial_magnitude;
uint16_t serial_error_flags;
}AS504x_diag;
typedef enum {
CAN_MODE_VESC = 0,
CAN_MODE_UAVCAN,

16
encoder/enc_abi.c
View File

@ -44,26 +44,19 @@ void enc_abi_deinit(void) {
PAL_MODE_INPUT_PULLUP);
last_enc_angle = 0.0;
ABI_config_now.is_init = 0;
}
encoder_ret_t enc_abi_init(ABI_config_t *abi_config) {
EXTI_InitTypeDef EXTI_InitStructure;
// Initialize variables
ABI_config_now = *abi_config;
palSetPadMode(ABI_config_now.A_gpio,
ABI_config_now.A_pin,
PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
palSetPadMode(ABI_config_now.B_gpio,
ABI_config_now.B_pin,
PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
// palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
palSetPadMode(ABI_config_now.A_gpio, ABI_config_now.A_pin, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
palSetPadMode(ABI_config_now.B_gpio, ABI_config_now.B_pin, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
palSetPadMode(ABI_config_now.I_gpio, ABI_config_now.I_pin, PAL_MODE_INPUT_PULLUP);
// Enable timer clock
// Enable timer clock
HW_ENC_TIM_CLK_EN();
// Enable SYSCFG clock
@ -92,7 +85,6 @@ encoder_ret_t enc_abi_init(ABI_config_t *abi_config) {
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
abi_config->is_init = 1;
ABI_config_now = *abi_config;
// Enable and set EXTI Line Interrupt to the highest priority

9
encoder/enc_ad2s1205.c
View File

@ -57,8 +57,6 @@ void enc_ad2s1205_deinit(void) {
#if defined(AD2S1205_RDVEL_GPIO)
palSetPadMode(AD2S1205_RDVEL_GPIO, AD2S1205_RDVEL_PIN, PAL_MODE_INPUT_PULLUP); // Will always read position
#endif
AD2S1205_config_now.is_init = 0;
}
encoder_ret_t enc_ad2s1205_init(AD2S1205_config_t *AD2S1205_config) {
@ -77,12 +75,12 @@ encoder_ret_t enc_ad2s1205_init(AD2S1205_config_t *AD2S1205_config) {
palSetPadMode(AD2S1205_SAMPLE_GPIO, AD2S1205_SAMPLE_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palSetPad(AD2S1205_SAMPLE_GPIO, AD2S1205_SAMPLE_PIN); // Prepare for a falling edge SAMPLE assertion
#endif
#if defined(AD2S1205_RDVEL_GPIO)
palSetPadMode(AD2S1205_RDVEL_GPIO, AD2S1205_RDVEL_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palSetPad(AD2S1205_RDVEL_GPIO, AD2S1205_RDVEL_PIN); // Will always read position
#endif
AD2S1205_config->is_init = 1;
AD2S1205_config_now = *AD2S1205_config;
nvicEnableVector(HW_ENC_TIM_ISR_CH, 6);
@ -101,8 +99,8 @@ void enc_ad2s1205_routine(float rate) {
palSetPad(AD2S1205_RDVEL_GPIO, AD2S1205_RDVEL_PIN); // Always read position
#endif
palSetPad(AD2S1205_config_now.sw_spi.sck_gpio,
AD2S1205_config_now.sw_spi.sck_pin);
palSetPad(AD2S1205_config_now.sw_spi.sck_gpio, AD2S1205_config_now.sw_spi.sck_pin);
spi_bb_delay();
spi_bb_begin(&(AD2S1205_config_now.sw_spi)); // CS uses the same mcu pin as AS5047
spi_bb_delay();
@ -166,7 +164,6 @@ void enc_ad2s1205_routine(float rate) {
last_enc_angle = ((float) pos * 360.0) / 4096.0;
}
}
}
float enc_ad2s1205_resolver_loss_of_tracking_error_rate(void) {

302
encoder/enc_as504x.c
View File

@ -27,6 +27,8 @@
#include "mc_interface.h"
#include "utils.h"
#include "spi_bb.h"
#include <string.h>
#include <math.h>
#define AS504x_SPI_READ_BIT 0x4000
@ -52,141 +54,104 @@
#define AS504x_DATA_INVALID_THRESHOLD 20000
#define AS504x_REFRESH_DIAG_AFTER_NSAMPLES 100
static AS504x_config_t AS504x_config_now = { 0 };
//Private variables
#if AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS
static uint16_t AS504x_diag_fetch_now_count = 0;
#endif
#if !(AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS)
static uint32_t AS504x_data_last_invalid_counter = 0;
#endif
static uint32_t AS504x_spi_communication_error_count = 0;
static uint8_t spi_data_err_raised = 0;
static AS504x_diag AS504x_sensor_diag = { 0 };
static uint16_t spi_val = 0;
static float last_enc_angle = 0.0;
static uint32_t spi_error_cnt = 0;
static float spi_error_rate = 0.0;
// Private functions
#if (AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS)
static void long_delay(void);
static uint8_t AS504x_fetch_diag(void);
static uint8_t AS504x_verify_serial(void);
static void AS504x_deserialize_diag(void);
static void AS504x_fetch_clear_err_diag(void);
static uint8_t AS504x_spi_transfer_err_check(uint16_t *in_buf,
const uint16_t *out_buf, int length);
#endif
static void AS504x_determinate_if_connected(bool was_last_valid);
static uint8_t AS504x_fetch_diag(AS504x_config_t *cfg);
static uint8_t AS504x_verify_serial(AS504x_config_t *cfg);
static void AS504x_deserialize_diag(AS504x_config_t *cfg);
static void AS504x_fetch_clear_err_diag(AS504x_config_t *cfg);
static uint8_t AS504x_spi_transfer_err_check(spi_bb_state *sw_spi,
uint16_t *in_buf, const uint16_t *out_buf, int length);
static void AS504x_determinate_if_connected(AS504x_config_t *cfg, bool was_last_valid);
void enc_as504x_routine(float rate) {
uint16_t pos;
// if MOSI is defined, use diagnostics
#if AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS
spi_bb_begin(&(AS504x_config_now.sw_spi));
spi_bb_transfer_16(&(AS504x_config_now.sw_spi), 0, 0, 1);
spi_bb_end(&(AS504x_config_now.sw_spi));
long_delay();
spi_bb_begin(&(AS504x_config_now.sw_spi));
spi_data_err_raised = AS504x_spi_transfer_err_check(&pos, 0, 1);
spi_bb_end(&(AS504x_config_now.sw_spi));
spi_val = pos;
// get diagnostic every AS504x_REFRESH_DIAG_AFTER_NSAMPLES
AS504x_diag_fetch_now_count++;
if (AS504x_diag_fetch_now_count >= AS504x_REFRESH_DIAG_AFTER_NSAMPLES
|| spi_data_err_raised) {
// clear error flags before getting new diagnostics data
AS504x_fetch_clear_err_diag();
if (!AS504x_fetch_diag()) {
if (!AS504x_verify_serial()) {
AS504x_deserialize_diag();
AS504x_determinate_if_connected(true);
} else {
AS504x_determinate_if_connected(false);
}
} else {
AS504x_determinate_if_connected(false);
}
AS504x_diag_fetch_now_count = 0;
}
#else
spi_bb_begin(&(AS504x_config_now.sw_spi));
spi_bb_transfer_16(&(AS504x_config_now.sw_spi), &pos, 0, 1);
spi_bb_end(&(AS504x_config_now.sw_spi));
spi_val = pos;
if(0x0000 == pos || 0xFFFF == pos) {
AS504x_data_last_invalid_counter++;
} else {
AS504x_data_last_invalid_counter = 0;
AS504x_determinate_if_connected(true);
}
if (AS504x_data_last_invalid_counter >= AS504x_DATA_INVALID_THRESHOLD) {
AS504x_determinate_if_connected(false);
AS504x_data_last_invalid_counter = AS504x_DATA_INVALID_THRESHOLD;
}
#endif
if (spi_bb_check_parity(pos) && !spi_data_err_raised) {
pos &= 0x3FFF;
last_enc_angle = ((float) pos * 360.0) / 16384.0;
UTILS_LP_FAST(spi_error_rate, 0.0, 1.0 / rate);
} else {
++spi_error_cnt;
UTILS_LP_FAST(spi_error_rate, 1.0, 1. / rate);
}
}
void enc_as504x_deinit(void) {
nvicDisableVector(HW_ENC_EXTI_CH);
nvicDisableVector(HW_ENC_TIM_ISR_CH);
TIM_DeInit(HW_ENC_TIM);
spi_bb_deinit(&(AS504x_config_now.sw_spi));
#ifdef HW_SPI_DEV
spiStop(&HW_SPI_DEV);
#endif
AS504x_config_now.is_init = 0;
last_enc_angle = 0.0;
spi_error_rate = 0.0;
}
encoder_ret_t enc_as504x_init(AS504x_config_t *AS504x_config) {
AS504x_config_now = *AS504x_config;
spi_bb_init(&(AS504x_config_now.sw_spi));
AS504x_config->is_init = 1;
AS504x_config_now = *AS504x_config;
nvicEnableVector(HW_ENC_TIM_ISR_CH, 6);
spi_error_rate = 0.0;
encoder_ret_t enc_as504x_init(AS504x_config_t *cfg) {
memset(&cfg->state, 0, sizeof(AS504x_state));
spi_bb_init(&(cfg->sw_spi));
return ENCODER_OK;
}
#if (AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS)
void enc_as504x_deinit(AS504x_config_t *cfg) {
spi_bb_deinit(&(cfg->sw_spi));
cfg->state.last_enc_angle = 0.0;
cfg->state.spi_error_rate = 0.0;
}
void enc_as504x_routine(AS504x_config_t *cfg, float rate) {
uint16_t pos;
// if MOSI is defined, use diagnostics
if (cfg->sw_spi.mosi_gpio != 0) {
spi_bb_begin(&(cfg->sw_spi));
spi_bb_transfer_16(&(cfg->sw_spi), 0, 0, 1);
spi_bb_end(&(cfg->sw_spi));
long_delay();
spi_bb_begin(&(cfg->sw_spi));
cfg->state.spi_data_err_raised = AS504x_spi_transfer_err_check(&cfg->sw_spi, &pos, 0, 1);
spi_bb_end(&(cfg->sw_spi));
cfg->state.spi_val = pos;
// get diagnostic every AS504x_REFRESH_DIAG_AFTER_NSAMPLES
cfg->state.diag_fetch_now_count++;
if (cfg->state.diag_fetch_now_count >= AS504x_REFRESH_DIAG_AFTER_NSAMPLES ||
cfg->state.spi_data_err_raised) {
// clear error flags before getting new diagnostics data
AS504x_fetch_clear_err_diag(cfg);
if (!AS504x_fetch_diag(cfg)) {
if (!AS504x_verify_serial(cfg)) {
AS504x_deserialize_diag(cfg);
AS504x_determinate_if_connected(cfg, true);
} else {
AS504x_determinate_if_connected(cfg, false);
}
} else {
AS504x_determinate_if_connected(cfg, false);
}
cfg->state.diag_fetch_now_count = 0;
}
} else {
spi_bb_begin(&(cfg->sw_spi));
spi_bb_transfer_16(&(cfg->sw_spi), &pos, 0, 1);
spi_bb_end(&(cfg->sw_spi));
cfg->state.spi_val = pos;
if(0x0000 == pos || 0xFFFF == pos) {
cfg->state.data_last_invalid_counter++;
} else {
cfg->state.data_last_invalid_counter = 0;
AS504x_determinate_if_connected(cfg, true);
}
if (cfg->state.data_last_invalid_counter >= AS504x_DATA_INVALID_THRESHOLD) {
AS504x_determinate_if_connected(cfg, false);
cfg->state.data_last_invalid_counter = AS504x_DATA_INVALID_THRESHOLD;
}
}
if (spi_bb_check_parity(pos) && !cfg->state.spi_data_err_raised) {
pos &= 0x3FFF;
cfg->state.last_enc_angle = ((float) pos * 360.0) / 16384.0;
UTILS_LP_FAST(cfg->state.spi_error_rate, 0.0, 1.0 / rate);
} else {
++cfg->state.spi_error_cnt;
UTILS_LP_FAST(cfg->state.spi_error_rate, 1.0, 1. / rate);
}
}
static void long_delay(void) {
for (volatile int i = 0; i < 40; i++) {
__NOP();
}
}
static uint8_t AS504x_verify_serial() {
static uint8_t AS504x_verify_serial(AS504x_config_t *cfg) {
uint16_t serial_diag_flgs, serial_magnitude, test_magnitude;
uint8_t test_AGC_value, test_is_Comp_high, test_is_Comp_low;
serial_magnitude = enc_as504x_get_diag().serial_magnitude;
serial_diag_flgs = enc_as504x_get_diag().serial_diag_flgs;
serial_magnitude = cfg->state.sensor_diag.serial_magnitude;
serial_diag_flgs = cfg->state.sensor_diag.serial_diag_flgs;
test_magnitude = serial_magnitude
& AS504x_SPI_EXCLUDE_PARITY_AND_ERROR_BITMASK;
@ -206,70 +171,70 @@ static uint8_t AS504x_verify_serial() {
return 0;
}
static uint8_t AS504x_fetch_diag(void) {
static uint8_t AS504x_fetch_diag(AS504x_config_t *cfg) {
uint16_t recf[2], senf[2] = { AS504x_SPI_READ_DIAG_MSG,
AS504x_SPI_READ_MAGN_MSG };
uint8_t ret = 0;
spi_bb_begin(&(AS504x_config_now.sw_spi));
spi_bb_transfer_16(&(AS504x_config_now.sw_spi), 0, senf, 1);
spi_bb_end(&(AS504x_config_now.sw_spi));
spi_bb_begin(&(cfg->sw_spi));
spi_bb_transfer_16(&(cfg->sw_spi), 0, senf, 1);
spi_bb_end(&(cfg->sw_spi));
long_delay();
spi_bb_begin(&(AS504x_config_now.sw_spi));
ret |= AS504x_spi_transfer_err_check(recf, senf + 1, 1);
spi_bb_end(&(AS504x_config_now.sw_spi));
spi_bb_begin(&(cfg->sw_spi));
ret |= AS504x_spi_transfer_err_check(&(cfg->sw_spi), recf, senf + 1, 1);
spi_bb_end(&(cfg->sw_spi));
long_delay();
spi_bb_begin(&(AS504x_config_now.sw_spi));
ret |= AS504x_spi_transfer_err_check(recf + 1, 0, 1);
spi_bb_end(&(AS504x_config_now.sw_spi));
spi_bb_begin(&(cfg->sw_spi));
ret |= AS504x_spi_transfer_err_check(&(cfg->sw_spi), recf + 1, 0, 1);
spi_bb_end(&(cfg->sw_spi));
if (!ret) {
if (spi_bb_check_parity(recf[0]) && spi_bb_check_parity(recf[1])) {
AS504x_sensor_diag.serial_diag_flgs = recf[0];
AS504x_sensor_diag.serial_magnitude = recf[1];
cfg->state.sensor_diag.serial_diag_flgs = recf[0];
cfg->state.sensor_diag.serial_magnitude = recf[1];
}
}
return ret;
}
static void AS504x_deserialize_diag() {
AS504x_sensor_diag.AGC_value = AS504x_sensor_diag.serial_diag_flgs;
AS504x_sensor_diag.is_OCF = (AS504x_sensor_diag.serial_diag_flgs
static void AS504x_deserialize_diag(AS504x_config_t *cfg) {
cfg->state.sensor_diag.AGC_value = cfg->state.sensor_diag.serial_diag_flgs;
cfg->state.sensor_diag.is_OCF = (cfg->state.sensor_diag.serial_diag_flgs
>> AS504x_SPI_DIAG_OCF_BIT_POS) & 1;
AS504x_sensor_diag.is_COF = (AS504x_sensor_diag.serial_diag_flgs
cfg->state.sensor_diag.is_COF = (cfg->state.sensor_diag.serial_diag_flgs
>> AS504x_SPI_DIAG_COF_BIT_POS) & 1;
AS504x_sensor_diag.is_Comp_low = (AS504x_sensor_diag.serial_diag_flgs
cfg->state.sensor_diag.is_Comp_low = (cfg->state.sensor_diag.serial_diag_flgs
>> AS504x_SPI_DIAG_COMP_LOW_BIT_POS) & 1;
AS504x_sensor_diag.is_Comp_high = (AS504x_sensor_diag.serial_diag_flgs
cfg->state.sensor_diag.is_Comp_high = (cfg->state.sensor_diag.serial_diag_flgs
>> AS504x_SPI_DIAG_COMP_HIGH_BIT_POS) & 1;
AS504x_sensor_diag.magnitude = AS504x_sensor_diag.serial_magnitude
cfg->state.sensor_diag.magnitude = cfg->state.sensor_diag.serial_magnitude
& AS504x_SPI_EXCLUDE_PARITY_AND_ERROR_BITMASK;
}
static void AS504x_fetch_clear_err_diag() {
static void AS504x_fetch_clear_err_diag(AS504x_config_t *cfg) {
uint16_t recf, senf = AS504x_SPI_READ_CLEAR_ERROR_MSG;
spi_bb_begin(&(AS504x_config_now.sw_spi));
spi_bb_transfer_16(&(AS504x_config_now.sw_spi), 0, &senf, 1);
spi_bb_end(&(AS504x_config_now.sw_spi));
spi_bb_begin(&(cfg->sw_spi));
spi_bb_transfer_16(&(cfg->sw_spi), 0, &senf, 1);
spi_bb_end(&(cfg->sw_spi));
long_delay();
spi_bb_begin(&(AS504x_config_now.sw_spi));
spi_bb_transfer_16(&(AS504x_config_now.sw_spi), &recf, 0, 1);
spi_bb_end(&(AS504x_config_now.sw_spi));
spi_bb_begin(&(cfg->sw_spi));
spi_bb_transfer_16(&(cfg->sw_spi), &recf, 0, 1);
spi_bb_end(&(cfg->sw_spi));
AS504x_sensor_diag.serial_error_flags = recf;
cfg->state.sensor_diag.serial_error_flags = recf;
}
static uint8_t AS504x_spi_transfer_err_check(uint16_t *in_buf,
const uint16_t *out_buf, int length) {
spi_bb_transfer_16(&(AS504x_config_now.sw_spi) ,in_buf, out_buf, length);
static uint8_t AS504x_spi_transfer_err_check(spi_bb_state *sw_spi,
uint16_t *in_buf, const uint16_t *out_buf, int length) {
spi_bb_transfer_16(sw_spi, in_buf, out_buf, length);
for (int len_count = 0; len_count < length; len_count++) {
if (((in_buf[len_count]) >> 14) & 0b01) {
@ -279,43 +244,22 @@ static uint8_t AS504x_spi_transfer_err_check(uint16_t *in_buf,
return 0;
}
#endif
static void AS504x_determinate_if_connected(bool was_last_valid) {
static void AS504x_determinate_if_connected(AS504x_config_t *cfg, bool was_last_valid) {
if (!was_last_valid) {
AS504x_spi_communication_error_count++;
cfg->state.spi_communication_error_count++;
if (AS504x_spi_communication_error_count
if (cfg->state.spi_communication_error_count
>= AS504x_CONNECTION_DETERMINATOR_ERROR_THRESHOLD) {
AS504x_spi_communication_error_count =
cfg->state.spi_communication_error_count =
AS504x_CONNECTION_DETERMINATOR_ERROR_THRESHOLD;
AS504x_sensor_diag.is_connected = 0;
cfg->state.sensor_diag.is_connected = 0;
}
} else {
if (AS504x_spi_communication_error_count) {
AS504x_spi_communication_error_count--;
if (cfg->state.spi_communication_error_count) {
cfg->state.spi_communication_error_count--;
} else {
AS504x_sensor_diag.is_connected = 1;
cfg->state.sensor_diag.is_connected = 1;
}
}
}
AS504x_diag enc_as504x_get_diag(void) {
return AS504x_sensor_diag;
}
float enc_as504x_read_deg(void) {
return last_enc_angle;
}
uint32_t enc_as504x_spi_get_val(void) {
return spi_val;
}
uint32_t enc_as504x_spi_get_error_cnt(void) {
return spi_error_cnt;
}
float enc_as504x_spi_get_error_rate(void) {
return spi_error_rate;
}

13
encoder/enc_as504x.h
View File

@ -21,18 +21,11 @@
#ifndef ENC_AS504X_H_
#define ENC_AS504X_H_
#include "datatypes.h"
#include "encoder/encoder_datatype.h"
void enc_as504x_deinit(void);
// Functions
encoder_ret_t enc_as504x_init(AS504x_config_t *AS504x_config);
float enc_as504x_read_deg(void);
void enc_as504x_routine(float rate);
AS504x_diag enc_as504x_get_diag(void);
float enc_as504x_spi_get_error_rate(void);
uint32_t enc_as504x_spi_get_val(void);
uint32_t enc_as504x_spi_get_error_cnt(void);
void enc_as504x_deinit(AS504x_config_t *cfg);
void enc_as504x_routine(AS504x_config_t *cfg, float rate);
#endif /* ENC_AS504X_H_ */

101
encoder/enc_mt6816.c
View File

@ -41,71 +41,51 @@ static float last_enc_angle = 0.0;
static uint32_t spi_error_cnt = 0;
static uint32_t spi_val = 0;
void enc_mt6816_deinit(void) {
nvicDisableVector(HW_ENC_EXTI_CH);
nvicDisableVector(HW_ENC_TIM_ISR_CH);
TIM_DeInit(HW_ENC_TIM);
palSetPadMode(MT6816_config_now.sw_spi.miso_gpio,
MT6816_config_now.sw_spi.miso_pin, PAL_MODE_INPUT_PULLUP);
palSetPadMode(MT6816_config_now.sw_spi.sck_gpio,
MT6816_config_now.sw_spi.sck_pin, PAL_MODE_INPUT_PULLUP);
palSetPadMode(MT6816_config_now.sw_spi.nss_gpio,
MT6816_config_now.sw_spi.nss_pin, PAL_MODE_INPUT_PULLUP);
#if (MT6816_USE_HW_SPI_PINS)
palSetPadMode(MT6816_config_now.sw_spi.mosi_gpio, MT6816_config_now.sw_spi.mosi_pin, PAL_MODE_INPUT_PULLUP);
#endif
#ifdef HW_SPI_DEV
spiStop(&HW_SPI_DEV);
#endif
palSetPadMode(MT6816_config_now.sw_spi.miso_gpio,
MT6816_config_now.sw_spi.miso_pin, PAL_MODE_INPUT_PULLUP);
palSetPadMode(MT6816_config_now.sw_spi.sck_gpio,
MT6816_config_now.sw_spi.sck_pin, PAL_MODE_INPUT_PULLUP);
MT6816_config_now.is_init = 0;
last_enc_angle = 0.0;
spi_error_rate = 0.0;
}
encoder_ret_t enc_mt6816_init(MT6816_config_t *mt6816_config) {
#ifdef HW_SPI_DEV
if (mt6816_config->spi_dev == NULL) {
return ENCODER_ERROR;
}
MT6816_config_now = *mt6816_config;
palSetPadMode(MT6816_config_now.sw_spi.sck_gpio,
MT6816_config_now.sw_spi.sck_pin,
palSetPadMode(MT6816_config_now.sck_gpio, MT6816_config_now.sck_pin,
PAL_MODE_ALTERNATE(6) | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(MT6816_config_now.sw_spi.miso_gpio,
MT6816_config_now.sw_spi.miso_pin,
palSetPadMode(MT6816_config_now.miso_gpio, MT6816_config_now.miso_pin,
PAL_MODE_ALTERNATE(6) | PAL_STM32_OSPEED_HIGHEST);
spi_bb_nss_init(&(MT6816_config_now.sw_spi));
palSetPadMode(MT6816_config_now.nss_gpio, MT6816_config_now.nss_pin,
PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
#if (MT6816_USE_HW_SPI_PINS)
palSetPadMode(MT6816_config_now.sw_spi.mosi_gpio, MT6816_config_now.sw_spi.mosi_pin, PAL_MODE_ALTERNATE(6) | PAL_STM32_OSPEED_HIGHEST);
#endif
palSetPadMode(MT6816_config_now.mosi_gpio, MT6816_config_now.mosi_pin,
PAL_MODE_ALTERNATE(6) | PAL_STM32_OSPEED_HIGHEST);
//Start driver with MT6816 SPI settings
spiStart(&HW_SPI_DEV, &(MT6816_config_now.hw_spi_cfg));
spiStart(MT6816_config_now.spi_dev, &(MT6816_config_now.hw_spi_cfg));
nvicEnableVector(HW_ENC_TIM_ISR_CH, 6);
spi_error_rate = 0.0;
encoder_no_magnet_error_rate = 0.0;
MT6816_config_now.is_init = 1;
mt6816_config->is_init = 1;
return ENCODER_OK;
#else
(void)mt6816_config;
return ENCODER_ERROR;
#endif
}
void enc_mt6816_deinit(void) {
if (MT6816_config_now.spi_dev == NULL) {
return;
}
palSetPadMode(MT6816_config_now.miso_gpio,
MT6816_config_now.miso_pin, PAL_MODE_INPUT_PULLUP);
palSetPadMode(MT6816_config_now.sck_gpio,
MT6816_config_now.sck_pin, PAL_MODE_INPUT_PULLUP);
palSetPadMode(MT6816_config_now.nss_gpio,
MT6816_config_now.nss_pin, PAL_MODE_INPUT_PULLUP);
palSetPadMode(MT6816_config_now.mosi_gpio, MT6816_config_now.mosi_pin, PAL_MODE_INPUT_PULLUP);
spiStop(MT6816_config_now.spi_dev);
last_enc_angle = 0.0;
spi_error_rate = 0.0;
}
float enc_mt6816_read_deg(void) {
@ -113,20 +93,22 @@ float enc_mt6816_read_deg(void) {
}
void enc_mt6816_routine(float rate) {
#ifdef HW_SPI_DEV
uint16_t pos;
uint16_t reg_data_03;
uint16_t reg_data_04;
uint16_t reg_addr_03 = 0x8300;
uint16_t reg_addr_04 = 0x8400;
spi_bb_begin(&(MT6816_config_now.sw_spi));
reg_data_03 = spiPolledExchange(&HW_SPI_DEV, reg_addr_03);
spi_bb_end(&(MT6816_config_now.sw_spi));
#define SPI_BEGIN() spi_bb_delay(); palClearPad(MT6816_config_now.nss_gpio, MT6816_config_now.nss_pin); spi_bb_delay();
#define SPI_END() spi_bb_delay(); palSetPad(MT6816_config_now.nss_gpio, MT6816_config_now.nss_pin); spi_bb_delay();
SPI_BEGIN();
reg_data_03 = spiPolledExchange(MT6816_config_now.spi_dev, reg_addr_03);
SPI_END();
spi_bb_delay();
spi_bb_begin(&(MT6816_config_now.sw_spi));
reg_data_04 = spiPolledExchange(&HW_SPI_DEV, reg_addr_04);
spi_bb_end(&(MT6816_config_now.sw_spi));
SPI_BEGIN();
reg_data_04 = spiPolledExchange(MT6816_config_now.spi_dev, reg_addr_04);
SPI_END();
pos = (reg_data_03 << 8) | reg_data_04;
spi_val = pos;
@ -145,9 +127,6 @@ void enc_mt6816_routine(float rate) {
++spi_error_cnt;
UTILS_LP_FAST(spi_error_rate, 1.0, 1.0 / rate);
}
#else
(void)rate;
#endif
}
uint32_t enc_mt6816_spi_get_val(void) {

2
encoder/enc_mt6816.h
View File

@ -25,8 +25,8 @@
#include "datatypes.h"
#include "encoder/encoder_datatype.h"
void enc_mt6816_deinit(void);
encoder_ret_t enc_mt6816_init(MT6816_config_t *mt6816_config);
void enc_mt6816_deinit(void);
float enc_mt6816_read_deg(void);
void enc_mt6816_routine(float rate);

5
encoder/enc_sincos.c
View File

@ -29,7 +29,6 @@
#include <math.h>
#include "hw.h"
//TODO move defines to encoder_hwconf.h
#define SINCOS_SAMPLE_RATE_HZ 20000
#define SINCOS_MIN_AMPLITUDE 1.0 // sqrt(sin^2 + cos^2) has to be larger than this
#define SINCOS_MAX_AMPLITUDE 1.65 // sqrt(sin^2 + cos^2) has to be smaller than this
@ -45,10 +44,8 @@ static float last_enc_angle = 0.0;
void enc_sincos_deinit(void) {
last_enc_angle = 0.0;
sincos_signal_low_error_rate = 0.0;
sincos_signal_above_max_error_rate = 0.0;
enc_sincos_config_now.is_init = 0;
}
encoder_ret_t enc_sincos_init(ENCSINCOS_config_t *enc_sincos_config) {
@ -59,8 +56,6 @@ encoder_ret_t enc_sincos_init(ENCSINCOS_config_t *enc_sincos_config) {
sincos_signal_low_error_rate = 0.0;
sincos_signal_above_max_error_rate = 0.0;
last_enc_angle = 0.0;
enc_sincos_config->is_init = 1;
enc_sincos_config_now = *enc_sincos_config;
return ENCODER_OK;
}

58
encoder/enc_ts5700n8501.c
View File

@ -44,7 +44,28 @@ static uint32_t spi_val = 0;
static float last_enc_angle = 0.0;
encoder_ret_t enc_ts5700n8501_init(TS5700N8501_config_t *ts5700n8501_config) {
if (ts5700n8501_config->sd == NULL) {
return ENCODER_ERROR;
}
spi_error_rate = 0.0;
spi_error_cnt = 0;
ts5700n8501_is_running = true;
ts5700n8501_stop_now = false;
ts5700n8501_config_now = *ts5700n8501_config;
chThdCreateStatic(ts5700n8501_thread_wa, sizeof(ts5700n8501_thread_wa),
NORMALPRIO - 10, ts5700n8501_thread, NULL);
return ENCODER_OK;
}
void enc_ts5700n8501_deinit(void) {
if (ts5700n8501_config_now.sd == NULL) {
return;
}
ts5700n8501_stop_now = true;
while (ts5700n8501_is_running) {
@ -57,37 +78,12 @@ void enc_ts5700n8501_deinit(void) {
palSetPadMode(ts5700n8501_config_now.RX_gpio,
ts5700n8501_config_now.RX_pin,
PAL_MODE_INPUT_PULLUP);
#ifdef HW_ADC_EXT_GPIO
palSetPadMode(ts5700n8501_config_now.EXT_gpio, ts5700n8501_config_now.EXT_pin, PAL_MODE_INPUT_ANALOG);
#endif
ts5700n8501_config_now.is_init = 0;
last_enc_angle = 0.0;
spi_error_rate = 0.0;
}
encoder_ret_t enc_ts5700n8501_init(TS5700N8501_config_t *ts5700n8501_config) {
#ifdef HW_UART_DEV
spi_error_rate = 0.0;
spi_error_cnt = 0;
ts5700n8501_is_running = true;
ts5700n8501_stop_now = false;
ts5700n8501_config_now = *ts5700n8501_config;
chThdCreateStatic(ts5700n8501_thread_wa, sizeof(ts5700n8501_thread_wa),
NORMALPRIO - 10, ts5700n8501_thread, NULL);
ts5700n8501_config_now.is_init = 1;
ts5700n8501_config->is_init = 1;
return ENCODER_OK;
#else
ts5700n8501_config->is_init = 0;
return ENCODER_ERROR;
#endif
}
float enc_ts5700n8501_read_deg(void) {
return last_enc_angle;
}
@ -138,9 +134,7 @@ static void TS5700N8501_delay_uart(void) {
*/
static void TS5700N8501_send_byte(uint8_t b) {
utils_sys_lock_cnt();
#ifdef HW_ADC_EXT_GPIO
palSetPad(ts5700n8501_config_now.EXT_gpio, ts5700n8501_config_now.EXT_pin);
#endif
TS5700N8501_delay_uart();
palWritePad(ts5700n8501_config_now.TX_gpio,
ts5700n8501_config_now.TX_pin, 0);
@ -186,9 +180,7 @@ static void TS5700N8501_send_byte(uint8_t b) {
palWritePad(ts5700n8501_config_now.TX_gpio,
ts5700n8501_config_now.TX_pin, 1);
TS5700N8501_delay_uart();
#ifdef HW_ADC_EXT_GPIO
palClearPad(ts5700n8501_config_now.EXT_gpio, ts5700n8501_config_now.EXT_pin);
#endif
utils_sys_unlock_cnt();
}
@ -199,18 +191,16 @@ static THD_FUNCTION(ts5700n8501_thread, arg) {
SerialConfig sd_init = ts5700n8501_config_now.uart_param;
sdStart(&HW_UART_DEV, &sd_init);
sdStart(ts5700n8501_config_now.sd, &sd_init);
palSetPadMode(ts5700n8501_config_now.TX_gpio,
ts5700n8501_config_now.TX_pin,
PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_PULLUP);
palSetPadMode(ts5700n8501_config_now.RX_gpio,
ts5700n8501_config_now.RX_pin,
PAL_MODE_ALTERNATE(HW_UART_GPIO_AF) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_PULLUP);
#ifdef HW_ADC_EXT_GPIO
palSetPadMode(ts5700n8501_config_now.EXT_gpio, ts5700n8501_config_now.EXT_pin, PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_PULLUP);
#endif
for (;;) {
// Check if it is time to stop.
@ -245,12 +235,12 @@ static THD_FUNCTION(ts5700n8501_thread, arg) {
uint8_t reply[11];
int reply_ind = 0;
msg_t res = sdGetTimeout(&HW_UART_DEV, TIME_IMMEDIATE);
msg_t res = sdGetTimeout(ts5700n8501_config_now.sd, TIME_IMMEDIATE);
while (res != MSG_TIMEOUT ) {
if (reply_ind < (int) sizeof(reply)) {
reply[reply_ind++] = res;
}
res = sdGetTimeout(&HW_UART_DEV, TIME_IMMEDIATE);
res = sdGetTimeout(ts5700n8501_config_now.sd, TIME_IMMEDIATE);
}
uint8_t crc = 0;

2
encoder/enc_ts5700n8501.h
View File

@ -24,8 +24,8 @@
#include "datatypes.h"
#include "encoder/encoder_datatype.h"
void enc_ts5700n8501_deinit(void);
encoder_ret_t enc_ts5700n8501_init(TS5700N8501_config_t *ts5700n8501_config);
void enc_ts5700n8501_deinit(void);
float enc_ts5700n8501_read_deg(void);

217
encoder/encoder.c
View File

@ -30,11 +30,6 @@
#include <math.h>
#define ENCODER_CONFIG_UNUSED {0}
#define ENCODER_VAR_UNINITIALIZED 0
#define ENCODER_STRUCT_UNDEFINED {0}
#define ENCODER_ABI_COUNTER_DEFAULT_VALUE 10000ul
#define SPI_BaudRatePrescaler_2 ((uint16_t)0x0000) // 42 MHz 21 MHZ
#define SPI_BaudRatePrescaler_4 ((uint16_t)0x0008) // 21 MHz 10.5 MHz
#define SPI_BaudRatePrescaler_8 ((uint16_t)0x0010) // 10.5 MHz 5.25 MHz
@ -47,59 +42,92 @@
#define CH_MUTEX_INIT_ZERO {{NULL, NULL}, NULL, NULL}
ENCSPI_config_t encoder_conf_ENCSPI =
{
ENCODER_VAR_UNINITIALIZED,
{/*BB_SPI*/
/*NSS*/HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3,
/*SCK*/HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1,
#ifdef HW_SPI_PORT_MOSI
/*MOSI*/HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI,
AS504x_config_t as504x_cfg = {
{
HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3,
HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1,
#if defined(HW_SPI_PORT_MOSI) && AS504x_USE_SW_MOSI_PIN
HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI,
#else
/*MOSI*/0, 0,
0, 0,
#endif
/*MISO*/HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2,
ENCODER_VAR_UNINITIALIZED,
ENCODER_VAR_UNINITIALIZED,
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2,
0, // has_started
0, // has_error
CH_MUTEX_INIT_ZERO
},
{0} // State
};
AD2S1205_config_t ad2s1205_cfg = {
{ // BB_SPI
HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3,
HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1,
#if defined(HW_SPI_PORT_MOSI) && AS504x_USE_SW_MOSI_PIN
HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI,
#else
0, 0,
#endif
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2,
0, // has_started
0, // has_error
CH_MUTEX_INIT_ZERO
},
};
MT6816_config_t mt6816_cfg = {
#ifdef HW_SPI_DEV
&HW_SPI_DEV, // spi_dev
{//HARDWARE SPI CONFIG
NULL, HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, SPI_BaudRatePrescaler_4 | SPI_CR1_CPOL | SPI_CR1_CPHA
| SPI_DATASIZE_16BIT
}
NULL, HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, SPI_BaudRatePrescaler_4 |
SPI_CR1_CPOL | SPI_CR1_CPHA | SPI_DATASIZE_16BIT
},
/*NSS*/HW_SPI_PORT_NSS, HW_SPI_PIN_NSS,
/*SCK*/HW_SPI_PORT_SCK, HW_SPI_PIN_SCK,
/*MOSI*/HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI,
/*MISO*/HW_SPI_PORT_MISO, HW_SPI_PIN_MISO,
#else
0,
{0},
0, 0,
0, 0,
0, 0,
0, 0,
#endif
};
ABI_config_t encoder_conf_ABI =
{
ENCODER_VAR_UNINITIALIZED,
ENCODER_ABI_COUNTER_DEFAULT_VALUE,
/*INCREMENTAL PROTOCOL PINOUT*/
/*A*/HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1 ,
/*B*/HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2
10000, // counts
HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1,
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2,
HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3
};
ENCSINCOS_config_t encoder_conf_ENCSINCOS = ENCODER_STRUCT_UNDEFINED;
ENCSINCOS_config_t encoder_conf_ENCSINCOS = {0};
TS5700N8501_config_t encoder_conf_TS5700N8501 =
{
ENCODER_VAR_UNINITIALIZED,
TS5700N8501_config_t encoder_conf_TS5700N8501 = {
#if defined(HW_ADC_EXT_GPIO) && defined(HW_ADC_EXT_GPIO)
&HW_UART_DEV,
/*UART PINOUT*/
HW_UART_TX_PORT, HW_UART_TX_PIN,
HW_UART_RX_PORT, HW_UART_RX_PIN,
#ifdef HW_ADC_EXT_GPIO
HW_ADC_EXT_GPIO, HW_ADC_EXT_PIN
#else
ENCODER_VAR_UNINITIALIZED, ENCODER_VAR_UNINITIALIZED
#endif
,
{/*UART CONFIG*/
HW_ADC_EXT_GPIO, HW_ADC_EXT_PIN,
{// UART CONFIG
2500000,
0,
USART_CR2_LINEN,
0
}
#else
0,
0, 0,
0, 0,
0, 0,
{0}
#endif
};
static encoder_type_t encoder_type_now = ENCODER_TYPE_NONE;
@ -110,10 +138,6 @@ static float timer_rate_now = 1.0;
static void terminal_encoder(int argc, const char **argv);
static void terminal_encoder_clear_errors(int argc, const char **argv);
static void terminal_encoder_clear_multiturn(int argc, const char **argv);
static bool is_uart_defined(void);
static bool is_spi_defined(void);
static bool is_incremental_defined(void);
static void timer_start(float rate);
void encoder_deinit(void) {
@ -122,7 +146,7 @@ void encoder_deinit(void) {
TIM_DeInit(HW_ENC_TIM);
if (encoder_type_now == ENCODER_TYPE_AS504x) {
enc_as504x_deinit();
enc_as504x_deinit(&as504x_cfg);
} else if (encoder_type_now == ENCODER_TYPE_MT6816) {
enc_mt6816_deinit();
} else if (encoder_type_now == ENCODER_TYPE_AD2S1205_SPI) {
@ -150,17 +174,9 @@ encoder_ret_t encoder_init(volatile mc_configuration *conf) {
SENSOR_PORT_5V();
encoder_conf_ABI.counts = conf->m_encoder_counts;
encoder_ret_t encoder_ret;
encoder_ret_t encoder_ret = enc_abi_init(&encoder_conf_ABI);
if (is_incremental_defined() == false) {
return ENCODER_ERROR;
}
encoder_conf_ABI.is_init = 0;
encoder_ret = enc_abi_init(&encoder_conf_ABI);
if (ENCODER_OK != encoder_ret || !encoder_conf_ABI.is_init) {
if (ENCODER_OK != encoder_ret) {
encoder_type_now = ENCODER_TYPE_NONE;
index_found = false;
return ENCODER_ERROR;
@ -173,20 +189,13 @@ encoder_ret_t encoder_init(volatile mc_configuration *conf) {
case SENSOR_PORT_MODE_AS5047_SPI: {
SENSOR_PORT_3V3();
encoder_ret_t encoder_ret;
encoder_ret_t encoder_ret = enc_as504x_init(&as504x_cfg);
if (is_spi_defined() == false) {
return ENCODER_ERROR;
}
encoder_conf_ENCSPI.is_init = 0;
encoder_ret = enc_as504x_init(&encoder_conf_ENCSPI);
if (ENCODER_OK != encoder_ret || !encoder_conf_ENCSPI.is_init) {
if (ENCODER_OK != encoder_ret) {
index_found = false;
return ENCODER_ERROR;
}
encoder_type_now = ENCODER_TYPE_AS504x;
index_found = true;
@ -197,21 +206,15 @@ encoder_ret_t encoder_init(volatile mc_configuration *conf) {
case SENSOR_PORT_MODE_MT6816_SPI: {
SENSOR_PORT_5V();
encoder_ret_t encoder_ret;
if (is_spi_defined() == false) {
return ENCODER_ERROR;
}
encoder_ret_t encoder_ret = enc_mt6816_init(&mt6816_cfg);
encoder_conf_ENCSPI.is_init = 0;
encoder_ret = enc_mt6816_init(&encoder_conf_ENCSPI);
if (ENCODER_OK != encoder_ret || !encoder_conf_ENCSPI.is_init) {
if (ENCODER_OK != encoder_ret) {
encoder_type_now = ENCODER_TYPE_NONE;
index_found = false;
return ENCODER_ERROR;
}
encoder_type_now = ENCODER_TYPE_MT6816;
index_found = true;
@ -222,17 +225,10 @@ encoder_ret_t encoder_init(volatile mc_configuration *conf) {
case SENSOR_PORT_MODE_AD2S1205: {
SENSOR_PORT_5V();
encoder_ret_t encoder_ret;
if (is_spi_defined() == false) {
return ENCODER_ERROR;
}
encoder_ret_t encoder_ret = enc_ad2s1205_init(&ad2s1205_cfg);
encoder_conf_ENCSPI.is_init = 0;
encoder_ret = enc_ad2s1205_init(&encoder_conf_ENCSPI);
if (ENCODER_OK != encoder_ret || !encoder_conf_ENCSPI.is_init) {
if (ENCODER_OK != encoder_ret) {
encoder_type_now = ENCODER_TYPE_NONE;
index_found = false;
return ENCODER_ERROR;
@ -254,13 +250,9 @@ encoder_ret_t encoder_init(volatile mc_configuration *conf) {
encoder_conf_ENCSINCOS.c_offset = conf->foc_encoder_cos_offset;
encoder_conf_ENCSINCOS.filter_constant = conf->foc_encoder_sincos_filter_constant;
encoder_ret_t encoder_ret;
encoder_ret_t encoder_ret = enc_sincos_init(&encoder_conf_ENCSINCOS);
encoder_conf_ENCSINCOS.is_init = 0;
encoder_ret = enc_sincos_init(&encoder_conf_ENCSINCOS);
if (ENCODER_OK != encoder_ret || !encoder_conf_ENCSINCOS.is_init) {
if (ENCODER_OK != encoder_ret) {
encoder_type_now = ENCODER_TYPE_NONE;
index_found = false;
return ENCODER_ERROR;
@ -284,17 +276,9 @@ encoder_ret_t encoder_init(volatile mc_configuration *conf) {
}
mempools_free_appconf(appconf);
encoder_ret_t encoder_ret;
encoder_ret_t encoder_ret = enc_ts5700n8501_init(&encoder_conf_TS5700N8501);
if (is_uart_defined() == false) {
return ENCODER_ERROR;
}
encoder_conf_TS5700N8501.is_init = 0;
encoder_ret = enc_ts5700n8501_init(&encoder_conf_TS5700N8501);
if (ENCODER_OK != encoder_ret || !encoder_conf_TS5700N8501.is_init) {
if (ENCODER_OK != encoder_ret) {
encoder_type_now = ENCODER_TYPE_NONE;
index_found = false;
return ENCODER_ERROR;
@ -333,7 +317,7 @@ encoder_ret_t encoder_init(volatile mc_configuration *conf) {
float encoder_read_deg(void) {
if (encoder_type_now == ENCODER_TYPE_AS504x) {
return enc_as504x_read_deg();
return as504x_cfg.state.last_enc_angle;
} else if (encoder_type_now == ENCODER_TYPE_MT6816) {
return enc_mt6816_read_deg();
} else if (encoder_type_now == ENCODER_TYPE_AD2S1205_SPI) {
@ -391,7 +375,7 @@ void encoder_check_faults(volatile mc_configuration *m_conf, bool is_second_moto
m_conf->foc_sensor_mode == FOC_SENSOR_MODE_ENCODER &&
m_conf->m_sensor_port_mode == SENSOR_PORT_MODE_AS5047_SPI &&
mcpwm_foc_is_using_encoder() &&
enc_as504x_spi_get_error_rate() > 0.05) {
as504x_cfg.state.spi_error_rate > 0.05) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_SPI, is_second_motor, false);
}
@ -416,7 +400,7 @@ void encoder_check_faults(volatile mc_configuration *m_conf, bool is_second_moto
if (m_conf->motor_type == MOTOR_TYPE_FOC &&
m_conf->foc_sensor_mode == FOC_SENSOR_MODE_ENCODER &&
m_conf->m_sensor_port_mode == SENSOR_PORT_MODE_AS5047_SPI) {
AS504x_diag diag = enc_as504x_get_diag();
AS504x_diag diag = as504x_cfg.state.sensor_diag;
if (!diag.is_connected) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_SPI, is_second_motor, false);
@ -475,7 +459,7 @@ void encoder_pin_isr(void) {
void encoder_tim_isr(void) {
if (encoder_type_now == ENCODER_TYPE_AS504x) {
enc_as504x_routine(timer_rate_now);
enc_as504x_routine(&as504x_cfg, timer_rate_now);
} else if (encoder_type_now == ENCODER_TYPE_MT6816) {
enc_mt6816_routine(timer_rate_now);
} else if (encoder_type_now == ENCODER_TYPE_AD2S1205_SPI) {
@ -500,10 +484,10 @@ static void terminal_encoder(int argc, const char **argv) {
AS504x_diag diag = { 0 };
if (encoder_is_configured() == ENCODER_TYPE_AS504x) {
spi_val = enc_as504x_spi_get_val();
error_rate = enc_as504x_spi_get_error_rate();
error_cnt = enc_as504x_spi_get_error_cnt();
diag = enc_as504x_get_diag();
spi_val = as504x_cfg.state.spi_val;
error_rate = as504x_cfg.state.spi_error_rate;
error_cnt = as504x_cfg.state.spi_communication_error_count;
diag = as504x_cfg.state.sensor_diag;
} else if (encoder_is_configured() == ENCODER_TYPE_MT6816) {
spi_val = enc_mt6816_spi_get_val();
error_cnt = enc_mt6816_spi_get_error_cnt();
@ -537,7 +521,7 @@ static void terminal_encoder(int argc, const char **argv) {
(double)(enc_mt6816_get_no_magnet_error_rate() * 100.0));
}
#if AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS
#if AS504x_USE_SW_MOSI_PIN
if (mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_AS5047_SPI) {
commands_printf("\nAS5047 DIAGNOSTICS:\n"
"AGC : %u\n"
@ -593,31 +577,6 @@ static void terminal_encoder_clear_multiturn(int argc, const char **argv) {
commands_printf("Done!\n");
}
static bool is_uart_defined(void) {
if (!encoder_conf_TS5700N8501.RX_gpio
|| !encoder_conf_TS5700N8501.TX_gpio) {
return false;
}
return true;
}
static bool is_spi_defined(void) {
if (!encoder_conf_ENCSPI.sw_spi.miso_gpio
|| !encoder_conf_ENCSPI.sw_spi.nss_gpio
|| !encoder_conf_ENCSPI.sw_spi.sck_gpio) {
return false;
}
return true;
}
static bool is_incremental_defined(void) {
if (!encoder_conf_ABI.A_gpio
|| !encoder_conf_ABI.B_gpio) {
return false;
}
return true;
}
static void timer_start(float rate) {
timer_rate_now = rate;

61
encoder/encoder_datatype.h
View File

@ -1,5 +1,6 @@
/*
Copyright 2022 Jakub Tomczak
Copyright 2022 Benjamin Vedder benjamin@vedder.se
This file is part of the VESC firmware.
@ -41,28 +42,33 @@ typedef enum {
} encoder_type_t;
typedef struct {
bool is_init;
spi_bb_state sw_spi;
#ifdef HW_SPI_DEV
SPIConfig hw_spi_cfg;
#endif
} ENCSPI_config_t;
typedef ENCSPI_config_t MT6816_config_t;
typedef ENCSPI_config_t AD2S1205_config_t;
typedef ENCSPI_config_t AS504x_config_t;
} AD2S1205_config_t;
typedef struct {
SPIDriver *spi_dev;
SPIConfig hw_spi_cfg;
stm32_gpio_t *nss_gpio;
int nss_pin;
stm32_gpio_t *sck_gpio;
int sck_pin;
stm32_gpio_t *mosi_gpio;
int mosi_pin;
stm32_gpio_t *miso_gpio;
int miso_pin;
} MT6816_config_t;
typedef struct {
bool is_init;
uint32_t counts;
stm32_gpio_t *A_gpio;
uint8_t A_pin;
stm32_gpio_t *B_gpio;
uint8_t B_pin;
stm32_gpio_t *I_gpio;
uint8_t I_pin;
} ABI_config_t;
typedef struct {
bool is_init;
uint32_t refresh_rate_hz;
float s_gain;
float s_offset;
@ -72,7 +78,7 @@ typedef struct {
} ENCSINCOS_config_t;
typedef struct {
bool is_init;
SerialDriver *sd;
stm32_gpio_t *TX_gpio;
uint8_t TX_pin;
stm32_gpio_t *RX_gpio;
@ -81,4 +87,35 @@ typedef struct {
uint8_t EXT_pin;
SerialConfig uart_param;
} TS5700N8501_config_t;
typedef struct {
uint8_t is_connected;
uint8_t AGC_value;
uint16_t magnitude;
uint8_t is_OCF;
uint8_t is_COF;
uint8_t is_Comp_low;
uint8_t is_Comp_high;
uint16_t serial_diag_flgs;
uint16_t serial_magnitude;
uint16_t serial_error_flags;
} AS504x_diag;
typedef struct {
uint16_t diag_fetch_now_count;
uint32_t data_last_invalid_counter;
uint32_t spi_communication_error_count;
uint8_t spi_data_err_raised;
AS504x_diag sensor_diag;
uint16_t spi_val;
float last_enc_angle;
uint32_t spi_error_cnt;
float spi_error_rate;
} AS504x_state;
typedef struct {
spi_bb_state sw_spi;
AS504x_state state;
} AS504x_config_t;
#endif /* ENCODER_ENCODER_DATATYPE_H_ */

33
spi_bb.c
View File

@ -22,21 +22,6 @@
// Software SPI
void spi_bb_deinit(spi_bb_state *s) {
chMtxObjectInit(&s->mutex);
palSetPadMode(s->miso_gpio, s->miso_pin, PAL_MODE_INPUT_PULLUP);
palSetPadMode(s->sck_gpio, s->sck_pin, PAL_MODE_INPUT_PULLUP);
palSetPadMode(s->nss_gpio, s->nss_pin, PAL_MODE_INPUT_PULLUP);
if (s->mosi_gpio) { // TODO: assure that the gpio is 0x0 when unused
palSetPadMode(s->mosi_gpio, s->mosi_pin, PAL_MODE_INPUT_PULLUP);
}
s->has_started = false;
s->has_error = false;
}
void spi_bb_init(spi_bb_state *s) {
chMtxObjectInit(&s->mutex);
@ -59,13 +44,19 @@ void spi_bb_init(spi_bb_state *s) {
s->has_error = false;
}
void spi_bb_nss_init(spi_bb_state *s) {
void spi_bb_deinit(spi_bb_state *s) {
chMtxObjectInit(&s->mutex);
if (s->nss_gpio) {
palSetPadMode(s->nss_gpio, s->nss_pin,
PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(s->miso_gpio, s->miso_pin, PAL_MODE_INPUT_PULLUP);
palSetPadMode(s->sck_gpio, s->sck_pin, PAL_MODE_INPUT_PULLUP);
palSetPadMode(s->nss_gpio, s->nss_pin, PAL_MODE_INPUT_PULLUP);
if (s->mosi_gpio) { // TODO: assure that the gpio is 0x0 when unused
palSetPadMode(s->mosi_gpio, s->mosi_pin, PAL_MODE_INPUT_PULLUP);
}
s->has_started = false;
s->has_error = false;
}
uint8_t spi_bb_exchange_8(spi_bb_state *s, uint8_t x) {
@ -117,10 +108,8 @@ void spi_bb_transfer_8(spi_bb_state *s, uint8_t *in_buf, const uint8_t *out_buf,
}
}
void spi_bb_transfer_16(spi_bb_state *s, uint16_t *in_buf,
const uint16_t *out_buf, int length) {
void spi_bb_transfer_16(spi_bb_state *s, uint16_t *in_buf, const uint16_t *out_buf, int length) {
for (int i = 0; i < length; i++) {
uint16_t send = out_buf ? out_buf[i] : 0xFFFF;
uint16_t receive = 0;

3
spi_bb.h
View File

@ -39,9 +39,8 @@ typedef struct {
mutex_t mutex;
} spi_bb_state;
void spi_bb_deinit(spi_bb_state *s);
void spi_bb_init(spi_bb_state *s);
void spi_bb_nss_init(spi_bb_state *s);
void spi_bb_deinit(spi_bb_state *s);
uint8_t spi_bb_exchange_8(spi_bb_state *s, uint8_t x);
void spi_bb_transfer_8(spi_bb_state *s, uint8_t *in_buf, const uint8_t *out_buf, int length);
void spi_bb_transfer_16(spi_bb_state *s, uint16_t *in_buf, const uint16_t *out_buf, int length);