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bldc/encoder.c

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/*
Copyright 2016 Benjamin Vedder benjamin@vedder.se
This file is part of the VESC firmware.
The VESC firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
The VESC firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "encoder.h"
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
#include "hw.h"
#include "mc_interface.h"
#include "utils.h"
#include "math.h"
// Defines
#define AS5047P_READ_ANGLECOM (0x3FFF | 0x4000 | 0x8000) // This is just ones
#define AS5047_SAMPLE_RATE_HZ 20000
#define AD2S1205_SAMPLE_RATE_HZ 20000 //25MHz max spi clk
#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
#if AS5047_USE_HW_SPI_PINS
#ifdef HW_SPI_DEV
#define SPI_SW_MISO_GPIO HW_SPI_PORT_MISO
#define SPI_SW_MISO_PIN HW_SPI_PIN_MISO
#define SPI_SW_MOSI_GPIO HW_SPI_PORT_MOSI
#define SPI_SW_MOSI_PIN HW_SPI_PIN_MOSI
#define SPI_SW_SCK_GPIO HW_SPI_PORT_SCK
#define SPI_SW_SCK_PIN HW_SPI_PIN_SCK
#define SPI_SW_CS_GPIO HW_SPI_PORT_NSS
#define SPI_SW_CS_PIN HW_SPI_PIN_NSS
#else
// Note: These values are hardcoded.
#define SPI_SW_MISO_GPIO GPIOB
#define SPI_SW_MISO_PIN 4
#define SPI_SW_MOSI_GPIO GPIOB
#define SPI_SW_MOSI_PIN 5
#define SPI_SW_SCK_GPIO GPIOB
#define SPI_SW_SCK_PIN 3
#define SPI_SW_CS_GPIO GPIOB
#define SPI_SW_CS_PIN 0
#endif
#else
#define SPI_SW_MISO_GPIO HW_HALL_ENC_GPIO2
#define SPI_SW_MISO_PIN HW_HALL_ENC_PIN2
#define SPI_SW_SCK_GPIO HW_HALL_ENC_GPIO1
#define SPI_SW_SCK_PIN HW_HALL_ENC_PIN1
#define SPI_SW_CS_GPIO HW_HALL_ENC_GPIO3
#define SPI_SW_CS_PIN HW_HALL_ENC_PIN3
#endif
// Private types
typedef enum {
ENCODER_MODE_NONE = 0,
ENCODER_MODE_ABI,
ENCODER_MODE_AS5047P_SPI,
RESOLVER_MODE_AD2S1205,
ENCODER_MODE_SINCOS,
ENCODER_MODE_TS5700N8501
} encoder_mode;
// Private variables
static bool index_found = false;
static uint32_t enc_counts = 10000;
static encoder_mode mode = ENCODER_MODE_NONE;
static float last_enc_angle = 0.0;
static uint32_t spi_val = 0;
static uint32_t spi_error_cnt = 0;
static float spi_error_rate = 0.0;
static float sin_gain = 0.0;
static float sin_offset = 0.0;
static float cos_gain = 0.0;
static float cos_offset = 0.0;
static float sincos_filter_constant = 0.0;
static uint32_t sincos_signal_below_min_error_cnt = 0;
static uint32_t sincos_signal_above_max_error_cnt = 0;
static float sincos_signal_low_error_rate = 0.0;
static float sincos_signal_above_max_error_rate = 0.0;
static SerialConfig TS5700N8501_uart_cfg = {
2500000,
0,
USART_CR2_LINEN,
0
};
static THD_FUNCTION(ts5700n8501_thread, arg);
static THD_WORKING_AREA(ts5700n8501_thread_wa, 512);
static volatile bool ts5700n8501_stop_now = true;
static volatile bool ts5700n8501_is_running = false;
// Private functions
static void spi_transfer(uint16_t *in_buf, const uint16_t *out_buf, int length);
static void spi_begin(void);
static void spi_end(void);
static void spi_delay(void);
void TS5700N8501_send_byte(uint8_t b);
uint32_t encoder_spi_get_error_cnt(void) {
return spi_error_cnt;
}
uint32_t encoder_spi_get_val(void) {
return spi_val;
}
float encoder_spi_get_error_rate(void) {
return spi_error_rate;
}
uint32_t encoder_sincos_get_signal_below_min_error_cnt(void) {
return sincos_signal_below_min_error_cnt;
}
uint32_t encoder_sincos_get_signal_above_max_error_cnt(void) {
return sincos_signal_above_max_error_cnt;
}
float encoder_sincos_get_signal_below_min_error_rate(void) {
return sincos_signal_low_error_rate;
}
float encoder_sincos_get_signal_above_max_error_rate(void) {
return sincos_signal_above_max_error_rate;
}
void encoder_deinit(void) {
nvicDisableVector(HW_ENC_EXTI_CH);
nvicDisableVector(HW_ENC_TIM_ISR_CH);
TIM_DeInit(HW_ENC_TIM);
palSetPadMode(SPI_SW_MISO_GPIO, SPI_SW_MISO_PIN, PAL_MODE_INPUT_PULLUP);
palSetPadMode(SPI_SW_SCK_GPIO, SPI_SW_SCK_PIN, PAL_MODE_INPUT_PULLUP);
palSetPadMode(SPI_SW_CS_GPIO, SPI_SW_CS_PIN, PAL_MODE_INPUT_PULLUP);
palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
if (mode == ENCODER_MODE_TS5700N8501) {
ts5700n8501_stop_now = true;
while (ts5700n8501_is_running) {
chThdSleepMilliseconds(1);
}
palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_INPUT_PULLUP);
palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_INPUT_PULLUP);
#ifdef HW_ADC_EXT_GPIO
palSetPadMode(HW_ADC_EXT_GPIO, HW_ADC_EXT_PIN, PAL_MODE_INPUT_ANALOG);
#endif
}
index_found = false;
mode = ENCODER_MODE_NONE;
last_enc_angle = 0.0;
spi_error_rate = 0.0;
sincos_signal_low_error_rate = 0.0;
sincos_signal_above_max_error_rate = 0.0;
}
void encoder_init_abi(uint32_t counts) {
EXTI_InitTypeDef EXTI_InitStructure;
// Initialize variables
index_found = false;
enc_counts = counts;
palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
// palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_ALTERNATE(HW_ENC_TIM_AF));
// Enable timer clock
HW_ENC_TIM_CLK_EN();
// Enable SYSCFG clock
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
TIM_EncoderInterfaceConfig (HW_ENC_TIM, TIM_EncoderMode_TI12,
TIM_ICPolarity_Rising,
TIM_ICPolarity_Rising);
TIM_SetAutoreload(HW_ENC_TIM, enc_counts - 1);
// Filter
HW_ENC_TIM->CCMR1 |= 6 << 12 | 6 << 4;
HW_ENC_TIM->CCMR2 |= 6 << 4;
TIM_Cmd(HW_ENC_TIM, ENABLE);
// Interrupt on index pulse
// Connect EXTI Line to pin
SYSCFG_EXTILineConfig(HW_ENC_EXTI_PORTSRC, HW_ENC_EXTI_PINSRC);
// Configure EXTI Line
EXTI_InitStructure.EXTI_Line = HW_ENC_EXTI_LINE;
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
EXTI_Init(&EXTI_InitStructure);
// Enable and set EXTI Line Interrupt to the highest priority
nvicEnableVector(HW_ENC_EXTI_CH, 0);
mode = ENCODER_MODE_ABI;
}
void encoder_init_as5047p_spi(void) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
palSetPadMode(SPI_SW_MISO_GPIO, SPI_SW_MISO_PIN, PAL_MODE_INPUT);
palSetPadMode(SPI_SW_SCK_GPIO, SPI_SW_SCK_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(SPI_SW_CS_GPIO, SPI_SW_CS_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
// Set MOSI to 1
#if AS5047_USE_HW_SPI_PINS
palSetPadMode(SPI_SW_MOSI_GPIO, SPI_SW_MOSI_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palSetPad(SPI_SW_MOSI_GPIO, SPI_SW_MOSI_PIN);
#endif
// Enable timer clock
HW_ENC_TIM_CLK_EN();
// Time Base configuration
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = ((168000000 / 2 / AS5047_SAMPLE_RATE_HZ) - 1);
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(HW_ENC_TIM, &TIM_TimeBaseStructure);
// Enable overflow interrupt
TIM_ITConfig(HW_ENC_TIM, TIM_IT_Update, ENABLE);
// Enable timer
TIM_Cmd(HW_ENC_TIM, ENABLE);
nvicEnableVector(HW_ENC_TIM_ISR_CH, 6);
mode = ENCODER_MODE_AS5047P_SPI;
index_found = true;
spi_error_rate = 0.0;
}
void encoder_init_ad2s1205_spi(void) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
palSetPadMode(SPI_SW_MISO_GPIO, SPI_SW_MISO_PIN, PAL_MODE_INPUT);
palSetPadMode(SPI_SW_SCK_GPIO, SPI_SW_SCK_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(SPI_SW_CS_GPIO, SPI_SW_CS_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
// Set MOSI to 1
#if AS5047_USE_HW_SPI_PINS
palSetPadMode(SPI_SW_MOSI_GPIO, SPI_SW_MOSI_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palSetPad(SPI_SW_MOSI_GPIO, SPI_SW_MOSI_PIN);
#endif
// TODO: Choose pins on comm port when these are not defined
#if defined(AD2S1205_SAMPLE_GPIO) && defined(AD2S1205_RDVEL_GPIO)
palSetPadMode(AD2S1205_SAMPLE_GPIO, AD2S1205_SAMPLE_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(AD2S1205_RDVEL_GPIO, AD2S1205_RDVEL_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palSetPad(AD2S1205_SAMPLE_GPIO, AD2S1205_SAMPLE_PIN); // Prepare for a falling edge SAMPLE assertion
palSetPad(AD2S1205_RDVEL_GPIO, AD2S1205_RDVEL_PIN); // Will always read position
#endif
// Enable timer clock
HW_ENC_TIM_CLK_EN();
// Time Base configuration
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = ((168000000 / 2 / AD2S1205_SAMPLE_RATE_HZ) - 1);
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(HW_ENC_TIM, &TIM_TimeBaseStructure);
// Enable overflow interrupt
TIM_ITConfig(HW_ENC_TIM, TIM_IT_Update, ENABLE);
// Enable timer
TIM_Cmd(HW_ENC_TIM, ENABLE);
nvicEnableVector(HW_ENC_TIM_ISR_CH, 6);
mode = RESOLVER_MODE_AD2S1205;
index_found = true;
}
void encoder_init_sincos(float s_gain, float s_offset,
float c_gain, float c_offset, float filter_constant) {
//ADC inputs are already initialized in hw_init_gpio()
sin_gain = s_gain;
sin_offset = s_offset;
cos_gain = c_gain;
cos_offset = c_offset;
sincos_filter_constant = filter_constant;
sincos_signal_below_min_error_cnt = 0;
sincos_signal_above_max_error_cnt = 0;
sincos_signal_low_error_rate = 0.0;
sincos_signal_above_max_error_rate = 0.0;
// ADC measurements needs to be in sync with motor PWM
#ifdef HW_HAS_SIN_COS_ENCODER
mode = ENCODER_MODE_SINCOS;
index_found = true;
#else
mode = ENCODER_MODE_NONE;
index_found = false;
#endif
}
void encoder_init_ts5700n8501(void) {
mode = ENCODER_MODE_TS5700N8501;
index_found = true;
spi_error_rate = 0.0;
spi_error_cnt = 0;
ts5700n8501_is_running = true;
ts5700n8501_stop_now = false;
chThdCreateStatic(ts5700n8501_thread_wa, sizeof(ts5700n8501_thread_wa),
NORMALPRIO - 10, ts5700n8501_thread, NULL);
}
bool encoder_is_configured(void) {
return mode != ENCODER_MODE_NONE;
}
/**
* Read angle from configured encoder.
*
* @return
* The current encoder angle in degrees.
*/
float encoder_read_deg(void) {
static float angle = 0.0;
switch (mode) {
case ENCODER_MODE_ABI:
angle = ((float)HW_ENC_TIM->CNT * 360.0) / (float)enc_counts;
break;
case ENCODER_MODE_AS5047P_SPI:
case RESOLVER_MODE_AD2S1205:
case ENCODER_MODE_TS5700N8501:
angle = last_enc_angle;
break;
#ifdef HW_HAS_SIN_COS_ENCODER
case ENCODER_MODE_SINCOS: {
float sin = ENCODER_SIN_VOLTS * sin_gain - sin_offset;
float cos = ENCODER_COS_VOLTS * cos_gain - cos_offset;
float module = SQ(sin) + SQ(cos);
if (module > SQ(SINCOS_MAX_AMPLITUDE) ) {
// signals vector outside of the valid area. Increase error count and discard measurement
++sincos_signal_above_max_error_cnt;
UTILS_LP_FAST(sincos_signal_above_max_error_rate, 1.0, 1./SINCOS_SAMPLE_RATE_HZ);
angle = last_enc_angle;
}
else {
if (module < SQ(SINCOS_MIN_AMPLITUDE)) {
++sincos_signal_below_min_error_cnt;
UTILS_LP_FAST(sincos_signal_low_error_rate, 1.0, 1./SINCOS_SAMPLE_RATE_HZ);
angle = last_enc_angle;
}
else {
UTILS_LP_FAST(sincos_signal_above_max_error_rate, 0.0, 1./SINCOS_SAMPLE_RATE_HZ);
UTILS_LP_FAST(sincos_signal_low_error_rate, 0.0, 1./SINCOS_SAMPLE_RATE_HZ);
float angle_tmp = utils_fast_atan2(sin, cos) * 180.0 / M_PI;
UTILS_LP_FAST(angle, angle_tmp, sincos_filter_constant);
last_enc_angle = angle;
}
}
break;
}
#endif
default:
break;
}
return angle;
}
/**
* Reset the encoder counter. Should be called from the index interrupt.
*/
void encoder_reset(void) {
// Only reset if the pin is still high to avoid too short pulses, which
// most likely are noise.
__NOP();
__NOP();
__NOP();
__NOP();
if (palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)) {
const unsigned int cnt = HW_ENC_TIM->CNT;
static int bad_pulses = 0;
const unsigned int lim = enc_counts / 20;
if (index_found) {
// Some plausibility filtering.
if (cnt > (enc_counts - lim) || cnt < lim) {
HW_ENC_TIM->CNT = 0;
bad_pulses = 0;
} else {
bad_pulses++;
if (bad_pulses > 5) {
index_found = 0;
}
}
} else {
HW_ENC_TIM->CNT = 0;
index_found = true;
bad_pulses = 0;
}
}
}
// returns true for even number of ones (no parity error according to AS5047 datasheet
bool spi_check_parity(uint16_t x) {
x ^= x >> 8;
x ^= x >> 4;
x ^= x >> 2;
x ^= x >> 1;
return (~x) & 1;
}
/**
* Timer interrupt
*/
void encoder_tim_isr(void) {
uint16_t pos;
if(mode == ENCODER_MODE_AS5047P_SPI) {
spi_begin();
spi_transfer(&pos, 0, 1);
spi_end();
spi_val = pos;
if(spi_check_parity(pos) && pos != 0xffff) { // all ones = disconnect
pos &= 0x3FFF;
last_enc_angle = ((float)pos * 360.0) / 16384.0;
UTILS_LP_FAST(spi_error_rate, 0.0, 1./AS5047_SAMPLE_RATE_HZ);
} else {
++spi_error_cnt;
UTILS_LP_FAST(spi_error_rate, 1.0, 1./AS5047_SAMPLE_RATE_HZ);
}
}
if(mode == RESOLVER_MODE_AD2S1205) {
// SAMPLE signal should have been be asserted in sync with ADC sampling
#ifdef AD2S1205_RDVEL_GPIO
palSetPad(AD2S1205_RDVEL_GPIO, AD2S1205_RDVEL_PIN); // Always read position
#endif
spi_begin(); // CS uses the same mcu pin as AS5047
spi_transfer(&pos, 0, 1);
spi_end();
uint16_t RDVEL = pos & 0x08; // 1 means a position read
uint16_t DOS = pos & 0x04;
uint16_t LOT = pos & 0x02;
// uint16_t parity = pos & 0x01; // 16 bit frame should have odd parity
pos &= 0xFFF0;
pos = pos >> 4;
pos &= 0x0FFF; // check if needed
if((RDVEL != 0) && (DOS != 0) && (LOT != 0)) {
last_enc_angle = ((float)pos * 360.0) / 4096.0;
}
}
}
/**
* Set the number of encoder counts.
*
* @param counts
* The number of encoder counts
*/
void encoder_set_counts(uint32_t counts) {
if (counts != enc_counts) {
enc_counts = counts;
TIM_SetAutoreload(HW_ENC_TIM, enc_counts - 1);
index_found = false;
}
}
/**
* Check if the index pulse is found.
*
* @return
* True if the index is found, false otherwise.
*/
bool encoder_index_found(void) {
return index_found;
}
// Software SPI
static void spi_transfer(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;
for (int bit = 0;bit < 16;bit++) {
//palWritePad(HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI, send >> 15);
send <<= 1;
palSetPad(SPI_SW_SCK_GPIO, SPI_SW_SCK_PIN);
spi_delay();
int samples = 0;
samples += palReadPad(SPI_SW_MISO_GPIO, SPI_SW_MISO_PIN);
__NOP();
samples += palReadPad(SPI_SW_MISO_GPIO, SPI_SW_MISO_PIN);
__NOP();
samples += palReadPad(SPI_SW_MISO_GPIO, SPI_SW_MISO_PIN);
__NOP();
samples += palReadPad(SPI_SW_MISO_GPIO, SPI_SW_MISO_PIN);
__NOP();
samples += palReadPad(SPI_SW_MISO_GPIO, SPI_SW_MISO_PIN);
receive <<= 1;
if (samples > 2) {
receive |= 1;
}
palClearPad(SPI_SW_SCK_GPIO, SPI_SW_SCK_PIN);
spi_delay();
}
if (in_buf) {
in_buf[i] = receive;
}
}
}
static void spi_begin(void) {
palClearPad(SPI_SW_CS_GPIO, SPI_SW_CS_PIN);
}
static void spi_end(void) {
palSetPad(SPI_SW_CS_GPIO, SPI_SW_CS_PIN);
}
static void spi_delay(void) {
__NOP();
__NOP();
__NOP();
__NOP();
}
#pragma GCC push_options
#pragma GCC optimize ("O0")
void TS5700N8501_delay_uart(void) {
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
__NOP(); __NOP();
}
/*
* It is important to switch to receive mode immediately after sending the readout command,
* as the TS5700N8501 starts sending the reply after 3 microseconds. Therefore use software
* UART on TX so that the enable signal can be controlled manually. This function runs while
* the system is locked, but it should finish fast enough to not cause problems for other
* things due to the high baud rate.
*/
void TS5700N8501_send_byte(uint8_t b) {
utils_sys_lock_cnt();
#ifdef HW_ADC_EXT_GPIO
palSetPad(HW_ADC_EXT_GPIO, HW_ADC_EXT_PIN);
#endif
TS5700N8501_delay_uart();
palWritePad(HW_UART_TX_PORT, HW_UART_TX_PIN, 0);
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
for (int i = 0;i < 8;i++) {
palWritePad(HW_UART_TX_PORT, HW_UART_TX_PIN,
(b & (0x80 >> i)) ? PAL_HIGH : PAL_LOW);
TS5700N8501_delay_uart();
}
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
__NOP(); __NOP(); __NOP();
palWritePad(HW_UART_TX_PORT, HW_UART_TX_PIN, 1);
TS5700N8501_delay_uart();
#ifdef HW_ADC_EXT_GPIO
palClearPad(HW_ADC_EXT_GPIO, HW_ADC_EXT_PIN);
#endif
utils_sys_unlock_cnt();
}
#pragma GCC pop_options
static THD_FUNCTION(ts5700n8501_thread, arg) {
(void)arg;
chRegSetThreadName("TS5700N8501");
sdStart(&HW_UART_DEV, &TS5700N8501_uart_cfg);
palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_PULLUP);
palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_ALTERNATE(HW_UART_GPIO_AF) |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_PULLUP);
#ifdef HW_ADC_EXT_GPIO
palSetPadMode(HW_ADC_EXT_GPIO, HW_ADC_EXT_PIN, PAL_MODE_OUTPUT_PUSHPULL |
PAL_STM32_OSPEED_HIGHEST |
PAL_STM32_PUDR_PULLUP);
#endif
for(;;) {
// Check if it is time to stop.
if (ts5700n8501_stop_now) {
ts5700n8501_is_running = false;
return;
}
TS5700N8501_send_byte(0b01000000);
chThdSleep(1);
uint8_t reply[6];
int reply_ind = 0;
msg_t res = sdGetTimeout(&HW_UART_DEV, TIME_IMMEDIATE);
while (res != MSG_TIMEOUT) {
if (reply_ind < (int)sizeof(reply)) {
reply[reply_ind++] = res;
}
res = sdGetTimeout(&HW_UART_DEV, TIME_IMMEDIATE);
}
uint8_t crc = 0;
for (int i = 0;i < (reply_ind - 1);i++) {
crc = (reply[i] ^ crc);
}
if (reply_ind == 6 && crc == reply[reply_ind - 1]) {
uint32_t pos = (uint32_t)reply[2] + ((uint32_t)reply[3] << 8) + ((uint32_t)reply[4] << 16);
spi_val = pos;
last_enc_angle = (float)pos / 131072.0 * 360.0;
UTILS_LP_FAST(spi_error_rate, 0.0, 1.0 / AS5047_SAMPLE_RATE_HZ);
} else {
++spi_error_cnt;
UTILS_LP_FAST(spi_error_rate, 1.0, 1.0 / AS5047_SAMPLE_RATE_HZ);
}
}
}
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