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Got AS series of angle sensor working

This commit is contained in:
Nicolas Trimborn 2021-08-22 14:03:02 +02:00
parent 9d2f2a2598
commit 4dbced4c9d
14 changed files with 87 additions and 59 deletions
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2
2_Motor_Master/Motor_Master/Motor_Master/.atmelstart/atmel_start_config.atstart
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@ -1904,7 +1904,7 @@ drivers:
spi_master_arch_dord: MSB first
spi_master_arch_ibon: In data stream
spi_master_arch_runstdby: false
spi_master_baud_rate: 8000000
spi_master_baud_rate: 1000000
spi_master_character_size: 8 bits
spi_master_dummybyte: 511
spi_master_rx_enable: true

2
2_Motor_Master/Motor_Master/Motor_Master/Config/hpl_sercom_config.h
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@ -377,7 +377,7 @@
// <i> The SPI data transfer rate
// <id> spi_master_baud_rate
#ifndef CONF_SERCOM_5_SPI_BAUD
#define CONF_SERCOM_5_SPI_BAUD 8000000
#define CONF_SERCOM_5_SPI_BAUD 1000000
#endif
// </h>

8
2_Motor_Master/Motor_Master/Motor_Master/EtherCAT_SlaveDef.h
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@ -176,7 +176,7 @@ static void update_telemetry(void)
*M1_Motor__hallState = Motor1.motor_status.currentHallPattern;
*M1_Motor_dutyCycle = Motor1.motor_status.duty_cycle;
*M1_Motor_speed = (int16_t)Motor1.motor_status.calc_rpm;
*M1_Joint_abs_position = Motor1.motor_status.actualDirection;
//*M1_Joint_abs_position = Motor1.motor_status.actualDirection;
/* Motor 2 */
*M2_Status = Motor2.motor_state.currentstate;
*M2_Joint_rel_position = Motor2.motor_status.Num_Steps;
@ -189,7 +189,7 @@ static void update_telemetry(void)
*M2_Motor__hallState = Motor2.motor_status.currentHallPattern;
*M2_Motor_dutyCycle = Motor2.motor_status.duty_cycle;
*M2_Motor_speed = (int16_t)Motor2.motor_status.calc_rpm;
*M2_Joint_abs_position = Motor2.motor_status.actualDirection;
//*M2_Joint_abs_position = Motor2.motor_status.actualDirection;
}
static void update_setpoints(void)
@ -266,7 +266,7 @@ static inline void comms_check(void)
*M1_Status = 1;
*M1_Mode = 2;
*M1_Joint_rel_position = -3;
*M1_Joint_abs_position = 4;
//*M1_Joint_abs_position = 4;
*M1_Motor_speed = -5;
*M1_Motor_current_bus = 6;
*M1_Motor_currentPhA = -7;
@ -278,7 +278,7 @@ static inline void comms_check(void)
*M2_Status = 12;
*M2_Mode = 13;
*M2_Joint_rel_position = 14;
*M2_Joint_abs_position = -15;
//*M2_Joint_abs_position = -15;
*M2_Motor_speed = 16;
*M2_Motor_current_bus = -17;
*M2_Motor_currentPhA = 18;

8
2_Motor_Master/Motor_Master/Motor_Master/Ethercat_SlaveDef.h
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@ -176,7 +176,7 @@ static void update_telemetry(void)
*M1_Motor__hallState = Motor1.motor_status.currentHallPattern;
*M1_Motor_dutyCycle = Motor1.motor_status.duty_cycle;
*M1_Motor_speed = (int16_t)Motor1.motor_status.calc_rpm;
*M1_Joint_abs_position = Motor1.motor_status.actualDirection;
//*M1_Joint_abs_position = Motor1.motor_status.actualDirection;
/* Motor 2 */
*M2_Status = Motor2.motor_state.currentstate;
*M2_Joint_rel_position = Motor2.motor_status.Num_Steps;
@ -189,7 +189,7 @@ static void update_telemetry(void)
*M2_Motor__hallState = Motor2.motor_status.currentHallPattern;
*M2_Motor_dutyCycle = Motor2.motor_status.duty_cycle;
*M2_Motor_speed = (int16_t)Motor2.motor_status.calc_rpm;
*M2_Joint_abs_position = Motor2.motor_status.actualDirection;
//*M2_Joint_abs_position = Motor2.motor_status.actualDirection;
}
static void update_setpoints(void)
@ -266,7 +266,7 @@ static inline void comms_check(void)
*M1_Status = 1;
*M1_Mode = 2;
*M1_Joint_rel_position = -3;
*M1_Joint_abs_position = 4;
//*M1_Joint_abs_position = 4;
*M1_Motor_speed = -5;
*M1_Motor_current_bus = 6;
*M1_Motor_currentPhA = -7;
@ -278,7 +278,7 @@ static inline void comms_check(void)
*M2_Status = 12;
*M2_Mode = 13;
*M2_Joint_rel_position = 14;
*M2_Joint_abs_position = -15;
//*M2_Joint_abs_position = -15;
*M2_Motor_speed = 16;
*M2_Motor_current_bus = -17;
*M2_Motor_currentPhA = 18;

4
2_Motor_Master/Motor_Master/Motor_Master/Motor_Master.cproj
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@ -221,7 +221,7 @@
<AcmeProjectActionInfo Action="File" Source="config/hpl_oscctrl_config.h" IsConfig="true" Hash="Uje5LXAS+nQpGryt9t0fYA" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_port_config.h" IsConfig="true" Hash="rMTNR+5FXtu+wfT1NbfRRA" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_qspi_config.h" IsConfig="true" Hash="CwZ360eeEYs7T9SYFSvDug" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_sercom_config.h" IsConfig="true" Hash="VqQgNrcYjhppN3Wx5EeLwg" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_sercom_config.h" IsConfig="true" Hash="C7HLgXBWMtjVUMM9/rRk/w" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_tc_config.h" IsConfig="true" Hash="T93Kr6C+WDuufZob89oPeg" />
<AcmeProjectActionInfo Action="File" Source="config/hpl_tcc_config.h" IsConfig="true" Hash="2LU7afZ/3Yx7FE2KzF9dSQ" />
<AcmeProjectActionInfo Action="File" Source="config/peripheral_clk_config.h" IsConfig="true" Hash="rqTY1slZEq9V5moV+8Q+hw" />
@ -419,7 +419,7 @@
<armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>True</armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>
<armgcc.compiler.optimization.DebugLevel>Maximum (-g3)</armgcc.compiler.optimization.DebugLevel>
<armgcc.compiler.warnings.AllWarnings>True</armgcc.compiler.warnings.AllWarnings>
<armgcc.compiler.miscellaneous.OtherFlags>-std=gnu11 -mfloat-abi=hard -mfpu=fpv4-sp-d16</armgcc.compiler.miscellaneous.OtherFlags>
<armgcc.compiler.miscellaneous.OtherFlags>-std=gnu99 -mfloat-abi=hard -mfpu=fpv4-sp-d16</armgcc.compiler.miscellaneous.OtherFlags>
<armgcc.linker.general.UseNewlibNano>True</armgcc.linker.general.UseNewlibNano>
<armgcc.linker.libraries.Libraries>
<ListValues>

20
2_Motor_Master/Motor_Master/Motor_Master/angle_sensors.c
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@ -29,20 +29,19 @@ void angle_sensor_init()
gpio_set_pin_level(ANGLESENSOR.SS_pin, true);
}
//void read(ASCommand command)
//{
//_read(command); // Send command to device(s)
//_read(AS_CMD_NOP); // Read-out device(s)
//}
int16_t* ang_sense_read(ASCommand command)
{
_read(command); // Send command to device(s)
return _read(command); // Read-out device(s)
}
int16_t* read_angle()
{
_read(AS_CMD_ANGLE); // Send command to device(s)
_read(AS_CMD_ANGLE); // Read-out device(s)
return &ANGLESENSOR._readBuffer;
return _read(AS_CMD_ANGLE); // Read-out device(s)
}
void _read(ASCommand command)
int16_t* _read(ASCommand command)
{
if(ANGLESENSOR.n_dev == 1)
@ -50,7 +49,7 @@ void _read(ASCommand command)
// Give command to start reading the angle
gpio_set_pin_level(ANGLESENSOR.SS_pin, false);
uint16_t temp = _spi_transfer16(&ANGLESENSOR, command);
ANGLESENSOR._readBuffer[0] = (temp & AS_MASK);
ANGLESENSOR._readBuffer[0] = (temp);
gpio_set_pin_level(ANGLESENSOR.SS_pin, true);
//delay_us(1); // Wait at least 350ns after chip select
} else {
@ -60,11 +59,12 @@ void _read(ASCommand command)
for(int i = 0; i < ANGLESENSOR.n_dev; ++i)
{
uint16_t temp = _spi_transfer16(&ANGLESENSOR, command);
ANGLESENSOR._readBuffer[i] = (temp & AS_MASK);
ANGLESENSOR._readBuffer[i] = (temp);
}
gpio_set_pin_level(ANGLESENSOR.SS_pin, true);
//delay_us(1); // Wait at least 350ns after chip select
}
return &ANGLESENSOR._readBuffer;
}

7
2_Motor_Master/Motor_Master/Motor_Master/angle_sensors.h
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@ -57,8 +57,9 @@ typedef enum {
AS_CMD_NOP = 0x0000,
AS_CMD_ERROR = 0x0001 | AS_FLAG_READ, // Reads error register of sensor and clear error flags
AS_CMD_DIAGNOSTICS = 0x3FFD | AS_FLAG_READ, // Reads automatic gain control and diagnostics info
AS_CMD_MAGNITUDE = 0x3FFE | AS_FLAG_READ,
AS_CMD_MAGNITUDE = (uint16_t)(((0x2A & AS_ADDRESS_MASK) | AS_FLAG_READ) << 8),
AS_CMD_ANGLE = (uint16_t)(((0x20 & AS_ADDRESS_MASK) | AS_FLAG_READ) << 8),
AS_CMD_TEMP = ((0x28 & AS_ADDRESS_MASK) | AS_FLAG_READ) << 8,
} ASCommand;
// Masks for bits in the result of the AS_CMD_DIAGNOSTICS command
@ -88,7 +89,7 @@ static struct SPI_ANGLE_SENSOR ANGLESENSOR = {
};
void angle_sensor_init();
void read(ASCommand command);
int16_t* ang_sense_read(ASCommand command);
// Performs a single angle measurement on all sensors
// @return Array of raw angle data. To get the 14-bit value representing
// the angle, apply the mask() to the result.
@ -103,7 +104,7 @@ static bool parity_check(int16_t sensor_result);
int16_t degrees(int16_t sensor_result);
// Intended to be used Internally
void _read(ASCommand command);
int16_t* _read(ASCommand command);
uint16_t _spi_transfer16(struct spi_m_sync_descriptor *spi, uint16_t value);

12
2_Motor_Master/Motor_Master/Motor_Master/bldc.c
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@ -35,7 +35,7 @@ void motor_StateMachine(BLDCMotor_t* const motor)
case MOTOR_IDLE:
//hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw, DISABLE_PATTERN);
motor->motor_state.previousstate = motor->motor_state.currentstate;
motor->motor_state.currentstate = MOTOR_IDLE;
motor->motor_state.currentstate = MOTOR_PVI_CTRL_STATE;
break;
case MOTOR_OPEN_LOOP_STATE:
BLDC_runOpenLoop(motor, *M1_Desired_dc);
@ -227,12 +227,18 @@ void exec_commutation(BLDCMotor_t* const motor)
volatile uint16_t temp_M1 = COMMUTATION_PATTERN[currentHall +
motor->motor_setpoints.directionOffset];
hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw, temp_M1);
//TCC0->PATTBUF.reg = temp_M1;
Tcc * tmp = (Tcc *)motor->motor_param->pwm_desc->device.hw;
tmp->PATTBUF.reg = (uint16_t)temp_M1;
//motor->motor_param->pwm_desc->device.hw->PATTBUF.reg = temp_M1;
//hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw, temp_M1);
// ----------------------------------------------------------------------
// Set Calculated Duty Cycle
// ----------------------------------------------------------------------
hri_tcc_write_CCBUF_CCBUF_bf(motor->motor_param->pwm_desc->device.hw, 0, motor->motor_status.duty_cycle);
//hri_tcc_write_CCBUF_CCBUF_bf(motor->motor_param->pwm_desc->device.hw, 0, motor->motor_status.duty_cycle);
tmp->CCBUF[0].reg = (uint32_t)motor->motor_status.duty_cycle;
volatile uint8_t cur_comm_step = MOTOR_COMMUTATION_STEPS[currentHall];
motor->motor_status.cur_comm_step = cur_comm_step;

19
2_Motor_Master/Motor_Master/Motor_Master/main.c
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@ -54,7 +54,7 @@ static struct timer_task Onems_task;
void One_ms_timer_init(void)
{
Onems_task.interval = 10;
Onems_task.interval = 1;
Onems_task.cb = One_ms_cycle_callback;
Onems_task.mode = TIMER_TASK_REPEAT;
timer_add_task(&TIMER_0, &Onems_task);
@ -191,11 +191,20 @@ int main(void)
_dma_enable_transaction(DMAC_CHANNEL_CONF_SERCOM_1_TRANSMIT, false);
volatile int x = 1;
//
int16_t* angles;
angles = read_angle();
*M1_Joint_abs_position = degrees(angles[0]);
*M2_Joint_abs_position = degrees(angles[1]);
//int16_t* field;
//int16_t* temp;
//angles = read_angle();
//*M1_Joint_abs_position = degrees(angles[0]);
//*M2_Joint_abs_position = degrees(angles[1]);
//field = ang_sense_read(AS_CMD_MAGNITUDE);
//*Spare1_tx = (field[0] & AS_MASK);
//*Spare2_tx = (field[1] & AS_MASK);
//temp = ang_sense_read(AS_CMD_TEMP);
//*Spare3_tx = (int16_t)(((float)(temp[0] & AS_MASK) / 8.0) - 273.15);
//*Spare4_tx = (int16_t)(((float)(temp[1] & AS_MASK) / 8.0) - 273.15);
volatile int y = 0;
//spi_m_dma_transfer(&SPI_1_MSIF, (uint8_t*)Slave_1.tx_buffer, (uint8_t*)Slave_1.rx_buffer, MASTER_BUFFER_SIZE);

4
2_Motor_Slave/Motor_Slave/Motor_Slave/MSIF_slave.h
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@ -102,7 +102,7 @@ static void update_telemetry(void)
*M3_Motor__hallState = Motor1.motor_status.currentHallPattern;
*M3_Motor_dutyCycle = Motor1.motor_status.duty_cycle;
*M3_Motor_speed = (int16_t)Motor1.motor_status.calc_rpm;
*M3_Joint_abs_position = Motor1.motor_status.actualDirection;
//*M3_Joint_abs_position = ;
/* Motor 2 */
*M4_Status = Motor2.motor_state.currentstate;
*M4_Joint_rel_position = Motor2.motor_status.Num_Steps;
@ -115,7 +115,7 @@ static void update_telemetry(void)
*M4_Motor__hallState = Motor2.motor_status.currentHallPattern;
*M4_Motor_dutyCycle = Motor2.motor_status.duty_cycle;
*M4_Motor_speed = (int16_t)Motor2.motor_status.calc_rpm;
*M4_Joint_abs_position = Motor2.motor_status.actualDirection;
//*M4_Joint_abs_position = Motor2.motor_status.actualDirection;
}
static void update_setpoints(void)

16
2_Motor_Slave/Motor_Slave/Motor_Slave/angle_sensors.c
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@ -29,20 +29,19 @@ void angle_sensor_init()
gpio_set_pin_level(ANGLESENSOR.SS_pin, true);
}
void read(ASCommand command)
int16_t* read(ASCommand command)
{
_read(command); // Send command to device(s)
_read(AS_CMD_NOP); // Read-out device(s)
return _read(AS_CMD_NOP); // Read-out device(s)
}
int16_t* read_angle()
{
_read(AS_CMD_ANGLE); // Send command to device(s)
_read(AS_CMD_ANGLE); // Read-out device(s)
return &ANGLESENSOR._readBuffer;
return _read(AS_CMD_ANGLE); // Read-out device(s)
}
void _read(ASCommand command)
int16_t* _read(ASCommand command)
{
if(ANGLESENSOR.n_dev == 1)
@ -52,19 +51,20 @@ void _read(ASCommand command)
uint16_t temp = _spi_transfer16(&ANGLESENSOR, command);
ANGLESENSOR._readBuffer[0] = (temp & ~0xC000);
gpio_set_pin_level(ANGLESENSOR.SS_pin, true);
//delay_us(1); // Wait at least 350ns after chip select
delay_us(1); // Wait at least 350ns after chip select
} else {
// Enable the sensor on the chain
gpio_set_pin_level(ANGLESENSOR.SS_pin, false);
//delay_us(1); // Wait at least 350ns after chip select
delay_us(1); // Wait at least 350ns after chip select
for(int i = 0; i < ANGLESENSOR.n_dev; ++i)
{
uint16_t temp = _spi_transfer16(&ANGLESENSOR, command);
ANGLESENSOR._readBuffer[i] = (temp & ~0xC000);
}
gpio_set_pin_level(ANGLESENSOR.SS_pin, true);
//delay_us(1); // Wait at least 350ns after chip select
delay_us(1); // Wait at least 350ns after chip select
}
return &ANGLESENSOR._readBuffer;
}

6
2_Motor_Slave/Motor_Slave/Motor_Slave/angle_sensors.h
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@ -83,12 +83,12 @@ static struct SPI_ANGLE_SENSOR ANGLESENSOR = {
.SPI_descr = &SPI_3,
.flags = 0,
.SS_pin = SPI3_SS,
.n_dev = 1,
.n_dev = 2,
._readBuffer = {0} // Must Equal n_dev
};
void angle_sensor_init();
void read(ASCommand command);
int16_t* read(ASCommand command);
// Performs a single angle measurement on all sensors
// @return Array of raw angle data. To get the 14-bit value representing
// the angle, apply the mask() to the result.
@ -103,7 +103,7 @@ static bool parity_check(int16_t sensor_result);
int16_t degrees(int16_t sensor_result);
// Intended to be used Internally
void _read(ASCommand command);
int16_t* _read(ASCommand command);
uint16_t _spi_transfer16(struct spi_m_sync_descriptor *spi, uint16_t value);

11
2_Motor_Slave/Motor_Slave/Motor_Slave/bldc.c
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@ -227,13 +227,18 @@ void exec_commutation(BLDCMotor_t* const motor)
volatile uint16_t temp_M1 = COMMUTATION_PATTERN[currentHall +
motor->motor_setpoints.directionOffset];
hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw, temp_M1);
//TCC0->PATTBUF.reg = temp_M1;
Tcc * tmp = (Tcc *)motor->motor_param->pwm_desc->device.hw;
tmp->PATTBUF.reg = (uint16_t)temp_M1;
//motor->motor_param->pwm_desc->device.hw->PATTBUF.reg = temp_M1;
//hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw, temp_M1);
// ----------------------------------------------------------------------
// Set Calculated Duty Cycle
// ----------------------------------------------------------------------
hri_tcc_write_CCBUF_CCBUF_bf(motor->motor_param->pwm_desc->device.hw, 0, motor->motor_status.duty_cycle);
//hri_tcc_write_CCBUF_CCBUF_bf(motor->motor_param->pwm_desc->device.hw, 0, motor->motor_status.duty_cycle);
tmp->CCBUF[0].reg = (uint32_t)motor->motor_status.duty_cycle;
volatile uint8_t cur_comm_step = MOTOR_COMMUTATION_STEPS[currentHall];
motor->motor_status.cur_comm_step = cur_comm_step;
volatile int8_t step_change = (cur_comm_step - motor->motor_status.prev_comm_step);

27
2_Motor_Slave/Motor_Slave/Motor_Slave/main.c
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@ -70,7 +70,7 @@ static struct timer_task Onems_task;
void One_ms_timer_init(void)
{
Onems_task.interval = 10;
Onems_task.interval = 1;
Onems_task.cb = One_ms_cycle_callback;
Onems_task.mode = TIMER_TASK_REPEAT;
timer_add_task(&TIMER_0, &Onems_task);
@ -86,6 +86,10 @@ void SERCOM1_1_Handler()
//SERCOM1->SPI.INTFLAG.bit.TXC = 0x01;
//SPI_tx_buffer[0] += 1;
//tx_buffer[31] += 1;
//DMAC->Channel[0].CHCTRLA.reg |= DMAC_CHCTRLA_ENABLE;
//DMAC->Channel[1].CHCTRLA.reg |= DMAC_CHCTRLA_ENABLE;
_dma_enable_transaction(CONF_SERCOM_1_RECEIVE_DMA_CHANNEL, false);
_dma_enable_transaction(CONF_SERCOM_1_TRANSMIT_DMA_CHANNEL, false);
@ -103,6 +107,7 @@ void SERCOM1_3_Handler()
//SERCOM1->SPI.INTFLAG.bit.TXC = 0x01;
//tx_buffer[0] += 1;
//tx_buffer[31] += 1;
//_dma_enable_transaction(CONF_SERCOM_1_RECEIVE_DMA_CHANNEL, false);
//_dma_enable_transaction(CONF_SERCOM_1_TRANSMIT_DMA_CHANNEL, false);
@ -129,13 +134,15 @@ void enable_NVIC_IRQ(void)
NVIC_SetPriority(DMAC_0_IRQn, 2);
NVIC_SetPriority(ADC1_0_IRQn, 3);
NVIC_EnableIRQ(TCC0_0_IRQn);
NVIC_SetPriority(TCC0_0_IRQn, 1);
NVIC_EnableIRQ(TCC1_0_IRQn);
NVIC_SetPriority(TCC1_0_IRQn, 1);
//NVIC_EnableIRQ(SERCOM5_0_IRQn);
//NVIC_EnableIRQ(SERCOM1_1_IRQn);
//NVIC_SetPriority(SERCOM1_1_IRQn, 1);
//NVIC_EnableIRQ(SERCOM1_3_IRQn);
//NVIC_SetPriority(SERCOM1_3_IRQn, 1);
NVIC_EnableIRQ(SERCOM1_1_IRQn);
NVIC_SetPriority(SERCOM1_1_IRQn, 0);
NVIC_EnableIRQ(SERCOM1_3_IRQn);
NVIC_SetPriority(SERCOM1_3_IRQn, 0);
//NVIC_EnableIRQ(SERCOM1_3_IRQn);
//NVIC_EnableIRQ(EIC_5_IRQn);
}
@ -171,7 +178,7 @@ void APPLICATION_StateMachine(void)
//applicationStatus.currentstate ;
//comms_check();
motor_StateMachine(&Motor1);
motor_StateMachine(&Motor2);
//motor_StateMachine(&Motor2);
break;
case APP_FAULT:
//DisableGateDrivers(&Motor1);
@ -239,10 +246,10 @@ int main(void)
/* Replace with your application code */
while (1) {
//if (Motor1.timerflags.adc_readings_ready_tic) {process_currents();}
if (Motor1.timerflags.adc_readings_ready_tic) {process_currents();}
if (Motor1.timerflags.current_loop_tic) {
//APPLICATION_StateMachine();
//exec_commutation(&Motor1);
APPLICATION_StateMachine();
exec_commutation(&Motor1);
//exec_commutation(&Motor2);
}
@ -263,7 +270,7 @@ int main(void)
int16_t* angles;
angles = read_angle();
*M3_Joint_abs_position = degrees(angles[0]);
//*M4_Joint_abs_position = angles[1];
*M4_Joint_abs_position = degrees(angles[1]);
volatile int y = 0;