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add coherent sampling and 1.5 cycle pwm phase advance

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This commit is contained in:
Oskar Weigl
2019-02-01 21:01:45 -08:00
parent 7384f2a7ee
commit a86fb3e59b
7 changed files with 79 additions and 30 deletions
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Firmware/MotorControl/encoder.cpp
+23 -5
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@@ -252,6 +252,27 @@ void Encoder::update_pll_gains() {
}
}
void Encoder::sample_now() {
switch (config_.mode) {
case MODE_INCREMENTAL: {
tim_cnt_sample_ = (int16_t)hw_config_.timer->Instance->CNT;
} break;
case MODE_HALL: {
// do nothing: samples already captured in general GPIO capture
} break;
case MODE_SINCOS: {
sincos_sample_s_ = get_adc_voltage(GPIO_3_GPIO_Port, GPIO_3_Pin) / 3.3f;
sincos_sample_c_ = get_adc_voltage(GPIO_4_GPIO_Port, GPIO_4_Pin) / 3.3f;
} break;
default: {
set_error(ERROR_UNSUPPORTED_ENCODER_MODE);
} break;
}
}
bool Encoder::update() {
// update internal encoder state.
int32_t delta_enc = 0;
@@ -259,7 +280,7 @@ bool Encoder::update() {
case MODE_INCREMENTAL: {
//TODO: use count_in_cpr_ instead as shadow_count_ can overflow
//or use 64 bit
int16_t delta_enc_16 = (int16_t)hw_config_.timer->Instance->CNT - (int16_t)shadow_count_;
int16_t delta_enc_16 = (int16_t)tim_cnt_sample_ - (int16_t)shadow_count_;
delta_enc = (int32_t)delta_enc_16; //sign extend
} break;
@@ -279,10 +300,7 @@ bool Encoder::update() {
} break;
case MODE_SINCOS: {
float c = get_adc_voltage(GPIO_3_GPIO_Port, GPIO_3_Pin) / 3.3f;
float s = get_adc_voltage(GPIO_4_GPIO_Port, GPIO_4_Pin) / 3.3f;
float phase = fast_atan2(s, c);
float phase = fast_atan2(sincos_sample_s_, sincos_sample_c_);
int fake_count = (int)(1000.0f * phase);
//CPR = 6283 = 2pi * 1k