/
purpinsMotors.cpp
235 lines (171 loc) · 6.33 KB
/
purpinsMotors.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
/*
* purpins_motors.c
*
* Created on: Jul 2, 2014
* Author: bgouveia
*/
#include <stdint.h>
#include <stdbool.h>
#include <stdlib.h>
#include "inc/hw_ints.h"
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "driverlib/debug.h"
#include "driverlib/fpu.h"
#include "driverlib/gpio.h"
#include "driverlib/interrupt.h"
#include "driverlib/pin_map.h"
#include "driverlib/rom.h"
#include "driverlib/rom_map.h"
#include "driverlib/sysctl.h"
#include "driverlib/uart.h"
#include "driverlib/qei.h"
#include "driverlib/pwm.h"
#include "driverlib/pin_map.h"
#include "utils/uartstdio.h"
#include "purpinsMotors.h"
#include "pid.h"
static pp_motor * leftptr;
static pp_motor * rightptr;
static unsigned long pwmPeriod;
purpinsMotors::purpinsMotors() {
leftptr=&leftMotor;
rightptr=&rightMotor;
PID leftmotor_pid(KC,TI,TD,QEIRATE);
PID rightmotor_pid(KC,TI,TD,QEIRATE);
leftMotor.pid=&leftmotor_pid;
rightMotor.pid=&rightmotor_pid;
//TODO: tune settings
leftMotor.pid->setInputLimits(-100,100);
leftMotor.pid->setOutputLimits(-255,255);
leftMotor.pid->setBias(0.0);
leftMotor.pid->setMode(AUTO_MODE);
//TODO: tune settings
rightMotor.pid->setInputLimits(-100,100);
rightMotor.pid->setOutputLimits(-255,255);
rightMotor.pid->setBias(0.0);
rightMotor.pid->setMode(AUTO_MODE);
configureQEI();
configurePWM();
}
void purpinsMotors::setSpeed(float leftSpeed, float rightSpeed) {
}
void purpinsMotors::getSpeed(float& leftSpeed, float& rightSpeed) {
}
void purpinsMotors::getQEITicks(int32_t& left, int32_t& right) {
//TODO: Implement
}
void purpinsMotors::configureQEI() {
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI0);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_QEI1);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
//
// Set GPIO C5 and C6 as QEI pins.
//
MAP_GPIOPinConfigure(GPIO_PC5_PHA1);
MAP_GPIOPinConfigure(GPIO_PC6_PHB1);
MAP_GPIOPinTypeQEI(GPIO_PORTC_BASE, GPIO_PIN_5 | GPIO_PIN_6);
//
// Set GPIO D6 and D7 as QEI pins.
//
MAP_GPIOPinConfigure(GPIO_PD6_PHA0);
MAP_GPIOPinConfigure(GPIO_PD7_PHB0);
MAP_GPIOPinTypeQEI(GPIO_PORTD_BASE, GPIO_PIN_6 | GPIO_PIN_7);
MAP_QEIConfigure(QEI0_BASE,
(QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_QUADRATURE | QEI_CONFIG_NO_SWAP
| QEI_CONFIG_NO_RESET), 1200);
MAP_QEIConfigure(QEI1_BASE,
(QEI_CONFIG_CAPTURE_A_B | QEI_CONFIG_QUADRATURE | QEI_CONFIG_NO_SWAP
| QEI_CONFIG_NO_RESET), 1200);
MAP_QEIEnable(QEI0_BASE);
MAP_QEIEnable(QEI1_BASE);
MAP_QEIVelocityConfigure(QEI0_BASE, QEI_VELDIV_1,
MAP_SysCtlClockGet() / QEILOOPFREQUENCY);
MAP_QEIVelocityConfigure(QEI1_BASE, QEI_VELDIV_1,
MAP_SysCtlClockGet() / QEILOOPFREQUENCY);
QEIIntRegister(QEI1_BASE, motorsRightQEIHandler);
QEIIntRegister(QEI0_BASE, motorsLeftQEIHandler);
MAP_IntEnable(INT_QEI0);
MAP_IntEnable(INT_QEI1);
MAP_QEIIntEnable(QEI0_BASE, QEI_INTTIMER);
MAP_QEIIntEnable(QEI1_BASE, QEI_INTTIMER);
MAP_QEIVelocityEnable(QEI0_BASE);
MAP_QEIVelocityEnable(QEI1_BASE);
}
void purpinsMotors::configurePWM(){
//Configure PWM Clock
MAP_SysCtlPWMClockSet(SYSCTL_PWMDIV_2);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOF);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOC);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM1);
MAP_SysCtlPeripheralEnable(SYSCTL_PERIPH_PWM0);
pwmPeriod = MAP_SysCtlClockGet() / 2 / PWM_FREQUENCY; //PWM frequency
MAP_GPIOPinConfigure(GPIO_PF1_M1PWM5);
MAP_GPIOPinConfigure(GPIO_PF2_M1PWM6);
MAP_GPIOPinConfigure(GPIO_PF3_M1PWM7);
MAP_GPIOPinConfigure(GPIO_PC4_M0PWM6);
MAP_GPIOPinTypePWM(GPIO_PORTF_BASE, GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3);
MAP_GPIOPinTypePWM(GPIO_PORTC_BASE, GPIO_PIN_4);
//gen 3 for m0pwm6
MAP_PWMGenConfigure(PWM0_BASE, PWM_GEN_3, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
//gen 3 for m1pwm6 and m1pwm7
MAP_PWMGenConfigure(PWM1_BASE, PWM_GEN_3, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
//gen 2 for m1pwm5
MAP_PWMGenConfigure(PWM1_BASE, PWM_GEN_2, PWM_GEN_MODE_UP_DOWN | PWM_GEN_MODE_NO_SYNC);
//Set the Period (expressed in clock ticks)
MAP_PWMGenPeriodSet(PWM0_BASE, PWM_GEN_3, pwmPeriod);
MAP_PWMGenPeriodSet(PWM1_BASE, PWM_GEN_2, pwmPeriod);
MAP_PWMGenPeriodSet(PWM1_BASE, PWM_GEN_3, pwmPeriod);
//Set PWM duty-0%
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5 , 0);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6 , 0);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7 , 0);
MAP_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_6 , 0);
// Enable the PWM generators
MAP_PWMGenEnable(PWM1_BASE, PWM_GEN_2);
MAP_PWMGenEnable(PWM1_BASE, PWM_GEN_3);
MAP_PWMGenEnable(PWM0_BASE, PWM_GEN_3);
// Turn on the Output pins
MAP_PWMOutputState(PWM1_BASE, PWM_OUT_5_BIT, true);
MAP_PWMOutputState(PWM1_BASE, PWM_OUT_6_BIT, true);
MAP_PWMOutputState(PWM1_BASE, PWM_OUT_7_BIT, true);
MAP_PWMOutputState(PWM0_BASE, PWM_OUT_6_BIT, true);
}
void motorsLeftQEIHandler() {
MAP_QEIIntClear(QEI0_BASE,QEI_INTTIMER);
leftptr->vel=MAP_QEIVelocityGet(QEI0_BASE)*MAP_QEIDirectionGet(QEI0_BASE);
leftptr->pid->setSetPoint(leftptr->goal_vel);
leftptr->pid->setProcessValue(leftptr->vel);
leftptr->pwm_value = leftptr->pid->compute()*(pwmPeriod/255);
//pwm_value = leftmotor_pid.run(goal_vel,vel)*(ulPeriod/255);
if (leftptr->pwm_value == 0){
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6 , 0);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7 , 0);
}else if (leftptr->pwm_value<0){
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6 , 0);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7 , -leftptr->pwm_value);
}else {
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_6 , leftptr->pwm_value);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_7 , 0);
}
}
void motorsRightQEIHandler() {
MAP_QEIIntClear(QEI1_BASE,QEI_INTTIMER);
rightptr->vel=MAP_QEIVelocityGet(QEI1_BASE)*MAP_QEIDirectionGet(QEI1_BASE);
rightptr->pid->setSetPoint(rightptr->goal_vel);
rightptr->pid->setProcessValue(rightptr->vel);
rightptr->pwm_value = rightptr->pid->compute()*(pwmPeriod/255);
//pwm_value = leftmotor_pid.run(goal_vel,vel)*(ulPeriod/255);
if (rightptr->pwm_value == 0){
MAP_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_6 , 0);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5 , 0);
}else if (rightptr->pwm_value<0){
MAP_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_6 , 0);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5 , -rightptr->pwm_value);
}else {
MAP_PWMPulseWidthSet(PWM0_BASE, PWM_OUT_6 , rightptr->pwm_value);
MAP_PWMPulseWidthSet(PWM1_BASE, PWM_OUT_5 , 0);
}
}