105 lines
3.9 KiB
C++
105 lines
3.9 KiB
C++
/**********************************************************************
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Copyright (C) 2018 MisfitTech LLC, All rights reserved.
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MisfitTech uses a dual license model that allows the software to be used under
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a standard GPL open source license, or a commercial license. The standard GPL
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license requires that all software statically linked with MisfitTec Code is
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also distributed under the same GPL V2 license terms. Details of both license
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options follow:
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- Open source licensing -
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MisfitTech is a free download and may be used, modified, evaluated and
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distributed without charge provided the user adheres to version two of the GNU
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General Public License (GPL) and does not remove the copyright notice or this
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text. The GPL V2 text is available on the gnu.org web site
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- Commercial licensing -
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Businesses and individuals that for commercial or other reasons cannot comply
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with the terms of the GPL V2 license must obtain a low cost commercial license
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before incorporating MisfitTech code into proprietary software for distribution in
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any form. Commercial licenses can be purchased from www.misfittech.net
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and do not require any source files to be changed.
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This code is distributed in the hope that it will be useful. You cannot
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use MisfitTech's code unless you agree that you use the software 'as is'.
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MisfitTech's code is provided WITHOUT ANY WARRANTY; without even the implied
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warranties of NON-INFRINGEMENT, MERCHANTABILITY or FITNESS FOR A PARTICULAR
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PURPOSE. MisfitTech LLC disclaims all conditions and terms, be they
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implied, expressed, or statutory.
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Written by Trampas Stern for MisfitTech.
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Misfit Tech invests time and resources providing this open source code,
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please support MisfitTech and open-source hardware by purchasing
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products from MisfitTech, www.misifittech.net!
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*********************************************************************/
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#ifndef __CALIBRAITON_H__
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#define __CALIBRAITON_H__
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#include <Arduino.h>
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#include "syslog.h"
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#include "angle.h"
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//this file implements a table that is linearly interpolated circular calibration table
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// it is assumed the data wraps around, ie you interpolated 65536==0
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//we want this to be "whole" steps, for 1.8 degree motors this should be 200.
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// 200 will work for 0.9 degree too, but could be 400. However 400 is not good for 1.8 degree motors
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#define CALIBRATION_TABLE_SIZE (200)
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#define CALIBRATION_STEPS ((uint32_t)ANGLE_STEPS) // this is one rotation ie 0-65535 aka 65536 steps is 0-360 degrees
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#define CALIBRATION_ERROR_NOT_SET (-1) //indicated that the calibration value is not set.
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#define CALIBRATION_UPDATE_RATE (32) //number of samples to keep 1 pole running average
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#define CALIBRATION_MIN_ERROR (4) //the minimal expected error on our calibration 4 ~=+/0.2 degrees
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typedef struct {
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uint16_t table[CALIBRATION_TABLE_SIZE];
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bool status;
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} FlashCalData_t;
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typedef struct {
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Angle value; //cal value
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int16_t error; //error assuming it is constantly updated
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} CalData_t;
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class CalibrationTable
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{
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private:
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CalData_t table[CALIBRATION_TABLE_SIZE];
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bool fastCalVaild=false;
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void loadFromFlash(void);
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bool flashGood(void); //returns true if the flash copy of calibration is valid
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void updateFastCal(void);
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void createFastCal(void);
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public:
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void init(void);
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void saveToFlash(void); //saves the calibration to flash
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bool updateTableValue(int32_t index, int32_t value);
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void updateTable(Angle actualAngle, Angle encoderValue);
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int getValue(Angle actualAngle, CalData_t *ptrData);
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Angle getCal(Angle actualAngle);
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bool calValid(void);
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Angle reverseLookup(Angle encoderAngle); //this turns encoder angle into real angle
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void printCalTable(void);
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void smoothTable(void);
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Angle fastReverseLookup(Angle encoderAngle);
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};
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#endif //__CALIBRAITON_H__
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