diff --git a/CMakeLists.txt b/CMakeLists.txt index 6c36559..f2c8871 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -4,6 +4,9 @@ project(test_project C CXX ASM) set(CMAKE_C_STANDARD 11) set(CMAKE_CXX_STANDARD 17) pico_sdk_init() + + + add_executable(test test.c spi_nb.c @@ -12,13 +15,16 @@ Temps.c Servomoteur.c gyro_L3GD20H.c gyro_ADXRS453.c +QEI.c ) +pico_generate_pio_header(test ${CMAKE_CURRENT_LIST_DIR}/quadrature_encoder.pio) + add_definitions(-DGYRO_ADXRS453) pico_enable_stdio_usb(test 1) pico_enable_stdio_uart(test 1) pico_add_extra_outputs(test) -target_link_libraries(test pico_stdlib hardware_spi hardware_pwm hardware_structs) +target_link_libraries(test pico_stdlib hardware_spi hardware_pwm hardware_structs hardware_pio) add_custom_target(Flash DEPENDS test diff --git a/QEI.c b/QEI.c new file mode 100644 index 0000000..3ed3fe1 --- /dev/null +++ b/QEI.c @@ -0,0 +1,55 @@ +#include +#include "pico/stdlib.h" +#include "hardware/pio.h" +#include "hardware/timer.h" +#include "QEI.h" +#include "quadrature_encoder.pio.h" + + +struct QEI_t QEI[3]; + +PIO pio_QEI = pio0; + +void QEI_init(){ + // Initialisation des 3 modules QEI + // Chaque module QEI sera dans une machine à état du PIO 0 + + + // Offset le début du programme + // Si ce n'est pas 0, le programme ne marchera pas + uint offset = pio_add_program(pio_QEI, &quadrature_encoder_program); + if(offset != 0){ + printf("PIO init error: offset != 0"); + } + + // Initialisation des "machines à états" : + // QEI1 : broche 26 et 27 - pio : pio0, sm : 0, Offset : 0, broches 26 et 27, clock div : 0 pour commencer + // QEI1 : !!! Attention, il faudra modifier la carte élec !!! + quadrature_encoder_program_init(pio_QEI, 0, offset, 26, 0); + // QEI2: broche 26 et 27 - pio : pio0, sm : 1, Offset : 0, broches 26 et 27, clock div : 0 pour commencer + quadrature_encoder_program_init(pio_QEI, 1, offset, 20, 0); + // QEI3: broche 24 et 25 - pio : pio0, sm : 1, Offset : 0, broches 26 et 27, clock div : 0 pour commencer + quadrature_encoder_program_init(pio_QEI, 2, offset, 24, 0); + + QEI[0].value=0; + QEI[1].value=0; + QEI[2].value=0; + +} + +void QEI_update(){ + int old_value; + + old_value = QEI[0].value; + QEI[0].value = quadrature_encoder_get_count(pio_QEI, 0); + QEI[0].delta = QEI[0].value - old_value; + + old_value = QEI[1].value; + QEI[1].value = quadrature_encoder_get_count(pio_QEI, 1); + QEI[1].delta = QEI[1].value - old_value; + + old_value = QEI[2].value; + QEI[2].value = quadrature_encoder_get_count(pio_QEI, 2); + QEI[2].delta = QEI[2].value - old_value; + +} \ No newline at end of file diff --git a/QEI.h b/QEI.h new file mode 100644 index 0000000..a761418 --- /dev/null +++ b/QEI.h @@ -0,0 +1,7 @@ +struct QEI_t{ + int value; + int delta; +}; + +void QEI_update(void); +void QEI_init(void); \ No newline at end of file diff --git a/acq_5ms_env_50ms.csv b/data/acq_5ms_env_50ms.csv similarity index 100% rename from acq_5ms_env_50ms.csv rename to data/acq_5ms_env_50ms.csv diff --git a/acq_5ms_env_50ms_enr_01.csv b/data/acq_5ms_env_50ms_enr_01.csv similarity index 100% rename from acq_5ms_env_50ms_enr_01.csv rename to data/acq_5ms_env_50ms_enr_01.csv diff --git a/acq_5ms_env_50ms_enr_02.csv b/data/acq_5ms_env_50ms_enr_02.csv similarity index 100% rename from acq_5ms_env_50ms_enr_02.csv rename to data/acq_5ms_env_50ms_enr_02.csv diff --git a/data/acq_5ms_env_50ms_enr_03.csv b/data/acq_5ms_env_50ms_enr_03.csv new file mode 100644 index 0000000..fb94615 --- /dev/null +++ b/data/acq_5ms_env_50ms_enr_03.csv @@ -0,0 +1,11921 @@ +0.162000, -0.201250, 0.498750, 0.813750 +0.163000, -0.277288, 0.595525, 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a/acq_ADXRS453_5ms_filtre_0_001_enr02.csv b/data/acq_ADXRS453_5ms_filtre_0_001_enr02.csv similarity index 100% rename from acq_ADXRS453_5ms_filtre_0_001_enr02.csv rename to data/acq_ADXRS453_5ms_filtre_0_001_enr02.csv diff --git a/acq_ADXRS453_5ms_filtre_0_001_enr03.csv b/data/acq_ADXRS453_5ms_filtre_0_001_enr03.csv similarity index 100% rename from acq_ADXRS453_5ms_filtre_0_001_enr03.csv rename to data/acq_ADXRS453_5ms_filtre_0_001_enr03.csv diff --git a/acq_ADXRS453_5ms_filtre_0_2_enr04.csv b/data/acq_ADXRS453_5ms_filtre_0_2_enr04.csv similarity index 100% rename from acq_ADXRS453_5ms_filtre_0_2_enr04.csv rename to data/acq_ADXRS453_5ms_filtre_0_2_enr04.csv diff --git a/acq_ADXRS453_5ms_filtre_0_2_enr05.csv b/data/acq_ADXRS453_5ms_filtre_0_2_enr05.csv similarity index 100% rename from acq_ADXRS453_5ms_filtre_0_2_enr05.csv rename to data/acq_ADXRS453_5ms_filtre_0_2_enr05.csv diff --git a/acq_ADXRS453_5ms_no_filter_enr01.csv b/data/acq_ADXRS453_5ms_no_filter_enr01.csv similarity index 100% rename from acq_ADXRS453_5ms_no_filter_enr01.csv rename to data/acq_ADXRS453_5ms_no_filter_enr01.csv diff --git a/acq_ADXRS453_5ms_no_filter_enr02.csv b/data/acq_ADXRS453_5ms_no_filter_enr02.csv similarity index 100% rename from acq_ADXRS453_5ms_no_filter_enr02.csv rename to data/acq_ADXRS453_5ms_no_filter_enr02.csv diff --git a/acq_ADXRS453_angle_continu_enr01.csv b/data/acq_ADXRS453_angle_continu_enr01.csv similarity index 100% rename from acq_ADXRS453_angle_continu_enr01.csv rename to data/acq_ADXRS453_angle_continu_enr01.csv diff --git a/acq_ADXRS453_angle_continu_enr02.csv b/data/acq_ADXRS453_angle_continu_enr02.csv similarity index 100% rename from acq_ADXRS453_angle_continu_enr02.csv rename to data/acq_ADXRS453_angle_continu_enr02.csv diff --git a/acq_ADXRS453_angle_continu_enr03.csv b/data/acq_ADXRS453_angle_continu_enr03.csv similarity index 100% rename from acq_ADXRS453_angle_continu_enr03.csv rename to data/acq_ADXRS453_angle_continu_enr03.csv diff --git a/acq_ADXRS453_angle_continu_enr04.csv b/data/acq_ADXRS453_angle_continu_enr04.csv similarity index 100% rename from acq_ADXRS453_angle_continu_enr04.csv rename to data/acq_ADXRS453_angle_continu_enr04.csv diff --git a/acq_ADXRS453_angle_continu_enr05.csv b/data/acq_ADXRS453_angle_continu_enr05.csv similarity index 100% rename from acq_ADXRS453_angle_continu_enr05.csv rename to data/acq_ADXRS453_angle_continu_enr05.csv diff --git a/acq_ADXRS453_angle_enr01.csv b/data/acq_ADXRS453_angle_enr01.csv similarity index 100% rename from acq_ADXRS453_angle_enr01.csv rename to data/acq_ADXRS453_angle_enr01.csv diff --git a/acq_ADXRS453_angle_enr02.csv b/data/acq_ADXRS453_angle_enr02.csv similarity index 100% rename from acq_ADXRS453_angle_enr02.csv rename to data/acq_ADXRS453_angle_enr02.csv diff --git a/acq_ADXRS453_angle_enr03.csv b/data/acq_ADXRS453_angle_enr03.csv similarity index 100% rename from acq_ADXRS453_angle_enr03.csv rename to data/acq_ADXRS453_angle_enr03.csv diff --git a/acq_ADXRS453_angle_enr04.csv b/data/acq_ADXRS453_angle_enr04.csv similarity index 100% rename from acq_ADXRS453_angle_enr04.csv rename to data/acq_ADXRS453_angle_enr04.csv diff --git a/acq_ADXRS453_angle_enr05.csv b/data/acq_ADXRS453_angle_enr05.csv similarity index 100% rename from acq_ADXRS453_angle_enr05.csv rename to data/acq_ADXRS453_angle_enr05.csv diff --git a/acq_ADXRS453_angle_enr06.csv b/data/acq_ADXRS453_angle_enr06.csv similarity index 100% rename from acq_ADXRS453_angle_enr06.csv rename to data/acq_ADXRS453_angle_enr06.csv diff --git a/acq_ADXRS453_angle_enr07.csv b/data/acq_ADXRS453_angle_enr07.csv similarity index 100% rename from acq_ADXRS453_angle_enr07.csv rename to data/acq_ADXRS453_angle_enr07.csv diff --git a/graph.gp b/data/graph.gp similarity index 100% rename from graph.gp rename to data/graph.gp diff --git a/graph_ADXRS453_angle_continu.gp b/data/graph_ADXRS453_angle_continu.gp similarity index 100% rename from graph_ADXRS453_angle_continu.gp rename to data/graph_ADXRS453_angle_continu.gp diff --git a/graph_ADXRS453_angle_enr01.gp b/data/graph_ADXRS453_angle_enr01.gp similarity index 100% rename from graph_ADXRS453_angle_enr01.gp rename to data/graph_ADXRS453_angle_enr01.gp diff --git a/graph_ADXRS453_enr01.gp b/data/graph_ADXRS453_enr01.gp similarity index 100% rename from graph_ADXRS453_enr01.gp rename to data/graph_ADXRS453_enr01.gp diff --git a/graph_ADXRS453_enr02.gp b/data/graph_ADXRS453_enr02.gp similarity index 100% rename from graph_ADXRS453_enr02.gp rename to data/graph_ADXRS453_enr02.gp diff --git a/graph_ADXRS453_enr03.gp b/data/graph_ADXRS453_enr03.gp similarity index 100% rename from graph_ADXRS453_enr03.gp rename to data/graph_ADXRS453_enr03.gp diff --git a/graph_ADXRS453_enr04.gp b/data/graph_ADXRS453_enr04.gp similarity index 100% rename from graph_ADXRS453_enr04.gp rename to data/graph_ADXRS453_enr04.gp diff --git a/graph_enr01.gp b/data/graph_enr01.gp similarity index 100% rename from graph_enr01.gp rename to data/graph_enr01.gp diff --git a/graph_enr02.gp b/data/graph_enr02.gp similarity index 100% rename from graph_enr02.gp rename to data/graph_enr02.gp diff --git a/graph_enr03.gp b/data/graph_enr03.gp similarity index 100% rename from graph_enr03.gp rename to data/graph_enr03.gp diff --git a/graph_enr04.gp b/data/graph_enr04.gp similarity index 100% rename from graph_enr04.gp rename to data/graph_enr04.gp diff --git a/data/multi_calb.csv b/data/multi_calb.csv new file mode 100644 index 0000000..be450d5 --- /dev/null +++ b/data/multi_calb.csv @@ -0,0 +1,87 @@ +fin calibration, -362, 1693, 3815 +.fin calibration, -342, 1682, 3710 +.fin calibration, -351, 1695, 3677 +.fin calibration, -345, 1696, 3660 +.fin calibration, -334, 1686, 3656 +.fin calibration, -343, 1688, 3639 +.fin calibration, -331, 1702, 3626 +.fin calibration, -335, 1686, 3634 +.fin calibration, -321, 1678, 3666 +.fin calibration, -323, 1692, 3616 +.fin calibration, -330, 1692, 3617 +.fin calibration, -319, 1693, 3623 +.fin 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// SCK (ancien : 18) + gpio_set_function(3, GPIO_FUNC_SPI); // SDO (ancien : 19) gpio_set_function(PIN_CS, GPIO_OUT); // CSn gpio_init(PIN_CS); diff --git a/quadrature_encoder.pio b/quadrature_encoder.pio new file mode 100644 index 0000000..d245d4b --- /dev/null +++ b/quadrature_encoder.pio @@ -0,0 +1,165 @@ +; +; Copyright (c) 2021 pmarques-dev @ github +; +; SPDX-License-Identifier: BSD-3-Clause +; + +.program quadrature_encoder + +; this code must be loaded into address 0, but at 29 instructions, it probably +; wouldn't be able to share space with other programs anyway +.origin 0 + + +; the code works by running a loop that continuously shifts the 2 phase pins into +; ISR and looks at the lower 4 bits to do a computed jump to an instruction that +; does the proper "do nothing" | "increment" | "decrement" action for that pin +; state change (or no change) + +; ISR holds the last state of the 2 pins during most of the code. The Y register +; keeps the current encoder count and is incremented / decremented according to +; the steps sampled + +; writing any non zero value to the TX FIFO makes the state machine push the +; current count to RX FIFO between 6 to 18 clocks afterwards. The worst case +; sampling loop takes 14 cycles, so this program is able to read step rates up +; to sysclk / 14 (e.g., sysclk 125MHz, max step rate = 8.9 Msteps/sec) + + +; 00 state + JMP update ; read 00 + JMP decrement ; read 01 + JMP increment ; read 10 + JMP update ; read 11 + +; 01 state + JMP increment ; read 00 + JMP update ; read 01 + JMP update ; read 10 + JMP decrement ; read 11 + +; 10 state + JMP decrement ; read 00 + JMP update ; read 01 + JMP update ; read 10 + JMP increment ; read 11 + +; to reduce code size, the last 2 states are implemented in place and become the +; target for the other jumps + +; 11 state + JMP update ; read 00 + JMP increment ; read 01 +decrement: + ; note: the target of this instruction must be the next address, so that + ; the effect of the instruction does not depend on the value of Y. The + ; same is true for the "JMP X--" below. Basically "JMP Y--, " + ; is just a pure "decrement Y" instruction, with no other side effects + JMP Y--, update ; read 10 + + ; this is where the main loop starts +.wrap_target +update: + ; we start by checking the TX FIFO to see if the main code is asking for + ; the current count after the PULL noblock, OSR will have either 0 if + ; there was nothing or the value that was there + SET X, 0 + PULL noblock + + ; since there are not many free registers, and PULL is done into OSR, we + ; have to do some juggling to avoid losing the state information and + ; still place the values where we need them + MOV X, OSR + MOV OSR, ISR + + ; the main code did not ask for the count, so just go to "sample_pins" + JMP !X, sample_pins + + ; if it did ask for the count, then we push it + MOV ISR, Y ; we trash ISR, but we already have a copy in OSR + PUSH + +sample_pins: + ; we shift into ISR the last state of the 2 input pins (now in OSR) and + ; the new state of the 2 pins, thus producing the 4 bit target for the + ; computed jump into the correct action for this state + MOV ISR, NULL + IN OSR, 2 + IN PINS, 2 + MOV PC, ISR + + ; the PIO does not have a increment instruction, so to do that we do a + ; negate, decrement, negate sequence +increment: + MOV X, !Y + JMP X--, increment_cont +increment_cont: + MOV Y, !X +.wrap ; the .wrap here avoids one jump instruction and saves a cycle too + + + +% c-sdk { + +#include "hardware/clocks.h" +#include "hardware/gpio.h" + +// max_step_rate is used to lower the clock of the state machine to save power +// if the application doesn't require a very high sampling rate. Passing zero +// will set the clock to the maximum, which gives a max step rate of around +// 8.9 Msteps/sec at 125MHz + +static inline void quadrature_encoder_program_init(PIO pio, uint sm, uint offset, uint pin, int max_step_rate) +{ + pio_sm_set_consecutive_pindirs(pio, sm, pin, 2, false); + gpio_pull_up(pin); + gpio_pull_up(pin + 1); + + pio_sm_config c = quadrature_encoder_program_get_default_config(offset); + sm_config_set_in_pins(&c, pin); // for WAIT, IN + sm_config_set_jmp_pin(&c, pin); // for JMP + // shift to left, autopull disabled + sm_config_set_in_shift(&c, false, false, 32); + // don't join FIFO's + sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_NONE); + + // passing "0" as the sample frequency, + if (max_step_rate == 0) { + sm_config_set_clkdiv(&c, 1.0); + } else { + // one state machine loop takes at most 14 cycles + float div = (float)clock_get_hz(clk_sys) / (14 * max_step_rate); + sm_config_set_clkdiv(&c, div); + } + + pio_sm_init(pio, sm, offset, &c); + pio_sm_set_enabled(pio, sm, true); +} + + +// When requesting the current count we may have to wait a few cycles (average +// ~11 sysclk cycles) for the state machine to reply. If we are reading multiple +// encoders, we may request them all in one go and then fetch them all, thus +// avoiding doing the wait multiple times. If we are reading just one encoder, +// we can use the "get_count" function to request and wait + +static inline void quadrature_encoder_request_count(PIO pio, uint sm) +{ + pio->txf[sm] = 1; +} + +static inline int32_t quadrature_encoder_fetch_count(PIO pio, uint sm) +{ + while (pio_sm_is_rx_fifo_empty(pio, sm)) + tight_loop_contents(); + return pio->rxf[sm]; +} + +static inline int32_t quadrature_encoder_get_count(PIO pio, uint sm) +{ + quadrature_encoder_request_count(pio, sm); + return quadrature_encoder_fetch_count(pio, sm); +} + +%} + diff --git a/test.c b/test.c index 5121ffb..c33adb5 100644 --- a/test.c +++ b/test.c @@ -46,11 +46,7 @@ int main() { // Tous les pas de step_ms if(!(temps_ms % step_ms)){ - uint64_t _time; - uint32_t time_after_read, time_after_filter, time_after_printf; - _time = time_us_64(); Gyro_Read(step_ms); - time_after_read = time_us_64() - _time; //gyro_affiche(gyro_get_vitesse(), "Angle :"); // Filtre @@ -64,12 +60,10 @@ int main() { vitesse_filtre_y = vitesse_filtre_y * (1-coef_filtre) + angle_gyro.rot_y * coef_filtre; vitesse_filtre_z = vitesse_filtre_z * (1-coef_filtre) + angle_gyro.rot_z * coef_filtre; } - time_after_filter = time_us_64() - _time; //printf("%#x, %#x\n", (double)temps_ms_old / 1000, vitesse_filtre_z); //printf("%d, %d\n", temps_ms, (int32_t) (vitesse_filtre_z * 1000)); - time_after_printf = time_us_64() - _time; //gyro_affiche(angle_gyro, "Vitesse (°/s),"); }