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qia128.h
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qia128.h
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#ifndef UNHUMAN_MOTORLIB_QIA128_H_
#define UNHUMAN_MOTORLIB_QIA128_H_
#include "torque_sensor.h"
#include "logger.h"
static uint8_t crc8(uint8_t *p, uint8_t len);
class QIA128 : public TorqueSensorBase {
public:
QIA128(SPIDMA &spi_dma) : spi_dma_(spi_dma) {}
bool init() {
get_register(0x23);
for (int i=1;i<20;i++) {
ms_delay(100);
IWDG->KR = 0xAAAA; // watchdog
}
offset_ = get_register(1);
full_scale_ = get_register(6);
logger.log_printf("torque offset: %d, full_scale: %d", offset_, full_scale_);
command_[2] = 0;
command_[3] = crc8(command_, 3);
full_scale_ = 16777215;
offset_ = 8356324;
return true;
}
void trigger() {
spi_dma_.start_readwrite_isr(command_, data_, length);
}
float read() {
spi_dma_.finish_readwrite_isr();
uint32_t raw = data_[0] << 16 | data_[1] << 8 | data_[2];
torque_ = ((float) raw - offset_)/(full_scale_ - offset_)*25;
return torque_;
}
float get_value() const { return torque_; }
float torque_ = 0;
private:
// return the 24 bit value read
uint32_t get_register(uint8_t val) {
uint8_t command[4] = {};
command[2] = val;
command[3] = crc8(command, 3);
uint8_t data[4] = {};
spi_dma_.readwrite(command, data, 4);
us_delay(1000000/1400);
spi_dma_.readwrite(command, data, 4);
us_delay(1000000/1400);
return data[0] << 16 | data[1] << 8 | data[2];
}
static const uint8_t length = 4;
uint8_t command_[length] = {};
uint8_t data_[length] = {};
SPIDMA& spi_dma_;
uint32_t offset_ = 0;
uint32_t full_scale_ = 0;
friend class System;
};
// from QIA128 spi communication guide
uint8_t const crc_table[256] = {
0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31,
0x24, 0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65,
0x48, 0x4f, 0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9,
0xfc, 0xfb, 0xf2, 0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd,
0x90, 0x97, 0x9e, 0x99, 0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1,
0xb4, 0xb3, 0xba, 0xbd, 0xc7, 0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2,
0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4, 0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe,
0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81, 0x86, 0x93, 0x94, 0x9d, 0x9a,
0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32, 0x1f, 0x18, 0x11, 0x16,
0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b, 0x4c, 0x45, 0x42,
0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e, 0x87, 0x80,
0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3, 0xa4,
0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c,
0x51, 0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10,
0x05, 0x02, 0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34,
0x4e, 0x49, 0x40, 0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f,
0x6a, 0x6d, 0x64, 0x63, 0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b,
0x06, 0x01, 0x08, 0x0f, 0x1a, 0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7,
0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91, 0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83,
0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc, 0xcb, 0xe6, 0xe1, 0xe8, 0xef,
0xfa, 0xfd, 0xf4, 0xf3
};
// -------------------------------------------------------------------------------------------------
uint8_t crc8(uint8_t *p, uint8_t len){
uint16_t i;
uint16_t crc = 0x0;
while (len--) {
i = (crc ^ *p++) & 0xFF;
crc = (crc_table[i] ^ (crc << 8)) & 0xFF;
}
return crc & 0xFF;
}
#endif // UNHUMAN_MOTORLIB_QIA128_H_