pwm over uart

src/comps/pwm2uart.comp

@@ -0,0 +1,39 @@
+COMP(pwm2uart);
+
+HAL_PIN(u) = 0.0;
+HAL_PIN(v) = 0.0;
+HAL_PIN(w) = 0.0;
+
+HAL_PIN(uout) = 0.0;
+HAL_PIN(vout) = 0.0;
+HAL_PIN(wout) = 0.0;
+
+HAL_PIN(enable) = 0.0;
+HAL_PIN(volt) = 0.0;
+HAL_PIN(pwm_max) = 0.0;
+
+
+INIT(
+
+);
+
+RT_OUT(
+  const int res = 2400;
+  float vlt = PIN(volt);
+  float e = PIN(enable);
+  int min = CLAMP((1 - PIN(pwm_max)) / 2.0, 0.0, 1.0) * res;
+  int max = res - min;
+
+  if(vlt > 0.0 && e > 0.0){
+    PIN(uout) = CLAMP(PIN(u) / vlt * res, min, max);
+    PIN(vout) = CLAMP(PIN(v) / vlt * res, min, max);
+    PIN(wout) = CLAMP(PIN(w) / vlt * res, min, max);
+  }
+  else{
+    PIN(uout) = 0;
+    PIN(vout) = 0;
+    PIN(wout) = 0;
+  }
+);
+
+ENDCOMP;

src/main.c

@@ -61,12 +61,17 @@ void link_pid(){
 	set_hal_pin("pderiv1.vel_max", 1000.0 / 60.0 * 2.0 * M_PI);
 	set_hal_pin("pderiv1.acc_max", 1000.0 / 60.0 * 2.0 * M_PI / 0.005);
 
-	// pwm
+	// timer pwm
 	link_hal_pins("pid0.pwm_cmd", "ap0.pwm_in");
 	link_hal_pins("ap0.pwm_out", "p2uvw0.pwm");
 	link_hal_pins("p2uvw0.u", "pwmout0.u");
 	link_hal_pins("p2uvw0.v", "pwmout0.v");
 	link_hal_pins("p2uvw0.w", "pwmout0.w");
+	//pwm over uart
+	link_hal_pins("p2uvw0.u", "pwm2uart0.u");
+	link_hal_pins("p2uvw0.v", "pwm2uart0.v");
+	link_hal_pins("p2uvw0.w", "pwm2uart0.w");
+	
 
 	// magpos
 	link_hal_pins("ap0.mag_pos_out", "p2uvw0.magpos");
@@ -90,6 +95,11 @@ void link_pid(){
 	set_hal_pin("pwmout0.enable", 0.9);
 	set_hal_pin("pwmout0.volt", 130.0);
 	set_hal_pin("pwmout0.pwm_max", 0.9);
+	
+	set_hal_pin("pwm2uart0.enable", 0.9);
+	set_hal_pin("pwm2uart0.volt", 130.0);
+	set_hal_pin("pwm2uart0.pwm_max", 0.9);
+	
 	set_hal_pin("p2uvw0.volt", 130.0);
 	set_hal_pin("p2uvw0.pwm_max", 0.9);
 	set_hal_pin("pid0.volt", 130.0);
@@ -277,6 +287,7 @@ int main(void)
 	#include "comps/pos_minus.comp"
 	#include "comps/pwm2uvw.comp"
 	#include "comps/pwmout.comp"
+	#include "comps/pwm2uart.comp"
 	#include "comps/enc.comp"
 	#include "comps/res.comp"
 	//#include "comps/pid.comp"
@@ -325,13 +336,17 @@ int main(void)
 	set_hal_pin("sim0.freq", 0.5);
 	set_hal_pin("vel_ob0.alpha", 1.0);
 	set_hal_pin("vel_ob0.beta", 0.1);
+	
+	link_hal_pins("pwm2uart0.uout", "net0.u");
+	link_hal_pins("pwm2uart0.vout", "net0.v");
+	link_hal_pins("pwm2uart0.wout", "net0.w");
 
 	usart_init();
 	data_t data;
 
 	while(1)  // Do not exit
 	{
-		Wait(10);
+		Wait(1);
 		period = time/1000.0 + (1.0 - SysTick->VAL/RCC_Clocks.HCLK_Frequency)/1000.0 - lasttime;
 		lasttime = time/1000.0 + (1.0 - SysTick->VAL/RCC_Clocks.HCLK_Frequency)/1000.0;
 		for(int i = 0; i < hal.nrt_func_count; i++){

stm32f103/src/main.c

@@ -384,7 +384,7 @@ int main(void)
 			}else if(datapos >= 0 && datapos < DATALENGTH*2){
 				data.byte[datapos++] = (uint8_t)buf;
 			}
-			if(datapos == DATALENGTH*2-1){
+			if(datapos == DATALENGTH*2){
 				datapos = -1;
 				TIM1->CCR1 = data.data[0];
 				TIM1->CCR2 = data.data[1];