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stmsp fix

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This commit is contained in:
crinq
2018-04-20 04:40:45 +02:00
parent 7e7d2c7410
commit 32f79e0684
5 changed files with 12 additions and 21 deletions
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6
shared/comps/dq_sp.c
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@@ -23,7 +23,7 @@ HAL_PIN(q);
static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
// struct dq_ctx_t * ctx = (struct dq_ctx_t *)ctx_ptr;
struct dq_pin_ctx_t *pins = (struct dq_pin_ctx_t *)pin_ptr;
struct dq_sp_pin_ctx_t *pins = (struct dq_sp_pin_ctx_t *)pin_ptr;
//clarke transformation
float a = PIN(a);
@@ -44,7 +44,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
PIN(q) = q;
}
hal_comp_t dq_comp_struct = {
hal_comp_t dq_sp_comp_struct = {
.name = "dq_sp",
.nrt = 0,
.rt = rt_func,
@@ -55,5 +55,5 @@ hal_comp_t dq_comp_struct = {
.rt_stop = 0,
.frt_stop = 0,
.ctx_size = 0,
.pin_count = sizeof(struct dq_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
.pin_count = sizeof(struct dq_sp_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
};

2
stmsp/stm32f303/Makefile
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@@ -38,7 +38,7 @@ COMPS += shared/comps/sim.c
COMPS += shared/comps/term.c
COMPS += shared/comps/curpid.c
COMPS += shared/comps/svm.c
COMPS += shared/comps/dq.c
COMPS += shared/comps/dq_sp.c
COMPS += shared/comps/idq.c
COMPS += shared/comps/pole.c
COMPS += shared/comps/map.c

8
stmsp/stm32f303/inc/hal_tbl.h
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@@ -126,18 +126,14 @@ struct svm_pin_ctx_t{ // found in shared/comps/svm.c
hal_pin_inst_t enw;
};
struct dq_pin_ctx_t{ // found in shared/comps/dq.c
struct dq_sp_pin_ctx_t{ // found in shared/comps/dq_sp.c
hal_pin_inst_t rt_prio;
hal_pin_inst_t frt_prio;
hal_pin_inst_t mode;
hal_pin_inst_t u;
hal_pin_inst_t v;
hal_pin_inst_t w;
hal_pin_inst_t pos;
hal_pin_inst_t polecount;
hal_pin_inst_t a;
hal_pin_inst_t b;
hal_pin_inst_t y;
hal_pin_inst_t d;
hal_pin_inst_t q;
};
@@ -261,7 +257,7 @@ extern const hal_comp_t sim_comp_struct; // found in shared/comps/sim.c
extern const hal_comp_t term_comp_struct; // found in shared/comps/term.c
extern const hal_comp_t curpid_comp_struct; // found in shared/comps/curpid.c
extern const hal_comp_t svm_comp_struct; // found in shared/comps/svm.c
extern const hal_comp_t dq_comp_struct; // found in shared/comps/dq.c
extern const hal_comp_t dq_sp_comp_struct; // found in shared/comps/dq_sp.c
extern const hal_comp_t idq_comp_struct; // found in shared/comps/idq.c
extern const hal_comp_t pole_comp_struct; // found in shared/comps/pole.c
extern const hal_comp_t map_comp_struct; // found in shared/comps/map.c

8
stmsp/stm32f303/src/hal_tbl.c
View File

@@ -9,7 +9,7 @@ const hal_comp_t * comps[] = {
&term_comp_struct, // found in shared/comps/term.c
&curpid_comp_struct, // found in shared/comps/curpid.c
&svm_comp_struct, // found in shared/comps/svm.c
&dq_comp_struct, // found in shared/comps/dq.c
&dq_sp_comp_struct, // found in shared/comps/dq_sp.c
&idq_comp_struct, // found in shared/comps/idq.c
&pole_comp_struct, // found in shared/comps/pole.c
&map_comp_struct, // found in shared/comps/map.c
@@ -148,18 +148,14 @@ const pin_t pins[] = {
"enu",
"env",
"enw",
// pins for comp dq found in shared/comps/dq.c
// pins for comp dq_sp found in shared/comps/dq_sp.c
"rt_prio",
"frt_prio",
"mode",
"u",
"v",
"w",
"pos",
"polecount",
"a",
"b",
"y",
"d",
"q",
// pins for comp idq found in shared/comps/idq.c

9
stmsp/stm32f303/src/setup.c
View File

@@ -191,7 +191,7 @@ void hal_setup(){
hal_parse("load curpid");
hal_parse("io0.rt_prio = 1.0");
hal_parse("sim0.rt_prio = 2.0");
hal_parse("sim0.rt_prio = 10.0");
hal_parse("tle0.rt_prio = 2.0");
hal_parse("map0.rt_prio = 3.0");
hal_parse("vel0.rt_prio = 4.0");
@@ -206,7 +206,6 @@ void hal_setup(){
hal_parse("hv0.rt_prio = 9.0");
hal_parse("term0.rt_prio = 10");
// hal_parse("sim0.rt_prio = 10.0");
hal_parse("term0.send_step = 10.0");
hal_parse("term0.gain0 = 20.0");
@@ -235,15 +234,15 @@ void hal_setup(){
hal_parse("curpid0.ld = 0.0038");
hal_parse("curpid0.lq = 0.0038");
hal_parse("curpid0.psi = 0.005");
hal_parse("curpid0.kp = 1.0");
hal_parse("curpid0.ki = 0.0005");
hal_parse("curpid0.kp = 0.5");
hal_parse("curpid0.ki = 0.001");
hal_parse("curpid0.ff = 1");
hal_parse("curpid0.kind = 0");
hal_parse("curpid0.max_cur = 3.1");
hal_parse("curpid0.pwm_volt = io0.dc_link");
hal_parse("pole0.p = 50.0");
// hal_parse("io0.led = term0.con");
hal_parse("io0.led = term0.con");
hal_parse("dq_sp0.pos = pole0.cpos");
hal_parse("idq0.pos = pole0.cpos");