Mirrors_Framework/stmbl
1
0
Fork 0
mirror of https://github.com/rene-dev/stmbl.git synced 2026-09-25 09:15:44 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

+conf

Browse Source
This commit is contained in:
crinq
2015-03-31 19:54:22 +02:00
parent baaa0aa341
commit 3d0ed004f2
13 changed files with 763 additions and 325 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Makefile
+3 -3
View File
@@ -4,7 +4,7 @@
#ld gcollection
#komische flags
SRCS = main.c stm32f4xx_it.c system_stm32f4xx.c printf.c scanf.c setup.c hal.c misc.c
SRCS = main.c stm32f4xx_it.c system_stm32f4xx.c printf.c scanf.c setup.c hal.c misc.c link.c
#USB
SRCS += ub_lib/stm32_ub_usb_cdc.c ub_lib/usb_cdc_lolevel/usb_core.c ub_lib/usb_cdc_lolevel/usb_dcd_int.c ub_lib/usb_cdc_lolevel/usbd_req.c ub_lib/usb_cdc_lolevel/usbd_cdc_core.c ub_lib/usb_cdc_lolevel/usbd_core.c ub_lib/usb_cdc_lolevel/usb_dcd.c ub_lib/usb_cdc_lolevel/usbd_cdc_vcp.c ub_lib/usb_cdc_lolevel/usbd_desc.c ub_lib/usb_cdc_lolevel/usbd_ioreq.c ub_lib/usb_cdc_lolevel/usb_bsp.c ub_lib/usb_cdc_lolevel/usbd_usr.c
#SRCS = main.c system.c
@@ -60,8 +60,8 @@ again: clean all
burn: main.elf
st-flash --reset write $(PROJ_NAME).bin 0x8000000
btburn: main.bin
printf "bootloader\r" > /dev/cu.usbmodem14611 || true
btburn: main.elf
printf "bootloader\r" > /dev/cu.usbmodem1411 || true
sleep 1
dfu-util -a 0 -d 0483:df11 -s 0x08000000:leave -D main.bin
graphviz/test.hal
+267 -123
View File
@@ -1,137 +1,281 @@
pos_minus0.in0 <= net0.cmd = 0.000000
pos_minus0.in1 <= net0.fb = 0.000000
pos_minus0.out <= pos_minus0.out = 0.000000
p2uvw0.pwm <= cauto0.pwm_out = 0.000000
p2uvw0.magpos <= cauto0.mag_pos_out = 1.570796
p2uvw0.volt <= p2uvw0.volt = 130.000000
p2uvw0.poles <= p2uvw0.poles = 1.000000
p2uvw0.pwm_max <= p2uvw0.pwm_max = 0.900000
p2uvw0.u <= p2uvw0.u = 65.000000
p2uvw0.v <= p2uvw0.v = 65.000000
p2uvw0.w <= p2uvw0.w = 65.000000
p2uvw0.abpwm <= p2uvw0.abpwm = 0.000000
pwm2uart0.u <= p2uvw0.u = 65.000000
pwm2uart0.v <= p2uvw0.v = 65.000000
pwm2uart0.w <= p2uvw0.w = 65.000000
enc0.res0 <= enc0.res0 = 2048.000000
enc0.pos0 <= enc0.pos0 = 0.000000
enc0.reverse0 <= enc0.reverse0 = 0.000000
enc0.res1 <= enc0.res1 = 2048.000000
enc0.pos1 <= enc0.pos1 = 0.785398
enc0.reverse1 <= enc0.reverse1 = 0.000000
enc0.ireverse1 <= enc0.ireverse1 = 0.000000
enc0.ipos1 <= enc0.ipos1 = 0.050061
enc0.iposd1 <= enc0.iposd1 = -0.286610
enc0.s <= enc0.s = -15790.000047
enc0.c <= enc0.c = -4656.000007
res0.pos <= res0.pos = -1.840562
res0.amp <= res0.amp = 234852000.777777
res0.s <= res0.s = -14774.898627
res0.c <= res0.c = -4094.418027
res0.reverse <= res0.reverse = 0.000000
res0.enable <= res0.enable = 0.000000
res0.error <= res0.error = 0.000000
encm0.reverse <= encm0.reverse = 0.000000
encm0.pos <= encm0.pos = 0.000000
encm0.error <= encm0.error = 117631.000677
sim0.amp <= sim0.amp = 0.100000
sim0.freq <= sim0.freq = 0.159154
sim0.sin <= sim0.sin = -0.056990
sim0.sin2 <= sim0.sin2 = -0.057010
sim0.phase <= sim0.phase = 0.000000
sim0.cos <= sim0.cos = -0.082110
sim0.offset <= sim0.offset = 0.000000
sim0.msin <= sim0.msin = -0.057120
sim0.mcos <= sim0.mcos = -0.082050
sim0.square <= sim0.square = -0.099999
sim0.msquare <= sim0.msquare = -0.099999
sim0.vel <= sim0.vel = -2.532305
sim0.res <= sim0.res = 100000.000077
mux0.in0 <= mux0.in0 = 0.000000
mux0.in1 <= enc0.pos0 = 0.000000
mux0.in2 <= enc0.pos1 = -0.760854
mux0.in3 <= res0.pos = -1.841197
mux0.in4 <= mux0.in4 = 0.000000
mux0.in5 <= encm0.pos = 0.000000
mux0.in6 <= enc0.ipos1 = -1.741628
mux0.in7 <= enc0.pos0 = 0.000000
mux0.in8 <= enc0.pos1 = -2.233476
mux0.in9 <= sim0.sin = -0.057510
mux0.in10 <= sim0.vel = -2.528485
mux0.in11 <= sim0.square = -0.099999
mux0.in12 <= mux0.in12 = 0.000000
mux0.in13 <= mux0.in13 = 0.000000
mux0.in14 <= mux0.in14 = 0.000000
mux0.in15 <= mux0.in15 = 0.000000
mux0.out <= mux0.out = 0.000000
mux0.select <= conf0.ccmd = 1.000000
mux1.in0 <= mux1.in0 = 0.000000
mux1.in1 <= enc0.pos0 = 0.000000
mux1.in2 <= enc0.pos1 = 1.104466
mux1.in3 <= res0.pos = -1.841310
mux1.in4 <= mux1.in4 = 0.000000
mux1.in5 <= encm0.pos = 0.000000
mux1.in6 <= enc0.ipos1 = 0.123692
mux1.in7 <= enc0.pos0 = 0.000000
mux1.in8 <= enc0.pos1 = -0.368155
mux1.in9 <= sim0.sin = -0.057980
mux1.in10 <= sim0.vel = -2.522745
mux1.in11 <= sim0.square = -0.099999
mux1.in12 <= mux1.in12 = 0.000000
mux1.in13 <= mux1.in13 = 0.000000
mux1.in14 <= mux1.in14 = 0.000000
mux1.in15 <= mux1.in15 = 0.000000
mux1.out <= mux1.out = -1.841108
mux1.select <= conf0.cfb = 3.000000
rev0.in <= mux0.out = 0.000000
rev0.out <= rev0.out = 0.000000
rev0.rev <= conf0.cmd_rev = 0.000000
rev1.in <= mux1.out = -1.841378
rev1.out <= rev1.out = 1.841284
rev1.rev <= conf0.fb_rev = 1.000000
cauto0.i_q <= cauto0.i_q = 0.000000
cauto0.i_d <= cauto0.i_d = 0.000000
cauto0.magpos <= cauto0.magpos = -0.002320
cauto0.start <= cauto0.start = 1.000000
cauto0.ready <= cauto0.ready = 1.000000
cauto0.start_offset <= cauto0.start_offset = 0.000000
cauto0.offset <= cauto0.offset = 1.841564
cauto0.fb_in <= rev1.out = 1.841200
cauto0.fb_out <= cauto0.fb_out = -0.000545
cauto0.pole_count <= conf0.pole_count = 4.000000
cauto0.cur <= cauto0.cur = 1.000000
cauto0.time <= cauto0.time = 0.500000
pderiv0.in <= net0.cmd = 0.000000
pderiv0.in_lp <= pderiv0.in_lp = 1.000000
pderiv0.out <= pderiv0.out = 0.000000
pderiv0.out_lp <= pderiv0.out_lp = 1.000000
pderiv0.vel_max <= conf0.max_vel = 104.719752
pderiv0.acc_max <= conf0.max_acc = 0.000000
pderiv0.res <= pderiv0.res = 100000.000077
pderiv1.in <= net0.fb = -0.000428
pderiv1.in_lp <= pderiv1.in_lp = 1.000000
pderiv1.out <= pderiv1.out = 1.650000
pderiv1.out_lp <= pderiv1.out_lp = 1.000000
pderiv1.vel_max <= conf0.max_vel = 104.719752
pderiv1.acc_max <= conf0.max_acc = 0.000000
pderiv1.res <= pderiv1.res = 100000.000077
pid0.pos_ext_cmd <= net0.cmd = 0.000000
pid0.pos_fb <= net0.fb = -0.000310
pid0.pos_error <= pid0.pos_error = 0.000725
pid0.vel_ext_cmd <= net0.cmd_d = 0.000000
pid0.vel_fb <= net0.fb_d = 0.149999
pid0.vel_cmd <= pid0.vel_cmd = 0.030233
pid0.vel_error <= pid0.vel_error = -1.482322
pid0.acc_ext_cmd <= pid0.acc_ext_cmd = 0.000000
pid0.acc_cmd <= pid0.acc_cmd = 0.000000
pid0.force_ext_cmd <= pid0.force_ext_cmd = 0.000000
pid0.force_cmd <= pid0.force_cmd = -0.000936
pid0.cur_ext_cmd <= cauto0.i_q = 0.000000
pid0.cur_cmd <= pid0.cur_cmd = 0.032537
pid0.enable <= cauto0.ready = 1.000000
pid0.pos_en <= pid0.pos_en = 1.000000
pid0.vel_en <= pid0.vel_en = 1.000000
pid0.acc_en <= pid0.acc_en = 1.000000
pid0.force_en <= cauto0.ready = 1.000000
pid0.cur_en <= pid0.cur_en = 1.000000
pid0.time <= pid0.time = 0.000199
pid0.mot_r <= conf0.r = 15.000000
pid0.mot_j <= conf0.j = 0.000141
pid0.mot_km <= conf0.km = 0.272700
pid0.mot_fr <= pid0.mot_fr = 30.000000
pid0.mot_fd <= pid0.mot_fd = 30.000000
pid0.mot_fl <= pid0.mot_fl = 30.000000
pid0.pos_p <= conf0.pos_p = 60.000000
pid0.pos_lp <= pid0.pos_lp = 4000.000007
pid0.vel_p <= pid0.vel_p = 1.000000
pid0.vel_lp <= pid0.vel_lp = 4000.000007
pid0.vel_ff <= pid0.vel_ff = 1.000000
pid0.vel_fb_lp <= pid0.vel_fb_lp = 4000.000007
pid0.acc_p <= conf0.acc_p = 0.150000
pid0.acc_lp <= pid0.acc_lp = 4000.000007
pid0.acc_pi <= conf0.acc_pi = 100.000000
pid0.acc_ff <= pid0.acc_ff = 1.000000
pid0.force_p <= pid0.force_p = 1.000000
pid0.force_lp <= pid0.force_lp = 4000.000007
pid0.force_ff <= pid0.force_ff = 1.000000
pid0.cur_p <= pid0.cur_p = 1.000000
pid0.cur_ff <= pid0.cur_ff = 1.000000
pid0.volt <= net0.vlt = 0.417564
pid0.induction <= pid0.induction = 0.627210
pid0.vel_limit <= conf0.max_vel = 104.719752
pid0.acc_limit <= conf0.max_acc = 0.000000
pid0.force_limit <= conf0.max_force = 1.500000
pid0.cur_limit <= conf0.max_cur = 5.300000
pid0.volt_limit <= pid0.volt_limit = 400.000000
pid0.pwm_limit <= pid0.pwm_limit = 0.950000
pid0.max_vel <= conf0.max_vel = 104.719752
pid0.max_acc <= conf0.max_acc = 0.000000
pid0.max_force <= conf0.max_force = 1.500000
pid0.max_cur <= conf0.max_cur = 5.300000
pid0.max_volt <= pid0.max_volt = 400.000000
pid0.max_pwm <= pid0.max_pwm = 0.950000
pid0.vel_min <= pid0.vel_min = -1.531221
pid0.vel_max <= pid0.vel_max = 1.531221
pid0.acc_min <= pid0.acc_min = 0.000000
pid0.acc_max <= pid0.acc_max = 0.000000
pid0.force_min <= pid0.force_min = -0.010953
pid0.force_max <= pid0.force_max = 0.021860
pid0.cur_min <= pid0.cur_min = -0.025621
pid0.cur_max <= pid0.cur_max = 0.020167
pid0.volt_min <= pid0.volt_min = 0.000000
pid0.volt_max <= pid0.volt_max = 0.000000
pid0.pwm_min <= pid0.pwm_min = 0.000000
pid0.pwm_max <= pid0.pwm_max = 0.000000
pid0.vel_sat <= pid0.vel_sat = 0.000000
pid0.acc_sat <= pid0.acc_sat = -1.000000
pid0.force_sat <= pid0.force_sat = 1.000000
pid0.cur_sat <= pid0.cur_sat = 0.000000
pid0.volt_sat <= pid0.volt_sat = 0.000000
pid0.pwm_sat <= pid0.pwm_sat = 0.000000
pid0.saturated <= pid0.saturated = 23.352348
cur0.id <= cauto0.i_d = 0.000000
cur0.iq <= pid0.cur_cmd = -0.014374
cur0.ia <= cur0.ia = 0.000060
cur0.ib <= cur0.ib = -0.043959
cur0.iu <= cur0.iu = 0.000031
cur0.iv <= cur0.iv = -0.018712
cur0.iw <= cur0.iw = 0.000283
cur0.i_u <= cur0.i_u = 0.000480
cur0.i_v <= cur0.i_v = 0.218724
cur0.i_w <= cur0.i_w = 0.053187
cur0.u <= cur0.u = 0.209996
cur0.v <= cur0.v = 0.407125
cur0.w <= cur0.w = 0.010439
cur0.magpos <= cauto0.magpos = -0.002319
cur0.r <= conf0.r = 15.000000
cur0.l <= conf0.l = 0.002000
cur0.freq <= cur0.freq = 5000.000007
cur0.volt <= net0.vlt = 0.417564
cur0.induction <= pid0.induction = -0.818100
cur0.ind_p <= cur0.ind_p = -1.000000
cur0.pwm_max <= cur0.pwm_max = 0.950000
cur0.cur_max <= conf0.max_cur = 5.300000
cur0.p <= cur0.p = 1.500000
cur0.ff <= cur0.ff = 1.000000
cur0.lp <= conf0.cur_lp = 0.300000
pwm2uart0.u <= cur0.u = 0.155425
pwm2uart0.v <= cur0.v = 0.016980
pwm2uart0.w <= cur0.w = 0.010439
pwm2uart0.uout <= pwm2uart0.uout = 0.000000
pwm2uart0.vout <= pwm2uart0.vout = 0.000000
pwm2uart0.wout <= pwm2uart0.wout = 0.000000
pwm2uart0.enable <= pwm2uart0.enable = 0.900000
pwm2uart0.volt <= pwm2uart0.volt = 130.000000
pwm2uart0.volt <= net0.vlt = 0.313173
pwm2uart0.pwm_max <= pwm2uart0.pwm_max = 0.900000
enc0.res0 <= enc0.res0 = 4096.000007
enc0.pos0 <= enc0.pos0 = 0.000000
enc0.reverse0 <= enc0.reverse0 = 0.000000
enc0.res1 <= enc0.res1 = 4096.000007
enc0.pos1 <= enc0.pos1 = 0.000000
enc0.reverse1 <= enc0.reverse1 = 0.000000
enc0.ireverse1 <= enc0.ireverse1 = 0.000000
enc0.ipos1 <= enc0.ipos1 = 0.000059
enc0.iposd1 <= enc0.iposd1 = -0.780703
enc0.s <= enc0.s = -105.000000
enc0.c <= enc0.c = 111.000000
res0.pos <= res0.pos = 0.721233
res0.amp <= res0.amp = 5.584125
res0.s <= res0.s = -0.675781
res0.c <= res0.c = 0.652343
res0.reverse <= res0.reverse = 0.000000
res0.enable <= res0.enable = 1.000000
res0.error <= res0.error = 1.000000
pid0.pos_error <= pos_minus0.out = 0.000000
pid0.vel_cmd <= pid0.vel_cmd = 0.000000
pid0.vel_ext_cmd <= net0.cmd_d = 0.000000
pid0.vel_fb <= net0.fb_d = 0.000000
pid0.vel_error <= pid0.vel_error = 0.000000
pid0.acc_cmd <= pid0.acc_cmd = 0.000000
pid0.acc_ext_cmd <= pid0.acc_ext_cmd = 0.000000
pid0.force_cmd <= pid0.force_cmd = 0.000000
pid0.force_ext_cmd <= pid0.force_ext_cmd = 0.000000
pid0.cur_cmd <= pid0.cur_cmd = 0.000000
pid0.cur_ext_cmd <= pid0.cur_ext_cmd = 0.000000
pid0.cur_fb <= pid0.cur_fb = 0.000000
pid0.cur_error <= pid0.cur_error = 0.000000
pid0.volt_cmd <= pid0.volt_cmd = 0.000000
pid0.pwm_cmd <= pid0.pwm_cmd = 0.000000
pid0.enable <= cauto0.ready = 1.000000
pid0.pos_en <= pid0.pos_en = 1.000000
pid0.pos_p <= pid0.pos_p = 35.000000
pid0.pos_lp <= pid0.pos_lp = 1.000000
pid0.vel_en <= pid0.vel_en = 1.000000
pid0.vel_p <= pid0.vel_p = 1.000000
pid0.vel_i <= pid0.vel_i = 50.000000
pid0.vel_d <= pid0.vel_d = 0.000000
pid0.vel_ff <= pid0.vel_ff = 1.000000
pid0.vel_lp <= pid0.vel_lp = 1.000000
pid0.acc_en <= pid0.acc_en = 1.000000
pid0.acc_p <= pid0.acc_p = 0.100000
pid0.acc_ff <= pid0.acc_ff = 0.000000
pid0.force_en <= pid0.force_en = 1.000000
pid0.force_p <= pid0.force_p = 1.000000
pid0.cur_p <= pid0.cur_p = 0.000000
pid0.cur_ff <= pid0.cur_ff = 28.000000
pid0.cur_d <= pid0.cur_d = 0.000000
pid0.cur_ind <= pid0.cur_ind = 2.340000
pid0.cur_lp <= pid0.cur_lp = 1.000000
pid0.volt <= pid0.volt = 60.000000
pid0.vel_max <= pid0.vel_max = 1361.356968
pid0.vel_e_max <= pid0.vel_e_max = 1.250000
pid0.acc_max <= pid0.acc_max = 272271.402777
pid0.force_max <= pid0.force_max = 100.000000
pid0.cur_max <= pid0.cur_max = 6.000000
pid0.volt_max <= pid0.volt_max = 130.000000
pid0.pwm_max <= pid0.pwm_max = 0.900000
pid0.saturated <= pid0.saturated = 0.000000
term0.wave0 <= enc0.pos1 = 0.000000
term0.gain0 <= term0.gain0 = 10000.000007
term0.wave0 <= net0.cmd = 0.000000
term0.gain0 <= term0.gain0 = 10.000000
term0.offset0 <= term0.offset0 = 0.000000
term0.wave1 <= enc0.ipos1 = 0.000046
term0.gain1 <= term0.gain1 = 10000.000007
term0.wave1 <= net0.fb = -0.000303
term0.gain1 <= term0.gain1 = 10.000000
term0.offset1 <= term0.offset1 = 0.000000
term0.wave2 <= enc0.iposd1 = 0.728854
term0.gain2 <= term0.gain2 = 10.000000
term0.wave2 <= net0.cmd_d = 0.000000
term0.gain2 <= term0.gain2 = 1.000000
term0.offset2 <= term0.offset2 = 0.000000
term0.wave3 <= net0.fb_d = 0.000000
term0.wave3 <= net0.fb_d = 0.249999
term0.gain3 <= term0.gain3 = 1.000000
term0.offset3 <= term0.offset3 = 0.000000
term0.send_div <= term0.send_div = 10.000000
term0.buf_use <= term0.buf_use = 1.000000
sim0.amp <= sim0.amp = 0.100000
sim0.freq <= sim0.freq = 0.159154
sim0.sin <= sim0.sin = 0.099500
sim0.cos <= sim0.cos = 0.009500
sim0.square <= sim0.square = 0.100000
sim0.vel <= sim0.vel = 1.472000
sim0.res <= sim0.res = 2000.000000
pderiv0.in <= net0.cmd = 0.000000
pderiv0.in_lp <= pderiv0.in_lp = 1.000000
pderiv0.out <= pderiv0.out = 0.000000
pderiv0.out_lp <= pderiv0.out_lp = 0.500000
pderiv0.vel_max <= pderiv0.vel_max = 1361.356968
pderiv0.acc_max <= pderiv0.acc_max = 272271.402777
pderiv0.res <= pderiv0.res = 100000.000077
pderiv1.in <= net0.fb = 0.000000
pderiv1.in_lp <= pderiv1.in_lp = 1.000000
pderiv1.out <= pderiv1.out = 0.000000
pderiv1.out_lp <= pderiv1.out_lp = 1.000000
pderiv1.vel_max <= pderiv1.vel_max = 1361.356968
pderiv1.acc_max <= pderiv1.acc_max = 272271.402777
pderiv1.res <= pderiv1.res = 100000.000077
cauto0.pwm_in <= pid0.pwm_cmd = 0.000000
cauto0.pwm_out <= cauto0.pwm_out = 0.000000
cauto0.mag_pos_out <= cauto0.mag_pos_out = 1.570796
cauto0.start <= cauto0.start = 1.000000
cauto0.ready <= cauto0.ready = 1.000000
cauto0.offset <= cauto0.offset = 0.000000
cauto0.fb_in <= enc0.pos1 = 0.000000
cauto0.fb_out <= cauto0.fb_out = 0.000000
cauto0.pole_count <= cauto0.pole_count = 3.000000
cauto0.scale <= cauto0.scale = 0.600000
cauto0.time <= cauto0.time = 0.500000
term0.wave4 <= term0.wave4 = 0.000000
term0.gain4 <= term0.gain4 = 10.000000
term0.offset4 <= term0.offset4 = 0.000000
term0.wave5 <= term0.wave5 = 0.000000
term0.gain5 <= term0.gain5 = 10.000000
term0.offset5 <= term0.offset5 = 0.000000
term0.wave6 <= term0.wave6 = 0.000000
term0.gain6 <= term0.gain6 = 10.000000
term0.offset6 <= term0.offset6 = 0.000000
term0.wave7 <= term0.wave7 = 0.000000
term0.gain7 <= term0.gain7 = 10.000000
term0.offset7 <= term0.offset7 = 0.000000
term0.send_step <= term0.send_step = 10.000000
term0.buf_use <= term0.buf_use = 2.000000
led0.r <= cauto0.start = 1.000000
led0.g <= cauto0.ready = 1.000000
led0.y <= led0.y = 0.000000
fan0.fan <= fan0.fan = 0.000000
fan0.tacho <= fan0.tacho = 1.000000
brake0.brake <= brake0.brake = 0.000000
tune0.iq <= tune0.iq = 0.000000
tune0.id <= tune0.id = 0.000000
tune0.lp <= tune0.lp = 0.000000
tune0.r <= tune0.r = 1.000000
tune0.amp <= tune0.amp = 0.000000
tune0.start <= tune0.start = 0.000000
tune0.ready <= tune0.ready = 1.000000
tune0.start_r <= tune0.start_r = 1.000000
tune0.re <= tune0.re = 2147483647.777777
tune0.l <= tune0.l = 0.000000
tune0.time <= tune0.time = 0.100000
tune0.freq <= tune0.freq = 1.000000
tune0.cur <= tune0.cur = 1.000000
net0.enable <= net0.enable = 1.000000
net0.cmd <= enc0.pos0 = 0.000000
net0.fb <= cauto0.fb_out = 0.000000
net0.cmd <= rev0.out = 0.000000
net0.fb <= cauto0.fb_out = -0.000568
net0.cmd_d <= pderiv0.out = 0.000000
net0.fb_d <= pderiv1.out = 0.000000
net0.fb_d <= pderiv1.out = 2.949999
net0.amp <= net0.amp = 0.071397
net0.vlt <= net0.vlt = 0.417564
net0.tmp <= net0.tmp = 27.387664
conf0.r <= conf0.r = 15.000000
conf0.l <= conf0.l = 0.002000
conf0.j <= conf0.j = 0.000141
conf0.km <= conf0.km = 0.272700
conf0.pole_count <= conf0.pole_count = 4.000000
conf0.fb_pole_count <= conf0.fb_pole_count = 0.000000
conf0.fb_offset <= conf0.fb_offset = 0.000000
conf0.pos_p <= conf0.pos_p = 60.000000
conf0.acc_p <= conf0.acc_p = 0.150000
conf0.acc_pi <= conf0.acc_pi = 100.000000
conf0.cur_lp <= conf0.cur_lp = 0.300000
conf0.max_vel <= conf0.max_vel = 104.719752
conf0.max_acc <= conf0.max_acc = 0.000000
conf0.max_force <= conf0.max_force = 1.500000
conf0.max_cur <= conf0.max_cur = 5.300000
conf0.cfb <= conf0.cfb = 3.000000
conf0.ccmd <= conf0.ccmd = 1.000000
conf0.fb_rev <= conf0.fb_rev = 1.000000
conf0.cmd_rev <= conf0.cmd_rev = 0.000000
src/comps/cauto.comp
+2 -3
View File
@@ -1,6 +1,5 @@
COMP(cauto);
HAL_PIN(i_in) = 0.0;
HAL_PIN(i_q) = 0.0;
HAL_PIN(i_d) = 0.0;
@@ -36,7 +35,7 @@ RT_CALC(
HT(
GOTO(0);
STATE(0){
iq = PIN(i_in);
iq = 0.0;
id = 0.0;
mpos = mod(minus(fbi, offset_) * PIN(pole_count));
if(PIN(start) > 0.0){
@@ -64,7 +63,7 @@ RT_CALC(
}
STATE(3){
PIN(ready) = 1.0;
iq = PIN(i_in);
iq = 0.0;
id = 0.0;
mpos = mod(minus(fbi, offset_) * PIN(pole_count));
if(PIN(start) == 0.0){
src/comps/cur.comp
+24 -25
View File
@@ -10,6 +10,10 @@ HAL_PIN(iu) = 0.0;
HAL_PIN(iv) = 0.0;
HAL_PIN(iw) = 0.0;
HAL_PIN(i_u) = 0.0;
HAL_PIN(i_v) = 0.0;
HAL_PIN(i_w) = 0.0;
HAL_PIN(u) = 0.0;
HAL_PIN(v) = 0.0;
HAL_PIN(w) = 0.0;
@@ -31,13 +35,13 @@ HAL_PIN(p) = 0.0;
HAL_PIN(ff) = 1.0;
HAL_PIN(lp) = 1.0;
MEM(float iuv_old) = 0.0;
MEM(float ivw_old) = 0.0;
MEM(float iwu_old) = 0.0;
MEM(float iu_old) = 0.0;
MEM(float iv_old) = 0.0;
MEM(float iw_old) = 0.0;
RT_CALC(
float r_ = MAX(PIN(r) * 3.0 / 2.0, 0.1);
float l_ = MAX(PIN(l) * 3.0 / 2.0, 0.0005);
float r_ = MAX(PIN(r) / 2.0, 0.1);
float l_ = MAX(PIN(l) / 2.0, 0.001);
float freq_ = MAX(PIN(freq), 1);
float vlt = MAX(PIN(volt), 0.1);
//float ib_ = PIN(i);// + PIN(induction) / r_;
@@ -62,10 +66,6 @@ RT_CALC(
float iv_ = - ia_ / 2.0 + ib_ / 2.0 * s3;
float iw_ = - ia_ / 2.0 - ib_ / 2.0 * s3;
float iuv_ = iv_ - iu_;
float ivw_ = iw_ - iv_;
float iwu_ = iu_ - iw_;
float ud_ = 0.0;
float uq_ = ind;
@@ -77,10 +77,6 @@ RT_CALC(
float uv_ = - ua_ / 2.0 + ub_ / 2.0 * s3;
float uw_ = - ua_ / 2.0 - ub_ / 2.0 * s3;
float uuv_ = uv_ - uu_;
float uvw_ = uw_ - uv_;
float uwu_ = uu_ - uw_;
float ff_ = PIN(ff);
float p_ = l_ * freq_ * PIN(lp);
@@ -88,20 +84,15 @@ RT_CALC(
float pwm_max_ = PIN(pwm_max);
float vmax = vlt * pwm_max_;
float _uv = CLAMP(ff_ * r_ * iuv_ + p_ * (iuv_ - iuv_old) + uuv_ * ind_p_, -vmax , vmax);
float _vw = CLAMP(ff_ * r_ * ivw_ + p_ * (ivw_ - ivw_old) + uvw_ * ind_p_, -vmax , vmax);
float _wu = CLAMP(ff_ * r_ * iwu_ + p_ * (iwu_ - iwu_old) + uwu_ * ind_p_, -vmax , vmax);
float _u = CLAMP(ff_ * r_ * iu_ + p_ * (iu_ - iu_old) + uu_ * ind_p_, -vmax / 2.0, vmax / 2.0);
float _v = CLAMP(ff_ * r_ * iv_ + p_ * (iv_ - iv_old) + uv_ * ind_p_, -vmax / 2.0, vmax / 2.0);
float _w = CLAMP(ff_ * r_ * iw_ + p_ * (iw_ - iw_old) + uw_ * ind_p_, -vmax / 2.0, vmax / 2.0);
iuv_old += (_uv - iuv_old * r_ - uuv_) / l_ / freq_;
ivw_old += (_vw - ivw_old * r_ - uvw_) / l_ / freq_;
iwu_old += (_wu - iwu_old * r_ - uwu_) / l_ / freq_;
iu_old += (_u - iu_old * r_ - uu_) / l_ / freq_;
iv_old += (_v - iv_old * r_ - uv_) / l_ / freq_;
iw_old += (_w - iw_old * r_ - uw_) / l_ / freq_;
float _u = 0.0;
float _v = 0.0;
float _w = 0.0;
if(ABS(_uv) > ABS(_vw)){
/* if(ABS(_uv) > ABS(_vw)){
if(ABS(_uv) > ABS(_wu)){ // _uv
_u = (vlt - _uv) / 2.0;
_v = (vlt + _uv) / 2.0;
@@ -125,7 +116,11 @@ RT_CALC(
_v = _u + _uv;
}
}
*/
_u += vlt / 2.0;
_v += vlt / 2.0;
_w += vlt / 2.0;
PIN(u) = _u;
PIN(v) = _v;
@@ -138,6 +133,10 @@ RT_CALC(
PIN(iv) = iv_;
PIN(iw) = iw_;
PIN(i_u) = iu_old;
PIN(i_v) = iv_old;
PIN(i_w) = iw_old;
PIN(p) = p_;
);
src/comps/mux.comp
+79
View File
@@ -0,0 +1,79 @@
COMP(mux);
HAL_PIN(in0) = 0.0;
HAL_PIN(in1) = 0.0;
HAL_PIN(in2) = 0.0;
HAL_PIN(in3) = 0.0;
HAL_PIN(in4) = 0.0;
HAL_PIN(in5) = 0.0;
HAL_PIN(in6) = 0.0;
HAL_PIN(in7) = 0.0;
HAL_PIN(in8) = 0.0;
HAL_PIN(in9) = 0.0;
HAL_PIN(in10) = 0.0;
HAL_PIN(in11) = 0.0;
HAL_PIN(in12) = 0.0;
HAL_PIN(in13) = 0.0;
HAL_PIN(in14) = 0.0;
HAL_PIN(in15) = 0.0;
HAL_PIN(out) = 0.0;
HAL_PIN(select) = 0.0;
RT_CALC(
switch((int)PIN(select)){
case 0:
PIN(out) = PIN(in0);
break;
case 1:
PIN(out) = PIN(in1);
break;
case 2:
PIN(out) = PIN(in2);
break;
case 3:
PIN(out) = PIN(in3);
break;
case 4:
PIN(out) = PIN(in4);
break;
case 5:
PIN(out) = PIN(in5);
break;
case 6:
PIN(out) = PIN(in6);
break;
case 7:
PIN(out) = PIN(in7);
break;
case 8:
PIN(out) = PIN(in8);
break;
case 9:
PIN(out) = PIN(in9);
break;
case 10:
PIN(out) = PIN(in10);
break;
case 11:
PIN(out) = PIN(in11);
break;
case 12:
PIN(out) = PIN(in12);
break;
case 13:
PIN(out) = PIN(in13);
break;
case 14:
PIN(out) = PIN(in14);
break;
case 15:
PIN(out) = PIN(in15);
break;
default:
PIN(out) = 0.0;
}
);
ENDCOMP;
src/comps/pid2.comp
+13 -1
View File
@@ -159,7 +159,7 @@ float curextcmd = PIN(cur_ext_cmd);
//float curerr = 0.0;
float cursat;
float r = PIN(mot_r);
float r = PIN(mot_r) / 2.0;
if(r == 0.0){
r = 1.0;
}
@@ -230,16 +230,28 @@ if(PIN(enable) > 0.0){
posp = 0.0;
}
if(PIN(vel_en) == 0.0){
posp = 0.0;
velp = 0.0;
}
if(PIN(acc_en) == 0.0){
posp = 0.0;
velp = 0.0;
accp = 0.0;
force_error_sum = 0.0;
}
if(PIN(force_en) == 0.0){
posp = 0.0;
velp = 0.0;
accp = 0.0;
force_error_sum = 0.0;
forcep = 0.0;
}
if(PIN(cur_en) == 0.0){
posp = 0.0;
velp = 0.0;
accp = 0.0;
force_error_sum = 0.0;
forcep = 0.0;
curp = 0.0;
}
src/comps/rev.comp
+17
View File
@@ -0,0 +1,17 @@
COMP(rev);
HAL_PIN(in) = 0.0;
HAL_PIN(out) = 0.0;
HAL_PIN(rev) = 0.0;
RT_CALC(
if(PIN(rev) > 0.0){
PIN(out) = minus(0, PIN(in));
}
else{
PIN(out) = PIN(in);
}
);
ENDCOMP;
src/comps/tune.comp
+86
View File
@@ -0,0 +1,86 @@
COMP(tune);
HAL_PIN(iq) = 0.0;
HAL_PIN(id) = 0.0;
HAL_PIN(lp) = 0.0;
HAL_PIN(r) = 1.0;
HAL_PIN(amp) = 0.0;
HAL_PIN(start) = 0.0;
HAL_PIN(ready) = 1.0;
HAL_PIN(start_r) = 1.0;
HAL_PIN(re) = 0.0;
HAL_PIN(l) = 0.0;
HAL_PIN(time) = 0.1;
HAL_PIN(freq) = 1.0;
HAL_PIN(cur) = 1.0;
MEM(float c) = 0.0;
MEM(float i) = 0.0;
RT_CALC(
i = ABS(PIN(amp)) * 0.01 + i * 0.99;
float f = PIN(freq);
PIN(re) = PIN(cur) * PIN(start_r) / i;
HT(
GOTO(0);
STATE(0){
PIN(ready) = 1.0;
if(PIN(start) > 0.0){
c = PIN(cur) * PIN(start_r);
PIN(r) = PIN(start_r);
PIN(ready) = 0.0;
GOTO(1);
}
}
STATE(1){
c = -c;
if(PIN(start) <= 0.0){
c = 0.0;
GOTO(0);
}
SLEEP(0.5 / f);
}
);
/*HT(
GOTO(0);
STATE(0){
PIN(iq) = 0.0;
PIN(id) = 0.0;
PIN(ready) = 1.0;
mpos = mod(minus(fbi, offset_) * PIN(pole_count));
if(PIN(start) > 0.0){
c = PIN(cur);
GOTO(1);
}
}
STATE(1){
PIN(ready) = 0.0;
SLEEP(PIN(time) / 10.0);
GOTO(2);
}
STATE(2){
PIN(ready) = 0.0;
SLEEP(PIN(time));
GOTO(2);
}
);*/
PIN(id) = c;
);
ENDCOMP;
src/conf.h
+57
View File
@@ -0,0 +1,57 @@
#pragma once
#define MAX_NAME 32
typedef char NAME[MAX_NAME];
enum pos_iface{
MISC = 0,
ENC0 = 1,
ENC1 = 2,
RES1 = 3,
MITSU0 = 4,
MITSU1 = 5,
SINCOS1 = 6,
STEPDIR0 = 7,
STEPDIR1 = 8,
SIN = 9,
VEL = 10,
SQUARE = 11
};
enum mot_type{
1PH_DC = 1,
1PH_SYNC = 2,
1PH_ASYNC = 3,
2PH_SYNC = 4,
2PH_ASYNC = 5,
3PH_SYNC = 6,
3PH_ASYNC = 7
};
typedef struct mot{
NAME name;
NAME type;
pos_iface fb;
float fb_offset;
float fb_reverse;
float fb_pole_count;
float pos_p;
float acc_p;
float acc_pi;
float cur_lp;
float j;
float km;
float r;
float l;
float pole_count;
float max_vel;
float max_acc;
float max_force;
float max_cur;
};
typedef struct conf{
pos_iface cmd;
float cmd_reverse;
mot motor;
};
src/hal.h
+2 -2
View File
@@ -24,7 +24,7 @@
#pragma once
#define MAX_HAL_PINS 256
#define MAX_HAL_PINS 512
#define MAX_HPNAME 32
#define MAX_COMP_TYPES 32
#define MAX_COMP_FUNCS 32
@@ -134,7 +134,7 @@ int addf_nrt(void (*nrt)(float period));
(name.value)
#define GLOBAL_HAL_PIN(name) \
volatile struct hal_pin name;
volatile struct hal_pin name;
#define MEM(var) static var
src/link.c
+144
View File
@@ -0,0 +1,144 @@
#include "link.h"
#include "hal.h"
void link_pid(){
// cmd
link_hal_pins("conf0.ccmd", "mux0.select");
link_hal_pins("conf0.cmd_rev", "rev0.rev");
set_hal_pin("mux0.in0", 0.0);
link_hal_pins("enc0.pos0", "mux0.in1");
link_hal_pins("enc0.pos1", "mux0.in2");
link_hal_pins("res0.pos", "mux0.in3");
set_hal_pin("mux0.in4", 0.0);
link_hal_pins("encm0.pos", "mux0.in5");
link_hal_pins("enc0.ipos1", "mux0.in6");
link_hal_pins("enc0.pos0", "mux0.in7");
link_hal_pins("enc0.pos1", "mux0.in8");
link_hal_pins("sim0.sin", "mux0.in9");
link_hal_pins("sim0.vel", "mux0.in10");
link_hal_pins("sim0.square", "mux0.in11");
link_hal_pins("mux0.out", "rev0.in");
link_hal_pins("rev0.out", "net0.cmd");
link_hal_pins("net0.cmd", "pderiv0.in");
link_hal_pins("pderiv0.out", "net0.cmd_d");
link_hal_pins("conf0.max_vel", "pderiv0.vel_max");
link_hal_pins("conf0.max_acc", "pderiv0.acc_max");
link_hal_pins("net0.cmd","pid0.pos_ext_cmd");
link_hal_pins("net0.cmd_d", "pid0.vel_ext_cmd");
set_hal_pin("pderiv0.in_lp", 1.0);
set_hal_pin("pderiv0.out_lp", 1.0);
// fb
link_hal_pins("conf0.cfb", "mux1.select");
link_hal_pins("conf0.fb_rev", "rev1.rev");
set_hal_pin("mux1.in0", 0.0);
link_hal_pins("enc0.pos0", "mux1.in1");
link_hal_pins("enc0.pos1", "mux1.in2");
link_hal_pins("res0.pos", "mux1.in3");
set_hal_pin("mux1.in4", 0.0);
link_hal_pins("encm0.pos", "mux1.in5");
link_hal_pins("enc0.ipos1", "mux1.in6");
link_hal_pins("enc0.pos0", "mux1.in7");
link_hal_pins("enc0.pos1", "mux1.in8");
link_hal_pins("sim0.sin", "mux1.in9");
link_hal_pins("sim0.vel", "mux1.in10");
link_hal_pins("sim0.square", "mux1.in11");
link_hal_pins("mux1.out", "rev1.in");
link_hal_pins("rev1.out", "cauto0.fb_in");
link_hal_pins("cauto0.fb_out", "net0.fb");
link_hal_pins("net0.fb", "pderiv1.in");
link_hal_pins("pderiv1.out", "net0.fb_d");
link_hal_pins("conf0.max_vel", "pderiv1.vel_max");
link_hal_pins("conf0.max_acc", "pderiv1.acc_max");
link_hal_pins("net0.fb","pid0.pos_fb");
link_hal_pins("net0.fb_d", "pid0.vel_fb");
set_hal_pin("pderiv1.in_lp", 1.0);
set_hal_pin("pderiv1.out_lp", 1.0);
// cauto
link_hal_pins("conf0.pole_count", "cauto0.pole_count");
link_hal_pins("cauto0.ready", "pid0.force_en");
set_hal_pin("cauto0.time", 0.5);
set_hal_pin("cauto0.cur", 1.0);
// pid
link_hal_pins("conf0.r", "pid0.mot_r");
link_hal_pins("conf0.j", "pid0.mot_j");
link_hal_pins("conf0.km", "pid0.mot_km");
link_hal_pins("conf0.pos_p", "pid0.pos_p");
link_hal_pins("conf0.acc_p", "pid0.acc_p");
link_hal_pins("conf0.acc_pi", "pid0.acc_pi");
link_hal_pins("conf0.max_vel", "pid0.max_vel");
link_hal_pins("conf0.max_vel", "pid0.vel_limit");
link_hal_pins("conf0.max_acc", "pid0.max_acc");
link_hal_pins("conf0.max_acc", "pid0.acc_limit");
link_hal_pins("conf0.max_force", "pid0.max_force");
link_hal_pins("conf0.max_force", "pid0.force_limit");
link_hal_pins("conf0.max_cur", "pid0.max_cur");
link_hal_pins("conf0.max_cur", "pid0.cur_limit");
set_hal_pin("pid0.max_volt", 400.0);
set_hal_pin("pid0.volt_limit", 400.0);
set_hal_pin("pid0.max_pwm", 0.95);
set_hal_pin("pid0.pwm_limit", 0.95);
set_hal_pin("pid0.pos_lp", 4000.0);
set_hal_pin("pid0.vel_p", 1.0);
set_hal_pin("pid0.vel_lp", 4000.0);
set_hal_pin("pid0.vel_fb_lp", 4000.0);
set_hal_pin("pid0.acc_lp", 4000.0);
set_hal_pin("pid0.force_p", 1.0);
set_hal_pin("pid0.force_lp", 4000.0);
set_hal_pin("pid0.cur_p", 1.0);
link_hal_pins("pid0.enable", "net0.enable");
set_hal_pin("net0.enable", 1.0);
link_hal_pins("net0.vlt", "pid0.volt");
// cur
link_hal_pins("conf0.r", "cur0.r");
link_hal_pins("conf0.l", "cur0.l");
link_hal_pins("conf0.max_cur", "cur0.cur_max");
link_hal_pins("conf0.cur_lp", "cur0.lp");
link_hal_pins("pid0.induction", "cur0.induction");
link_hal_pins("cauto0.magpos", "cur0.magpos");
set_hal_pin("cur0.pwm_max", 0.95);
set_hal_pin("cur0.ind_p", -1.0);
link_hal_pins("net0.vlt", "cur0.volt");
link_hal_pins("cur0.u", "pwm2uart0.u");
link_hal_pins("cur0.v", "pwm2uart0.v");
link_hal_pins("cur0.w", "pwm2uart0.w");
link_hal_pins("pid0.cur_cmd", "cur0.iq");
link_hal_pins("cauto0.i_q", "pid0.cur_ext_cmd");
link_hal_pins("cauto0.i_d", "cur0.id");
// pwm2uart
link_hal_pins("net0.vlt", "pwm2uart0.volt");
set_hal_pin("pwm2uart0.enable", 0.9);
set_hal_pin("pwm2uart0.pwm_max", 0.9);
// term
link_hal_pins("net0.cmd", "term0.wave0");
link_hal_pins("net0.fb", "term0.wave1");
link_hal_pins("net0.cmd_d", "term0.wave2");
link_hal_pins("net0.fb_d", "term0.wave3");
set_hal_pin("term0.gain0", 10.0);
set_hal_pin("term0.gain1", 10.0);
set_hal_pin("term0.gain2", 1.0);
set_hal_pin("term0.gain3", 1.0);
}
src/link.h
+3
View File
@@ -0,0 +1,3 @@
#pragma once
void link_pid();
src/main.c
+66 -168
View File
@@ -23,6 +23,7 @@
#include "scanf.h"
#include "hal.h"
#include "setup.h"
#include "link.h"
#include <math.h>
#ifdef USBTERM
@@ -45,160 +46,33 @@ volatile uint16_t menc_buf[10];
#define NO 0
#define YES 1
void link_pid(){
link_hal_pins("cauto0.fb_out", "net0.fb");
link_hal_pins("net0.cmd","pid0.pos_ext_cmd");
link_hal_pins("net0.fb","pid0.pos_fb");
// vel
link_hal_pins("net0.cmd", "pderiv0.in");
link_hal_pins("pderiv0.out", "net0.cmd_d");
link_hal_pins("net0.cmd_d", "pid0.vel_ext_cmd");
set_hal_pin("pderiv0.in_lp", 1.0);
set_hal_pin("pderiv0.out_lp", 1.0);
set_hal_pin("pderiv0.vel_max", 1000.0 / 60.0 * 2.0 * M_PI);
set_hal_pin("pderiv0.acc_max", 1000.0 / 60.0 * 2.0 * M_PI / 0.005);
link_hal_pins("net0.fb", "pderiv1.in");
link_hal_pins("pderiv1.out", "net0.fb_d");
link_hal_pins("net0.fb_d", "pid0.vel_fb");
link_hal_pins("net0.vlt", "pid0.volt");
set_hal_pin("pderiv1.in_lp", 1.0);
set_hal_pin("pderiv1.out_lp", 1.0);
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 over uart
link_hal_pins("net0.vlt", "pwm2uart0.volt");
link_hal_pins("net0.vlt", "cur0.volt");
link_hal_pins("pid0.induction", "cur0.induction");
link_hal_pins("cur0.u", "pwm2uart0.u");
link_hal_pins("cur0.v", "pwm2uart0.v");
link_hal_pins("cur0.w", "pwm2uart0.w");
// term
link_hal_pins("net0.cmd", "term0.wave0");
link_hal_pins("net0.fb", "term0.wave1");
link_hal_pins("net0.cmd_d", "term0.wave2");
link_hal_pins("net0.fb_d", "term0.wave3");
set_hal_pin("term0.gain0", 10.0);
set_hal_pin("term0.gain1", 10.0);
set_hal_pin("term0.gain2", 1.0);
set_hal_pin("term0.gain3", 1.0);
// enable
link_hal_pins("pid0.enable", "net0.enable");
set_hal_pin("net0.enable", 1.0);
// misc
// 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("cur0.pwm_max", 0.9);
set_hal_pin("pid0.enable", 1.0);
link_hal_pins("pid0.cur_cmd", "cauto0.i_in");
link_hal_pins("cauto0.i_q", "cur0.iq");
link_hal_pins("cauto0.i_d", "cur0.id");
// magpos
link_hal_pins("cauto0.magpos", "cur0.magpos");
link_hal_pins("cauto0.fb_out", "net0.fb");
}
void link_ac_sync_res(){
link_hal_pins("enc0.pos0", "net0.cmd");
link_hal_pins("res0.pos", "cauto0.fb_in");
link_pid();
}
void link_ac_sync_enc(){
link_hal_pins("enc0.pos0", "net0.cmd");
link_hal_pins("enc0.pos1", "cauto0.fb_in");
link_pid();
}
void set_bosch4(){ // achse 4
link_ac_sync_res();
// pole count
set_hal_pin("cauto0.pole_count", 4.0);
set_hal_pin("conf0.pole_count", 4.0);
set_hal_pin("conf0.max_vel", RPM(1000));
set_hal_pin("conf0.max_acc", RPM(1000) / 0.002);
set_hal_pin("conf0.max_force", 1.5);
set_hal_pin("conf0.max_cur", 5.3);
// auto time
set_hal_pin("cauto0.time", 0.5);
// auto scale
set_hal_pin("cauto0.cur", 1.0);
set_hal_pin("pderiv0.in_lp", 1.0);
set_hal_pin("pderiv0.out_lp", 1.0);
set_hal_pin("pderiv0.vel_max", RPM(1000));
set_hal_pin("pderiv0.acc_max", RPM(1000) / 0.002);
set_hal_pin("res0.enable", 1.0);
set_hal_pin("res0.reverse", 1.0);
set_hal_pin("pderiv1.in_lp", 1.0);
set_hal_pin("pderiv1.out_lp", 1.0);
set_hal_pin("pderiv1.vel_max", RPM(1000));
set_hal_pin("pderiv1.acc_max", RPM(1000) / 0.002);
//pid
set_hal_pin("pid0.mot_r", 15.0);//typenschild
set_hal_pin("pid0.mot_l", 0.002);//unknown
set_hal_pin("pid0.mot_j", 0.000141);//typenschild
set_hal_pin("pid0.mot_km", 0.2727);//typenschild
set_hal_pin("pid0.pos_p", 60.0);
set_hal_pin("pid0.pos_lp", 4000.0);
set_hal_pin("pid0.vel_p", 1.0);
set_hal_pin("pid0.vel_lp", 4000.0);
set_hal_pin("pid0.vel_fb_lp", 4000.0);
set_hal_pin("pid0.acc_p", 0.02);
set_hal_pin("pid0.acc_lp", 4000.0);
set_hal_pin("pid0.acc_pi", 70.0);
set_hal_pin("pid0.force_p", 1.0);
set_hal_pin("pid0.force_lp", 4000.0);
set_hal_pin("pid0.cur_p", 1.0);
set_hal_pin("pid0.cur_lp", 10000.0);
set_hal_pin("pid0.max_vel", RPM(1000));
set_hal_pin("pid0.max_acc", RPM(1000) / 0.002);
set_hal_pin("pid0.max_force", 1.5);
set_hal_pin("pid0.max_cur", 5.3);
set_hal_pin("pid0.vel_limit", RPM(1000));
set_hal_pin("pid0.acc_limit", RPM(1000) / 0.002);
set_hal_pin("pid0.force_limit", 1.5);
set_hal_pin("pid0.cur_limit", 5.3);
set_hal_pin("cur0.cur_max", 5.3);
set_hal_pin("cur0.l", 0.016);
set_hal_pin("cur0.r", 15.0);
set_hal_pin("cur0.lp", 0.3);
set_hal_pin("cauto0.start_offset", 1.311);
set_hal_pin("conf0.ccmd", 1.0);
set_hal_pin("conf0.cfb", 3.0);
set_hal_pin("conf0.fb_rev", 1.0);
set_hal_pin("conf0.r", 15.0);//typenschild
set_hal_pin("conf0.l", 0.002);//unknown
set_hal_pin("conf0.j", 0.000141);//typenschild
set_hal_pin("conf0.km", 0.2727);//typenschild
set_hal_pin("conf0.pos_p", 80.0);
set_hal_pin("conf0.acc_p", 0.15);
set_hal_pin("conf0.acc_pi", 50.0);
set_hal_pin("conf0.cur_lp", 0.4);
}
void set_bosch1(){ // achse 1
link_ac_sync_res();
set_hal_pin("enc0.res0", 2000.0);
link_hal_pins("enc0.pos0", "lowpass0.in");
link_hal_pins("lowpass0.out", "net0.cmd");
set_hal_pin("lowpass0.gain", 0.002);
set_hal_pin("lowpass0.scale", 100.0);
link_hal_pins("enc0.pos0", "net0.cmd");
// pole count
set_hal_pin("cauto0.pole_count", 4.0);
@@ -260,7 +134,6 @@ void set_bosch1(){ // achse 1
}
void set_kuka(){
link_ac_sync_res();
// pole count
set_hal_pin("cauto0.pole_count", 1.0);
@@ -295,7 +168,6 @@ void set_kuka(){
}
void set_festo(){
link_pid();
link_hal_pins("enc0.pos0", "net0.cmd");
link_hal_pins("res0.pos", "cauto0.fb_in");
@@ -360,7 +232,6 @@ void set_festo(){
}
void set_manutec(){
link_ac_sync_enc();
set_hal_pin("enc0.res0", 2000.0);
set_hal_pin("res0.enable", 1.0);
@@ -401,7 +272,6 @@ void set_manutec(){
}
void set_bergerlahr(){
link_ac_sync_enc();
set_hal_pin("enc0.res0", 4096.0);
set_hal_pin("res0.enable", 1.0);
@@ -462,7 +332,6 @@ void set_bergerlahr(){
//mc101ns
//100w 3000rpm 0.8A
void set_sankyo(){
link_ac_sync_enc();
set_hal_pin("enc0.res0", 4096.0);
set_hal_pin("res0.enable", 1.0);
@@ -522,7 +391,6 @@ void set_sankyo(){
//P50B08100DXS
void set_sanyo(){
link_ac_sync_enc();
set_hal_pin("enc0.res0", 4096.0);
set_hal_pin("res0.enable", 1.0);
@@ -575,7 +443,6 @@ void set_sanyo(){
//Mitsubishi HA-FF38-UE-S1
void set_mitsubishi(){
link_pid();
link_hal_pins("enc0.pos0", "net0.cmd");
link_hal_pins("encm0.pos", "cauto0.fb_in");
set_hal_pin("encm0.reverse", 0.0);
@@ -652,7 +519,6 @@ void set_mitsubishi(){
}
void set_br(){ // achse 4
link_ac_sync_res();
// pole count
set_hal_pin("cauto0.pole_count", 3.0);
@@ -822,30 +688,37 @@ int main(void)
setup();
//ADC_SoftwareStartConv(ADC1);
//#include "comps/frt.comp"
//#include "comps/rt.comp"
//#include "comps/nrt.comp"
//#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/pid2.comp"
#include "comps/term.comp"
#include "comps/sim.comp"
#include "comps/pderiv.comp"
#include "comps/pderiv.comp"
//#include "comps/autophase.comp"
#include "comps/lowpass.comp"
#include "comps/cauto.comp"
#include "comps/encm.comp"
#include "comps/sim.comp"
#include "comps/mux.comp"
#include "comps/mux.comp"
#include "comps/rev.comp"
#include "comps/rev.comp"
#include "comps/cauto.comp"
#include "comps/pderiv.comp"
#include "comps/pderiv.comp"
#include "comps/pid2.comp"
#include "comps/cur.comp"
#include "comps/pwm2uart.comp"
#include "comps/term.comp"
#include "comps/led.comp"
#include "comps/fan.comp"
#include "comps/brake.comp"
#include "comps/tune.comp"
//#include "comps/vel_observer.comp"
@@ -859,6 +732,28 @@ int main(void)
HAL_PIN(vlt) = 0.0;
HAL_PIN(tmp) = 0.0;
set_comp_type("conf");
HAL_PIN(r) = 0.0;
HAL_PIN(l) = 0.0;
HAL_PIN(j) = 0.0;
HAL_PIN(km) = 0.0;
HAL_PIN(pole_count) = 0.0;
HAL_PIN(fb_pole_count) = 0.0;
HAL_PIN(fb_offset) = 0.0;
HAL_PIN(pos_p) = 0.0;
HAL_PIN(acc_p) = 0.0;
HAL_PIN(acc_pi) = 0.0;
HAL_PIN(cur_lp) = 0.0;
HAL_PIN(max_vel) = 0.0;
HAL_PIN(max_acc) = 0.0;
HAL_PIN(max_force) = 0.0;
HAL_PIN(max_cur) = 0.0;
HAL_PIN(cfb) = 0.0;
HAL_PIN(ccmd) = 0.0;
HAL_PIN(fb_rev) = 0.0;
HAL_PIN(cmd_rev) = 0.0;
g_amp = map_hal_pin("net0.amp");
g_vlt = map_hal_pin("net0.vlt");
g_tmp = map_hal_pin("net0.tmp");
@@ -867,12 +762,15 @@ int main(void)
hal.init[i]();
}
link_pid();
//set_bergerlahr();//pid2: ok
//set_mitsubishi();//pid2: ok
//set_festo();
//set_manutec();
//set_precise();
set_bosch4();//pid2: ok
//set_hal_pin("res0.reverse", 0.0);
//set_bosch1();//pid2: ok
//set_sanyo();//pid2: ok
//set_br();