input + res 2.5

2026-09-26 01:54:24 +08:00 · 2014-09-21 00:34:42 +02:00
parent 1a1a28d4c5
commit 6af1979f26
3 changed files with 509 additions and 0 deletions
@@ -0,0 +1,318 @@
+Version 4
+SHEET 1 5176 960
+WIRE 3744 -16 2928 -16
+WIRE 3728 16 3680 16
+WIRE 3376 64 3328 64
+WIRE 3520 64 3456 64
+WIRE 3536 64 3520 64
+WIRE 3632 64 3616 64
+WIRE 3680 64 3680 16
+WIRE 3680 64 3632 64
+WIRE 3456 80 3456 64
+WIRE 3520 80 3520 64
+WIRE 3632 80 3632 64
+WIRE 3744 96 3744 -16
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+WIRE 3712 112 3680 112
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+WIRE 1296 128 1184 128
+WIRE 1392 128 1296 128
+WIRE 1536 128 1392 128
+WIRE 1568 128 1536 128
+WIRE 2624 128 1568 128
+WIRE 2832 128 2624 128
+WIRE 2928 128 2928 -16
+WIRE 2928 128 2832 128
+WIRE 2976 128 2928 128
+WIRE 3808 128 3808 16
+WIRE 3808 128 3776 128
+WIRE 3936 128 3808 128
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+WIRE 3936 160 3936 128
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+WIRE 2688 176 2512 176
+WIRE 2832 176 2832 128
+WIRE 3008 176 2928 176
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+WIRE 3536 176 3456 176
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+WIRE 2976 208 2976 128
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+WIRE 1504 224 1488 224
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+WIRE 2944 224 2928 224
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+WIRE 3680 224 3184 224
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+WIRE 2512 304 2512 256
+WIRE 2592 304 2512 304
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+WIRE 2256 320 2080 320
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+WIRE 2688 320 2656 320
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+WIRE 3104 320 3056 320
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+WIRE 1392 384 1296 384
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+WIRE 1536 384 1392 384
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+WIRE 2160 384 1984 384
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+WIRE 2624 384 2160 384
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+WIRE 2832 384 2624 384
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+WIRE 2976 384 2832 384
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+WIRE 3824 384 3744 384
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+WIRE 3936 384 3824 384
+WIRE 1296 400 1296 384
+WIRE 2080 400 2080 320
+WIRE 2368 416 2368 336
+WIRE 2512 416 2512 304
+WIRE 2784 416 2784 400
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+WIRE 3616 416 3360 416
+WIRE 2160 464 2160 384
+WIRE 2160 464 2080 464
+WIRE 1696 496 1696 240
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+WIRE 1856 496 1696 496
+WIRE 1984 496 1984 448
+WIRE 1984 496 1856 496
+WIRE 2368 496 1984 496
+WIRE 2512 496 2368 496
+WIRE 2784 496 2512 496
+WIRE 3328 496 3328 192
+WIRE 3600 496 3328 496
+WIRE 3600 528 3600 496
+WIRE 3600 528 3328 528
+WIRE 3248 544 3248 528
+WIRE 3328 560 3328 528
+WIRE 2768 576 2608 576
+WIRE 2768 592 2768 576
+WIRE 1536 672 1536 384
+WIRE 2608 672 2608 656
+WIRE 2608 672 1536 672
+WIRE 2768 672 2608 672
+WIRE 3328 672 3328 640
+WIRE 3616 672 3616 416
+WIRE 3616 672 3328 672
+WIRE 3136 768 3136 384
+WIRE 3248 768 3248 624
+WIRE 3248 768 3136 768
+WIRE 3328 768 3248 768
+FLAG 1296 400 0
+FLAG 1568 176 5v
+FLAG 1856 224 r_in
+FLAG 2256 256 r2_in
+FLAG 2432 336 r3_in
+FLAG 1568 128 12v
+FLAG 3008 176 5v
+FLAG 4064 240 sig
+FLAG 3808 128 op_out
+FLAG 2784 320 out
+FLAG 2688 320 out_op
+FLAG 3328 192 in_pos
+FLAG 3360 304 in_neg
+SYMBOL voltage 1296 208 R0
+SYMATTR InstName V3
+SYMATTR Value 12
+SYMATTR SpiceLine Rser=1
+SYMBOL res 1376 160 R0
+SYMATTR InstName R3
+SYMATTR Value 1.4k
+SYMBOL res 1376 240 R0
+SYMATTR InstName R4
+SYMATTR Value 1k
+SYMBOL ind2 2768 400 R0
+SYMATTR InstName L1
+SYMATTR Value 7m
+SYMATTR Type ind
+SYMATTR SpiceLine Rser=30
+SYMBOL Opamps/LT1497 2624 256 R0
+WINDOW 3 34 101 Left 2
+SYMATTR InstName U2
+SYMBOL ind2 3312 544 R0
+SYMATTR InstName L2
+SYMATTR Value 7m
+SYMATTR SpiceLine Rser=70
+SYMBOL res 2352 400 R0
+SYMATTR InstName R5
+SYMATTR Value 10k
+SYMBOL cap 2352 256 R0
+SYMATTR InstName C1
+SYMATTR Value 47n
+SYMBOL res 2496 160 R0
+SYMATTR InstName R6
+SYMATTR Value 7k
+SYMBOL res 2496 400 R0
+SYMATTR InstName R9
+SYMATTR Value 3k
+SYMBOL Opamps/LT1497 1536 176 R0
+SYMATTR InstName U3
+SYMBOL voltage 1760 256 R0
+SYMATTR InstName V4
+SYMATTR Value PULSE(0 3.3 0 10n 10n 0.05m 0.1m)
+SYMATTR SpiceLine Rser=1
+SYMBOL cap 2064 400 R0
+SYMATTR InstName C6
+SYMATTR Value 47n
+SYMBOL res 2064 208 R0
+SYMATTR InstName R14
+SYMATTR Value 1k
+SYMBOL cap 1840 384 R0
+SYMATTR InstName C2
+SYMATTR Value 100n
+SYMBOL polcap 1968 384 R0
+SYMATTR InstName C3
+SYMATTR Value 500ľ
+SYMBOL cap 1168 256 R0
+SYMATTR InstName C4
+SYMATTR Value 100n
+SYMBOL polcap 1072 256 R0
+SYMATTR InstName C5
+SYMATTR Value 500ľ
+SYMBOL ind2 2752 576 R0
+SYMATTR InstName L3
+SYMATTR Value 7m
+SYMATTR Type ind
+SYMATTR SpiceLine Rser=30
+SYMBOL voltage 2608 560 R0
+SYMATTR InstName V1
+SYMATTR Value PULSE(0 100 0 10n 10n 0.0005m 0.0315m)
+SYMATTR SpiceLine Rser=1
+SYMBOL Opamps/LT1497 3744 64 R0
+WINDOW 3 34 101 Left 2
+SYMATTR InstName U5
+SYMBOL res 3824 0 R90
+WINDOW 0 0 56 VBottom 2
+WINDOW 3 32 56 VTop 2
+SYMATTR InstName R12
+SYMATTR Value 15k
+SYMBOL res 2816 160 R0
+SYMATTR InstName R13
+SYMATTR Value 1.4k
+SYMBOL res 2816 240 R0
+SYMATTR InstName R15
+SYMATTR Value 1k
+SYMBOL Opamps/LT1497 2976 176 R0
+SYMATTR InstName U1
+SYMBOL cap 3040 320 R0
+SYMATTR InstName C7
+SYMATTR Value 100n
+SYMBOL polcap 3120 320 R0
+SYMATTR InstName C8
+SYMATTR Value 500ľ
+SYMBOL res 3920 224 R0
+SYMATTR InstName R8
+SYMATTR Value 1k
+SYMBOL res 3920 144 R0
+SYMATTR InstName R11
+SYMATTR Value 1.8k
+SYMBOL cap 3808 240 R0
+SYMATTR InstName C10
+SYMATTR Value 22p
+SYMBOL res 2768 304 R0
+SYMATTR InstName R2
+SYMATTR Value 100
+SYMBOL voltage 3328 672 R0
+SYMATTR InstName V2
+SYMATTR Value SINE(6 6 1000 0)
+SYMATTR SpiceLine Rser=1
+SYMBOL res 2800 304 R90
+WINDOW 0 0 56 VBottom 2
+WINDOW 3 32 56 VTop 2
+SYMATTR InstName R16
+SYMATTR Value 12
+SYMBOL voltage 3248 528 R0
+SYMATTR InstName 1k
+SYMATTR Value SINE(6 6 1000 0 0 180)
+SYMATTR SpiceLine Rser=1
+SYMBOL res 3440 64 R0
+SYMATTR InstName R21
+SYMATTR Value 400
+SYMBOL res 3632 48 R90
+WINDOW 0 0 56 VBottom 2
+WINDOW 3 32 56 VTop 2
+SYMATTR InstName R1
+SYMATTR Value 1k
+SYMBOL res 3632 160 R90
+WINDOW 0 0 56 VBottom 2
+WINDOW 3 32 56 VTop 2
+SYMATTR InstName R7
+SYMATTR Value 1k
+SYMBOL res 3472 48 R90
+WINDOW 0 0 56 VBottom 2
+WINDOW 3 32 56 VTop 2
+SYMATTR InstName R10
+SYMATTR Value 400
+SYMBOL res 3472 160 R90
+WINDOW 0 0 56 VBottom 2
+WINDOW 3 32 56 VTop 2
+SYMATTR InstName R18
+SYMATTR Value 400
+SYMBOL res 3504 64 R0
+SYMATTR InstName R19
+SYMATTR Value 20
+SYMBOL res 3200 208 R90
+WINDOW 0 0 56 VBottom 2
+WINDOW 3 32 56 VTop 2
+SYMATTR InstName R20
+SYMATTR Value 15k
+SYMBOL cap 3616 80 R0
+SYMATTR InstName C9
+SYMATTR Value 22p
+TEXT 1664 -48 Left 2 !.tran 0 5mS
+TEXT 2480 -48 Left 2 !K1 L1 L2 0.5
+TEXT 2480 16 Left 2 !K2 L3 L2 0.00
+TEXT 2448 224 Left 2 ;poti
@@ -0,0 +1 @@
+#include "input.h"
@@ -0,0 +1,190 @@
+typedef struct input{
+  char name[32];
+
+  enum{
+    ENC,
+    STEP_DIR,
+    RES,
+    GMS,
+    ETH,
+    RS485,
+    MISC,
+    CONST_POS,
+    CONST_VEL,
+    SIN_POS,
+    SIN_VEL
+    SIN_ACC
+  } class;
+
+  int port;
+
+  int (*setup)(input* i);
+
+  enum{
+    INC,
+    ABS
+  } type;
+
+  float periode;
+
+  enum{
+    POS,
+    POS_VEL,
+    POS_VEL_ACC
+    VEL,
+    VEL_ACC,
+    ACC
+  } flag;
+
+  int (*init)(input* i);
+  int (*deinit)(input* i);
+
+  void (*reset)(input *i);
+
+  int (*start)(input* i);
+  int (*stop)(input* i);
+
+  int (*valid)(input* i);
+
+  void (*work)(input* i);
+  void (*filter)(input* i);
+  void (*read)(input* i);
+
+  float (*get_pos)(input* i);
+  float (*get_vel)(input* i);
+  float (*get_acc)(input* i);
+
+  float pos[32];
+  float vel[32];
+  float acc[32];
+  int pointer;
+
+  enum{
+    PREINIT,
+    DISABLED,
+    STARTING,
+    RUNNING,
+    ERROR
+  } state;
+
+  char info[32];
+};
+
+int init(input* i){
+  i->state = DISABLED;
+  i->reset(i);
+  return(1);
+}
+
+int deinit(input* i){
+  i->state = PREINIT;
+  return(1);
+}
+
+void reset(input* i){
+  for(int j = 0; j < 32; j++){
+    i->pos[j] = 0.0;
+    i->pos[j] = 0.0;
+    i->pos[j] = 0.0;
+  }
+}
+
+int start(input* i){
+  if(i->state == DISABLED || i->state == RUNNING){
+    i->state = RUNNING;
+    return(1);
+  }
+  return(0);
+}
+
+int stop(input* i){
+  if(i->state == DISABLED || i->state == RUNNING){
+    i->state = DISABLED;
+    return(1);
+  }
+  return(0);
+}
+
+int valid(input* i){
+  if(i->state == RUNNING){
+    return(1);
+  }
+  return(0);
+}
+
+void work(input* i){
+  i->pointer = ++(i->pointer) % 32;
+  i->read(i);
+  i->filter(i);
+}
+
+void filter1(input* i){
+  i->vel[i->pointer] = (i->pos[i->pointer] - i->pos[(i->pointer + 31) % 32]) / i->periode[i->pointer];
+  i->acc[i->pointer] = (i->vel[i->pointer] - i->vel[(i->pointer + 31) % 32]) / i->periode[i->pointer];
+}
+
+void filter2(input* i){
+  i->vel[i->pointer] = (i->pos[i->pointer] - i->pos[(i->pointer + 1) % 32]) / i->periode[i->pointer];
+  i->acc[i->pointer] = (i->vel[i->pointer] - i->vel[(i->pointer + 1) % 32]) / i->periode[i->pointer];
+}
+
+void read(input* i){
+  i->pos[i->pointer] = 0.0;
+}
+
+float get_pos(input* i){
+  return(i->pos[i->pointer]);
+}
+
+float get_vel(input* i){
+  return(i->vel[i->pointer]);
+}
+
+float get_acc(input* i){
+  return(i->acc[i->pointer]);
+}
+
+int setup(input *i){
+
+}
+
+
+void read_const_vel(input* i){
+  i->pos[i->pointer] = 1.0 * i->periode[i->pointer];
+}
+
+void read_enc_tim3(input* i){
+  i->pos[i->pointer] = TIM_GetCounter(TIM3) * 2 * pi / 2048;
+}
+
+void read_gms(input* i){
+  static int min[2] = {65535, 65535}, max[2] = {-65535, -65535};
+  int value[2], mid[2];
+  if(!ADC_GetFlagStatus(ADC1, ADC_FLAG_EOC)){
+    i->info = "ADC1 not ready\0";
+    i->state = ERROR;
+    return;
+  }
+  if(!ADC_GetFlagStatus(ADC2, ADC_FLAG_EOC)){
+    i->info = "ADC2 not ready\0";
+    i->state = ERROR;
+    return;
+  }
+
+  value[0] = ADC_GetConversionValue(ADC1);
+  value[1] = ADC_GetConversionValue(ADC2);
+
+  min[0] = MIN(value[0], min[0]);
+  min[1] = MIN(value[1], min[1]);
+  max[0] = MAX(value[0], max[0]);
+  max[1] = MAX(value[1], max[1]);
+
+
+  mid[0] = (min[0] + max[0]) / 2;
+  mid[1] = (min[1] + max[1]) / 2;
+
+  i->pos[i->pointer] = atan2f(value[0] - mid[0], value[1] - mid[1]);
+
+  ADC_SoftwareStartConv(ADC1);
+  ADC_SoftwareStartConv(ADC2);
+}