From 7ad0175e31d445a5c84730bca2dbb0ca66b596c3 Mon Sep 17 00:00:00 2001
From: crinq <crinq@crinq.de>
Date: Sun, 23 Feb 2020 18:39:20 +0100
Subject: [PATCH] wire saving

---
 conf/template/en.txt        |  6 ++++++
 conf/template/encws_fb0.txt |  4 ++++
 conf/template/uvw_fb0.txt   | 14 ++++++++++++++
 shared/comps/uvw.c          | 24 ++++++++++++++----------
 src/comps/adc.c             |  4 ++--
 5 files changed, 40 insertions(+), 12 deletions(-)
 create mode 100644 conf/template/en.txt
 create mode 100644 conf/template/encws_fb0.txt
 create mode 100644 conf/template/uvw_fb0.txt

diff --git a/conf/template/en.txt b/conf/template/en.txt
new file mode 100644
index 00000000..6f902baf
--- /dev/null
+++ b/conf/template/en.txt
@@ -0,0 +1,6 @@
+load en
+en0.rt_prio = 2
+en0.en_in = 1
+fault0.en = en0.en_out0
+en0.fault = fault0.fault
+en0.time = 1
\ No newline at end of file
diff --git a/conf/template/encws_fb0.txt b/conf/template/encws_fb0.txt
new file mode 100644
index 00000000..ae5595b2
--- /dev/null
+++ b/conf/template/encws_fb0.txt
@@ -0,0 +1,4 @@
+link enc_fb0
+link uvw_fb0
+uvw0.mode = 1
+enc_fb0.en_index = 0
diff --git a/conf/template/uvw_fb0.txt b/conf/template/uvw_fb0.txt
new file mode 100644
index 00000000..9e51e195
--- /dev/null
+++ b/conf/template/uvw_fb0.txt
@@ -0,0 +1,14 @@
+load uvw
+uvw0.rt_prio = 3
+uvw0.u = io0.fb0a
+uvw0.v = io0.fb0b
+uvw0.w = io0.fb0z
+
+uvw0.amp = adc0.amp0
+
+fb_switch0.com_pos = uvw0.pos
+fb_switch0.com_abs_pos = uvw0.pos
+fb_switch0.com_state = uvw0.state
+fb_switch0.com_polecount = conf0.com_fb_polecount
+conf0.com_fb_polecount = conf0.polecount
+fault0.com_fb_error = uvw0.error
\ No newline at end of file
diff --git a/shared/comps/uvw.c b/shared/comps/uvw.c
index 53675c13..9fb600a7 100644
--- a/shared/comps/uvw.c
+++ b/shared/comps/uvw.c
@@ -45,7 +45,7 @@ static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   PIN(p5)    = 5;  //u + w  = -1.047198
   PIN(p6)    = 3;  //v + w  = -3.141593
   PIN(p7)    = -1;  //fault
-  PIN(en_time) = 0.02;
+  PIN(en_time) = 0.01;
 }
 
 static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
@@ -65,7 +65,7 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   t[6]      = PIN(p6);
   t[7]      = PIN(p7);
   PIN(rpos) = rpos;
-  if(rpos < 0 | PIN(amp) < 0.5){
+  if(PIN(amp) < 0.75){
     PIN(error) = 1.0;
     PIN(state) = 0.0;
     PIN(timer) = 0.0;
@@ -73,20 +73,24 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   else{
     switch((int) PIN(mode)){
       case 0:
-        PIN(state) = 3.0;
-        PIN(error) = 0.0;
-        PIN(pos)  = mod((float)t[rpos] / 6.0 * 2.0 * M_PI);
+        if(t[rpos] < 0.0){
+          PIN(state) = 3.0;
+          PIN(error) = 0.0;
+          PIN(pos)  = mod((float)t[rpos] / 6.0 * 2.0 * M_PI);
+        }
+        else{
+          PIN(error) = 1.0;
+          PIN(state) = 0.0;
+        }
         break;
       case 1:
         if(PIN(timer) < PIN(en_time) / 2.0){
           PIN(pos)  = mod((float)t[rpos] / 6.0 * 2.0 * M_PI);
-        }
-        if(PIN(timer) > PIN(en_time)){
-          PIN(state) = 2.0;
-          PIN(error) = 0.0;
+          PIN(timer) += period;
         }
         else{
-          PIN(timer) += period;
+          PIN(state) = 2.0;
+          PIN(error) = 0.0;
         }
     }
   }
diff --git a/src/comps/adc.c b/src/comps/adc.c
index 584d56ff..6684f46e 100644
--- a/src/comps/adc.c
+++ b/src/comps/adc.c
@@ -143,7 +143,7 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   PIN(cos0l) = co0[ADC_GROUPS - 1];
   PIN(sin0)  = sin0all / (float)ADC_GROUPS;
   PIN(cos0)  = cos0all / (float)ADC_GROUPS;
-  PIN(amp0) = PIN(amp0) * 0.99 + sqrtf(s * s + c * c) * 0.01;
+  PIN(amp0) = PIN(amp0) * 0.9 + sqrtf(s * s + c * c) * 0.1;
 #ifdef FB1
   s = V_DIFF(ADC_DMA_Buffer[ADC_OVER_FB0] & 0x0000ffff, 1);
   c = V_DIFF(ADC_DMA_Buffer[ADC_OVER_FB0] >> 16, 1);
@@ -151,7 +151,7 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   PIN(cos1l) = co1[ADC_GROUPS - 1];
   PIN(sin1)  = sin1all / (float)ADC_GROUPS;
   PIN(cos1)  = cos1all / (float)ADC_GROUPS;
-  PIN(amp1) = PIN(amp1) * 0.99 + sqrtf(s * s + c * c) * 0.01;
+  PIN(amp1) = PIN(amp1) * 0.9 + sqrtf(s * s + c * c) * 0.1;
 #endif
 
   // if(PIN(res_en) > 0.0) {