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Merge branch 'master' of github.com:rene-dev/stmbl

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This commit is contained in:
crinq
2018-12-29 00:01:14 +01:00
parent 11cdd6b0b5 09b3c21b52
commit a5e4e95532
5 changed files with 94 additions and 20 deletions
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conf/wobl.txt
+51
View File
@@ -0,0 +1,51 @@
link pid
link pmsm
link encm_fb0
link misc
conf0.r = 1.2
conf0.l = 0.005
conf0.j = 0.00005
conf0.polecount = 2
conf0.max_ac_cur = 10
conf0.max_force = 4
conf0.mot_fb_offset = 1.57
conf0.max_vel = 837
load avg
load avg
load avg
load debounce
load wobl
avg0.rt_prio = 10
avg1.rt_prio = 10
avg2.rt_prio = 10
debounce0.rt_prio = 10
wobl0.frt_prio = 10
io0.frt_prio = 10
debounce0.debounce_time = 1
debounce0.in = 1
fault0.en = debounce0.out
wobl0.en = debounce0.out
avg0.in = io0.in0
avg1.in = io0.in1
avg2.in = adc0.cos1
wobl0.freq = avg0.out
wobl0.freq_diff = avg1.out
rev0.in = wobl0.pos
io0.out0 = wobl0.out
io0.out1 = wobl0.out
io0.out2 = wobl0.out
conf0.vel_g = 0.05
avg0.mult = 5.0
avg1.mult = 0.1
avg2.mult = 1
avg0.offset = -1.2
wobl0.home_pos = 0.0
wobl0.duty = 0.1
wobl0.amp = 0.1
fb_switch0.offset_first_enable = 0
fb_switch0.track_fb = 1
conf0.max_pos_error = 0
wobl0.home_pos = 1.2
wobl0.amp = avg2.out
avg2.mult = 0.01
shared/comps/wobl.c
+3 -3
View File
@@ -21,7 +21,7 @@ struct wobl_ctx_t {
float ang2;
};
static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
static void frt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
struct wobl_ctx_t *ctx = (struct wobl_ctx_t *)ctx_ptr;
struct wobl_pin_ctx_t *pins = (struct wobl_pin_ctx_t *)pin_ptr;
@@ -45,8 +45,8 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
hal_comp_t wobl_comp_struct = {
.name = "wobl",
.nrt = 0,
.rt = rt_func,
.frt = 0,
.rt = 0,
.frt = frt_func,
.nrt_init = 0,
.rt_start = 0,
.frt_start = 0,
src/comps/encm.c
+3 -2
View File
@@ -18,7 +18,7 @@ struct encm_ctx_t {
uint8_t rxbuf[15];
};
static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
struct encm_ctx_t *ctx = (struct encm_ctx_t *)ctx_ptr;
// struct encm_pin_ctx_t * pins = (struct encm_pin_ctx_t *)pin_ptr;
GPIO_InitTypeDef GPIO_InitStruct;
@@ -146,7 +146,8 @@ hal_comp_t encm_comp_struct = {
.nrt = 0,
.rt = rt_func,
.frt = 0,
.nrt_init = nrt_init,
.nrt_init = 0,
.hw_init = hw_init,
.rt_start = 0,
.frt_start = 0,
.rt_stop = 0,
src/comps/hw/io4.c
+34 -13
View File
@@ -342,20 +342,22 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
else
GPIO_ResetBits(GPIOD, GPIO_Pin_5);
if(PIN(out0) > 0)
GPIO_SetBits(GPIOE, GPIO_Pin_4);
else
GPIO_ResetBits(GPIOE, GPIO_Pin_4);
if(!(PIN(frt_prio) > 0)){//optional fast outputs in fast-rt
if(PIN(out0) > 0)
GPIO_SetBits(GPIOE, GPIO_Pin_4);
else
GPIO_ResetBits(GPIOE, GPIO_Pin_4);
if(PIN(out1) > 0)
GPIO_SetBits(GPIOE, GPIO_Pin_5);
else
GPIO_ResetBits(GPIOE, GPIO_Pin_5);
if(PIN(out1) > 0)
GPIO_SetBits(GPIOE, GPIO_Pin_5);
else
GPIO_ResetBits(GPIOE, GPIO_Pin_5);
if(PIN(out2) > 0)
GPIO_SetBits(GPIOE, GPIO_Pin_6);
else
GPIO_ResetBits(GPIOE, GPIO_Pin_6);
if(PIN(out2) > 0)
GPIO_SetBits(GPIOE, GPIO_Pin_6);
else
GPIO_ResetBits(GPIOE, GPIO_Pin_6);
}
if(PIN(fb0g) > 0)
GPIO_SetBits(GPIOD, GPIO_Pin_8);
@@ -463,11 +465,30 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
PIN(fb1z) = GPIO_ReadInputDataBit(FB1_Z_PORT, FB1_Z_PIN);
}
static void frt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
// struct io_ctx_t * ctx = (struct io_ctx_t *)ctx_ptr;
struct io_pin_ctx_t *pins = (struct io_pin_ctx_t *)pin_ptr;
if(PIN(out0) > 0)
GPIO_SetBits(GPIOE, GPIO_Pin_4);
else
GPIO_ResetBits(GPIOE, GPIO_Pin_4);
if(PIN(out1) > 0)
GPIO_SetBits(GPIOE, GPIO_Pin_5);
else
GPIO_ResetBits(GPIOE, GPIO_Pin_5);
if(PIN(out2) > 0)
GPIO_SetBits(GPIOE, GPIO_Pin_6);
else
GPIO_ResetBits(GPIOE, GPIO_Pin_6);
}
hal_comp_t io_comp_struct = {
.name = "io",
.nrt = 0,
.rt = rt_func,
.frt = 0,
.frt = frt_func,
.nrt_init = nrt_init,
.hw_init = hw_init,
.rt_start = 0,
src/comps/smartabs.c
+3 -2
View File
@@ -25,7 +25,7 @@ struct smartabs_ctx_t {
uint8_t rxbuf[15];
};
static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
struct smartabs_ctx_t *ctx = (struct smartabs_ctx_t *)ctx_ptr;
// struct smartabs_pin_ctx_t * pins = (struct smartabs_pin_ctx_t *)pin_ptr;
GPIO_InitTypeDef GPIO_InitStruct;
@@ -131,7 +131,8 @@ hal_comp_t smartabs_comp_struct = {
.nrt = 0,
.rt = rt_func,
.frt = 0,
.nrt_init = nrt_init,
.nrt_init = 0,
.hw_init = hw_init,
.rt_start = 0,
.frt_start = 0,
.rt_stop = 0,