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hw cleanup

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This commit is contained in:
Rene Hopf
2015-04-07 23:34:48 +02:00
parent 13fca3424c
commit e8ec969423
16 changed files with 113 additions and 63695 deletions
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2835
hw/eagle/IRAMX-drv-v3.brd
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16975
hw/eagle/IRAMX-drv-v3.sch
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hw/eagle/acs.brd
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hw/eagle/acs.sch
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hw/eagle/res.brd
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hw/eagle/res.brd.pdf
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hw/eagle/res.sch
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hw/eagle/res.sch.pdf
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hw/eagle/stm32f100.brd
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hw/eagle/stm32f100.sch
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123
src/comps/enc.comp
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@@ -28,6 +28,15 @@ MEM(float e_sd1) = -1;
INIT(
GPIO_InitTypeDef GPIO_InitStructure;
TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_ICInitStructure.TIM_Channel = TIM_Channel_1 | TIM_Channel_2;
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_DirectTI;
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
TIM_ICInitStructure.TIM_ICFilter = 0xF;
TIM_ICInit(ENC0_TIM, &TIM_ICInitStructure);
TIM_ICInit(ENC1_TIM, &TIM_ICInitStructure);
/***************** port 0, quadrature or step/dir *********************/
e_res0 = (int)PIN(res0);
if(e_res0 < 1){
@@ -91,6 +100,30 @@ INIT(
// enable tim
TIM_Cmd(ENC1_TIM, ENABLE);
TIM_Cmd(ENC0_TIM, DISABLE);
NVIC_DisableIRQ(EXTI9_5_IRQn);
TIM1->CR1 |= TIM_CR1_DIR;
GPIO_InitStructure.GPIO_Pin = ENC0_A_PIN | ENC0_B_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(ENC0_A_PORT, &GPIO_InitStructure);
TIM_EncoderInterfaceConfig(ENC0_TIM, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_Cmd(ENC0_TIM, ENABLE);
TIM_Cmd(ENC1_TIM, DISABLE);
//NVIC_DisableIRQ(EXTI9_5_IRQn); TODO
//TIM1->CR1 |= TIM_CR1_DIR; TODO
GPIO_InitStructure.GPIO_Pin = ENC1_A_PIN | ENC1_B_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(ENC1_A_PORT, &GPIO_InitStructure);
TIM_EncoderInterfaceConfig(ENC1_TIM, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_Cmd(ENC1_TIM, ENABLE);
);
RT(
@@ -104,55 +137,55 @@ RT(
if(e_sd0 != sd0 || e_sd1 != sd1 || e_q0 != q0 || e_q1 != q1){
if(q0 >= 0.0){ // quad 0
e_q0 = q0;
TIM_Cmd(ENC0_TIM, DISABLE);
NVIC_DisableIRQ(EXTI9_5_IRQn);
TIM1->CR1 |= TIM_CR1_DIR;
GPIO_InitStructure.GPIO_Pin = ENC0_A_PIN | ENC0_B_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(ENC0_A_PORT, &GPIO_InitStructure);
TIM_EncoderInterfaceConfig(ENC0_TIM, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_Cmd(ENC0_TIM, ENABLE);
// TIM_Cmd(ENC0_TIM, DISABLE);
// NVIC_DisableIRQ(EXTI9_5_IRQn);
// TIM1->CR1 |= TIM_CR1_DIR;
// GPIO_InitStructure.GPIO_Pin = ENC0_A_PIN | ENC0_B_PIN;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
// GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
// GPIO_Init(ENC0_A_PORT, &GPIO_InitStructure);
// TIM_EncoderInterfaceConfig(ENC0_TIM, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
// TIM_Cmd(ENC0_TIM, ENABLE);
}
/*if(q1 >= 0.0){ // quad 1
e_q1 = q1;
TIM_Cmd(ENC1_TIM, DISABLE);
//NVIC_DisableIRQ(EXTI9_5_IRQn); TODO
//TIM1->CR1 |= TIM_CR1_DIR; TODO
GPIO_InitStructure.GPIO_Pin = ENC1_A_PIN | ENC1_B_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(ENC1_A_PORT, &GPIO_InitStructure);
TIM_EncoderInterfaceConfig(ENC1_TIM, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
TIM_Cmd(ENC1_TIM, ENABLE);
if(q1 >= 0.0){ // quad 1
e_q1 = q1;
// TIM_Cmd(ENC1_TIM, DISABLE);
// //NVIC_DisableIRQ(EXTI9_5_IRQn); TODO
// //TIM1->CR1 |= TIM_CR1_DIR; TODO
// GPIO_InitStructure.GPIO_Pin = ENC1_A_PIN | ENC1_B_PIN;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
// GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
// GPIO_Init(ENC1_A_PORT, &GPIO_InitStructure);
// TIM_EncoderInterfaceConfig(ENC1_TIM, TIM_EncoderMode_TI12, TIM_ICPolarity_Rising, TIM_ICPolarity_Rising);
// TIM_Cmd(ENC1_TIM, ENABLE);
}*/
}
if(sd0 >= 0.0){ // stepdir 0
e_sd0 = sd0;
TIM_Cmd(ENC0_TIM, DISABLE);
//clk
GPIO_InitStructure.GPIO_Pin = ENC0_B_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(ENC0_B_PORT, &GPIO_InitStructure);
//dir
GPIO_InitStructure.GPIO_Pin = ENC0_A_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_Init(ENC0_A_PORT, &GPIO_InitStructure);
TIM_ETRClockMode1Config(ENC0_TIM,TIM_ExtTRGPSC_OFF, TIM_ExtTRGPolarity_NonInverted, 0x00);
TIM_TIxExternalClockConfig(ENC0_TIM,TIM_TIxExternalCLK1Source_TI2, TIM_ICPolarity_Rising, 0x00);
NVIC_EnableIRQ(EXTI9_5_IRQn);
TIM_Cmd(ENC0_TIM, ENABLE);
// TIM_Cmd(ENC0_TIM, DISABLE);
// //clk
// GPIO_InitStructure.GPIO_Pin = ENC0_B_PIN;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
// GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
// GPIO_Init(ENC0_B_PORT, &GPIO_InitStructure);
//
// //dir
// GPIO_InitStructure.GPIO_Pin = ENC0_A_PIN;
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;
// GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
// GPIO_Init(ENC0_A_PORT, &GPIO_InitStructure);
// TIM_ETRClockMode1Config(ENC0_TIM,TIM_ExtTRGPSC_OFF, TIM_ExtTRGPolarity_NonInverted, 0x00);
// TIM_TIxExternalClockConfig(ENC0_TIM,TIM_TIxExternalCLK1Source_TI2, TIM_ICPolarity_Rising, 0x00);
// NVIC_EnableIRQ(EXTI9_5_IRQn);
// TIM_Cmd(ENC0_TIM, ENABLE);
}
/*if(sd1 >= 0.0){ // stepdir 1
e_sd1 = sd1;

2
src/comps/term.comp
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@@ -174,7 +174,7 @@ void cmd(char * s){
read_pos++;
read_pos %= TERM_BUF_SIZE;
buf[8 + 1] = 0;
buf[4 + 1] = 0;
if(UB_USB_CDC_GetStatus()==USB_CDC_CONNECTED){
UB_USB_CDC_SendString((char*)buf, NONE);

29
src/link.c
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@@ -379,6 +379,7 @@ void set_mitsubishi(){ // TODO
set_hal_pin("conf0.acc_p", 0.15);
set_hal_pin("conf0.acc_pi", 50.0);
set_hal_pin("conf0.cur_lp", 0.5);
set_hal_pin("encm0.enable", 1.0);
}
void set_br(){
@@ -401,3 +402,31 @@ void set_br(){
set_hal_pin("conf0.acc_pi", 50.0);
set_hal_pin("conf0.cur_lp", 0.0);
}
//linear 25 ohm
//e250 15
void set_e240(){ // TODO
set_hal_pin("conf0.pole_count", 1.0);
set_hal_pin("conf0.max_vel", RPM(8000));
set_hal_pin("conf0.max_acc", RPM(8000) / 0.002);
set_hal_pin("conf0.max_force", 4.8);
set_hal_pin("conf0.max_cur", 13.0);
set_hal_pin("conf0.fb_type", ENC1);
set_hal_pin("conf0.fb_rev", 0.0);
set_hal_pin("conf0.fb_res", 2048.0);
//set_hal_pin("conf0.r", 5.4);
//set_hal_pin("conf0.l", 0.0082);
//set_hal_pin("conf0.j", KGCM2(0.268));
//set_hal_pin("conf0.km", 0.135);
set_hal_pin("conf0.r", 25.0);
set_hal_pin("conf0.l", 0.003);
set_hal_pin("conf0.j", KGCM2(0.268));
set_hal_pin("conf0.km", 0.068);
set_hal_pin("conf0.pos_p", 45.0);
set_hal_pin("conf0.acc_p", 0.025);
set_hal_pin("conf0.acc_pi", 10.0);
set_hal_pin("conf0.cur_lp", 0.0);
set_hal_pin("cur0.magpos", 0.0);
set_hal_pin("enc0.quad_en0", 1.0);
}

1
src/link.h
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@@ -26,3 +26,4 @@ void set_sankyo();
void set_sanyo();
void set_mitsubishi();
void set_br();
void set_e240();

3
src/main.c
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@@ -216,7 +216,8 @@ int main(void)
link_pid();
set_bergerlahr();//pid2: ok
set_e240();
//set_bergerlahr();//pid2: ok
//set_mitsubishi();//pid2: ok
//set_festo();
//set_manutec();

4
term/mainframe.cpp
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@@ -47,7 +47,7 @@ ServoFrame::ServoFrame(const wxString& title) : wxFrame(NULL, wxID_ANY, title){
leiste->Add(uhu,0,wxALIGN_LEFT|wxALL,3);
leiste->Add(stmbl,0,wxALIGN_LEFT|wxALL,3);
topsizer->Add(leiste);
drawpanel = new BasicDrawPane((wxFrame*)top,8);
drawpanel = new BasicDrawPane((wxFrame*)top,4);
topsizer->Add(drawpanel, 1,wxEXPAND,0);
wxArrayString waves;
@@ -205,7 +205,7 @@ void ServoFrame::OnTimer(wxTimerEvent& evt){
for (int i=0; i<ret; i++){
if(addr >= 0){
values[addr++] = (buf[i]-128) / 128.0;
if(addr == 8){
if(addr == 4){
drawpanel->plotvalue(values);
addr = -1;
}