Mirrors_Framework/stmbl
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sanyo denki

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This commit is contained in:
crinq
2018-06-16 01:37:45 +02:00
parent e5cfff596e
commit f11f7e7ae9
4 changed files with 51 additions and 14 deletions
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conf/r2aa04003f.txt
+11
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@@ -0,0 +1,11 @@
link pid
link pmsm
link encs_fb0
link misc
link jog_cmd
conf0.r = 12
conf0.l = 0.00066
conf0.j = 0.00000247
conf0.max_force = 0.4
conf0.max_ac_cur = 2
conf0.polecount = 5
conf/r2aa06020f.txt
+11
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@@ -0,0 +1,11 @@
link pid
link pmsm
link encs_fb0
link misc
link jog_cmd
conf0.r = 2.7
conf0.l = 0.0007
conf0.j = 0.0000219
conf0.max_force = 2.2
conf0.max_ac_cur = 5.6
conf0.polecount = 5
conf/template/encs_fb0.txt
+10
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@@ -0,0 +1,10 @@
load encs
encs0.rt_prio = 2
fb_switch0.mot_pos = encs0.pos
fb_switch0.mot_abs_pos = encs0.pos
fb_switch0.mot_polecount = conf0.mot_fb_polecount
fb_switch0.mot_state = encs0.state
fault0.mot_fb_error = encs0.error
io0.fb0y = encs0.error
io0.fb0g = 1
fb_switch0.mot_state = 3
src/comps/encs.c
+19 -14
View File
@@ -52,30 +52,33 @@ volatile uint32_t reply_buf[NUM_OF_SAMPLES_S + 1];
volatile uint32_t request_buf[24];
DMA_InitTypeDef dma_tx_config;
DMA_InitTypeDef dma_rx_config;
GPIO_InitTypeDef GPIO_InitStruct_tx;
GPIO_InitTypeDef GPIO_InitStruct_rx;
static void hw_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
// struct encs_ctx_t *ctx = (struct encs_ctx_t *)ctx_ptr;
struct encs_pin_ctx_t *pins = (struct encs_pin_ctx_t *)pin_ptr;
GPIO_InitTypeDef GPIO_InitStruct;
//TX enable
GPIO_InitStruct.GPIO_Pin = FB0_Z_TXEN_PIN;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_25MHz;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(FB0_Z_TXEN_PORT, &GPIO_InitStruct);
GPIO_InitStruct_tx.GPIO_Pin = FB0_Z_TXEN_PIN;
GPIO_InitStruct_tx.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStruct_tx.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct_tx.GPIO_Speed = GPIO_Speed_25MHz;
GPIO_InitStruct_tx.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(FB0_Z_TXEN_PORT, &GPIO_InitStruct_tx);
GPIO_ResetBits(FB0_Z_TXEN_PORT, FB0_Z_TXEN_PIN);
//TX
GPIO_InitStruct.GPIO_Pin = FB0_Z_PIN;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_Init(FB0_Z_PORT, &GPIO_InitStruct);
GPIO_InitStruct_tx.GPIO_Pin = FB0_Z_PIN;
GPIO_Init(FB0_Z_PORT, &GPIO_InitStruct_tx);
GPIO_ResetBits(FB0_Z_PORT, FB0_Z_PIN);
GPIO_InitStruct_rx.GPIO_Pin = FB0_Z_PIN;
GPIO_InitStruct_rx.GPIO_Mode = GPIO_Mode_IN;
GPIO_InitStruct_rx.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct_rx.GPIO_PuPd = GPIO_PuPd_NOPULL;
//RX
//v3 only
// GPIO_InitStruct.GPIO_Pin = GPIO_Pin_11;
@@ -178,6 +181,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
if(PIN(en) > 0.0) {
//request
GPIO_Init(FB0_Z_PORT, &GPIO_InitStruct_tx);
TIM8->ARR = 32; //2.545 Mhz
DMA_Cmd(DMA2_Stream1, DISABLE);
DMA_ClearFlag(DMA2_Stream1, DMA_FLAG_TCIF1);
@@ -187,8 +191,9 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
//wait for DMA transfer complete
while(DMA_GetFlagStatus(DMA2_Stream1, DMA_FLAG_TCIF1) == RESET)
;
//TODO: set pin to input
//reply
GPIO_Init(FB0_Z_PORT, &GPIO_InitStruct_rx);
TIM8->ARR = 4; //16.8 Mhz
DMA_Cmd(DMA2_Stream1, DISABLE);
DMA_ClearFlag(DMA2_Stream1, DMA_FLAG_TCIF1);