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authorNicolas Schodet2023-03-06 17:36:31 +0100
committerNicolas Schodet2023-03-06 17:36:31 +0100
commitd383f2bcdb6ff13cc562fce1ff55d826035debad (patch)
treef5cd0440869b8ba823fd254b361cdefe95e153b4 /AT91SAM7S256/Source/d_output.h
parent8fce63fda48a6593870ffd3c584c9dd0808bc2c2 (diff)
Simplify source tree
Now just use make in the root directory to build.
Diffstat (limited to 'AT91SAM7S256/Source/d_output.h')
-rw-r--r--AT91SAM7S256/Source/d_output.h103
1 files changed, 0 insertions, 103 deletions
diff --git a/AT91SAM7S256/Source/d_output.h b/AT91SAM7S256/Source/d_output.h
deleted file mode 100644
index 4d5189b..0000000
--- a/AT91SAM7S256/Source/d_output.h
+++ /dev/null
@@ -1,103 +0,0 @@
-//
-// Date init 14.12.2004
-//
-// Revision date $Date:: 14-11-07 12:40 $
-//
-// Filename $Workfile:: d_output.h $
-//
-// Version $Revision:: 1 $
-//
-// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/d_outp $
-//
-// Platform C
-//
-
-#ifndef D_OUTPUT
-#define D_OUTPUT
-
-#define NEW_MOTOR
-
-#ifdef NEW_MOTOR
-
-//Constant reffering to new motor
-#define REG_CONST_DIV 32 // Constant which the PID constants value will be divided with
-#define DEFAULT_P_GAIN_FACTOR 96//3
-#define DEFAULT_I_GAIN_FACTOR 32//1
-#define DEFAULT_D_GAIN_FACTOR 32//1
-#define MIN_MOVEMENT_POWER 10
-#define MAX_CAPTURE_COUNT 100
-
-#else
-
-//Constant reffering to Old motor
-#define REG_CONST_DIV 1 // Constant which the PID constants value will be divided with
-#define DEFAULT_P_GAIN_FACTOR 3
-#define DEFAULT_I_GAIN_FACTOR 1
-#define DEFAULT_D_GAIN_FACTOR 1
-#define MIN_MOVEMENT_POWER 30
-#define MAX_CAPTURE_COUNT 80
-
-#endif
-
-#define DEFAULT_MAX_SPEED 80
-#define DEFAULT_MAX_ACCELERATION 20
-
-#define REGULATION_TIME 100 // Measured in 1 mS, regulation interval
-
-//Constant reffering to RegMode parameter
-#define REGSTATE_IDLE 0x00
-#define REGSTATE_REGULATED 0x01
-#define REGSTATE_SYNCHRONE 0x02
-#define REGSTATE_POSITION 0x04
-
-//Constant reffering to RunState parameter
-#define MOTOR_RUN_STATE_IDLE 0x00
-#define MOTOR_RUN_STATE_RAMPUP 0x10
-#define MOTOR_RUN_STATE_RUNNING 0x20
-#define MOTOR_RUN_STATE_RAMPDOWN 0x40
-#define MOTOR_RUN_STATE_HOLD 0x60
-
-// Constants related to Regulation Options
-#define REGOPTION_NO_SATURATION 0x01 // Do not limit intermediary regulation results
-
-
-enum
-{
- MOTOR_A,
- MOTOR_B,
- MOTOR_C
-};
-
-void dOutputInit(void);
-void dOutputExit(void);
-
-void dOutputCtrl(void);
-void dOutputGetMotorParameters(UBYTE *CurrentMotorSpeed, SLONG *TachoCount, SLONG *BlockTachoCount, UBYTE *RunState, UBYTE *MotorOverloaded, SLONG *RotationCount);
-void dOutputSetMode(UBYTE MotorNr, UBYTE Mode);
-void dOutputSetSpeed (UBYTE MotorNr, UBYTE NewMotorRunState, SBYTE Speed, SBYTE TurnParameter);
-void dOutputEnableRegulation(UBYTE MotorNr, UBYTE RegulationMode);
-void dOutputDisableRegulation(UBYTE MotorNr);
-void dOutputSetTachoLimit(UBYTE MotorNr, ULONG TachoCntToTravel);
-void dOutputResetTachoLimit(UBYTE MotorNr);
-void dOutputResetBlockTachoLimit(UBYTE MotorNr);
-void dOutputResetRotationCaptureCount(UBYTE MotorNr);
-void dOutputSetPIDParameters(UBYTE MotorNr, UBYTE NewRegPParameter, UBYTE NewRegIParameter, UBYTE NewRegDParameter);
-void dOutputSetMax(UBYTE MotorNr, SBYTE NewMaxSpeed, SBYTE NewMaxAcceleration);
-void dOutputSetRegulationTime(UBYTE NewRegulationTime);
-void dOutputSetRegulationOptions(UBYTE NewRegulationOptions);
-
-void dOutputRegulateMotor(UBYTE MotorNr);
-void dOutputCalculateRampUpParameter(UBYTE MotorNr, ULONG NewTachoLimit);
-void dOutputRampDownFunction(UBYTE MotorNr);
-void dOutputRampUpFunction(UBYTE MotorNr);
-void dOutputTachoLimitControl(UBYTE MotorNr);
-void dOutputAbsolutePositionRegulation(UBYTE MotorNr);
-void dOutputCalculateMotorPosition(UBYTE MotorNr);
-void dOutputSyncMotorPosition(UBYTE MotorOne, UBYTE MotorTwo);
-void dOutputMotorReachedTachoLimit(UBYTE MotorNr);
-void dOutputMotorIdleControl(UBYTE MotorNr);
-void dOutputSyncTachoLimitControl(UBYTE MotorNr);
-void dOutputMotorSyncStatus(UBYTE MotorNr, UBYTE *SyncMotorOne, UBYTE *SyncMotorTwo);
-void dOutputResetSyncMotors(UBYTE MotorNr);
-
-#endif