From d383f2bcdb6ff13cc562fce1ff55d826035debad Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 6 Mar 2023 17:36:31 +0100 Subject: Simplify source tree Now just use make in the root directory to build. --- AT91SAM7S256/Source/c_output.c | 180 ----------------------------------------- 1 file changed, 180 deletions(-) delete mode 100644 AT91SAM7S256/Source/c_output.c (limited to 'AT91SAM7S256/Source/c_output.c') diff --git a/AT91SAM7S256/Source/c_output.c b/AT91SAM7S256/Source/c_output.c deleted file mode 100644 index e0645e0..0000000 --- a/AT91SAM7S256/Source/c_output.c +++ /dev/null @@ -1,180 +0,0 @@ -// -// Date init 14.12.2004 -// -// Revision date $Date:: 14-11-07 12:40 $ -// -// Filename $Workfile:: c_output.c $ -// -// Version $Revision:: 1 $ -// -// Archive $Archive:: /LMS2006/Sys01/Main_V02/Firmware/Source/c_outp $ -// -// Platform C -// - -#include -#include "stdbool.h" -#include "stdconst.h" -#include "modules.h" -#include "c_output.iom" -#include "c_output.h" -#include "d_output.h" -#include "c_display.iom" - -static IOMAPOUTPUT IOMapOutput; -static VARSOUTPUT VarsOutput; - -const HEADER cOutput = -{ - 0x00020001L, - "Output", - cOutputInit, - cOutputCtrl, - cOutputExit, - (void *)&IOMapOutput, - (void *)&VarsOutput, - (UWORD)sizeof(IOMapOutput), - (UWORD)sizeof(VarsOutput), - 0x0000 //Code size - not used so far -}; - - -void cOutputInit(void* pHeader) -{ - UBYTE Tmp; - - for(Tmp = 0; Tmp < NO_OF_OUTPUTS; Tmp++) - { - OUTPUT * pOut = &(IOMapOutput.Outputs[Tmp]); - pOut->Mode = 0x00; - pOut->Speed = 0x00; - pOut->ActualSpeed = 0x00; - pOut->TachoCnt = 0x00; - pOut->RunState = 0x00; - pOut->TachoLimit = 0x00; - pOut->RegPParameter = DEFAULT_P_GAIN_FACTOR; - pOut->RegIParameter = DEFAULT_I_GAIN_FACTOR; - pOut->RegDParameter = DEFAULT_D_GAIN_FACTOR; - pOut->Options = 0x00; - pOut->MaxSpeed = DEFAULT_MAX_SPEED; - pOut->MaxAcceleration = DEFAULT_MAX_ACCELERATION; - } - IOMapOutput.RegulationTime = REGULATION_TIME; - IOMapOutput.RegulationOptions = 0; - VarsOutput.TimeCnt = 0; - dOutputInit(); -} - -void cOutputCtrl(void) -{ - UBYTE Tmp; - - for(Tmp = 0; Tmp < NO_OF_OUTPUTS; Tmp++) - { - OUTPUT * pOut = &(IOMapOutput.Outputs[Tmp]); - if (pOut->Flags != 0) - { - if (pOut->Flags & UPDATE_RESET_ROTATION_COUNT) - { - pOut->Flags &= ~UPDATE_RESET_ROTATION_COUNT; - dOutputResetRotationCaptureCount(Tmp); - } - if (pOut->Flags & UPDATE_RESET_COUNT) - { - pOut->Flags &= ~UPDATE_RESET_COUNT; - dOutputResetTachoLimit(Tmp); - } - if (pOut->Flags & UPDATE_RESET_BLOCK_COUNT) - { - pOut->Flags &= ~UPDATE_RESET_BLOCK_COUNT; - dOutputResetBlockTachoLimit(Tmp); - } - if (pOut->Flags & UPDATE_SPEED) - { - pOut->Flags &= ~UPDATE_SPEED; - if (pOut->Mode & MOTORON) - { - dOutputSetSpeed(Tmp, pOut->RunState, pOut->Speed, pOut->SyncTurnParameter); - } - } - if (pOut->Flags & UPDATE_MODE) - { - pOut->Flags &= ~UPDATE_MODE; - if (pOut->Mode & BRAKE) - { - // Motor is Braked - dOutputSetMode(Tmp, BRAKE); - } - else - { - // Motor is floated - dOutputSetMode(Tmp, 0x00); - } - if (pOut->Mode & MOTORON) - { - if (pOut->Mode & REGULATED) - { - dOutputEnableRegulation(Tmp, pOut->RegMode); - } - else - { - dOutputDisableRegulation(Tmp); - } - } - else - { - dOutputSetSpeed(Tmp, 0x00, 0x00, 0x00); - dOutputDisableRegulation(Tmp); - } - } - if (pOut->Flags & UPDATE_TACHO_LIMIT) - { - pOut->Flags &= ~UPDATE_TACHO_LIMIT; - dOutputSetTachoLimit(Tmp, pOut->TachoLimit); - } - if (pOut->Flags & UPDATE_PID_VALUES) - { - pOut->Flags &= ~UPDATE_PID_VALUES; - dOutputSetPIDParameters(Tmp, pOut->RegPParameter, pOut->RegIParameter, pOut->RegDParameter); - dOutputSetMax(Tmp, pOut->MaxSpeed, pOut->MaxAcceleration); - } - } - } - dOutputSetRegulationTime(IOMapOutput.RegulationTime); - dOutputSetRegulationOptions(IOMapOutput.RegulationOptions); - dOutputCtrl(); - cOutputUpdateIomap(); -} - -void cOutputUpdateIomap(void) -{ - UBYTE TempCurrentMotorSpeed[NO_OF_OUTPUTS]; - UBYTE TempRunState[NO_OF_OUTPUTS]; - UBYTE TempMotorOverloaded[NO_OF_OUTPUTS]; - SLONG TempTachoCount[NO_OF_OUTPUTS]; - SLONG TempBlockTachoCount[NO_OF_OUTPUTS]; - SLONG TempRotationCount[NO_OF_OUTPUTS]; - - UBYTE Tmp; - - dOutputGetMotorParameters(TempCurrentMotorSpeed, TempTachoCount, TempBlockTachoCount, TempRunState, TempMotorOverloaded,TempRotationCount); - - for(Tmp = 0; Tmp < NO_OF_OUTPUTS; Tmp++) - { - OUTPUT * pOut = &(IOMapOutput.Outputs[Tmp]); - pOut->ActualSpeed = TempCurrentMotorSpeed[Tmp]; - pOut->TachoCnt = TempTachoCount[Tmp]; - pOut->BlockTachoCount = TempBlockTachoCount[Tmp]; - pOut->RotationCount = TempRotationCount[Tmp]; - pOut->Overloaded = TempMotorOverloaded[Tmp]; - if (!(pOut->Flags & PENDING_UPDATES)) - { - pOut->RunState = TempRunState[Tmp]; - } - } -} - -void cOutputExit(void) -{ - dOutputExit(); -} -- cgit v1.2.3