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authorjhansen2010-04-26 21:49:44 +0000
committerNicolas Schodet2011-07-04 00:36:36 +0200
commit6c5075bc99ba07f46562f7f10db14e153d7a93ec (patch)
treeb2371af4ec52f91eb471fe8b6f2a65b26d94afdd /AT91SAM7S256/Source/c_output.c
parent495cc1df494505378977995eeb76b05f20f0b235 (diff)
git-svn-id: https://mindboards.svn.sourceforge.net/svnroot/mindboards/lms_nbcnxc_128/trunk@6 c9361245-7fe8-9947-84e8-057757c4e366
Diffstat (limited to 'AT91SAM7S256/Source/c_output.c')
-rw-r--r--AT91SAM7S256/Source/c_output.c152
1 files changed, 79 insertions, 73 deletions
diff --git a/AT91SAM7S256/Source/c_output.c b/AT91SAM7S256/Source/c_output.c
index 9566938..23e0e28 100644
--- a/AT91SAM7S256/Source/c_output.c
+++ b/AT91SAM7S256/Source/c_output.c
@@ -43,17 +43,20 @@ void cOutputInit(void* pHeader)
{
UBYTE Tmp;
+ IOMapOutput.PwnFreq = REGULATION_TIME;
for(Tmp = 0; Tmp < NO_OF_OUTPUTS; Tmp++)
{
- IOMapOutput.Outputs[Tmp].Mode = 0x00;
- IOMapOutput.Outputs[Tmp].Speed = 0x00;
- IOMapOutput.Outputs[Tmp].ActualSpeed = 0x00;
- IOMapOutput.Outputs[Tmp].TachoCnt = 0x00;
- IOMapOutput.Outputs[Tmp].RunState = 0x00;
- IOMapOutput.Outputs[Tmp].TachoLimit = 0x00;
- IOMapOutput.Outputs[Tmp].RegPParameter = DEFAULT_P_GAIN_FACTOR;
- IOMapOutput.Outputs[Tmp].RegIParameter = DEFAULT_I_GAIN_FACTOR;
- IOMapOutput.Outputs[Tmp].RegDParameter = DEFAULT_D_GAIN_FACTOR;
+ 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;
}
VarsOutput.TimeCnt = 0;
dOutputInit();
@@ -63,74 +66,76 @@ void cOutputCtrl(void)
{
UBYTE Tmp;
+ dOutputUpdateRegulationTime(IOMapOutput.PwnFreq);
for(Tmp = 0; Tmp < NO_OF_OUTPUTS; Tmp++)
{
- if (IOMapOutput.Outputs[Tmp].Flags != 0)
- {
- if (IOMapOutput.Outputs[Tmp].Flags & UPDATE_RESET_ROTATION_COUNT)
+ OUTPUT * pOut = &(IOMapOutput.Outputs[Tmp]);
+ if (pOut->Flags != 0)
+ {
+ if (pOut->Flags & UPDATE_RESET_ROTATION_COUNT)
{
- IOMapOutput.Outputs[Tmp].Flags &= ~UPDATE_RESET_ROTATION_COUNT;
+ pOut->Flags &= ~UPDATE_RESET_ROTATION_COUNT;
dOutputResetRotationCaptureCount(Tmp);
}
- if (IOMapOutput.Outputs[Tmp].Flags & UPDATE_RESET_COUNT)
- {
- IOMapOutput.Outputs[Tmp].Flags &= ~UPDATE_RESET_COUNT;
- dOutputResetTachoLimit(Tmp);
- }
- if (IOMapOutput.Outputs[Tmp].Flags & UPDATE_RESET_BLOCK_COUNT)
+ if (pOut->Flags & UPDATE_RESET_COUNT)
+ {
+ pOut->Flags &= ~UPDATE_RESET_COUNT;
+ dOutputResetTachoLimit(Tmp);
+ }
+ if (pOut->Flags & UPDATE_RESET_BLOCK_COUNT)
{
- IOMapOutput.Outputs[Tmp].Flags &= ~UPDATE_RESET_BLOCK_COUNT;
- dOutputResetBlockTachoLimit(Tmp);
+ pOut->Flags &= ~UPDATE_RESET_BLOCK_COUNT;
+ dOutputResetBlockTachoLimit(Tmp);
}
- if (IOMapOutput.Outputs[Tmp].Flags & UPDATE_SPEED)
- {
- IOMapOutput.Outputs[Tmp].Flags &= ~UPDATE_SPEED;
- if (IOMapOutput.Outputs[Tmp].Mode & MOTORON)
- {
- dOutputSetSpeed (Tmp, IOMapOutput.Outputs[Tmp].RunState, IOMapOutput.Outputs[Tmp].Speed, IOMapOutput.Outputs[Tmp].SyncTurnParameter);
- }
- }
- if (IOMapOutput.Outputs[Tmp].Flags & UPDATE_TACHO_LIMIT)
- {
- IOMapOutput.Outputs[Tmp].Flags &= ~UPDATE_TACHO_LIMIT;
- dOutputSetTachoLimit(Tmp, IOMapOutput.Outputs[Tmp].TachoLimit);
- }
- if (IOMapOutput.Outputs[Tmp].Flags & UPDATE_MODE)
- {
- IOMapOutput.Outputs[Tmp].Flags &= ~UPDATE_MODE;
- if (IOMapOutput.Outputs[Tmp].Mode & BRAKE)
+ 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_TACHO_LIMIT)
+ {
+ pOut->Flags &= ~UPDATE_TACHO_LIMIT;
+ dOutputSetTachoLimit(Tmp, pOut->TachoLimit, pOut->Options);
+ }
+ 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 (IOMapOutput.Outputs[Tmp].Mode & MOTORON)
+ if (pOut->Mode & MOTORON)
{
- if (IOMapOutput.Outputs[Tmp].Mode & REGULATED)
- {
- dOutputEnableRegulation(Tmp, IOMapOutput.Outputs[Tmp].RegMode);
- }
- else
- {
- dOutputDisableRegulation(Tmp);
- }
- }
- else
- {
- dOutputSetSpeed(Tmp, 0x00, 0x00, 0x00);
+ if (pOut->Mode & REGULATED)
+ {
+ dOutputEnableRegulation(Tmp, pOut->RegMode);
+ }
+ else
+ {
+ dOutputDisableRegulation(Tmp);
+ }
+ }
+ else
+ {
+ dOutputSetSpeed(Tmp, 0x00, 0x00, 0x00);
dOutputDisableRegulation(Tmp);
- }
- }
- if (IOMapOutput.Outputs[Tmp].Flags & UPDATE_PID_VALUES)
- {
- IOMapOutput.Outputs[Tmp].Flags &= ~UPDATE_PID_VALUES;
- dOutputSetPIDParameters(Tmp, IOMapOutput.Outputs[Tmp].RegPParameter, IOMapOutput.Outputs[Tmp].RegIParameter, IOMapOutput.Outputs[Tmp].RegDParameter);
- }
- }
+ }
+ }
+ if (pOut->Flags & UPDATE_PID_VALUES)
+ {
+ pOut->Flags &= ~UPDATE_PID_VALUES;
+ dOutputSetPIDParameters(Tmp, pOut->RegPParameter, pOut->RegIParameter, pOut->RegDParameter);
+ }
+ }
}
dOutputCtrl();
cOutputUpdateIomap();
@@ -138,29 +143,30 @@ void cOutputCtrl(void)
void cOutputUpdateIomap(void)
{
- UBYTE TempCurrentMotorSpeed[NO_OF_OUTPUTS];
- UBYTE TempRunState[NO_OF_OUTPUTS];
+ UBYTE TempCurrentMotorSpeed[NO_OF_OUTPUTS];
+ UBYTE TempRunState[NO_OF_OUTPUTS];
UBYTE TempMotorOverloaded[NO_OF_OUTPUTS];
- SLONG TempTachoCount[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);
+ dOutputGetMotorParameters(TempCurrentMotorSpeed, TempTachoCount, TempBlockTachoCount, TempRunState, TempMotorOverloaded,TempRotationCount);
- for(Tmp = 0; Tmp < NO_OF_OUTPUTS; Tmp++)
+ for(Tmp = 0; Tmp < NO_OF_OUTPUTS; Tmp++)
{
- IOMapOutput.Outputs[Tmp].ActualSpeed = TempCurrentMotorSpeed[Tmp];
- IOMapOutput.Outputs[Tmp].TachoCnt = TempTachoCount[Tmp];
- IOMapOutput.Outputs[Tmp].BlockTachoCount = TempBlockTachoCount[Tmp];
- IOMapOutput.Outputs[Tmp].RotationCount = TempRotationCount[Tmp];
- IOMapOutput.Outputs[Tmp].Overloaded = TempMotorOverloaded[Tmp];
- if (!(IOMapOutput.Outputs[Tmp].Flags & PENDING_UPDATES))
+ 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))
{
- IOMapOutput.Outputs[Tmp].RunState = TempRunState[Tmp];
+ pOut->RunState = TempRunState[Tmp];
}
- }
+ }
}
void cOutputExit(void)