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58 lines
1.2 KiB
C
58 lines
1.2 KiB
C
#include "commands.h"
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#include "hal.h"
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#include "math.h"
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#include "defines.h"
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#include "angle.h"
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HAL_COMP(fanuc);
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//fanuc encoder
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HAL_PIN(C1);
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HAL_PIN(C2);
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HAL_PIN(C4);
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HAL_PIN(C8);
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//rotor position output
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HAL_PIN(pos);
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static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
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// struct fanuc_ctx_t * ctx = (struct fanuc_ctx_t *)ctx_ptr;
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struct fanuc_pin_ctx_t *pins = (struct fanuc_pin_ctx_t *)pin_ptr;
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//TODO: const...
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uint8_t tab[16];
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tab[0] = 0;
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tab[1] = 15;
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tab[2] = 1;
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tab[3] = 2;
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tab[4] = 13;
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tab[5] = 14;
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tab[6] = 12;
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tab[7] = 11;
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tab[8] = 5;
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tab[9] = 6;
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tab[10] = 4;
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tab[11] = 3;
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tab[12] = 8;
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tab[13] = 7;
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tab[14] = 9;
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tab[15] = 10;
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uint32_t t = (PIN(C1) > 0.0) + (PIN(C2) > 0.0) * 2 + (PIN(C4) > 0.0) * 4 + (PIN(C8) > 0.0) * 8;
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PIN(pos) = mod((tab[t] / 15.0 * 2.0 * M_PI));
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}
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hal_comp_t fanuc_comp_struct = {
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.name = "fanuc",
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.nrt = 0,
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.rt = rt_func,
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.frt = 0,
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.nrt_init = 0,
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.rt_start = 0,
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.frt_start = 0,
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.rt_stop = 0,
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.frt_stop = 0,
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.ctx_size = 0,
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.pin_count = sizeof(struct fanuc_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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