mirror of https://github.com/rene-dev/stmbl.git
133 lines
3.2 KiB
Plaintext
133 lines
3.2 KiB
Plaintext
load adc
|
|
load reslimit
|
|
load rev
|
|
load rev
|
|
load rev
|
|
load rev
|
|
load fb_switch
|
|
load vel
|
|
load vel
|
|
load vel
|
|
load pid
|
|
load fault
|
|
load hv
|
|
load iit
|
|
load sim
|
|
load stp
|
|
load io
|
|
load pe
|
|
link conf
|
|
adc0.rt_prio = 1
|
|
reslimit0.rt_prio = 3
|
|
rev0.rt_prio = 4
|
|
rev1.rt_prio = 4
|
|
rev2.rt_prio = 4
|
|
rev3.rt_prio = 4
|
|
fb_switch0.rt_prio = 5
|
|
vel0.rt_prio = 6
|
|
vel1.rt_prio = 6
|
|
vel2.rt_prio = 6
|
|
io0.rt_prio = 7
|
|
pid0.rt_prio = 8
|
|
fault0.rt_prio = 10
|
|
hv0.rt_prio = 11
|
|
iit0.rt_prio = 12
|
|
sim0.rt_prio = 13
|
|
stp0.rt_prio = 14
|
|
pe0.rt_prio = 15
|
|
term0.rt_prio = 16
|
|
rev0.rev = conf0.cmd_rev
|
|
rev1.rev = conf0.mot_fb_rev
|
|
rev2.rev = conf0.com_fb_rev
|
|
rev3.rev = conf0.joint_fb_rev
|
|
reslimit0.res = conf0.mot_fb_res
|
|
vel1.j = conf0.j
|
|
vel2.j = conf0.j
|
|
pid0.j = conf0.j
|
|
pid0.pos_p = conf0.pos_p
|
|
pid0.vel_p = conf0.vel_p
|
|
pid0.vel_i = conf0.vel_i
|
|
pid0.vel_g = conf0.vel_g
|
|
pid0.acc_g = conf0.acc_g
|
|
pid0.g = conf0.g
|
|
pid0.max_usr_vel = conf0.max_vel
|
|
pid0.max_usr_acc = conf0.max_acc
|
|
pid0.max_usr_torque = conf0.max_force
|
|
fault0.max_sat = conf0.max_sat
|
|
fault0.max_pos_error = conf0.max_pos_error
|
|
fault0.max_vel_error = conf0.max_vel_error
|
|
fault0.max_dc_cur = conf0.max_dc_cur
|
|
fault0.max_ac_cur = conf0.max_ac_cur
|
|
fault0.max_dc_volt = conf0.max_dc_volt
|
|
fault0.high_dc_volt = conf0.max_dc_volt
|
|
fault0.min_dc_volt = conf0.min_dc_volt
|
|
fault0.max_hv_temp = conf0.max_hv_temp
|
|
fault0.max_mot_temp = conf0.max_mot_temp
|
|
fault0.high_hv_temp = conf0.high_hv_temp
|
|
fault0.high_mot_temp = conf0.high_mot_temp
|
|
fault0.fan_hv_temp = conf0.fan_hv_temp
|
|
fault0.fan_mot_temp = conf0.fan_mot_temp
|
|
fault0.phase_on_start = conf0.autophase
|
|
hv0.rev = conf0.out_rev
|
|
hv0.r = conf0.r
|
|
hv0.l = conf0.l
|
|
hv0.psi = conf0.psi
|
|
hv0.cur_p = conf0.cur_p
|
|
hv0.cur_i = conf0.cur_i
|
|
hv0.cur_ff = conf0.cur_ff
|
|
hv0.cur_ind = conf0.cur_ind
|
|
hv0.max_cur = conf0.max_ac_cur
|
|
reslimit0.pos_in = rev0.out
|
|
fb_switch0.cmd_pos = reslimit0.pos_out
|
|
fb_switch0.mot_pos = rev1.out
|
|
fb_switch0.com_pos = rev2.out
|
|
fb_switch0.joint_pos = rev3.out
|
|
fb_switch0.polecount = conf0.polecount
|
|
fb_switch0.en = fault0.en_pid
|
|
fb_switch0.mot_polecount = conf0.mot_fb_polecount
|
|
fb_switch0.joint_polecount = conf0.joint_fb_polecount
|
|
fb_switch0.com_polecount = conf0.com_fb_polecount
|
|
fb_switch0.mot_offset = conf0.mot_fb_offset
|
|
fb_switch0.joint_offset = conf0.joint_fb_offset
|
|
fb_switch0.com_offset = conf0.com_fb_offset
|
|
vel0.pos_in = rev0.out
|
|
vel0.en = fault0.en_pid
|
|
vel1.pos_in = fb_switch0.vel_fb
|
|
vel1.en = fault0.en_pid
|
|
vel1.torque = pid0.torque_cor_cmd
|
|
vel2.pos_in = fb_switch0.com_fb
|
|
vel2.en = fault0.en_pid
|
|
vel2.torque = pid0.torque_cor_cmd
|
|
pid0.enable = fault0.en_pid
|
|
pid0.pos_ext_cmd = reslimit0.pos_out
|
|
pid0.vel_ext_cmd = vel0.vel
|
|
pid0.pos_fb = fb_switch0.pos_fb
|
|
pid0.vel_fb = vel1.vel
|
|
rev0.in_d = vel0.vel
|
|
rev1.in_d = vel1.vel
|
|
rev2.in_d = vel2.vel
|
|
fault0.pos_error = pid0.pos_error
|
|
fault0.vel_error = pid0.vel_error
|
|
fault0.sat = pid0.saturated
|
|
fault0.dc_volt = hv0.dc_volt
|
|
fault0.hv_temp = hv0.hv_temp
|
|
fault0.dc_cur = hv0.dc_cur
|
|
fault0.hv_error = hv0.com_error
|
|
hv0.en = fault0.en_out
|
|
hv0.pos = vel2.pos_out
|
|
hv0.vel = vel2.vel
|
|
hv0.scale = fault0.scale
|
|
io0.fan = fault0.hv_fan
|
|
io0.fault = fault0.fault
|
|
io0.state = fault0.state
|
|
pe0.udc = hv0.dc_volt
|
|
pe0.idc = 0
|
|
pe0.ud = 0
|
|
pe0.uq = 0
|
|
pe0.id = hv0.d_fb
|
|
pe0.iq = hv0.q_fb
|
|
pe0.torque = pid0.torque_cor_cmd
|
|
pe0.vel = vel1.vel
|
|
pe0.r = conf0.r
|
|
pe0.j = conf0.j
|
|
pe0.cap = 0.00054 |