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