Merge branch 'no_volatile'

Makefile

@@ -30,6 +30,10 @@ HWVERSION = v4
 ifeq ($(HWVERSION),v3)
 	COMPS += src/comps/hw/io3.c
 	COMPS += src/comps/hvf1.c
+	COMPS += shared/comps/pmsm.c
+	COMPS += shared/comps/curpid.c
+	COMPS += shared/comps/dq.c
+	COMPS += shared/comps/idq.c
 	SOURCES += shared/common_f1.c
 	CFLAGS += -DV3
 else
@@ -42,6 +46,7 @@ else
 	COMPS += src/comps/yaskawa.c
 	COMPS += src/comps/encs.c
 	COMPS += src/comps/encf.c
+	COMPS += src/comps/endat.c
 	CFLAGS += -DV4
 endif
 
@@ -55,20 +60,17 @@ COMPS += src/comps/hx711.c
 
 COMPS += shared/comps/sim.c
 COMPS += shared/comps/term.c
-COMPS += shared/comps/curpid.c
 COMPS += shared/comps/svm.c
-COMPS += shared/comps/dq.c
-COMPS += shared/comps/idq.c
+
 COMPS += shared/comps/vel.c
 COMPS += shared/comps/rev.c
 COMPS += shared/comps/hal_test.c
-COMPS += shared/comps/dc.c
+# COMPS += shared/comps/dc.c
 COMPS += shared/comps/ypid.c
 COMPS += shared/comps/fault.c
 COMPS += shared/comps/pid.c
 COMPS += shared/comps/spid.c
 COMPS += shared/comps/pe.c
-COMPS += shared/comps/pmsm.c
 COMPS += shared/comps/pmsm_limits.c
 COMPS += shared/comps/pmsm_ttc.c
 COMPS += shared/comps/dc_limits.c
@@ -98,9 +100,20 @@ COMPS += shared/comps/velbuf.c
 COMPS += shared/comps/avg.c
 COMPS += shared/comps/mux.c
 COMPS += shared/comps/veltopos.c
-COMPS += shared/comps/wobl.c
+# COMPS += shared/comps/wobl.c
 COMPS += shared/comps/debounce.c
 COMPS += shared/comps/pos_filter.c
+COMPS += shared/comps/rl.c
+COMPS += shared/comps/mad.c
+COMPS += shared/comps/sensorless.c
+COMPS += shared/comps/field.c
+COMPS += shared/comps/gain.c
+COMPS += shared/comps/rlpsij.c
+COMPS += shared/comps/veltime.c
+COMPS += shared/comps/mpid.c
+COMPS += shared/comps/fmove.c
+COMPS += shared/comps/home.c
+COMPS += shared/comps/en.c
 
 SOURCES += $(COMPS)
 
@@ -111,6 +124,7 @@ SOURCES += src/syscalls.c
 
 SOURCES += shared/crc8.c
 SOURCES += shared/yaskawa_crc16.c
+SOURCES += shared/endat.c
 SOURCES += shared/angle.c
 SOURCES += shared/hal.c
 SOURCES += shared/commands.c

conf/haas_spindle_slip.txt

@@ -0,0 +1,45 @@
+link pid
+link acim
+link enc_fb0
+link misc
+
+link sserial
+linrev0.scale = 1
+
+conf0.r = 0.5
+conf0.l = 0.005
+conf0.j = 0.015
+conf0.max_force = 30
+conf0.max_ac_cur = 25
+conf0.polecount = 2
+conf0.vel_p = 100
+conf0.vel_i = 5
+conf0.max_sat = 1
+conf0.max_pos_error = 0
+conf0.max_vel = 840
+conf0.max_acc = 2000
+conf0.mot_fb_res = 2000
+conf0.max_dc_volt = 390
+conf0.high_dc_volt = 375
+conf0.mot_fb_rev = 1
+
+iit0.cur_boost = 1.3
+iit0.max_time = 60
+
+acim_ttc0.vel_n = 182.7
+acim_ttc0.torque_n = 23.0
+acim_ttc0.cur_n = 17.0
+acim_ttc0.freq_n = 60.0
+acim_ttc0.u_n = 80.0
+acim_ttc0.u_boost = 7.0
+acim_ttc0.t_boost = 1.3
+
+load ramp
+ramp0.rt_prio = 1.95
+ramp0.vel_ext_cmd = rev0.out_d
+ramp0.en = sserial0.en
+ramp0.max_vel = 838
+ramp0.max_acc = 500
+
+fault0.en = ramp0.en_out
+pid0.pos_en = 0

conf/haas_spindle_slip_uf.txt

@@ -0,0 +1,68 @@
+link pid
+link acim
+link enc_fb0
+link misc
+
+link sserial_uf
+load idx_home
+load linrev
+linrev0.rt_prio = 2.1
+idx_home0.rt_prio = 2.3
+linrev0.fb_in = idx_home0.pos_out
+linrev0.fb_d_in = vel1.vel
+idx_home0.fb = enc_fb0.pos
+idx_home0.fb_abs = enc_fb0.abs_pos
+idx_home0.mot_state = enc_fb0.state
+enc_fb0.amp = 5
+
+idx_home0.index_en = sserial0.index_out
+idx_home0.mot_state = fb_switch0.mot_state
+sserial0.index_clear = idx_home0.index_clear
+linrev0.rev_clear = sserial0.index_clear
+sserial0.pos_fb = linrev0.fb_out
+sserial0.vel_fb = linrev0.fb_d_out
+linrev0.scale = -1
+
+conf0.r = 1.4
+conf0.l = 0.0013
+conf0.j = 0.015
+conf0.max_force = 50
+conf0.max_ac_cur = 25
+acim_ttc0.cur_n = 20
+acim_ttc0.torque_n = 19
+acim_ttc0.freq_n = 50
+acim_ttc0.slip_n = 1.8
+acim_ttc0.u_n = 230
+acim_ttc0.u_boost = 5
+conf0.polecount = 2
+conf0.vel_p = 500
+conf0.vel_i = 1
+conf0.max_sat = 0.5
+iit0.cur_boost = 2
+iit0.max_time = 60
+conf0.max_pos_error = 0
+conf0.max_vel = 900
+conf0.max_acc = 9000
+conf0.mot_fb_res = 2000
+conf0.max_dc_volt = 390
+conf0.high_dc_volt = 375
+
+pid0.max_vel = conf0.max_vel
+pid0.max_torque = 50
+pid0.min_torque = -50
+
+load ramp
+ramp0.rt_prio = 1.95
+ramp0.vel_ext_cmd = sserial0.pos_cmd_d
+ramp0.en = sserial0.out3
+ramp0.max_vel = 837
+ramp0.max_acc = 837
+
+load not
+not0.rt_prio = 2
+not0.in = sserial0.out3
+
+pid0.vel_ext_cmd = ramp0.vel_cmd
+pid0.pos_en = not0.out
+
+acim_ttc0.mode = 2

conf/move.txt

@@ -0,0 +1,60 @@
+link pid
+link pmsm
+link enc_fb0
+enc_fb0.en_index = 0
+link jog_cmd
+link misc
+conf0.r = 2
+conf0.l = 0.007
+conf0.j = 0.000067
+conf0.j_load = 0.00005
+conf0.polecount = 5
+conf0.max_ac_cur = 5
+conf0.mot_fb_res = 20000
+
+load hx
+hx0.rt_prio = 9
+hx0.gain = 1
+
+load en
+en0.rt_prio = 2
+en0.en_in = 1
+fault0.en = en0.en_out0
+en0.fault = fault0.fault
+en0.time = 3
+conf0.phase_cur = 3
+conf0.phase_time = 1
+
+load home
+home0.rt_prio = 9
+home0.en_in = en0.en_out1
+rev0.in = home0.pos_out
+home0.home_in = io0.ind0n
+home0.home_vel = -12
+
+load fmove
+fmove0.rt_prio = 10
+fmove0.en = home0.en_out
+fmove0.force_in = hx0.out
+home0.pos_in = fmove0.mpos
+fmove0.max_usr_vel = 0.1
+fmove0.max_usr_acc = 0.1
+term0.wave0 = fmove0.mpos
+hx0.gain = 870
+hx0.offset = -5.5
+
+fmove0.damping = 0
+fmove0.real_mass = 0
+fmove0.virtual_mass = 5
+fmove0.friction = 0.5
+fmove0.min_pos = 0
+fmove0.max_pos = 1
+fmove0.scale = 340
+fmove0.max_vel = 0.025
+fmove0.max_acc = 0.15
+fmove0.max_usr_vel = 0.35
+fmove0.max_usr_acc = 5
+fmove0.force_th = 2.5
+term0.send_step = 0
+fmove0.print_freq = 10
+fmove0.force_offset_lpf = 0.05

conf/sensorless_perske.txt

@@ -0,0 +1,38 @@
+link pid
+link acim
+link jog_cmd
+link misc
+conf0.r = 4.3
+conf0.l = 0.008
+conf0.max_ac_cur = 2
+load sensorless
+sensorless0.rt_prio = 5
+sensorless0.r = conf0.r
+sensorless0.l = conf0.l
+sensorless0.ud = hv0.ud_fb
+sensorless0.uq = hv0.uq_fb
+sensorless0.id = hv0.id_fb
+sensorless0.iq = hv0.iq_fb
+term0.wave0 = sensorless0.udd
+term0.wave1 = sensorless0.udd
+term0.wave2 = sensorless0.ed
+term0.wave3 = sensorless0.eq
+term0.wave4 = sensorless0.vel
+term0.gain0 = 10
+term0.gain1 = 10
+term0.gain2 = 10
+term0.gain3 = 10
+term0.gain4 = 0.5
+term0.gain5 = 0.5
+term0.gain6 = 0.5
+#link rl
+hv0.d_cmd = 0.55
+hv0.q_cmd = 0
+hv0.pos = sensorless0.pos
+sensorless0.drop = 1.5
+sensorless0.ki = 0.5
+sensorless0.min_vel = 20
+sensorless0.vel_boost = 0.2
+conf0.r = 4
+conf0.max_ac_cur = 6
+sensorless0.kb = 1

conf/spindle_slip_uf.txt

@@ -0,0 +1,81 @@
+link pid
+link acim
+link res_fb0
+link enc_cmd
+link misc
+conf0.r = 2
+conf0.l = 0.016
+conf0.j = 0.0003
+conf0.max_force = 20
+conf0.max_ac_cur = 12
+acim_ttc0.cur_n = 3
+acim_ttc0.torque_n = 1.9
+acim_ttc0.freq_n = 100
+acim_ttc0.u_n = 160
+acim_ttc0.u_boost = 5
+conf0.polecount = 2
+conf0.mot_fb_rev = 1
+conf0.vel_p = 300
+conf0.vel_i = 2
+conf0.max_sat = 0.2
+iit0.cur_boost = 4
+iit0.max_time = 60
+pid0.max_vel = conf0.max_vel
+pid0.max_torque = 20
+pid0.min_torque = -20
+conf0.max_pos_error = 0
+conf0.max_vel = 1100
+conf0.mot_fb_res = 8000
+
+load mad
+mad0.rt_prio = 1.9
+mad0.in = io0.in1
+mad0.mult = 84
+
+load ramp
+ramp0.rt_prio = 1.95
+ramp0.vel_ext_cmd = mad0.out
+ramp0.en = io0.ind0
+ramp0.max_vel = 1050
+ramp0.max_acc = 500
+
+load mux
+mux0.rt_prio = 2
+pid0.pos_en = mux0.out0
+mux0.in0 = 1
+mux0.in10 = 0
+
+pid0.vel_ext_cmd = mux0.out1
+mux0.in1 = vel0.vel
+mux0.in11 = ramp0.vel_cmd
+
+acim_ttc0.mode = mux0.out2
+mux0.in2 = 0
+mux0.in12 = 2
+
+acim_ttc0.slip_n = mux0.out3
+mux0.in3 = 1
+mux0.in13 = 2
+
+fault0.max_sat = mux0.out4
+mux0.in4 = conf0.max_sat
+mux0.in14 = 2
+
+mux0.mux = io0.ind0
+
+res0.freq = 5000
+res0.phase = 0.89
+
+enc_cmd0.mode = 1
+enc_cmd0.remap = 3
+
+load not
+not0.rt_prio = 2
+not0.in = io0.C12
+fault0.en = not0.out
+
+enc_cmd0.fault = fault0.fault
+term0.wave2 = mux0.out1
+term0.gain2 = 0.1
+term0.gain3 = 0.1
+conf0.max_dc_volt = 390