nick/thesis_bldc_controller
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still havent fixed the adc issue on the slave

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This commit is contained in:
Nicolas Trimborn
2021-08-20 10:40:50 +02:00
parent d44c95512a
commit 0bd8db92ac
24 changed files with 117 additions and 1662 deletions
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97
Twincat/MotorData/MotorData/MotorData.tsproj
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@@ -1,5 +1,5 @@
<?xml version="1.0"?>
<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.12">
<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.11">
<ImageDatas>
<ImageData Id="1000">424dd8020000000000003600000028000000100000000e0000000100180000000000a2020000120b0000120b000000000000000000001306e31306e3190ce42b1fe62b1fe61306e31f13e5190ce42519e51306e31306e3190ce42f24e7190ce41306e31306e31306e31306e35f56ec645ced645ced4137e91f13e5473de95f57ec3227e71306e3473de95a51ec271be61306e31306e31409ca524cc68e8ad74f48c1615cc82218d03e36bf716bce746fce453dc01307ce3931ba7d78d27671d1150cb21409ca1712801b1d1d1b1d1d1b1d1d1b1d1d120b891b1d1d1b1d1d1b1d1d1b1d1d120b891b1d1d1b1d1d1b1d1d1b1d1d1712801712807f8080d4d5d5d4d5d5383939120b89545656d4d5d5d4d5d5626464130c89292b2bd4d5d5d4d5d56264641915801712804647471b1d1daaaaaad4d5d5130e82383939292b2b717272d4d5d5151183d4d5d57f80801b1d1d7172721e1c81191580464747d4d5d5d4d5d51b1d1d19158a292b2bd4d5d5d4d5d5292b2b1b1b8ad4d5d56264641b1d1d1b1d1d2427821e1d81d4d5d54647476264643839391e208bd4d5d57f8080464747545656242a8bd4d5d59b9c9c292b2baaaaaa2d3683252882464747d4d5d5d4d5d51b1d1d272d85292b2bd4d5d5d4d5d5292b2b2e37861b1d1dd4d5d5d4d5d5464747394484323bb52324812122822426822526824554c0323883292b822a2d83353c84424cbf3238843940842e32834853865d6ebb5262eb3e43e83334e74147e94349e9535feb4d56ea5662eb484dea545deb636fed545aea5a63ec6671ed8ca0f290a5f2748aef6b7bee5d68ec6874ed788aef8397f17684ef7986ef8c9ff2818ff1818ef08e9df18a97f18791f19ba9f3b0c0f691a4f291a2f28390f192a1f29cacf3a3b3f498a6f3a4b3f4aebdf5b0bef59ea8f3a3adf4bbc7f7c4d1f8cad7f8ced9f9b4c4f6b8c8f6acb8f59aa3f3b6c1f6c5d2f8c2cdf8ccd7f9d2ddf9d5e0fad2daf9d5dcf9dfe7fbe2e9fbe5ebfbe8eefb0000</ImageData>
</ImageDatas>
@@ -27,6 +27,11 @@
<Name>GVL_motor_data.M1_Mode</Name>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M2_Status</Name>
<Comment><![CDATA[ Motor 2 //]]></Comment>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M1_Joint_rel_position</Name>
<Type>INT</Type>
@@ -64,12 +69,12 @@
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.M2_Status</Name>
<Comment><![CDATA[ Motor 2 //]]></Comment>
<Name>GVL_motor_data.M2_Mode</Name>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M2_Mode</Name>
<Name>GVL_motor_data.M3_Status</Name>
<Comment><![CDATA[ Motor 3 //]]></Comment>
<Type>BYTE</Type>
</Var>
<Var>
@@ -142,12 +147,12 @@
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.M3_Status</Name>
<Comment><![CDATA[ Motor 3 //]]></Comment>
<Name>GVL_motor_data.M3_Mode</Name>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M3_Mode</Name>
<Name>GVL_motor_data.M4_Status</Name>
<Comment><![CDATA[ Motor 4//]]></Comment>
<Type>BYTE</Type>
</Var>
<Var>
@@ -186,11 +191,6 @@
<Name>GVL_motor_data.M3_Motor_dutyCycle</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.M4_Status</Name>
<Comment><![CDATA[ Motor 4//]]></Comment>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M4_Mode</Name>
<Type>BYTE</Type>
@@ -300,28 +300,6 @@ QSPI_rx_buffer
<Comment><![CDATA[* Motor 2*/]]></Comment>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M2_Control_set</Name>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M3_Control_mode</Name>
<Comment><![CDATA[* Motor 3*/]]></Comment>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M3_Control_set</Name>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M4_Control_mode</Name>
<Comment><![CDATA[* Motor 4*/]]></Comment>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M4_Control_set</Name>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M1_Desired_pos</Name>
<Type>INT</Type>
@@ -350,6 +328,15 @@ QSPI_rx_buffer
<Name>GVL_motor_data.M1_Desired_dc</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.M2_Control_set</Name>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M3_Control_mode</Name>
<Comment><![CDATA[* Motor 3*/]]></Comment>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M2_Desired_pos</Name>
<Type>INT</Type>
@@ -378,6 +365,15 @@ QSPI_rx_buffer
<Name>GVL_motor_data.M2_Desired_dc</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.M3_Control_set</Name>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M4_Control_mode</Name>
<Comment><![CDATA[* Motor 4*/]]></Comment>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M3_Desired_pos</Name>
<Type>INT</Type>
@@ -406,6 +402,10 @@ QSPI_rx_buffer
<Name>GVL_motor_data.M3_Desired_dc</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>GVL_motor_data.M4_Control_set</Name>
<Type>BYTE</Type>
</Var>
<Var>
<Name>GVL_motor_data.M4_Desired_pos</Name>
<Type>INT</Type>
@@ -843,33 +843,4 @@ QSPI_rx_buffer
</Device>
</Io>
</Project>
<Mappings>
<MappingInfo Identifier="{00000000-2001-0850-0020-500810000403}" Id="#x02030010"/>
<OwnerA Name="TIPC^Motordata_PLC^Motordata_PLC Instance">
<OwnerB Name="TIID^Device 2 (EtherCAT)^Box 1 (LAN9252-2_motor_Master)">
<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Joint_rel_position" VarB="MCU2ECAT^M1^Joint_rel_position"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Mode" VarB="MCU2ECAT^M1^mode"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_HallState" VarB="MCU2ECAT^M1^Motor_hallState"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_currentPhA" VarB="MCU2ECAT^M1^Motor_currentPhA"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_currentPhB" VarB="MCU2ECAT^M1^Motor_currentPhB"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_currentPhC" VarB="MCU2ECAT^M1^Motor_currentPhC"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_current_bus" VarB="MCU2ECAT^M1^Motor_current_bus"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_dutyCycle" VarB="MCU2ECAT^M1^Motor_dutyCycle"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Motor_speed" VarB="MCU2ECAT^M1^Motor_speed"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M1_Status" VarB="MCU2ECAT^M1^status"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Joint_rel_position" VarB="MCU2ECAT^M2^Joint__rel_position"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Mode" VarB="MCU2ECAT^M2^mode"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_HallState" VarB="MCU2ECAT^M2^Motor_hallState"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_currentPhA" VarB="MCU2ECAT^M2^Motor_currentPhA"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_currentPhB" VarB="MCU2ECAT^M2^Motor_currentPhB"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_currentPhC" VarB="MCU2ECAT^M2^Motor_currentPhC"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_current_bus" VarB="MCU2ECAT^M2^Motor_current_bus"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_dutyCycle" VarB="MCU2ECAT^M2^Motor_dutyCycle"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Motor_speed" VarB="MCU2ECAT^M2^Motor_speed"/>
<Link VarA="PlcTask Inputs^GVL_motor_data.M2_Status" VarB="MCU2ECAT^M2^status"/>
<Link VarA="PlcTask Outputs^GVL_motor_data.M1_Desired_pos" VarB="ECAT2MCU^M1^desired_position"/>
<Link VarA="PlcTask Outputs^GVL_motor_data.M2_Desired_pos" VarB="ECAT2MCU^M2^desired_position"/>
</OwnerB>
</OwnerA>
</Mappings>
</TcSmProject>