got speed calc working. Still goes in wrong direction

2_Motor_Master/Motor_Master/Motor_Master/.atmelstart/atmel_start_config.atstart

@@ -112,11 +112,11 @@ drivers:
       adc_arch_winmode: No window mode
       adc_arch_winmoneo: false
       adc_arch_winut: 0
-      adc_differential_mode: false
+      adc_differential_mode: true
       adc_freerunning_mode: false
-      adc_pinmux_negative: Internal ground
+      adc_pinmux_negative: ADC AIN0 pin
       adc_pinmux_positive: ADC AIN6 pin
-      adc_prescaler: Peripheral clock divided by 16
+      adc_prescaler: Peripheral clock divided by 8
       adc_reference: External reference A
       adc_resolution: 12-bit
     optional_signals:
@@ -206,7 +206,7 @@ drivers:
       ccl_arch_lutei_3: false
       ccl_arch_luteo_0: true
       ccl_arch_luteo_1: false
-      ccl_arch_luteo_2: false
+      ccl_arch_luteo_2: true
       ccl_arch_luteo_3: false
       ccl_arch_runstdby: false
       ccl_arch_seqsel_0: Sequential logic is disabled
@@ -1014,9 +1014,9 @@ drivers:
       evsys_channel_43: No channel output selected
       evsys_channel_44: No channel output selected
       evsys_channel_45: No channel output selected
-      evsys_channel_46: No channel output selected
+      evsys_channel_46: Channel 1
       evsys_channel_47: No channel output selected
-      evsys_channel_48: No channel output selected
+      evsys_channel_48: Channel 2
       evsys_channel_49: No channel output selected
       evsys_channel_5: No channel output selected
       evsys_channel_50: No channel output selected
@@ -1041,7 +1041,7 @@ drivers:
       evsys_channel_8: No channel output selected
       evsys_channel_9: No channel output selected
       evsys_channel_setting_0: true
-      evsys_channel_setting_1: false
+      evsys_channel_setting_1: true
       evsys_channel_setting_10: false
       evsys_channel_setting_11: false
       evsys_channel_setting_12: false
@@ -1052,7 +1052,7 @@ drivers:
       evsys_channel_setting_17: false
       evsys_channel_setting_18: false
       evsys_channel_setting_19: false
-      evsys_channel_setting_2: false
+      evsys_channel_setting_2: true
       evsys_channel_setting_20: false
       evsys_channel_setting_21: false
       evsys_channel_setting_22: false
@@ -1169,7 +1169,7 @@ drivers:
       evsys_evd_8: false
       evsys_evd_9: false
       evsys_evgen_0: TCC0 overflow
-      evsys_evgen_1: No event generator
+      evsys_evgen_1: CCL LUT output 0
       evsys_evgen_10: No event generator
       evsys_evgen_11: No event generator
       evsys_evgen_12: No event generator
@@ -1180,7 +1180,7 @@ drivers:
       evsys_evgen_17: No event generator
       evsys_evgen_18: No event generator
       evsys_evgen_19: No event generator
-      evsys_evgen_2: No event generator
+      evsys_evgen_2: CCL LUT output 2
       evsys_evgen_20: No event generator
       evsys_evgen_21: No event generator
       evsys_evgen_22: No event generator
@@ -1265,7 +1265,7 @@ drivers:
       evsys_ovr_8: false
       evsys_ovr_9: false
       evsys_path_0: Asynchronous path
-      evsys_path_1: Synchronous path
+      evsys_path_1: Asynchronous path
       evsys_path_10: Synchronous path
       evsys_path_11: Synchronous path
       evsys_path_12: Synchronous path
@@ -1276,7 +1276,7 @@ drivers:
       evsys_path_17: Synchronous path
       evsys_path_18: Synchronous path
       evsys_path_19: Synchronous path
-      evsys_path_2: Synchronous path
+      evsys_path_2: Asynchronous path
       evsys_path_20: Synchronous path
       evsys_path_21: Synchronous path
       evsys_path_22: Synchronous path

2_Motor_Master/Motor_Master/Motor_Master/Config/hpl_adc_config.h

@@ -339,7 +339,7 @@
 // <i> These bits define the ADC clock relative to the peripheral clock (PRESCALER)
 // <id> adc_prescaler
 #ifndef CONF_ADC_1_PRESCALER
-#define CONF_ADC_1_PRESCALER 0x3
+#define CONF_ADC_1_PRESCALER 0x2
 #endif
 
 // <q> Free Running Mode
@@ -353,7 +353,7 @@
 // <i> In differential mode, the voltage difference between the MUXPOS and MUXNEG inputs will be converted by the ADC. (DIFFMODE)
 // <id> adc_differential_mode
 #ifndef CONF_ADC_1_DIFFMODE
-#define CONF_ADC_1_DIFFMODE 0
+#define CONF_ADC_1_DIFFMODE 1
 #endif
 
 // <o> Positive Mux Input Selection
@@ -399,7 +399,7 @@
 // <i> These bits define the Mux selection for the negative ADC input. (MUXNEG)
 // <id> adc_pinmux_negative
 #ifndef CONF_ADC_1_MUXNEG
-#define CONF_ADC_1_MUXNEG 0x18
+#define CONF_ADC_1_MUXNEG 0x0
 #endif
 
 // </h>

2_Motor_Master/Motor_Master/Motor_Master/Config/hpl_ccl_config.h

@@ -336,7 +336,7 @@
 // <q> Event output enable
 // <id> ccl_arch_luteo_2
 #ifndef CONF_CCL_LUTEO_2
-#define CONF_CCL_LUTEO_2 0
+#define CONF_CCL_LUTEO_2 1
 #endif
 
 // <q> Event input enable

2_Motor_Master/Motor_Master/Motor_Master/Config/hpl_evsys_config.h

@@ -188,7 +188,7 @@
 // <e> Channel 1 settings
 // <id> evsys_channel_setting_1
 #ifndef CONF_EVSYS_CHANNEL_SETTINGS_1
-#define CONF_EVSYS_CHANNEL_SETTINGS_1 0
+#define CONF_EVSYS_CHANNEL_SETTINGS_1 1
 #endif
 
 // <y> Edge detection
@@ -209,7 +209,7 @@
 // <EVSYS_CHANNEL_PATH_ASYNCHRONOUS_Val"> Asynchronous path
 // <id> evsys_path_1
 #ifndef CONF_PATH_1
-#define CONF_PATH_1 EVSYS_CHANNEL_PATH_SYNCHRONOUS_Val
+#define CONF_PATH_1 EVSYS_CHANNEL_PATH_ASYNCHRONOUS_Val
 #endif
 
 // <o> Event generator
@@ -333,7 +333,7 @@
 // <0x77=>CCL LUT output 3
 // <id> evsys_evgen_1
 #ifndef CONF_EVGEN_1
-#define CONF_EVGEN_1 0
+#define CONF_EVGEN_1 116
 #endif
 
 // <q> Overrun channel interrupt
@@ -369,7 +369,7 @@
 // <e> Channel 2 settings
 // <id> evsys_channel_setting_2
 #ifndef CONF_EVSYS_CHANNEL_SETTINGS_2
-#define CONF_EVSYS_CHANNEL_SETTINGS_2 0
+#define CONF_EVSYS_CHANNEL_SETTINGS_2 1
 #endif
 
 // <y> Edge detection
@@ -390,7 +390,7 @@
 // <EVSYS_CHANNEL_PATH_ASYNCHRONOUS_Val"> Asynchronous path
 // <id> evsys_path_2
 #ifndef CONF_PATH_2
-#define CONF_PATH_2 EVSYS_CHANNEL_PATH_SYNCHRONOUS_Val
+#define CONF_PATH_2 EVSYS_CHANNEL_PATH_ASYNCHRONOUS_Val
 #endif
 
 // <o> Event generator
@@ -514,7 +514,7 @@
 // <0x77=>CCL LUT output 3
 // <id> evsys_evgen_2
 #ifndef CONF_EVGEN_2
-#define CONF_EVGEN_2 0
+#define CONF_EVGEN_2 118
 #endif
 
 // <q> Overrun channel interrupt
@@ -7544,7 +7544,7 @@
 // <id> evsys_channel_46
 // <i> Indicates which channel is chosen for user
 #ifndef CONF_CHANNEL_46
-#define CONF_CHANNEL_46 0
+#define CONF_CHANNEL_46 2
 #endif
 
 // <o> Channel selection for TC3 event
@@ -7624,7 +7624,7 @@
 // <id> evsys_channel_48
 // <i> Indicates which channel is chosen for user
 #ifndef CONF_CHANNEL_48
-#define CONF_CHANNEL_48 0
+#define CONF_CHANNEL_48 3
 #endif
 
 // <o> Channel selection for TC5 event

2_Motor_Master/Motor_Master/Motor_Master/EtherCAT_SlaveDef.h

@@ -148,7 +148,8 @@ static void update_telemetry(void)
 	*M1_Motor_currentPhC		= convert_to_mA(Motor1.Iphase_pu.C);
 	*M1_Motor__hallState		= Motor1.motor_status.currentHallPattern;
 	*M1_Motor_dutyCycle			= Motor1.motor_status.duty_cycle;
-	//
+	*M1_Motor_speed				= (int16_t)Motor1.motor_status.calc_rpm;
+	*M1_Joint_abs_position		= Motor1.motor_status.actualDirection;
 	/* Motor 2 */
 	*M2_Status					= Motor2.motor_state.currentstate;
 	*M2_Joint_rel_position		= Motor2.motor_status.Num_Steps;
@@ -160,7 +161,8 @@ static void update_telemetry(void)
 	*M2_Motor_currentPhC		= convert_to_mA(Motor2.Iphase_pu.C);
 	*M2_Motor__hallState		= Motor2.motor_status.currentHallPattern;
 	*M2_Motor_dutyCycle			= Motor2.motor_status.duty_cycle;
-	
+	*M2_Motor_speed				= (int16_t)Motor2.motor_status.calc_rpm;
+	*M2_Joint_abs_position		= Motor2.motor_status.actualDirection;
 }
 
 static void update_setpoints(void)

2_Motor_Master/Motor_Master/Motor_Master/Ethercat_SlaveDef.h

@@ -148,7 +148,8 @@ static void update_telemetry(void)
 	*M1_Motor_currentPhC		= convert_to_mA(Motor1.Iphase_pu.C);
 	*M1_Motor__hallState		= Motor1.motor_status.currentHallPattern;
 	*M1_Motor_dutyCycle			= Motor1.motor_status.duty_cycle;
-	//
+	*M1_Motor_speed				= (int16_t)Motor1.motor_status.calc_rpm;
+	*M1_Joint_abs_position		= Motor1.motor_status.actualDirection;
 	/* Motor 2 */
 	*M2_Status					= Motor2.motor_state.currentstate;
 	*M2_Joint_rel_position		= Motor2.motor_status.Num_Steps;
@@ -160,7 +161,8 @@ static void update_telemetry(void)
 	*M2_Motor_currentPhC		= convert_to_mA(Motor2.Iphase_pu.C);
 	*M2_Motor__hallState		= Motor2.motor_status.currentHallPattern;
 	*M2_Motor_dutyCycle			= Motor2.motor_status.duty_cycle;
-	
+	*M2_Motor_speed				= (int16_t)Motor2.motor_status.calc_rpm;
+	*M2_Joint_abs_position		= Motor2.motor_status.actualDirection;
 }
 
 static void update_setpoints(void)

2_Motor_Master/Motor_Master/Motor_Master/Motor_Master.cproj

@@ -150,7 +150,7 @@
           <AcmeProjectActionInfo Action="File" Source="hri/hri_usb_e51.h" IsConfig="false" Hash="x6M7vYgNCS2oECqykr5+yw" />
           <AcmeProjectActionInfo Action="File" Source="hri/hri_wdt_e51.h" IsConfig="false" Hash="o9Rg/hyuMzwOCphVc7uG1w" />
           <AcmeProjectActionInfo Action="File" Source="main.c" IsConfig="false" Hash="k0AH7j+BrmdFhBPzCCMptA" />
-          <AcmeProjectActionInfo Action="File" Source="driver_init.c" IsConfig="false" Hash="rYZS19ftiPajVCnE2RLIkA" />
+          <AcmeProjectActionInfo Action="File" Source="driver_init.c" IsConfig="false" Hash="Yq1q1Sa7cd5/H8qv36yeFQ" />
           <AcmeProjectActionInfo Action="File" Source="driver_init.h" IsConfig="false" Hash="Djt0mG2wi689XcXrLHKt0g" />
           <AcmeProjectActionInfo Action="File" Source="atmel_start_pins.h" IsConfig="false" Hash="ByCGTBpkOpAk+zk9txhJSA" />
           <AcmeProjectActionInfo Action="File" Source="examples/driver_examples.h" IsConfig="false" Hash="kvd7eb1e9guBnXkzUfLueg" />
@@ -207,12 +207,12 @@
           <AcmeProjectActionInfo Action="File" Source="hpl/tcc/hpl_tcc.h" IsConfig="false" Hash="rdWkAK12qkOYV59tWwzy6A" />
           <AcmeProjectActionInfo Action="File" Source="atmel_start.h" IsConfig="false" Hash="9RBG5E2ViQiSP2Gn4/FGpA" />
           <AcmeProjectActionInfo Action="File" Source="atmel_start.c" IsConfig="false" Hash="1RHIE7zTtYK4DURNPUqF9w" />
-          <AcmeProjectActionInfo Action="File" Source="config/hpl_adc_config.h" IsConfig="true" Hash="49h3xITKddAgoXK8+KV9zQ" />
+          <AcmeProjectActionInfo Action="File" Source="config/hpl_adc_config.h" IsConfig="true" Hash="XAOTvk5xMalucgzL/ILTWw" />
-          <AcmeProjectActionInfo Action="File" Source="config/hpl_ccl_config.h" IsConfig="true" Hash="qVCPwh4wAVouqj+bKLxfMA" />
+          <AcmeProjectActionInfo Action="File" Source="config/hpl_ccl_config.h" IsConfig="true" Hash="Q1yijLwNXjFOsGrwEEma+g" />
           <AcmeProjectActionInfo Action="File" Source="config/hpl_cmcc_config.h" IsConfig="true" Hash="bmtxQ8rLloaRtAo2HeXZRQ" />
           <AcmeProjectActionInfo Action="File" Source="config/hpl_dmac_config.h" IsConfig="true" Hash="xCXhbdBwXKUe304TPFonTw" />
           <AcmeProjectActionInfo Action="File" Source="config/hpl_eic_config.h" IsConfig="true" Hash="TppQbvFQZJVVi94ogHlIog" />
-          <AcmeProjectActionInfo Action="File" Source="config/hpl_evsys_config.h" IsConfig="true" Hash="nOzj3aNXGFe1uh39MSx0eA" />
+          <AcmeProjectActionInfo Action="File" Source="config/hpl_evsys_config.h" IsConfig="true" Hash="/3bNiu/UgpvPbmvfRA+w3g" />
           <AcmeProjectActionInfo Action="File" Source="config/hpl_gclk_config.h" IsConfig="true" Hash="fvc5nhPTGTNHCTNlzs6nhA" />
           <AcmeProjectActionInfo Action="File" Source="config/hpl_mclk_config.h" IsConfig="true" Hash="pxBzoQXTG66x4dbzVzxteg" />
           <AcmeProjectActionInfo Action="File" Source="config/hpl_osc32kctrl_config.h" IsConfig="true" Hash="HgvzEqDUH4jq/syjj/+G+Q" />
@@ -228,7 +228,7 @@
       </AcmeProjectConfig>
     </AcmeProjectConfig>
     <avrtool>com.atmel.avrdbg.tool.atmelice</avrtool>
-    <avrtoolserialnumber>J42700013870</avrtoolserialnumber>
+    <avrtoolserialnumber>J42700013287</avrtoolserialnumber>
     <avrdeviceexpectedsignature>0x61810302</avrdeviceexpectedsignature>
     <avrtoolinterface>SWD</avrtoolinterface>
     <com_atmel_avrdbg_tool_atmelice>
@@ -239,7 +239,7 @@
         <InterfaceName>SWD</InterfaceName>
       </ToolOptions>
       <ToolType>com.atmel.avrdbg.tool.atmelice</ToolType>
-      <ToolNumber>J42700013870</ToolNumber>
+      <ToolNumber>J42700013287</ToolNumber>
       <ToolName>Atmel-ICE</ToolName>
     </com_atmel_avrdbg_tool_atmelice>
     <avrtoolinterfaceclock>2000000</avrtoolinterfaceclock>
@@ -387,6 +387,7 @@
   <armgcc.compiler.directories.IncludePaths>
     <ListValues>
       <Value>%24(PackRepoDir)\arm\CMSIS\5.4.0\CMSIS\Core\Include\</Value>
+      <Value>%24(PackRepoDir)\atmel\SAME51_DFP\1.1.139\include</Value>
       <Value>../Config</Value>
       <Value>../</Value>
       <Value>../examples</Value>
@@ -411,10 +412,8 @@
       <Value>../hpl/tc</Value>
       <Value>../hpl/tcc</Value>
       <Value>../hri</Value>
-      <Value>%24(PackRepoDir)\atmel\SAME51_DFP\1.1.139\include</Value>
     </ListValues>
   </armgcc.compiler.directories.IncludePaths>
-  <armgcc.compiler.optimization.level>Optimize more (-O2)</armgcc.compiler.optimization.level>
   <armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>True</armgcc.compiler.optimization.PrepareFunctionsForGarbageCollection>
   <armgcc.compiler.optimization.DebugLevel>Maximum (-g3)</armgcc.compiler.optimization.DebugLevel>
   <armgcc.compiler.warnings.AllWarnings>True</armgcc.compiler.warnings.AllWarnings>
@@ -439,6 +438,7 @@
   <armgcc.assembler.general.IncludePaths>
     <ListValues>
       <Value>%24(PackRepoDir)\arm\CMSIS\5.4.0\CMSIS\Core\Include\</Value>
+      <Value>%24(PackRepoDir)\atmel\SAME51_DFP\1.1.139\include</Value>
       <Value>../Config</Value>
       <Value>../</Value>
       <Value>../examples</Value>
@@ -463,13 +463,13 @@
       <Value>../hpl/tc</Value>
       <Value>../hpl/tcc</Value>
       <Value>../hri</Value>
-      <Value>%24(PackRepoDir)\atmel\SAME51_DFP\1.1.139\include</Value>
     </ListValues>
   </armgcc.assembler.general.IncludePaths>
   <armgcc.assembler.debugging.DebugLevel>Default (-g)</armgcc.assembler.debugging.DebugLevel>
   <armgcc.preprocessingassembler.general.IncludePaths>
     <ListValues>
       <Value>%24(PackRepoDir)\arm\CMSIS\5.4.0\CMSIS\Core\Include\</Value>
+      <Value>%24(PackRepoDir)\atmel\SAME51_DFP\1.1.139\include</Value>
       <Value>../Config</Value>
       <Value>../</Value>
       <Value>../examples</Value>
@@ -494,7 +494,6 @@
       <Value>../hpl/tc</Value>
       <Value>../hpl/tcc</Value>
       <Value>../hri</Value>
-      <Value>%24(PackRepoDir)\atmel\SAME51_DFP\1.1.139\include</Value>
     </ListValues>
   </armgcc.preprocessingassembler.general.IncludePaths>
   <armgcc.preprocessingassembler.debugging.DebugLevel>Default (-Wa,-g)</armgcc.preprocessingassembler.debugging.DebugLevel>

2_Motor_Master/Motor_Master/Motor_Master/bldc.c

@@ -11,8 +11,7 @@
 #include "utilities.h"
 #include "Ethercat_SlaveDef.h"
 
-
+void motor_StateMachine(BLDCMotor_t* const motor)
-void motor_StateMachine(BLDCMotor_t *motor)
 {
 	
 	if (motor->motor_state.fault)
@@ -34,11 +33,14 @@ void motor_StateMachine(BLDCMotor_t *motor)
 			motor->motor_state.currentstate = MOTOR_IDLE;
 		break;
 		case  MOTOR_IDLE:
+			hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw,  DISABLE_PATTERN);
 			motor->motor_state.previousstate = motor->motor_state.currentstate;
 			motor->motor_state.currentstate = MOTOR_OPEN_LOOP_STATE;
 		break;
 		case MOTOR_OPEN_LOOP_STATE:
-			BLDC_runOpenLoop(motor, *M1_Desired_dc);		
+			BLDC_runOpenLoop(motor, *M1_Desired_dc);
+			calculate_motor_speed(motor);
+			motor->motor_state.previousstate = motor->motor_state.currentstate;
 		break;
 		case MOTOR_PVI_CTRL_STATE:	
 			switch (Motor1.regulation_loop_count) {
@@ -49,7 +51,7 @@ void motor_StateMachine(BLDCMotor_t *motor)
 				
 				case 5: case 10: case 15: case 20:/* PWM FREQ / 5 - 5kHz */
 
-				//calculate_motor_speed();
+				//calculate_motor_speed(motor);
 				//calculate_motor_speed();
 		
 				BLDC_runSpeedCntl(&Motor1, Motor1.motor_status.calc_rpm, Motor1.controllers.Pid_Speed.Ref_pu);
@@ -75,7 +77,7 @@ void motor_StateMachine(BLDCMotor_t *motor)
 	
 }
 
-void BldcInitStruct(BLDCMotor_t *motor, BLDCMotor_param_t *motor_param)
+void BldcInitStruct(BLDCMotor_t* const motor, BLDCMotor_param_t * const motor_param)
 {
 	// ----------------------------------------------------------------------
 	//  Assign Motor Parameters:
@@ -97,7 +99,7 @@ void BldcInitStruct(BLDCMotor_t *motor, BLDCMotor_param_t *motor_param)
 	motor->motor_status.Num_Steps			 = 0;
 	motor->motor_status.cur_comm_step		 = 0;
 	motor->motor_status.currentHallPattern	 = 1;
-	motor->motor_status.nextHallPattern		 = 3;
+	//motor->motor_status.nextHallPattern	 = 3;
 	motor->motor_setpoints.directionOffset	 = 0;
 	
 	// ----------------------------------------------------------------------
@@ -179,7 +181,7 @@ void BldcInitStruct(BLDCMotor_t *motor, BLDCMotor_param_t *motor_param)
 	motor->controllers.Pi_Pos.OutMin_pu = -(motor_param->motor_Max_Spd_RPM);
 }
 
-void exec_commutation(BLDCMotor_t *motor)
+void exec_commutation(BLDCMotor_t* const motor)
 {
 	
 	// ----------------------------------------------------------------------
@@ -190,45 +192,41 @@ void exec_commutation(BLDCMotor_t *motor)
 	volatile uint8_t currentHall = 1;
 	currentHall = motor->readHall();
 	motor->motor_status.currentHallPattern = currentHall;
-	
+																		   
-	
-	volatile uint8_t currentHallv2 = readHallSensorM1v2();
-	
-	
-																	   
 	// ----------------------------------------------------------------------
 	// Set Pattern Buffers
 	// ----------------------------------------------------------------------
-	volatile uint16_t temp_M1	= COMMUTATION_PATTERN[motor->motor_status.currentHallPattern + 
+	volatile uint16_t temp_M1	= COMMUTATION_PATTERN[currentHall + 
 													  motor->motor_setpoints.directionOffset];
 
 	hri_tcc_write_PATTBUF_reg(motor->motor_param->pwm_desc->device.hw,  temp_M1);
 	
 	// ----------------------------------------------------------------------
-	// Set Calculated Duty Cycles
+	// Set Calculated Duty Cycle
 	// ----------------------------------------------------------------------
 	hri_tcc_write_CCBUF_CCBUF_bf(motor->motor_param->pwm_desc->device.hw, 0, motor->motor_status.duty_cycle);
 
-	motor->motor_status.cur_comm_step = MOTOR_COMMUTATION_STEPS[motor->motor_status.currentHallPattern];
+	volatile uint8_t cur_comm_step = MOTOR_COMMUTATION_STEPS[currentHall];
-	volatile int8_t step_change1 = motor->motor_status.cur_comm_step - motor->motor_status.prev_comm_step;
+	motor->motor_status.cur_comm_step = cur_comm_step;
+	volatile int8_t step_change = (cur_comm_step - motor->motor_status.prev_comm_step);
 	
-	switch(step_change1)
+	switch(step_change)
 	{
-		case -1:	case 5:
+		case 1: case -5:
-		motor->motor_status.Num_Steps = motor->motor_status.Num_Steps+1;
+			motor->motor_status.Num_Steps += 1;
-		motor->motor_status.actualDirection = CW;
+			motor->motor_status.actualDirection = CW;
 		//Motor1.motor_setpoints.directionOffset = DIRECTION_CW_OFFSET;
 		break;
-		case 1: case -5:
+		case -1: case 5:
-		motor->motor_status.Num_Steps = motor->motor_status.Num_Steps-1;
+			motor->motor_status.Num_Steps -= 1;
-		motor->motor_status.actualDirection = CCW;
+			motor->motor_status.actualDirection = CCW;
 		//Motor1.motor_setpoints.directionOffset = DIRECTION_CCW_OFFSET;
 		break;
 		default:
 		// do nothing
 		break;
 	}
-	motor->motor_status.prev_comm_step = motor->motor_status.cur_comm_step;
+	motor->motor_status.prev_comm_step = cur_comm_step;
 	//toc_port(DEBUG_2_PORT);
 }
 
@@ -238,7 +236,7 @@ void exec_commutation(BLDCMotor_t *motor)
 // CW  -> Always positive current
 // CCW -> Always negative current
 //// ------------------------------------------------------------------------------
-void select_active_phase(BLDCMotor_t *Motor)
+void select_active_phase(BLDCMotor_t* const Motor)
 {
 	uint8_t hall_state = Motor->motor_status.currentHallPattern;
 	volatile float32_t phase_current = 0;
@@ -263,24 +261,27 @@ void select_active_phase(BLDCMotor_t *Motor)
 	Motor->Iphase_pu.Bus = phase_current;
 }
 
-void calculate_motor_speed(BLDCMotor_t *motor)
+void calculate_motor_speed(BLDCMotor_t* const motor)
 {	
 	//tic_port(DEBUG_2_PORT);
 	volatile uint32_t temp_rpm = 0;
-	hri_tccount32_read_CC_reg(TC0, 0); /* Read CC0 but throw away)*/
+	hri_tccount32_read_CC_reg(TC2, 0); /* Read CC0 but throw away)*/
-	volatile uint32_t period_after_capture = hri_tccount32_read_CC_reg(TC0, 1);
+	volatile uint32_t period_after_capture = hri_tccount32_read_CC_reg(TC2, 1);
-	if((period_after_capture > UINT32_MAX)|| (period_after_capture > 10712046)) {
+	if((period_after_capture > UINT32_MAX)||(period_after_capture == 0))  {
-		Motor1.motor_status.calc_rpm = 0;
+		motor->motor_status.calc_rpm = 0;
 	} else {
-		//uint32_t test = (SPEEDFACTOR, period_after_capture);
+		////uint32_t test = (SPEEDFACTOR, period_after_capture);
-		//temp_rpm = SPEEDFACTOR / period_after_capture;
+		////temp_rpm = SPEEDFACTOR / period_after_capture;
-		//tic_port(DEBUG_3_PORT);
+		////tic_port(DEBUG_3_PORT);
-		temp_rpm = HZ_TO_RPM / (period_after_capture*motor->motor_param->motor_commutationStates);
+		temp_rpm = HZ_TO_RPM / (period_after_capture * 42);
 		//temp_rpm = HZ_TO_RPM * period_after_capture;
-		//toc_port(DEBUG_3_PORT);
+		////toc_port(DEBUG_3_PORT);
+		
+		//uint32_t muti = DEVICE_SPEEDTC_FREQUENCY_Hz*60;
+		//temp_rpm = (muti) / (period_after_capture*42);
 	}
 	
-	if(Motor1.motor_status.actualDirection == CCW) /* Changed from CCW */
+	if(motor->motor_status.actualDirection == CCW) /* Changed from CCW */
 	{
 		//*motor_speed = -1* Motor1.calc_rpm;
 		temp_rpm = -1 * temp_rpm;
@@ -289,33 +290,37 @@ void calculate_motor_speed(BLDCMotor_t *motor)
 		temp_rpm = temp_rpm;
 	}
 		
-	Motor1.motor_status.calc_rpm = (int16_t)temp_rpm;
+	//motor->motor_status.calc_rpm = (int16_t)temp_rpm;
 	//toc_port(DEBUG_2_PORT);
 	
 	//#ifdef AVERAGE_SPEED_MEASURE
+		//if(temp_rpm==0)
+		//#define n_SAMPLE 8
+		//static uint32_t speed_average = 0;
+		//static uint8_t count = 1;
 		//// To avoid noise an average is realized on 8 samples
 		//speed_average += temp_rpm;
 		//if(count >= n_SAMPLE)
 		//{
 			//count = 1;
-			//Motor1.motor_status.calc_rpm = (speed_average >> 3); // divide by 32
+			//motor->motor_status.calc_rpm = (speed_average >> 3); // divide by 8
-			////Motor1.motor_status.calc_rpm = (speed_average); // divide by 32
+			////Motor1.motor_status.calc_rpm = (speed_average); // divide by 8
 			//speed_average = 0;
 			////*Spare_byte1 = motorState.actualDirection;
-			//if(Motor1.motor_status.actualDirection == CCW) /* Changed from CCW */
+			//if(motor->motor_status.actualDirection == CCW) /* Changed from CCW */
 			//{
 				////*motor_speed = -1* Motor1.calc_rpm;
-				//Motor1.motor_status.calc_rpm = -1* Motor1.motor_status.calc_rpm;
+				//motor->motor_status.calc_rpm = -1* motor->motor_status.calc_rpm;
 			//} else { 
 				////*motor_speed = Motor1.calc_rpm;
-				//Motor1.motor_status.calc_rpm = Motor1.motor_status.calc_rpm;
+				//motor->motor_status.calc_rpm = motor->motor_status.calc_rpm;
 			//}
 			//return;
 		//}
 		//else count++;
-	//#else
-		//Motor1.motor_status.calc_rpm = (int16_t)temp_rpm;
 	//#endif
+	
+	motor->motor_status.calc_rpm = (int16_t)temp_rpm;
 	//toc_port(DEBUG_2_PORT);	
 }
 
@@ -418,36 +423,18 @@ volatile uint8_t readHallSensorM1(void)
 {
 	
 	volatile uint8_t motor_read = 0;
-	motor_read = (motor_read & M1_HALL_A_MASK) | (uint8_t)((PORT->Group[M1_HALL_A_GROUP].IN.reg & M1_HALL_A_PORT)>>(M1_HALL_A_LSR)); 
+	motor_read = (motor_read & M1_HALL_A_MASK) | (uint8_t)((PORT->Group[M1_HALL_A_GROUP].IN.reg & M1_HALL_A_PORT)>>(M1_HALL_A_LSR));
-	motor_read = (motor_read & M1_HALL_B_MASK) | (uint8_t)((PORT->Group[M1_HALL_B_GROUP].IN.reg & M1_HALL_B_PORT)>>(M1_HALL_B_LSR)); 
+	motor_read = (motor_read & M1_HALL_B_MASK) | (uint8_t)((PORT->Group[M1_HALL_B_GROUP].IN.reg & M1_HALL_B_PORT)>>(M1_HALL_B_LSR));
-	motor_read = (motor_read & M1_HALL_C_MASK) | (uint8_t)((PORT->Group[M1_HALL_C_GROUP].IN.reg & M1_HALL_C_PORT)>>(M1_HALL_C_LSR)); 
+	motor_read = (motor_read & M1_HALL_C_MASK) | (uint8_t)((PORT->Group[M1_HALL_C_GROUP].IN.reg & M1_HALL_C_PORT)>>(M1_HALL_C_LSR));
-		
-	//volatile uint8_t a = gpio_get_pin_level(M1_HALL_A_PIN);
-	//volatile uint8_t b = gpio_get_pin_level(M1_HALL_B_PIN);
-	//volatile uint8_t c = gpio_get_pin_level(M1_HALL_C_PIN);
-	//volatile uint8_t motor_read2 = ((a << 2)|(b << 1)|(c << 0));
-	//return ((a << 2)	|
-		//(b << 1)	|
-		//(c << 0));
 	return motor_read;
-}
-
-volatile uint8_t readHallSensorM1v2(void)
-{
 	
-	volatile uint8_t motor_read = 0;
-	motor_read = (motor_read & M1_HALL_A_MASK) | (uint8_t)((PORT->Group[M1_HALL_A_GROUP].IN.reg & M1_HALL_A_PORT)>>(M1_HALL_A_LSR)); 
-	motor_read = (motor_read & M1_HALL_B_MASK) | (uint8_t)((PORT->Group[M1_HALL_B_GROUP].IN.reg & M1_HALL_B_PORT)>>(M1_HALL_B_LSR)); 
-	motor_read = (motor_read & M1_HALL_C_MASK) | (uint8_t)((PORT->Group[M1_HALL_C_GROUP].IN.reg & M1_HALL_C_PORT)>>(M1_HALL_C_LSR)); 
-		
 	//volatile uint8_t a = gpio_get_pin_level(M1_HALL_A_PIN);
 	//volatile uint8_t b = gpio_get_pin_level(M1_HALL_B_PIN);
 	//volatile uint8_t c = gpio_get_pin_level(M1_HALL_C_PIN);
-	//volatile uint8_t motor_read2 = ((a << 2)|(b << 1)|(c << 0));
 	//return ((a << 2)	|
-		//(b << 1)	|
+			//(b << 1)	|
-		//(c << 0));
+			//(c << 0));
-	return motor_read;
+	
 }
 
 volatile uint8_t readHallSensorM2(void)
@@ -458,14 +445,12 @@ volatile uint8_t readHallSensorM2(void)
 	motor_read = (motor_read & M2_HALL_B_MASK) | (uint8_t)((PORT->Group[M2_HALL_B_GROUP].IN.reg & M2_HALL_B_PORT)>>(M2_HALL_B_LSR)); 
 	motor_read = (motor_read & M2_HALL_C_MASK) | (uint8_t)((PORT->Group[M2_HALL_C_GROUP].IN.reg & M2_HALL_C_PORT)>>(M2_HALL_C_LSR)); 
 	
-	if(((motor_read == INVALID_HALL_0) || (motor_read == INVALID_HALL_7))) {
+	//if(((motor_read == INVALID_HALL_0) || (motor_read == INVALID_HALL_7))) {
-		Motor2.motor_state.fault = MOTOR_HALLSENSORINVALID;
+		//Motor2.motor_state.fault = MOTOR_HALLSENSORINVALID;
-		Motor2.motor_state.currentstate = MOTOR_FAULT;
+		//Motor2.motor_state.currentstate = MOTOR_FAULT;
-		//applicationStatus.currentstate = APP_FAULT;
+		////applicationStatus.currentstate = APP_FAULT;
-	}
+	//}
-	
+		
-	
-	
 	//volatile uint8_t a = gpio_get_pin_level(M2_HALL_A_PIN);
 	//volatile uint8_t b = gpio_get_pin_level(M2_HALL_B_PIN);
 	//volatile uint8_t c = gpio_get_pin_level(M2_HALL_C_PIN);	
@@ -493,7 +478,10 @@ void read_zero_current_offset_value(BLDCMotor_t *motor1, BLDCMotor_t *motor2)
 	adc_sync_enable_channel(&ADC_1, 9);
 	//adc_sync_enable_channel(&ADC_1, 0);
 	
-	ADC1->INPUTCTRL.reg = 0x1809;
+	/* Single ended */
+	//ADC1->INPUTCTRL.reg = 0x1809;
+	/* Differential */
+	ADC1->INPUTCTRL.reg = 0x0089;
 	while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */
 	
 	for (i=0; i<samples; i++)
@@ -512,7 +500,10 @@ void read_zero_current_offset_value(BLDCMotor_t *motor1, BLDCMotor_t *motor2)
 	/* Set Motor Variables */
 	motor1->Voffset_lsb.A = phase_A_zero_current_offset_temp/samples;
 	
-	ADC1->INPUTCTRL.reg = 0x1808;
+	/* Single ended */
+	//ADC1->INPUTCTRL.reg = 0x1808;
+	/* Differential */
+	ADC1->INPUTCTRL.reg = 0x0088;
 	while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */
 	
 	for (i=0; i<samples; i++)
@@ -537,7 +528,11 @@ void read_zero_current_offset_value(BLDCMotor_t *motor1, BLDCMotor_t *motor2)
 	phase_A_zero_current_offset_temp = 0;
 	phase_B_zero_current_offset_temp = 0;
 	
-	ADC1->INPUTCTRL.reg = 0x1807;
+	
+	/* Single ended */
+	//ADC1->INPUTCTRL.reg = 0x1807;
+	/* Differential */
+	ADC1->INPUTCTRL.reg = 0x0087;
 	while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */
 	
 	for (i=0; i<samples; i++)
@@ -556,7 +551,10 @@ void read_zero_current_offset_value(BLDCMotor_t *motor1, BLDCMotor_t *motor2)
 	/* Set Motor Variables */
 	motor2->Voffset_lsb.A = phase_A_zero_current_offset_temp/samples;
 	
-	ADC1->INPUTCTRL.reg = 0x1806;
+	/* Single ended */
+	//ADC1->INPUTCTRL.reg = 0x1806;
+	/* Differential */
+	ADC1->INPUTCTRL.reg = 0x0086;
 	while (ADC1->STATUS.bit.ADCBUSY) {}; /* Wait for bus synchronization. */
 	
 	for (i=0; i<samples; i++)

2_Motor_Master/Motor_Master/Motor_Master/bldc.h

@@ -29,6 +29,8 @@
 #define INVALID_HALL_0              (0)
 #define INVALID_HALL_7              (7)
 
+#define AVERAGE_SPEED_MEASURE	1
+
 // ----------------------------------------------------------------------
 // 	ADC Parameters
 // ----------------------------------------------------------------------
@@ -63,7 +65,7 @@
 // 	global variables
 // ----------------------------------------------------------------------
 
-//static const uint8_t HALL_PATTERN_ARRAY[16]		= {0, 5, 3, 1, 6, 4, 2, 0, 0, 3, 6, 2, 5, 1, 4, 0 };
+static const uint8_t HALL_PATTERN_ARRAY[16]		= {0, 5, 3, 1, 6, 4, 2, 0, 0, 3, 6, 2, 5, 1, 4, 0 };
 static const uint8_t MOTOR_COMMUTATION_STEPS[8]		= {9, 1, 3, 2, 5, 6, 4, 9};
 
 volatile BLDCMotor_t Motor1;
@@ -75,15 +77,14 @@ volatile MOTOR_STATE_t Motor2_Status;
 // ----------------------------------------------------------------------
 // 	functions
 // ----------------------------------------------------------------------
-void motor_StateMachine(BLDCMotor_t *motor);
+void motor_StateMachine(BLDCMotor_t* const motor);
-void BldcInitStruct(BLDCMotor_t *motor, BLDCMotor_param_t *motor_param);
+void BldcInitStruct(BLDCMotor_t* const motor, BLDCMotor_param_t* constmotor_param);
-void exec_commutation(BLDCMotor_t *motor);
+void exec_commutation(BLDCMotor_t* const motor);
-void select_active_phase(BLDCMotor_t *Motor);
+void select_active_phase(BLDCMotor_t* const Motor);
-
+void calculate_motor_speed(BLDCMotor_t* const motor);
 // ----------------------------------------------------------------------
 // 	Static Functions
 // ----------------------------------------------------------------------
-static void calculate_motor_speed(BLDCMotor_t *motor);
 static void BLDC_runSpeedCntl(BLDCMotor_t *motor, const float32_t speedfbk, const float32_t speedRef);
 static void BLDC_runCurrentCntl(BLDCMotor_t *motor, const float32_t curfbk, const float32_t curRef);
 static void BLDC_runPosCntl(BLDCMotor_t *motor, int16_t posfbk, int16_t posRef);

2_Motor_Master/Motor_Master/Motor_Master/bldc_types.h

@@ -68,12 +68,12 @@ volatile typedef struct
 {
 	volatile uint8_t   actualDirection;	//! The actual direction of rotation.
 	volatile uint16_t  duty_cycle;
-	volatile float32_t calc_rpm;
+	volatile int16_t calc_rpm;
-	volatile int32_t   Num_Steps;
+	volatile int16_t   Num_Steps;
 	/* Hall States */
-	volatile uint8_t   prevHallPattern;
+	//volatile uint8_t   prevHallPattern;
-	volatile uint8_t  currentHallPattern;
+	volatile uint8_t   currentHallPattern;
-	volatile uint8_t   nextHallPattern;
+	//volatile uint8_t   nextHallPattern;
 	/* Commutation State */
 	volatile uint8_t   cur_comm_step;
 	volatile uint8_t   prev_comm_step;
@@ -85,10 +85,10 @@ volatile typedef struct
 volatile typedef struct BLDCmotor
 {
 	/* Hardware */
-	BLDCMotor_param_t *motor_param;
+	volatile BLDCMotor_param_t *motor_param;
-	MOTOR_STATE_t motor_state;
+	volatile MOTOR_STATE_t motor_state;
 	/* Status */
-	MOTOR_Status motor_status;
+	volatile MOTOR_Status motor_status;
 	/* Measured Values */
 	volatile MOTOR_PHASES_t Iphase_pu;
 	volatile MOTOR_phase_offset_t Voffset_lsb;
@@ -101,7 +101,7 @@ volatile typedef struct BLDCmotor
 	/* Setpoints */
 	volatile MOTOR_Setpoints motor_setpoints;
 	/* Function Pointers*/
-	readHallSensor readHall;
+	volatile readHallSensor readHall;
 } BLDCMotor_t;
 
 

2_Motor_Master/Motor_Master/Motor_Master/configuration.h

@@ -19,22 +19,27 @@
 #define DMAC_CHANNEL_ADC_SEQ 2U
 #define DMAC_CHANNEL_ADC_SRAM 3U
 
-const uint32_t adc_seq_regs[4]	= {0x1806, 0x1807, 0x1808, 0x1809};
+
-//const uint32_t adc_seq_regs[5]	= {0x0086, 0x0087, 0x0088, 0x0089};
+// ----------------------------------------------------------------------
-//uint32_t adc_seq_regs[4]	= {0x0006, 0x0007, 0x0008, 0x0009};	
+// M1_IA=ADC1_AIN[9], M1_IB=ADC1_AIN[8], M2_IA=ADC1_AIN[7], M2_IB=ADC1_AIN[6]
-//const uint32_t adc_seq_regs[5]	= {0x1800, 0x1806, 0x1807, 0x1808, 0x1809};
+// ----------------------------------------------------------------------
+/* Single Ended */
+//const uint32_t adc_seq_regs[4]	= {0x1807, 0x1806, 0x1809, 0x1808};
+/* Differential */
+const uint32_t adc_seq_regs[4]	= {0x0089, 0x0088, 0x0087, 0x0086};
+
 volatile int16_t adc_res[4]	= {0};
 struct _dma_resource *adc_sram_dma_resource;
 struct _dma_resource *adc_dmac_sequence_resource;
 
 inline static void configure_tcc_pwm(void)
 {
-	gpio_set_pin_pull_mode(M1_HALLA, GPIO_PULL_UP);
+	//gpio_set_pin_pull_mode(M1_HALLA, GPIO_PULL_UP);
-	gpio_set_pin_pull_mode(M1_HALLB, GPIO_PULL_UP);
+	//gpio_set_pin_pull_mode(M1_HALLB, GPIO_PULL_UP);
-	gpio_set_pin_pull_mode(M1_HALLC, GPIO_PULL_UP);
+	//gpio_set_pin_pull_mode(M1_HALLC, GPIO_PULL_UP);
-	gpio_set_pin_pull_mode(M2_HALLA, GPIO_PULL_UP);
+	//gpio_set_pin_pull_mode(M2_HALLA, GPIO_PULL_UP);
-	gpio_set_pin_pull_mode(M2_HALLB, GPIO_PULL_UP);
+	//gpio_set_pin_pull_mode(M2_HALLB, GPIO_PULL_UP);
-	gpio_set_pin_pull_mode(M2_HALLC, GPIO_PULL_UP);
+	//gpio_set_pin_pull_mode(M2_HALLC, GPIO_PULL_UP);
 	
 	/* TCC0 */
 	hri_tcc_set_WEXCTRL_OTMX_bf(TCC0, 0x02);

2_Motor_Master/Motor_Master/Motor_Master/control.h

@@ -83,7 +83,7 @@ typedef volatile struct
 //}
 
 
-inline void PI_objectInit(volatile PI_t *pPi_obj)
+static inline void PI_objectInit(volatile PI_t *pPi_obj)
 {
 	PI_t *obj = (PI_t *)pPi_obj;
 
@@ -101,7 +101,7 @@ inline void PI_objectInit(volatile PI_t *pPi_obj)
 	obj->SatFlag	= false;
 }
 
-inline void PID_objectInit(volatile PID_t *pPiD_obj)
+static inline void PID_objectInit(volatile PID_t *pPiD_obj)
 {
 	PID_t *obj = (PID_t *)pPiD_obj;
 

2_Motor_Master/Motor_Master/Motor_Master/driver_init.c

@@ -178,6 +178,8 @@ void EXTERNAL_IRQ_0_init(void)
 void EVENT_SYSTEM_0_init(void)
 {
 	hri_gclk_write_PCHCTRL_reg(GCLK, EVSYS_GCLK_ID_0, CONF_GCLK_EVSYS_CHANNEL_0_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos));
+	hri_gclk_write_PCHCTRL_reg(GCLK, EVSYS_GCLK_ID_1, CONF_GCLK_EVSYS_CHANNEL_1_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos));
+	hri_gclk_write_PCHCTRL_reg(GCLK, EVSYS_GCLK_ID_2, CONF_GCLK_EVSYS_CHANNEL_2_SRC | (1 << GCLK_PCHCTRL_CHEN_Pos));
 
 	hri_mclk_set_APBBMASK_EVSYS_bit(MCLK);
 

2_Motor_Master/Motor_Master/Motor_Master/main.c

@@ -21,8 +21,8 @@ void process_currents()
 	volatile int16_t phase_A_current_raw, phase_B_current_raw;
 	
 	/* Motor 1 */
-	phase_A_current_raw = (adc_res[3] - Motor1.Voffset_lsb.A);
+	phase_A_current_raw = (adc_res[0] - Motor1.Voffset_lsb.A);
-	phase_B_current_raw = (adc_res[2] - Motor1.Voffset_lsb.B)*-1;
+	phase_B_current_raw = (adc_res[1] - Motor1.Voffset_lsb.B)*-1;
 	// Covert from LSB to PU (A) and filter out small readings
 	Motor1.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU;
 	Motor1.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU;
@@ -30,8 +30,8 @@ void process_currents()
 	Motor1.Iphase_pu.C = -Motor1.Iphase_pu.A - Motor1.Iphase_pu.B;
 	
 	/* Motor 2 negative is A instead of B*/ 
-	phase_A_current_raw = (adc_res[1] - Motor2.Voffset_lsb.A);
+	phase_A_current_raw = (adc_res[2] - Motor2.Voffset_lsb.A);
-	phase_B_current_raw = (adc_res[0] - Motor2.Voffset_lsb.B)*-1;
+	phase_B_current_raw = (adc_res[3] - Motor2.Voffset_lsb.B)*-1;
 	// Covert from LSB to PU (A) and filter out small readings
 	Motor2.Iphase_pu.A = phase_A_current_raw * LSB_TO_PU;
 	Motor2.Iphase_pu.B = phase_B_current_raw * LSB_TO_PU;
@@ -69,6 +69,14 @@ void One_ms_timer_init(void)
 	timer_start(&TIMER_0);
 }
 
+//void speed_timer_init(void)
+//{
+	//hri_tc_write_WAVE_reg(TC_SPEED_M1.device.hw, 0x00);
+	//hri_tc_set_CTRLA_CAPTEN0_bit(TC_SPEED_M1.device.hw);
+	//hri_tc_set_CTRLA_CAPTEN1_bit(TC_SPEED_M1.device.hw);
+	//timer_start(&TC_SPEED_M1);
+//}
+
 void enable_NVIC_IRQ(void)
 {
 	//NVIC_EnableIRQ(TC7_IRQn);	 // TC7: TC_ECAT
@@ -79,7 +87,7 @@ void enable_NVIC_IRQ(void)
 	//NVIC_EnableIRQ(EIC_5_IRQn);
 }
 
-inline void APPLICATION_StateMachine(void)
+void APPLICATION_StateMachine(void)
 {
 	Motor1.timerflags.current_loop_tic = false;
 	
@@ -110,8 +118,6 @@ inline void APPLICATION_StateMachine(void)
 			//applicationStatus.currentstate ;
 			motor_StateMachine(&Motor1);
 			motor_StateMachine(&Motor2);
-			exec_commutation(&Motor1);
-			exec_commutation(&Motor2);
 		break;
 		case APP_FAULT:
 			//DisableGateDrivers(&Motor1);
@@ -141,19 +147,37 @@ int main(void)
 	/* Initializes MCU, drivers and middleware */
 	atmel_start_init();
 	//initMotorParameters();
+	//configure_tcc_pwm();
+	//BldcInitStruct(&Motor1, &FH_22mm24BXTR);
+	//BldcInitStruct(&Motor2, &FH_32mm24BXTR);
+	//Motor1.readHall = &readHallSensorM1;
+	//Motor2.readHall = &readHallSensorM2;
+	//read_zero_current_offset_value(&Motor1, &Motor2);
+	//adc_sync_enable_channel(&ADC_1, 6);
+	//adc_init_dma();
+	//config_qspi();
+	//custom_logic_enable();
+	//enable_NVIC_IRQ();
+	//ECAT_STATE_MACHINE();
+	//One_ms_timer_init();
 	BldcInitStruct(&Motor1, &FH_22mm24BXTR);
 	BldcInitStruct(&Motor2, &FH_32mm24BXTR);
 	Motor1.readHall = &readHallSensorM1;
 	Motor2.readHall = &readHallSensorM2;
 	read_zero_current_offset_value(&Motor1, &Motor2);
 	config_qspi();
-	One_ms_timer_init();
 	configure_tcc_pwm();
 	adc_sync_enable_channel(&ADC_1, 6);
 	adc_init_dma();
 	ECAT_STATE_MACHINE();
+	One_ms_timer_init();
+	custom_logic_enable();
+	//speed_timer_init();
 	enable_NVIC_IRQ();
 	
+
+
+	
 	/* Replace with your application code */
 	while (1) {
 		//delay_ms(100);
@@ -164,8 +188,9 @@ int main(void)
 		//update_setpoints();
 		if (Motor1.timerflags.adc_readings_ready_tic) {process_currents();}
 		if (Motor1.timerflags.current_loop_tic) {APPLICATION_StateMachine();}
-		if (run_ECAT) {ECAT_STATE_MACHINE();}
+		if (run_ECAT) {ECAT_STATE_MACHINE();}	
-		
+		exec_commutation(&Motor1);
+		exec_commutation(&Motor2);
 	}
 }
 

2_Motor_Master/Motor_Master/Motor_Master/motorparameters.h

@@ -131,24 +131,27 @@
 	//0x003F		// (15) invalid state
 //};
 //
+
+#define DISABLE_PATTERN		0x003F
+
 ////* A&C phase swapped */
 static const uint16_t COMMUTATION_PATTERN[16] = {
 	0x003F,		// (0) invalid state
-	0x1437,		// (1)
+	0x1437,					// (1)
-	0x053D,		// (2)
+	0x053D,					// (2)
-	0x113D,		// (3)
+	0x113D,					// (3)
-	0x111F,		// (4)
+	0x111F,					// (4)
-	0x0537,		// (5)
+	0x0537,					// (5)
-	0x141F,		// (6)
+	0x141F,					// (6)
 	0x003F,		// (7) invalid state
 	0x003F,		// (8) invalid state
-	0x141F,		// (9)
+	0x141F,					// (9)
-	0x0537,		// (10)
+	0x0537,					// (10)
-	0x111F,		// (11)
+	0x111F,					// (11)
-	0x113D,		// (12)
+	0x113D,					// (12)
-	0x053D,		// (13)
+	0x053D,					// (13)
-	0x1437,		// (14)
+	0x1437,					// (14)
-	0x003F		// (15) invalid state
+	0x003F,			// (15) invalid state
 };
 
 //////* A&C phase swapped and modified to match currents */
@@ -177,6 +180,7 @@ static const uint16_t COMMUTATION_PATTERN[16] = {
 typedef struct
 {
 	struct pwm_descriptor const *pwm_desc;
+	void *const speedtimer_hw;
 	const uint16_t motor_Poles;          
 	const uint16_t motor_polePairs;
 	const uint16_t motor_commutationStates;
@@ -196,6 +200,7 @@ typedef struct
 /* Small Motor - 2214S024BXTR*/
 const static BLDCMotor_param_t FH_22mm24BXTR = {
 	.pwm_desc				 = &PWM_0,
+	.speedtimer_hw			= TC2,
 	.motor_Poles			 = 14,
 	.motor_polePairs		 = 7,
 	.motor_commutationStates = 42,			 //polePairs * 6
@@ -212,6 +217,7 @@ const static BLDCMotor_param_t FH_22mm24BXTR = {
 /* Big Motor - 3216W024BXTR */
 const static BLDCMotor_param_t FH_32mm24BXTR = {
 	.pwm_desc				 = &PWM_1,
+	.speedtimer_hw			 = TC4,
 	.motor_Poles			 = 14,
 	.motor_polePairs		 = 7,
 	.motor_commutationStates = 42,			 //polePairs * 6

BLDC_E54v2/BLCD_E54v2/BLCD_E54v2/bldc.h

@@ -150,7 +150,7 @@ volatile typedef struct BLDCmotor
 // ----------------------------------------------------------------------
 
 static const uint8_t HALL_PATTERN_ARRAY[16]		= {0, 5, 3, 1, 6, 4, 2, 0, 0, 3, 6, 2, 5, 1, 4, 0 };
-static const uint8_t MOTOR_COMMUTATION_STEPS[8] = {9, 1, 3, 2, 5, 6, 4, 9};
+static const uint8_t MOTOR_COMMUTATION_STEPS[8] = {20, 1, 3, 2, 5, 6, 4, 20};
 	
 volatile BLDCMotor_t Motor1;
 volatile BLDCMotor_t Motor2;

Twincat/MotorData/MotorData.sln

@@ -0,0 +1,69 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# TcXaeShell Solution File, Format Version 11.00
+VisualStudioVersion = 15.0.28010.2050
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "MotorData", "MotorData\MotorData.tsproj", "{627AF960-8AD6-492C-BE55-42F15976A40C}"
+EndProject
+Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "TwinCAT Measurement Project1", "TwinCAT Measurement Project1\TwinCAT Measurement Project1.tcmproj", "{8FB7700F-1B3F-4E2A-B3DF-C74F2D60BA45}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Debug|TwinCAT CE7 (ARMV7) = Debug|TwinCAT CE7 (ARMV7)
+		Debug|TwinCAT OS (ARMT2) = Debug|TwinCAT OS (ARMT2)
+		Debug|TwinCAT RT (x64) = Debug|TwinCAT RT (x64)
+		Debug|TwinCAT RT (x86) = Debug|TwinCAT RT (x86)
+		Release|TwinCAT CE7 (ARMV7) = Release|TwinCAT CE7 (ARMV7)
+		Release|TwinCAT OS (ARMT2) = Release|TwinCAT OS (ARMT2)
+		Release|TwinCAT RT (x64) = Release|TwinCAT RT (x64)
+		Release|TwinCAT RT (x86) = Release|TwinCAT RT (x86)
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+		{627AF960-8AD6-492C-BE55-42F15976A40C}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+		{8FB7700F-1B3F-4E2A-B3DF-C74F2D60BA45}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+		{8FB7700F-1B3F-4E2A-B3DF-C74F2D60BA45}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+		{8FB7700F-1B3F-4E2A-B3DF-C74F2D60BA45}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+		{8FB7700F-1B3F-4E2A-B3DF-C74F2D60BA45}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+		{8FB7700F-1B3F-4E2A-B3DF-C74F2D60BA45}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+		{8FB7700F-1B3F-4E2A-B3DF-C74F2D60BA45}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+		{8FB7700F-1B3F-4E2A-B3DF-C74F2D60BA45}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+		{8FB7700F-1B3F-4E2A-B3DF-C74F2D60BA45}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+		{4AE346CD-C7CE-4990-9940-2D1E689DC225}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+	GlobalSection(ExtensibilityGlobals) = postSolution
+		SolutionGuid = {594EC052-F70E-43DD-9DA9-741526877E0D}
+	EndGlobalSection
+EndGlobal

Twincat/MotorData/MotorData/MotorData.tsproj

@@ -0,0 +1,455 @@
+<?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="3.1.4024.11">
+	<ImageDatas>
+		<ImageData Id="1000">424dd8020000000000003600000028000000100000000e0000000100180000000000a2020000120b0000120b000000000000000000001306e31306e3190ce42b1fe62b1fe61306e31f13e5190ce42519e51306e31306e3190ce42f24e7190ce41306e31306e31306e31306e35f56ec645ced645ced4137e91f13e5473de95f57ec3227e71306e3473de95a51ec271be61306e31306e31409ca524cc68e8ad74f48c1615cc82218d03e36bf716bce746fce453dc01307ce3931ba7d78d27671d1150cb21409ca1712801b1d1d1b1d1d1b1d1d1b1d1d120b891b1d1d1b1d1d1b1d1d1b1d1d120b891b1d1d1b1d1d1b1d1d1b1d1d1712801712807f8080d4d5d5d4d5d5383939120b89545656d4d5d5d4d5d5626464130c89292b2bd4d5d5d4d5d56264641915801712804647471b1d1daaaaaad4d5d5130e82383939292b2b717272d4d5d5151183d4d5d57f80801b1d1d7172721e1c81191580464747d4d5d5d4d5d51b1d1d19158a292b2bd4d5d5d4d5d5292b2b1b1b8ad4d5d56264641b1d1d1b1d1d2427821e1d81d4d5d54647476264643839391e208bd4d5d57f8080464747545656242a8bd4d5d59b9c9c292b2baaaaaa2d3683252882464747d4d5d5d4d5d51b1d1d272d85292b2bd4d5d5d4d5d5292b2b2e37861b1d1dd4d5d5d4d5d5464747394484323bb52324812122822426822526824554c0323883292b822a2d83353c84424cbf3238843940842e32834853865d6ebb5262eb3e43e83334e74147e94349e9535feb4d56ea5662eb484dea545deb636fed545aea5a63ec6671ed8ca0f290a5f2748aef6b7bee5d68ec6874ed788aef8397f17684ef7986ef8c9ff2818ff1818ef08e9df18a97f18791f19ba9f3b0c0f691a4f291a2f28390f192a1f29cacf3a3b3f498a6f3a4b3f4aebdf5b0bef59ea8f3a3adf4bbc7f7c4d1f8cad7f8ced9f9b4c4f6b8c8f6acb8f59aa3f3b6c1f6c5d2f8c2cdf8ccd7f9d2ddf9d5e0fad2daf9d5dcf9dfe7fbe2e9fbe5ebfbe8eefb0000</ImageData>
+	</ImageDatas>
+	<Project ProjectGUID="{627AF960-8AD6-492C-BE55-42F15976A40C}" Target64Bit="true" ShowHideConfigurations="#x106">
+		<System>
+			<Tasks>
+				<Task Id="3" Priority="20" CycleTime="100000" AmsPort="350" AdtTasks="true">
+					<Name>PlcTask</Name>
+				</Task>
+			</Tasks>
+		</System>
+		<Plc>
+			<Project GUID="{4AE346CD-C7CE-4990-9940-2D1E689DC225}" Name="Motordata_PLC" PrjFilePath="Motordata_PLC\Motordata_PLC.plcproj" TmcFilePath="Motordata_PLC\Motordata_PLC.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
+				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2">
+					<Name>Motordata_PLC Instance</Name>
+					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
+					<Vars VarGrpType="1">
+						<Name>PlcTask Inputs</Name>
+						<Var>
+							<Name>GVL_motor_data.Status</Name>
+							<Comment><![CDATA[ Input ]]></Comment>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.Mode</Name>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.Com_State</Name>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.act_pos</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.PH_A</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.PH_B</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.PH_C</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.Error</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.Phase_Current</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.Speed</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.Duty</Name>
+							<Type>INT</Type>
+						</Var>
+					</Vars>
+					<Vars VarGrpType="2" AreaNo="1">
+						<Name>PlcTask Outputs</Name>
+						<Var>
+							<Name>GVL_motor_data.op_Mode</Name>
+							<Comment><![CDATA[ Output ]]></Comment>
+							<Type>BYTE</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.des_pos</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.des_max_current</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.des_current</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.des_speed</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.I_kp</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.I_ki</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.V_kp</Name>
+							<Type>INT</Type>
+						</Var>
+						<Var>
+							<Name>GVL_motor_data.V_kd</Name>
+							<Type>INT</Type>
+						</Var>
+					</Vars>
+					<Contexts>
+						<Context>
+							<Id NeedCalleeCall="true">0</Id>
+							<Name>PlcTask</Name>
+							<ManualConfig>
+								<OTCID>#x02010030</OTCID>
+							</ManualConfig>
+							<Priority>20</Priority>
+							<CycleTime>10000000</CycleTime>
+						</Context>
+					</Contexts>
+					<TaskPouOids>
+						<TaskPouOid Prio="20" OTCID="#x08502001"/>
+					</TaskPouOids>
+				</Instance>
+			</Project>
+		</Plc>
+		<Io>
+			<Device Id="2" DevType="111" DevFlags="#x0003" AmsPort="28674" AmsNetId="192.168.61.1.3.1" RemoteName="Device 2 (EtherCAT)">
+				<Name>Device 2 (EtherCAT)</Name>
+				<AddressInfo>
+					<Pnp>
+						<DeviceDesc>Ethernet (TwinCAT-Intel PCI Ethernet Adapter (Gigab</DeviceDesc>
+						<DeviceName>\DEVICE\{B319FB6B-ED15-445B-9318-290BECEEFA76}</DeviceName>
+						<DeviceData>4c5262a1d9ac</DeviceData>
+					</Pnp>
+				</AddressInfo>
+				<Image Id="1" AddrType="9" ImageType="3">
+					<Name>Image</Name>
+				</Image>
+				<Box Id="1" BoxType="9099">
+					<Name>Box 1 (LAN9252-2_motor_Master)</Name>
+					<ImageId>1000</ImageId>
+					<EtherCAT SlaveType="1" PdiType="#x3180" CycleMBoxPollingTime="0" VendorId="#x000004d8" ProductCode="#x00000002" RevisionNo="#x00000005" PortPhys="17" IdentificationAdo="18" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="MSRM 2_motor_Master Ethercat Slave" Desc="LAN9252-2_motor_Master" PortABoxInfo="#x00ffffff">
+						<SyncMan>001140000400010003000000000000000000001104010000</SyncMan>
+						<SyncMan>001878000000010004000000000000000000001800010000</SyncMan>
+						<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
+						<Fmmu>0000000000000000001800010100000002000000000000000000000000000000</Fmmu>
+						<Pdo Name="MCU2ECAT" Index="#x1600" Flags="#x0010" SyncMan="1">
+							<Entry Name="M1__status" Index="#x3001" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M1__mode" Index="#x3002" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M1__Joint_rel_position" Index="#x3003" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__Joint_abs_position" Index="#x3004" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__Motor_speed" Index="#x3005" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__Motor_current_bus" Index="#x3006" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__Motor_currentPhA" Index="#x3007" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__Motor_currentPhB" Index="#x3008" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__Motor_currentPhC" Index="#x3009" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__Motor_hallState" Index="#x300a" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__Motor_dutyCycle" Index="#x300b" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__status" Index="#x300c" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M2__mode" Index="#x300d" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M2__Joint__rel_position" Index="#x300e" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__Joint_abs_position" Index="#x300f" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__Motor_speed" Index="#x3010" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__Motor_current_bus" Index="#x3011" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__Motor_currentPhA" Index="#x3012" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__Motor_currentPhB" Index="#x3013" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__Motor_currentPhC" Index="#x3014" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__Motor_hallState" Index="#x3015" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__Motor_dutyCycle" Index="#x3016" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="EMG__CH1" Index="#x3017" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="EMG__CH2" Index="#x3018" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="EMG__CH3" Index="#x3019" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="EMG__CH4" Index="#x301a" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="EMG__CH5" Index="#x301b" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="EMG__CH6" Index="#x301c" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="EMG__CH7" Index="#x301d" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="EMG__CH8" Index="#x301e" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__status" Index="#x301f" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M3__mode" Index="#x3020" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M3__Joint__rel_position" Index="#x3021" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__Joint_abs_position" Index="#x3022" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__Motor_speed" Index="#x3023" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__Motor_current_bus" Index="#x3024" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__Motor_currentPhA" Index="#x3025" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__Motor_currentPhB" Index="#x3026" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__Motor_currentPhC" Index="#x3027" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__Motor_hallState" Index="#x3028" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__Motor_dutyCycle" Index="#x3029" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__status" Index="#x302a" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M4__mode" Index="#x302b" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M4__Joint__rel_position" Index="#x302c" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__Joint_abs_position" Index="#x302d" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__Motor_speed" Index="#x302e" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__Motor_current_bus" Index="#x302f" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__Motor_currentPhA" Index="#x3030" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__Motor_currentPhB" Index="#x3031" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__Motor_currentPhC" Index="#x3032" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__Motor_hallState" Index="#x3033" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__Motor_dutyCycle" Index="#x3034" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="IMU__q_x0" Index="#x3035" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="IMU__q_y0" Index="#x3036" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="IMU__q_z0" Index="#x3037" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="IMU__q_w0" Index="#x3038" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="FSR__CH1" Index="#x3039" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="FSR__CH2" Index="#x303a" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="FSR__CH3" Index="#x303b" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="FSR__CH4" Index="#x303c" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="FSR__CH5" Index="#x303d" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="Pressure__CH1" Index="#x303e" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="Pressure__CH2" Index="#x303f" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="Pressure__CH3" Index="#x3040" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+						</Pdo>
+						<Pdo Name="ECAT2MCU" Index="#x1a00" InOut="1" Flags="#x0010" SyncMan="0">
+							<Entry Name="M1__control_mode" Index="#x3101" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M1__control_set" Index="#x3102" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M1__desired_position" Index="#x3103" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__desired_speed" Index="#x3104" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__desired__current" Index="#x3105" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__Max_Pos" Index="#x3106" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__Max_velocity" Index="#x3107" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__Max_current" Index="#x3108" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M1__Spare" Index="#x3109" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__control_mode" Index="#x310a" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M2__control_set" Index="#x310b" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M2__desired_position" Index="#x310c" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__desired_speed" Index="#x310d" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__desired__current" Index="#x310e" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__Max_Pos" Index="#x310f" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__Max_velocity" Index="#x3110" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__Max_current" Index="#x3111" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M2__Spare" Index="#x3112" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__control_mode" Index="#x3113" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M3__control_set" Index="#x3114" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M3__desired_position" Index="#x3115" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__desired_speed" Index="#x3116" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__desired__current" Index="#x3117" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__Max_Pos" Index="#x3118" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__Max_velocity" Index="#x3119" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__Max_current" Index="#x311a" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M3__Spare" Index="#x311b" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__control_mode" Index="#x311c" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M4__control_set" Index="#x311d" Sub="#x01">
+								<Type>BYTE</Type>
+							</Entry>
+							<Entry Name="M4__desired_position" Index="#x311e" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__desired_speed" Index="#x311f" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__desired__current" Index="#x3120" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__Max_Pos" Index="#x3121" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__Max_velocity" Index="#x3122" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__Max_current" Index="#x3123" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+							<Entry Name="M4__Spare" Index="#x3124" Sub="#x01">
+								<Type>INT</Type>
+							</Entry>
+						</Pdo>
+					</EtherCAT>
+				</Box>
+				<EtherCAT/>
+			</Device>
+		</Io>
+	</Project>
+</TcSmProject>

Twincat/MotorData/MotorData/Motordata_PLC/GVLs/GVL_motor_data.TcGVL

@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
+  <GVL Name="GVL_motor_data" Id="{f1f9826e-bbc5-4781-8d1a-d97243969113}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+VAR_GLOBAL
+// Output 
+	op_Mode AT %Q* : BYTE := 1; 
+	des_pos  AT %Q* : INT;
+	des_max_current  AT %Q* : INT := 100; 
+	des_current  AT %Q* : INT := 100; 
+	des_speed  AT %Q* : INT := 1000; 
+	I_kp AT %Q* : INT := 1;
+	I_ki AT %Q* : INT := 10;
+	V_kp AT %Q* : INT := 1;
+	V_kd AT %Q* : INT := 10;
+	
+	// Input 
+	Status AT %I* : BYTE;
+	Mode AT %I* : BYTE;
+	Com_State  AT %I* : BYTE;
+	act_pos  AT %I* : INT;
+	PH_A  AT %I* : INT;
+	PH_B  AT %I* : INT;
+	PH_C  AT %I* : INT;
+	Error  AT %I* : INT;
+	Phase_Current AT %I* : INT;
+	Speed AT %I* : INT;
+	Duty AT %I* : INT;
+END_VAR]]></Declaration>
+  </GVL>
+</TcPlcObject>

Twincat/MotorData/MotorData/Motordata_PLC/Motordata_PLC.plcproj

@@ -0,0 +1,74 @@
+<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <FileVersion>1.0.0.0</FileVersion>
+    <SchemaVersion>2.0</SchemaVersion>
+    <ProjectGuid>{4ae346cd-c7ce-4990-9940-2d1e689dc225}</ProjectGuid>
+    <SubObjectsSortedByName>True</SubObjectsSortedByName>
+    <DownloadApplicationInfo>true</DownloadApplicationInfo>
+    <WriteProductVersion>true</WriteProductVersion>
+    <GenerateTpy>false</GenerateTpy>
+    <Name>Motordata_PLC</Name>
+    <ProgramVersion>3.1.4023.0</ProgramVersion>
+    <Application>{8cb30f18-2c9e-4d81-a3ca-322069701ffa}</Application>
+    <TypeSystem>{491a06a0-e15f-449f-8b38-ee9ac154eb22}</TypeSystem>
+    <Implicit_Task_Info>{53ab81c7-8b4b-43c1-b5ab-73cba09cb336}</Implicit_Task_Info>
+    <Implicit_KindOfTask>{81fa6db4-0105-41b4-88c2-51344db29290}</Implicit_KindOfTask>
+    <Implicit_Jitter_Distribution>{83c85c54-db23-4354-9cba-3d70fd632e8d}</Implicit_Jitter_Distribution>
+    <LibraryReferences>{7999646c-51c9-45ae-9085-f34e5ecc5ec7}</LibraryReferences>
+  </PropertyGroup>
+  <ItemGroup>
+    <Compile Include="GVLs\GVL_motor_data.TcGVL">
+      <SubType>Code</SubType>
+      <LinkAlways>true</LinkAlways>
+    </Compile>
+    <Compile Include="PlcTask.TcTTO">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="POUs\MAIN.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+  </ItemGroup>
+  <ItemGroup>
+    <Folder Include="DUTs" />
+    <Folder Include="GVLs" />
+    <Folder Include="VISUs" />
+    <Folder Include="POUs" />
+  </ItemGroup>
+  <ItemGroup>
+    <PlaceholderReference Include="Tc2_Standard">
+      <DefaultResolution>Tc2_Standard, * (Beckhoff Automation GmbH)</DefaultResolution>
+      <Namespace>Tc2_Standard</Namespace>
+    </PlaceholderReference>
+    <PlaceholderReference Include="Tc2_System">
+      <DefaultResolution>Tc2_System, * (Beckhoff Automation GmbH)</DefaultResolution>
+      <Namespace>Tc2_System</Namespace>
+    </PlaceholderReference>
+    <PlaceholderReference Include="Tc3_Module">
+      <DefaultResolution>Tc3_Module, * (Beckhoff Automation GmbH)</DefaultResolution>
+      <Namespace>Tc3_Module</Namespace>
+    </PlaceholderReference>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="Motordata_PLC.tmc">
+      <SubType>Content</SubType>
+    </None>
+  </ItemGroup>
+  <ProjectExtensions>
+    <PlcProjectOptions>
+      <XmlArchive>
+  <Data>
+    <o xml:space="preserve" t="OptionKey">
+      <v n="Name">"&lt;ProjectRoot&gt;"</v>
+      <d n="SubKeys" t="Hashtable" />
+      <d n="Values" t="Hashtable" />
+    </o>
+  </Data>
+  <TypeList>
+    <Type n="Hashtable">System.Collections.Hashtable</Type>
+    <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
+    <Type n="String">System.String</Type>
+  </TypeList>
+</XmlArchive>
+    </PlcProjectOptions>
+  </ProjectExtensions>
+</Project>

Twincat/MotorData/MotorData/Motordata_PLC/POUs/MAIN.TcPOU

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="MAIN" Id="{bea1ccef-eacb-4a24-8635-6fbb784e4a5d}">
+    <Declaration><![CDATA[PROGRAM MAIN
+VAR
+END_VAR
+]]>
+    </Declaration>
+    <Implementation>
+      <ST><![CDATA[]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>

Twincat/MotorData/MotorData/Motordata_PLC/PlcTask.TcTTO

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <Task Name="PlcTask" Id="{8964a762-3bf6-4f78-8749-dd136e069f20}">
+    <!--CycleTime in micro seconds.-->
+    <CycleTime>10000</CycleTime>
+    <Priority>20</Priority>
+    <PouCall>
+      <Name>MAIN</Name>
+    </PouCall>
+    <TaskFBGuid>{e97dcd9b-40b9-4d2d-be20-7f79184b4b83}</TaskFBGuid>
+    <Fb_init>{3b074a47-04a4-4446-8c36-6845d19068a7}</Fb_init>
+    <Fb_exit>{5c5f5f84-e7f6-4c9f-8e6b-25d1b89465a8}</Fb_exit>
+    <CycleUpdate>{07b2fc7d-725f-4928-b7bb-1c1ddcb9a703}</CycleUpdate>
+    <PostCycleUpdate>{49bd0358-5e57-44dd-9076-193288aeb9f7}</PostCycleUpdate>
+    <ObjectProperties />
+  </Task>
+</TcPlcObject>

Twincat/MotorData/TwinCAT Measurement Project1/TwinCAT Measurement Project1.tcmproj

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup>
+    <ProjectGuid>{8fb7700f-1b3f-4e2a-b3df-c74f2d60ba45}</ProjectGuid>
+    <AssemblyName>TwinCAT Measurement Project1</AssemblyName>
+    <Name>TwinCAT Measurement Project1</Name>
+    <RootNamespace>TwinCAT Measurement Project1</RootNamespace>
+  </PropertyGroup>
+  <ItemGroup>
+    <Content Include="XY Scope Project.tcscopex">
+      <SubType>Content</SubType>
+    </Content>
+  </ItemGroup>
+</Project>

Twincat/MotorData/TwinCAT Measurement Project1/XY Scope Project.tcscopex

@@ -0,0 +1,248 @@
+<?xml version="1.0" encoding="utf-8"?>
+<ScopeProject AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+  <AutoDeleteCapacity>0</AutoDeleteCapacity>
+  <AutoDeleteMode>Disabled</AutoDeleteMode>
+  <AutoDeleteOlderThan>0</AutoDeleteOlderThan>
+  <AutoRestartRecord>false</AutoRestartRecord>
+  <AutoSaveFileNameMask>{SCOPE}_AutoSave_{HH_mm_ss}</AutoSaveFileNameMask>
+  <AutoSavePath>$ScopeProject$\AutoSave</AutoSavePath>
+  <Comment />
+  <DisplayColor>Black</DisplayColor>
+  <Guid>0f4c9db4-7dc8-4a6e-bab0-d9526c2fdc12</Guid>
+  <HeadlessServer />
+  <HeadlessServerConnectionId>00000000-0000-0000-0000-000000000000</HeadlessServerConnectionId>
+  <IsFileBased>true</IsFileBased>
+  <IsTemplate>false</IsTemplate>
+  <Layout />
+  <MainServer>127.0.0.1.1.1</MainServer>
+  <Name>Scope Project</Name>
+  <RecordTime>6000000000</RecordTime>
+  <SortPriority>100</SortPriority>
+  <StopMode>AutoStop</StopMode>
+  <SubMember>
+    <DataPool AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+      <Comment />
+      <DisplayColor>Black</DisplayColor>
+      <Guid>4d0f043f-99fd-48e3-88a4-eaed2ee9275c</Guid>
+      <IsFileBased>false</IsFileBased>
+      <Name>DataPool</Name>
+      <SortPriority>0</SortPriority>
+      <SubMember />
+      <Suffix>.svdp</Suffix>
+      <Title>DataPool_34</Title>
+    </DataPool>
+    <XYChart AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+      <AssignedCore>0</AssignedCore>
+      <AutoStart>true</AutoStart>
+      <Comment />
+      <DefaultDisplayWidth>100000000</DefaultDisplayWidth>
+      <DisplayColor>-986896</DisplayColor>
+      <ForeColor>-16777216</ForeColor>
+      <Guid>d0b9ac70-9337-4fea-96b3-e8ac396fe683</Guid>
+      <IsFileBased>false</IsFileBased>
+      <MasterChart>00000000-0000-0000-0000-000000000000</MasterChart>
+      <MaxResolution>120000</MaxResolution>
+      <Name>XY Chart</Name>
+      <ShowVisionChart>false</ShowVisionChart>
+      <SortPriority>10</SortPriority>
+      <SubMember>
+        <AxisGroup AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <Comment />
+          <DisplayColor>-1</DisplayColor>
+          <Enabled>true</Enabled>
+          <Guid>41ce791f-bcf1-4d09-9cb2-ec79e2806d83</Guid>
+          <IsFileBased>false</IsFileBased>
+          <Name>Axis Group</Name>
+          <SortPriority>10</SortPriority>
+          <SubMember>
+            <ValueAxis AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>aa35b9c6-4a80-424a-bd18-4077de755c99</Guid>
+              <Inverted>false</Inverted>
+              <IsFileBased>false</IsFileBased>
+              <Logarithmic>false</Logarithmic>
+              <ManualMax>0.5</ManualMax>
+              <ManualMin>-0.5</ManualMin>
+              <Name>Value Axis</Name>
+              <Orientation>X</Orientation>
+              <ScalingMode>AutoGrowOnly</ScalingMode>
+              <SortPriority>100</SortPriority>
+              <SubMember>
+                <AxisStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <Comment />
+                  <DisplayColor>-16777216</DisplayColor>
+                  <Grid>true</Grid>
+                  <GridColor>-16777216</GridColor>
+                  <GridDivisions>10</GridDivisions>
+                  <GridLineWidth>1</GridLineWidth>
+                  <Guid>c942fb84-ebbf-478f-9b4d-a361581ae2f5</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <LineWidth>1</LineWidth>
+                  <Name>Axis Style</Name>
+                  <Precision>6</Precision>
+                  <ShowName>false</ShowName>
+                  <SortPriority>100</SortPriority>
+                  <SubGrid>false</SubGrid>
+                  <SubGridDivisions>5</SubGridDivisions>
+                  <Suffix>.svstyle</Suffix>
+                  <Title>AxisStyle_38</Title>
+                  <Visible>true</Visible>
+                </AxisStyle>
+              </SubMember>
+              <Suffix>.svaxis</Suffix>
+              <Title>Value Axis</Title>
+            </ValueAxis>
+            <ValueAxis AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>6dcf7932-cbd2-4ea2-91b4-ffb32c161f58</Guid>
+              <Inverted>false</Inverted>
+              <IsFileBased>false</IsFileBased>
+              <Logarithmic>false</Logarithmic>
+              <ManualMax>0.5</ManualMax>
+              <ManualMin>-0.5</ManualMin>
+              <Name>Value Axis</Name>
+              <Orientation>Y</Orientation>
+              <ScalingMode>AutoGrowOnly</ScalingMode>
+              <SortPriority>100</SortPriority>
+              <SubMember>
+                <AxisStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+                  <Comment />
+                  <DisplayColor>-16777216</DisplayColor>
+                  <Grid>true</Grid>
+                  <GridColor>-16777216</GridColor>
+                  <GridDivisions>10</GridDivisions>
+                  <GridLineWidth>1</GridLineWidth>
+                  <Guid>bc0d4a81-c886-4ac1-a954-f68cfcc15f22</Guid>
+                  <IsFileBased>false</IsFileBased>
+                  <LineWidth>1</LineWidth>
+                  <Name>Axis Style</Name>
+                  <Precision>6</Precision>
+                  <ShowName>false</ShowName>
+                  <SortPriority>100</SortPriority>
+                  <SubGrid>false</SubGrid>
+                  <SubGridDivisions>5</SubGridDivisions>
+                  <Suffix>.svstyle</Suffix>
+                  <Title>AxisStyle_40</Title>
+                  <Visible>true</Visible>
+                </AxisStyle>
+              </SubMember>
+              <Suffix>.svaxis</Suffix>
+              <Title>Value Axis</Title>
+            </ValueAxis>
+            <AspectRatioScalingStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <AspectRatioScaling>1:1</AspectRatioScaling>
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>f3f6f2ea-0c83-4c7b-8976-5c0ad3437a1a</Guid>
+              <IsFileBased>false</IsFileBased>
+              <KeepAspectRatio>false</KeepAspectRatio>
+              <Name>AspectRatioScalingStyle_41</Name>
+              <ReferenceAxis>X</ReferenceAxis>
+              <SortPriority>100</SortPriority>
+              <Suffix>.svstyle</Suffix>
+              <Title>AspectRatioScalingStyle_41</Title>
+            </AspectRatioScalingStyle>
+            <MarkerContainer AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>a1bafadb-b657-4f03-8d16-7da5ba9e80de</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>Marker Container</Name>
+              <SortPriority>100</SortPriority>
+              <SubMember />
+              <Suffix>.svmc</Suffix>
+              <Title>MarkerContainer_42</Title>
+            </MarkerContainer>
+          </SubMember>
+          <Suffix>.svagroup</Suffix>
+          <Title>AxisGroup_36</Title>
+        </AxisGroup>
+        <OverviewChart AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <Comment />
+          <DisplayColor>-1</DisplayColor>
+          <ForeColor>-16777216</ForeColor>
+          <Guid>cd2eca7a-022e-4ee1-9aac-22d1443cc230</Guid>
+          <IsFileBased>false</IsFileBased>
+          <Name>Overview Chart</Name>
+          <OverviewVisible>false</OverviewVisible>
+          <SortPriority>100</SortPriority>
+          <Suffix>.svochart</Suffix>
+          <Title>OverviewChart_43</Title>
+        </OverviewChart>
+        <ChartStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+          <Comment />
+          <DisplayColor>Black</DisplayColor>
+          <GradientBackground>1</GradientBackground>
+          <Guid>a3c60b44-98d1-4dc6-96dd-28ec04b43949</Guid>
+          <IsFileBased>false</IsFileBased>
+          <Name>Chart Style</Name>
+          <ShowName>false</ShowName>
+          <SortPriority>100</SortPriority>
+          <StackedAxes>false</StackedAxes>
+          <SubMember>
+            <ChartZoomStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <Guid>1ec177ce-162d-4027-80af-1bea9563a820</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>Chartzoom Style</Name>
+              <ScaleOnZoom>true</ScaleOnZoom>
+              <SortPriority>100</SortPriority>
+              <Suffix>.svstyle</Suffix>
+              <Title>ChartZoomStyle_45</Title>
+              <YZoom>true</YZoom>
+            </ChartZoomStyle>
+            <ChartMenuStyle AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+              <ButtonSize>
+                <Height>16</Height>
+                <Width>16</Width>
+              </ButtonSize>
+              <Comment />
+              <DisplayColor>Black</DisplayColor>
+              <EnabledButtons>RunButton PauseButton Splitter1 DisplaywidthTextBox Splitter2 ScrollBackBig ScrollBackSmall ScrollForwardSmall ScrollForwardBig Splitter3 PositionTextBox Splitter4 UndoButton RedoButton Splitter5 PanXYButton ZoomXYButton UnzoomButton ZoomOutMaxButton OverviewButton CopyToClipboard</EnabledButtons>
+              <EnabledTimeLabels>All</EnabledTimeLabels>
+              <Guid>7fea54c9-d498-4be2-b2aa-5e6dfc5c5525</Guid>
+              <IsFileBased>false</IsFileBased>
+              <Name>Chartmenu Style</Name>
+              <SortPriority>100</SortPriority>
+              <Suffix>.svstyle</Suffix>
+              <TimeStripFontSize>8.25</TimeStripFontSize>
+              <Title>ChartMenuStyle_46</Title>
+              <ToolStripFontSize>8.25</ToolStripFontSize>
+              <UseLongTimeFormat>true</UseLongTimeFormat>
+              <VisibleTimeStrip>true</VisibleTimeStrip>
+              <VisibleToolStrip>true</VisibleToolStrip>
+            </ChartMenuStyle>
+          </SubMember>
+          <Suffix>.svstyle</Suffix>
+          <Title>ChartStyle_44</Title>
+          <ToolTipEnabled>true</ToolTipEnabled>
+        </ChartStyle>
+      </SubMember>
+      <Suffix>.svchart</Suffix>
+      <Title>XYChart_35</Title>
+    </XYChart>
+    <TriggerModule AssemblyName="TwinCAT.Measurement.Scope.API.Model">
+      <Comment />
+      <DisplayColor>Black</DisplayColor>
+      <Guid>c29c24e8-ee01-443d-9a31-927d4d04d726</Guid>
+      <IsFileBased>false</IsFileBased>
+      <Name>Trigger</Name>
+      <SortPriority>100</SortPriority>
+      <SubMember />
+      <Suffix>.svtm</Suffix>
+      <Title>TriggerModule_47</Title>
+    </TriggerModule>
+  </SubMember>
+  <Suffix>.tcscopex</Suffix>
+  <SynchronisationMode>Default</SynchronisationMode>
+  <TargetConnectionIds />
+  <Title>ScopeProject_3</Title>
+  <UseAutoSave>false</UseAutoSave>
+  <UseFileStore>true</UseFileStore>
+  <UseUserSettings>true</UseUserSettings>
+  <Version>1.0.0.0</Version>
+  <ViewDetailLevel>ExtendedXYOnly</ViewDetailLevel>
+</ScopeProject>