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encoder works
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@Known4225
Known4225 committed Dec 23, 2024
1 parent e14f096 commit cfd2b70
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Showing 7 changed files with 31 additions and 14 deletions.
5 changes: 5 additions & 0 deletions sdk/.vscode/settings.json
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@@ -0,0 +1,5 @@
{
"files.associations": {
"iostream": "cpp"
}
}
2 changes: 1 addition & 1 deletion sdk/FreeRTOS-Plus-TCP
Submodule FreeRTOS-Plus-TCP updated from 978354 to c81b36
16 changes: 8 additions & 8 deletions sdk/freertos_app_cpu0/.cproject
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Expand Up @@ -28,7 +28,7 @@
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Expand Down Expand Up @@ -57,7 +57,7 @@
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Expand All @@ -76,7 +76,7 @@
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Expand All @@ -94,7 +94,7 @@
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Expand Down Expand Up @@ -132,7 +132,7 @@
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Expand Down Expand Up @@ -161,7 +161,7 @@
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Expand All @@ -180,7 +180,7 @@
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Expand All @@ -196,7 +196,7 @@
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</storageModule>
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2 changes: 1 addition & 1 deletion sdk/freertos_app_cpu0/src/main.c
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Expand Up @@ -234,7 +234,7 @@ void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer, StackT
}

void vApplicationStackOverflowHook(TaskHandle_t xTask, char * pcTaskName) {
xil_printf("STACK OVERRFLOW ON TASK %s\n", pcTaskName);
xil_printf("STACK OVERFLOW ON TASK %s\n", pcTaskName);
}

/*******************************************************************************/
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2 changes: 2 additions & 0 deletions sdk/freertos_app_cpu0/src/usr/vsiApp/app_vsiApp.c
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Expand Up @@ -18,6 +18,8 @@ void app_vsiApp_init(void)
timing_manager_enable_sensor(AMDS_2);
// Enable ADC (timing manager)
timing_manager_enable_sensor(ADC);
// Enable Encoder (timing manager)
timing_manager_enable_sensor(ENCODER);
// Register "vsi" command with system
cmd_vsiApp_register();
}
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16 changes: 13 additions & 3 deletions sdk/freertos_app_cpu0/src/usr/vsiApp/task_vsiApp.c
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Expand Up @@ -11,6 +11,7 @@
#include "drv/pwm.h"
#include "drv/analog.h"
#include "drv/amds.h"
#include "drv/encoder.h"
#include "sys/defines.h"
#include "sys/log.h"
#include "sys/injection.h"
Expand Down Expand Up @@ -43,6 +44,9 @@ int task_vsiApp_init(void)
if (pwm_enable() != SUCCESS) {
return FAILURE;
}

/* Encoder bits */
encoder_set_pulses_per_rev_bits(13);
/* Initialize signal injection points */
injection_ctx_init(&inj_ctx_ctrl[0], "amp*");
injection_ctx_init(&inj_ctx_ctrl[1], "theta*");
Expand All @@ -57,6 +61,7 @@ int task_vsiApp_init(void)
taskExists = 1;
xTaskCreate(task_vsiApp, (const char *) "vsiApp", configMINIMAL_STACK_SIZE,
NULL, tskIDLE_PRIORITY, &tcb);

return SUCCESS;
}

Expand Down Expand Up @@ -138,20 +143,25 @@ void task_vsiApp(void *arg)
if (valid == 0xFF) {
// Yay! 0xFF means the bits for all channels are valid!
// Read in values sampled on the AMDS (plugged into your GPIO port) from all channels:
int err;
err = amds_get_data(amds_port, AMDS_CH_1, &out_ch_1);
amds_get_data(amds_port, AMDS_CH_1, &out_ch_1);
amds_current_a = 0.00125 * out_ch_1;
// Now, "out" variables contain the sign-extended 16-bit
// sample value for each channel
}

log_callback(&Do, LOG_DOUBLE, "current_a");
log_callback(&current_a, LOG_FLOAT, "current_a");
log_callback(&current_b, LOG_FLOAT, "current_b");
log_callback(&current_c, LOG_FLOAT, "current_c");
log_callback(&voltage_a, LOG_FLOAT, "voltage_a");
log_callback(&voltage_b, LOG_FLOAT, "voltage_b");
log_callback(&voltage_c, LOG_FLOAT, "voltage_c");
log_callback(&amds_current_a, LOG_FLOAT, "amds_current_a");
log_callback(&Do, LOG_DOUBLE, "amplitude_internal");

uint32_t encPosition = 0;
encoder_get_position(&encPosition);
log_callback(&encPosition, LOG_INT, "encoder_position");
// xil_printf("encoder value: %d\n", encPosition);

/* delay(50us) */
// uint32_t startDelay = cpu_timer_now();
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2 changes: 1 addition & 1 deletion sdk/shared/sys/log.c
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Expand Up @@ -820,7 +820,7 @@ int log_print_info(void)

// Initialize the state machine callback tcb
task_info_exists = 1;
xTaskCreate(state_machine_info_callback, (const char *) "loginfo", configMINIMAL_STACK_SIZE,
xTaskCreate(state_machine_info_callback, (const char *) "loginfo", 512,
&ctx_info, tskIDLE_PRIORITY, &ctx_info.tcb);
return SUCCESS;
}
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