void tick_task(uint8_t tick_type) {
if(tick_type == TICK_TASK_TYPE_CALCULATION) {
stepper_tick_calc_counter++;
stepper_current_sum += adc_channel_get_data(STEPPER_CURRENT_CHANNEL);
if(stepper_tick_calc_counter % 100 == 0) {
stepper_current = stepper_current_sum/100;
stepper_current_sum = 0;
}
// Switch Output Voltage between extern and stack
if(stepper_get_external_voltage() < STEPPER_VOLTAGE_EPSILON) {
PIO_Set(&pin_voltage_switch);
} else {
PIO_Clear(&pin_voltage_switch);
}
} else if(tick_type == TICK_TASK_TYPE_MESSAGE) {
stepper_tick_counter++;
if(stepper_position_reached) {
stepper_position_reached = false;
stepper_position_reached_signal();
}
stepper_check_error_signals();
}
}
uint16_t stepper_get_stack_voltage(void) {
return adc_channel_get_data(VOLTAGE_STACK_CHANNEL) *
VOLTAGE_STACK_REFERENCE *
VOLTAGE_STACK_MULTIPLIER /
VOLTAGE_MAX_VALUE;
}
uint16_t stepper_get_external_voltage(void) {
return adc_channel_get_data(VOLTAGE_EXTERN_CHANNEL) *
VOLTAGE_EXTERN_REFERENCE *
VOLTAGE_EXTERN_MULTIPLIER /
VOLTAGE_MAX_VALUE;
}
void tick_task(const uint8_t tick_type) {
static int8_t message_counter = 0;
if(tick_type == TICK_TASK_TYPE_MESSAGE) {
if(usb_first_connection && !usbd_hal_is_disabled(IN_EP)) {
message_counter++;
if(message_counter >= 100) {
message_counter = 0;
if(brick_init_enumeration(COM_USB)) {
com_info.current = COM_USB;
usb_first_connection = false;
message_counter = 0;
}
}
}
}
if(tick_type == TICK_TASK_TYPE_CALCULATION) {
dc_tick_calc_counter++;
dc_current_sum += adc_channel_get_data(CURRENT_CONSUMPTION_CHANNEL);
if(dc_tick_calc_counter >= 100) {
dc_current = dc_current_sum/100;
dc_current_sum = 0;
dc_tick_calc_counter = 0;
}
dc_tick_counter++;
// Switch Output Voltage between extern and stack
if(dc_get_external_voltage() < DC_VOLTAGE_EPSILON) {
PIO_Set(&pin_voltage_switch);
} else {
PIO_Clear(&pin_voltage_switch);
}
if(!dc_enabled) {
return;
}
// Emit current velocity callback if necessary
if((dc_current_velocity_period != 0) &&
((dc_tick_counter % dc_current_velocity_period) == 0)) {
dc_current_velocity = true;
}
//if(!encoder_enabled) {
if(dc_velocity_goal == dc_velocity) {
return;
}
//}
if(dc_acceleration == 0) {
dc_velocity = dc_velocity_goal;
} else {
if(dc_velocity < dc_velocity_goal) {
dc_velocity = MIN(dc_velocity + dc_acceleration,
dc_velocity_goal);
} else {
dc_velocity = MAX(dc_velocity - dc_acceleration,
dc_velocity_goal);
}
}
#ifdef ENCODER
if(encoder_enabled) {
if(encoder_tick()) {
float setpoint = (dc_velocity/DC_VELOCITY_MULTIPLIER)*encoder_counts_per_revolution*pid.sample_time/(1000*60);
float out;
if(pid_compute(&pid, setpoint, (float)ABS(encoder_count_last), &out)) {
pid_velocity = (int32_t)out;
// pid_print(&pid);
}
}
}
#endif
// Set new velocity
dc_velocity_to_pwm();
// Emit velocity reachead callback
if(dc_velocity_goal == dc_velocity /*&& !encoder_enabled*/) {
dc_velocity_reached = true;
}
} else if(tick_type == TICK_TASK_TYPE_MESSAGE) {
dc_message_tick_counter++;
if(dc_velocity_reached) {
dc_velocity_reached = false;
dc_velocity_reached_callback();
}
if(dc_current_velocity) {
dc_current_velocity = false;
dc_current_velocity_callback();
}
dc_check_error_callbacks();
}
}
