C++ (Cpp) mcpwm_get_detect_posの例

コード例 #1

ファイル: main.c プロジェクト: flv1991/bldc

static msg_t periodic_thread(void *arg) {
	(void)arg;

	chRegSetThreadName("Main periodic");

	int fault_print = 0;

	for(;;) {
		if (mcpwm_get_state() == MC_STATE_RUNNING) {
			ledpwm_set_intensity(LED_GREEN, 1.0);
		} else {
			ledpwm_set_intensity(LED_GREEN, 0.2);
		}

		if (mcpwm_get_fault() != FAULT_CODE_NONE) {
			ledpwm_set_intensity(LED_RED, 1.0);
			if (!fault_print && AUTO_PRINT_FAULTS) {
				fault_print = 1;
				comm_print_fault_code(mcpwm_get_fault());
			}
		} else {
			ledpwm_set_intensity(LED_RED, 0.0);
			fault_print = 0;
		}

		if (mcpwm_get_state() == MC_STATE_DETECTING) {
			comm_send_rotor_pos(mcpwm_get_detect_pos());
		}

		chThdSleepMilliseconds(25);
	}

	return 0;
}

コード例 #2

ファイル: main.c プロジェクト: erwincoumans/bldc

static THD_FUNCTION(periodic_thread, arg) {
    (void)arg;

    chRegSetThreadName("Main periodic");

    int fault_print = 0;

    for(;;) {
        if (mc_interface_get_state() == MC_STATE_RUNNING) {
            ledpwm_set_intensity(LED_GREEN, 1.0);
        } else {
            ledpwm_set_intensity(LED_GREEN, 0.2);
        }

        mc_fault_code fault = mc_interface_get_fault();
        if (fault != FAULT_CODE_NONE) {
            if (!fault_print && AUTO_PRINT_FAULTS) {
                fault_print = 1;
                commands_printf("%s\n", mc_interface_fault_to_string(
                                    mc_interface_get_fault()));
            }

            for (int i = 0; i < (int)fault; i++) {
                ledpwm_set_intensity(LED_RED, 1.0);
                chThdSleepMilliseconds(250);
                ledpwm_set_intensity(LED_RED, 0.0);
                chThdSleepMilliseconds(250);
            }

            chThdSleepMilliseconds(500);
        } else {
            ledpwm_set_intensity(LED_RED, 0.0);
            fault_print = 0;
        }

        if (mc_interface_get_state() == MC_STATE_DETECTING) {
            commands_send_rotor_pos(mcpwm_get_detect_pos());
        }

#if ENCODER_ENABLE
        commands_send_rotor_pos(encoder_read_deg());
//		comm_can_set_pos(0, encoder_read_deg());
#endif

        chThdSleepMilliseconds(10);
    }
}