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Control 的代码
control.h
struct PID_struct {
float Kp;
float Ti;
float TD;
float T;
int speed;
};
#define PORTin 0x200
#define PORTout 100
int finish;
float A,B,C;
int msg;
int check=1;
//int motor_write(int &m);
#ifndef _CO
control.h
struct PID_struct {
float Kp;
float Ti;
float TD;
float T;
float speed;
};
#define PORTin 0x200
#define PORTout 100
int finish;
float A,B,C;
int msg;
int check=1;
//int motor_write(int &m);
#ifndef _
control.vhd
library ieee;
use ieee.std_logic_1164.all;
use ieee.std_logic_unsigned.all;
entity control is
port( START :in std_logic;
WAIT_T: in std_logic;
READY: in std_logic;
control.c
#include
#include
#include
#include
#include
#include
#include "subddc.h"
// 0
control.c
#include
#include
#include
#include
#include
#include
#include
#include "define.h"
#include "val.h"
#include
control.h
#ifndef Control_H
#define Control_H
//------------------ C API for Control routine ---------------------
typedef struct {
short qVelRef; // Reference velocity
short qVdRef;
control.inc
;;------------------ ASM30 API for Control routines ---------------------
; CtrlParm stucture:
;
.equ Ctrl_qVelRef,0 ; Reference velocity
.equ Ctrl_qVdRef ,2