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Servo 的代码
chap7_5.m
%Nonlinear PID Control for a servo system
clear all;
close all;
ts=0.001;
J=1/133;
q=25/133;
sys=tf(1,[J,q,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
r_1=0;r_2=0;
u_1=0;u_2=0
mpc02.inf
; Mpc02.Inf - install information file
; Copyright ?2002 Step Servo Co., Ltd.
[Version]
Signature="$Chicago$"
Class=(StepServo)运动控制卡
ClassGUID={8C6E8180-5349-11d8-949D-000AEB18B8E8}
Provider=%
funtion.h
#define uchar unsigned char
#define uint unsigned int
#define ulong unsigned long
#define dir(t) turn(t+3000)
#define dat 1
#define com 0
#define SE_s PTP|=0x10 //servo power
#defi
mpc02.inf
; Mpc02.Inf - install information file
; Copyright ?2002 Step Servo Co., Ltd.
[Version]
Signature="$Chicago$"
Class=(StepServo)运动控制卡
ClassGUID={8C6E8180-5349-11d8-949D-000AEB18B8E8}
Provider=%
dsa.c
/* Copyright 1996, ESS Technology, Inc. */
/* SCCSID @(#)dsa.c 4.30 03/15/05 */
/*
* $Log$
*/
/*
* Removed SERVO..servo targets shall use separate "dsa" modules
*/
#include
#incl
dsas.c
/* Copyright 1996, ESS Technology, Inc. */
/* SCCSID @(#)dsas.c 4.74 04/07/05 */
/*
* This is based on version 1.131 of dsa.c(3/25/98)
*/
/*
* Many of the DSA routines are actual SERVO routin
make.sh
# Copyright 1996-1997, ESS Technology, Inc.
# SCCSID @(#)make.sh 4.60.1.10 03/03/05
#
# $LOG$
#
.SUFFIXES: .c .s .o .sun
#
# Rules for making object code from C and assembly code
#
.c.o:
$(BIN)/g
daytona.cfg
/* Copyright 1998, ESS Technology, Inc. */
/* SCCSID @(#)daytona.cfg 4.2 05/19/03 */
/*
* $Log$
*/
/*
* Configuration for ESS Daytona board
*
* CPU: 67.5MHz 3210
* 3881
*
* Summary:
*
cdtbl.c
/* SCCSID @(#)cdtbl.c 4.1 11/05/02 */
/*
* From customer for calibrating servo
*/
#include "cdconst.h"
unsigned short ABS2TRK[] = {
0x01C4, 0x01C4, 0x037B, 0x0527, 0x06C9,
0x0861, 0x09EF, 0x0B75,
gpio.h
/* Copyright 1997, ESS Technology, Inc. */
/* SCCSID @(#)gpio.h 1.11 02/26/04 */
/*
* $Log$
*/
#ifndef __GPIO_H__
#define __GPIO_H__
#if defined(SERVO) && defined(