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mirror of https://github.com/rene-dev/stmbl.git synced 2024-12-25 10:02:18 +00:00
This commit is contained in:
Rene Hopf 2017-12-04 16:54:51 +01:00
parent b934d2ce69
commit b323747c48
3 changed files with 15 additions and 14 deletions
shared/comps
src/comps

View File

@ -22,19 +22,20 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
float vel_error = PIN(vel_ext_cmd) - PIN(vel_fb);
PIN(vel_cmd) = PIN(vel_fb) + LIMIT(vel_error, PIN(max_acc) * period) * LIMIT(5.0 * (1.0 - ABS(PIN(torque_fb)) / MAX(PIN(scale) * PIN(max_torque), 0.01)), 1.0);;
PIN(vel_cmd) = PIN(vel_fb) + LIMIT(vel_error, PIN(max_acc) * period) * LIMIT(5.0 * (1.0 - ABS(PIN(torque_fb)) / MAX(PIN(scale) * PIN(max_torque), 0.01)), 1.0);
;
}
hal_comp_t ramp_comp_struct = {
.name = "ramp",
.nrt = 0,
.rt = rt_func,
.frt = 0,
.nrt_init = 0,
.rt_start = 0,
.frt_start = 0,
.rt_stop = 0,
.frt_stop = 0,
.ctx_size = 0,
.pin_count = sizeof(struct ramp_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
.name = "ramp",
.nrt = 0,
.rt = rt_func,
.frt = 0,
.nrt_init = 0,
.rt_start = 0,
.frt_start = 0,
.rt_stop = 0,
.frt_stop = 0,
.ctx_size = 0,
.pin_count = sizeof(struct ramp_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
};

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@ -191,7 +191,7 @@ static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_
PIN(q_fb) = ctx->packet_from_hv.q_fb;
PIN(dc_volt) = ctx->packet_from_hv.dc_volt;
PIN(pwm_volt) = ctx->packet_from_hv.pwm_volt;
PIN(abs_cur) = sqrtf(PIN(d_fb) * PIN(d_fb) + PIN(q_fb) * PIN(q_fb));
PIN(abs_cur) = sqrtf(PIN(d_fb) * PIN(d_fb) + PIN(q_fb) * PIN(q_fb));
uint16_t a = ctx->packet_from_hv.addr;
a = CLAMP(a, 0, sizeof(f3_state_data_t) / 4);

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@ -37,7 +37,7 @@ struct hv_ctx_t {
};
static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
struct hv_ctx_t *ctx = (struct hv_ctx_t *)ctx_ptr;
struct hv_ctx_t *ctx = (struct hv_ctx_t *)ctx_ptr;
// struct hv_pin_ctx_t *pins = (struct hv_pin_ctx_t *)pin_ptr;
//setup uart to f1. uses DMA to transfer to_hv struct.