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65 lines
1.5 KiB
C
65 lines
1.5 KiB
C
#include "commands.h"
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#include "hal.h"
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#include "math.h"
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#include "defines.h"
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#include "angle.h"
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HAL_COMP(idx_home);
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HAL_PIN(mot_state); // 0 = disabled, 1 = inc, 2 = start abs, 3 = abs
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HAL_PIN(fb);
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HAL_PIN(fb_abs);
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HAL_PIN(index_en);
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HAL_PIN(index_clear);
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HAL_PIN(pos_out);
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struct idx_home_ctx_t {
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int state;
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int lastq;
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int waitabs;
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};
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static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
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struct idx_home_ctx_t *ctx = (struct idx_home_ctx_t *)ctx_ptr;
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struct idx_home_pin_ctx_t *pins = (struct idx_home_pin_ctx_t *)pin_ptr;
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uint8_t q = 0;
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if(PIN(index_en) > 0) {
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if(PIN(mot_state) == 3) {
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q = quadrant(PIN(fb_abs));
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if(((q == 1 && ctx->lastq == 4) || (q == 4 && ctx->lastq == 1)) || ctx->waitabs == 1) {
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PIN(index_clear) = 1;
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ctx->state = 1;
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}
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ctx->lastq = q;
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} else { //index requested, but index not seen
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ctx->waitabs = 1;
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}
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}
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if(!(PIN(index_en) > 0) && ctx->state == 1) {
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PIN(index_clear) = 0;
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}
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if(ctx->state == 1) {
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PIN(pos_out) = PIN(fb_abs);
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} else {
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PIN(pos_out) = PIN(fb);
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}
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}
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hal_comp_t idx_home_comp_struct = {
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.name = "idx_home",
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.nrt = 0,
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.rt = rt_func,
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.frt = 0,
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.nrt_init = 0,
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.rt_start = 0,
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.frt_start = 0,
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.rt_stop = 0,
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.frt_stop = 0,
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.ctx_size = sizeof(struct idx_home_ctx_t),
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.pin_count = sizeof(struct idx_home_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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