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41 lines
1005 B
C
41 lines
1005 B
C
#include "commands.h"
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#include "hal.h"
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#include "defines.h"
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HAL_COMP(ramp);
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// input
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HAL_PIN(vel_ext_cmd);
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HAL_PIN(vel_fb);
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HAL_PIN(max_torque);
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HAL_PIN(torque_fb);
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HAL_PIN(scale);
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HAL_PIN(max_acc);
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// output
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HAL_PIN(vel_cmd);
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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 ramp_ctx_t *ctx = (struct ramp_ctx_t *)ctx_ptr;
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struct ramp_pin_ctx_t *pins = (struct ramp_pin_ctx_t *)pin_ptr;
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float vel_error = PIN(vel_ext_cmd) - PIN(vel_fb);
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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);
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;
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}
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hal_comp_t ramp_comp_struct = {
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.name = "ramp",
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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 = 0,
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.pin_count = sizeof(struct ramp_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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}; |