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36 lines
835 B
C
36 lines
835 B
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(scale);
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HAL_PIN(in0);
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HAL_PIN(out0);
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HAL_PIN(in1);
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HAL_PIN(out1);
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HAL_PIN(scale);
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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 scale_ctx_t * ctx = (struct scale_ctx_t *)ctx_ptr;
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struct scale_pin_ctx_t *pins = (struct scale_pin_ctx_t *)pin_ptr;
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PIN(out0) = PIN(in0) * PIN(scale);
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PIN(out1) = PIN(in1) / MAX(PIN(scale), 0.001);
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}
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hal_comp_t scale_comp_struct = {
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.name = "scale",
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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 scale_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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