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78 lines
1.8 KiB
C
78 lines
1.8 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(uvw);
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//u,v,w inputs
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HAL_PIN(u);
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HAL_PIN(v);
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HAL_PIN(w);
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HAL_PIN(led);
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HAL_PIN(p0);
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HAL_PIN(p1);
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HAL_PIN(p2);
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HAL_PIN(p3);
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HAL_PIN(p4);
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HAL_PIN(p5);
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HAL_PIN(p6);
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HAL_PIN(p7);
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//rotor position output
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HAL_PIN(pos);
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HAL_PIN(rpos);
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HAL_PIN(state);
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static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
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// struct uvw_ctx_t * ctx = (struct io_ctx_t *)ctx_ptr;
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struct uvw_pin_ctx_t *pins = (struct uvw_pin_ctx_t *)pin_ptr;
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PIN(p0) = 0; //fault
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PIN(p1) = 0; //u = 0
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PIN(p2) = 2; //v = 2.094395
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PIN(p3) = 1; //u + v = 1.047198
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PIN(p4) = 4; //w = -2.094395
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PIN(p5) = 5; //u + w = -1.047198
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PIN(p6) = 3; //v + w = -3.141593
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PIN(p7) = 0; //fault
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PIN(state) = 3.0;
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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 uvw_ctx_t * ctx = (struct uvw_ctx_t *)ctx_ptr;
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struct uvw_pin_ctx_t *pins = (struct uvw_pin_ctx_t *)pin_ptr;
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uint32_t rpos = (PIN(u) > 0.0) * 1.0 + (PIN(v) > 0.0) * 2.0 + (PIN(w) > 0.0) * 4.0;
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PIN(led) = (PIN(u) > 0.0) ^ (PIN(v) > 0.0) ^ (PIN(w) > 0.0);
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//TODO: make this const, fault output
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uint32_t t[8];
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t[0] = PIN(p0);
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t[1] = PIN(p1);
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t[2] = PIN(p2);
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t[3] = PIN(p3);
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t[4] = PIN(p4);
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t[5] = PIN(p5);
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t[6] = PIN(p6);
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t[7] = PIN(p7);
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PIN(rpos) = rpos;
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PIN(pos) = mod((float)t[rpos] / 6.0 * 2.0 * M_PI);
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}
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hal_comp_t uvw_comp_struct = {
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.name = "uvw",
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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 = nrt_init,
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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 uvw_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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