mirror of
https://github.com/rene-dev/stmbl.git
synced 2024-12-20 15:42:18 +00:00
80 lines
1.6 KiB
C
80 lines
1.6 KiB
C
#include "commands.h"
|
|
#include "hal.h"
|
|
#include "math.h"
|
|
#include "defines.h"
|
|
#include "angle.h"
|
|
|
|
HAL_COMP(vel_int);
|
|
|
|
HAL_PIN(pos_in);
|
|
HAL_PIN(pos_out);
|
|
|
|
HAL_PIN(vel_in);
|
|
HAL_PIN(vel_out);
|
|
|
|
HAL_PIN(wd);
|
|
HAL_PIN(error);
|
|
|
|
struct vel_int_ctx_t {
|
|
float pos;
|
|
float counter;
|
|
};
|
|
|
|
static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
|
|
struct vel_int_ctx_t *ctx = (struct vel_int_ctx_t *)ctx_ptr;
|
|
struct vel_int_pin_ctx_t *pins = (struct vel_int_pin_ctx_t *)pin_ptr;
|
|
|
|
ctx->pos = 0.0;
|
|
ctx->counter = 0.0;
|
|
PIN(pos_in) = 0.0;
|
|
PIN(pos_out) = 0.0;
|
|
|
|
PIN(vel_in) = 0.0;
|
|
PIN(vel_out) = 0.0;
|
|
|
|
PIN(wd) = 0.002;
|
|
PIN(error) = 0.0;
|
|
}
|
|
|
|
static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
|
|
struct vel_int_ctx_t *ctx = (struct vel_int_ctx_t *)ctx_ptr;
|
|
struct vel_int_pin_ctx_t *pins = (struct vel_int_pin_ctx_t *)pin_ptr;
|
|
|
|
float p = PIN(pos_in);
|
|
float v = PIN(vel_in);
|
|
|
|
if(ctx->counter > PIN(wd) && v != 0.0) {
|
|
v = 0;
|
|
PIN(error) = 1.0;
|
|
} else {
|
|
PIN(error) = 0.0;
|
|
ctx->counter += period;
|
|
}
|
|
|
|
if(EDGE(p)) {
|
|
ctx->counter = 0.0;
|
|
ctx->pos = p;
|
|
} else {
|
|
ctx->pos += v * period;
|
|
}
|
|
|
|
ctx->pos = mod(ctx->pos);
|
|
|
|
PIN(pos_out) = ctx->pos;
|
|
PIN(vel_out) = v;
|
|
}
|
|
|
|
hal_comp_t vel_int_comp_struct = {
|
|
.name = "vel_int",
|
|
.nrt = 0,
|
|
.rt = rt_func,
|
|
.frt = 0,
|
|
.nrt_init = nrt_init,
|
|
.rt_start = 0,
|
|
.frt_start = 0,
|
|
.rt_stop = 0,
|
|
.frt_stop = 0,
|
|
.ctx_size = sizeof(struct vel_int_ctx_t),
|
|
.pin_count = sizeof(struct vel_int_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
|
|
};
|