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35 lines
917 B
C
35 lines
917 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(reslimit);
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HAL_PIN(pos_in);
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HAL_PIN(pos_out);
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HAL_PIN(res);
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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 reslimit_ctx_t * ctx = (struct reslimit_ctx_t *)ctx_ptr;
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struct reslimit_pin_ctx_t *pins = (struct reslimit_pin_ctx_t *)pin_ptr;
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//TODO: offset at zerocross
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uint32_t r = ABS(PIN(res)); //TODO: div by zero
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PIN(pos_out) = ((int)(PIN(pos_in) * r / 2.0 / M_PI + 0.5)) / (float)r * 2.0 * M_PI;
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}
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hal_comp_t reslimit_comp_struct = {
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.name = "reslimit",
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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 reslimit_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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