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41 lines
888 B
C
41 lines
888 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(rev);
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HAL_PIN(in);
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HAL_PIN(out);
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HAL_PIN(in_d);
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HAL_PIN(out_d);
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HAL_PIN(rev);
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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 rev_ctx_t * ctx = (struct rev_ctx_t *)ctx_ptr;
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struct rev_pin_ctx_t *pins = (struct rev_pin_ctx_t *)pin_ptr;
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if(PIN(rev) > 0.0) {
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PIN(out) = minus(0, PIN(in));
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PIN(out_d) = -PIN(in_d);
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} else {
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PIN(out) = PIN(in);
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PIN(out_d) = PIN(in_d);
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}
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}
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hal_comp_t rev_comp_struct = {
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.name = "rev",
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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 rev_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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