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98 lines
2.3 KiB
C
98 lines
2.3 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(sim);
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HAL_PIN(amp);
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HAL_PIN(freq);
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HAL_PIN(sin);
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HAL_PIN(msin);
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HAL_PIN(sin2);
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HAL_PIN(msin2); //const vel, const max vel = amp
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HAL_PIN(sin3);
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HAL_PIN(msin3); //const max acc = amp
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HAL_PIN(square);
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HAL_PIN(vel);
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HAL_PIN(res);
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HAL_PIN(offset);
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struct sim_ctx_t {
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float time;
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float amp;
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float freq;
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float vel;
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};
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static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
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// struct sim_ctx_t * ctx = (struct sim_ctx_t *)ctx_ptr;
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struct sim_pin_ctx_t *pins = (struct sim_pin_ctx_t *)pin_ptr;
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PIN(amp) = 3.1;
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PIN(freq) = 1.0;
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PIN(res) = 100000.0;
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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 sim_ctx_t *ctx = (struct sim_ctx_t *)ctx_ptr;
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struct sim_pin_ctx_t *pins = (struct sim_pin_ctx_t *)pin_ptr;
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ctx->amp = PIN(amp) * 0.001 + ctx->amp * 0.999;
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ctx->freq = PIN(freq) * 0.001 + ctx->freq * 0.999;
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float sin;
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float sin2;
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float sin3;
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float amp2;
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float r = MAX(PIN(res), 1);
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if(ABS(ctx->freq) > 0.01) {
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amp2 = 1 / (ctx->freq * 2.0 * M_PI);
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} else {
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amp2 = 0;
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}
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ctx->time += period;
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if(ABS(ctx->freq * ctx->time) >= 1.0 && ABS(ctx->freq) > 0.0) { // TODO fix
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ctx->time -= 1.0 / ABS(ctx->freq);
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}
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float co = 0.0;
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float si = 0.0;
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sincos_fast(ctx->freq * ctx->time * 2.0 * M_PI, &si, &co);
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sin = ctx->amp * si;
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sin2 = sin * amp2;
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sin3 = sin2 * amp2;
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float s = sin;
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float o = PIN(offset);
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ctx->vel += ctx->freq * 2.0 * M_PI * period;
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ctx->vel = mod(ctx->vel);
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PIN(sin) = s + o;
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PIN(sin2) = sin2 + o;
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PIN(sin3) = sin3 + o;
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PIN(msin) = ((int)(mod(s + o) * r)) / r;
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PIN(msin2) = ((int)(mod(sin2 + o) * r)) / r;
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PIN(msin3) = ((int)(mod(sin3 + o) * r)) / r;
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PIN(square) = (sin > 0.0) ? (ctx->amp + o) : (-ctx->amp + o);
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PIN(vel) = ctx->vel; //mod(((int)(vel * r)) / r + o);
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}
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hal_comp_t sim_comp_struct = {
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.name = "sim",
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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 = sizeof(struct sim_ctx_t),
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.pin_count = sizeof(struct sim_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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