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46 lines
1.0 KiB
C
46 lines
1.0 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(uf);
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HAL_PIN(un);
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HAL_PIN(fn);
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HAL_PIN(f_cmd);
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HAL_PIN(f_fb);
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HAL_PIN(pos);
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HAL_PIN(ud);
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HAL_PIN(max_acc);
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HAL_PIN(min_acc);
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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 uf_ctx_t * ctx = (struct uf_ctx_t *)ctx_ptr;
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struct uf_pin_ctx_t *pins = (struct uf_pin_ctx_t *)pin_ptr;
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if(PIN(f_fb) < PIN(f_cmd)) {
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PIN(f_fb) += PIN(max_acc) * period;
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}
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if(PIN(f_fb) > PIN(f_cmd)) {
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PIN(f_fb) -= PIN(min_acc) * period;
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}
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PIN(pos) += PIN(f_fb) * 2.0 * M_PI * period;
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PIN(pos) = mod(PIN(pos));
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PIN(ud) = PIN(un) / MAX(PIN(fn), 1.0) * PIN(f_fb);
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}
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hal_comp_t uf_comp_struct = {
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.name = "uf",
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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 uf_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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