mirror of https://github.com/rene-dev/stmbl.git
67 lines
1.2 KiB
C
67 lines
1.2 KiB
C
#include "en_comp.h"
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#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(en);
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HAL_PIN(en_in);
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HAL_PIN(en_out0);
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HAL_PIN(en_out1);
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HAL_PIN(fault);
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HAL_PIN(time);
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HAL_PIN(timer);
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static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr){
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struct en_pin_ctx_t *pins = (struct en_pin_ctx_t *)pin_ptr;
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PIN(time) = 5;
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}
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static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
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//struct en_ctx_t *ctx = (struct en_ctx_t *)ctx_ptr;
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struct en_pin_ctx_t *pins = (struct en_pin_ctx_t *)pin_ptr;
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if(PIN(en_in) <= 0.0){
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PIN(timer) = 0.0;
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}
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else{
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PIN(timer) += period;
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}
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if(PIN(fault) > 0.0){
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PIN(timer) = 0.0;
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}
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if(PIN(timer) > PIN(time) / 2.0){
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PIN(en_out0) = 1.0;
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}
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else{
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PIN(en_out0) = 0.0;
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}
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if(PIN(timer) > PIN(time)){
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PIN(en_out1) = 1.0;
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PIN(timer) = PIN(time);
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}
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else{
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PIN(en_out1) = 0.0;
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}
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}
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hal_comp_t en_comp_struct = {
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.name = "en",
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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 = 0,
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.pin_count = sizeof(struct en_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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