mirror of https://github.com/rene-dev/stmbl.git
86 lines
1.5 KiB
C
86 lines
1.5 KiB
C
//Calculate motor angle from position in machine units
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/*
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Q2 | Q1
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-------------
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Q3 | Q4
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*/
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#include "hal.h"
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#include "angle.h"
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#include <math.h>
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HAL_COMP(linrev);
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HAL_PIN(scale);
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HAL_PIN(cmd_in);
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HAL_PIN(cmd_out);
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HAL_PIN(cmd_d_in);
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HAL_PIN(cmd_d_out);
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HAL_PIN(fb_in);
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HAL_PIN(fb_out);
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struct linrev_ctx_t {
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uint8_t lastq; //last quadrant
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int32_t rev; //current multiturn
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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 linrev_ctx_t *ctx = (struct linrev_ctx_t *)ctx_ptr;
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struct linrev_pin_ctx_t *pins = (struct linrev_pin_ctx_t *)pin_ptr;
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float s = PIN(scale);
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if(s < 0.01) {
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s = 0.01;
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}
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PIN(cmd_out) = mod((PIN(cmd_in) / s) * 2.0 * M_PI);
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PIN(cmd_d_out) = PIN(cmd_d_in) / s * 2.0 * M_PI;
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uint8_t q = 0;
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if(PIN(fb_in) > M_PI / 2.0) {
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q = 2;
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}
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if(PIN(fb_in) < -M_PI / 2.0) {
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q = 3;
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}
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if(q != 0 && q == 3 && ctx->lastq == 2) {
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ctx->rev++;
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}
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if(q != 0 && q == 2 && ctx->lastq == 3) {
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ctx->rev--;
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}
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ctx->lastq = q;
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PIN(fb_out) = ((PIN(fb_in) + ctx->rev * M_PI * 2.0) * s) / (2.0 * M_PI);
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}
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const hal_comp_t linrev_comp_struct = {
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.name = "linrev",
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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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.hw_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 = sizeof(struct linrev_ctx_t),
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.pin_count = sizeof(struct linrev_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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