mirror of https://github.com/rene-dev/stmbl.git
60 lines
1.2 KiB
C
60 lines
1.2 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(pe);
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HAL_PIN(udc);
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HAL_PIN(idc);
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HAL_PIN(ud);
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HAL_PIN(uq);
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HAL_PIN(id);
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HAL_PIN(iq);
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HAL_PIN(torque);
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HAL_PIN(vel);
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HAL_PIN(r);
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HAL_PIN(j);
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HAL_PIN(cap);
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HAL_PIN(e_el);
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HAL_PIN(e_kin);
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HAL_PIN(p_el_dc);
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HAL_PIN(p_el_ac);
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HAL_PIN(p_m);
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HAL_PIN(p_t);
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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 pe_ctx_t * ctx = (struct pe_ctx_t *)ctx_ptr;
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struct pe_pin_ctx_t *pins = (struct pe_pin_ctx_t *)pin_ptr;
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float udc = PIN(udc);
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float vel = PIN(vel);
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float id = PIN(id);
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float iq = PIN(iq);
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float t = PIN(torque);
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PIN(e_el) = PIN(cap) * udc * udc / 2.0;
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PIN(e_kin) = PIN(j) * vel * vel / 2.0;
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PIN(p_el_dc) = udc * PIN(idc);
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PIN(p_el_ac) = PIN(ud) * PIN(id) + PIN(ud) * PIN(id);
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PIN(p_m) = t * vel;
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PIN(p_t) = 3 / 2 * PIN(r) * (id * id + iq * iq);
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}
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hal_comp_t pe_comp_struct = {
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.name = "pe",
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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 pe_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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