mirror of https://github.com/rene-dev/stmbl.git
58 lines
1.3 KiB
C
58 lines
1.3 KiB
C
#include "hal.h"
|
|
#include "math.h"
|
|
#include "defines.h"
|
|
#include "angle.h"
|
|
|
|
HAL_COMP(psi);
|
|
|
|
HAL_PIN(vel);
|
|
HAL_PIN(dc_volt);
|
|
HAL_PIN(u);
|
|
HAL_PIN(v);
|
|
HAL_PIN(w);
|
|
HAL_PIN(polecount);
|
|
HAL_PIN(drop);
|
|
HAL_PIN(psi);
|
|
HAL_PIN(max_psi);
|
|
|
|
struct psi_ctx_t {
|
|
float max_f;
|
|
};
|
|
|
|
//HALL_PIN(polecount) = 1.0;
|
|
//HALL_PIN(drop) = 0.8;
|
|
|
|
|
|
static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
|
|
struct psi_ctx_t *ctx = (struct psi_ctx_t *)ctx_ptr;
|
|
struct psi_pin_ctx_t *pins = (struct psi_pin_ctx_t *)pin_ptr;
|
|
|
|
float f = ABS(PIN(vel)) / 2.0 / M_PI * PIN(polecount);
|
|
float u = PIN(dc_volt) + PIN(drop);
|
|
float u2 = MAX3(PIN(u), PIN(v), PIN(w)) - MIN3(PIN(u), PIN(v), PIN(w));
|
|
u = MIN(u, u2) / M_SQRT3; // TODO: fix
|
|
if(f > 1.0) {
|
|
PIN(psi) = u / f / 2.0 / M_PI;
|
|
if(ctx->max_f < f) {
|
|
ctx->max_f = f;
|
|
PIN(max_psi) = PIN(psi);
|
|
}
|
|
}
|
|
ctx->max_f *= 0.999999;
|
|
}
|
|
|
|
const hal_comp_t psi_comp_struct = {
|
|
.name = "psi",
|
|
.nrt = 0,
|
|
.rt = rt_func,
|
|
.frt = 0,
|
|
.nrt_init = 0,
|
|
.hw_init = 0,
|
|
.rt_start = 0,
|
|
.frt_start = 0,
|
|
.rt_stop = 0,
|
|
.frt_stop = 0,
|
|
.ctx_size = sizeof(struct psi_ctx_t),
|
|
.pin_count = sizeof(struct psi_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
|
|
};
|