mirror of https://github.com/rene-dev/stmbl.git
86 lines
1.7 KiB
C
86 lines
1.7 KiB
C
#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(stp);
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HAL_PIN(target);
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HAL_PIN(pos);
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HAL_PIN(pos_in);
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HAL_PIN(pos_out);
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HAL_PIN(vel_in);
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HAL_PIN(vel_out);
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HAL_PIN(acc_out);
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HAL_PIN(max_vel);
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HAL_PIN(max_acc);
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HAL_PIN(dtg);
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struct stp_ctx_t {
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float p0;
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float p;
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float v0;
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float pold;
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float vold;
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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 stp_ctx_t *ctx = (struct stp_ctx_t *)ctx_ptr;
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struct stp_pin_ctx_t *pins = (struct stp_pin_ctx_t *)pin_ptr;
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//float p = PIN(pos_in);
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//float ctx->v0 = PIN(vel_in);
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//ctx->p0 += minus(p, ctx->pold);
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//ctx->pold = p;
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float p1 = PIN(target);
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float vmax = PIN(max_vel);
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float amax = MAX(PIN(max_acc), 0.1);
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float vel = SIGN(p1 - ctx->p0) * amax * sqrtf(2.0 * ABS(p1 - ctx->p0) / amax);
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vel = LIMIT(vel, vmax);
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vel = CLAMP(vel, ctx->v0 - amax * period, ctx->v0 + amax * period);
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if(ABS(vel) > ABS(p1 - ctx->p0) / period) {
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vel = (p1 - ctx->p0) / period;
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}
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float acc = (vel - ctx->vold) / period;
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ctx->vold = vel;
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ctx->v0 = vel;
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ctx->p0 += ctx->v0 * period;
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ctx->p += ctx->p0 - ctx->pold;
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ctx->pold = ctx->p0;
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//p += vel * period;
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PIN(pos_out) = mod(ctx->p);
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PIN(vel_out) = vel;
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PIN(acc_out) = acc;
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PIN(dtg) = p1 - ctx->p0;
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}
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const hal_comp_t stp_comp_struct = {
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.name = "stp",
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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 stp_ctx_t),
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.pin_count = sizeof(struct stp_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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