mirror of https://github.com/rene-dev/stmbl.git
80 lines
1.6 KiB
C
80 lines
1.6 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(vel_int);
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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(wd);
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HAL_PIN(error);
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struct vel_int_ctx_t {
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float pos;
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float counter;
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};
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static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
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struct vel_int_ctx_t *ctx = (struct vel_int_ctx_t *)ctx_ptr;
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struct vel_int_pin_ctx_t *pins = (struct vel_int_pin_ctx_t *)pin_ptr;
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ctx->pos = 0.0;
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ctx->counter = 0.0;
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PIN(pos_in) = 0.0;
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PIN(pos_out) = 0.0;
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PIN(vel_in) = 0.0;
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PIN(vel_out) = 0.0;
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PIN(wd) = 0.002;
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PIN(error) = 0.0;
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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 vel_int_ctx_t *ctx = (struct vel_int_ctx_t *)ctx_ptr;
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struct vel_int_pin_ctx_t *pins = (struct vel_int_pin_ctx_t *)pin_ptr;
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float p = PIN(pos_in);
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float v = PIN(vel_in);
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if(ctx->counter > PIN(wd) && v != 0.0) {
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v = 0;
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PIN(error) = 1.0;
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} else {
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PIN(error) = 0.0;
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ctx->counter += period;
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}
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if(EDGE(p)) {
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ctx->counter = 0.0;
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ctx->pos = p;
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} else {
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ctx->pos += v * period;
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}
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ctx->pos = mod(ctx->pos);
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PIN(pos_out) = ctx->pos;
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PIN(vel_out) = v;
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}
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hal_comp_t vel_int_comp_struct = {
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.name = "vel_int",
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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 = sizeof(struct vel_int_ctx_t),
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.pin_count = sizeof(struct vel_int_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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