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87 lines
1.9 KiB
C
87 lines
1.9 KiB
C
#include "ramp_comp.h"
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#include "commands.h"
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#include "hal.h"
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#include "defines.h"
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HAL_COMP(ramp);
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// input
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HAL_PIN(vel_ext_cmd);
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HAL_PIN(en);
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HAL_PIN(scale);
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HAL_PIN(max_vel);
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HAL_PIN(max_acc);
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HAL_PIN(at_speed_th);
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// output
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HAL_PIN(vel_cmd);
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HAL_PIN(at_speed);
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HAL_PIN(en_out);
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HAL_PIN(en_timer);
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HAL_PIN(en_delay);
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static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
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// struct ramp_ctx_t *ctx = (struct ramp_ctx_t *)ctx_ptr;
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struct ramp_pin_ctx_t *pins = (struct ramp_pin_ctx_t *)pin_ptr;
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PIN(at_speed_th) = 0.01;
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PIN(en_delay) = 0.25;
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PIN(scale) = 1.0;
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}
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static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
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// struct ramp_ctx_t *ctx = (struct ramp_ctx_t *)ctx_ptr;
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struct ramp_pin_ctx_t *pins = (struct ramp_pin_ctx_t *)pin_ptr;
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float vel_ext_cmd = LIMIT(PIN(vel_ext_cmd), PIN(max_vel));
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if(PIN(en) <= 0.0){
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vel_ext_cmd = 0.0;
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}
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float vel_error = vel_ext_cmd - PIN(vel_cmd);
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float max_acc = PIN(max_acc) * PIN(scale);
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if(PIN(en_timer) >= PIN(en_delay) * 0.9){
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PIN(vel_cmd) += LIMIT(vel_error, max_acc * period);
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}
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if(ABS(PIN(vel_ext_cmd) - PIN(vel_cmd)) < PIN(max_vel) * PIN(at_speed_th)){
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PIN(at_speed) = 1;
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}
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else{
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PIN(at_speed) = 0;
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}
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if((ABS(PIN(vel_cmd)) > 0.01) | (ABS(PIN(vel_ext_cmd)) > 0.01)){
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PIN(en_timer) = CLAMP(PIN(en_timer) + period, 0, PIN(en_delay));
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}
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else{
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PIN(en_timer) = CLAMP(PIN(en_timer) - period, 0, PIN(en_delay));
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}
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if(PIN(en_timer) > 0.0){
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PIN(en_out) = 1;
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}
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else{
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PIN(en_out) = 0;
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}
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}
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hal_comp_t ramp_comp_struct = {
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.name = "ramp",
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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 = 0,
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.pin_count = sizeof(struct ramp_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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