mirror of
https://github.com/rene-dev/stmbl.git
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146 lines
2.9 KiB
C
146 lines
2.9 KiB
C
#include "rl_comp.h"
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#include "hal.h"
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#include "angle.h"
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#include "defines.h"
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HAL_COMP(rl);
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HAL_PIN(r_test_cur);
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HAL_PIN(l_test_volt);
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HAL_PIN(r_test_time);
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HAL_PIN(l_test_time);
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HAL_PIN(ud_cmd);
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HAL_PIN(ud_fb);
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HAL_PIN(id_fb);
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HAL_PIN(uq_cmd);
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HAL_PIN(uq_fb);
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HAL_PIN(iq_fb);
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HAL_PIN(ki);
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HAL_PIN(en);
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HAL_PIN(en_out);
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HAL_PIN(state);
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HAL_PIN(timer);
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HAL_PIN(counter);
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HAL_PIN(r);
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HAL_PIN(ur);
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HAL_PIN(ir);
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HAL_PIN(ld);
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HAL_PIN(lq);
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HAL_PIN(u0);
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HAL_PIN(u1);
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HAL_PIN(i0);
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HAL_PIN(i1);
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HAL_PIN(et);
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static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
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struct rl_pin_ctx_t *pins = (struct rl_pin_ctx_t *)pin_ptr;
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PIN(r_test_cur) = 5;
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PIN(r_test_time) = 0.5;
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PIN(l_test_volt) = 10;
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PIN(l_test_time) = 1.5;
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PIN(ki) = 10;
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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 rl_ctx_t *ctx = (struct rl_ctx_t *)ctx_ptr;
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struct rl_pin_ctx_t *pins = (struct rl_pin_ctx_t *)pin_ptr;
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if(PIN(en) <= 0.0){
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PIN(state) = 0;
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}
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switch((int) PIN(state)){
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case 0: // off
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PIN(ud_cmd) = 0.0;
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PIN(uq_cmd) = 0.0;
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PIN(en_out) = 0.0;
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PIN(timer) = 0.0;
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if(PIN(en) > 0.0){
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PIN(state) = 1;
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}
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break;
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case 1: // ramp up ud_cmd
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PIN(en_out) = 1;
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PIN(ud_cmd) += PIN(ki) * period * (PIN(r_test_cur) - PIN(id_fb));
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PIN(timer) += period;
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if(PIN(timer) > PIN(r_test_time)){
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if(ABS(PIN(id_fb)) > ABS(PIN(r_test_cur)) * 0.1){
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PIN(ur) = PIN(ur) * 0.99 + PIN(ud_fb) * 0.01;
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PIN(ir) = PIN(ir) * 0.99 + PIN(id_fb) * 0.01;
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PIN(r) = PIN(ur) / PIN(ir);
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}
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}
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if(PIN(timer) > PIN(r_test_time) * 2.0){
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PIN(state) = 2;
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PIN(timer) = 0;
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PIN(counter) = 1;
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}
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break;
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case 2:
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PIN(timer) += period;
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PIN(counter) *= -1;
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if(PIN(counter) > 0){
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PIN(ud_cmd) = PIN(l_test_volt) * 0.1;
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PIN(u1) = PIN(u1) * 0.998 + PIN(ud_fb) * 0.002;
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PIN(i1) = PIN(i1) * 0.998 + PIN(id_fb) * 0.002;
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}
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else{
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PIN(ud_cmd) = PIN(l_test_volt);
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PIN(u0) = PIN(u0) * 0.998 + PIN(ud_fb) * 0.002;
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PIN(i0) = PIN(i0) * 0.998 + PIN(id_fb) * 0.002;
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}
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float dv = (PIN(u1) - PIN(u0)) / 2.0;
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float di = PIN(i1) - PIN(i0);
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PIN(ld) = ABS(dv / di) * period;
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if(PIN(timer) > PIN(l_test_time)){
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PIN(state) = 3;
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}
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break;
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case 3:
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PIN(ud_cmd) = 0.0;
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PIN(uq_cmd) = 0.0;
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PIN(en_out) = 0.0;
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PIN(timer) = 0.0;
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PIN(et) = PIN(ld) / PIN(r);
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PIN(en) = 0;
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}
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}
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const hal_comp_t rl_comp_struct = {
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.name = "rl",
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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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.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 = 0,
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.pin_count = sizeof(struct rl_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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