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46 lines
1.2 KiB
C
46 lines
1.2 KiB
C
#include "veltopos_comp.h"
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#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(veltopos);
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HAL_PIN(vel);
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HAL_PIN(vel_fb);
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HAL_PIN(max_acc);
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HAL_PIN(max_vel);
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HAL_PIN(polecount);
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HAL_PIN(pos);
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struct veltopos_ctx_t {
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float vel;
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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 veltopos_ctx_t *ctx = (struct veltopos_ctx_t *)ctx_ptr;
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struct veltopos_pin_ctx_t *pins = (struct veltopos_pin_ctx_t *)pin_ptr;
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//ctx->vel = CLAMP(PIN(vel), ctx->vel - PIN(max_acc) * period, ctx->vel + PIN(max_acc) * period);
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ctx->vel = LIMIT(ctx->vel, PIN(max_vel));
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ctx->vel = CLAMP(PIN(vel), PIN(vel_fb) - PIN(max_acc) * period, PIN(vel_fb) + PIN(max_acc) * period);
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PIN(pos) += ctx->vel * PIN(polecount) * period;
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PIN(pos) = mod(PIN(pos));
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}
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hal_comp_t veltopos_comp_struct = {
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.name = "veltopos",
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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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.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 veltopos_ctx_t),
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.pin_count = sizeof(struct veltopos_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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