dual dc

Makefile

@@ -81,6 +81,7 @@ COMPS += shared/comps/uf.c
 COMPS += shared/comps/ramp.c
 COMPS += shared/comps/scale.c
 COMPS += shared/comps/idx_home.c
+COMPS += shared/comps/move.c
 
 SOURCES += $(COMPS)
 

conf/dual_dc_sserial.txt

@@ -0,0 +1,17 @@
+link pid
+link sserial
+load move
+load move
+move0.rt_prio = 20
+move1.rt_prio = 20
+move0.scale = sserial0.pos_cmd_d
+move1.scale = sserial0.pos_cmd_d
+move0.fwd = sserial0.out0
+move0.rev = sserial0.out1
+move1.fwd = sserial0.out2
+move1.rev = sserial0.out3
+hv0.phase_mode = 0
+hv0.cmd_mode = 0
+hv0.d_cmd = move0.out
+hv0.q_cmd = move1.out
+hv0.en = 1

shared/comps/move.c

@@ -0,0 +1,31 @@
+#include "commands.h"
+#include "hal.h"
+#include "math.h"
+#include "defines.h"
+#include "angle.h"
+
+HAL_COMP(move);
+
+HAL_PIN(fwd);
+HAL_PIN(rev);
+HAL_PIN(scale);
+HAL_PIN(out);
+
+static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
+  struct move_pin_ctx_t *pins = (struct move_pin_ctx_t *)pin_ptr;
+  PIN(out) = PIN(scale) * PIN(fwd) + PIN(scale) * PIN(rev) * -1;
+}
+
+hal_comp_t move_comp_struct = {
+    .name      = "move",
+    .nrt       = 0,
+    .rt        = rt_func,
+    .frt       = 0,
+    .nrt_init  = 0,
+    .rt_start  = 0,
+    .frt_start = 0,
+    .rt_stop   = 0,
+    .frt_stop  = 0,
+    .ctx_size  = 0,
+    .pin_count = sizeof(struct move_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
+};