From 81bdaa9d2af65211d7e5cd17e1cc494ffdd9ea55 Mon Sep 17 00:00:00 2001
From: crinq <crinq@crinq.de>
Date: Wed, 1 May 2019 23:13:22 +0200
Subject: [PATCH] rl conf

---
 conf/template/rl.txt | 22 ++++++++++++++++++++++
 shared/comps/rl.c    |  3 ++-
 2 files changed, 24 insertions(+), 1 deletion(-)
 create mode 100644 conf/template/rl.txt

diff --git a/conf/template/rl.txt b/conf/template/rl.txt
new file mode 100644
index 00000000..817b246a
--- /dev/null
+++ b/conf/template/rl.txt
@@ -0,0 +1,22 @@
+link pid
+link pmsm
+conf0.max_ac_cur = 15
+load rl
+rl0.rt_prio = 6
+hv0.en = rl0.en_out
+hv0.d_cmd = rl0.ud_cmd
+hv0.q_cmd = rl0.uq_cmd
+rl0.id_fb = hv0.id_fb
+rl0.iq_fb = hv0.iq_fb
+rl0.ud_fb = hv0.ud_fb
+rl0.uq_fb = hv0.uq_fb
+hv0.cmd_mode = 0
+hv0.pos = 0
+term0.wave0 = rl0.ud_cmd
+term0.wave1 = hv0.id_fb
+term0.wave2 = rl0.r
+term0.wave3 = rl0.ld
+term0.gain0 = 5
+term0.gain1 = 5
+term0.gain2 = 30
+term0.gain3 = 3000
\ No newline at end of file
diff --git a/shared/comps/rl.c b/shared/comps/rl.c
index 599dd558..20380ad2 100644
--- a/shared/comps/rl.c
+++ b/shared/comps/rl.c
@@ -49,7 +49,7 @@ static void nrt_init(void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
   PIN(r_test_cur) = 5;
   PIN(r_test_time) = 0.5;
   PIN(l_test_volt) = 10;
-  PIN(l_test_time) = 1;
+  PIN(l_test_time) = 1.5;
   PIN(ki) = 10;
 }
 
@@ -127,6 +127,7 @@ static void rt_func(float period, void *ctx_ptr, hal_pin_inst_t *pin_ptr) {
         PIN(en_out) = 0.0;
         PIN(timer) = 0.0;
         PIN(et) = PIN(ld) / PIN(r);
+        PIN(en) = 0;
   }
 }