227 lines
5.9 KiB
C
227 lines
5.9 KiB
C
/*!
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Copyright 2017 ÀÎ "ÍÈÈÝÒ" è ÎÎÎ "ÍÏÔ ÂÅÊÒÎÐ"
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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\file main.h
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\brief Ãëàâíûé çàãîëîâî÷íûé ôàéë ïðîåêòà.
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Ïîäêëþ÷àåò â ñåáå âñå çàãîëîâî÷íûå ôàéëû âñåõ ìîäóëåé,
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Ñîäåðæèò îáúÿâëåíèÿ (extern) âñåõ íàèáîëåå âàæíûõ
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ãëîáàëüíûõ ñòðóêòóð è ïåðåìåííûõ.
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\author ÎÎÎ "ÍÏÔ Âåêòîð". http://motorcontrol.ru
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\version v 2.0 25/03/2016
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\defgroup MAIN Ãëàâíûé ôàéë ïðîåêòà
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@{*/
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#ifndef MAIN_H
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#define MAIN_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "DSP.h"
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#include "build.h"
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#include "V_common.h"
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#include <stdlib.h> //äëÿ labs
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#include "V_IQmath.h"
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#include "SM_Sys.h"
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#include "SM_Net.h"
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#include "co_ODvars.h"
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#include "CANOpen_drv.h"
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#include "V_data_log.h"
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#include "SM_Protect.h"
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#include "V_bits_to_enum_numbers.h"
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#include "SM_Ctrl.h"
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#include "SM_CmdLogic.h"
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#include "V_RTC_Clock.h"
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#include "clarke.h"
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#include "park.h"
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#include "ipark.h"
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#include "V_pid_reg3.h"
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#include "V_pid_reg3_pos.h"
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#include "V_rmp_ctrl.h"
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#include "V_adc.h"
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#include "V_PWM_Module.h"
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#include "V_CurPar.h"
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#include "V_hzprof.h"
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#include "V_DPR_eCAP.h"
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#include "V_QEP.h"
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#include "V_led.h"
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#include "V_AutoOffset.h"
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#include "V_CANtoRS.h"
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#include "V_SSI_Encoder.h"
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#include "V_MotorModel.h"
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#include "V_UserMemory.h"
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#include "V_rotor_observer.h"
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#include "V_relay_reg.h"
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#include "V_ModBus.h"
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#include "V_MBVarsConv.h"
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#include "V_excitation.h"
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#include "CANOpen_drv.h"
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#include "X_CANFlashProgData.h"
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#include "X_CANFlashProgStarter.h"
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#include "CANBlockTransferInterface.h"
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#include "DRV_INTERFACE.h"
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#include "V_event_log.h"
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#include "Global_time.h"
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#include "V_UdControl.h"
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#include "V_DIO.h"
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#include "V_fifo.h"
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#include "V_Fan.h"
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#include "V_watchdog.h"
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#include "V_TMU.h"
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extern TClarke clarke;
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#if defined (PARK_IPARK_IQMATH)
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extern TPark park;
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extern TIPark ipark;
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#elif defined (PARK_IPARK_TMU)
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extern TTMUPark park;
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extern TTMUIPark ipark;
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#endif
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extern TPidReg3 pid_id;
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extern TPidReg3 pid_iq;
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extern TPidReg3 pid_ia;
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extern TPidReg3 pid_spd;
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extern TPidReg3_pos pid_pos;
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extern TRelayReg i_a_reg;
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extern TRelayReg i_b_reg;
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extern TRelayReg i_c_reg;
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extern TSM_Sys sm_sys;
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extern Uint16 disp_group_number;
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extern TDataLog dlog;
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extern TSM_Protect sm_prot;
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extern TCmd cmd;
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extern TDrvStatus drv_status;
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extern TBitsToEnumNums pult_faults_lister;
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extern TSM_Ctrl sm_ctrl;
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extern TSM_CmdLogic sm_cmd_logic;
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extern TRefs refs;
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extern TSM_Net sm_net;
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extern TRMPCtrl rmp;
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extern TDrvParams drv_params;
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extern TAdcDrv adc;
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extern TPWM_Module pwm;
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extern TCurPar cur_par;
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extern TVhzProf vhz;
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extern TDPReCAP DPReCAP;
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extern TposspeedEqep posspeedEqep;
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extern TRTCClock RTCclock;
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extern TAutoOffset AutoOffset;
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extern TSSI_Encoder SSI_Encoder;
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extern TMotorModel model;
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extern Tmotor motor;
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extern TRotorObserver RotorObserver;
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extern TCANtoRS CANtoRS;
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extern TModBus ModBus;
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extern TMBVarsConv MBVarsConv;
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extern Texcitation pwm_ex;
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extern TDrvInterface drv_interface;
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extern TLogger FaultLog;
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extern TGlobalTime global_time;
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extern TDIO dio;
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extern TUdControl udControl;
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extern TFanControl FanControl;
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extern TTMU tmu;
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extern Uint16 msCounter;
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extern Uint16 FastCounter;
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extern Uint16 LoopCounter;
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extern Uint16 TIsr10;
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extern Uint16 TIsr1;
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extern int drv_status_code;
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extern Uint32 VendorToken;
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volatile extern long Debug1;
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volatile extern long Debug2;
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volatile extern Uint16 Debug3;
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volatile extern Uint16 Debug4;
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volatile extern long DebugW1;
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volatile extern long DebugW2;
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volatile extern long DebugW3;
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volatile extern long DebugW4;
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volatile extern float DebugF1;
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volatile extern float DebugF2;
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volatile extern float DebugF3;
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volatile extern float DebugF4;
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//Ñ÷åò÷èêè ïðåðûâàíèé ìîäóëÿ çàõâàòà
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extern Uint16 CounterCAP_isr;
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extern Uint16 cap0_counter;
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extern Uint16 cap1_counter;
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extern Uint16 cap2_counter;
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extern unsigned long CpuTimerIsr1;
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extern TSysSwitches sw;
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extern TUserMemory UserMem;
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extern Tled leds;
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extern TCanBTInterface Can1BTInterface;
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extern TCanBTInterface Can2BTInterface;
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extern TCANSpeedTableOptions canSpeedTable;
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void callback_dlog(Uint16 par, Uint16 tag_CANnum);
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void callback_RTC(Uint16 par, Uint16 tag_CANnum);
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// Îáúÿâëåíèå ISR-îâ. Â CodeMaster-ñêîì è GCC-øíîì ñòàðòàïå îíè íàçèûâàþòñÿ ïî-ðàçíîìó
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#if defined (__GNUC__)
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void TIM1_IRQHandler(void);
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void TIM0_IRQHandler(void);
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void EPWM_TZ_0_IRQHandler(void);
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void ECAP0_IRQHandler(void);
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void ECAP1_IRQHandler(void);
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void ECAP2_IRQHandler(void);
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void EQEP1_IRQHandler(void);
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#elif defined (__CMCPPARM__)
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void TIM1_IRQHandler(void);
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void TIM0_IRQHandler(void);
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void PWM0_TZ_IRQHandler(void);
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void CAP0_IRQHandler(void);
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void CAP1_IRQHandler(void);
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void CAP2_IRQHandler(void);
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void QEP1_IRQHandler(void);
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#endif
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#if defined(TRUE) && (TRUE != 1)
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#error "TRUE previously defined not equal to 1"
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#endif
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#if defined(FALSE) && (FALSE != 0)
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#error "FALSE previously defined not equal to 0"
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#endif
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#ifndef TRUE
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#define TRUE (1)
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#endif
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#ifndef FALSE
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#define FALSE (0)
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#endif
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// Ôóíêöèÿ îãðàíè÷åíèÿ ïåðåìåííîé
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inline float __fsat (float input, float max, float min) {
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if (input > max) return max;
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else if (input < min) return min;
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else return input;
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}
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#ifdef __cplusplus
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}
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#endif
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#endif
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/*@}*/
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