What is the best way to replace the position PID controller with a custom controller?

[Edward1]

My company is looking to modernize our positioner electronics and have been prototyping with a NUCLEO-G431RB and an IHM07M1 in 3-shunt mode.

While the nested velocity + position PID strategy might work for our positioner given enough tuning, we have already developed a functionally equivalent position controller with well-tested performance for our existing positioner + electronics and would like to use it instead of the provided position PID.

I ported our controller over, instantiated it, added a pointer to it to PosCtrl_Handle_t, and am calling its update function instead of PID_Controller() to generate torque commands in TC_PositionRegulation(). I'm also bypassing most of the trajectory controller functionality since we don't really want/need it.

This works fine, but the issues are:

1. TC_PositionRegulation() isn't declared weak, so it can't be overridden with our own implementation in a different file
2. Inserting our own position controller requires modifying some core functions and data structures; these changes are overwritten any time the code is generated again from CubeMX

Is there a better/recommended way to do this?

[AErma.2]

Hi Edward. weak prefix point to Compiler that other fuction implementation with out WEAK must be compiled and linked to firmware, so juct make oun inplimentation of Pos controller.