mirror of https://github.com/rusefi/bldc.git
687 lines
15 KiB
C
687 lines
15 KiB
C
/*
|
|
Copyright 2016 - 2019 Benjamin Vedder benjamin@vedder.se
|
|
|
|
This file is part of the VESC firmware.
|
|
|
|
The VESC firmware is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
The VESC firmware is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "utils.h"
|
|
#include "ch.h"
|
|
#include "hal.h"
|
|
#include <math.h>
|
|
#include <string.h>
|
|
|
|
// Private variables
|
|
static volatile int sys_lock_cnt = 0;
|
|
|
|
void utils_step_towards(float *value, float goal, float step) {
|
|
if (*value < goal) {
|
|
if ((*value + step) < goal) {
|
|
*value += step;
|
|
} else {
|
|
*value = goal;
|
|
}
|
|
} else if (*value > goal) {
|
|
if ((*value - step) > goal) {
|
|
*value -= step;
|
|
} else {
|
|
*value = goal;
|
|
}
|
|
}
|
|
}
|
|
|
|
float utils_calc_ratio(float low, float high, float val) {
|
|
return (val - low) / (high - low);
|
|
}
|
|
|
|
/**
|
|
* Make sure that 0 <= angle < 360
|
|
*
|
|
* @param angle
|
|
* The angle to normalize.
|
|
*/
|
|
void utils_norm_angle(float *angle) {
|
|
*angle = fmodf(*angle, 360.0);
|
|
|
|
if (*angle < 0.0) {
|
|
*angle += 360.0;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Make sure that -pi <= angle < pi,
|
|
*
|
|
* TODO: Maybe use fmodf instead?
|
|
*
|
|
* @param angle
|
|
* The angle to normalize in radians.
|
|
* WARNING: Don't use too large angles.
|
|
*/
|
|
void utils_norm_angle_rad(float *angle) {
|
|
while (*angle < -M_PI) {
|
|
*angle += 2.0 * M_PI;
|
|
}
|
|
|
|
while (*angle > M_PI) {
|
|
*angle -= 2.0 * M_PI;
|
|
}
|
|
}
|
|
|
|
int utils_truncate_number(float *number, float min, float max) {
|
|
int did_trunc = 0;
|
|
|
|
if (*number > max) {
|
|
*number = max;
|
|
did_trunc = 1;
|
|
} else if (*number < min) {
|
|
*number = min;
|
|
did_trunc = 1;
|
|
}
|
|
|
|
return did_trunc;
|
|
}
|
|
|
|
int utils_truncate_number_int(int *number, int min, int max) {
|
|
int did_trunc = 0;
|
|
|
|
if (*number > max) {
|
|
*number = max;
|
|
did_trunc = 1;
|
|
} else if (*number < min) {
|
|
*number = min;
|
|
did_trunc = 1;
|
|
}
|
|
|
|
return did_trunc;
|
|
}
|
|
|
|
int utils_truncate_number_abs(float *number, float max) {
|
|
int did_trunc = 0;
|
|
|
|
if (*number > max) {
|
|
*number = max;
|
|
did_trunc = 1;
|
|
} else if (*number < -max) {
|
|
*number = -max;
|
|
did_trunc = 1;
|
|
}
|
|
|
|
return did_trunc;
|
|
}
|
|
|
|
float utils_map(float x, float in_min, float in_max, float out_min, float out_max) {
|
|
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
|
|
}
|
|
|
|
int utils_map_int(int x, int in_min, int in_max, int out_min, int out_max) {
|
|
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
|
|
}
|
|
|
|
/**
|
|
* Truncate absolute values less than tres to zero. The value
|
|
* tres will be mapped to 0 and the value max to max.
|
|
*/
|
|
void utils_deadband(float *value, float tres, float max) {
|
|
if (fabsf(*value) < tres) {
|
|
*value = 0.0;
|
|
} else {
|
|
float k = max / (max - tres);
|
|
if (*value > 0.0) {
|
|
*value = k * *value + max * (1.0 - k);
|
|
} else {
|
|
*value = -(k * -*value + max * (1.0 - k));
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Get the difference between two angles. Will always be between -180 and +180 degrees.
|
|
* @param angle1
|
|
* The first angle
|
|
* @param angle2
|
|
* The second angle
|
|
* @return
|
|
* The difference between the angles
|
|
*/
|
|
float utils_angle_difference(float angle1, float angle2) {
|
|
// utils_norm_angle(&angle1);
|
|
// utils_norm_angle(&angle2);
|
|
//
|
|
// if (fabsf(angle1 - angle2) > 180.0) {
|
|
// if (angle1 < angle2) {
|
|
// angle1 += 360.0;
|
|
// } else {
|
|
// angle2 += 360.0;
|
|
// }
|
|
// }
|
|
//
|
|
// return angle1 - angle2;
|
|
|
|
// Faster in most cases
|
|
float difference = angle1 - angle2;
|
|
while (difference < -180.0) difference += 2.0 * 180.0;
|
|
while (difference > 180.0) difference -= 2.0 * 180.0;
|
|
return difference;
|
|
}
|
|
|
|
/**
|
|
* Get the difference between two angles. Will always be between -pi and +pi radians.
|
|
* @param angle1
|
|
* The first angle in radians
|
|
* @param angle2
|
|
* The second angle in radians
|
|
* @return
|
|
* The difference between the angles in radians
|
|
*/
|
|
float utils_angle_difference_rad(float angle1, float angle2) {
|
|
float difference = angle1 - angle2;
|
|
while (difference < -M_PI) difference += 2.0 * M_PI;
|
|
while (difference > M_PI) difference -= 2.0 * M_PI;
|
|
return difference;
|
|
}
|
|
|
|
/**
|
|
* Takes the average of a number of angles.
|
|
*
|
|
* @param angles
|
|
* The angles in radians.
|
|
*
|
|
* @param angles_num
|
|
* The number of angles.
|
|
*
|
|
* @param weights
|
|
* The weight of the summarized angles
|
|
*
|
|
* @return
|
|
* The average angle.
|
|
*/
|
|
float utils_avg_angles_rad_fast(float *angles, float *weights, int angles_num) {
|
|
float s_sum = 0.0;
|
|
float c_sum = 0.0;
|
|
|
|
for (int i = 0; i < angles_num; i++) {
|
|
float s, c;
|
|
utils_fast_sincos_better(angles[i], &s, &c);
|
|
s_sum += s * weights[i];
|
|
c_sum += c * weights[i];
|
|
}
|
|
|
|
return utils_fast_atan2(s_sum, c_sum);
|
|
}
|
|
|
|
/**
|
|
* Get the middle value of three values
|
|
*
|
|
* @param a
|
|
* First value
|
|
*
|
|
* @param b
|
|
* Second value
|
|
*
|
|
* @param c
|
|
* Third value
|
|
*
|
|
* @return
|
|
* The middle value
|
|
*/
|
|
float utils_middle_of_3(float a, float b, float c) {
|
|
float middle;
|
|
|
|
if ((a <= b) && (a <= c)) {
|
|
middle = (b <= c) ? b : c;
|
|
} else if ((b <= a) && (b <= c)) {
|
|
middle = (a <= c) ? a : c;
|
|
} else {
|
|
middle = (a <= b) ? a : b;
|
|
}
|
|
return middle;
|
|
}
|
|
|
|
/**
|
|
* Get the middle value of three values
|
|
*
|
|
* @param a
|
|
* First value
|
|
*
|
|
* @param b
|
|
* Second value
|
|
*
|
|
* @param c
|
|
* Third value
|
|
*
|
|
* @return
|
|
* The middle value
|
|
*/
|
|
int utils_middle_of_3_int(int a, int b, int c) {
|
|
int middle;
|
|
|
|
if ((a <= b) && (a <= c)) {
|
|
middle = (b <= c) ? b : c;
|
|
} else if ((b <= a) && (b <= c)) {
|
|
middle = (a <= c) ? a : c;
|
|
} else {
|
|
middle = (a <= b) ? a : b;
|
|
}
|
|
return middle;
|
|
}
|
|
|
|
// Fast inverse square-root
|
|
// See: http://en.wikipedia.org/wiki/Fast_inverse_square_root
|
|
float utils_fast_inv_sqrt(float x) {
|
|
union {
|
|
float as_float;
|
|
long as_int;
|
|
} un;
|
|
|
|
float xhalf = 0.5f*x;
|
|
un.as_float = x;
|
|
un.as_int = 0x5f3759df - (un.as_int >> 1);
|
|
un.as_float = un.as_float * (1.5f - xhalf * un.as_float * un.as_float);
|
|
return un.as_float;
|
|
}
|
|
|
|
/**
|
|
* Fast atan2
|
|
*
|
|
* See http://www.dspguru.com/dsp/tricks/fixed-point-atan2-with-self-normalization
|
|
*
|
|
* @param y
|
|
* y
|
|
*
|
|
* @param x
|
|
* x
|
|
*
|
|
* @return
|
|
* The angle in radians
|
|
*/
|
|
float utils_fast_atan2(float y, float x) {
|
|
float abs_y = fabsf(y) + 1e-20; // kludge to prevent 0/0 condition
|
|
float angle;
|
|
|
|
if (x >= 0) {
|
|
float r = (x - abs_y) / (x + abs_y);
|
|
float rsq = r * r;
|
|
angle = ((0.1963 * rsq) - 0.9817) * r + (M_PI / 4.0);
|
|
} else {
|
|
float r = (x + abs_y) / (abs_y - x);
|
|
float rsq = r * r;
|
|
angle = ((0.1963 * rsq) - 0.9817) * r + (3.0 * M_PI / 4.0);
|
|
}
|
|
|
|
if (y < 0) {
|
|
return(-angle);
|
|
} else {
|
|
return(angle);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Truncate the magnitude of a vector.
|
|
*
|
|
* @param x
|
|
* The first component.
|
|
*
|
|
* @param y
|
|
* The second component.
|
|
*
|
|
* @param max
|
|
* The maximum magnitude.
|
|
*
|
|
* @return
|
|
* True if saturation happened, false otherwise
|
|
*/
|
|
bool utils_saturate_vector_2d(float *x, float *y, float max) {
|
|
bool retval = false;
|
|
float mag = sqrtf(SQ(*x) + SQ(*y));
|
|
max = fabsf(max);
|
|
|
|
if (mag < 1e-10) {
|
|
mag = 1e-10;
|
|
}
|
|
|
|
if (mag > max) {
|
|
const float f = max / mag;
|
|
*x *= f;
|
|
*y *= f;
|
|
retval = true;
|
|
}
|
|
|
|
return retval;
|
|
}
|
|
|
|
/**
|
|
* Fast sine and cosine implementation.
|
|
*
|
|
* See http://lab.polygonal.de/?p=205
|
|
*
|
|
* @param angle
|
|
* The angle in radians
|
|
* WARNING: Don't use too large angles.
|
|
*
|
|
* @param sin
|
|
* A pointer to store the sine value.
|
|
*
|
|
* @param cos
|
|
* A pointer to store the cosine value.
|
|
*/
|
|
void utils_fast_sincos(float angle, float *sin, float *cos) {
|
|
//always wrap input angle to -PI..PI
|
|
while (angle < -M_PI) {
|
|
angle += 2.0 * M_PI;
|
|
}
|
|
|
|
while (angle > M_PI) {
|
|
angle -= 2.0 * M_PI;
|
|
}
|
|
|
|
// compute sine
|
|
if (angle < 0.0) {
|
|
*sin = 1.27323954 * angle + 0.405284735 * angle * angle;
|
|
} else {
|
|
*sin = 1.27323954 * angle - 0.405284735 * angle * angle;
|
|
}
|
|
|
|
// compute cosine: sin(x + PI/2) = cos(x)
|
|
angle += 0.5 * M_PI;
|
|
|
|
if (angle > M_PI) {
|
|
angle -= 2.0 * M_PI;
|
|
}
|
|
|
|
if (angle < 0.0) {
|
|
*cos = 1.27323954 * angle + 0.405284735 * angle * angle;
|
|
} else {
|
|
*cos = 1.27323954 * angle - 0.405284735 * angle * angle;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Fast sine and cosine implementation.
|
|
*
|
|
* See http://lab.polygonal.de/?p=205
|
|
*
|
|
* @param angle
|
|
* The angle in radians
|
|
* WARNING: Don't use too large angles.
|
|
*
|
|
* @param sin
|
|
* A pointer to store the sine value.
|
|
*
|
|
* @param cos
|
|
* A pointer to store the cosine value.
|
|
*/
|
|
void utils_fast_sincos_better(float angle, float *sin, float *cos) {
|
|
//always wrap input angle to -PI..PI
|
|
while (angle < -M_PI) {
|
|
angle += 2.0 * M_PI;
|
|
}
|
|
|
|
while (angle > M_PI) {
|
|
angle -= 2.0 * M_PI;
|
|
}
|
|
|
|
//compute sine
|
|
if (angle < 0.0) {
|
|
*sin = 1.27323954 * angle + 0.405284735 * angle * angle;
|
|
|
|
if (*sin < 0.0) {
|
|
*sin = 0.225 * (*sin * -*sin - *sin) + *sin;
|
|
} else {
|
|
*sin = 0.225 * (*sin * *sin - *sin) + *sin;
|
|
}
|
|
} else {
|
|
*sin = 1.27323954 * angle - 0.405284735 * angle * angle;
|
|
|
|
if (*sin < 0.0) {
|
|
*sin = 0.225 * (*sin * -*sin - *sin) + *sin;
|
|
} else {
|
|
*sin = 0.225 * (*sin * *sin - *sin) + *sin;
|
|
}
|
|
}
|
|
|
|
// compute cosine: sin(x + PI/2) = cos(x)
|
|
angle += 0.5 * M_PI;
|
|
if (angle > M_PI) {
|
|
angle -= 2.0 * M_PI;
|
|
}
|
|
|
|
if (angle < 0.0) {
|
|
*cos = 1.27323954 * angle + 0.405284735 * angle * angle;
|
|
|
|
if (*cos < 0.0) {
|
|
*cos = 0.225 * (*cos * -*cos - *cos) + *cos;
|
|
} else {
|
|
*cos = 0.225 * (*cos * *cos - *cos) + *cos;
|
|
}
|
|
} else {
|
|
*cos = 1.27323954 * angle - 0.405284735 * angle * angle;
|
|
|
|
if (*cos < 0.0) {
|
|
*cos = 0.225 * (*cos * -*cos - *cos) + *cos;
|
|
} else {
|
|
*cos = 0.225 * (*cos * *cos - *cos) + *cos;
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Calculate the values with the lowest magnitude.
|
|
*
|
|
* @param va
|
|
* The first value.
|
|
*
|
|
* @param vb
|
|
* The second value.
|
|
*
|
|
* @return
|
|
* The value with the lowest magnitude.
|
|
*/
|
|
float utils_min_abs(float va, float vb) {
|
|
float res;
|
|
if (fabsf(va) < fabsf(vb)) {
|
|
res = va;
|
|
} else {
|
|
res = vb;
|
|
}
|
|
|
|
return res;
|
|
}
|
|
|
|
/**
|
|
* Calculate the values with the highest magnitude.
|
|
*
|
|
* @param va
|
|
* The first value.
|
|
*
|
|
* @param vb
|
|
* The second value.
|
|
*
|
|
* @return
|
|
* The value with the highest magnitude.
|
|
*/
|
|
float utils_max_abs(float va, float vb) {
|
|
float res;
|
|
if (fabsf(va) > fabsf(vb)) {
|
|
res = va;
|
|
} else {
|
|
res = vb;
|
|
}
|
|
|
|
return res;
|
|
}
|
|
|
|
/**
|
|
* Create string representation of the binary content of a byte
|
|
*
|
|
* @param x
|
|
* The byte.
|
|
*
|
|
* @param b
|
|
* Array to store the string representation in.
|
|
*/
|
|
void utils_byte_to_binary(int x, char *b) {
|
|
b[0] = '\0';
|
|
|
|
int z;
|
|
for (z = 128; z > 0; z >>= 1) {
|
|
strcat(b, ((x & z) == z) ? "1" : "0");
|
|
}
|
|
}
|
|
|
|
float utils_throttle_curve(float val, float curve_acc, float curve_brake, int mode) {
|
|
float ret = 0.0;
|
|
|
|
if (val < -1.0) {
|
|
val = -1.0;
|
|
}
|
|
|
|
if (val > 1.0) {
|
|
val = 1.0;
|
|
}
|
|
|
|
float val_a = fabsf(val);
|
|
|
|
float curve;
|
|
if (val >= 0.0) {
|
|
curve = curve_acc;
|
|
} else {
|
|
curve = curve_brake;
|
|
}
|
|
|
|
// See
|
|
// http://math.stackexchange.com/questions/297768/how-would-i-create-a-exponential-ramp-function-from-0-0-to-1-1-with-a-single-val
|
|
if (mode == 0) { // Exponential
|
|
if (curve >= 0.0) {
|
|
ret = 1.0 - powf(1.0 - val_a, 1.0 + curve);
|
|
} else {
|
|
ret = powf(val_a, 1.0 - curve);
|
|
}
|
|
} else if (mode == 1) { // Natural
|
|
if (fabsf(curve) < 1e-10) {
|
|
ret = val_a;
|
|
} else {
|
|
if (curve >= 0.0) {
|
|
ret = 1.0 - ((expf(curve * (1.0 - val_a)) - 1.0) / (expf(curve) - 1.0));
|
|
} else {
|
|
ret = (expf(-curve * val_a) - 1.0) / (expf(-curve) - 1.0);
|
|
}
|
|
}
|
|
} else if (mode == 2) { // Polynomial
|
|
if (curve >= 0.0) {
|
|
ret = 1.0 - ((1.0 - val_a) / (1.0 + curve * val_a));
|
|
} else {
|
|
ret = val_a / (1.0 - curve * (1.0 - val_a));
|
|
}
|
|
} else { // Linear
|
|
ret = val_a;
|
|
}
|
|
|
|
if (val < 0.0) {
|
|
ret = -ret;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
/**
|
|
* A system locking function with a counter. For every lock, a corresponding unlock must
|
|
* exist to unlock the system. That means, if lock is called five times, unlock has to
|
|
* be called five times as well. Note that chSysLock and chSysLockFromIsr are the same
|
|
* for this port.
|
|
*/
|
|
void utils_sys_lock_cnt(void) {
|
|
if (!sys_lock_cnt) {
|
|
chSysLock();
|
|
}
|
|
sys_lock_cnt++;
|
|
}
|
|
|
|
/**
|
|
* A system unlocking function with a counter. For every lock, a corresponding unlock must
|
|
* exist to unlock the system. That means, if lock is called five times, unlock has to
|
|
* be called five times as well. Note that chSysUnlock and chSysUnlockFromIsr are the same
|
|
* for this port.
|
|
*/
|
|
void utils_sys_unlock_cnt(void) {
|
|
if (sys_lock_cnt) {
|
|
sys_lock_cnt--;
|
|
if (!sys_lock_cnt) {
|
|
chSysUnlock();
|
|
}
|
|
}
|
|
}
|
|
|
|
uint32_t utils_crc32c(uint8_t *data, uint32_t len) {
|
|
uint32_t crc = 0xFFFFFFFF;
|
|
|
|
for (uint32_t i = 0; i < len;i++) {
|
|
uint32_t byte = data[i];
|
|
crc = crc ^ byte;
|
|
|
|
for (int j = 7;j >= 0;j--) {
|
|
uint32_t mask = -(crc & 1);
|
|
crc = (crc >> 1) ^ (0x82F63B78 & mask);
|
|
}
|
|
}
|
|
|
|
return ~crc;
|
|
}
|
|
|
|
void utils_fft32_bin1(float *real_in, float *real, float *imag) {
|
|
*real = 0.0;
|
|
*imag = 0.0;
|
|
for (int i = 0;i < 32;i++) {
|
|
*real += real_in[i] * utils_tab_cos_32_1[i];
|
|
*imag -= real_in[i] * utils_tab_sin_32_1[i];
|
|
}
|
|
*real /= 32.0;
|
|
*imag /= 32.0;
|
|
}
|
|
|
|
void utils_fft32_bin2(float *real_in, float *real, float *imag) {
|
|
*real = 0.0;
|
|
*imag = 0.0;
|
|
for (int i = 0;i < 32;i++) {
|
|
*real += real_in[i] * utils_tab_cos_32_2[i];
|
|
*imag -= real_in[i] * utils_tab_sin_32_2[i];
|
|
}
|
|
*real /= 32.0;
|
|
*imag /= 32.0;
|
|
}
|
|
|
|
const float utils_tab_sin_32_1[] = {
|
|
0.000000, 0.195090, 0.382683, 0.555570, 0.707107, 0.831470, 0.923880, 0.980785,
|
|
1.000000, 0.980785, 0.923880, 0.831470, 0.707107, 0.555570, 0.382683, 0.195090,
|
|
0.000000, -0.195090, -0.382683, -0.555570, -0.707107, -0.831470, -0.923880, -0.980785,
|
|
-1.000000, -0.980785, -0.923880, -0.831470, -0.707107, -0.555570, -0.382683, -0.195090};
|
|
|
|
const float utils_tab_sin_32_2[] = {
|
|
0.000000, 0.382683, 0.707107, 0.923880, 1.000000, 0.923880, 0.707107, 0.382683,
|
|
0.000000, -0.382683, -0.707107, -0.923880, -1.000000, -0.923880, -0.707107, -0.382683,
|
|
-0.000000, 0.382683, 0.707107, 0.923880, 1.000000, 0.923880, 0.707107, 0.382683,
|
|
0.000000, -0.382683, -0.707107, -0.923880, -1.000000, -0.923880, -0.707107, -0.382683};
|
|
|
|
const float utils_tab_cos_32_1[] = {
|
|
1.000000, 0.980785, 0.923880, 0.831470, 0.707107, 0.555570, 0.382683, 0.195090,
|
|
0.000000, -0.195090, -0.382683, -0.555570, -0.707107, -0.831470, -0.923880, -0.980785,
|
|
-1.000000, -0.980785, -0.923880, -0.831470, -0.707107, -0.555570, -0.382683, -0.195090,
|
|
-0.000000, 0.195090, 0.382683, 0.555570, 0.707107, 0.831470, 0.923880, 0.980785};
|
|
|
|
const float utils_tab_cos_32_2[] = {
|
|
1.000000, 0.923880, 0.707107, 0.382683, 0.000000, -0.382683, -0.707107, -0.923880,
|
|
-1.000000, -0.923880, -0.707107, -0.382683, -0.000000, 0.382683, 0.707107, 0.923880,
|
|
1.000000, 0.923880, 0.707107, 0.382683, 0.000000, -0.382683, -0.707107, -0.923880,
|
|
-1.000000, -0.923880, -0.707107, -0.382683, -0.000000, 0.382683, 0.707107, 0.923880};
|