mirror of https://github.com/rusefi/bldc.git
140 lines
5.5 KiB
C
140 lines
5.5 KiB
C
/*
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Copyright 2016 - 2019 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef UTILS_H_
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#define UTILS_H_
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#include <stdbool.h>
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#include <stdint.h>
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#include "datatypes.h"
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void utils_step_towards(float *value, float goal, float step);
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float utils_calc_ratio(float low, float high, float val);
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void utils_norm_angle(float *angle);
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void utils_norm_angle_rad(float *angle);
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int utils_truncate_number(float *number, float min, float max);
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int utils_truncate_number_int(int *number, int min, int max);
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int utils_truncate_number_abs(float *number, float max);
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float utils_map(float x, float in_min, float in_max, float out_min, float out_max);
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int utils_map_int(int x, int in_min, int in_max, int out_min, int out_max);
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void utils_deadband(float *value, float tres, float max);
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float utils_angle_difference(float angle1, float angle2);
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float utils_angle_difference_rad(float angle1, float angle2);
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float utils_avg_angles_rad_fast(float *angles, float *weights, int angles_num);
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float utils_middle_of_3(float a, float b, float c);
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int utils_middle_of_3_int(int a, int b, int c);
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float utils_fast_inv_sqrt(float x);
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float utils_fast_atan2(float y, float x);
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bool utils_saturate_vector_2d(float *x, float *y, float max);
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void utils_fast_sincos(float angle, float *sin, float *cos);
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void utils_fast_sincos_better(float angle, float *sin, float *cos);
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float utils_min_abs(float va, float vb);
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float utils_max_abs(float va, float vb);
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void utils_byte_to_binary(int x, char *b);
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float utils_throttle_curve(float val, float curve_acc, float curve_brake, int mode);
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void utils_sys_lock_cnt(void);
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void utils_sys_unlock_cnt(void);
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uint32_t utils_crc32c(uint8_t *data, uint32_t len);
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void utils_fft32_bin0(float *real_in, float *real, float *imag);
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void utils_fft32_bin1(float *real_in, float *real, float *imag);
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void utils_fft32_bin2(float *real_in, float *real, float *imag);
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void utils_fft16_bin0(float *real_in, float *real, float *imag);
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void utils_fft16_bin1(float *real_in, float *real, float *imag);
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void utils_fft16_bin2(float *real_in, float *real, float *imag);
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void utils_fft8_bin0(float *real_in, float *real, float *imag);
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void utils_fft8_bin1(float *real_in, float *real, float *imag);
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void utils_fft8_bin2(float *real_in, float *real, float *imag);
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uint8_t utils_second_motor_id(void);
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int utils_read_hall(bool is_second_motor, int samples);
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float utils_batt_liion_norm_v_to_capacity(float norm_v);
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uint16_t utils_median_filter_uint16_run(uint16_t *buffer,
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unsigned int *buffer_index, unsigned int filter_len, uint16_t sample);
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const char* utils_hw_type_to_string(HW_TYPE hw);
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int utils_check_min_stack_left(thread_t *th);
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int utils_stack_left_now(void);
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void utils_rotate_vector3(float *input, float *rotation, float *output, bool reverse);
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// Return the sign of the argument. -1.0 if negative, 1.0 if zero or positive.
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#define SIGN(x) (((x) < 0.0) ? -1.0 : 1.0)
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// Squared
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#define SQ(x) ((x) * (x))
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// Return the age of a timestamp in seconds
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#define UTILS_AGE_S(x) ((float)chVTTimeElapsedSinceX(x) / (float)CH_CFG_ST_FREQUENCY)
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// nan and infinity check for floats
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#define UTILS_IS_INF(x) ((x) == (1.0 / 0.0) || (x) == (-1.0 / 0.0))
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#define UTILS_IS_NAN(x) ((x) != (x))
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#define UTILS_NAN_ZERO(x) (x = UTILS_IS_NAN(x) ? 0.0 : x)
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// Handy conversions for radians/degrees and RPM/radians-per-second
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#define DEG2RAD_f(deg) ((deg) * (float)(M_PI / 180.0))
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#define RAD2DEG_f(rad) ((rad) * (float)(180.0 / M_PI))
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#define RPM2RADPS_f(rpm) ((rpm) * (float)((2.0 * M_PI) / 60.0))
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#define RADPS2RPM_f(rad_per_sec) ((rad_per_sec) * (float)(60.0 / (2.0 * M_PI)))
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#ifndef MIN
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#define MIN(a,b) (((a)<(b))?(a):(b))
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#endif
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#ifndef MAX
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#define MAX(a,b) (((a)>(b))?(a):(b))
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#endif
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/**
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* A simple low pass filter.
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*
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* @param value
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* The filtered value.
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*
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* @param sample
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* Next sample.
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*
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* @param filter_constant
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* Filter constant. Range 0.0 to 1.0, where 1.0 gives the unfiltered value.
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*/
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#define UTILS_LP_FAST(value, sample, filter_constant) (value -= (filter_constant) * ((value) - (sample)))
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/**
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* A fast approximation of a moving average filter with N samples. See
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* https://en.wikipedia.org/wiki/Moving_average#Exponential_moving_average
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* https://en.wikipedia.org/wiki/Exponential_smoothing
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*
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* It is not entirely the same as it behaves like an IIR filter rather than a FIR filter, but takes
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* much less memory and is much faster to run.
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*/
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#define UTILS_LP_MOVING_AVG_APPROX(value, sample, N) UTILS_LP_FAST(value, sample, 2.0 / ((N) + 1.0))
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// Constants
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#define ONE_BY_SQRT3 (0.57735026919)
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#define TWO_BY_SQRT3 (2.0f * 0.57735026919)
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#define SQRT3_BY_2 (0.86602540378)
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#define COS_30_DEG (0.86602540378)
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#define SIN_30_DEG (0.5)
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#define COS_MINUS_30_DEG (0.86602540378)
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#define SIN_MINUS_30_DEG (-0.5)
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// Tables
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extern const float utils_tab_sin_32_1[];
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extern const float utils_tab_sin_32_2[];
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extern const float utils_tab_cos_32_1[];
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extern const float utils_tab_cos_32_2[];
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#endif /* UTILS_H_ */
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