mirror of https://github.com/rusefi/bldc.git
112 lines
4.4 KiB
C
112 lines
4.4 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/>.
|
|
*/
|
|
|
|
#ifndef UTILS_H_
|
|
#define UTILS_H_
|
|
|
|
#include <stdbool.h>
|
|
#include <stdint.h>
|
|
|
|
void utils_step_towards(float *value, float goal, float step);
|
|
float utils_calc_ratio(float low, float high, float val);
|
|
void utils_norm_angle(float *angle);
|
|
void utils_norm_angle_rad(float *angle);
|
|
int utils_truncate_number(float *number, float min, float max);
|
|
int utils_truncate_number_int(int *number, int min, int max);
|
|
int utils_truncate_number_abs(float *number, float max);
|
|
float utils_map(float x, float in_min, float in_max, float out_min, float out_max);
|
|
int utils_map_int(int x, int in_min, int in_max, int out_min, int out_max);
|
|
void utils_deadband(float *value, float tres, float max);
|
|
float utils_angle_difference(float angle1, float angle2);
|
|
float utils_angle_difference_rad(float angle1, float angle2);
|
|
float utils_avg_angles_rad_fast(float *angles, float *weights, int angles_num);
|
|
float utils_middle_of_3(float a, float b, float c);
|
|
int utils_middle_of_3_int(int a, int b, int c);
|
|
float utils_fast_inv_sqrt(float x);
|
|
float utils_fast_atan2(float y, float x);
|
|
bool utils_saturate_vector_2d(float *x, float *y, float max);
|
|
void utils_fast_sincos(float angle, float *sin, float *cos);
|
|
void utils_fast_sincos_better(float angle, float *sin, float *cos);
|
|
float utils_min_abs(float va, float vb);
|
|
float utils_max_abs(float va, float vb);
|
|
void utils_byte_to_binary(int x, char *b);
|
|
float utils_throttle_curve(float val, float curve_acc, float curve_brake, int mode);
|
|
void utils_sys_lock_cnt(void);
|
|
void utils_sys_unlock_cnt(void);
|
|
uint32_t utils_crc32c(uint8_t *data, uint32_t len);
|
|
void utils_fft32_bin0(float *real_in, float *real, float *imag);
|
|
void utils_fft32_bin1(float *real_in, float *real, float *imag);
|
|
void utils_fft32_bin2(float *real_in, float *real, float *imag);
|
|
void utils_fft16_bin0(float *real_in, float *real, float *imag);
|
|
void utils_fft16_bin1(float *real_in, float *real, float *imag);
|
|
void utils_fft16_bin2(float *real_in, float *real, float *imag);
|
|
void utils_fft8_bin0(float *real_in, float *real, float *imag);
|
|
void utils_fft8_bin1(float *real_in, float *real, float *imag);
|
|
void utils_fft8_bin2(float *real_in, float *real, float *imag);
|
|
uint8_t utils_second_motor_id(void);
|
|
int utils_read_hall(bool is_second_motor);
|
|
float utils_batt_liion_norm_v_to_capacity(float norm_v);
|
|
uint16_t utils_median_filter_uint16_run(uint16_t *buffer,
|
|
unsigned int *buffer_index, unsigned int filter_len, uint16_t sample);
|
|
|
|
// Return the sign of the argument. -1 if negative, 1 if zero or positive.
|
|
#define SIGN(x) ((x < 0) ? -1 : 1)
|
|
|
|
// Squared
|
|
#define SQ(x) ((x) * (x))
|
|
|
|
// Return the age of a timestamp in seconds
|
|
#define UTILS_AGE_S(x) ((float)chVTTimeElapsedSinceX(x) / (float)CH_CFG_ST_FREQUENCY)
|
|
|
|
// nan and infinity check for floats
|
|
#define UTILS_IS_INF(x) ((x) == (1.0 / 0.0) || (x) == (-1.0 / 0.0))
|
|
#define UTILS_IS_NAN(x) ((x) != (x))
|
|
#define UTILS_NAN_ZERO(x) (x = UTILS_IS_NAN(x) ? 0.0 : x)
|
|
|
|
/**
|
|
* A simple low pass filter.
|
|
*
|
|
* @param value
|
|
* The filtered value.
|
|
*
|
|
* @param sample
|
|
* Next sample.
|
|
*
|
|
* @param filter_constant
|
|
* Filter constant. Range 0.0 to 1.0, where 1.0 gives the unfiltered value.
|
|
*/
|
|
#define UTILS_LP_FAST(value, sample, filter_constant) (value -= (filter_constant) * ((value) - (sample)))
|
|
|
|
// Constants
|
|
#define ONE_BY_SQRT3 (0.57735026919)
|
|
#define TWO_BY_SQRT3 (2.0f * 0.57735026919)
|
|
#define SQRT3_BY_2 (0.86602540378)
|
|
#define COS_30_DEG (0.86602540378)
|
|
#define SIN_30_DEG (0.5)
|
|
#define COS_MINUS_30_DEG (0.86602540378)
|
|
#define SIN_MINUS_30_DEG (-0.5)
|
|
|
|
// Tables
|
|
extern const float utils_tab_sin_32_1[];
|
|
extern const float utils_tab_sin_32_2[];
|
|
extern const float utils_tab_cos_32_1[];
|
|
extern const float utils_tab_cos_32_2[];
|
|
|
|
#endif /* UTILS_H_ */
|