You are viewing a plain text version of this content. The canonical link for it is here.
Posted to commits@nuttx.apache.org by ag...@apache.org on 2020/04/03 21:23:31 UTC
[incubator-nuttx-apps] branch master updated: examples/dsptest: fix
nxstyle issues
This is an automated email from the ASF dual-hosted git repository.
aguettouche pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
The following commit(s) were added to refs/heads/master by this push:
new dd95e35 examples/dsptest: fix nxstyle issues
dd95e35 is described below
commit dd95e35787f05b82d17d0c149cadbcfa3c66259f
Author: raiden00pl <ra...@gmail.com>
AuthorDate: Fri Apr 3 21:21:09 2020 +0200
examples/dsptest: fix nxstyle issues
---
examples/dsptest/test_foc.c | 2 +-
examples/dsptest/test_misc.c | 12 ++--
examples/dsptest/test_motor.c | 141 +++++++++++++++++++-------------------
examples/dsptest/test_observer.c | 27 +++++---
examples/dsptest/test_pid.c | 16 ++---
examples/dsptest/test_svm.c | 1 -
examples/dsptest/test_transform.c | 4 +-
7 files changed, 105 insertions(+), 98 deletions(-)
diff --git a/examples/dsptest/test_foc.c b/examples/dsptest/test_foc.c
index ccb454b..0c8f0c6 100644
--- a/examples/dsptest/test_foc.c
+++ b/examples/dsptest/test_foc.c
@@ -102,7 +102,7 @@ static void test_foc_init(void)
foc_vbase_update(&foc, 0.1);
- TEST_ASSERT_EQUAL_FLOAT(0.1, 1.0/foc.vab_mod_scale);
+ TEST_ASSERT_EQUAL_FLOAT(0.1, 1.0 / foc.vab_mod_scale);
TEST_ASSERT_EQUAL_FLOAT(0.1, foc.vdq_mag_max);
}
diff --git a/examples/dsptest/test_misc.c b/examples/dsptest/test_misc.c
index 2996f2b..62a5510 100644
--- a/examples/dsptest/test_misc.c
+++ b/examples/dsptest/test_misc.c
@@ -270,7 +270,7 @@ static void test_fast_sin(void)
/* Compare with LIBC sine */
- for(angle = 0.0; angle < 2*M_PI_F; angle += TEST_SINCOS_ANGLE_STEP)
+ for (angle = 0.0; angle < 2 * M_PI_F; angle += TEST_SINCOS_ANGLE_STEP)
{
s_ref = sinf(angle);
s = fast_sin(angle);
@@ -289,7 +289,7 @@ static void test_fast_cos(void)
/* Compare with LIBC cosine */
- for(angle = 0.0; angle < 2*M_PI_F; angle += TEST_SINCOS_ANGLE_STEP)
+ for (angle = 0.0; angle < 2 * M_PI_F; angle += TEST_SINCOS_ANGLE_STEP)
{
c_ref = cosf(angle);
c = fast_cos(angle);
@@ -308,7 +308,7 @@ static void test_fast_sin2(void)
/* Compare with LIBC sine */
- for(angle = 0.0; angle < 2*M_PI_F; angle += TEST_SINCOS2_ANGLE_STEP)
+ for (angle = 0.0; angle < 2 * M_PI_F; angle += TEST_SINCOS2_ANGLE_STEP)
{
s_ref = sinf(angle);
s = fast_sin2(angle);
@@ -327,7 +327,7 @@ static void test_fast_cos2(void)
/* Compare with LIBC cosine */
- for(angle = 0.0; angle < 2*M_PI_F; angle += TEST_SINCOS2_ANGLE_STEP)
+ for (angle = 0.0; angle < 2 * M_PI_F; angle += TEST_SINCOS2_ANGLE_STEP)
{
c_ref = cosf(angle);
c = fast_cos2(angle);
@@ -574,7 +574,7 @@ static void test_phase_angle_update(void)
c = ANGLE_COS(val);
phase_angle_update(&angle, val);
- TEST_ASSERT_EQUAL_FLOAT(val-2*M_PI_F, angle.angle);
+ TEST_ASSERT_EQUAL_FLOAT(val - 2 * M_PI_F, angle.angle);
TEST_ASSERT_EQUAL_FLOAT(s, angle.sin);
TEST_ASSERT_EQUAL_FLOAT(c, angle.cos);
@@ -585,7 +585,7 @@ static void test_phase_angle_update(void)
c = ANGLE_COS(val);
phase_angle_update(&angle, val);
- TEST_ASSERT_EQUAL_FLOAT(val+2*M_PI_F, angle.angle);
+ TEST_ASSERT_EQUAL_FLOAT(val + 2 * M_PI_F, angle.angle);
TEST_ASSERT_EQUAL_FLOAT(s, angle.sin);
TEST_ASSERT_EQUAL_FLOAT(c, angle.cos);
}
diff --git a/examples/dsptest/test_motor.c b/examples/dsptest/test_motor.c
index bf8a9bb..3dde2ae 100644
--- a/examples/dsptest/test_motor.c
+++ b/examples/dsptest/test_motor.c
@@ -155,7 +155,7 @@ static void test_openloop_many_steps(void)
/* Do some iterations in CW direction */
- for (i = 0; i < iter; i+=1)
+ for (i = 0; i < iter; i += 1)
{
motor_openloop(&op, speed, DIR_CW);
}
@@ -174,7 +174,7 @@ static void test_openloop_many_steps(void)
/* Do some iterations in CCW direction */
- for (i = 0; i < iter; i+=1)
+ for (i = 0; i < iter; i += 1)
{
motor_openloop(&op, speed, DIR_CCW);
}
@@ -218,7 +218,7 @@ static void test_openloop_normalize_angle(void)
/* Do many iterations to exceed 2PI range */
- for (i = 0; i < iter; i+=1)
+ for (i = 0; i < iter; i += 1)
{
motor_openloop(&op, speed, DIR_CW);
}
@@ -233,9 +233,9 @@ static void test_openloop_normalize_angle(void)
/* And normalize to <0.0, 2*PI> */
- while (expected > 2*M_PI_F)
+ while (expected > 2 * M_PI_F)
{
- expected -= 2*M_PI_F;
+ expected -= 2 * M_PI_F;
}
/* Test angle */
@@ -265,7 +265,7 @@ static void test_angle_init(void)
TEST_ASSERT_EQUAL_FLOAT(0.0, angle_e);
TEST_ASSERT_EQUAL_FLOAT(0.0, angle_m);
TEST_ASSERT_EQUAL_UINT8(p, angle.p);
- TEST_ASSERT_EQUAL_FLOAT((float)1.0/p, angle.one_by_p);
+ TEST_ASSERT_EQUAL_FLOAT((float)1.0 / p, angle.one_by_p);
TEST_ASSERT_EQUAL_INT8(0, angle.i);
}
@@ -313,7 +313,7 @@ static void test_angle_el_update_cw(void)
angle_step = 0.1;
expected_e = 0.1;
- expected_m = 0.1/p;
+ expected_m = 0.1 / p;
s = sin(expected_e);
c = cos(expected_e);
@@ -336,14 +336,14 @@ static void test_angle_el_update_cw(void)
angle_step = 2 * M_PI_F + 0.2;
expected_e = 0.2;
- expected_m = angle_step/p;
+ expected_m = angle_step / p;
s = sin(expected_e);
c = cos(expected_e);
/* Move in a few steps */
motor_angle_e_update(&angle, M_PI_F, DIR_CW);
- motor_angle_e_update(&angle, 2*M_PI_F, DIR_CW);
+ motor_angle_e_update(&angle, 2 * M_PI_F, DIR_CW);
motor_angle_e_update(&angle, 0.2, DIR_CW);
angle_m = motor_angle_m_get(&angle);
@@ -381,9 +381,9 @@ static void test_angle_el_update_ccw(void)
* We start from 0.0 and move angle CCW by 0.1.
*/
- angle_step = MOTOR_ANGLE_E_MAX-0.1;
+ angle_step = MOTOR_ANGLE_E_MAX - 0.1;
expected_e = angle_step;
- expected_m = (p-1)*MOTOR_ANGLE_M_MAX/p + expected_e/p;
+ expected_m = (p - 1) * MOTOR_ANGLE_M_MAX / p + expected_e / p;
s = sin(expected_e);
c = cos(expected_e);
@@ -397,22 +397,22 @@ static void test_angle_el_update_ccw(void)
TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
- TEST_ASSERT_EQUAL_INT8(p-1, angle.i);
+ TEST_ASSERT_EQUAL_INT8(p - 1, angle.i);
TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m);
/* Update electrical angle with 2PI+0.1 in CCW direction in three steps */
angle_step = (MOTOR_ANGLE_E_MAX + 0.1);
- expected_e = MOTOR_ANGLE_E_MAX-0.1;
- expected_m = (p-2)*MOTOR_ANGLE_M_MAX/p + expected_e/p;
+ expected_e = MOTOR_ANGLE_E_MAX - 0.1;
+ expected_m = (p - 2) * MOTOR_ANGLE_M_MAX / p + expected_e / p;
s = sin(expected_e);
c = cos(expected_e);
/* Move in a few steps */
- motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX-M_PI_F, DIR_CCW);
- motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX-2*M_PI_F, DIR_CCW);
- motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX-0.1, DIR_CCW);
+ motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX - M_PI_F, DIR_CCW);
+ motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX - 2 * M_PI_F, DIR_CCW);
+ motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX - 0.1, DIR_CCW);
angle_m = motor_angle_m_get(&angle);
angle_e = motor_angle_e_get(&angle);
@@ -422,7 +422,7 @@ static void test_angle_el_update_ccw(void)
TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
- TEST_ASSERT_EQUAL_INT8(p-2, angle.i);
+ TEST_ASSERT_EQUAL_INT8(p - 2, angle.i);
TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m);
}
@@ -451,7 +451,7 @@ static void test_angle_el_update_cw_overflow(void)
angle_step = 0.1;
expected_e = angle_step;
- expected_m = angle_step/p;
+ expected_m = angle_step / p;
s = sin(expected_e);
c = cos(expected_e);
@@ -467,7 +467,7 @@ static void test_angle_el_update_cw_overflow(void)
/* Test poles counter before final step */
- TEST_ASSERT_EQUAL_INT8(p-1, angle.i);
+ TEST_ASSERT_EQUAL_INT8(p - 1, angle.i);
/* One more step after overflow mechanical angle */
@@ -511,7 +511,7 @@ static void test_angle_el_update_ccw_overflow(void)
angle_step = 0.1;
expected_e = MOTOR_ANGLE_E_MAX - angle_step;
- expected_m = MOTOR_ANGLE_M_MAX - angle_step/p;
+ expected_m = MOTOR_ANGLE_M_MAX - angle_step / p;
s = sin(expected_e);
c = cos(expected_e);
@@ -572,7 +572,7 @@ static void test_angle_el_change_dir(void)
*/
angle_step = 0.1;
- expected_m = 4*MOTOR_ANGLE_M_MAX/p + angle_step/p;
+ expected_m = 4 * MOTOR_ANGLE_M_MAX / p + angle_step / p;
expected_e = 0.1;
s = sin(expected_e);
c = cos(expected_e);
@@ -609,7 +609,7 @@ static void test_angle_el_change_dir(void)
/* Now move angle backward 2*(2PI) + 0.1 */
angle_step = 0.1;
- expected_m = 2*MOTOR_ANGLE_M_MAX/p - angle_step/p;
+ expected_m = 2 * MOTOR_ANGLE_M_MAX / p - angle_step / p;
expected_e = MOTOR_ANGLE_E_MAX - angle_step;
s = sin(expected_e);
c = cos(expected_e);
@@ -630,7 +630,7 @@ static void test_angle_el_change_dir(void)
/* And rest 0.1 */
- motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX-angle_step, DIR_CCW);
+ motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX - angle_step, DIR_CCW);
angle_m = motor_angle_m_get(&angle);
angle_e = motor_angle_e_get(&angle);
@@ -646,7 +646,7 @@ static void test_angle_el_change_dir(void)
/* and again in forward direction 4*(2PI) + 0.1 */
angle_step = 0.1;
- expected_m = 5*MOTOR_ANGLE_M_MAX/p + angle_step/p;
+ expected_m = 5 * MOTOR_ANGLE_M_MAX / p + angle_step / p;
expected_e = 0.1;
s = sin(expected_e);
c = cos(expected_e);
@@ -725,7 +725,7 @@ static void test_angle_m_update_cw(void)
angle_step = 0.1;
expected_m = angle_step;
- expected_e = angle_step*p - 0*MOTOR_ANGLE_E_MAX/p;
+ expected_e = angle_step * p - 0*MOTOR_ANGLE_E_MAX / p;
s = sin(expected_e);
c = cos(expected_e);
@@ -744,18 +744,18 @@ static void test_angle_m_update_cw(void)
/* Update mechanical angle to get one electrical angle rotation + 0.1 */
- angle_step = MOTOR_ANGLE_M_MAX/p + 0.1;
+ angle_step = MOTOR_ANGLE_M_MAX / p + 0.1;
expected_m = angle_step;
- expected_e = angle_step*p - 1*MOTOR_ANGLE_E_MAX;
+ expected_e = angle_step * p - 1 * MOTOR_ANGLE_E_MAX;
s = sin(expected_e);
c = cos(expected_e);
/* Move in a few steps */
- motor_angle_m_update(&angle, angle_step/3, DIR_CW);
- motor_angle_m_update(&angle, 2*angle_step/3, DIR_CW);
- motor_angle_m_update(&angle, 3*angle_step/3, DIR_CW);
+ motor_angle_m_update(&angle, angle_step / 3, DIR_CW);
+ motor_angle_m_update(&angle, 2 * angle_step / 3, DIR_CW);
+ motor_angle_m_update(&angle, 3 * angle_step / 3, DIR_CW);
angle_m = motor_angle_m_get(&angle);
angle_e = motor_angle_e_get(&angle);
@@ -790,12 +790,13 @@ static void test_angle_m_update_ccw(void)
/* Update mechanical angle with 1.0
* For 8 poles, one electrical angle rotationa takes ~0.785.
- * So with angle step = 1.0 we have 1 electical angle rotation plus some rest.
+ * So with angle step = 1.0 we have 1 electical angle rotation plus
+ * some rest.
*/
angle_step = 1.0;
expected_m = angle_step;
- expected_e = angle_step*p - 1*MOTOR_ANGLE_E_MAX;
+ expected_e = angle_step * p - 1 * MOTOR_ANGLE_E_MAX;
s = sin(expected_e);
c = cos(expected_e);
@@ -814,17 +815,17 @@ static void test_angle_m_update_ccw(void)
/* Update mechanical angle to get one electrical angle rotation */
- angle_step = angle_step - MOTOR_ANGLE_E_MAX/p;
+ angle_step = angle_step - MOTOR_ANGLE_E_MAX / p;
expected_m = angle_step;
- expected_e = angle_step*p;
+ expected_e = angle_step * p;
s = sin(expected_e);
c = cos(expected_e);
/* Move in a few steps */
- motor_angle_m_update(&angle, angle_step/3, DIR_CCW);
- motor_angle_m_update(&angle, 2*angle_step/3, DIR_CCW);
- motor_angle_m_update(&angle, 3*angle_step/3, DIR_CCW);
+ motor_angle_m_update(&angle, angle_step / 3, DIR_CCW);
+ motor_angle_m_update(&angle, 2 * angle_step / 3, DIR_CCW);
+ motor_angle_m_update(&angle, 3 * angle_step / 3, DIR_CCW);
angle_m = motor_angle_m_get(&angle);
angle_e = motor_angle_e_get(&angle);
@@ -861,18 +862,18 @@ static void test_angle_m_update_cw_overflow(void)
angle_step = 0.1;
expected_m = angle_step;
- expected_e = 0*MOTOR_ANGLE_E_MAX/p + angle_step*p;
+ expected_e = 0 * MOTOR_ANGLE_E_MAX / p + angle_step * p;
s = sin(expected_e);
c = cos(expected_e);
/* Move in a few steps */
motor_angle_m_update(&angle, 0.0, DIR_CW);
- motor_angle_m_update(&angle, MOTOR_ANGLE_M_MAX/4, DIR_CW);
- motor_angle_m_update(&angle, 1*MOTOR_ANGLE_M_MAX/4, DIR_CW);
- motor_angle_m_update(&angle, 2*MOTOR_ANGLE_M_MAX/4, DIR_CW);
- motor_angle_m_update(&angle, 3*MOTOR_ANGLE_M_MAX/4, DIR_CW);
- motor_angle_m_update(&angle, 4*MOTOR_ANGLE_M_MAX/4, DIR_CW);
+ motor_angle_m_update(&angle, MOTOR_ANGLE_M_MAX / 4, DIR_CW);
+ motor_angle_m_update(&angle, 1 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
+ motor_angle_m_update(&angle, 2 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
+ motor_angle_m_update(&angle, 3 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
+ motor_angle_m_update(&angle, 4 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
motor_angle_m_update(&angle, angle_step, DIR_CW);
angle_m = motor_angle_m_get(&angle);
@@ -910,17 +911,17 @@ static void test_angle_m_update_ccw_overflow(void)
angle_step = MOTOR_ANGLE_M_MAX - 0.1;
expected_m = angle_step;
- expected_e = MOTOR_ANGLE_E_MAX - 0.1*p;
+ expected_e = MOTOR_ANGLE_E_MAX - 0.1 * p;
s = sin(expected_e);
c = cos(expected_e);
/* Move in a few steps */
motor_angle_m_update(&angle, 0.0, DIR_CCW);
- motor_angle_m_update(&angle, 4*MOTOR_ANGLE_M_MAX/4, DIR_CCW);
- motor_angle_m_update(&angle, 3*MOTOR_ANGLE_M_MAX/4, DIR_CCW);
- motor_angle_m_update(&angle, 2*MOTOR_ANGLE_M_MAX/4, DIR_CCW);
- motor_angle_m_update(&angle, 1*MOTOR_ANGLE_M_MAX/4, DIR_CCW);
+ motor_angle_m_update(&angle, 4 * MOTOR_ANGLE_M_MAX / 4, DIR_CCW);
+ motor_angle_m_update(&angle, 3 * MOTOR_ANGLE_M_MAX / 4, DIR_CCW);
+ motor_angle_m_update(&angle, 2 * MOTOR_ANGLE_M_MAX / 4, DIR_CCW);
+ motor_angle_m_update(&angle, 1 * MOTOR_ANGLE_M_MAX / 4, DIR_CCW);
motor_angle_m_update(&angle, angle_step, DIR_CCW);
angle_m = motor_angle_m_get(&angle);
@@ -932,7 +933,7 @@ static void test_angle_m_update_ccw_overflow(void)
TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
- TEST_ASSERT_EQUAL_INT8(p-1, angle.i);
+ TEST_ASSERT_EQUAL_INT8(p - 1, angle.i);
}
/* Update mechanical angle and change direction */
@@ -957,19 +958,19 @@ static void test_angle_m_change_dir(void)
/* Move mechanical angle by 3*(2PI)/4 in CW direction */
- angle_step = 3*MOTOR_ANGLE_M_MAX/4;
+ angle_step = 3 * MOTOR_ANGLE_M_MAX / 4;
expected_m = angle_step;
- expected_i = ((int)(angle_step*p/MOTOR_ANGLE_M_MAX));
- expected_e = angle_step*p - expected_i*MOTOR_ANGLE_E_MAX;
+ expected_i = ((int)(angle_step * p / MOTOR_ANGLE_M_MAX));
+ expected_e = angle_step * p - expected_i * MOTOR_ANGLE_E_MAX;
s = sin(expected_e);
c = cos(expected_e);
/* Move in a few steps */
motor_angle_m_update(&angle, 0.0, DIR_CW);
- motor_angle_m_update(&angle, 1*MOTOR_ANGLE_M_MAX/4, DIR_CW);
- motor_angle_m_update(&angle, 2*MOTOR_ANGLE_M_MAX/4, DIR_CW);
- motor_angle_m_update(&angle, 3*MOTOR_ANGLE_M_MAX/4, DIR_CW);
+ motor_angle_m_update(&angle, 1 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
+ motor_angle_m_update(&angle, 2 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
+ motor_angle_m_update(&angle, 3 * MOTOR_ANGLE_M_MAX / 4, DIR_CW);
angle_m = motor_angle_m_get(&angle);
angle_e = motor_angle_e_get(&angle);
@@ -984,15 +985,15 @@ static void test_angle_m_change_dir(void)
/* Move mechanical angle by 1.0 in CCW direction */
- angle_step = 3*MOTOR_ANGLE_M_MAX/4 - 2.0;
+ angle_step = 3 * MOTOR_ANGLE_M_MAX / 4 - 2.0;
expected_m = angle_step;
- expected_i = ((int)(angle_step*p/MOTOR_ANGLE_M_MAX));
- expected_e = angle_step*p - expected_i*MOTOR_ANGLE_E_MAX;
+ expected_i = ((int)(angle_step * p / MOTOR_ANGLE_M_MAX));
+ expected_e = angle_step * p - expected_i * MOTOR_ANGLE_E_MAX;
s = sin(expected_e);
c = cos(expected_e);
- motor_angle_m_update(&angle, 3*MOTOR_ANGLE_M_MAX/4-1.0, DIR_CCW);
- motor_angle_m_update(&angle, 3*MOTOR_ANGLE_M_MAX/4-2.0, DIR_CCW);
+ motor_angle_m_update(&angle, 3 * MOTOR_ANGLE_M_MAX / 4 - 1.0, DIR_CCW);
+ motor_angle_m_update(&angle, 3 * MOTOR_ANGLE_M_MAX / 4 - 2.0, DIR_CCW);
angle_m = motor_angle_m_get(&angle);
angle_e = motor_angle_e_get(&angle);
@@ -1032,19 +1033,19 @@ static void test_angle_m_el_mixed(void)
* rotations + 0.1 in CW direction
*/
- angle_step = 4*MOTOR_ANGLE_M_MAX/p + 0.1;
+ angle_step = 4 * MOTOR_ANGLE_M_MAX / p + 0.1;
expected_m = angle_step;
- expected_i = ((int)(angle_step*p/MOTOR_ANGLE_M_MAX));
- expected_e = angle_step*p - expected_i*MOTOR_ANGLE_E_MAX;
+ expected_i = ((int)(angle_step * p / MOTOR_ANGLE_M_MAX));
+ expected_e = angle_step * p - expected_i * MOTOR_ANGLE_E_MAX;
s = sin(expected_e);
c = cos(expected_e);
/* Move in a few steps */
motor_angle_m_update(&angle, 0.0, DIR_CW);
- motor_angle_m_update(&angle, MOTOR_ANGLE_M_MAX/p, DIR_CW);
- motor_angle_m_update(&angle, 4*MOTOR_ANGLE_M_MAX/p, DIR_CW);
- motor_angle_m_update(&angle, 4*MOTOR_ANGLE_M_MAX/p + 0.1, DIR_CW);
+ motor_angle_m_update(&angle, MOTOR_ANGLE_M_MAX / p, DIR_CW);
+ motor_angle_m_update(&angle, 4 * MOTOR_ANGLE_M_MAX / p, DIR_CW);
+ motor_angle_m_update(&angle, 4 * MOTOR_ANGLE_M_MAX / p + 0.1, DIR_CW);
angle_m = motor_angle_m_get(&angle);
angle_e = motor_angle_e_get(&angle);
@@ -1062,16 +1063,16 @@ static void test_angle_m_el_mixed(void)
* angle reduced by 2 electrical rotations.
*/
- angle_step = 2*MOTOR_ANGLE_E_MAX;
+ angle_step = 2 * MOTOR_ANGLE_E_MAX;
expected_i = expected_i - 2;
expected_e = expected_e;
- expected_m = expected_m - 2*MOTOR_ANGLE_M_MAX/p;
+ expected_m = expected_m - 2 * MOTOR_ANGLE_M_MAX / p;
s = sin(expected_e);
c = cos(expected_e);
/* Move angle in loop */
- for (i = 0; i < 2; i+=1)
+ for (i = 0; i < 2; i += 1)
{
for (a = expected_e ; a >= 0.0; a -= 0.1)
{
diff --git a/examples/dsptest/test_observer.c b/examples/dsptest/test_observer.c
index bfbd91c..fd9f746 100644
--- a/examples/dsptest/test_observer.c
+++ b/examples/dsptest/test_observer.c
@@ -82,7 +82,7 @@ static void test_observer_init(void)
struct motor_observer_s o;
float per = 1e-11;
- motor_observer_init(&o, (void*)&ao, (void*)&so, per);
+ motor_observer_init(&o, (void *)&ao, (void *)&so, per);
TEST_ASSERT_EQUAL_FLOAT(0.0, o.angle);
TEST_ASSERT_EQUAL_FLOAT(0.0, o.speed);
@@ -107,8 +107,8 @@ static void test_observer_smo_init(void)
TEST_ASSERT_EQUAL_FLOAT(kslide, ao.k_slide);
TEST_ASSERT_EQUAL_FLOAT(err_max, ao.err_max);
- TEST_ASSERT_EQUAL_FLOAT(0.0, ao.F_gain);
- TEST_ASSERT_EQUAL_FLOAT(0.0, ao.G_gain);
+ TEST_ASSERT_EQUAL_FLOAT(0.0, ao.F);
+ TEST_ASSERT_EQUAL_FLOAT(0.0, ao.G);
TEST_ASSERT_EQUAL_FLOAT(0.0, ao.emf_lp_filter1);
TEST_ASSERT_EQUAL_FLOAT(0.0, ao.emf_lp_filter2);
TEST_ASSERT_EQUAL_FLOAT(0.0, ao.emf.a);
@@ -133,14 +133,21 @@ static void test_observer_smo_zeros(void)
struct motor_observer_smo_s ao;
struct motor_observer_s o;
struct motor_phy_params_s phy;
- ab_frame_t i_ab = {0.0, 0.0};
- ab_frame_t v_ab = {0.0, 0.0};
+ ab_frame_t i_ab;
+ ab_frame_t v_ab;
float k_slide = 1.0;
float err_max = 1.0;
float per = 1e-6;
float angle = 0.0;
int i = 0;
+ /* Initialize ab frames */
+
+ i_ab.a = 0.0f;
+ i_ab.b = 0.0f;
+ v_ab.a = 0.0f;
+ v_ab.b = 0.0f;
+
/* Initialize motor physical parameters */
phy.p = 8;
@@ -164,7 +171,7 @@ static void test_observer_smo_zeros(void)
v_ab.a = 0.0;
v_ab.b = 0.0;
- for (i = 0; i< 1000000; i+=1)
+ for (i = 0; i < 1000000; i += 1)
{
motor_observer_smo(&o, &i_ab, &v_ab, &phy, DIR_CW);
}
@@ -175,7 +182,7 @@ static void test_observer_smo_zeros(void)
TEST_ASSERT_EQUAL_FLOAT(M_PI_F, angle);
- for (i = 0; i< 1000000; i+=1)
+ for (i = 0; i < 1000000; i += 1)
{
motor_observer_smo(&o, &i_ab, &v_ab, &phy, DIR_CCW);
}
@@ -237,7 +244,7 @@ static void test_sobserver_div_init(void)
motor_sobserver_div_init(&so, samples, filter, per);
TEST_ASSERT_EQUAL_FLOAT(filter, so.filter);
- TEST_ASSERT_EQUAL_FLOAT(1.0/(samples*per), so.one_by_dt);
+ TEST_ASSERT_EQUAL_FLOAT(1.0 / (samples * per), so.one_by_dt);
TEST_ASSERT_EQUAL_UINT8(samples, so.samples);
}
@@ -267,7 +274,7 @@ static void test_sobserver_div_zeros(void)
expected_s = 0.0;
- for(i = 0; i < 1000; i += 1)
+ for (i = 0; i < 1000; i += 1)
{
motor_sobserver_div(&o, 0.0, DIR_CW);
}
@@ -282,7 +289,7 @@ static void test_sobserver_div_zeros(void)
expected_s = 0.0;
- for(i = 0; i < 1000; i += 1)
+ for (i = 0; i < 1000; i += 1)
{
motor_sobserver_div(&o, 0.0, DIR_CCW);
}
diff --git a/examples/dsptest/test_pid.c b/examples/dsptest/test_pid.c
index e67f64c..d40fb20 100644
--- a/examples/dsptest/test_pid.c
+++ b/examples/dsptest/test_pid.c
@@ -116,7 +116,7 @@ static void test_pi_controller_zeros(void)
pid_saturation_set(&pi, min, max);
- for (i=0; i< 10000; i+=1)
+ for (i = 0; i < 10000; i += 1)
{
pi_controller(&pi, 0.0);
}
@@ -233,7 +233,7 @@ static void test_pi_controller_saturation(void)
/* Feed controller */
- for (i=0; i< 1000; i+=1)
+ for (i = 0; i < 1000; i += 1)
{
pi_controller(&pi, 0.01);
TEST_ASSERT_LESS_OR_EQUAL(max, pi.out);
@@ -242,7 +242,7 @@ static void test_pi_controller_saturation(void)
/* Feed controller */
- for (i=0; i< 1000; i+=1)
+ for (i = 0; i < 1000; i += 1)
{
pi_controller(&pi, -0.01);
TEST_ASSERT_GREATER_OR_EQUAL(min, pi.out);
@@ -271,7 +271,7 @@ static void test_pi_windup_protection(void)
/* Feed controller */
- for (i=0; i< 1000; i+=1)
+ for (i = 0; i < 1000; i += 1)
{
pi_controller(&pi, 0.01);
TEST_ASSERT_LESS_OR_EQUAL(max, pi.part[1]);
@@ -279,7 +279,7 @@ static void test_pi_windup_protection(void)
/* Feed controller */
- for (i=0; i< 1000; i+=1)
+ for (i = 0; i < 1000; i += 1)
{
pi_controller(&pi, -0.01);
TEST_ASSERT_GREATER_OR_EQUAL(min, pi.part[1]);
@@ -343,7 +343,7 @@ static void test_pid_controller_zeros(void)
pid_saturation_set(&pid, min, max);
- for (i=0; i< 10000; i+=1)
+ for (i = 0; i < 10000; i += 1)
{
pid_controller(&pid, 0.0);
}
@@ -469,7 +469,7 @@ static void test_pid_controller_saturation(void)
/* Feed controller */
- for (i=0; i< 1000; i+=1)
+ for (i = 0; i < 1000; i += 1)
{
pid_controller(&pid, 0.01);
TEST_ASSERT_LESS_OR_EQUAL(max, pid.out);
@@ -478,7 +478,7 @@ static void test_pid_controller_saturation(void)
/* Feed controller */
- for (i=0; i< 1000; i+=1)
+ for (i = 0; i < 1000; i += 1)
{
pid_controller(&pid, -0.01);
TEST_ASSERT_GREATER_OR_EQUAL(min, pid.out);
diff --git a/examples/dsptest/test_svm.c b/examples/dsptest/test_svm.c
index d96660f..72455dc 100644
--- a/examples/dsptest/test_svm.c
+++ b/examples/dsptest/test_svm.c
@@ -110,7 +110,6 @@ static void test_svm3_saturation(void)
TEST_ASSERT_EQUAL_FLOAT(SVM3_DUTY_MIN, s.d_w);
TEST_ASSERT_EQUAL_INT8(1, s.sector);
-
/* v_a = -1.0
* v_b = -1.0
* mag(v_ab) > 1.0 which is not valid for SVM
diff --git a/examples/dsptest/test_transform.c b/examples/dsptest/test_transform.c
index d315d7a..c7630b4 100644
--- a/examples/dsptest/test_transform.c
+++ b/examples/dsptest/test_transform.c
@@ -210,7 +210,7 @@ static void test_transform_park(void)
/* angle = -PI/2, alpha = 1.0, beta = 1.0 -> d = -1.0, q = 1.0 */
- phase_angle_update(&angle, -M_PI_F/2);
+ phase_angle_update(&angle, -M_PI_F / 2);
ab.a = 1.0;
ab.b = 1.0;
park_transform(&angle, &ab, &dq);
@@ -269,7 +269,7 @@ static void test_transform_invpark(void)
/* angle = -PI/2, d = 1.0, q = 1.0 -> alpha = 0.0, beta = 0.0 */
- phase_angle_update(&angle, -M_PI_F/2);
+ phase_angle_update(&angle, -M_PI_F / 2);
dq.d = 1.0;
dq.q = 1.0;
inv_park_transform(&angle, &dq, &ab);