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Posted to commits@nuttx.apache.org by GitBox <gi...@apache.org> on 2021/03/30 08:56:16 UTC
[GitHub] [incubator-nuttx] raiden00pl opened a new pull request #3244: Improvements for libdsp and support for fixed16 libdsp implementation
raiden00pl opened a new pull request #3244:
URL: https://github.com/apache/incubator-nuttx/pull/3244
## Summary
- libdsp: add _f32_ suffix to all libdsp data structures tht use float as a numerical type
- libdsp: introduce libdsp-specific debug assertion (LIBDSP_DEBUGASSERT)
- libs/libdsp/lib_transform.c: update descriptions
- libdsp/lib_svm.c: return not saturated output from modulator, the current corection now takes float as an arguments
- libdsp/lib_motor.c: remove maximum openloop speed limiter
- libs/libdsp/lib_motor.c: refactor
- libdsp/lib_pid.c: add anti-windup protection with decay coefficient and add interface to select anti-windup mechanism
- boards/arm/stm32/stm32f334-disco/src/stm32_smps.c: update according to the previous change in the PI controller
- libdsp/lib_foc.c: use better PI wind-up protection; add interface to run voltage controller without current controller; add separate interfaces to update base voltage and phase angle
- libdsp/lib_observer.c: optimize and add some comments
- include/dsp.h: add DIR_NONE definition
- libdsp/lib_motor.c: remove reference to some unused data
- libdsp: add Permanent Magnet Synchronous Motor (PMSM) model
- libdsp/Kconfig: move configuration to menuconfig, add option to include vabc in FOC data
- libdsp: add support for fixed16 libdsp
## Impact
## Testing
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[GitHub] [incubator-nuttx] davids5 commented on a change in pull request #3244: Improvements for libdsp and support for fixed16 libdsp implementation
Posted by GitBox <gi...@apache.org>.
davids5 commented on a change in pull request #3244:
URL: https://github.com/apache/incubator-nuttx/pull/3244#discussion_r604108359
##########
File path: include/dspb16.h
##########
@@ -0,0 +1,480 @@
+/****************************************************************************
+ * include/dspb16.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_DSPB16_H
+#define __INCLUDE_DSPB16_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/compiler.h>
+
+#include <stddef.h>
+#include <stdint.h>
+#include <string.h>
+#include <stdbool.h>
+#include <fixedmath.h>
+
+#include <assert.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Disable DEBUGASSERT macro if LIBDSP debug is not enabled */
+
+#ifdef CONFIG_LIBDSP_DEBUG
+# ifndef CONFIG_DEBUG_ASSERTIONS
+# warning "Need CONFIG_DEBUG_ASSERTIONS to work properly"
+# endif
+# define LIBDSP_DEBUGASSERT(x) DEBUGASSERT(x)
+#else
+# undef LIBDSP_DEBUGASSERT
+# define LIBDSP_DEBUGASSERT(x)
+#endif
+
+#ifndef CONFIG_LIBDSP_PRECISION
+# define CONFIG_LIBDSP_PRECISION 0
+#endif
+
+/* Phase rotation direction */
+
+#define DIR_NONE_B16 ftob16(0.0f)
+#define DIR_CW_B16 ftob16(1.0f)
+#define DIR_CCW_B16 ftob16(-1.0f)
+
+/* Some math constants ******************************************************/
+
+#define SQRT3_BY_TWO_B16 ftob16(0.866025f)
+#define SQRT3_BY_THREE_B16 ftob16(0.57735f)
+#define ONE_BY_SQRT3_B16 ftob16(0.57735f)
+#define TWO_BY_SQRT3_B16 ftob16(1.15470f)
+
+/* Some lib constants *******************************************************/
+
+/* Motor electrical angle is in range 0.0 to 2*PI */
+
+#define MOTOR_ANGLE_E_MAX_B16 (b16TWOPI)
+#define MOTOR_ANGLE_E_MIN_B16 (0)
+#define MOTOR_ANGLE_E_RANGE_B16 (MOTOR_ANGLE_E_MAX_B16 - MOTOR_ANGLE_E_MIN_B16)
+
+/* Motor mechanical angle is in range 0.0 to 2*PI */
+
+#define MOTOR_ANGLE_M_MAX_B16 (b16TWOPI)
+#define MOTOR_ANGLE_M_MIN_B16 (0)
+#define MOTOR_ANGLE_M_RANGE_B16 (MOTOR_ANGLE_M_MAX_B16 - MOTOR_ANGLE_M_MIN_B16)
+
+/* Some useful macros *******************************************************/
+
+/****************************************************************************
+ * Name: LP_FILTER_B16
+ *
+ * Description:
+ * Simple single-pole digital low pass filter:
+ * Y(n) = (1-beta)*Y(n-1) + beta*X(n) = (beta * (Y(n-1) - X(n)))
+ *
+ * filter - (0.0 - 1.0) where 1.0 gives unfiltered values
+ * filter = T * (2*PI) * f_c
+ *
+ * phase shift = -arctan(f_in/f_c)
+ *
+ * T - period at which the digital filter is being calculated
+ * f_in - input frequency of the filter
+ * f_c - cutoff frequency of the filter
+ *
+ * REFERENCE: https://www.embeddedrelated.com/showarticle/779.php
+ *
+ ****************************************************************************/
+
+#define LP_FILTER_B16(val, sample, filter) val -= (b16mulb16(filter, (val - sample)))
+
+/****************************************************************************
+ * Name: SVM3_BASE_VOLTAGE_GET_B16
+ *
+ * Description:
+ * Get maximum voltage for SVM3 without overmodulation
+ *
+ * Notes:
+ * max possible phase voltage for 3-phase power inwerter:
Review comment:
```suggestion
* max possible phase voltage for 3-phase power inverter:
```
##########
File path: libs/libdsp/Kconfig
##########
@@ -30,4 +30,7 @@ config LIBDSP_PRECISION
1 - a little better precision than above, but slowest
Review comment:
@raiden00pl - I know is is from the original, but can you add more context here? (above what????)
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[GitHub] [incubator-nuttx] raiden00pl commented on a change in pull request #3244: Improvements for libdsp and support for fixed16 libdsp implementation
Posted by GitBox <gi...@apache.org>.
raiden00pl commented on a change in pull request #3244:
URL: https://github.com/apache/incubator-nuttx/pull/3244#discussion_r604254627
##########
File path: include/dspb16.h
##########
@@ -0,0 +1,480 @@
+/****************************************************************************
+ * include/dspb16.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __INCLUDE_DSPB16_H
+#define __INCLUDE_DSPB16_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/compiler.h>
+
+#include <stddef.h>
+#include <stdint.h>
+#include <string.h>
+#include <stdbool.h>
+#include <fixedmath.h>
+
+#include <assert.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Disable DEBUGASSERT macro if LIBDSP debug is not enabled */
+
+#ifdef CONFIG_LIBDSP_DEBUG
+# ifndef CONFIG_DEBUG_ASSERTIONS
+# warning "Need CONFIG_DEBUG_ASSERTIONS to work properly"
+# endif
+# define LIBDSP_DEBUGASSERT(x) DEBUGASSERT(x)
+#else
+# undef LIBDSP_DEBUGASSERT
+# define LIBDSP_DEBUGASSERT(x)
+#endif
+
+#ifndef CONFIG_LIBDSP_PRECISION
+# define CONFIG_LIBDSP_PRECISION 0
+#endif
+
+/* Phase rotation direction */
+
+#define DIR_NONE_B16 ftob16(0.0f)
+#define DIR_CW_B16 ftob16(1.0f)
+#define DIR_CCW_B16 ftob16(-1.0f)
+
+/* Some math constants ******************************************************/
+
+#define SQRT3_BY_TWO_B16 ftob16(0.866025f)
+#define SQRT3_BY_THREE_B16 ftob16(0.57735f)
+#define ONE_BY_SQRT3_B16 ftob16(0.57735f)
+#define TWO_BY_SQRT3_B16 ftob16(1.15470f)
+
+/* Some lib constants *******************************************************/
+
+/* Motor electrical angle is in range 0.0 to 2*PI */
+
+#define MOTOR_ANGLE_E_MAX_B16 (b16TWOPI)
+#define MOTOR_ANGLE_E_MIN_B16 (0)
+#define MOTOR_ANGLE_E_RANGE_B16 (MOTOR_ANGLE_E_MAX_B16 - MOTOR_ANGLE_E_MIN_B16)
+
+/* Motor mechanical angle is in range 0.0 to 2*PI */
+
+#define MOTOR_ANGLE_M_MAX_B16 (b16TWOPI)
+#define MOTOR_ANGLE_M_MIN_B16 (0)
+#define MOTOR_ANGLE_M_RANGE_B16 (MOTOR_ANGLE_M_MAX_B16 - MOTOR_ANGLE_M_MIN_B16)
+
+/* Some useful macros *******************************************************/
+
+/****************************************************************************
+ * Name: LP_FILTER_B16
+ *
+ * Description:
+ * Simple single-pole digital low pass filter:
+ * Y(n) = (1-beta)*Y(n-1) + beta*X(n) = (beta * (Y(n-1) - X(n)))
+ *
+ * filter - (0.0 - 1.0) where 1.0 gives unfiltered values
+ * filter = T * (2*PI) * f_c
+ *
+ * phase shift = -arctan(f_in/f_c)
+ *
+ * T - period at which the digital filter is being calculated
+ * f_in - input frequency of the filter
+ * f_c - cutoff frequency of the filter
+ *
+ * REFERENCE: https://www.embeddedrelated.com/showarticle/779.php
+ *
+ ****************************************************************************/
+
+#define LP_FILTER_B16(val, sample, filter) val -= (b16mulb16(filter, (val - sample)))
+
+/****************************************************************************
+ * Name: SVM3_BASE_VOLTAGE_GET_B16
+ *
+ * Description:
+ * Get maximum voltage for SVM3 without overmodulation
+ *
+ * Notes:
+ * max possible phase voltage for 3-phase power inwerter:
Review comment:
done
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[GitHub] [incubator-nuttx] raiden00pl commented on pull request #3244: Improvements for libdsp and support for fixed16 libdsp implementation
Posted by GitBox <gi...@apache.org>.
raiden00pl commented on pull request #3244:
URL: https://github.com/apache/incubator-nuttx/pull/3244#issuecomment-811661288
CI failed on files not related to this PR. Other tests have passed, so it seems that PR is good for merge.
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[GitHub] [incubator-nuttx] xiaoxiang781216 merged pull request #3244: Improvements for libdsp and support for fixed16 libdsp implementation
Posted by GitBox <gi...@apache.org>.
xiaoxiang781216 merged pull request #3244:
URL: https://github.com/apache/incubator-nuttx/pull/3244
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[GitHub] [incubator-nuttx] raiden00pl commented on a change in pull request #3244: Improvements for libdsp and support for fixed16 libdsp implementation
Posted by GitBox <gi...@apache.org>.
raiden00pl commented on a change in pull request #3244:
URL: https://github.com/apache/incubator-nuttx/pull/3244#discussion_r604260731
##########
File path: libs/libdsp/Kconfig
##########
@@ -30,4 +30,7 @@ config LIBDSP_PRECISION
1 - a little better precision than above, but slowest
Review comment:
I updated this comment. Is it ok ?
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