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MotorWare f2806x Module API Documentation
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Modules | |
| Module overview | |
Data Structures | |
| struct | _MATH_vec2_ |
| Defines a two element vector. More... | |
| struct | _MATH_vec3_ |
| Defines a three element vector. More... | |
Macros | |
| #define | MATH_Nm_TO_lbin_SF (8.8507457913) |
| Defines conversion scale factor from N*m to lb*in. More... | |
| #define | MATH_FOUR_OVER_THREE (1.33333333333333333333333333333333) |
| Defines 4/3. More... | |
| #define | MATH_TWO_OVER_THREE (0.66666666666666666666666666666667) |
| Defines 2/3. More... | |
| #define | MATH_ONE_OVER_THREE (0.33333333333333333333333333333333) |
| Defines 1/3. More... | |
| #define | MATH_ONE_OVER_PI (0.318309886183791) |
| Defines 1/(pi) More... | |
| #define | MATH_ONE_OVER_SQRT_THREE (0.57735026918962576450914878050196) |
| Defines 1/sqrt(3) More... | |
| #define | MATH_ONE_OVER_FOUR_PI (0.07957747154594767) |
| Defines 1/(4*pi) More... | |
| #define | MATH_ONE_OVER_TWO_PI (0.1591549430918954) |
| Defines 1/(2*pi) More... | |
| #define | MATH_PI (3.1415926535897932384626433832795) |
| Defines pi. More... | |
| #define | MATH_PI_PU (0.5) |
| Defines pi per unit. More... | |
| #define | MATH_TWO_PI (6.283185307179586) |
| Defines 2*pi. More... | |
| #define | MATH_TWO_PI_PU (1.0) |
| Defines 2*pi per unit. More... | |
| #define | MATH_FOUR_PI (12.56637061435917) |
| Defines 4*pi. More... | |
| #define | MATH_FOUR_PI_PU (2.0) |
| Defines 4*pi per unit. More... | |
| #define | MATH_PI_OVER_TWO (1.570796326794897) |
| Defines pi/2. More... | |
| #define | MATH_PI_OVER_TWO_PU (0.25) |
| Defines pi/2 per unit. More... | |
| #define | MATH_PI_OVER_FOUR (0.785398163397448) |
| Defines pi/4. More... | |
| #define | MATH_PI_OVER_FOUR_PU (0.125) |
| Defines pi/4 per unit. More... | |
| #define | rshft(A, n) |
| #define | rshft_1(A) (((A) + 0x1)>>1) |
| #define | rshft_2(A) (((A) + 0x2)>>2) |
| #define | rshft_3(A) (((A) + 0x4)>>3) |
| #define | rshft_4(A) (((A) + 0x8)>>4) |
| #define | rshft_5(A) (((A) + 0x10)>>5) |
| #define | rshft_6(A) (((A) + 0x20)>>6) |
| #define | rshft_7(A) (((A) + 0x40)>>7) |
| #define | rshft_8(A) (((A) + 0x80)>>8) |
| #define | rshft_9(A) (((A) + 0x100)>>9) |
| #define | rshft_10(A) (((A) + 0x200)>>10) |
| #define | rshft_11(A) (((A) + 0x400)>>11) |
| #define | rshft_12(A) (((A) + 0x800)>>12) |
| #define | rshft_13(A) (((A) + 0x1000)>>13) |
| #define | rshft_14(A) (((A) + 0x2000)>>14) |
| #define | rshft_15(A) (((A) + 0x4000)>>15) |
| #define | rshft_16(A) (((A) + 0x8000)>>16) |
| #define | rshft_17(A) (((A) + 0x10000)>>17) |
| #define | rshft_18(A) (((A) + 0x20000)>>18) |
| #define | rshft_19(A) (((A) + 0x40000)>>19) |
| #define | rshft_20(A) (((A) + 0x80000)>>20) |
| #define | rshft_21(A) (((A) + 0x100000)>>21) |
| #define | rshft_22(A) (((A) + 0x200000)>>22) |
| #define | rshft_23(A) (((A) + 0x400000)>>23) |
| #define | rshft_24(A) (((A) + 0x800000)>>24) |
| #define | rshft_25(A) (((A) + 0x1000000)>>25) |
| #define | rshft_26(A) (((A) + 0x2000000)>>26) |
| #define | rshft_27(A) (((A) + 0x4000000)>>27) |
| #define | rshft_28(A) (((A) + 0x8000000)>>28) |
| #define | rshft_29(A) (((A) + 0x10000000)>>29) |
| #define | rshft_30(A) (((A) + 0x20000000)>>30) |
| #define | rshft_31(A) (((A) + 0x40000000)>>31) |
| #define | rshft_32(A) (((A) + 0x80000000)>>32) |
| #define | lshft(A, n) ((A)<<(n)) |
| #define | lshft_1(A) ((A)<<1) |
| #define | lshft_2(A) ((A)<<2) |
| #define | lshft_3(A) ((A)<<3) |
| #define | lshft_4(A) ((A)<<4) |
| #define | lshft_5(A) ((A)<<5) |
| #define | lshft_6(A) ((A)<<6) |
| #define | lshft_7(A) ((A)<<7) |
| #define | lshft_8(A) ((A)<<8) |
| #define | lshft_9(A) ((A)<<9) |
| #define | lshft_10(A) ((A)<<10) |
| #define | lshft_11(A) ((A)<<11) |
| #define | lshft_12(A) ((A)<<12) |
| #define | lshft_13(A) ((A)<<13) |
| #define | lshft_14(A) ((A)<<14) |
| #define | lshft_15(A) ((A)<<15) |
| #define | lshft_16(A) ((A)<<16) |
| #define | lshft_17(A) ((A)<<17) |
| #define | lshft_18(A) ((A)<<18) |
| #define | lshft_19(A) ((A)<<19) |
| #define | lshft_20(A) ((A)<<20) |
| #define | lshft_21(A) ((A)<<21) |
| #define | lshft_22(A) ((A)<<22) |
| #define | lshft_23(A) ((A)<<23) |
| #define | lshft_24(A) ((A)<<24) |
| #define | lshft_25(A) ((A)<<25) |
| #define | lshft_26(A) ((A)<<26) |
| #define | lshft_27(A) ((A)<<27) |
| #define | lshft_28(A) ((A)<<28) |
| #define | lshft_29(A) ((A)<<29) |
| #define | lshft_30(A) ((A)<<30) |
| #define | lshft_31(A) ((A)<<31) |
| #define | lshft_32(A) ((A)<<32) |
| #define | MATH_Nm_TO_lbin_SF ((float_t)(8.8507457913)) |
| Defines conversion scale factor from N*m to lb*in. More... | |
| #define | MATH_TWO_OVER_THREE ((float_t)(0.66666666666666666666666666666667)) |
| Defines 2/3. More... | |
| #define | MATH_ONE_OVER_THREE ((float_t)(0.33333333333333333333333333333333)) |
| Defines 1/3. More... | |
| #define | MATH_ONE_OVER_PI ((float_t)(0.318309886183791)) |
| Defines 1/(pi) More... | |
| #define | MATH_ONE_OVER_SQRT_THREE ((float_t)(0.57735026918962576450914878050196)) |
| Defines 1/sqrt(3) More... | |
| #define | MATH_ONE_OVER_FOUR_PI ((float_t)(0.07957747154594767)) |
| Defines 1/(4*pi) More... | |
| #define | MATH_ONE_OVER_TWO_PI ((float_t) (0.1591549430918954)) |
| Defines 1/(2*pi) More... | |
| #define | MATH_PI ((float_t)(3.1415926535897932384626433832795)) |
| Defines pi. More... | |
| #define | MATH_PI_PU ((float_t)(0.5)) |
| Defines pi per unit. More... | |
| #define | MATH_TWO_PI ((float_t)(6.283185307179586)) |
| Defines 2*pi. More... | |
| #define | MATH_TWO_PI_PU ((float_t)(1.0)) |
| Defines 2*pi per unit. More... | |
| #define | MATH_FOUR_PI ((float_t)(12.56637061435917)) |
| Defines 4*pi. More... | |
| #define | MATH_FOUR_PI_PU ((float_t)(2.0)) |
| Defines 4*pi per unit. More... | |
| #define | MATH_PI_OVER_TWO ((float_t)(1.570796326794897)) |
| Defines pi/2. More... | |
| #define | MATH_PI_OVER_TWO_PU ((float_t)(0.25)) |
| Defines pi/2 per unit. More... | |
| #define | MATH_PI_OVER_FOUR ((float_t)(0.785398163397448)) |
| Defines pi/4. More... | |
| #define | MATH_PI_OVER_FOUR_PU ((float_t)(0.125)) |
| Defines pi/4 per unit. More... | |
Typedefs | |
| typedef struct _MATH_vec2_ | MATH_vec2 |
| Defines a two element vector. More... | |
| typedef struct _MATH_vec3_ | MATH_vec3 |
| Defines a three element vector. More... | |
| typedef struct _MATH_vec2_ | MATH_vec2 |
| Defines a two element vector. More... | |
| typedef struct _MATH_vec3_ | MATH_vec3 |
| Defines a three element vector. More... | |
Functions | |
| static float_t | MATH_abs (const float_t in) |
| Finds the absolute value. More... | |
| static float_t | MATH_incrAngle (const float_t angle_rad, const float_t angleDelta_rad) |
| Increments an angle value and handles wrap-around. More... | |
| static float_t | MATH_sat (const float_t in, const float_t max, const float_t min) |
| Saturates the input value between the minimum and maximum values. More... | |
| struct _MATH_vec2_ |
Defines a two element vector.
Definition at line 248 of file 32b/math.h.
| Data Fields | ||
|---|---|---|
| float_t | value[2] | |
| _iq | value[2] | |
| struct _MATH_vec3_ |
Defines a three element vector.
Definition at line 258 of file 32b/math.h.
| Data Fields | ||
|---|---|---|
| float_t | value[3] | |
| _iq | value[3] | |
| #define lshft | ( | A, | |
| n | |||
| ) | ((A)<<(n)) |
Definition at line 207 of file 32b/math.h.
| #define lshft_1 | ( | A | ) | ((A)<<1) |
Definition at line 209 of file 32b/math.h.
Referenced by CLARKE_run().
| #define lshft_10 | ( | A | ) | ((A)<<10) |
Definition at line 218 of file 32b/math.h.
| #define lshft_11 | ( | A | ) | ((A)<<11) |
Definition at line 219 of file 32b/math.h.
| #define lshft_12 | ( | A | ) | ((A)<<12) |
Definition at line 220 of file 32b/math.h.
| #define lshft_13 | ( | A | ) | ((A)<<13) |
Definition at line 221 of file 32b/math.h.
| #define lshft_14 | ( | A | ) | ((A)<<14) |
Definition at line 222 of file 32b/math.h.
| #define lshft_15 | ( | A | ) | ((A)<<15) |
Definition at line 223 of file 32b/math.h.
| #define lshft_16 | ( | A | ) | ((A)<<16) |
Definition at line 224 of file 32b/math.h.
| #define lshft_17 | ( | A | ) | ((A)<<17) |
Definition at line 225 of file 32b/math.h.
| #define lshft_18 | ( | A | ) | ((A)<<18) |
Definition at line 226 of file 32b/math.h.
| #define lshft_19 | ( | A | ) | ((A)<<19) |
Definition at line 227 of file 32b/math.h.
| #define lshft_2 | ( | A | ) | ((A)<<2) |
Definition at line 210 of file 32b/math.h.
| #define lshft_20 | ( | A | ) | ((A)<<20) |
Definition at line 228 of file 32b/math.h.
| #define lshft_21 | ( | A | ) | ((A)<<21) |
Definition at line 229 of file 32b/math.h.
| #define lshft_22 | ( | A | ) | ((A)<<22) |
Definition at line 230 of file 32b/math.h.
| #define lshft_23 | ( | A | ) | ((A)<<23) |
Definition at line 231 of file 32b/math.h.
| #define lshft_24 | ( | A | ) | ((A)<<24) |
Definition at line 232 of file 32b/math.h.
| #define lshft_25 | ( | A | ) | ((A)<<25) |
Definition at line 233 of file 32b/math.h.
| #define lshft_26 | ( | A | ) | ((A)<<26) |
Definition at line 234 of file 32b/math.h.
| #define lshft_27 | ( | A | ) | ((A)<<27) |
Definition at line 235 of file 32b/math.h.
| #define lshft_28 | ( | A | ) | ((A)<<28) |
Definition at line 236 of file 32b/math.h.
| #define lshft_29 | ( | A | ) | ((A)<<29) |
Definition at line 237 of file 32b/math.h.
| #define lshft_3 | ( | A | ) | ((A)<<3) |
Definition at line 211 of file 32b/math.h.
| #define lshft_30 | ( | A | ) | ((A)<<30) |
Definition at line 238 of file 32b/math.h.
| #define lshft_31 | ( | A | ) | ((A)<<31) |
Definition at line 239 of file 32b/math.h.
| #define lshft_32 | ( | A | ) | ((A)<<32) |
Definition at line 240 of file 32b/math.h.
| #define lshft_4 | ( | A | ) | ((A)<<4) |
Definition at line 212 of file 32b/math.h.
| #define lshft_5 | ( | A | ) | ((A)<<5) |
Definition at line 213 of file 32b/math.h.
| #define lshft_6 | ( | A | ) | ((A)<<6) |
Definition at line 214 of file 32b/math.h.
| #define lshft_7 | ( | A | ) | ((A)<<7) |
Definition at line 215 of file 32b/math.h.
| #define lshft_8 | ( | A | ) | ((A)<<8) |
Definition at line 216 of file 32b/math.h.
| #define lshft_9 | ( | A | ) | ((A)<<9) |
Definition at line 217 of file 32b/math.h.
| #define MATH_FOUR_OVER_THREE (1.33333333333333333333333333333333) |
Defines 4/3.
Definition at line 73 of file 32b/math.h.
| #define MATH_FOUR_PI ((float_t)(12.56637061435917)) |
Defines 4*pi.
Definition at line 111 of file float/math.h.
| #define MATH_FOUR_PI (12.56637061435917) |
Defines 4*pi.
Definition at line 117 of file 32b/math.h.
| #define MATH_FOUR_PI_PU ((float_t)(2.0)) |
Defines 4*pi per unit.
Definition at line 115 of file float/math.h.
| #define MATH_FOUR_PI_PU (2.0) |
Defines 4*pi per unit.
Definition at line 121 of file 32b/math.h.
| #define MATH_Nm_TO_lbin_SF ((float_t)(8.8507457913)) |
Defines conversion scale factor from N*m to lb*in.
Definition at line 67 of file float/math.h.
| #define MATH_Nm_TO_lbin_SF (8.8507457913) |
Defines conversion scale factor from N*m to lb*in.
Definition at line 69 of file 32b/math.h.
Referenced by USER_computeTorque_lbin().
| #define MATH_ONE_OVER_FOUR_PI ((float_t)(0.07957747154594767)) |
Defines 1/(4*pi)
Definition at line 87 of file float/math.h.
| #define MATH_ONE_OVER_FOUR_PI (0.07957747154594767) |
Defines 1/(4*pi)
Definition at line 93 of file 32b/math.h.
| #define MATH_ONE_OVER_PI ((float_t)(0.318309886183791)) |
Defines 1/(pi)
Definition at line 79 of file float/math.h.
| #define MATH_ONE_OVER_PI (0.318309886183791) |
Defines 1/(pi)
Definition at line 85 of file 32b/math.h.
| #define MATH_ONE_OVER_SQRT_THREE ((float_t)(0.57735026918962576450914878050196)) |
Defines 1/sqrt(3)
Definition at line 83 of file float/math.h.
| #define MATH_ONE_OVER_SQRT_THREE (0.57735026918962576450914878050196) |
Defines 1/sqrt(3)
Definition at line 89 of file 32b/math.h.
Referenced by CTRL_setupClarke_I(), and CTRL_setupClarke_V().
| #define MATH_ONE_OVER_THREE ((float_t)(0.33333333333333333333333333333333)) |
Defines 1/3.
Definition at line 75 of file float/math.h.
| #define MATH_ONE_OVER_THREE (0.33333333333333333333333333333333) |
Defines 1/3.
Definition at line 81 of file 32b/math.h.
Referenced by CTRL_setupClarke_I(), and CTRL_setupClarke_V().
| #define MATH_ONE_OVER_TWO_PI ((float_t) (0.1591549430918954)) |
Defines 1/(2*pi)
Definition at line 91 of file float/math.h.
| #define MATH_ONE_OVER_TWO_PI (0.1591549430918954) |
Defines 1/(2*pi)
Definition at line 97 of file 32b/math.h.
| #define MATH_PI ((float_t)(3.1415926535897932384626433832795)) |
| #define MATH_PI (3.1415926535897932384626433832795) |
Defines pi.
Definition at line 101 of file 32b/math.h.
Referenced by USER_checkForErrors(), USER_computeFlux_pu_to_Wb_sf(), and USER_computeTorque_Flux_Iq_pu_to_Nm_sf().
| #define MATH_PI_OVER_FOUR ((float_t)(0.785398163397448)) |
Defines pi/4.
Definition at line 127 of file float/math.h.
| #define MATH_PI_OVER_FOUR (0.785398163397448) |
Defines pi/4.
Definition at line 133 of file 32b/math.h.
| #define MATH_PI_OVER_FOUR_PU ((float_t)(0.125)) |
Defines pi/4 per unit.
Definition at line 131 of file float/math.h.
| #define MATH_PI_OVER_FOUR_PU (0.125) |
Defines pi/4 per unit.
Definition at line 137 of file 32b/math.h.
| #define MATH_PI_OVER_TWO ((float_t)(1.570796326794897)) |
Defines pi/2.
Definition at line 119 of file float/math.h.
| #define MATH_PI_OVER_TWO (1.570796326794897) |
Defines pi/2.
Definition at line 125 of file 32b/math.h.
| #define MATH_PI_OVER_TWO_PU ((float_t)(0.25)) |
Defines pi/2 per unit.
Definition at line 123 of file float/math.h.
| #define MATH_PI_OVER_TWO_PU (0.25) |
Defines pi/2 per unit.
Definition at line 129 of file 32b/math.h.
| #define MATH_PI_PU ((float_t)(0.5)) |
Defines pi per unit.
Definition at line 99 of file float/math.h.
| #define MATH_PI_PU (0.5) |
Defines pi per unit.
Definition at line 105 of file 32b/math.h.
| #define MATH_TWO_OVER_THREE ((float_t)(0.66666666666666666666666666666667)) |
Defines 2/3.
Definition at line 71 of file float/math.h.
| #define MATH_TWO_OVER_THREE (0.66666666666666666666666666666667) |
| #define MATH_TWO_PI ((float_t)(6.283185307179586)) |
| #define MATH_TWO_PI (6.283185307179586) |
Defines 2*pi.
Definition at line 109 of file 32b/math.h.
Referenced by CTRL_setParams(), and USER_setParams().
| #define MATH_TWO_PI_PU ((float_t)(1.0)) |
Defines 2*pi per unit.
Definition at line 107 of file float/math.h.
| #define MATH_TWO_PI_PU (1.0) |
Defines 2*pi per unit.
Definition at line 113 of file 32b/math.h.
| #define rshft | ( | A, | |
| n | |||
| ) |
Definition at line 140 of file 32b/math.h.
| #define rshft_1 | ( | A | ) | (((A) + 0x1)>>1) |
Definition at line 174 of file 32b/math.h.
| #define rshft_10 | ( | A | ) | (((A) + 0x200)>>10) |
Definition at line 183 of file 32b/math.h.
| #define rshft_11 | ( | A | ) | (((A) + 0x400)>>11) |
Definition at line 184 of file 32b/math.h.
| #define rshft_12 | ( | A | ) | (((A) + 0x800)>>12) |
Definition at line 185 of file 32b/math.h.
| #define rshft_13 | ( | A | ) | (((A) + 0x1000)>>13) |
Definition at line 186 of file 32b/math.h.
| #define rshft_14 | ( | A | ) | (((A) + 0x2000)>>14) |
Definition at line 187 of file 32b/math.h.
| #define rshft_15 | ( | A | ) | (((A) + 0x4000)>>15) |
Definition at line 188 of file 32b/math.h.
| #define rshft_16 | ( | A | ) | (((A) + 0x8000)>>16) |
Definition at line 189 of file 32b/math.h.
| #define rshft_17 | ( | A | ) | (((A) + 0x10000)>>17) |
Definition at line 190 of file 32b/math.h.
| #define rshft_18 | ( | A | ) | (((A) + 0x20000)>>18) |
Definition at line 191 of file 32b/math.h.
| #define rshft_19 | ( | A | ) | (((A) + 0x40000)>>19) |
Definition at line 192 of file 32b/math.h.
| #define rshft_2 | ( | A | ) | (((A) + 0x2)>>2) |
Definition at line 175 of file 32b/math.h.
| #define rshft_20 | ( | A | ) | (((A) + 0x80000)>>20) |
Definition at line 193 of file 32b/math.h.
| #define rshft_21 | ( | A | ) | (((A) + 0x100000)>>21) |
Definition at line 194 of file 32b/math.h.
| #define rshft_22 | ( | A | ) | (((A) + 0x200000)>>22) |
Definition at line 195 of file 32b/math.h.
| #define rshft_23 | ( | A | ) | (((A) + 0x400000)>>23) |
Definition at line 196 of file 32b/math.h.
| #define rshft_24 | ( | A | ) | (((A) + 0x800000)>>24) |
Definition at line 197 of file 32b/math.h.
| #define rshft_25 | ( | A | ) | (((A) + 0x1000000)>>25) |
Definition at line 198 of file 32b/math.h.
| #define rshft_26 | ( | A | ) | (((A) + 0x2000000)>>26) |
Definition at line 199 of file 32b/math.h.
| #define rshft_27 | ( | A | ) | (((A) + 0x4000000)>>27) |
Definition at line 200 of file 32b/math.h.
| #define rshft_28 | ( | A | ) | (((A) + 0x8000000)>>28) |
Definition at line 201 of file 32b/math.h.
| #define rshft_29 | ( | A | ) | (((A) + 0x10000000)>>29) |
Definition at line 202 of file 32b/math.h.
| #define rshft_3 | ( | A | ) | (((A) + 0x4)>>3) |
Definition at line 176 of file 32b/math.h.
| #define rshft_30 | ( | A | ) | (((A) + 0x20000000)>>30) |
Definition at line 203 of file 32b/math.h.
| #define rshft_31 | ( | A | ) | (((A) + 0x40000000)>>31) |
Definition at line 204 of file 32b/math.h.
| #define rshft_32 | ( | A | ) | (((A) + 0x80000000)>>32) |
Definition at line 205 of file 32b/math.h.
| #define rshft_4 | ( | A | ) | (((A) + 0x8)>>4) |
Definition at line 177 of file 32b/math.h.
| #define rshft_5 | ( | A | ) | (((A) + 0x10)>>5) |
Definition at line 178 of file 32b/math.h.
| #define rshft_6 | ( | A | ) | (((A) + 0x20)>>6) |
Definition at line 179 of file 32b/math.h.
| #define rshft_7 | ( | A | ) | (((A) + 0x40)>>7) |
Definition at line 180 of file 32b/math.h.
| #define rshft_8 | ( | A | ) | (((A) + 0x80)>>8) |
Definition at line 181 of file 32b/math.h.
| #define rshft_9 | ( | A | ) | (((A) + 0x100)>>9) |
Definition at line 182 of file 32b/math.h.
| typedef struct _MATH_vec2_ MATH_vec2 |
Defines a two element vector.
| typedef struct _MATH_vec2_ MATH_vec2 |
Defines a two element vector.
| typedef struct _MATH_vec3_ MATH_vec3 |
Defines a three element vector.
| typedef struct _MATH_vec3_ MATH_vec3 |
Defines a three element vector.
Finds the absolute value.
| [in] | in | The input value |
Definition at line 164 of file float/math.h.
|
inlinestatic |
Increments an angle value and handles wrap-around.
| [in] | angle_rad | The angle value, rad |
| [in] | angleDelta_rad | The angle increment value, rad |
Definition at line 185 of file float/math.h.
References MATH_PI, and MATH_TWO_PI.
Saturates the input value between the minimum and maximum values.
| [in] | in | The input value |
| [in] | max | The maximum value allowed |
| [in] | min | The minimum value allowed |
Definition at line 218 of file float/math.h.
Referenced by HAL_writeDacData(), HAL_writePwmData(), PI_run_parallel(), PI_run_series(), PID_run_parallel(), PID_run_series(), and TRAJ_run().
1.8.9.1