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float/ipark.h
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1 /* --COPYRIGHT--,BSD
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3 * All rights reserved.
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32 #ifndef _IPARK_H_
33 #define _IPARK_H_
34
40
41
42 // **************************************************************************
43 // the includes
44 #ifdef __TMS320C28XX_CLA__
45 #include "sw/modules/math/src/float/CLAmath.h"
46 #else
47 #include <math.h>
48 #endif
49
50 // modules
51 #include "sw/modules/math/src/float/math.h"
52
53
58
59
60 // Include the algorithm overview defined in modules/<module>/docs/doxygen/doxygen.h
62
63
64 #ifdef __cplusplus
65 extern "C" {
66 #endif
67
68
69 // **************************************************************************
70 // the defines
71
72
73 // **************************************************************************
74 // the typedefs
75
78 typedef struct _IPARK_Obj_
79 {
80
81 float_t sinTh;
82 float_t cosTh;
83
84 } IPARK_Obj;
85
86
89 typedef struct _IPARK_Obj_ *IPARK_Handle;
90
91
92 // **************************************************************************
93 // the function prototypes
94
98 static inline float_t IPARK_getCosTh(IPARK_Handle handle)
99 {
100 IPARK_Obj *obj = (IPARK_Obj *)handle;
101
102 return(obj->cosTh);
103 } // end of IPARK_getCosTh() function
104
105
109 static inline void IPARK_getPhasor(IPARK_Handle handle,MATH_vec2 *pPhasor)
110 {
111 IPARK_Obj *obj = (IPARK_Obj *)handle;
112
113 pPhasor->value[0] = obj->cosTh;
114 pPhasor->value[1] = obj->sinTh;
115
116 return;
117 } // end of IPARK_getPhasor() function
118
119
123 static inline float_t IPARK_getSinTh(IPARK_Handle handle)
124 {
125 IPARK_Obj *obj = (IPARK_Obj *)handle;
126
127 return(obj->sinTh);
128 } // end of IPARK_getSinTh() function
129
130
135 extern IPARK_Handle IPARK_init(void *pMemory,const size_t numBytes);
136
137
142 #ifdef __TMS320C28XX_CLA__
143 #pragma FUNC_ALWAYS_INLINE(IPARK_run)
144 #endif
145 static inline void IPARK_run(IPARK_Handle handle,const MATH_vec2 *pInVec,MATH_vec2 *pOutVec)
146 {
147 IPARK_Obj *obj = (IPARK_Obj *)handle;
148
149 float_t sinTh = obj->sinTh;
150 float_t cosTh = obj->cosTh;
151
152 float_t value_0 = pInVec->value[0];
153 float_t value_1 = pInVec->value[1];
154
155 pOutVec->value[0] = (value_0 * cosTh) - (value_1 * sinTh);
156 pOutVec->value[1] = (value_1 * cosTh) + (value_0 * sinTh);
157
158 return;
159 } // end of IPARK_run() function
160
161
165 static inline void IPARK_setCosTh(IPARK_Handle handle,const float_t cosTh)
166 {
167 IPARK_Obj *obj = (IPARK_Obj *)handle;
168
169 obj->cosTh = cosTh;
170
171 return;
172 } // end of IPARK_setCosTh() function
173
174
178 static inline void IPARK_setPhasor(IPARK_Handle handle,const MATH_vec2 *pPhasor)
179 {
180 IPARK_Obj *obj = (IPARK_Obj *)handle;
181
182 obj->cosTh = pPhasor->value[0];
183 obj->sinTh = pPhasor->value[1];
184
185 return;
186 } // end of IPARK_setPhasor() function
187
188
192 static inline void IPARK_setSinTh(IPARK_Handle handle,const float_t sinTh)
193 {
194 IPARK_Obj *obj = (IPARK_Obj *)handle;
195
196 obj->sinTh = sinTh;
197
198 return;
199 } // end of IPARK_setSinTh() function
200
201
205 static inline void IPARK_setup(IPARK_Handle handle,const float_t Th)
206 {
207 IPARK_Obj *obj = (IPARK_Obj *)handle;
208
209 #ifdef __TMS320C28XX_CLA__
210 obj->sinTh = CLAsin_inline(Th);
211 obj->cosTh = CLAcos_inline(Th);
212 #else
213 obj->sinTh = (float_t)sin((double_t)Th);
214 obj->cosTh = (float_t)cos((double_t)Th);
215 #endif
216
217 return;
218 } // end of IPARK_setup() function
219
220
221 #ifdef __cplusplus
222 }
223 #endif // extern "C"
224
226 #endif // end of _IPARK_H_ definition
227
228
IPARK_Obj
struct _IPARK_Obj_ IPARK_Obj
Defines the IPARK object.
IPARK_init
IPARK_Handle IPARK_init(void *pMemory, const size_t numBytes)
Initializes the inverse Park transform module.
Definition: 32b/ipark.c:56
double_t
long double double_t
Defines the portable data type for 64 bit, signed floating-point data.
Definition: types.h:126
IPARK_getSinTh
static float_t IPARK_getSinTh(IPARK_Handle handle)
Gets the sine of the angle between the d,q and the alpha,beta coordinate systems. ...
Definition: float/ipark.h:123
_IPARK_Obj_::sinTh
float_t sinTh
the sine of the angle between the d,q and the alpha,beta coordinate systems
Definition: float/ipark.h:81
IPARK_setup
static void IPARK_setup(IPARK_Handle handle, const float_t Th)
Sets up the inverse Park transform module.
Definition: float/ipark.h:205
math.h
Contains the public interface to the math (MATH) module routines.
_MATH_vec2_
Defines a two element vector.
Definition: 32b/math.h:248
_IPARK_Obj_
Defines the IPARK object.
Definition: 32b/ipark.h:73
CLAmath.h
IPARK_getPhasor
static void IPARK_getPhasor(IPARK_Handle handle, MATH_vec2 *pPhasor)
Gets the cosine/sine phasor for the inverse Park transform.
Definition: float/ipark.h:109
_IPARK_Obj_::cosTh
_iq cosTh
the cosine of the angle between the d,q and the alpha,beta coordinate systems
Definition: 32b/ipark.h:77
_MATH_vec2_::value
_iq value[2]
Definition: 32b/math.h:251
IPARK_setPhasor
static void IPARK_setPhasor(IPARK_Handle handle, const MATH_vec2 *pPhasor)
Sets the cosine/sine phasor for the inverse Park transform.
Definition: float/ipark.h:178
IPARK_setCosTh
static void IPARK_setCosTh(IPARK_Handle handle, const float_t cosTh)
Sets the cosine of the angle between the d,q and the alpha,beta coordinate systems.
Definition: float/ipark.h:165
_IPARK_Obj_::sinTh
_iq sinTh
the sine of the angle between the d,q and the alpha,beta coordinate systems
Definition: 32b/ipark.h:76
_IPARK_Obj_::cosTh
float_t cosTh
the cosine of the angle between the d,q and the alpha,beta coordinate systems
Definition: float/ipark.h:82
IPARK_getCosTh
static float_t IPARK_getCosTh(IPARK_Handle handle)
Gets the cosine of the angle between the d,q and the alpha,beta coordinate systems.
Definition: float/ipark.h:98
IPARK_Handle
struct _IPARK_Obj_ * IPARK_Handle
Defines the IPARK handle.
Definition: float/ipark.h:89
IPARK_setSinTh
static void IPARK_setSinTh(IPARK_Handle handle, const float_t sinTh)
Sets the sine of the angle between the d,q and the alpha,beta coordinate systems. ...
Definition: float/ipark.h:192
IPARK_run
static void IPARK_run(IPARK_Handle handle, const MATH_vec2 *pInVec, MATH_vec2 *pOutVec)
Runs the inverse Park transform module.
Definition: float/ipark.h:145
float_t
float float_t
Defines the portable data type for 32 bit, signed floating-point data.
Definition: types.h:121