351 lines
8.9 KiB
C
351 lines
8.9 KiB
C
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/****************************************************************************
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* examples/dsptest/test_observer.c
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*
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* Copyright (C) 2018 Gregory Nutt. All rights reserved.
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* Author: Mateusz Szafoni <raiden00@railab.me>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include "dsptest.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/* Dummy angle observer */
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struct motor_observer_dummy_s
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{
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float x;
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};
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/* Dummy speed observer */
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struct motor_sobserver_dummy_s
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{
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float x;
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};
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/****************************************************************************
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* Private Function Protototypes
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/* Initialize observer data */
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static void test_observer_init(void)
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{
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struct motor_observer_dummy_s ao;
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struct motor_sobserver_dummy_s so;
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struct motor_observer_s o;
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float per = 1e-11;
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motor_observer_init(&o, (void*)&ao, (void*)&so, per);
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TEST_ASSERT_EQUAL_FLOAT(0.0, o.angle);
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TEST_ASSERT_EQUAL_FLOAT(0.0, o.speed);
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TEST_ASSERT_EQUAL_FLOAT(per, o.per);
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TEST_ASSERT_NOT_NULL(o.ao);
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TEST_ASSERT_NOT_NULL(o.so);
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}
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/* Initialize SMO observer data */
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static void test_observer_smo_init(void)
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{
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struct motor_observer_smo_s ao;
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float kslide = 0.99;
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float err_max = 0.99;
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/* Initialize SMO observer */
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motor_observer_smo_init(&ao, kslide, err_max);
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(kslide, ao.k_slide);
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TEST_ASSERT_EQUAL_FLOAT(err_max, ao.err_max);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.F_gain);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.G_gain);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.emf_lp_filter1);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.emf_lp_filter2);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.emf.a);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.emf.b);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.z.a);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.z.b);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.i_est.a);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.i_est.b);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.v_err.a);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.v_err.b);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.i_err.a);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.i_err.b);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.sign.a);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ao.sign.b);
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}
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/* Feed SMO observer with zeros */
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static void test_observer_smo_zeros(void)
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{
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struct motor_sobserver_dummy_s so;
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struct motor_observer_smo_s ao;
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struct motor_observer_s o;
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struct motor_phy_params_s phy;
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ab_frame_t i_ab = {0.0, 0.0};
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ab_frame_t v_ab = {0.0, 0.0};
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float k_slide = 1.0;
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float err_max = 1.0;
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float per = 1e-6;
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float angle = 0.0;
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int i = 0;
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/* Initialize motor physical parameters */
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phy.p = 8;
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phy.res = 0.001;
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phy.ind = 10e-6;
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/* Initialize SMO angle observer */
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motor_observer_smo_init(&ao, k_slide, err_max);
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/* Initialize observer */
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motor_observer_init(&o, &ao, &so, per);
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/* Feed SMO observer with zeros. This should return
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* angle equal to observer phase shift (direction * PI)
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*/
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i_ab.a = 0.0;
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i_ab.b = 0.0;
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v_ab.a = 0.0;
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v_ab.b = 0.0;
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for (i = 0; i< 1000000; i+=1)
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{
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motor_observer_smo(&o, &i_ab, &v_ab, &phy, DIR_CW);
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}
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angle = motor_observer_angle_get(&o);
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(M_PI_F, angle);
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for (i = 0; i< 1000000; i+=1)
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{
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motor_observer_smo(&o, &i_ab, &v_ab, &phy, DIR_CCW);
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}
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angle = motor_observer_angle_get(&o);
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/* Test. NOTE: -M_PI_F normalised = 0.0 */
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TEST_ASSERT_FLOAT_WITHIN(5e-6, 0.0, angle);
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}
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/* Feed SMO in CW direction */
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static void test_observer_smo_cw(void)
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{
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/* TODO */
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TEST_FAIL_MESSAGE("not implemented");
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}
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/* Feed SMO in CCW direction */
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static void test_observer_smo_ccw(void)
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{
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/* TODO */
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TEST_FAIL_MESSAGE("not implemented");
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}
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/* SMO observer in linear region */
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static void test_observer_smo_linear(void)
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{
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/* TODO */
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TEST_FAIL_MESSAGE("not implemented");
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}
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/* SMO observer gain saturation */
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static void test_observer_smo_gain_saturate(void)
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{
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/* TODO */
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TEST_FAIL_MESSAGE("not implemented");
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}
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/* DIV speed observer initialization */
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static void test_sobserver_div_init(void)
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{
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struct motor_sobserver_div_s so;
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uint8_t samples = 10;
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float filter = 0.1;
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float per = 10e-6;
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/* Initialize DIV speed observer */
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motor_sobserver_div_init(&so, samples, filter, per);
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TEST_ASSERT_EQUAL_FLOAT(filter, so.filter);
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TEST_ASSERT_EQUAL_FLOAT(1.0/(samples*per), so.one_by_dt);
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TEST_ASSERT_EQUAL_UINT8(samples, so.samples);
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}
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/* Feed DIV speed observer with zeros */
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static void test_sobserver_div_zeros(void)
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{
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struct motor_sobserver_div_s so;
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struct motor_observer_s o;
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struct motor_observer_dummy_s ao;
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uint8_t samples = 10;
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float filter = 0.1;
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int i = 0;
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float expected_s = 0.0;
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float speed = 0.0;
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float per = 1e-6;
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/* Initialize DIV speed observer */
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motor_sobserver_div_init(&so, samples, filter, per);
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/* Initialize observer */
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motor_observer_init(&o, &ao, &so, per);
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/* Feed observer with zeros in CW direction */
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expected_s = 0.0;
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for(i = 0; i < 1000; i += 1)
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{
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motor_sobserver_div(&o, 0.0, DIR_CW);
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}
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speed = motor_observer_speed_get(&o);
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected_s, speed);
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/* Feed observer with zeros in CCW direction */
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expected_s = 0.0;
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for(i = 0; i < 1000; i += 1)
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{
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motor_sobserver_div(&o, 0.0, DIR_CCW);
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}
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speed = motor_observer_speed_get(&o);
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected_s, speed);
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}
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/* Feed DIV speed observer in CW direction */
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static void test_sobserver_div_cw(void)
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{
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/* TODO */
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TEST_FAIL_MESSAGE("not implemented");
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}
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/* Feed DIV speed observer in CCW direction */
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static void test_sobserver_div_ccw(void)
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{
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/* TODO */
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TEST_FAIL_MESSAGE("not implemented");
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: test_observer
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****************************************************************************/
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void test_observer(void)
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{
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UNITY_BEGIN();
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TEST_SEPARATOR();
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/* Test observer functions */
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RUN_TEST(test_observer_init);
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/* SMO observer */
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RUN_TEST(test_observer_smo_init);
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RUN_TEST(test_observer_smo_zeros);
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RUN_TEST(test_observer_smo_linear);
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RUN_TEST(test_observer_smo_gain_saturate);
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RUN_TEST(test_observer_smo_cw);
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RUN_TEST(test_observer_smo_ccw);
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/* DIV observer */
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RUN_TEST(test_sobserver_div_init);
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RUN_TEST(test_sobserver_div_zeros);
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RUN_TEST(test_sobserver_div_cw);
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RUN_TEST(test_sobserver_div_ccw);
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UNITY_END();
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}
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