/**************************************************************************** * examples/dsptest/test_motor.c * * Copyright (C) 2018 Gregory Nutt. All rights reserved. * Author: Mateusz Szafoni * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name NuttX nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ /**************************************************************************** * Included Files ****************************************************************************/ #include "dsptest.h" /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ /* Set float precision for this module */ #undef UNITY_FLOAT_PRECISION #define UNITY_FLOAT_PRECISION (0.0001f) /**************************************************************************** * Private Types ****************************************************************************/ /**************************************************************************** * Private Function Protototypes ****************************************************************************/ /**************************************************************************** * Private Data ****************************************************************************/ /**************************************************************************** * Private Functions ****************************************************************************/ /* Initialize openloop */ static void test_openloop_init(void) { struct openloop_data_s op; float angle = 0.0; float max_speed = 100; float per = 10e-6; /* Initialize openlooop controller */ motor_openloop_init(&op, max_speed, per); /* Get openloop angle */ angle = motor_openloop_angle_get(&op); /* Test values after initialization */ TEST_ASSERT_EQUAL_FLOAT(0.0, angle); TEST_ASSERT_EQUAL_FLOAT(per, op.per); TEST_ASSERT_EQUAL_FLOAT(max_speed, op.max); } /* Single step openloop */ static void test_openloop_one_step(void) { struct openloop_data_s op; float expected = 0.0; float angle = 0.0; float max_speed = 100; float speed = 10; float per = 10e-6; /* Initialize openlooop controller */ motor_openloop_init(&op, max_speed, per); /* Do single iteration in CW direction */ motor_openloop(&op, speed, DIR_CW); /* Get openloop angle */ angle = motor_openloop_angle_get(&op); /* Get expected value */ expected = speed * per; /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected, angle); /* Do single iteration in CCW direction */ motor_openloop(&op, speed, DIR_CCW); /* Get openloop angle */ angle = motor_openloop_angle_get(&op); /* Get expected value */ expected = 0.0; /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected, angle); } /* Many steps in openloop */ static void test_openloop_many_steps(void) { struct openloop_data_s op; float expected = 0.0; float angle = 0.0; float max_speed = 100; float speed = 10; float per = 50e-6; int iter = 10; int i = 0; /* Initialize openlooop controller */ motor_openloop_init(&op, max_speed, per); /* Do some iterations in CW direction */ for (i = 0; i < iter; i+=1) { motor_openloop(&op, speed, DIR_CW); } /* Get openloop angle */ angle = motor_openloop_angle_get(&op); /* Get expected value */ expected = speed * per * iter; /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected, angle); /* Do some iterations in CCW direction */ for (i = 0; i < iter; i+=1) { motor_openloop(&op, speed, DIR_CCW); } /* Get openloop angle */ angle = motor_openloop_angle_get(&op); /* We should return to 0 */ expected = 0.0; /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected, angle); } /* Test maximum openloop speed */ static void test_openloop_max_speed(void) { TEST_IGNORE_MESSAGE("not implemented"); } /* Normalize angle in openloop */ static void test_openloop_normalize_angle(void) { struct openloop_data_s op; float expected = 0.0; float angle = 0.0; float max_speed = 100; float speed = 10; float per = 10e-6; int iter = 1000; int i = 0; /* Initialize openlooop controller */ motor_openloop_init(&op, max_speed, per); /* Do many iterations to exceed 2PI range */ for (i = 0; i < iter; i+=1) { motor_openloop(&op, speed, DIR_CW); } /* Get openloop angle */ angle = motor_openloop_angle_get(&op); /* Get expected value */ expected = speed * per * iter; /* And normalize to <0.0, 2*PI> */ while (expected > 2*M_PI_F) { expected -= 2*M_PI_F; } /* Test angle */ TEST_ASSERT_EQUAL_FLOAT(expected, angle); } /* Initialize otor angle */ static void test_angle_init(void) { struct motor_angle_s angle; float angle_m = 0.0; float angle_e = 0.0; uint8_t p = 0; /* Initialize motor angle */ p = 32; motor_angle_init(&angle, p); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test initial values */ 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_INT8(0, angle.i); } /* Update electrical angle in CW direction */ static void test_angle_el_update_cw(void) { struct motor_angle_s angle; uint8_t p = 0; float angle_step = 0.0; float angle_m = 0.0; float angle_e = 0.0; float expected_e = 0.0; float expected_m = 0.0; float s = 0.0; float c = 0.0; /* Initialize motor angle */ p = 8; motor_angle_init(&angle, p); /* Update electrical angle with 0.0 */ angle_step = 0.0; expected_e = 0.0; expected_m = 0.0; s = sin(expected_e); c = cos(expected_e); motor_angle_e_update(&angle, angle_step, DIR_CW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ 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(0, angle.i); TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); /* Update electrical angle with 0.1 */ angle_step = 0.1; expected_e = 0.1; expected_m = 0.1/p; s = sin(expected_e); c = cos(expected_e); motor_angle_e_update(&angle, angle_step, DIR_CW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ 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(0, angle.i); TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); /* Update electrical angle with 2*PI + 0.2 in three steps. * This should increase pole counter in angle structure by 1. */ angle_step = 2 * M_PI_F + 0.2; expected_e = 0.2; 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, 0.2, DIR_CW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ 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(1, angle.i); TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); } /* Update electrical angle in CCW direction */ static void test_angle_el_update_ccw(void) { struct motor_angle_s angle; uint8_t p = 0; float angle_step = 0.0; float angle_m = 0.0; float angle_e = 0.0; float expected_e = 0.0; float expected_m = 0.0; float s = 0.0; float c = 0.0; /* Initialize motor angle */ p = 8; motor_angle_init(&angle, p); /* Move angle 0.1 in CCW direction from 0.0. * We start from 0.0 and move angle CCW by 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; s = sin(expected_e); c = cos(expected_e); motor_angle_e_update(&angle, angle_step, DIR_CCW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ 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_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; 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); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ 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_FLOAT(expected_m, angle_m); } /* Update electrical angle and overflow electrical angle in CW direction */ static void test_angle_el_update_cw_overflow(void) { struct motor_angle_s angle; uint8_t p = 0; float angle_step = 0.0; float angle_m = 0.0; float angle_e = 0.0; float expected_e = 0.0; float expected_m = 0.0; float s = 0.0; float c = 0.0; float a = 0.0; int i = 0; /* Initialize motor angle */ p = 8; motor_angle_init(&angle, p); /* Update electrical angle to achieve full mechanical rotation */ angle_step = 0.1; expected_e = angle_step; expected_m = angle_step/p; s = sin(expected_e); c = cos(expected_e); /* Move angle in loop */ for (i = 0; i < p; i += 1) { for (a = 0.0; a <= MOTOR_ANGLE_E_MAX; a += angle_step) { motor_angle_e_update(&angle, a, DIR_CW); } } /* Test poles counter before final step */ TEST_ASSERT_EQUAL_INT8(p-1, angle.i); /* One more step after overflow mechanical angle */ a = angle_step; motor_angle_e_update(&angle, a, DIR_CW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ 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(0, angle.i); TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); } /* Update electrical angle and overflow electrical angle in CCW direction */ static void test_angle_el_update_ccw_overflow(void) { struct motor_angle_s angle; uint8_t p = 0; float angle_step = 0.0; float angle_m = 0.0; float angle_e = 0.0; float expected_e = 0.0; float expected_m = 0.0; float s = 0.0; float c = 0.0; float a = 0.0; int i = 0; /* Initialize motor angle */ p = 8; motor_angle_init(&angle, p); /* Update electrical angle to achieve full mechanical rotation */ angle_step = 0.1; expected_e = MOTOR_ANGLE_E_MAX - angle_step; expected_m = MOTOR_ANGLE_M_MAX - angle_step/p; s = sin(expected_e); c = cos(expected_e); /* Move angle in loop */ for (i = 0; i < p; i += 1) { for (a = MOTOR_ANGLE_E_MAX; a >= 0.0; a -= angle_step) { motor_angle_e_update(&angle, a, DIR_CCW); } } /* Test poles counter before final step */ TEST_ASSERT_EQUAL_INT8(0, angle.i); /* One more step after overflow mechanical angle */ a = MOTOR_ANGLE_E_MAX - 0.1; motor_angle_e_update(&angle, a, DIR_CCW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ 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(7, angle.i); TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); } /* Update electric angle and change direction */ static void test_angle_el_change_dir(void) { struct motor_angle_s angle; uint8_t p = 0; int i = 0; float angle_step = 0.0; float angle_m = 0.0; float angle_e = 0.0; float expected_e = 0.0; float expected_m = 0.0; float s = 0.0; float c = 0.0; float a = 0.0; /* Initialize motor angle */ p = 7; motor_angle_init(&angle, p); /* Move electrical angle with 4*(2PI) + 0.1. * It give us pole counter = 4 */ angle_step = 0.1; expected_m = 4*MOTOR_ANGLE_M_MAX/p + angle_step/p; expected_e = 0.1; s = sin(expected_e); c = cos(expected_e); /* Move angle in loop */ for (i = 0; i < 4; i += 1) { for (a = 0.0; a <= MOTOR_ANGLE_E_MAX; a += angle_step) { motor_angle_e_update(&angle, a, DIR_CW); } } /* Test poles counter before final step */ TEST_ASSERT_EQUAL_INT8(3, angle.i); /* And rest 0.1 */ motor_angle_e_update(&angle, angle_step, DIR_CW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ 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(4, angle.i); TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); /* Now move angle backward 2*(2PI) + 0.1 */ angle_step = 0.1; 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); /* Move angle in loop */ for (i = 0; i < 2; i += 1) { for (a = angle_m; a >= 0.0; a -= angle_step) { motor_angle_e_update(&angle, a, DIR_CCW); } } /* Test poles counter before final step */ TEST_ASSERT_EQUAL_INT8(2, angle.i); /* And rest 0.1 */ 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); /* Test */ 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(1, angle.i); TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); /* 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_e = 0.1; s = sin(expected_e); c = cos(expected_e); /* Move angle in loop */ for (i = 0; i < 4; i += 1) { for (a = angle_e; a <= MOTOR_ANGLE_E_MAX; a += angle_step) { motor_angle_e_update(&angle, a, DIR_CW); } } /* Test poles counter before final step */ TEST_ASSERT_EQUAL_INT8(4, angle.i); /* And rest 0.1 */ motor_angle_e_update(&angle, angle_step, DIR_CW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ 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(5, angle.i); TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); } /* Update mechanical angle in CW direction */ static void test_angle_m_update_cw(void) { struct motor_angle_s angle; uint8_t p = 0; float angle_step = 0.0; float angle_m = 0.0; float angle_e = 0.0; float expected_e = 0.0; float expected_m = 0.0; float s = 0.0; float c = 0.0; /* Initialize motor angle */ p = 8; motor_angle_init(&angle, p); /* Update mechanical angle with 0.0 */ angle_step = 0.0; expected_m = 0.0; expected_e = 0.0; s = sin(expected_e); c = cos(expected_e); motor_angle_m_update(&angle, angle_step, DIR_CW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); 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(0, angle.i); /* Update mechanical angle with 0.1 */ angle_step = 0.1; expected_m = angle_step; expected_e = angle_step*p - 0*MOTOR_ANGLE_E_MAX/p; s = sin(expected_e); c = cos(expected_e); motor_angle_m_update(&angle, angle_step, DIR_CW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); 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(0, angle.i); /* Update mechanical angle to get one electrical angle rotation + 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; 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); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); 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(1, angle.i); } /* Update mechanical angle in CCW direction */ static void test_angle_m_update_ccw(void) { struct motor_angle_s angle; uint8_t p = 0; float angle_step = 0.0; float angle_m = 0.0; float angle_e = 0.0; float expected_e = 0.0; float expected_m = 0.0; float s = 0.0; float c = 0.0; /* Initialize motor angle */ p = 8; motor_angle_init(&angle, p); /* 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. */ angle_step = 1.0; expected_m = angle_step; expected_e = angle_step*p - 1*MOTOR_ANGLE_E_MAX; s = sin(expected_e); c = cos(expected_e); motor_angle_m_update(&angle, angle_step, DIR_CCW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); 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(1, angle.i); /* Update mechanical angle to get one electrical angle rotation */ angle_step = angle_step - MOTOR_ANGLE_E_MAX/p; expected_m = angle_step; 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); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); 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(0, angle.i); } /* Update mechanical angle and overflow mechanical angle in CW direction */ static void test_angle_m_update_cw_overflow(void) { struct motor_angle_s angle; uint8_t p = 0; float angle_step = 0.0; float angle_m = 0.0; float angle_e = 0.0; float expected_e = 0.0; float expected_m = 0.0; float s = 0.0; float c = 0.0; /* Initialize motor angle */ p = 3; motor_angle_init(&angle, p); /* Full mechanical angle rotation (2PI) + 0.1 in CW direction */ angle_step = 0.1; expected_m = angle_step; 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, angle_step, DIR_CW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); 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(0, angle.i); } /* Update mechanical angle and overflow mechanical angle in CCW direction */ static void test_angle_m_update_ccw_overflow(void) { struct motor_angle_s angle; uint8_t p = 0; float angle_step = 0.0; float angle_m = 0.0; float angle_e = 0.0; float expected_e = 0.0; float expected_m = 0.0; float s = 0.0; float c = 0.0; /* Initialize motor angle */ p = 3; motor_angle_init(&angle, p); /* Full mechanical angle rotation (2PI) + 0.1 in CCW direction */ angle_step = MOTOR_ANGLE_M_MAX - 0.1; expected_m = angle_step; 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, angle_step, DIR_CCW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); 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); } /* Update mechanical angle and change direction */ static void test_angle_m_change_dir(void) { struct motor_angle_s angle; uint8_t p = 0; float angle_step = 0.0; float angle_m = 0.0; float angle_e = 0.0; float expected_e = 0.0; float expected_m = 0.0; float expected_i = 0.0; float s = 0.0; float c = 0.0; /* Initialize motor angle */ p = 3; motor_angle_init(&angle, p); /* Move mechanical angle by 3*(2PI)/4 in CW direction */ 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; 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); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); 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(expected_i, angle.i); /* Move mechanical angle by 1.0 in CCW direction */ 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; 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); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); 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(expected_i, angle.i); } /* Mix update mechanical angle and update electrical angle */ static void test_angle_m_el_mixed(void) { struct motor_angle_s angle; uint8_t p = 0; int i = 0; float angle_step = 0.0; float angle_m = 0.0; float angle_e = 0.0; float expected_e = 0.0; float expected_m = 0.0; float expected_i = 0.0; float s = 0.0; float c = 0.0; float a = 0.0; /* Initialize motor angle */ p = 27; motor_angle_init(&angle, p); /* Update mechanical angle to get 4 electrical angle * rotations + 0.1 in CW direction */ 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; 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); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); 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(expected_i, angle.i); /* Now move electrical angle by 2 full rotation in CCW direction. * This should give us the same electrical angle and mechanical * angle reduced by 2 electrical rotations. */ 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; s = sin(expected_e); c = cos(expected_e); /* Move angle in loop */ for (i = 0; i < 2; i+=1) { for (a = expected_e ; a >= 0.0; a -= 0.1) { motor_angle_e_update(&angle, a, DIR_CCW); } } /* Final step */ motor_angle_e_update(&angle, expected_e, DIR_CCW); angle_m = motor_angle_m_get(&angle); angle_e = motor_angle_e_get(&angle); /* Test */ TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e); TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m); 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(expected_i, angle.i); } /**************************************************************************** * Public Functions ****************************************************************************/ /**************************************************************************** * Name: test_motor ****************************************************************************/ void test_motor(void) { UNITY_BEGIN(); TEST_SEPARATOR(); /* Test some definitions */ TEST_ASSERT_EQUAL_FLOAT(1.0, DIR_CW); TEST_ASSERT_EQUAL_FLOAT(-1.0, DIR_CCW); /* Openloop control functions */ RUN_TEST(test_openloop_init); RUN_TEST(test_openloop_one_step); RUN_TEST(test_openloop_many_steps); RUN_TEST(test_openloop_max_speed); RUN_TEST(test_openloop_normalize_angle); /* Motor angle */ RUN_TEST(test_angle_init); RUN_TEST(test_angle_el_update_cw); RUN_TEST(test_angle_el_update_ccw); RUN_TEST(test_angle_el_update_cw_overflow); RUN_TEST(test_angle_el_update_ccw_overflow); RUN_TEST(test_angle_el_change_dir); RUN_TEST(test_angle_m_update_cw); RUN_TEST(test_angle_m_update_ccw); RUN_TEST(test_angle_m_update_cw_overflow); RUN_TEST(test_angle_m_update_ccw_overflow); RUN_TEST(test_angle_m_change_dir); RUN_TEST(test_angle_m_el_mixed); UNITY_END(); }