181 lines
4.6 KiB
C
181 lines
4.6 KiB
C
/****************************************************************************
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* apps/industry/foc/float/foc_routine.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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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 <nuttx/config.h>
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#include <assert.h>
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#include <errno.h>
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#include <string.h>
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#include "industry/foc/foc_log.h"
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#include "industry/foc/float/foc_routine.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: foc_routine_init_f32
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*
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* Description:
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* Initialize the FOC routine (float32)
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*
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* Input Parameter:
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* r - pointer to FOC routine
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* ops - pointer to FOC routine operations
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*
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****************************************************************************/
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int foc_routine_init_f32(FAR foc_routine_f32_t *r,
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FAR struct foc_routine_ops_f32_s *ops)
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{
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int ret = OK;
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DEBUGASSERT(r);
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DEBUGASSERT(ops);
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/* Routine ops */
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DEBUGASSERT(ops->init);
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DEBUGASSERT(ops->deinit);
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DEBUGASSERT(ops->cfg);
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DEBUGASSERT(ops->run);
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/* Reset routine */
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memset(r, 0, sizeof(foc_routine_f32_t));
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/* Connect ops */
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r->ops = ops;
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/* Initialize routine */
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ret = r->ops->init(r);
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if (ret < 0)
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{
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FOCLIBERR("ERROR: ops->init failed %d\n", ret);
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goto errout;
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}
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errout:
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return ret;
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}
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/****************************************************************************
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* Name: foc_routine_deinit_f32
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*
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* Description:
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* De-initialize the FOC routine (float32)
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*
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* Input Parameter:
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* r - pointer to FOC routine
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*
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****************************************************************************/
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int foc_routine_deinit_f32(FAR foc_routine_f32_t *r)
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{
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int ret = OK;
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DEBUGASSERT(r);
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/* Deinitialize routine */
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r->ops->deinit(r);
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/* Reset data */
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memset(r, 0, sizeof(foc_routine_f32_t));
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return ret;
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}
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/****************************************************************************
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* Name: foc_routine_cfg_f32
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*
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* Description:
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* Configure the FOC routine (float32)
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*
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* Input Parameter:
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* r - pointer to FOC routine
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* cfg - pointer to routine configuration data
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*
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****************************************************************************/
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int foc_routine_cfg_f32(FAR foc_routine_f32_t *r, FAR void *cfg)
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{
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DEBUGASSERT(r);
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DEBUGASSERT(cfg);
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return r->ops->cfg(r, cfg);
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}
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/****************************************************************************
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* Name: foc_routine_run_f32
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*
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* Description:
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* Run the FOC routine (float32)
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*
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* Input Parameter:
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* r - pointer to FOC routine
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* in - pointer to FOC routine input data
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* out - pointer to FOC routine output data
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*
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****************************************************************************/
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int foc_routine_run_f32(FAR foc_routine_f32_t *r,
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FAR struct foc_routine_in_f32_s *in,
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FAR struct foc_routine_out_f32_s *out)
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{
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DEBUGASSERT(r);
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DEBUGASSERT(in);
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DEBUGASSERT(out);
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/* Run routine handler */
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return r->ops->run(r, in, out);
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}
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/****************************************************************************
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* Name: foc_routine_final_f32
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*
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* Description:
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* Finalize the FOC routine data (float32)
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*
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* Input Parameter:
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* r - pointer to FOC routine
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* data - pointer to FOC routine final data
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*
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****************************************************************************/
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int foc_routine_final_f32(FAR foc_routine_f32_t *r, FAR void *data)
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{
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DEBUGASSERT(r);
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DEBUGASSERT(data);
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/* Finalize routine */
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return r->ops->final(r, data);
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}
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