1143 lines
30 KiB
C
1143 lines
30 KiB
C
/****************************************************************************
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* examples/dsptest/test_motor.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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/* Set float precision for this module */
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#undef UNITY_FLOAT_PRECISION
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#define UNITY_FLOAT_PRECISION (0.0001f)
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/****************************************************************************
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* Private Types
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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 openloop */
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static void test_openloop_init(void)
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{
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struct openloop_data_s op;
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float angle = 0.0;
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float max_speed = 100;
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float per = 10e-6;
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/* Initialize openlooop controller */
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motor_openloop_init(&op, max_speed, per);
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/* Get openloop angle */
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angle = motor_openloop_angle_get(&op);
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/* Test values after initialization */
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TEST_ASSERT_EQUAL_FLOAT(0.0, angle);
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TEST_ASSERT_EQUAL_FLOAT(per, op.per);
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TEST_ASSERT_EQUAL_FLOAT(max_speed, op.max);
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}
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/* Single step openloop */
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static void test_openloop_one_step(void)
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{
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struct openloop_data_s op;
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float expected = 0.0;
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float angle = 0.0;
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float max_speed = 100;
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float speed = 10;
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float per = 10e-6;
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/* Initialize openlooop controller */
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motor_openloop_init(&op, max_speed, per);
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/* Do single iteration in CW direction */
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motor_openloop(&op, speed, DIR_CW);
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/* Get openloop angle */
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angle = motor_openloop_angle_get(&op);
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/* Get expected value */
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expected = speed * per;
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected, angle);
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/* Do single iteration in CCW direction */
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motor_openloop(&op, speed, DIR_CCW);
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/* Get openloop angle */
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angle = motor_openloop_angle_get(&op);
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/* Get expected value */
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expected = 0.0;
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected, angle);
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}
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/* Many steps in openloop */
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static void test_openloop_many_steps(void)
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{
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struct openloop_data_s op;
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float expected = 0.0;
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float angle = 0.0;
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float max_speed = 100;
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float speed = 10;
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float per = 50e-6;
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int iter = 10;
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int i = 0;
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/* Initialize openlooop controller */
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motor_openloop_init(&op, max_speed, per);
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/* Do some iterations in CW direction */
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for (i = 0; i < iter; i += 1)
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{
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motor_openloop(&op, speed, DIR_CW);
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}
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/* Get openloop angle */
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angle = motor_openloop_angle_get(&op);
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/* Get expected value */
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expected = speed * per * iter;
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected, angle);
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/* Do some iterations in CCW direction */
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for (i = 0; i < iter; i += 1)
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{
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motor_openloop(&op, speed, DIR_CCW);
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}
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/* Get openloop angle */
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angle = motor_openloop_angle_get(&op);
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/* We should return to 0 */
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expected = 0.0;
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected, angle);
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}
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/* Test maximum openloop speed */
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static void test_openloop_max_speed(void)
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{
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TEST_IGNORE_MESSAGE("not implemented");
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}
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/* Normalize angle in openloop */
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static void test_openloop_normalize_angle(void)
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{
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struct openloop_data_s op;
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float expected = 0.0;
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float angle = 0.0;
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float max_speed = 100;
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float speed = 10;
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float per = 10e-6;
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int iter = 1000;
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int i = 0;
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/* Initialize openlooop controller */
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motor_openloop_init(&op, max_speed, per);
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/* Do many iterations to exceed 2PI range */
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for (i = 0; i < iter; i += 1)
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{
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motor_openloop(&op, speed, DIR_CW);
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}
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/* Get openloop angle */
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angle = motor_openloop_angle_get(&op);
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/* Get expected value */
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expected = speed * per * iter;
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/* And normalize to <0.0, 2*PI> */
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while (expected > 2 * M_PI_F)
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{
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expected -= 2 * M_PI_F;
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}
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/* Test angle */
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TEST_ASSERT_EQUAL_FLOAT(expected, angle);
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}
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/* Initialize otor angle */
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static void test_angle_init(void)
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{
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struct motor_angle_s angle;
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float angle_m = 0.0;
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float angle_e = 0.0;
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uint8_t p = 0;
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/* Initialize motor angle */
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p = 32;
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motor_angle_init(&angle, p);
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angle_m = motor_angle_m_get(&angle);
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angle_e = motor_angle_e_get(&angle);
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/* Test initial values */
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TEST_ASSERT_EQUAL_FLOAT(0.0, angle_e);
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TEST_ASSERT_EQUAL_FLOAT(0.0, angle_m);
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TEST_ASSERT_EQUAL_UINT8(p, angle.p);
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TEST_ASSERT_EQUAL_FLOAT((float)1.0 / p, angle.one_by_p);
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TEST_ASSERT_EQUAL_INT8(0, angle.i);
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}
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/* Update electrical angle in CW direction */
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static void test_angle_el_update_cw(void)
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{
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struct motor_angle_s angle;
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uint8_t p = 0;
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float angle_step = 0.0;
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float angle_m = 0.0;
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float angle_e = 0.0;
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float expected_e = 0.0;
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float expected_m = 0.0;
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float s = 0.0;
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float c = 0.0;
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/* Initialize motor angle */
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p = 8;
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motor_angle_init(&angle, p);
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/* Update electrical angle with 0.0 */
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angle_step = 0.0;
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expected_e = 0.0;
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expected_m = 0.0;
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s = sin(expected_e);
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c = cos(expected_e);
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motor_angle_e_update(&angle, angle_step, DIR_CW);
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angle_m = motor_angle_m_get(&angle);
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angle_e = motor_angle_e_get(&angle);
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
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TEST_ASSERT_EQUAL_INT8(0, angle.i);
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TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m);
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/* Update electrical angle with 0.1 */
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angle_step = 0.1;
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expected_e = 0.1;
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expected_m = 0.1 / p;
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s = sin(expected_e);
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c = cos(expected_e);
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motor_angle_e_update(&angle, angle_step, DIR_CW);
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angle_m = motor_angle_m_get(&angle);
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angle_e = motor_angle_e_get(&angle);
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
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TEST_ASSERT_EQUAL_INT8(0, angle.i);
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TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m);
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/* Update electrical angle with 2*PI + 0.2 in three steps.
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* This should increase pole counter in angle structure by 1.
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*/
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angle_step = 2 * M_PI_F + 0.2;
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expected_e = 0.2;
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expected_m = angle_step / p;
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s = sin(expected_e);
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c = cos(expected_e);
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/* Move in a few steps */
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motor_angle_e_update(&angle, M_PI_F, DIR_CW);
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motor_angle_e_update(&angle, 2 * M_PI_F, DIR_CW);
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motor_angle_e_update(&angle, 0.2, DIR_CW);
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angle_m = motor_angle_m_get(&angle);
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angle_e = motor_angle_e_get(&angle);
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
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TEST_ASSERT_EQUAL_INT8(1, angle.i);
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TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m);
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}
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/* Update electrical angle in CCW direction */
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static void test_angle_el_update_ccw(void)
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{
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struct motor_angle_s angle;
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uint8_t p = 0;
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float angle_step = 0.0;
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float angle_m = 0.0;
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float angle_e = 0.0;
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float expected_e = 0.0;
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float expected_m = 0.0;
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float s = 0.0;
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float c = 0.0;
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/* Initialize motor angle */
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p = 8;
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motor_angle_init(&angle, p);
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/* Move angle 0.1 in CCW direction from 0.0.
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* We start from 0.0 and move angle CCW by 0.1.
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*/
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angle_step = MOTOR_ANGLE_E_MAX - 0.1;
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expected_e = angle_step;
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expected_m = (p - 1) * MOTOR_ANGLE_M_MAX / p + expected_e / p;
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s = sin(expected_e);
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c = cos(expected_e);
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motor_angle_e_update(&angle, angle_step, DIR_CCW);
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angle_m = motor_angle_m_get(&angle);
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angle_e = motor_angle_e_get(&angle);
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
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TEST_ASSERT_EQUAL_INT8(p - 1, angle.i);
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TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m);
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/* Update electrical angle with 2PI+0.1 in CCW direction in three steps */
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angle_step = (MOTOR_ANGLE_E_MAX + 0.1);
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expected_e = MOTOR_ANGLE_E_MAX - 0.1;
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expected_m = (p - 2) * MOTOR_ANGLE_M_MAX / p + expected_e / p;
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s = sin(expected_e);
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c = cos(expected_e);
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/* Move in a few steps */
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motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX - M_PI_F, DIR_CCW);
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motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX - 2 * M_PI_F, DIR_CCW);
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motor_angle_e_update(&angle, MOTOR_ANGLE_E_MAX - 0.1, DIR_CCW);
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angle_m = motor_angle_m_get(&angle);
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angle_e = motor_angle_e_get(&angle);
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
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TEST_ASSERT_EQUAL_INT8(p - 2, angle.i);
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TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m);
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}
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/* Update electrical angle and overflow electrical angle in CW direction */
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static void test_angle_el_update_cw_overflow(void)
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{
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struct motor_angle_s angle;
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uint8_t p = 0;
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float angle_step = 0.0;
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float angle_m = 0.0;
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float angle_e = 0.0;
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float expected_e = 0.0;
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float expected_m = 0.0;
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float s = 0.0;
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float c = 0.0;
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float a = 0.0;
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int i = 0;
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/* Initialize motor angle */
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p = 8;
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motor_angle_init(&angle, p);
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/* Update electrical angle to achieve full mechanical rotation */
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angle_step = 0.1;
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expected_e = angle_step;
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expected_m = angle_step / p;
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s = sin(expected_e);
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c = cos(expected_e);
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/* Move angle in loop */
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for (i = 0; i < p; i += 1)
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{
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for (a = 0.0; a <= MOTOR_ANGLE_E_MAX; a += angle_step)
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{
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motor_angle_e_update(&angle, a, DIR_CW);
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}
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}
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/* Test poles counter before final step */
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TEST_ASSERT_EQUAL_INT8(p - 1, angle.i);
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/* One more step after overflow mechanical angle */
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a = angle_step;
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motor_angle_e_update(&angle, a, DIR_CW);
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angle_m = motor_angle_m_get(&angle);
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angle_e = motor_angle_e_get(&angle);
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
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TEST_ASSERT_EQUAL_INT8(0, angle.i);
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TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m);
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}
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/* Update electrical angle and overflow electrical angle in CCW direction */
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static void test_angle_el_update_ccw_overflow(void)
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{
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struct motor_angle_s angle;
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uint8_t p = 0;
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float angle_step = 0.0;
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float angle_m = 0.0;
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float angle_e = 0.0;
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float expected_e = 0.0;
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float expected_m = 0.0;
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float s = 0.0;
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float c = 0.0;
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float a = 0.0;
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int i = 0;
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/* Initialize motor angle */
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p = 8;
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motor_angle_init(&angle, p);
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/* Update electrical angle to achieve full mechanical rotation */
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angle_step = 0.1;
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expected_e = MOTOR_ANGLE_E_MAX - angle_step;
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expected_m = MOTOR_ANGLE_M_MAX - angle_step / p;
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s = sin(expected_e);
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c = cos(expected_e);
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/* Move angle in loop */
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for (i = 0; i < p; i += 1)
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{
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for (a = MOTOR_ANGLE_E_MAX; a >= 0.0; a -= angle_step)
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{
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motor_angle_e_update(&angle, a, DIR_CCW);
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}
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}
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/* Test poles counter before final step */
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TEST_ASSERT_EQUAL_INT8(0, angle.i);
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/* One more step after overflow mechanical angle */
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a = MOTOR_ANGLE_E_MAX - 0.1;
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motor_angle_e_update(&angle, a, DIR_CCW);
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angle_m = motor_angle_m_get(&angle);
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angle_e = motor_angle_e_get(&angle);
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/* Test */
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TEST_ASSERT_EQUAL_FLOAT(expected_e, angle_e);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, s, angle.angle_el.sin);
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TEST_ASSERT_FLOAT_WITHIN(TEST_SINCOS_DELTA, c, angle.angle_el.cos);
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TEST_ASSERT_EQUAL_INT8(7, angle.i);
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TEST_ASSERT_EQUAL_FLOAT(expected_m, angle_m);
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}
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/* Update electric angle and change direction */
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static void test_angle_el_change_dir(void)
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{
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struct motor_angle_s angle;
|
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uint8_t p = 0;
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int i = 0;
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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();
|
|
}
|