280 lines
7.5 KiB
C
280 lines
7.5 KiB
C
/****************************************************************************
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* apps/industry/foc/float/foc_vel_odiv.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 <stdlib.h>
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#include <dsp.h>
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#include "industry/foc/foc_common.h"
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#include "industry/foc/foc_log.h"
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#include "industry/foc/float/foc_velocity.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Private Data Types
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****************************************************************************/
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/* Div private data */
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struct foc_div_f32_s
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{
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struct foc_vel_div_f32_cfg_s cfg;
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struct motor_sobserver_div_f32_s data;
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struct motor_sobserver_f32_s o;
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float dir;
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};
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/****************************************************************************
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* Private Function Prototypes
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****************************************************************************/
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static int foc_velocity_div_init_f32(FAR foc_velocity_f32_t *h);
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static void foc_velocity_div_deinit_f32(FAR foc_velocity_f32_t *h);
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static int foc_velocity_div_cfg_f32(FAR foc_velocity_f32_t *h,
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FAR void *cfg);
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static int foc_velocity_div_zero_f32(FAR foc_velocity_f32_t *h);
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static int foc_velocity_div_dir_f32(FAR foc_velocity_f32_t *h, float dir);
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static int foc_velocity_div_run_f32(FAR foc_velocity_f32_t *h,
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FAR struct foc_velocity_in_f32_s *in,
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FAR struct foc_velocity_out_f32_s *out);
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/* FOC velocity float interface */
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struct foc_velocity_ops_f32_s g_foc_velocity_odiv_f32 =
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{
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.init = foc_velocity_div_init_f32,
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.deinit = foc_velocity_div_deinit_f32,
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.cfg = foc_velocity_div_cfg_f32,
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.zero = foc_velocity_div_zero_f32,
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.dir = foc_velocity_div_dir_f32,
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.run = foc_velocity_div_run_f32,
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};
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: foc_velocity_div_init_f32
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*
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* Description:
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*
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* Input Parameter:
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* h - pointer to FOC velocity handler
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*
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****************************************************************************/
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static int foc_velocity_div_init_f32(FAR foc_velocity_f32_t *h)
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{
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int ret = OK;
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DEBUGASSERT(h);
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/* Connect velocity data */
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h->data = zalloc(sizeof(struct foc_div_f32_s));
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if (h->data == NULL)
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{
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ret = -ENOMEM;
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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_velocity_div_deinit_f32
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*
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* Description:
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*
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* Input Parameter:
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* h - pointer to FOC velocity handler
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*
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****************************************************************************/
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static void foc_velocity_div_deinit_f32(FAR foc_velocity_f32_t *h)
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{
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DEBUGASSERT(h);
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if (h->data)
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{
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/* Free velocity data */
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free(h->data);
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}
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}
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/****************************************************************************
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* Name: foc_velocity_div_cfg_f32
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*
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* Description:
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*
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* Input Parameter:
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* h - pointer to FOC velocity handler
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* cfg - pointer to velocity handler configuration data
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* (struct foc_div_f32_s)
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*
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****************************************************************************/
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static int foc_velocity_div_cfg_f32(FAR foc_velocity_f32_t *h, FAR void *cfg)
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{
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FAR struct foc_div_f32_s *div = NULL;
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int ret = OK;
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DEBUGASSERT(h);
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/* Get div data */
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DEBUGASSERT(h->data);
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div = h->data;
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/* Copy configuration */
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memcpy(&div->cfg, cfg, sizeof(struct foc_vel_div_f32_cfg_s));
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/* Configure observer */
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motor_sobserver_div_init(&div->data,
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div->cfg.samples,
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div->cfg.filter,
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div->cfg.per);
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motor_sobserver_init(&div->o, &div->data, div->cfg.per);
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/* Initialize with CW direction */
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div->dir = DIR_CW;
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return ret;
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}
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/****************************************************************************
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* Name: foc_velocity_div_zero_f32
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*
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* Description:
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*
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* Input Parameter:
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* h - pointer to FOC velocity handler
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*
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****************************************************************************/
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static int foc_velocity_div_zero_f32(FAR foc_velocity_f32_t *h)
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{
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FAR struct foc_div_f32_s *div = NULL;
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int ret = OK;
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DEBUGASSERT(h);
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/* Get div data */
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DEBUGASSERT(h->data);
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div = h->data;
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/* Reinitialize observer */
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motor_sobserver_div_init(&div->data,
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div->cfg.samples,
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div->cfg.filter,
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div->cfg.per);
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return ret;
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}
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/****************************************************************************
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* Name: foc_velocity_div_dir_f32
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*
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* Description:
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*
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* Input Parameter:
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* h - pointer to FOC velocity handler
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* dir - sensor direction (1 if normal -1 if inverted)
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*
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****************************************************************************/
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static int foc_velocity_div_dir_f32(FAR foc_velocity_f32_t *h, float dir)
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{
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FAR struct foc_div_f32_s *div = NULL;
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DEBUGASSERT(h);
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/* Get div data */
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DEBUGASSERT(h->data);
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div = h->data;
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/* Set direction */
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div->dir = dir;
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return OK;
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}
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/****************************************************************************
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* Name: foc_velocity_div_run_f32
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*
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* Description:
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*
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* Input Parameter:
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* h - pointer to FOC velocity handler
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* in - pointer to FOC velocity handler input data
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* out - pointer to FOC velocity handler output data
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*
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****************************************************************************/
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static int foc_velocity_div_run_f32(FAR foc_velocity_f32_t *h,
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FAR struct foc_velocity_in_f32_s *in,
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FAR struct foc_velocity_out_f32_s *out)
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{
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FAR struct foc_div_f32_s *div = NULL;
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DEBUGASSERT(h);
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/* Get div data */
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DEBUGASSERT(h->data);
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div = h->data;
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/* Run observer */
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motor_sobserver_div(&div->o, in->angle);
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/* Copy data */
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out->velocity = div->dir * motor_sobserver_speed_get(&div->o);
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return OK;
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}
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