304 lines
8.4 KiB
C
304 lines
8.4 KiB
C
/****************************************************************************
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* examples/dsptest/test_transform.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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/* Feed Clarke transform with some data */
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static void test_transform_clarke(void)
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{
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abc_frame_t abc;
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ab_frame_t ab;
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/* a = 0.0, b = 0.0, c = 0.0 -> alpha = 0.0, beta = 0.0 */
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abc.a = 0.0;
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abc.b = 0.0;
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abc.c = 0.0;
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clarke_transform(&abc, &ab);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ab.a);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ab.b);
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/* a = 1.0, b = -2.0, c = 1.0 -> alpha = 1.0, beta = -1.732 */
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abc.a = 1.0;
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abc.b = -2.0;
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abc.c = 1.0;
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clarke_transform(&abc, &ab);
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TEST_ASSERT_EQUAL_FLOAT(1.0, ab.a);
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TEST_ASSERT_EQUAL_FLOAT(-1.7320, ab.b);
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/* a = 1.0, b = 1.0, c = -2.0 -> alpha = 1.0, beta = 1.7320 */
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abc.a = 1.0;
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abc.b = 1.0;
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abc.c = -2.0;
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clarke_transform(&abc, &ab);
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TEST_ASSERT_EQUAL_FLOAT(1.0, ab.a);
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TEST_ASSERT_EQUAL_FLOAT(1.7320, ab.b);
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/* a = -2.0, b = 1.0, c = 1.0 -> alpha = -2.0, beta = 0.0 */
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abc.a = -2.0;
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abc.b = 1.0;
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abc.c = 1.0;
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clarke_transform(&abc, &ab);
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TEST_ASSERT_EQUAL_FLOAT(-2.0, ab.a);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ab.b);
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}
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/* Feed inverse Clarke transform with some data */
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static void test_transform_invclarke(void)
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{
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ab_frame_t ab;
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abc_frame_t abc;
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/* alpha = 0.0, beta = 0.0 -> a = 0.0, b = 0.0, c = 0.0 */
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ab.a = 0.0;
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ab.b = 0.0;
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inv_clarke_transform(&ab, &abc);
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TEST_ASSERT_EQUAL_FLOAT(0.0, abc.a);
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TEST_ASSERT_EQUAL_FLOAT(0.0, abc.b);
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TEST_ASSERT_EQUAL_FLOAT(0.0, abc.c);
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/* alpha = 1.0, beta = 1.0 -> a = 1.0, b = 0.3660, c = -1.3660 */
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ab.a = 1.0;
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ab.b = 1.0;
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inv_clarke_transform(&ab, &abc);
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TEST_ASSERT_EQUAL_FLOAT(1.0, abc.a);
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TEST_ASSERT_EQUAL_FLOAT(0.3660, abc.b);
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TEST_ASSERT_EQUAL_FLOAT(-1.3660, abc.c);
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/* alpha = -1.0, beta = -1.0 -> a = -1.0, b = -0.3660, c = 1.3660 */
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ab.a = -1.0;
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ab.b = -1.0;
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inv_clarke_transform(&ab, &abc);
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TEST_ASSERT_EQUAL_FLOAT(-1.0, abc.a);
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TEST_ASSERT_EQUAL_FLOAT(-0.3660, abc.b);
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TEST_ASSERT_EQUAL_FLOAT(1.3660, abc.c);
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/* alpha = 1.0, beta = -1.0 -> a = 1.0, b = -1.3660, c = 0.3660 */
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ab.a = 1.0;
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ab.b = -1.0;
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inv_clarke_transform(&ab, &abc);
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TEST_ASSERT_EQUAL_FLOAT(1.0, abc.a);
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TEST_ASSERT_EQUAL_FLOAT(-1.3660, abc.b);
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TEST_ASSERT_EQUAL_FLOAT(0.3660, abc.c);
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}
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/* Feed Park transform with some data */
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static void test_transform_park(void)
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{
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phase_angle_t angle;
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ab_frame_t ab;
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dq_frame_t dq;
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/* angle = 0.0, alpha = 0.0, beta = 0.0 -> d = 0.0, q = 0.0 */
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phase_angle_update(&angle, 0.0);
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ab.a = 0.0;
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ab.b = 0.0;
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park_transform(&angle, &ab, &dq);
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TEST_ASSERT_EQUAL_FLOAT(0.0, dq.d);
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TEST_ASSERT_EQUAL_FLOAT(0.0, dq.q);
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/* angle = 0.0, alpha = 1.0, beta = 1.0 -> d = 1.0, q = 1.0 */
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phase_angle_update(&angle, 0.0);
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ab.a = 1.0;
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ab.b = 1.0;
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park_transform(&angle, &ab, &dq);
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TEST_ASSERT_EQUAL_FLOAT(1.0, dq.d);
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TEST_ASSERT_EQUAL_FLOAT(1.0, dq.q);
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/* angle = PI, alpha = 1.0, beta = 1.0 -> d = -1.0, q = -1.0 */
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phase_angle_update(&angle, M_PI_F);
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ab.a = 1.0;
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ab.b = 1.0;
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park_transform(&angle, &ab, &dq);
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TEST_ASSERT_EQUAL_FLOAT(-1.0, dq.d);
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TEST_ASSERT_EQUAL_FLOAT(-1.0, dq.q);
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/* angle = PI, alpha = -1.0, beta = 1.0 -> d = 1.0, q = -1.0 */
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phase_angle_update(&angle, M_PI_F);
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ab.a = -1.0;
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ab.b = 1.0;
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park_transform(&angle, &ab, &dq);
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TEST_ASSERT_EQUAL_FLOAT(1.0, dq.d);
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TEST_ASSERT_EQUAL_FLOAT(-1.0, dq.q);
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/* angle = -PI/2, alpha = 1.0, beta = 1.0 -> d = -1.0, q = 1.0 */
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phase_angle_update(&angle, -M_PI_F / 2);
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ab.a = 1.0;
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ab.b = 1.0;
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park_transform(&angle, &ab, &dq);
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TEST_ASSERT_EQUAL_FLOAT(-1.0, dq.d);
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TEST_ASSERT_EQUAL_FLOAT(1.0, dq.q);
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}
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/* Feed inverse Park transform with some data */
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static void test_transform_invpark(void)
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{
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phase_angle_t angle;
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dq_frame_t dq;
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ab_frame_t ab;
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/* angle = 0.0, d = 0.0, q = 0.0 -> alpha = 0.0, beta = 0.0 */
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phase_angle_update(&angle, 0.0);
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dq.d = 0.0;
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dq.q = 0.0;
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inv_park_transform(&angle, &dq, &ab);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ab.a);
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TEST_ASSERT_EQUAL_FLOAT(0.0, ab.b);
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/* angle = 0.0, d = 1.0, q = 1.0 -> alpha = 1.0, beta = 1.0 */
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phase_angle_update(&angle, 0.0);
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dq.d = 1.0;
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dq.q = 1.0;
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inv_park_transform(&angle, &dq, &ab);
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TEST_ASSERT_EQUAL_FLOAT(1.0, ab.a);
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TEST_ASSERT_EQUAL_FLOAT(1.0, ab.b);
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/* angle = PI, d = 1.0, q = 1.0 -> alpha = 0.0, beta = 0.0 */
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phase_angle_update(&angle, M_PI_F);
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dq.d = 1.0;
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dq.q = 1.0;
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inv_park_transform(&angle, &dq, &ab);
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TEST_ASSERT_EQUAL_FLOAT(-1.0, ab.a);
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TEST_ASSERT_EQUAL_FLOAT(-1.0, ab.b);
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/* angle = PI, d = -1.0, q = 1.0 -> alpha = 0.0, beta = 0.0 */
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phase_angle_update(&angle, M_PI_F);
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dq.d = -1.0;
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dq.q = 1.0;
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inv_park_transform(&angle, &dq, &ab);
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TEST_ASSERT_EQUAL_FLOAT(1.0, ab.a);
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TEST_ASSERT_EQUAL_FLOAT(-1.0, ab.b);
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/* angle = -PI/2, d = 1.0, q = 1.0 -> alpha = 0.0, beta = 0.0 */
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phase_angle_update(&angle, -M_PI_F / 2);
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dq.d = 1.0;
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dq.q = 1.0;
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inv_park_transform(&angle, &dq, &ab);
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TEST_ASSERT_EQUAL_FLOAT(1.0, ab.a);
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TEST_ASSERT_EQUAL_FLOAT(-1.0, ab.b);
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: test_transform
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****************************************************************************/
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void test_transform(void)
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{
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UNITY_BEGIN();
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TEST_SEPARATOR();
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/* Test 3 phase motor transformations */
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RUN_TEST(test_transform_clarke);
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RUN_TEST(test_transform_invclarke);
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RUN_TEST(test_transform_park);
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RUN_TEST(test_transform_invpark);
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UNITY_END();
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}
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