753 lines
20 KiB
C
753 lines
20 KiB
C
/****************************************************************************
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* libs/libdsp/lib_observer.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 <dsp.h>
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#include <string.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* nan check for floats */
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#define IS_NAN(x) ((x) != (x))
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#define NAN_ZERO(x) (x = IS_NAN(x) ? 0.0 : x)
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/* Squared */
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#define SQ(x) ((x) * (x))
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: motor_sobserver_init
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*
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* Description:
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* Initialize motor speed observer
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*
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* Input Parameters:
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* observer - pointer to the speed observer data
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* so - pointer to the speed specific observer data
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* per - observer execution period
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void motor_sobserver_init(FAR struct motor_sobserver_f32_s *observer,
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FAR void *so, float per)
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{
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LIBDSP_DEBUGASSERT(observer != NULL);
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LIBDSP_DEBUGASSERT(so != NULL);
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LIBDSP_DEBUGASSERT(per > 0.0f);
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/* Reset observer data */
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memset(observer, 0, sizeof(struct motor_sobserver_f32_s));
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/* Set observer period */
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observer->per = per;
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/* Connect speed estimation observer data */
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observer->so = so;
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}
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/****************************************************************************
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* Name: motor_aobserver_init
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*
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* Description:
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* Initialize motor angle observer
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*
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* Input Parameters:
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* observer - pointer to the angle observer data
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* ao - pointer to the angle specific observer data
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* per - observer execution period
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void motor_aobserver_init(FAR struct motor_aobserver_f32_s *observer,
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FAR void *ao, float per)
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{
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LIBDSP_DEBUGASSERT(observer != NULL);
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LIBDSP_DEBUGASSERT(ao != NULL);
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LIBDSP_DEBUGASSERT(per > 0.0f);
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/* Reset observer data */
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memset(observer, 0, sizeof(struct motor_aobserver_f32_s));
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/* Set observer period */
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observer->per = per;
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/* Connect angle estimation observer data */
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observer->ao = ao;
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}
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/****************************************************************************
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* Name: motor_aobserver_smo_init
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*
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* Description:
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* Initialize motor sliding mode observer.
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*
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* Input Parameters:
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* smo - pointer to the sliding mode observer private data
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* kslide - SMO gain
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* err_max - linear region upper limit
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void motor_aobserver_smo_init(FAR struct motor_aobserver_smo_f32_s *smo,
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float kslide, float err_max)
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{
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LIBDSP_DEBUGASSERT(smo != NULL);
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LIBDSP_DEBUGASSERT(kslide > 0.0f);
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LIBDSP_DEBUGASSERT(err_max > 0.0f);
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/* Reset structure */
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memset(smo, 0, sizeof(struct motor_aobserver_smo_f32_s));
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/* Initialize structure */
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smo->k_slide = kslide;
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smo->err_max = err_max;
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/* Store inverted err_max to avoid division */
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smo->one_by_err_max = (1.0f / err_max);
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}
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/****************************************************************************
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* Name: motor_aobserver_smo
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*
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* Description:
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* One step of the SMO observer.
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* REFERENCE: http://ww1.microchip.com/downloads/en/AppNotes/01078B.pdf
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*
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* Below some theoretical backgrounds about SMO.
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*
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* The digitalized motor model can be represent as:
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*
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* d(i_s.)/dt = (-R/L)*i_s. + (1/L)*(v_s - e_s. - z)
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*
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* We compare estimated current (i_s.) with measured current (i_s):
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*
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* err = i_s. - i_s
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*
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* and get correction factor (z):
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*
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* sign = sign(err)
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* z = sign*K_SLIDE
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*
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* Once the digitalized model is compensated, we estimate BEMF (e_s.) by
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* filtering z:
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*
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* e_s. = low_pass(z)
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*
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* The estimated BEMF is filtered once again and used to approximate the
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* motor angle:
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*
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* e_filtered_s. = low_pass(e_s.)
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* theta = arctan(-e_alpha/e_beta)
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*
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* The estimated theta is phase-shifted due to low pass filtration, so we
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* need some phase compensation. More details below.
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*
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* where:
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* v_s - phase input voltage vector
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* i_s. - estimated phase current vector
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* i_s - phase current vector
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* e_s. - estimated phase BEMF vector
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* R - motor winding resistance
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* L - motor winding inductance
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* z - output correction factor voltage
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*
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* Input Parameters:
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* o - (in/out) pointer to the angle observer data
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* i_ab - (in) inverter alpha-beta current
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* v_ab - (in) inverter alpha-beta voltage
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* phy - (in) pointer to the motor physical parameters
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* dir - (in) rotation direction (1.0 for CCW, -1.0 for CW)
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* NOTE: (mechanical dir) = -(electrical dir)
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* speed - (in) electrical speed
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* TODO: pass rotation direction with speed sign
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void motor_aobserver_smo(FAR struct motor_aobserver_f32_s *o,
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FAR ab_frame_f32_t *i_ab, FAR ab_frame_f32_t *v_ab,
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FAR struct motor_phy_params_f32_s *phy, float dir,
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float speed)
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{
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LIBDSP_DEBUGASSERT(o != NULL);
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LIBDSP_DEBUGASSERT(i_ab != NULL);
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LIBDSP_DEBUGASSERT(v_ab != NULL);
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LIBDSP_DEBUGASSERT(phy != NULL);
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FAR struct motor_aobserver_smo_f32_s *smo =
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(FAR struct motor_aobserver_smo_f32_s *)o->ao;
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FAR ab_frame_f32_t *emf = &smo->emf;
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FAR ab_frame_f32_t *emf_f = &smo->emf_f;
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FAR ab_frame_f32_t *z = &smo->z;
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FAR ab_frame_f32_t *i_est = &smo->i_est;
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FAR ab_frame_f32_t *v_err = &smo->v_err;
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FAR ab_frame_f32_t *i_err = &smo->i_err;
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FAR ab_frame_f32_t *sign = &smo->sign;
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float i_err_a_abs = 0.0f;
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float i_err_b_abs = 0.0f;
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float angle = 0.0f;
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float filter = 0.0f;
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LIBDSP_DEBUGASSERT(smo != NULL);
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/* REVISIT: observer works only when IQ current is high enough
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* Lower IQ current -> lower K_SLIDE
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*/
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/* Calculate observer gains */
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smo->F = (1.0f - o->per * phy->res * phy->one_by_ind);
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smo->G = o->per * phy->one_by_ind;
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/* Saturate F gain */
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if (smo->F < 0.0f)
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{
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smo->F = 0.0f;
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}
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/* Saturate G gain */
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if (smo->G > 0.999f)
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{
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smo->G = 0.999f;
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}
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/* Configure low pass filters
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*
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* We tune low-pass filters to achieve cutoff frequency equal to
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* input signal frequency. This gives us constant phase shift between
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* input and output signals equals to:
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*
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* phi = -arctan(f_in/f_c) = -arctan(1) = -45deg = -PI/4
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*
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* Input signal frequency is equal to the frequency of the motor currents,
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* which give us:
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*
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* f_c = omega_e/(2*PI)
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* omega_m = omega_e/pole_pairs
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* f_c = omega_m*pole_pairs/(2*PI)
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*
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* filter = T * (2*PI) * f_c
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* filter = T * omega_m * pole_pairs
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*
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* T - [s] period at which the digital filter is being
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* calculated
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* f_in - [Hz] input frequency of the filter
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* f_c - [Hz] cutoff frequency of the filter
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* omega_m - [rad/s] mechanical angular velocity
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* omega_e - [rad/s] electrical angular velocity
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* pole_pairs - pole pairs
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*
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*/
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filter = o->per * speed * phy->p;
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/* Limit SMO filters
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* REVISIT: lowest filter limit should depend on minimum speed:
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* filter = T * (2*PI) * f_c = T * omega0
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*
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*/
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if (filter >= 1.0f)
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{
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filter = 0.99f;
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}
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else if (filter < 0.005f)
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{
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filter = 0.005f;
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}
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smo->emf_lp_filter1 = filter;
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smo->emf_lp_filter2 = smo->emf_lp_filter1;
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/* Get voltage error: v_err = v_ab - emf */
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v_err->a = v_ab->a - emf->a;
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v_err->b = v_ab->b - emf->b;
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/* Estimate stator current */
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i_est->a = smo->F * i_est->a + smo->G * (v_err->a - z->a);
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i_est->b = smo->F * i_est->b + smo->G * (v_err->b - z->b);
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/* Get motor current error */
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i_err->a = i_ab->a - i_est->a;
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i_err->b = i_ab->b - i_est->b;
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/* Slide-mode controller */
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sign->a = (i_err->a > 0.0f ? 1.0f : -1.0f);
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sign->b = (i_err->b > 0.0f ? 1.0f : -1.0f);
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/* Get current error absolute value - just multiply value with its sign */
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i_err_a_abs = i_err->a * sign->a;
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i_err_b_abs = i_err->b * sign->b;
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/* Calculate new output correction factor voltage */
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if (i_err_a_abs < smo->err_max)
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{
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/* Enter linear region if error is small enough */
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z->a = i_err->a * smo->k_slide * smo->one_by_err_max;
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}
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else
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{
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/* Non-linear region */
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z->a = sign->a * smo->k_slide;
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}
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if (i_err_b_abs < smo->err_max)
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{
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/* Enter linear region if error is small enough */
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z->b = i_err->b * smo->k_slide * smo->one_by_err_max;
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}
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else
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{
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/* Non-linear region */
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z->b = sign->b * smo->k_slide;
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}
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/* Filter z to obtain estimated emf */
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LP_FILTER(emf->a, z->a, smo->emf_lp_filter1);
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LP_FILTER(emf->b, z->b, smo->emf_lp_filter1);
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/* Filter emf one more time before angle stimation */
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LP_FILTER(emf_f->a, emf->a, smo->emf_lp_filter2);
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LP_FILTER(emf_f->b, emf->b, smo->emf_lp_filter2);
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/* Estimate phase angle according to:
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* emf_a = -|emf| * sin(th)
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* emf_b = |emf| * cos(th)
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* th = atan2(-emf_a, emf->b)
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*
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* NOTE: bottleneck but we can't do much more to optimise this
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*/
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angle = fast_atan2(-emf->a, emf->b);
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/* Angle compensation.
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* Due to low pass filtering we have some delay in estimated phase angle.
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*
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* Adaptive filters introduced above cause -PI/4 phase shift for each
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* filter. We use 2 times filtering which give us constant -PI/2 (-90deg)
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* phase shift.
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*/
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angle = angle + dir * M_PI_2_F;
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/* Normalize angle to range <0, 2PI> */
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angle_norm_2pi(&angle, 0.0f, 2.0f*M_PI_F);
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/* Store estimated angle in observer data */
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o->angle = angle;
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}
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/****************************************************************************
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* Name: motor_sobserver_div_init
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*
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* Description:
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* Initialize DIV speed observer
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*
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* Input Parameters:
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* so - (in/out) pointer to the DIV speed observer data
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* sample - (in) number of angle samples
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* filter - (in) low-pass filter for final omega
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* per - (in) speed observer execution period
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void motor_sobserver_div_init(FAR struct motor_sobserver_div_f32_s *so,
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uint8_t samples, float filter, float per)
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{
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LIBDSP_DEBUGASSERT(so != NULL);
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LIBDSP_DEBUGASSERT(samples > 0);
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LIBDSP_DEBUGASSERT(filter > 0.0f);
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/* Reset observer data */
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memset(so, 0, sizeof(struct motor_sobserver_div_f32_s));
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/* Store number of samples for DIV observer */
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so->samples = samples;
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/* Store low-pass filter for DIV observer speed */
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so->filter = filter;
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/* Store inverted sampling period */
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so->one_by_dt = 1.0f / (so->samples * per);
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}
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/****************************************************************************
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* Name: motor_sobserver_div
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*
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* Description:
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* Estimate motor speed based on motor angle difference (electrical
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* or mechanical)
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*
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* Input Parameters:
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* o - (in/out) pointer to the speed observer data
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* angle - (in) angle normalized to <0.0, 2PI>
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* dir - (in) rotation direction. Valid values:
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* DIR_CW (1.0f) or DIR_CCW(-1.0f)
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*
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****************************************************************************/
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void motor_sobserver_div(FAR struct motor_sobserver_f32_s *o, float angle)
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{
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LIBDSP_DEBUGASSERT(o != NULL);
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LIBDSP_DEBUGASSERT(angle >= 0.0f && angle <= 2*M_PI_F);
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FAR struct motor_sobserver_div_f32_s *so =
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(FAR struct motor_sobserver_div_f32_s *)o->so;
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volatile float omega = 0.0f;
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LIBDSP_DEBUGASSERT(so != NULL);
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/* Normalize angle to range <-PI, PI> */
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angle_norm_2pi(&angle, -M_PI_F, M_PI_F);
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/* Get angle diff */
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so->angle_diff = angle - so->angle_prev;
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/* Normalize angle to range <-PI, PI> */
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angle_norm_2pi(&so->angle_diff, -M_PI_F, M_PI_F);
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/* Accumulate angle only if sample is valid */
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so->angle_acc += so->angle_diff;
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/* Increase counter */
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so->cntr += 1;
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/* Accumulate angle until we get configured number of samples */
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if (so->cntr >= so->samples)
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{
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/* Estimate omega using accumulated angle samples.
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* In this case use simple estimation:
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*
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* omega = delta_theta/delta_time
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* speed_now = low_pass(omega)
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*
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*/
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omega = so->angle_acc*so->one_by_dt;
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/* Store filtered omega.
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*
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* REVISIT: cut-off frequency for this filter should be
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* (probably) set according to minimum supported omega:
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*
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* filter = T * (2*PI) * f_c = T * omega0
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*
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* where:
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* omega0 - minimum angular speed
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* T - speed estimation period (samples*per)
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*/
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LP_FILTER(o->speed, omega, so->filter);
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/* Reset samples counter and accumulated angle */
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so->cntr = 0;
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so->angle_acc = 0.0f;
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}
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/* Store current angle as previous angle */
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so->angle_prev = angle;
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}
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/****************************************************************************
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* Name: motor_aobserver_nfo_init
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*
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* Description:
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* Initialize motor nolinear fluxlink observer.
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*
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* Input Parameters:
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* nfo - pointer to the nolinear fluxlink observer private data
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void motor_aobserver_nfo_init(FAR struct motor_aobserver_nfo_f32_s *nfo)
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{
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LIBDSP_DEBUGASSERT(nfo != NULL);
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/* Reset structure */
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memset(nfo, 0, sizeof(struct motor_aobserver_nfo_f32_s));
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}
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/****************************************************************************
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* Name: motor_aobserver_nfo
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*
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* Description:
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* nolinear fluxlink observer.
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* REFERENCE: http://cas.ensmp.fr/~praly/Telechargement/Journaux/
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* 2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf
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*
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* Input Parameters:
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* o - (in/out) pointer to the angle observer data
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* i_ab - (in) inverter alpha-beta current
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* v_ab - (in) inverter alpha-beta voltage
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* phy - (in) pointer to the motor physical parameters
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* gain - (in) dynamic observer gain
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*
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* Returned Value:
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* None
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*
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****************************************************************************/
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void motor_aobserver_nfo(FAR struct motor_aobserver_f32_s *o,
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FAR ab_frame_f32_t *i_ab, FAR ab_frame_f32_t *v_ab,
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FAR struct motor_phy_params_f32_s *phy, float gain)
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{
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FAR struct motor_aobserver_nfo_f32_s *nfo =
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(FAR struct motor_aobserver_nfo_f32_s *)o->ao;
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float angle;
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float err;
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float x1_dot;
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float x2_dot;
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float l_ia = (3.0f / 2.0f) * phy->ind * i_ab->a;
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float l_ib = (3.0f / 2.0f) * phy->ind * i_ab->b;
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float r_ia = (3.0f / 2.0f) * phy->res * i_ab->a;
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float r_ib = (3.0f / 2.0f) * phy->res * i_ab->b;
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LIBDSP_DEBUGASSERT(nfo != NULL);
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err = SQ(phy->flux_link) - (SQ(nfo->x1 - l_ia) + SQ(nfo->x2 - l_ib));
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/* Forcing this term to stay negative helps convergence according to
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* http://cas.ensmp.fr/Publications/Publications/Papers/
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* ObserverPermanentMagnet.pdf and
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* https://arxiv.org/pdf/1905.00833.pdf
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*/
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if (err > 0.0f)
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{
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err = 0.0f;
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}
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x1_dot = -r_ia + v_ab->a + gain * (nfo->x1 - l_ia) * err;
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x2_dot = -r_ib + v_ab->b + gain * (nfo->x2 - l_ib) * err;
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nfo->x1 += x1_dot * o->per;
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nfo->x2 += x2_dot * o->per;
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NAN_ZERO(nfo->x1);
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NAN_ZERO(nfo->x2);
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/* Prevent the magnitude from getting too low
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* as that makes the angle very unstable.
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*/
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if (vector2d_mag(nfo->x1, nfo->x2) < (phy->flux_link * 0.5))
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{
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nfo->x1 *= 1.1;
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nfo->x2 *= 1.1;
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}
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angle = fast_atan2(nfo->x2 - l_ib, nfo->x1 - l_ia);
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/* Normalize angle to range <0, 2PI> */
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angle_norm_2pi(&angle, 0.0f, 2.0f * M_PI_F);
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/* Store estimated angle in observer data */
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o->angle = angle;
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}
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/****************************************************************************
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* Name: motor_sobserver_pll_init
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*
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* Description:
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* Initialize PLL speed observer
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*
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* Input Parameters:
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* so - (in/out) pointer to the PLL speed observer data
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* pll_kp - (in) pll proportional gain
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* pll_ki - (in) pll integral gain
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*
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* Returned Value:
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* None
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|
*
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****************************************************************************/
|
|
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void motor_sobserver_pll_init(FAR struct motor_sobserver_pll_f32_s *so,
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float pll_kp, float pll_ki)
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|
{
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|
LIBDSP_DEBUGASSERT(so != NULL);
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LIBDSP_DEBUGASSERT(pll_kp > 0.0f);
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LIBDSP_DEBUGASSERT(pll_ki > 0.0f);
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|
|
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/* Reset observer data */
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|
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memset(so, 0, sizeof(struct motor_sobserver_pll_f32_s));
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|
|
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/* Store kp for PLL observer */
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|
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so->pll_kp = pll_kp;
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|
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/* Store ki for PLL observer speed */
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|
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so->pll_ki = pll_ki;
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}
|
|
|
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/****************************************************************************
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|
* Name: motor_sobserver_pll
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|
*
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|
* Description:
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|
* Estimate motor electrical speed based on motor electrical angle
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|
* difference.
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|
*
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|
* Input Parameters:
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|
* o - (in/out) pointer to the speed observer data
|
|
* angle - (in) electrical angle normalized to <0.0, 2PI>
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|
*
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|
****************************************************************************/
|
|
|
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void motor_sobserver_pll(FAR struct motor_sobserver_f32_s *o, float angle)
|
|
{
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|
FAR struct motor_sobserver_pll_f32_s *so =
|
|
(FAR struct motor_sobserver_pll_f32_s *)o->so;
|
|
float delta_theta = 0.0f;
|
|
|
|
LIBDSP_DEBUGASSERT(so != NULL);
|
|
|
|
NAN_ZERO(so->pll_phase);
|
|
|
|
/* Normalize angle to range <-PI, PI> */
|
|
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|
angle_norm_2pi(&angle, -M_PI_F, -M_PI_F);
|
|
|
|
delta_theta = angle - so->pll_phase;
|
|
|
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/* Normalize angle to range <-PI, PI> */
|
|
|
|
angle_norm_2pi(&delta_theta, -M_PI_F, -M_PI_F);
|
|
|
|
NAN_ZERO(o->speed);
|
|
|
|
so->pll_phase += (o->speed + so->pll_kp * delta_theta) * o->per;
|
|
|
|
/* Normalize angle to range <-PI, PI> */
|
|
|
|
angle_norm_2pi(&so->pll_phase, -M_PI_F, -M_PI_F);
|
|
|
|
o->speed += so->pll_ki * delta_theta * o->per;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: motor_sobserver_speed_get
|
|
*
|
|
* Description:
|
|
* Get the estmiated motor speed from the observer
|
|
*
|
|
* Input Parameters:
|
|
* o - (in/out) pointer to the speed observer data
|
|
*
|
|
* Returned Value:
|
|
* Return estimated motor speed from observer
|
|
*
|
|
****************************************************************************/
|
|
|
|
float motor_sobserver_speed_get(FAR struct motor_sobserver_f32_s *o)
|
|
{
|
|
LIBDSP_DEBUGASSERT(o != NULL);
|
|
|
|
return o->speed;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: motor_aobserver_angle_get
|
|
*
|
|
* Description:
|
|
* Get the estmiated motor electrical angle from the observer
|
|
*
|
|
* Input Parameters:
|
|
* o - (in/out) pointer to the angle observer data
|
|
*
|
|
* Returned Value:
|
|
* Return estimated motor electrical angle from observer
|
|
*
|
|
****************************************************************************/
|
|
|
|
float motor_aobserver_angle_get(FAR struct motor_aobserver_f32_s *o)
|
|
{
|
|
LIBDSP_DEBUGASSERT(o != NULL);
|
|
|
|
return o->angle;
|
|
}
|