foc_utils.h File Reference

#include "Arduino.h"

Go to the source code of this file.

Classes
struct	DQCurrent_s
struct	PhaseCurrent_s
struct	DQVoltage_s

Macros
#define	_sign(a)   ( ( (a) < 0 ) ? -1 : ( (a) > 0 ) )
#define	_round(x)   ((x)>=0?(long)((x)+0.5):(long)((x)-0.5))
#define	_constrain(amt, low, high)   ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
#define	_sqrt(a)   (_sqrtApprox(a))
#define	_isset(a)   ( (a) != (NOT_SET) )
#define	_2_SQRT3   1.15470053838
#define	_SQRT3   1.73205080757
#define	_1_SQRT3   0.57735026919
#define	_SQRT3_2   0.86602540378
#define	_SQRT2   1.41421356237
#define	_120_D2R   2.09439510239
#define	_PI   3.14159265359
#define	_PI_2   1.57079632679
#define	_PI_3   1.0471975512
#define	_2PI   6.28318530718
#define	_3PI_2   4.71238898038
#define	_PI_6   0.52359877559
#define	NOT_SET   -12345.0
#define	_HIGH_IMPEDANCE   0
#define	_HIGH_Z   _HIGH_IMPEDANCE
#define	_ACTIVE   1

Functions
float	_sin (float a)
float	_cos (float a)
float	_normalizeAngle (float angle)
float	_electricalAngle (float shaft_angle, int pole_pairs)
float	_sqrtApprox (float value)

Macro Definition Documentation

_120_D2R

#define _120_D2R   2.09439510239

Definition at line 20 of file foc_utils.h.

_1_SQRT3

#define _1_SQRT3   0.57735026919

Definition at line 17 of file foc_utils.h.

_2_SQRT3

#define _2_SQRT3   1.15470053838

Definition at line 15 of file foc_utils.h.

_2PI

#define _2PI   6.28318530718

Definition at line 24 of file foc_utils.h.

_3PI_2

#define _3PI_2   4.71238898038

Definition at line 25 of file foc_utils.h.

_ACTIVE

#define _ACTIVE   1

Definition at line 31 of file foc_utils.h.

_constrain

#define _constrain	(		amt,
			low,
			high
	)		((amt)<(low)?(low):((amt)>(high)?(high):(amt)))

Definition at line 10 of file foc_utils.h.

_HIGH_IMPEDANCE

#define _HIGH_IMPEDANCE   0

Definition at line 29 of file foc_utils.h.

_HIGH_Z

#define _HIGH_Z   _HIGH_IMPEDANCE

Definition at line 30 of file foc_utils.h.

_isset

#define _isset

(

a

)

( (a) != (NOT_SET) )

Definition at line 12 of file foc_utils.h.

_PI

#define _PI   3.14159265359

Definition at line 21 of file foc_utils.h.

_PI_2

#define _PI_2   1.57079632679

Definition at line 22 of file foc_utils.h.

_PI_3

#define _PI_3   1.0471975512

Definition at line 23 of file foc_utils.h.

_PI_6

#define _PI_6   0.52359877559

Definition at line 26 of file foc_utils.h.

_round

#define _round

(

x

)

((x)>=0?(long)((x)+0.5):(long)((x)-0.5))

Definition at line 9 of file foc_utils.h.

_sign

#define _sign

(

a

)

( ( (a) < 0 ) ? -1 : ( (a) > 0 ) )

Definition at line 8 of file foc_utils.h.

_sqrt

#define _sqrt

(

a

)

(_sqrtApprox(a))

Definition at line 11 of file foc_utils.h.

_SQRT2

#define _SQRT2   1.41421356237

Definition at line 19 of file foc_utils.h.

_SQRT3

#define _SQRT3   1.73205080757

Definition at line 16 of file foc_utils.h.

_SQRT3_2

#define _SQRT3_2   0.86602540378

Definition at line 18 of file foc_utils.h.

NOT_SET

#define NOT_SET   -12345.0

Definition at line 28 of file foc_utils.h.

Function Documentation

_cos()

float _cos

(

float

a

)

Function approximating cosine calculation by using fixed size array

• execution time ~50us (Arduino UNO)

Parameters

a	angle in between 0 and 2PI

Definition at line 39 of file foc_utils.cpp.

_electricalAngle()

float _electricalAngle	(	float	shaft_angle,
		int	pole_pairs
	)

Electrical angle calculation

Parameters

shaft_angle	- shaft angle of the motor
pole_pairs	- number of pole pairs

Definition at line 53 of file foc_utils.cpp.

_normalizeAngle()

float _normalizeAngle

(

float

angle

)

normalizing radian angle to [0,2PI]

Parameters

angle

- angle to be normalized

Definition at line 47 of file foc_utils.cpp.

_sin()

float _sin

(

float

a

)

Function approximating the sine calculation by using fixed size array

• execution time ~40us (Arduino UNO)

Parameters

a	angle in between 0 and 2PI

Definition at line 14 of file foc_utils.cpp.

_sqrtApprox()

float _sqrtApprox

(

float

value

)

Function approximating square root function

• using fast inverse square root

Parameters

value

- number

Definition at line 60 of file foc_utils.cpp.