foc_utils.h File Reference

#include "Arduino.h"

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Classes
struct	DQ_s
struct	AB_s
struct	Phase_s

Macros
#define	_sign(a)   ( ( (a) < 0 ) ? -1 : ( (a) > 0 ) )
#define	_round(x)   ((x)>=0?(long)((x)+0.5f):(long)((x)-0.5f))
#define	_constrain(amt, low, high)   ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
#define	_sqrt(a)   (_sqrtApprox(a))
#define	_isset(a)   ( (a) != (NOT_SET) )
#define	_UNUSED(v)   (void) (v)
#define	_powtwo(x)   (1 << (x))
#define	_swap(a, b)   { auto temp = a; a = b; b = temp; }
#define	_2_SQRT3   1.15470053838f
#define	_SQRT3   1.73205080757f
#define	_1_SQRT3   0.57735026919f
#define	_SQRT3_2   0.86602540378f
#define	_SQRT2   1.41421356237f
#define	_120_D2R   2.09439510239f
#define	_PI   3.14159265359f
#define	_PI_2   1.57079632679f
#define	_PI_3   1.0471975512f
#define	_2PI   6.28318530718f
#define	_3PI_2   4.71238898038f
#define	_PI_6   0.52359877559f
#define	_RPM_TO_RADS   0.10471975512f
#define	NOT_SET   -12345.0f
#define	_HIGH_IMPEDANCE   0
#define	_HIGH_Z   _HIGH_IMPEDANCE
#define	_ACTIVE   1
#define	_NC   ((int) NOT_SET)
#define	MIN_ANGLE_DETECT_MOVEMENT   (_2PI/101.0f)

Typedefs
typedef DQ_s	DQVoltage_s
typedef DQ_s	DQCurrent_s
typedef AB_s	ABVoltage_s
typedef AB_s	ABCurrent_s
typedef Phase_s	PhaseVoltage_s
typedef Phase_s	PhaseCurrent_s

Functions
float	_sin (float a)
float	_cos (float a)
void	_sincos (float a, float *s, float *c)
float	_atan2 (float y, float x)
float	_normalizeAngle (float angle)
float	_electricalAngle (float shaft_angle, int pole_pairs)
float	_sqrtApprox (float value)

Macro Definition Documentation

_120_D2R

#define _120_D2R   2.09439510239f

Definition at line 25 of file foc_utils.h.

_1_SQRT3

#define _1_SQRT3   0.57735026919f

Definition at line 22 of file foc_utils.h.

_2_SQRT3

#define _2_SQRT3   1.15470053838f

Definition at line 20 of file foc_utils.h.

_2PI

#define _2PI   6.28318530718f

Definition at line 29 of file foc_utils.h.

_3PI_2

#define _3PI_2   4.71238898038f

Definition at line 30 of file foc_utils.h.

_ACTIVE

#define _ACTIVE   1

Definition at line 37 of file foc_utils.h.

_constrain

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

Definition at line 11 of file foc_utils.h.

_HIGH_IMPEDANCE

#define _HIGH_IMPEDANCE   0

Definition at line 35 of file foc_utils.h.

_HIGH_Z

#define _HIGH_Z   _HIGH_IMPEDANCE

Definition at line 36 of file foc_utils.h.

_isset

#define _isset

(

a

)

( (a) != (NOT_SET) )

Definition at line 13 of file foc_utils.h.

_NC

#define _NC   ((int) NOT_SET)

Definition at line 38 of file foc_utils.h.

_PI

#define _PI   3.14159265359f

Definition at line 26 of file foc_utils.h.

_PI_2

#define _PI_2   1.57079632679f

Definition at line 27 of file foc_utils.h.

_PI_3

#define _PI_3   1.0471975512f

Definition at line 28 of file foc_utils.h.

_PI_6

#define _PI_6   0.52359877559f

Definition at line 31 of file foc_utils.h.

_powtwo

#define _powtwo

(

x

)

(1 << (x))

Definition at line 15 of file foc_utils.h.

_round

#define _round

(

x

)

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

Definition at line 9 of file foc_utils.h.

_RPM_TO_RADS

#define _RPM_TO_RADS   0.10471975512f

Definition at line 32 of file foc_utils.h.

_sign

#define _sign

(

a

)

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

Definition at line 7 of file foc_utils.h.

_sqrt

#define _sqrt

(

a

)

(_sqrtApprox(a))

Definition at line 12 of file foc_utils.h.

_SQRT2

#define _SQRT2   1.41421356237f

Definition at line 24 of file foc_utils.h.

_SQRT3

#define _SQRT3   1.73205080757f

Definition at line 21 of file foc_utils.h.

_SQRT3_2

#define _SQRT3_2   0.86602540378f

Definition at line 23 of file foc_utils.h.

_swap

#define _swap	(		a,
			b
	)		{ auto temp = a; a = b; b = temp; }

Definition at line 17 of file foc_utils.h.

_UNUSED

#define _UNUSED

(

v

)

(void) (v)

Definition at line 14 of file foc_utils.h.

MIN_ANGLE_DETECT_MOVEMENT

#define MIN_ANGLE_DETECT_MOVEMENT   (_2PI/101.0f)

Definition at line 40 of file foc_utils.h.

NOT_SET

#define NOT_SET   -12345.0f

Definition at line 34 of file foc_utils.h.

Typedef Documentation

ABCurrent_s

typedef AB_s ABCurrent_s

Definition at line 61 of file foc_utils.h.

ABVoltage_s

typedef AB_s ABVoltage_s

Definition at line 60 of file foc_utils.h.

DQCurrent_s

typedef DQ_s DQCurrent_s

Definition at line 52 of file foc_utils.h.

DQVoltage_s

typedef DQ_s DQVoltage_s

Definition at line 50 of file foc_utils.h.

PhaseCurrent_s

typedef Phase_s PhaseCurrent_s

Definition at line 71 of file foc_utils.h.

PhaseVoltage_s

typedef Phase_s PhaseVoltage_s

Definition at line 70 of file foc_utils.h.

Function Documentation

_atan2()

float _atan2	(	float	y,
		float	x
	)

Function approximating atan2

_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

_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 83 of file foc_utils.cpp.

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_normalizeAngle()

float _normalizeAngle

(

float

angle

)

normalizing radian angle to [0,2PI]

Parameters

angle

- angle to be normalized

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_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

_sincos()

void _sincos	(	float	a,
		float *	s,
		float *	c
	)

Function returning both sine and cosine of the angle in one call. Internally it uses the _sin and _cos functions, but you may wish to provide your own implementation which is more optimized.

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_sqrtApprox()

float _sqrtApprox

(

float

value

)

Function approximating square root function

• using fast inverse square root

Parameters

value

- number