102 lines
2.8 KiB
C
102 lines
2.8 KiB
C
/*!
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Copyright 2017 ÀÎ "ÍÈÈÝÒ" è ÎÎÎ "ÍÏÔ ÂÅÊÒÎÐ"
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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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,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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\file V_TMU.h
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\brief Ìîäóëü áëîêà òðèãîíîìåòðè÷åñêèõ ïðåîáðàçîâàíèé (ñì. TTMU, TTMUPark, TTMUIPark)
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\author ÎÎÎ "ÍÏÔ Âåêòîð". http://motorcontrol.ru
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\version v 1.0 24/06/2019
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\defgroup V_TMU
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@{
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*/
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#ifndef V_TMU_H_
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#define V_TMU_H_
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typedef volatile struct STMUPark {
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_iq ds, qs;
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_iq ang;
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_iq de, qe;
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void (*calc)(volatile struct STMUPark*);
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}TTMUPark;
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typedef volatile struct STMUIPark {
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_iq ds, qs;
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_iq ang;
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_iq de, qe;
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void (*calc)(volatile struct STMUIPark*);
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}TTMUIPark;
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typedef volatile struct STMUCarToPol {
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_iq x, y;
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_iq r, phi;
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void (*calc)(volatile struct STMUCarToPol*);
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}TTMUCarToPol;
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typedef volatile struct STMUPolToCar {
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_iq x, y;
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_iq r, phi;
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void (*calc)(volatile struct STMUPolToCar*);
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}TTMUPolToCar;
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typedef volatile struct STMU {
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_iq (*sin)(_iq);
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_iq (*cos)(_iq);
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_iq (*atan2)(_iq, _iq);
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TTMUCarToPol carToPol;
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TTMUPolToCar polToCar;
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}TTMU;
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void TMU_park_calc_IQ24PU (TTMUPark*);
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void TMU_ipark_calc_IQ24PU (TTMUIPark*);
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_iq TMU_sin_IQ24PU (_iq);
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_iq TMU_cos_IQ24PU (_iq);
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_iq TMU_atan2_IQ24PU (_iq, _iq);
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void TMU_cartesianToPolar_calc_IQ24PU (TTMUCarToPol*);
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void TMU_polarToCartesian_calc_IQ24PU (TTMUPolToCar*);
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#define TMUPARK_DEFAULTS { 0, \
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0, \
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0, \
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0, \
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0, \
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TMU_park_calc_IQ24PU }
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#define TMUIPARK_DEFAULTS { 0, \
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0, \
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0, \
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0, \
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0, \
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TMU_ipark_calc_IQ24PU }
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#define TMUCARTOPOL_DEFAULTS {.calc = TMU_cartesianToPolar_calc_IQ24PU}
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#define TMUPOLTOCAR_DEFAULTS {.calc = TMU_polarToCartesian_calc_IQ24PU}
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#define TMU_DEFAULTS { .sin = TMU_sin_IQ24PU,\
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.cos = TMU_cos_IQ24PU,\
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.atan2 = TMU_atan2_IQ24PU,\
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.carToPol = TMUCARTOPOL_DEFAULTS,\
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.polToCar = TMUPOLTOCAR_DEFAULTS }
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#endif /* V_TMU_H_ */
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/*@}*/
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