127 lines
3.9 KiB
C
127 lines
3.9 KiB
C
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/*
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* Copyright (C) 2023 Texas Instruments Incorporated - http://www.ti.com/
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*
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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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* * 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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*
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the
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* distribution.
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*
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* * Neither the name of Texas Instruments Incorporated nor the names of
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* its contributors may be used to endorse or promote products derived
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* from this software 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 FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#include "pi_test.h"
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void dcl_pi_main(void *args)
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{
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/* Open drivers to open the UART driver for console */
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Drivers_open();
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Board_driversOpen();
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//
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// Available PI controllers are:
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// - DCL_runPISeries
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// - DCL_runPIParallel
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// - DCL_runPISeriesTustin
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// - DCL_runPIParallelEnhanced (Requires additional parameters)
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//
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PI_runTest(pi_controller, &DCL_runPISeries);
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Board_driversClose();
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Drivers_close();
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}
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int PI_runTest(DCL_PI *ctrl_handle, DCL_PI_FUNC dcl_pi_func)
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{
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//
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// Define DFLOG pointers that will be used to access the data buffer
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//
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DCL_FDLOG rkBuf, ykBuf, outBuf, ctlBuf;
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DCL_resetPI(ctrl_handle);
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//
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// Initialize Log pointers to the data buffer
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//
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DCL_initLog(&rkBuf, (float32_t*)rk_buffer, DATA_LENGTH);
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DCL_initLog(&ykBuf, (float32_t*)yk_buffer, DATA_LENGTH);
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DCL_initLog(&outBuf, (float32_t*)out_buffer, DATA_LENGTH);
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DCL_initLog(&ctlBuf, (float32_t*)ctl_buffer, DATA_LENGTH);
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DCL_clearLog(&outBuf);
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int i;
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for (i = 0; i < NUM_ELEMENTS; i++)
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{
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//
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// rk = Target referenced value
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// yk = Current feedback value
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// uk = Output control effort
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//
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float32_t rk,yk,uk;
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//
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// Read the input data buffers
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//
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rk = DCL_readLog(&rkBuf);
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yk = DCL_readLog(&ykBuf);
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//
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// Run the controller
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// Equivalent to uk = DCL_runPI_series(ctrl_handle, rk, yk);
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//
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uk = (*dcl_pi_func)(ctrl_handle, rk, yk);
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//
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// Write the results to the output buffer
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//
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DCL_writeLog(&outBuf, uk);
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}
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//
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// Reset the log pointer so it starts from the beginning
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//
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DCL_resetLog(&outBuf);
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//
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// Check output against expected output with tolerance (1e-06)
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//
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int errors = 0;
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for (i = 0; i < NUM_ELEMENTS; i++)
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{
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float32_t output = DCL_readLog(&outBuf); // out_buffer[i]
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float32_t expected = DCL_readLog(&ctlBuf); // ctl_buffer[i]
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if (!DCL_isZero(output - expected))
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{
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errors++;
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DebugP_log("FAIL at sample %d, outputs %f, should be %f\n", i, output, expected);
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}
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}
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DebugP_log("PI test produced %d error\n",errors);
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return errors;
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}
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