External/motor-control-sdk
8
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Pull request #35: am243x/am263x: rtlibs: Update documentation

Browse Source 
Merge in PINDSW/motor_control_sdk from PINDSW-6566_update_dcl to next

* commit '422e7e0522da64b4b1dbe930d62f7a37582c4ebe':
  am243x/am263x: rtlibs: Update documentation
This commit is contained in:
Dhaval Khandla 2023-09-16 07:04:47 -05:00 committed by Pratheesh Gangadhar TK
commit af246e93a6
14 changed files with 41 additions and 39 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

37
docs_src/docs/api_guide/components/dcl/dcl.md
View File

@ -54,79 +54,80 @@ A benchmark on R5F core has been conducted to observe the following results when
<tr><td colspan="2" bgcolor=#F0F0F0> PI Controller </td></tr>
<tr>
<td>DCL_runPISeries</td>
<td>49.15</td>
<td>49</td>
</tr>
<tr>
<td>DCL_runPIParallel</td>
<td>50.00</td>
<td>50</td>
</tr>
<tr>
<td>DCL_runPISeriesTustin</td>
<td>56.35</td>
<td>56</td>
</tr>
<tr>
<td>DCL_runPIParallelEnhanced</td>
<td>62.57</td>
<td>62</td>
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> PI2 Controller </td></tr>
<tr>
<td>DCL_runPI2Series</td>
<td>74.00</td>
<td>74</td>
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> PID Controller </td></tr>
<tr>
<td>DCL_runPIDSeries</td>
<td>64.68</td>
<td>65</td>
</tr>
<tr>
<td>DCL_runPIDParallel</td>
<td>64.84</td>
<td>65</td>
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> DF11 Controller </td></tr>
<tr>
<td>DCL_runDF11</td>
<td>24.00</td>
<td>24</td>
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> DF13 Controller </td></tr>
<tr>
<td>DCL_runDF13</td>
<td>43.00</td>
<td>43</td>
</tr>
<tr>
<td>DCL_runDF13Clamp</td>
<td>53.00</td>
<td>53</td>
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> DF22 Controller </td></tr>
<tr>
<td>DCL_runDF22</td>
<td>27.00</td>
<td>27</td>
</tr>
<tr>
<td>DCL_runDF22Clamp</td>
<td>41.00</td>
<td>41</td>
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> DF23 Controller </td></tr>
<tr>
<td>DCL_runDF23</td>
<td>29.00</td>
<td>29</td>
</tr>
<tr>
<td>DCL_runDF23Clamp</td>
<td>45.00</td>
<td>45</td>
</tr>
<tr><td colspan="2" bgcolor=#F0F0F0> PID 64bit Controller </td></tr>
<tr>
<td>DCL_runPIDF64Series</td>
<td>185.14</td>
<td>185</td>
</tr>
<tr>
<td>DCL_runPIDF64Parallel</td>
<td>173.63</td>
<td>174</td>
</tr>
</table>
- Ran with TI Clang Compiler v2.1.3.LTS, with -Os flag and functions in ram, obtained the average result from 600 consecutive reading of running the controller with DPL CycleCountP.
- Actual result may vary depending on provided datasets and memory configuration.
- Ran with TI Clang Compiler v2.1.3.LTS, with -Os flag and all DCL functions inlined, obtained the average result from 600 consecutive reading of running the controller with DPL CycleCountP.
- Simulated inputs are based on arbitrary sinusoidal waves and saturation condition that roughly clamps ~50% of the time. For functions with clamp (PI,PI2,PID and DF Clamps), clock cycle varies depending on clamping condition and provided inputs.
- Actual result may vary depending on provided datasets and memory configuration. For R5F, it is recommended for users to map control loops to TCM for the best performance.
## Provided Examples

3
source/dcl/common/dcl_aux.h
View File

@ -84,7 +84,6 @@ extern "C" {
//! \code
//! float32_t s = DCL_rand(1.0f);
//! \endcode
//!
#define DCL_rand(a) (a * ((float32_t) rand() / (float32_t) (RAND_MAX >> 1) - 1.0f))
#define DCL_randF64(a) (a * ((float64_t) rand() / (float64_t) (RAND_MAX >> 1) - 1.0L))
@ -94,7 +93,7 @@ extern "C" {
#define DCL_c2Limit ((2.0f - CONST_PI) / (2.0f + CONST_PI))
#define DCL_c2LimitF64 ((2.0L - CONST_PI_F64) / (2.0L + CONST_PI_F64))
/** @} */
/** @} */
#ifdef __cplusplus
}

4
source/dcl/common/dcl_css.h
View File

@ -86,10 +86,10 @@ typedef struct dcl_css64 {
//! CSS pointer must be configured first
//!
//! \param[in] p Pointer to the controller structure
//! \param[in] a Sample period in seconds
//! \param[in] T Sample period in seconds
//! \return None
//!
#define DCL_setControllerPeriod(p,a) ((p)->css->T = a)
#define DCL_setControllerPeriod(p,T) ((p)->css->t_sec = T)
//--- Status word ------------------------------------------------------------

2
source/dcl/common/dcl_zpk3.h
View File

@ -56,7 +56,7 @@ extern "C" {
//! \details Allows controllers to be defined in terms of complex pole
//! and zero frequencies. The common structure consists of
//! three complex zeros, three complex poles, and a real gain.
//! All frequencies must be specified in radians/sec. <--- TODO: Conflicting units compared with the documentation,rad/s or hz?
//! All frequencies must be specified in radians/sec.
//!
typedef struct dcl_zpk3
{

4
source/dcl/df/dcl_df11.h
View File

@ -51,7 +51,7 @@ extern "C" {
//--- Direct Form 1 - 1st order ----------------------------------------------
//! \brief Defines the DCL_DF11 shadow parameter set
//! \brief Defines DCL_DF11 shadow parameter set
//! used for updating compensator parameter
//!
typedef struct dcl_df11_sps
@ -63,7 +63,7 @@ typedef struct dcl_df11_sps
#define DF11_SPS_DEFAULTS { 0.5f, 0.5f, 1.0f }
//! \brief DF11 object for storing df11 specific parameters
//! \brief DCL_DF11 object for storing df11 specific parameters
//!
typedef _DCL_VOLATILE struct dcl_df11
{

2
source/dcl/df/dcl_df13.h
View File

@ -66,7 +66,7 @@ typedef struct dcl_df13_sps {
#define DF13_SPS_DEFAULTS { 0.25f, 0.25f, 0.25f, 0.25f, 0.0f, 0.0f, 0.0f }
//! \brief DF13 object for storing df13 specific parameters
//! \brief DCL_DF13 object for storing df13 specific parameters
//!
typedef _DCL_VOLATILE struct dcl_df13
{

4
source/dcl/df/dcl_df22.h
View File

@ -51,7 +51,7 @@ extern "C" {
//--- Direct Form 2 - 2nd order ----------------------------------------------
//! \brief Defines the DCL_DF22 shadow parameter set
//! \brief Defines DCL_DF22 shadow parameter set
//! used for updating compensator parameter
//!
typedef struct dcl_df22_sps
@ -65,7 +65,7 @@ typedef struct dcl_df22_sps
#define DF22_SPS_DEFAULTS { 1.0f, 0.0f, 0.0f, 0.0f, 0.0f }
//! \brief DF22 object for storing df22 specific parameters
//! \brief DCL_DF22 object for storing df22 specific parameters
//!
typedef _DCL_VOLATILE struct dcl_df22
{

4
source/dcl/df/dcl_df23.h
View File

@ -51,7 +51,7 @@ extern "C" {
//--- Direct Form 2 - 3rd order ----------------------------------------------
//! \brief Defines the DCL_DF23 shadow parameter set
//! \brief Defines DCL_DF23 shadow parameter set
//! used for updating compensator parameter
//!
typedef struct dcl_df23_sps
@ -67,7 +67,7 @@ typedef struct dcl_df23_sps
#define DF23_SPS_DEFAULTS { 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f }
//! \brief DF23 object for storing df23 specific parameters
//! \brief DCL_DF23 object for storing df23 specific parameters
//!
typedef _DCL_VOLATILE struct dcl_df23
{

2
source/dcl/misc/dcl_error.h
View File

@ -49,7 +49,7 @@ extern "C" {
//--- Error handling ---------------------------------------------------------
//! \brief Defines the library enumerated error codes
//! \brief Defines the library enumerated error codes.
//! These will be applied as bit masks in the error handler
//!
typedef enum

2
source/dcl/misc/dcl_fdlog.h
View File

@ -69,6 +69,8 @@ extern "C" {
#include "../dcl_common.h"
//! \brief Defines the data logger strcture for 32-bit float
//!
typedef _DCL_VOLATILE struct dcl_fdlog
{
float32_t *fptr; //!< Pointer to first buffer element

4
source/dcl/pi/dcl_pi.h
View File

@ -49,7 +49,7 @@ extern "C" {
//--- Linear PI controller ---------------------------------------------------
//! \brief Defines the DCL_PI shadow parameter set
//! \brief Defines DCL_PI shadow parameter set
//! used for updating controller parameter
//!
typedef struct dcl_pi_sps
@ -64,7 +64,7 @@ typedef struct dcl_pi_sps
//!
#define PI_SPS_DEFAULTS { 1.0f, 0.0f, 1.0f, -1.0f }
//! \brief PI object for storing PI specific parameters
//! \brief DCL_PI object for storing PI specific parameters
//!
typedef _DCL_VOLATILE struct dcl_pi
{

4
source/dcl/pi/dcl_pi2.h
View File

@ -49,7 +49,7 @@ extern "C" {
//--- Linear PI2 controller --------------------------------------------------
//! \brief Defines the DCL_PI2 shadow parameter set
//! \brief Defines DCL_PI2 shadow parameter set
//! used for updating controller parameter
//!
typedef struct dcl_pi2_sps
@ -64,7 +64,7 @@ typedef struct dcl_pi2_sps
//!
#define PI2_SPS_DEFAULTS { 1.0f, 0.0f, 1.0f, -1.0f }
//! \brief PI2 object for storing PI2 specific parameters
//! \brief DCL_PI2 object for storing PI2 specific parameters
//! PI2 - PI controller with double integrators
//!
typedef _DCL_VOLATILE struct dcl_pi2

4
source/dcl/pid/dcl_pid.h
View File

@ -49,7 +49,7 @@ extern "C" {
//--- Linear PID controller --------------------------------------------------
//! \brief Defines the DCL_PID shadow parameter set
//! \brief Defines DCL_PID shadow parameter set
//! used for updating controller parameter
//!
typedef struct dcl_pid_sps
@ -68,7 +68,7 @@ typedef struct dcl_pid_sps
//!
#define PID_SPS_DEFAULTS { 1.0f, 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f, -1.0f }
//! \brief PID object for storing PID specific parameters
//! \brief DCL_PID object for storing PID specific parameters
//!
typedef _DCL_VOLATILE struct dcl_pid
{

4
source/dcl/pid/dcl_pidf64.h
View File

@ -49,7 +49,7 @@ extern "C" {
//--- Linear PID 64bit controller --------------------------------------------------
//! \brief Defines the shadow PID64 controller structure
//! \brief Defines DCL_PIDF64 shadow PID64 controller structure
//! used for updating controller parameter
//!
typedef struct dcl_pid64_sps {
@ -67,7 +67,7 @@ typedef struct dcl_pid64_sps {
//!
#define PIDF64_SPS_DEFAULTS { 1.0L, 0.0L, 0.0L, 1.0L, 1.0L, 0.0L, 1.0L, -1.0L }
//! \brief PID 64bit object for storing PID specific 64bit parameters
//! \brief DCL_PIDF64 object for storing 64bit PID specific parameters
//!
typedef _DCL_VOLATILE struct dcl_pidf64 {
/* controller parameter */