118 lines
3.4 KiB
C
118 lines
3.4 KiB
C
/*
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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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#ifndef PI_TEST_H
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#define PI_TEST_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <kernel/dpl/DebugP.h>
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#include "ti_drivers_config.h"
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#include "ti_drivers_open_close.h"
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#include "ti_board_open_close.h"
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#include <dcl.h>
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//
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// User configurable values
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//
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#define PI_TESTCASE 1 //!< Defines testcase, tests 1-3 is provided
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#define DATA_LENGTH 1601 //!< Size of total data inputs
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#define NUM_ELEMENTS 400 //!< The number of samples ran, cannot exceed DATA_LENGTH
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void dcl_pi_main(void *args);
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typedef float32_t (*DCL_PI_FUNC)(DCL_PI *p, float32_t rk, float32_t yk);
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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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// Controller initialization
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//
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//! Method 1:
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//! Direct assignments
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//!
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DCL_PI *pi_controller = &(DCL_PI)
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{
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.Kp = 2.5f,
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.Ki = 0.01f,
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.Umax = 2.0f,
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.Umin = -2.0f,
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.Imax = 1.0f,
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.Imin = -1.0f,
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PI_INT_DEFAULTS // macro for default values of internal attributes
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};
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//! Method 2:
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//! Initalizing with input controller parameters
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//!
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/*
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float32_t kp = 2.5f, ki = 0.01f, umax = 1.0f, umin = -1.0f;
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DCL_PI *pi_controller = DCL_initPIasParam(2.5f,0.01f,1.0f,-1.0f); // (kp,ki,umax,umin)
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*/
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//
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// Macros for selecting testvector based on PI_TESTCASE
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//
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#define _LSTR(x) #x
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#define __LSTR(x) _LSTR(x)
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#define PI_RK_DATA(x) __LSTR(data/PI_rk-x.dat)
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#define PI_YK_DATA(x) __LSTR(data/PI_yk-x.dat)
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#define PI_CTL_DATA(x) __LSTR(data/PI_ctl-x.dat)
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//
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// Allocate data sections and initialize data
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//
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const float32_t __attribute__((weak)) rk_buffer[DATA_LENGTH] =
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{
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#include PI_RK_DATA(PI_TESTCASE)
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};
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const float32_t __attribute__((weak)) yk_buffer[DATA_LENGTH] =
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{
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#include PI_YK_DATA(PI_TESTCASE)
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};
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const float32_t __attribute__((weak)) ctl_buffer[DATA_LENGTH] =
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{
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#include PI_CTL_DATA(PI_TESTCASE)
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};
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static float32_t out_buffer[DATA_LENGTH];
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#ifdef __cplusplus
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}
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#endif // extern "C"
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#endif
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