park.h

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//#############################################################################
//
// FILE:   park.h
//
// TITLE:  C28x InstaSPIN park transform library (fixed point)
//
//#############################################################################
// $TI Release: MotorControl SDK v1.00.00.00 $
// $Release Date: Mon Mar 11 18:37:40 CDT 2019 $
// $Copyright:
// Copyright (C) 2017-2018 Texas Instruments Incorporated - http://www.ti.com/
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// 
//   Redistributions of source code must retain the above copyright
//   notice, this list of conditions and the following disclaimer.
// 
//   Redistributions in binary form must reproduce the above copyright
//   notice, this list of conditions and the following disclaimer in the
//   documentation and/or other materials provided with the
//   distribution.
// 
//   Neither the name of Texas Instruments Incorporated nor the names of
//   its contributors may be used to endorse or promote products derived
//   from this software without specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
// $
//#############################################################################
 
#ifndef PARK_H
#define PARK_H
 
//*****************************************************************************
//
// If building with a C++ compiler, make all of the definitions in this header
// have a C binding.
//
//*****************************************************************************
#ifdef __cplusplus
extern "C"
{
#endif
 
//*****************************************************************************
//
//
//*****************************************************************************
 
#ifdef __TMS320C28XX_CLA__
#include "libraries/math/include/CLAmath.h"
#else
#include "libraries/math/include/math.h"
#include <math.h>
#endif // __TMS320C28XX_CLA__
 
 
//*****************************************************************************
//
//
//*****************************************************************************
typedef struct _PARK_Obj_
{
    float32_t sinTh;     
    float32_t cosTh;     
} PARK_Obj;
 
//*****************************************************************************
//
//
//*****************************************************************************
typedef struct _PARK_Obj_ *PARK_Handle;
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline float32_t
PARK_getCosTh(PARK_Handle handle)
{
    PARK_Obj *obj = (PARK_Obj *)handle;
 
    return(obj->cosTh);
} // end of PARK_getCosTh() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PARK_getPhasor(PARK_Handle handle, MATH_Vec2 *pPhasor)
{
    PARK_Obj *obj = (PARK_Obj *)handle;
 
    pPhasor->value[0] = obj->cosTh;
    pPhasor->value[1] = obj->sinTh;
 
    return;
} // end of PARK_getPhasor() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline float32_t
PARK_getSinTh(PARK_Handle handle)
{
    PARK_Obj *obj = (PARK_Obj *)handle;
 
    return(obj->sinTh);
} // end of PARK_getSinTh() function
 
//*****************************************************************************
//
//
//*****************************************************************************
extern PARK_Handle
PARK_init(void *pMemory, const size_t numBytes);
 
extern PARK_Handle
cla_PARK_init(void *pMemory, const size_t numBytes);
 
//*****************************************************************************
//
//
//*****************************************************************************
#ifdef __TMS320C28XX_CLA__
#pragma FUNC_ALWAYS_INLINE(PARK_run)
#endif
 
static inline void
PARK_run(PARK_Handle handle, const MATH_Vec2 *pInVec, MATH_Vec2 *pOutVec)
{
    PARK_Obj *obj = (PARK_Obj *)handle;
 
    float32_t sinTh = obj->sinTh;
    float32_t cosTh = obj->cosTh;
 
    float32_t value_0 = pInVec->value[0];
    float32_t value_1 = pInVec->value[1];
 
    pOutVec->value[0] = (value_0 * cosTh) + (value_1 * sinTh);
    pOutVec->value[1] = (value_1 * cosTh) - (value_0 * sinTh);
 
    return;
} // end of PARK_run() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PARK_setCosTh(PARK_Handle handle, const float32_t cosTh)
{
    PARK_Obj *obj = (PARK_Obj *)handle;
 
    obj->cosTh = cosTh;
 
    return;
} // end of PARK_setCosTh() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PARK_setPhasor(PARK_Handle handle, const MATH_Vec2 *pPhasor)
{
    PARK_Obj *obj = (PARK_Obj *)handle;
 
    obj->cosTh = pPhasor->value[0];
    obj->sinTh = pPhasor->value[1];
 
    return;
} // end of PARK_setPhasor() function
 
//*****************************************************************************
//
//
//*****************************************************************************
static inline void
PARK_setSinTh(PARK_Handle handle, const float32_t sinTh)
{
    PARK_Obj *obj = (PARK_Obj *)handle;
 
    obj->sinTh = sinTh;
 
    return;
} // end of PARK_setSinTh() function
 
//*****************************************************************************
//
//
//*****************************************************************************
#ifdef __TMS320C28XX_CLA__
#pragma FUNC_ALWAYS_INLINE(PARK_setup)
#endif
 
static inline void
PARK_setup(PARK_Handle handle, const float32_t Th)
{
    PARK_Obj *obj = (PARK_Obj *)handle;
 
#ifdef __TMS320C28XX_CLA__
    obj->sinTh = CLAsin_inline(Th);
    obj->cosTh = CLAcos_inline(Th);
#else
    obj->sinTh = __sin(Th);
    obj->cosTh = __cos(Th);
#endif // __TMS320C28XX_CLA__
 
    return;
} // end of PARK_setup() function
 
//*****************************************************************************
//
// Close the Doxygen group.
//
//*****************************************************************************
 
//*****************************************************************************
//
// Mark the end of the C bindings section for C++ compilers.
//
//*****************************************************************************
#ifdef __cplusplus
}
#endif
 
#endif // end of PARK_H definition