AM263x Digital Power SDK  09.01.00
dcl_df13.h
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33 
34 #ifndef _DCL_DF13_H_
35 #define _DCL_DF13_H_
36 
37 #ifdef __cplusplus
38 extern "C" {
39 #endif
40 
76 #include "../dcl_common.h"
77 
78 //--- Direct Form 1 - 3rd order ----------------------------------------------
79 
83 typedef struct dcl_df13_sps {
84  float32_t b0;
85  float32_t b1;
86  float32_t b2;
87  float32_t b3;
88  float32_t a1;
89  float32_t a2;
90  float32_t a3;
91  float32_t a0;
92 } DCL_DF13_SPS;
93 
94 #define DF13_SPS_DEFAULTS { 0.25f, 0.25f, 0.25f, 0.25f, 0.0f, 0.0f, 0.0f, 0.0f }
95 
98 typedef _DCL_VOLATILE struct dcl_df13
99 {
100  /* compensator parameter */
101  float32_t b0;
102  float32_t b1;
103  float32_t b2;
104  float32_t b3;
105  float32_t a1;
106  float32_t a2;
107  float32_t a3;
108 
109  /* internal storage */
110  float32_t d1;
111  float32_t d2;
112  float32_t d3;
113  float32_t d4;
114  float32_t d5;
115  float32_t d6;
116 
117  float32_t a0;
118  float32_t d0;
119  float32_t d7;
120 
121  /* miscellaneous */
122  DCL_DF13_SPS *sps;
123  DCL_CSS *css;
124 } DCL_DF13, *DF13_Handle;
125 
128 #define DF13_DEFAULTS { 0.25f, 0.25f, 0.25f, 0.25f, 0.0f, 0.0f, 0.0f, \
129  0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, \
130  &(DCL_DF13_SPS)DF13_SPS_DEFAULTS, &(DCL_CSS)DCL_CSS_DEFAULTS }
131 
140 #define DF13_INT_DEFAULTS .d1=0.0f, .d2=0.0f, .d3=0.0f, .d4=0.0f, .d5=0.0f, \
141  .d6=0.0f, .a0=0.0f, .d0=0.0f, .d7=0.0f, \
142  .sps=&(DCL_DF13_SPS)DF13_SPS_DEFAULTS, .css=&(DCL_CSS)DCL_CSS_DEFAULTS
143 
149 #define DCL_initDF13() &(DCL_DF13)DF13_DEFAULTS
150 
157 #define DCL_initDF13asParam(_b0,_b1,_b2,_b3,_a1,_a2,_a3) &(DCL_DF13){ .b0=_b0, .b1=_b1, \
158  .b2=_b2, .b3=_b3, .a1=_a1, .a2=_a2, .a3=_a3, DF13_INT_DEFAULTS }
159 
170 #define DCL_initDF13asSPS(df_ptr,sps_ptr) \
171 ({ \
172  DCL_DF13* new_df = (df_ptr) ? df_ptr : DCL_initDF13(); \
173  DCL_DF13_SPS* new_sps = (sps_ptr) ? sps_ptr : &(DCL_DF13_SPS)DF13_SPS_DEFAULTS; \
174  if(sps_ptr) \
175  { \
176  *new_df =(DCL_DF13){ (new_sps)->b0, (new_sps)->b1, (new_sps)->b2, (new_sps)->b3, \
177  (new_sps)->a1, (new_sps)->a2, (new_sps)->a3, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, \
178  0.0f, 0.0f, 0.0f, (DCL_DF13_SPS*)new_sps, &(DCL_CSS)DCL_CSS_DEFAULTS }; \
179  } \
180  new_df; \
181 })
182 
188 _DCL_CODE_ACCESS
189 void DCL_resetDF13(DCL_DF13 *df)
190 {
191  dcl_interrupt_t ints;
192  ints = DCL_disableInts();
193  df->d1 = df->d2 = df->d3 = df->d4 = df->d5 = df->d6 = 0.0f;
194  DCL_restoreInts(ints);
195 }
196 
201 _DCL_CODE_ACCESS
202 void DCL_forceUpdateDF13(DCL_DF13 *df)
203 {
204  df->b0 = df->sps->b0;
205  df->b1 = df->sps->b1;
206  df->b2 = df->sps->b2;
207  df->b3 = df->sps->b3;
208  df->a1 = df->sps->a1;
209  df->a2 = df->sps->a2;
210  df->a3 = df->sps->a3;
211 }
212 
217 _DCL_CODE_ACCESS _DCL_CODE_SECTION
218 void DCL_updateDF13NoCheck(DCL_DF13 *df)
219 {
220  dcl_interrupt_t ints;
221  ints = DCL_disableInts();
222  df->b0 = df->sps->b0;
223  df->b1 = df->sps->b1;
224  df->b2 = df->sps->b2;
225  df->b3 = df->sps->b3;
226  df->a1 = df->sps->a1;
227  df->a2 = df->sps->a2;
228  df->a3 = df->sps->a3;
229  DCL_restoreInts(ints);
230 }
231 
240 _DCL_CODE_ACCESS _DCL_CODE_SECTION
241 bool DCL_updateDF13(DCL_DF13 *df)
242 {
243  if (DCL_getUpdateStatus(df))
244  {
245  DCL_updateDF13NoCheck(df);
246  DCL_clearUpdateStatus(df);
247  return true;
248  }
249  return false;
250 }
251 
257 _DCL_CODE_ACCESS
258 bool DCL_isStableDF13(DCL_DF13 *df)
259 {
260  return(DCL_isStablePn3(1.0f, df->sps->a1, df->sps->a2, df->sps->a3));
261 }
262 
270 _DCL_CODE_ACCESS
271 void DCL_loadDF13asZPK(DCL_DF13 *df, DCL_ZPK3 *zpk)
272 {
273 #ifdef DCL_ERROR_HANDLING_ENABLED
274  uint32_t err_code = dcl_none;
275  err_code |= DCL_isZero(cimagf(zpk->z1) + cimagf(zpk->z2) + cimagf(zpk->z3)) ? dcl_none : dcl_param_invalid_err;
276  err_code |= DCL_isZero(cimagf(zpk->p1) + cimagf(zpk->p2) + cimagf(zpk->p3)) ? dcl_none : dcl_param_invalid_err;
277  if (err_code)
278  {
279  DCL_setError(df,err_code);
280  DCL_getErrorInfo(df);
281  DCL_runErrorHandler(df);
282  }
283 #endif
284 
285  float32_t beta2 = -(float32_t) crealf(zpk->z1 + zpk->z2 + zpk->z3);
286  float32_t beta1 = (float32_t) crealf((zpk->z1 * zpk->z2) + (zpk->z2 * zpk->z3) + (zpk->z1 * zpk->z3));
287  float32_t beta0 = -(float32_t) crealf(zpk->z1 * zpk->z2 * zpk->z3);
288 
289  float32_t alpha2 = -(float32_t) crealf(zpk->p1 + zpk->p2 + zpk->p3);
290  float32_t alpha1 = (float32_t) crealf((zpk->p1 * zpk->p2) + (zpk->p2 * zpk->p3) + (zpk->p1 * zpk->p3));
291  float32_t alpha0 = -(float32_t) crealf(zpk->p1 * zpk->p2 * zpk->p3);
292 
293  float32_t T = df->css->T;
294 
295  float32_t a0p = 8.0f + (alpha2 * 4.0f * T) + (alpha1 * 2.0f * T * T) + (alpha0 * T * T * T);
296 
297  df->sps->b0 = zpk->K * (8.0f + (beta2 * 4.0f * T) + (beta1 * 2.0f * T * T) + (beta0 * T * T * T)) / a0p;
298  df->sps->b1 = zpk->K * (-24.0f - (beta2 * 4.0f * T) + (beta1 * 2.0f * T * T) + (3.0f * beta0 * T * T * T)) / a0p;
299  df->sps->b2 = zpk->K * (24.0f - (beta2 * 4.0f * T) - (beta1 * 2.0f * T * T) + (3.0f * beta0 * T * T * T)) / a0p;
300  df->sps->b3 = zpk->K * (-8.0f + (beta2 * 4.0f * T) - (beta1 * 2.0f * T * T) + (beta0 * T * T * T)) / a0p;
301 
302  df->sps->a1 = (-24.0f - (alpha2 * 4.0f * T) + (alpha1 * 2.0f * T * T) + (3.0f * alpha0 * T * T * T)) / a0p;
303  df->sps->a2 = (24.0f - (alpha2 * 4.0f * T) - (alpha1 * 2.0f * T * T) + (3.0f * alpha0 * T * T * T)) / a0p;
304  df->sps->a3 = (-8.0f + (alpha2 * 4.0f * T) - (alpha1 * 2.0f * T * T) + (alpha0 * T * T * T)) / a0p;
305 }
306 
313 _DCL_CODE_ACCESS _DCL_CODE_SECTION
314 float32_t DCL_runDF13(DCL_DF13 *df, float32_t ek)
315 {
316  float32_t v4 = (ek * df->b0) + (df->d1 * df->b1) + (df->d2 * df->b2) + (df->d3 * df->b3) - (df->d4 * df->a1) - (df->d5 * df->a2) - (df->d6 * df->a3);
317  df->d3 = df->d2;
318  df->d2 = df->d1;
319  df->d1 = ek;
320  df->d6 = df->d5;
321  df->d5 = df->d4;
322  df->d4 = v4;
323 
324  return(v4);
325 }
326 
334 _DCL_CODE_ACCESS
335 float32_t DCL_runDF13PartialCompute(DCL_DF13 *df, float32_t ek)
336 {
337  float32_t v4 = (ek * df->b0) + (df->d1 * df->b1) + (df->d2 * df->b2) + (df->d3 * df->b3) - (df->d4 * df->a1) - (df->d5 * df->a2) - (df->d6 * df->a3);
338  return(v4);
339 }
340 
347 _DCL_CODE_ACCESS
348 void DCL_runDF13PartialUpdate(DCL_DF13 *df, float32_t ek, float32_t uk)
349 {
350  df->d3 = df->d2;
351  df->d2 = df->d1;
352  df->d1 = ek;
353  df->d6 = df->d5;
354  df->d5 = df->d4;
355  df->d4 = uk;
356 }
357 
366 _DCL_CODE_ACCESS _DCL_CODE_SECTION
367 float32_t DCL_runDF13Clamp(DCL_DF13 *df, float32_t ek, float32_t Umax, float32_t Umin)
368 {
369  float32_t uk = DCL_runDF13PartialCompute(df, ek);
370  bool is_clamped = DCL_runClamp(&uk, Umax, Umin);
371  if(!is_clamped) DCL_runDF13PartialUpdate(df, ek, uk);
372  return(uk);
373 }
374 
383 _DCL_CODE_ACCESS
384 float32_t DCL_runDF13_C5(DCL_DF13 *p, float32_t ek, float32_t vk)
385 {
386  p->d4 = (ek * p->b0) + vk;
387 
388  return(p->d4);
389 }
390 
399 _DCL_CODE_ACCESS
400 float32_t DCL_runDF13_C6(DCL_DF13 *p, float32_t ek, float32_t uk)
401 {
402  float32_t v9;
403 
404  v9 = (ek * p->b1) + (p->d1 * p->b2) + (p->d2 * p->b3) - (uk * p->a1) - (p->d5 * p->a2) - (p->d6 * p->a3);
405  p->d2 = p->d1;
406  p->d1 = ek;
407  p->d6 = p->d5;
408  p->d5 = uk;
409 
410  return(v9);
411 }
412 
415 #ifdef __cplusplus
416 }
417 #endif // extern "C"
418 
419 #endif // _DCL_DF13_H_
DCL_isStablePn3
_DCL_CODE_ACCESS bool DCL_isStablePn3(float32_t a0, float32_t a1, float32_t a2, float32_t a3)
Determines stability of a third order polynomial with real coefficients P(z) = a0 z^3 + a1 z^2 + a2 z...
Definition: dcl_stability.h:93
DCL_DF13_SPS::b2
float32_t b2
pos. coefficient to e(k-2)
Definition: dcl_df13.h:86
DCL_ZPK3::K
float32_t K
Real gain.
Definition: dcl_zpk3.h:69
DCL_loadDF13asZPK
_DCL_CODE_ACCESS void DCL_loadDF13asZPK(DCL_DF13 *df, DCL_ZPK3 *zpk)
Loads the DF13 shadow coefficients from a ZPK3 description. Note: Sampling period df->css->T are used...
Definition: dcl_df13.h:271
DCL_updateDF13
_DCL_CODE_ACCESS _DCL_CODE_SECTION bool DCL_updateDF13(DCL_DF13 *df)
A conditional update based on the update flag. If the update status is set, the function will update ...
Definition: dcl_df13.h:241
DF13_Handle
_DCL_VOLATILE struct dcl_df13 * DF13_Handle
DCL_ZPK3::z2
float complex z2
Complex zeros 2.
Definition: dcl_zpk3.h:64
DCL_isStableDF13
_DCL_CODE_ACCESS bool DCL_isStableDF13(DCL_DF13 *df)
Determines stability of the shadow compensator.
Definition: dcl_df13.h:258
dcl_df13::b3
float32_t b3
pos. coefficient to e(k-3)
Definition: dcl_df13.h:104
DCL_DF13_SPS::b3
float32_t b3
pos. coefficient to e(k-3)
Definition: dcl_df13.h:87
DCL_DF13_SPS::a0
float32_t a0
No Longer Needed.
Definition: dcl_df13.h:91
_DCL_CODE_SECTION
#define _DCL_CODE_SECTION
Defines dcl function section that users can specify in the linker file(.cmd) and to accelerate perfor...
Definition: dcl_common.h:63
DCL_runDF13_C5
_DCL_CODE_ACCESS float32_t DCL_runDF13_C5(DCL_DF13 *p, float32_t ek, float32_t vk)
Legacy C28 Function for maintaining backwards compatibility. It Executes an immediate 3rd order Direc...
Definition: dcl_df13.h:384
DCL_ZPK3::p2
float complex p2
Complex poles 2.
Definition: dcl_zpk3.h:67
DCL_runDF13_C6
_DCL_CODE_ACCESS float32_t DCL_runDF13_C6(DCL_DF13 *p, float32_t ek, float32_t uk)
Legacy C28 Function for maintaining backwards compatibility. It executes a partial pre-computed 3rd o...
Definition: dcl_df13.h:400
dcl_df13::a0
float32_t a0
No Longer Needed.
Definition: dcl_df13.h:117
dcl_df13::d2
float32_t d2
e(k-2)
Definition: dcl_df13.h:111
DCL_resetDF13
_DCL_CODE_ACCESS void DCL_resetDF13(DCL_DF13 *df)
Resets DF13 internal storage data with interrupt protection Implemented as inline C function.
Definition: dcl_df13.h:189
DCL_runDF13PartialUpdate
_DCL_CODE_ACCESS void DCL_runDF13PartialUpdate(DCL_DF13 *df, float32_t ek, float32_t uk)
Update DF13 controller based on pre-computed control effort.
Definition: dcl_df13.h:348
dcl_df13::sps
DCL_DF13_SPS * sps
updates compensator parameter
Definition: dcl_df13.h:122
DCL_DF13_SPS::a2
float32_t a2
neg. coefficient to u(k-2)
Definition: dcl_df13.h:89
dcl_df13::a2
float32_t a2
neg. coefficient to u(k-2)
Definition: dcl_df13.h:106
DCL_runErrorHandler
#define DCL_runErrorHandler(ptr)
Prototype for basic error handler.
Definition: dcl_error.h:107
DCL_getUpdateStatus
#define DCL_getUpdateStatus(p)
Determine whether a parameter update-in-progress flag is set.
Definition: dcl_css.h:122
DCL_runDF13Clamp
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runDF13Clamp(DCL_DF13 *df, float32_t ek, float32_t Umax, float32_t Umin)
Executes a 3rd order Direct Form 1 controller with clamp.
Definition: dcl_df13.h:367
DCL_clearUpdateStatus
#define DCL_clearUpdateStatus(p)
Definition: dcl_css.h:116
DCL_DF13_SPS::b0
float32_t b0
pos. coefficient to e(k)
Definition: dcl_df13.h:84
dcl_df13::d1
float32_t d1
e(k-1)
Definition: dcl_df13.h:110
dcl_df13::d7
float32_t d7
No Longer Needed.
Definition: dcl_df13.h:119
dcl_df13::a3
float32_t a3
neg. coefficient to u(k-3)
Definition: dcl_df13.h:107
_DCL_CODE_ACCESS
#define _DCL_CODE_ACCESS
Defines the scope of dcl functions (static inline/extern inline/none)
Definition: dcl_common.h:58
dcl_df13::d0
float32_t d0
No Longer Needed.
Definition: dcl_df13.h:118
DCL_ZPK3::p1
float complex p1
Complex poles 1.
Definition: dcl_zpk3.h:66
dcl_df13::css
DCL_CSS * css
configuration & debugging
Definition: dcl_df13.h:123
DCL_updateDF13NoCheck
_DCL_CODE_ACCESS _DCL_CODE_SECTION void DCL_updateDF13NoCheck(DCL_DF13 *df)
Loads DF13 tuning parameter from its SPS parameter with interrupt protection.
Definition: dcl_df13.h:218
dcl_df13::b1
float32_t b1
pos. coefficient to e(k-1)
Definition: dcl_df13.h:102
dcl_none
@ dcl_none
No error.
Definition: dcl_error.h:57
DCL_DF13_SPS::a1
float32_t a1
neg. coefficient to u(k-1)
Definition: dcl_df13.h:88
dcl_df13
DCL_DF13 object for storing df13 specific parameters.
Definition: dcl_df13.h:99
DCL_forceUpdateDF13
_DCL_CODE_ACCESS void DCL_forceUpdateDF13(DCL_DF13 *df)
Loads DF13 tuning parameter from its SPS parameter without interrupt protection.
Definition: dcl_df13.h:202
dcl_interrupt_t
uint32_t dcl_interrupt_t
Definition: dcl_common.h:99
DCL_ZPK3::z3
float complex z3
Complex zeros 3.
Definition: dcl_zpk3.h:65
DCL_isZero
#define DCL_isZero(x)
Determines floating point numerical proximity to zero.
Definition: dcl_aux.h:77
DCL_runDF13PartialCompute
_DCL_CODE_ACCESS float32_t DCL_runDF13PartialCompute(DCL_DF13 *df, float32_t ek)
Immediate computation to obtain DF13 servo error without updating the controller.
Definition: dcl_df13.h:335
DCL_runDF13
_DCL_CODE_ACCESS _DCL_CODE_SECTION float32_t DCL_runDF13(DCL_DF13 *df, float32_t ek)
Executes a 3rd order Direct Form 1 controller.
Definition: dcl_df13.h:314
dcl_param_invalid_err
@ dcl_param_invalid_err
Parameter not valid.
Definition: dcl_error.h:59
DCL_DF13_SPS
Defines the DCL_DF13 shadow parameter set used for updating compensator parameter.
Definition: dcl_df13.h:83
dcl_df13::d4
float32_t d4
u(k-1)
Definition: dcl_df13.h:113
DCL_DF13
_DCL_VOLATILE struct dcl_df13 DCL_DF13
dcl_df13::a1
float32_t a1
neg. coefficient to u(k-1)
Definition: dcl_df13.h:105
DCL_CSS
Defines the controller common support structure.
Definition: dcl_css.h:57
dcl_df13::d6
float32_t d6
u(k-3)
Definition: dcl_df13.h:115
DCL_restoreInts
#define DCL_restoreInts(v)
Definition: dcl_common.h:98
DCL_ZPK3::p3
float complex p3
Complex poles 3.
Definition: dcl_zpk3.h:68
DCL_runClamp
_DCL_CODE_ACCESS bool DCL_runClamp(float32_t *data, float32_t Umax, float32_t Umin)
Saturates a control variable and returns true if either limit is exceeded.
Definition: dcl_clamp.h:59
DCL_ZPK3
Defines the DCL_ZPK3 controller structure.
Definition: dcl_zpk3.h:62
_DCL_VOLATILE
#define _DCL_VOLATILE
Defines volatile for DCL strctures Flags can be defined in dcl.h or user files before including DCL l...
Definition: dcl_common.h:71
dcl_df13::b2
float32_t b2
pos. coefficient to e(k-2)
Definition: dcl_df13.h:103
DCL_getErrorInfo
#define DCL_getErrorInfo(ptr)
Macro to store error info in CSS.
Definition: dcl_error.h:97
DCL_setError
#define DCL_setError(ptr, code)
Macro to set error code in CSS.
Definition: dcl_error.h:79
dcl_df13::d5
float32_t d5
u(k-2)
Definition: dcl_df13.h:114
dcl_df13::d3
float32_t d3
e(k-3)
Definition: dcl_df13.h:112
float32_t
float float32_t
Defines single,double precision data type. Note: Assumes ABI to be TI_EABI, does not support legacy T...
Definition: dcl_common.h:54
DCL_DF13_SPS::b1
float32_t b1
pos. coefficient to e(k-1)
Definition: dcl_df13.h:85
DCL_DF13_SPS::a3
float32_t a3
neg. coefficient to u(k-3)
Definition: dcl_df13.h:90
DCL_ZPK3::z1
float complex z1
Complex zeros 1.
Definition: dcl_zpk3.h:63
DCL_disableInts
#define DCL_disableInts()
Define enable and disable interrupt operations.
Definition: dcl_common.h:97
dcl_df13::b0
float32_t b0
pos. coefficient to e(k)
Definition: dcl_df13.h:101