移植过来
This commit is contained in:
commit
aa4759ecc7
2
.gitignore
vendored
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2
.gitignore
vendored
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@ -0,0 +1,2 @@
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||||
Debug
|
||||
Debug_FLASH
|
||||
2
CAN_Bootloader/.gitignore
vendored
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2
CAN_Bootloader/.gitignore
vendored
Normal file
@ -0,0 +1,2 @@
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/dist
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||||
/.build
|
||||
8
CAN_Bootloader/.idea/CAN_Bootloader.iml
generated
Normal file
8
CAN_Bootloader/.idea/CAN_Bootloader.iml
generated
Normal file
@ -0,0 +1,8 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<module type="CPP_MODULE" version="4">
|
||||
<component name="NewModuleRootManager">
|
||||
<content url="file://$MODULE_DIR$" />
|
||||
<orderEntry type="inheritedJdk" />
|
||||
<orderEntry type="sourceFolder" forTests="false" />
|
||||
</component>
|
||||
</module>
|
||||
588
CAN_Bootloader/.idea/editor.xml
generated
Normal file
588
CAN_Bootloader/.idea/editor.xml
generated
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|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="BackendCodeEditorSettings">
|
||||
<option name="/Default/CodeInspection/GeneratedCode/GeneratedCodeRegions/=Windows_0020Form_0020Designer_0020generated_0020code/@EntryIndexedValue" value="Windows Form Designer generated code" type="string" />
|
||||
<option name="/Default/CodeInspection/GeneratedCode/GeneratedCodeRegions/=Windows_0020Form_0020Designer_0020generated_0020code/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/GeneratedCode/GeneratedCodeRegions/=Component_0020Designer_0020generated_0020code/@EntryIndexedValue" value="Component Designer generated code" type="string" />
|
||||
<option name="/Default/CodeInspection/GeneratedCode/GeneratedCodeRegions/=Component_0020Designer_0020generated_0020code/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/GeneratedCode/GeneratedCodeRegions/=Designer_0020generated_0020code/@EntryIndexedValue" value="Designer generated code" type="string" />
|
||||
<option name="/Default/CodeInspection/GeneratedCode/GeneratedCodeRegions/=Designer_0020generated_0020code/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/GeneratedCode/GeneratedCodeRegions/=Web_0020Form_0020Designer_0020generated_0020code/@EntryIndexedValue" value="Web Form Designer generated code" type="string" />
|
||||
<option name="/Default/CodeInspection/GeneratedCode/GeneratedCodeRegions/=Web_0020Form_0020Designer_0020generated_0020code/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppClangFormat/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/EditorConfig/EnableClangFormatSupport/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_BINARY_EXPRESSIONS_CHAIN/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_CALLS_CHAIN/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXPRESSION/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_FOR_STMT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTIPLE_DECLARATION/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_TERNARY/@EntryValue" value="ALIGN_ALL" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_CLASS_DEFINITION/@EntryValue" value="1" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_DECLARATIONS/@EntryValue" value="2" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_BLANK_LINES_IN_CODE/@EntryValue" value="2" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/KEEP_USER_LINEBREAKS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CASE_FROM_SWITCH/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_COMMENT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INT_ALIGN_EQ/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SIMPLE_BLOCK_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COMMA_IN_TEMPLATE_PARAMS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_SEMICOLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_SEMICOLON/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_UNARY_OPERATOR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_ARRAY_ACCESS_BRACKETS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_METHOD_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_INITIALIZER_BRACES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPECIAL_ELSE_IF_TREATMENT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_CAST_EXPRESSION_PARENTHESES/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_BINARY_OPSIGN/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_TERNARY_OPSIGNS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TYPE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/OTHER_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CASE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DECLARATION/@EntryValue" value="1" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_FUNCTION_DEFINITION/@EntryValue" value="1" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_WHILE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_ELSE_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_CATCH_ON_NEW_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_INDENTATION/@EntryValue" value="All" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_ARGUMENT/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_EXTENDS_LIST/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_PARAMETER/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_ARGUMENT/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ALIGN_MULTILINE_TYPE_PARAMETER/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BLANK_LINES_AROUND_DECLARATIONS/@EntryValue" value="0" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_ACCESS_SPECIFIERS_FROM_CLASS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_CLASS_MEMBERS_FROM_ACCESS_SPECIFIERS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/LINE_BREAK_AFTER_COLON_IN_MEMBER_INITIALIZER_LISTS/@EntryValue" value="ON_SINGLE_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/MEMBER_INITIALIZER_LIST_STYLE/@EntryValue" value="DO_NOT_CHANGE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/PLACE_NAMESPACE_DEFINITIONS_ON_SAME_LINE/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_COLON_IN_BITFIELD_DECLARATOR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_EXTENDS_COLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_FOR_COLON/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_FOR_COLON/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_METHOD/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_PTR_IN_NESTED_DECLARATOR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBER/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_DATA_MEMBERS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_AFTER_REF_IN_METHOD/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_PTR_IN_METHOD/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_ABSTRACT_DECL/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBER/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_DATA_MEMBERS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_REF_IN_METHOD/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BEFORE_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_BETWEEN_CLOSING_ANGLE_BRACKETS_IN_TEMPLATE_ARGS/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_ARGS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_TEMPLATE_PARAMS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_DECLARATION_PARENTHESES/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/SPACE_WITHIN_EMPTY_BLOCKS/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_INVOCATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_INVOCATION_RPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_AFTER_DECLARATION_LPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_BEFORE_DECLARATION_RPAR/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_ARGUMENTS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/WRAP_PARAMETERS_STYLE/@EntryValue" value="WRAP_IF_LONG" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/BREAK_TEMPLATE_DECLARATION/@EntryValue" value="LINE_BREAK" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/NAMESPACE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/FREE_BLOCK_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INVOCABLE_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/ANONYMOUS_METHOD_DECLARATION_BRACES/@EntryValue" value="END_OF_LINE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INITIALIZER_BRACES/@EntryValue" value="END_OF_LINE_NO_SPACE" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_STYLE/@EntryValue" value="Space" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/INDENT_SIZE/@EntryValue" value="4" type="int" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/CONTINUOUS_LINE_INDENT/@EntryValue" value="Double" type="string" />
|
||||
<option name="/Default/CodeStyle/CodeFormatting/CppFormatting/TAB_WIDTH/@EntryValue" value="4" type="int" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSmartPointerVsMakeFunction/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSmartPointerVsMakeFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionalStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionalStyleCast/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReinterpretCastFromVoidPtr/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReinterpretCastFromVoidPtr/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConvertingConstructor/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConvertingConstructor/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConversionOperator/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConversionOperator/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDiscardedPostfixOperatorResult/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDiscardedPostfixOperatorResult/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstValueFunctionReturnType/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstValueFunctionReturnType/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeConst/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberFunctionMayBeStatic/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMayBeConst/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConst/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVariableCanBeMadeConstexpr/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVariableCanBeMadeConstexpr/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterMayBeConstPtrOrRef/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPassValueParameterByConstReference/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPassValueParameterByConstReference/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppThrowExpressionCanBeReplacedWithRethrow/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppThrowExpressionCanBeReplacedWithRethrow/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroConstantCanBeReplacedWithNullptr/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroConstantCanBeReplacedWithNullptr/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCompileTimeConstantCanBeReplacedWithBooleanConstant/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCompileTimeConstantCanBeReplacedWithBooleanConstant/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIfCanBeReplacedByConstexprIf/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIfCanBeReplacedByConstexprIf/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StdIsConstantEvaluatedWillAlwaysEvaluateToConstant/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StdIsConstantEvaluatedWillAlwaysEvaluateToConstant/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=ConstevalIfIsAlwaysConstant/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=ConstevalIfIsAlwaysConstant/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStructuredBinding/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStructuredBinding/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseTypeTraitAlias/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseTypeTraitAlias/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseRangeAlgorithm/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseRangeAlgorithm/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseElementsView/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseElementsView/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStdSize/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStdSize/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForLoopCanBeReplacedWithWhile/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppJoinDeclarationAndAssignment/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceTieWithStructuredBinding/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceMemsetWithZeroInitialization/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAssociativeContains/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseEraseAlgorithm/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseFamiliarTemplateSyntaxForGenericLambdas/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseFamiliarTemplateSyntaxForGenericLambdas/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScope/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScope/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScopeInitStatement/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTooWideScopeInitStatement/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantNamespaceDefinition/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantNamespaceDefinition/@EntryIndexRemoved" />
|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonInlineVariableDefinitionInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionIsNotImplemented/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionIsNotImplemented/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrivateSpecialMemberFunctionIsNotImplemented/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrivateSpecialMemberFunctionIsNotImplemented/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHiddenFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHiddenFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHidingFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHidingFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPolymorphicClassWithNonVirtualPublicDestructor/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPolymorphicClassWithNonVirtualPublicDestructor/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractClassWithoutSpecifier/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractClassWithoutSpecifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompleteSwitchStatement/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultCaseNotHandledInSwitchStatement/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultCaseNotHandledInSwitchStatement/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyErroneousEmptyStatements/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyErroneousEmptyStatements/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExpressionWithoutSideEffects/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExpressionWithoutSideEffects/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNoDiscardExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNoDiscardExpression/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionResultShouldBeUsed/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionResultShouldBeUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingKeywordThrow/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMissingKeywordThrow/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTypeWithoutTypenameKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDependentTemplateWithoutTemplateKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppImplicitDefaultConstructorNotAvailable/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeedsConstructorBecauseOfUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedNonStaticDataMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRangeBasedForIncompatibleReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRangeBasedForIncompatibleReference/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroValuedExpressionUsedAsNullPointer/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroValuedExpressionUsedAsNullPointer/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUnintendedObjectSlicing/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUnintendedObjectSlicing/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUninitializedMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPossiblyUninitializedMember/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorDisambiguatedAsFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorDisambiguatedAsFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionInFinalClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionInFinalClass/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMustBePublicVirtualToImplementInterface/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMustBePublicVirtualToImplementInterface/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationSpecifierWithoutDeclarators/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationSpecifierWithoutDeclarators/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEmptyDeclaration/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEmptyDeclaration/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesLocal/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesLocal/@EntryIndexRemoved" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclarationHidesUncapturedLocal/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMismatchedClassTags/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMismatchedClassTags/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUsingResultOfAssignmentAsCondition/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUsingResultOfAssignmentAsCondition/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIntegralToPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIntegralToPointerConversion/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerToIntegralConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerToIntegralConversion/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompatiblePointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIncompatiblePointerConversion/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerConversionDropsQualifiers/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPointerConversionDropsQualifiers/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStringLiteralToCharPointerConversion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStringLiteralToCharPointerConversion/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExceptionSafeResourceAcquisition/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExceptionSafeResourceAcquisition/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionCallInsideCtor/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVirtualFunctionCallInsideCtor/@EntryIndexRemoved" />
|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInvalidLineContinuation/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInvalidLineContinuation/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfBadFormat/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfBadFormat/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfRiskyFormat/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfRiskyFormat/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfMissedArg/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfMissedArg/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfExtraArg/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrintfExtraArg/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatBadCode/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatBadCode/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatLegacyCode/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatLegacyCode/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatMixedArgs/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBoostFormatMixedArgs/@EntryIndexRemoved" />
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenSyntaxError/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenSyntaxError/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUnresolvedReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUnresolvedReference/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUndocumentedParameter/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDoxygenUndocumentedParameter/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeletingVoidPointer/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBooleanIncrementExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppBooleanIncrementExpression/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeprecatedRegisterStorageClassSpecifier/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIdenticalOperandsInBinaryExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEqualOperandsInBinaryExpression/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
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|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedefinitionOfDefaultArgumentInOverrideFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedefinitionOfDefaultArgumentInOverrideFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnamedNamespaceInHeaderFile/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnamedNamespaceInHeaderFile/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNamesMismatch/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNamesMismatch/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultedSpecialMemberFunctionIsImplicitlyDeleted/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultedSpecialMemberFunctionIsImplicitlyDeleted/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNodiscardFunctionWithoutReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNodiscardFunctionWithoutReturnValue/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantComplexityInComparison/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantComplexityInComparison/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractFinalClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAbstractFinalClass/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSpecialFunctionWithoutNoexceptSpecification/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSpecialFunctionWithoutNoexceptSpecification/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnsignedZeroComparison/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnsignedZeroComparison/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMultiCharacterLiteral/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMultiCharacterLiteral/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMultiCharacterWideLiteral/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMultiCharacterWideLiteral/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantQualifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantQualifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantAccessSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantAccessSpecifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAccessSpecifierWithNoDeclarations/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAccessSpecifierWithNoDeclarations/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTypenameKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTypenameKeyword/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateKeyword/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElseKeyword/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElseKeyword/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElseKeywordInsideCompoundStatement/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElseKeywordInsideCompoundStatement/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantControlFlowJump/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantControlFlowJump/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantEmptyStatement/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantEmptyStatement/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantEmptyDeclaration/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantEmptyDeclaration/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantParentheses/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantParentheses/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantLambdaParameterList/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantLambdaParameterList/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantCastExpression/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantCastExpression/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHeaderHasBeenAlreadyIncluded/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppHeaderHasBeenAlreadyIncluded/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateArgumentsCanBeDeduced/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateArgumentsCanBeDeduced/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateArguments/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantTemplateArguments/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticSpecifierOnAnonymousNamespaceMember/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticSpecifierOnAnonymousNamespaceMember/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnMemberAllocationFunction/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnMemberAllocationFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnThreadLocalLocalVariable/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantStaticSpecifierOnThreadLocalLocalVariable/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassAccessSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassAccessSpecifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantInlineSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantInlineSpecifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConstSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConstSpecifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBooleanExpressionArgument/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBooleanExpressionArgument/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantVoidArgumentList/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantVoidArgumentList/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantMemberInitializer/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantMemberInitializer/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassInitializer/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantBaseClassInitializer/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstParameterInDeclaration/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstParameterInDeclaration/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVolatileParameterInDeclaration/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppVolatileParameterInDeclaration/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalFunctionInFinalClass/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalFunctionInFinalClass/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalNonOverridingVirtualFunction/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFinalNonOverridingVirtualFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElaboratedTypeSpecifier/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantElaboratedTypeSpecifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantDereferencingAndTakingAddress/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantDereferencingAndTakingAddress/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConditionalExpression/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantConditionalExpression/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConditionalExpressionCanBeSimplified/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConditionalExpressionCanBeSimplified/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantExportKeyword/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantExportKeyword/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantZeroInitializerInAggregateInitialization/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRedundantZeroInitializerInAggregateInitialization/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUserDefinedLiteralSuffixDoesNotStartWithUnderscore/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUserDefinedLiteralSuffixDoesNotStartWithUnderscore/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassIsIncomplete/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassIsIncomplete/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterShadowing/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterShadowing/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMutableSpecifierOnReferenceMember/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMutableSpecifierOnReferenceMember/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultInitializationWithNoUserConstructor/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultInitializationWithNoUserConstructor/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExplicitSpecializationInNonNamespaceScope/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppExplicitSpecializationInNonNamespaceScope/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnionMemberOfReferenceType/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnionMemberOfReferenceType/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedDependentBaseClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUninitializedDependentBaseClass/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderIsNotIncluded/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderIsNotIncluded/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderNotFound/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppPrecompiledHeaderNotFound/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCoroutineCallResolveError/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCoroutineCallResolveError/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAwaiterTypeIsNotClass/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppAwaiterTypeIsNotClass/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOutParameterMustBeWritten/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppOutParameterMustBeWritten/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWarningDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWarningDirective/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticAssertFailure/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticAssertFailure/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEvaluationFailure/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEvaluationFailure/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTypeAliasNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTypeAliasNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConceptNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConceptNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnumeratorNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnumeratorNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLambdaCaptureNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableWithNonTrivialDtorIsNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppParameterNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTemplateParameterNeverUsed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityAssignedButNoRead/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityAssignedButNoRead/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityUsedOnlyInUnevaluatedContext/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEntityUsedOnlyInUnevaluatedContext/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLocalVariableMightNotBeInitialized/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppObjectMemberMightNotBeInitialized/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSomeObjectMembersMightNotBeInitialized/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppSomeObjectMembersMightNotBeInitialized/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorUsedBeforeInitialization/@EntryIndexedValue" value="ERROR" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorUsedBeforeInitialization/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CDeclarationWithImplicitIntType/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CDeclarationWithImplicitIntType/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionDoesntReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionDoesntReturnValue/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReturnNoValueInNonVoidFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReturnNoValueInNonVoidFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDereferenceOperatorLimitExceeded/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDereferenceOperatorLimitExceeded/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForwardEnumDeclarationWithoutUnderlyingType/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForwardEnumDeclarationWithoutUnderlyingType/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtAddressOfClassRValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtAddressOfClassRValue/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtDoubleUserConversionInCopyInit/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtDoubleUserConversionInCopyInit/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtCopyElisionInCopyInitDeclarator/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtCopyElisionInCopyInitDeclarator/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingDestructorStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingDestructorStyle/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAuto/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAuto/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAutoForNumeric/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAutoForNumeric/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersPlacement/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersPlacement/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersOrder/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersOrder/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantConditions/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantConditions/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANotInitializedField/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANotInitializedField/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALoopConditionNotUpdated/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALoopConditionNotUpdated/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFADeletedPointer/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFADeletedPointer/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAMemoryLeak/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAMemoryLeak/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInvalidatedMemory/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInvalidatedMemory/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesScope/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesScope/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantParameter/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantParameter/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantFunctionResult/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantFunctionResult/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableCode/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableCode/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableFunctionCall/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableFunctionCall/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexedValue" value="WARNING" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexedValue" value="HINT" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexRemoved" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
|
||||
<option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexRemoved" />
|
||||
</component>
|
||||
</project>
|
||||
8
CAN_Bootloader/.idea/modules.xml
generated
Normal file
8
CAN_Bootloader/.idea/modules.xml
generated
Normal file
@ -0,0 +1,8 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="ProjectModuleManager">
|
||||
<modules>
|
||||
<module fileurl="file://$PROJECT_DIR$/.idea/CAN_Bootloader.iml" filepath="$PROJECT_DIR$/.idea/CAN_Bootloader.iml" />
|
||||
</modules>
|
||||
</component>
|
||||
</project>
|
||||
54
CAN_Bootloader/.idea/workspace.xml
generated
Normal file
54
CAN_Bootloader/.idea/workspace.xml
generated
Normal file
@ -0,0 +1,54 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="BackendCodeEditorMiscSettings">
|
||||
<option name="/Default/RiderDebugger/RiderRestoreDecompile/RestoreDecompileSetting/@EntryValue" value="false" type="bool" />
|
||||
<option name="/Default/Housekeeping/GlobalSettingsUpgraded/IsUpgraded/@EntryValue" value="true" type="bool" />
|
||||
<option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexedValue" value="true" type="bool" />
|
||||
<option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexRemoved" />
|
||||
</component>
|
||||
<component name="ChangeListManager">
|
||||
<list default="true" id="6b4e0663-4a4a-4571-8c57-c6d192949937" name="更改" comment="" />
|
||||
<option name="SHOW_DIALOG" value="false" />
|
||||
<option name="HIGHLIGHT_CONFLICTS" value="true" />
|
||||
<option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
|
||||
<option name="LAST_RESOLUTION" value="IGNORE" />
|
||||
</component>
|
||||
<component name="ClangdSettings">
|
||||
<option name="formatViaClangd" value="false" />
|
||||
</component>
|
||||
<component name="ProjectColorInfo"><![CDATA[{
|
||||
"associatedIndex": 6
|
||||
}]]></component>
|
||||
<component name="ProjectId" id="2sQu2UhJzJYEIDdo49xNLKQCN3t" />
|
||||
<component name="ProjectViewState">
|
||||
<option name="hideEmptyMiddlePackages" value="true" />
|
||||
<option name="showLibraryContents" value="true" />
|
||||
</component>
|
||||
<component name="PropertiesComponent"><![CDATA[{
|
||||
"keyToString": {
|
||||
"RunOnceActivity.RadMigrateCodeStyle": "true",
|
||||
"RunOnceActivity.ShowReadmeOnStart": "true",
|
||||
"RunOnceActivity.cidr.known.project.marker": "true",
|
||||
"RunOnceActivity.readMode.enableVisualFormatting": "true",
|
||||
"cf.first.check.clang-format": "false",
|
||||
"cidr.known.project.marker": "true",
|
||||
"nodejs_package_manager_path": "npm",
|
||||
"vue.rearranger.settings.migration": "true"
|
||||
}
|
||||
}]]></component>
|
||||
<component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="应用程序级" UseSingleDictionary="true" transferred="true" />
|
||||
<component name="TaskManager">
|
||||
<task active="true" id="Default" summary="默认任务">
|
||||
<changelist id="6b4e0663-4a4a-4571-8c57-c6d192949937" name="更改" comment="" />
|
||||
<created>1738399915338</created>
|
||||
<option name="number" value="Default" />
|
||||
<option name="presentableId" value="Default" />
|
||||
<updated>1738399915338</updated>
|
||||
<workItem from="1738399916765" duration="563000" />
|
||||
</task>
|
||||
<servers />
|
||||
</component>
|
||||
<component name="TypeScriptGeneratedFilesManager">
|
||||
<option name="version" value="3" />
|
||||
</component>
|
||||
</project>
|
||||
BIN
CAN_Bootloader/DM_RP_SA.dll
Normal file
BIN
CAN_Bootloader/DM_RP_SA.dll
Normal file
Binary file not shown.
BIN
CAN_Bootloader/USB2XXX.dll
Normal file
BIN
CAN_Bootloader/USB2XXX.dll
Normal file
Binary file not shown.
26
CAN_Bootloader/default.aproj
Normal file
26
CAN_Bootloader/default.aproj
Normal file
@ -0,0 +1,26 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<project ver="10" name="RP-77B_CAN_Bootloader" libEmbed="true" icon="..." ui="win" output="RP-77B_CAN_Bootloader.exe" CompanyName="单位名称" FileDescription="CAN_Bootloader" LegalCopyright="Copyright (C) 作者 2022" ProductName="CAN_Bootloader" InternalName="CAN_Bootloader" FileVersion="0.0.0.10" ProductVersion="0.0.0.10" publishDir="/dist/" dstrip="false" local="false" ignored="false">
|
||||
<file name="main.aardio" path="main.aardio" comment="main.aardio"/>
|
||||
<folder name="资源文件" path="res" embed="true" local="false" ignored="false"/>
|
||||
<folder name="窗体文件" path="dlg" comment="目录" embed="true" local="false" ignored="false">
|
||||
<file name="诊断子窗口.aardio" path="dlg\诊断子窗口.aardio" comment="dlg\诊断子窗口.aardio"/>
|
||||
</folder>
|
||||
<folder name="user" path="user" embed="true" comment="目录" local="false" ignored="false">
|
||||
<file name="CanThread.aardio" path="user\CanThread.aardio" comment="user\CanThread.aardio"/>
|
||||
<file name="Diag10code.aardio" path="user\Diag10code.aardio" comment="user\Diag10code.aardio"/>
|
||||
<file name="Diag11code.aardio" path="user\Diag11code.aardio" comment="user\Diag11code.aardio"/>
|
||||
<file name="Diag22code.aardio" path="user\Diag22code.aardio" comment="user\Diag22code.aardio"/>
|
||||
<file name="Diag27code.aardio" path="user\Diag27code.aardio" comment="user\Diag27code.aardio"/>
|
||||
<file name="Diag28code.aardio" path="user\Diag28code.aardio" comment="user\Diag28code.aardio"/>
|
||||
<file name="Diag2Ecode.aardio" path="user\Diag2Ecode.aardio" comment="user\Diag2Ecode.aardio"/>
|
||||
<file name="Diag31code.aardio" path="user\Diag31code.aardio" comment="user\Diag31code.aardio"/>
|
||||
<file name="Diag34code.aardio" path="user\Diag34code.aardio" comment="user\Diag34code.aardio"/>
|
||||
<file name="Diag36code.aardio" path="user\Diag36code.aardio" comment="user\Diag36code.aardio"/>
|
||||
<file name="Diag37code.aardio" path="user\Diag37code.aardio" comment="user\Diag37code.aardio"/>
|
||||
<file name="Diag7Fcode.aardio" path="user\Diag7Fcode.aardio" comment="user\Diag7Fcode.aardio"/>
|
||||
<file name="Diag85code.aardio" path="user\Diag85code.aardio" comment="user\Diag85code.aardio"/>
|
||||
<file name="DiagBootcode.aardio" path="user\DiagBootcode.aardio" comment="user\DiagBootcode.aardio"/>
|
||||
<file name="GeelySecurety.aardio" path="user\GeelySecurety.aardio" comment="user\GeelySecurety.aardio"/>
|
||||
<file name="S19Decode.aardio" path="user\S19Decode.aardio" comment="user\S19Decode.aardio"/>
|
||||
</folder>
|
||||
</project>
|
||||
87
CAN_Bootloader/dlg/诊断子窗口.aardio
Normal file
87
CAN_Bootloader/dlg/诊断子窗口.aardio
Normal file
@ -0,0 +1,87 @@
|
||||
import win.ui;
|
||||
/*DSG{{*/
|
||||
var winform = win.form(text="诊断读取";right=679;bottom=499;border="thin";max=false;mode="popup")
|
||||
winform.add(
|
||||
btnDID_F010={cls="button";text="F010";left=178;top=162;right=305;bottom=193;z=11};
|
||||
btnDID_F010w={cls="button";text="写F010";left=336;top=296;right=463;bottom=327;z=16};
|
||||
btnDID_F101={cls="button";text="F101";left=178;top=203;right=305;bottom=234;z=10};
|
||||
btnDID_F101w={cls="button";text="写F101";left=338;top=335;right=458;bottom=366;z=15};
|
||||
btnDID_F159={cls="button";text="F159";left=36;top=162;right=163;bottom=193;z=5};
|
||||
btnDID_F15A={cls="button";text="F15A";left=36;top=203;right=163;bottom=234;z=6};
|
||||
btnDID_F180={cls="button";text="F180";left=178;top=40;right=305;bottom=71;z=7};
|
||||
btnDID_F187={cls="button";text="零部件编号";left=36;top=40;right=163;bottom=71;z=2};
|
||||
btnDID_F18A={cls="button";text="供应商名称";left=36;top=80;right=163;bottom=111;z=3};
|
||||
btnDID_F18C={cls="button";text="F18C";left=178;top=80;right=305;bottom=111;z=8};
|
||||
btnDID_F190={cls="button";text="F190 VIN";left=178;top=121;right=305;bottom=152;z=9};
|
||||
btnDID_F197={cls="button";text="ECU 系统名称";left=36;top=121;right=163;bottom=152;z=4};
|
||||
btn_1003={cls="button";text="扩展会话";left=22;top=296;right=126;bottom=323;z=14};
|
||||
btn_2701={cls="button";text="解锁";left=158;top=296;right=262;bottom=323;z=13};
|
||||
groupbox={cls="groupbox";text="DID";left=16;top=12;right=328;bottom=260;edge=1;z=1};
|
||||
groupbox2={cls="groupbox";text="DTC";left=343;top=12;right=655;bottom=260;edge=1;z=12}
|
||||
)
|
||||
/*}}*/
|
||||
|
||||
winform.btnDID_F180.oncommand = function(id,event){
|
||||
DiagReadDID(0xF180);
|
||||
}
|
||||
|
||||
winform.btnDID_F18A.oncommand = function(id,event){
|
||||
DiagReadDID(0xF18A);
|
||||
}
|
||||
|
||||
winform.btnDID_F197.oncommand = function(id,event){
|
||||
DiagReadDID(0xF197);
|
||||
}
|
||||
|
||||
winform.btnDID_F159.oncommand = function(id,event){
|
||||
DiagReadDID(0xF159);
|
||||
}
|
||||
|
||||
winform.btnDID_F15A.oncommand = function(id,event){
|
||||
DiagReadDID(0xF15A);
|
||||
}
|
||||
|
||||
winform.btnDID_F18C.oncommand = function(id,event){
|
||||
DiagReadDID(0xF18C);
|
||||
}
|
||||
|
||||
winform.btnDID_F190.oncommand = function(id,event){
|
||||
DiagReadDID(0xF190);
|
||||
}
|
||||
|
||||
winform.btnDID_F010.oncommand = function(id,event){
|
||||
DiagReadDID(0xF010);
|
||||
}
|
||||
|
||||
winform.btnDID_F101.oncommand = function(id,event){
|
||||
DiagReadDID(0xF101);
|
||||
}
|
||||
|
||||
winform.onClose = function(hwnd,message,wParam,lParam){
|
||||
winform.show(false);
|
||||
return 0;
|
||||
}
|
||||
|
||||
winform.btn_2701.oncommand = function(id,event){
|
||||
::PostThreadMessage(thrdId,114,0x01,0)//自定义消息
|
||||
}
|
||||
|
||||
winform.btn_1003.oncommand = function(id,event){
|
||||
::PostThreadMessage(thrdId,111,0x00,0x03)//自定义消息
|
||||
}
|
||||
|
||||
winform.btnDID_F187.oncommand = function(id,event){
|
||||
DiagReadDID(0xF187);
|
||||
}
|
||||
|
||||
winform.btnDID_F010w.oncommand = function(id,event){
|
||||
::PostThreadMessage(thrdId,115,0xF010,0x00)//自定义消息
|
||||
}
|
||||
|
||||
winform.btnDID_F101w.oncommand = function(id,event){
|
||||
::PostThreadMessage(thrdId,115,0xF101,0x00)//自定义消息
|
||||
}
|
||||
|
||||
winform.show();
|
||||
win.loopMessage();
|
||||
return winform;
|
||||
20
CAN_Bootloader/lib/config.aardio
Normal file
20
CAN_Bootloader/lib/config.aardio
Normal file
@ -0,0 +1,20 @@
|
||||
//config 配置文件
|
||||
import fsys.config;
|
||||
config = fsys.config("/config/");
|
||||
//config = fsys.config( io.appData("/软件作者/应用程序名/") );
|
||||
|
||||
//不需要序列化的配置名字前请添加下划线
|
||||
namespace config {
|
||||
__appName = "应用程序名";
|
||||
__appVersion = "1.0.0.01";
|
||||
__appDescription = "这是一个测试程序";
|
||||
__website = "http://www.aardio.com/";
|
||||
}
|
||||
|
||||
/**intellisense(config)
|
||||
__appName = 应用程序名
|
||||
__appVersion = 应用程序内部版本号
|
||||
__appDescription = 程序说明
|
||||
__website = 官方网站
|
||||
? = 配置文件名,\n读写配置并序列化为一个表对象,\n表的成员值可以是支持序列化的普通变量,支持table对象\n配置文件在首次使用时自动加载,退出程序时自动保存\n!fsys_table.
|
||||
end intellisense**/
|
||||
490
CAN_Bootloader/lib/usb2canfd.aardio
Normal file
490
CAN_Bootloader/lib/usb2canfd.aardio
Normal file
@ -0,0 +1,490 @@
|
||||
/*
|
||||
*使用说明：
|
||||
*1.创建CAN设备对象 CANHw = usb2canfd.USB2CANHW();
|
||||
*2.加载DLL CANHw.LoadDll();
|
||||
*3.扫描设备 hwnum = CANHw.FlashHw();
|
||||
*4.获取可用设备 allhw = CANHw.GetAvailableHW();
|
||||
*5.打开设备(初始化) CANHw.OpenDevice(设备序号,通道)
|
||||
*6.通过SendMsg和GetMsg发送和获取报文
|
||||
*/
|
||||
namespace usb2canfd{
|
||||
//参考 http://www.toomoss.com/help/index.htm
|
||||
|
||||
|
||||
//初始化CAN的数据类型定义
|
||||
class CANFD_INIT_CONFIG{
|
||||
ctor( /*输入构造函数所需要的参数*/ ){
|
||||
|
||||
};
|
||||
type=me;
|
||||
/*对象的所有成员必须用分号分隔*/
|
||||
BYTE Mode; //0-正常模式，1-自发自收模式
|
||||
BYTE ISOCRCEnable;//0-禁止ISO CRC,1-使能ISO CRC
|
||||
BYTE RetrySend;//0-禁止重发，1-无限制重发
|
||||
BYTE ResEnable;//0-不接入内部120欧终端电阻，1-接入内部120欧终端电阻
|
||||
//波特率参数可以用TCANLINPro软件里面的波特率计算工具计算
|
||||
//仲裁段波特率参数,波特率=40M/NBT_BRP*(1+NBT_SEG1+NBT_SEG2)
|
||||
BYTE NBT_BRP;
|
||||
BYTE NBT_SEG1;
|
||||
BYTE NBT_SEG2;
|
||||
BYTE NBT_SJW;
|
||||
//数据段波特率参数,波特率=40M/DBT_BRP*(1+DBT_SEG1+DBT_SEG2)
|
||||
BYTE DBT_BRP;
|
||||
BYTE DBT_SEG1;
|
||||
BYTE DBT_SEG2;
|
||||
BYTE DBT_SJW;
|
||||
BYTE __Res0[8];
|
||||
}
|
||||
|
||||
//初始化CAN的数据类型定义
|
||||
class CAN_INIT_CONFIG{
|
||||
ctor( /*输入构造函数所需要的参数*/ ){
|
||||
|
||||
};
|
||||
type=me;
|
||||
/*对象的所有成员必须用分号分隔*/
|
||||
//CAN波特率 = 100MHz/(CAN_BRP)/(CAN_SJW+CAN_BS1+CAN_BS2)
|
||||
INT CAN_BRP; //取值范围1~1024
|
||||
BYTE CAN_SJW; //取值范围1~4
|
||||
BYTE CAN_BS1; //取值范围1~16
|
||||
BYTE CAN_BS2; //取值范围1~8
|
||||
BYTE CAN_Mode; //CAN工作模式，0-正常模式，1-环回模式，2-静默模式，3-静默环回模式，bit7为1则接入适配器内部终端电阻，否则不接入
|
||||
BYTE CAN_ABOM; //自动离线管理，0-禁止，1-使能
|
||||
BYTE CAN_NART; //报文重发管理，0-使能报文重传，1-禁止报文重传
|
||||
BYTE CAN_RFLM; //FIFO锁定管理，0-新报文覆盖旧报文，1-丢弃新报文
|
||||
BYTE CAN_TXFP; //发送优先级管理，0-标识符决定，1-发送请求顺序决定
|
||||
}
|
||||
|
||||
class CAN_FILTER_CONFIG{
|
||||
ctor( /*输入构造函数所需要的参数*/ ){
|
||||
|
||||
};
|
||||
type=me;
|
||||
/*对象的所有成员必须用分号分隔*/
|
||||
BYTE Enable; //使能该过滤器，1-使能，0-禁止
|
||||
BYTE FilterIndex; //过滤器索引号，取值范围为0到13
|
||||
BYTE FilterMode; //过滤器模式，0-屏蔽位模式，1-标识符列表模式
|
||||
BYTE ExtFrame; //过滤的帧类型标志，为1 代表要过滤的为扩展帧，为0 代表要过滤的为标准帧。
|
||||
INT ID_Std_Ext; //验收码ID
|
||||
INT ID_IDE; //验收码IDE
|
||||
INT ID_RTR; //验收码RTR
|
||||
INT MASK_Std_Ext; //屏蔽码ID，该项只有在过滤器模式为屏蔽位模式时有用
|
||||
INT MASK_IDE; //屏蔽码IDE，该项只有在过滤器模式为屏蔽位模式时有用
|
||||
INT MASK_RTR; //屏蔽码RTR，该项只有在过滤器模式为屏蔽位模式时有用
|
||||
}
|
||||
|
||||
|
||||
//CANfd信息帧的数据类型定义
|
||||
class CANFD_MSG{
|
||||
ctor( /*输入构造函数所需要的参数*/ ){
|
||||
|
||||
};
|
||||
type=me;
|
||||
/*对象的所有成员必须用分号分隔*/
|
||||
INT ID; //报文ID。 //| (1<<31);//扩展帧
|
||||
BYTE DLC; //数据字节长度，可设置为-0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64
|
||||
BYTE Flags; //bit[0]-BRS,bit[1]-ESI,bit[2]-FDF,bit[6..5]-Channel,bit[7]-RXD
|
||||
BYTE __Res0; //保留
|
||||
BYTE __Res1; //保留
|
||||
INT TimeStamp; //帧接收或者发送时的时间戳，单位为10us
|
||||
BYTE Data[64]; //报文的数据。
|
||||
}
|
||||
|
||||
//CAN信息帧的数据类型定义
|
||||
class CAN_MSG{
|
||||
ctor( /*输入构造函数所需要的参数*/ ){
|
||||
|
||||
};
|
||||
type=me;
|
||||
/*对象的所有成员必须用分号分隔*/
|
||||
INT ID; //报文ID。
|
||||
INT TimeStamp; //接收到信息帧时的时间标识，从CAN 控制器初始化开始计时。
|
||||
BYTE RemoteFlag; //是否是远程帧
|
||||
BYTE ExternFlag; //是否是扩展帧
|
||||
BYTE DataLen; //数据长度(<=8)，即Data 的长度。
|
||||
BYTE Data[8]; //报文的数据。
|
||||
BYTE __Res;
|
||||
}
|
||||
|
||||
class CAN_UDS_ADDR{
|
||||
ctor( /*输入构造函数所需要的参数*/ ){
|
||||
|
||||
};
|
||||
type=me;
|
||||
/*对象的所有成员必须用分号分隔*/
|
||||
INT ReqID; //请求报文ID。
|
||||
INT ResID; //应答报文ID。
|
||||
BYTE Flag; //bit[0]-帧类型(0-标准帧，1-扩展帧),
|
||||
//bit[1]-FDF(0-普通CAN帧，1-CANFD帧),
|
||||
//bit[2]-BRS(0-CANFD帧不加速，1-CANFD帧加速)
|
||||
BYTE AddrFormats; //0-normal, 1-extended ,2-mixed
|
||||
BYTE AddrExt; //当AddrFormats不为normal时，该数据放到CAN数据域第1字节
|
||||
BYTE MaxDLC; //每帧最大数据字节数，一般设置为8
|
||||
|
||||
}
|
||||
|
||||
|
||||
class DEVICE_INFO{
|
||||
ctor( /*输入构造函数所需要的参数*/ ){
|
||||
|
||||
};
|
||||
type=me;
|
||||
/*对象的所有成员必须用分号分隔*/
|
||||
BYTE FirmwareName[32]; //固件名称字符串
|
||||
BYTE BuildDate[32]; //固件编译时间字符串
|
||||
INT HardwareVersion; //硬件版本号
|
||||
INT FirmwareVersion; //固件版本号
|
||||
INT SerialNumber[3]; //适配器序列号
|
||||
INT Functions; //适配器当前具备的功能
|
||||
}
|
||||
|
||||
|
||||
|
||||
//调用函数
|
||||
class USB2CANHW{
|
||||
ctor( /*输入构造函数所需要的参数*/ ){
|
||||
|
||||
};
|
||||
type=me;
|
||||
/*对象的所有成员必须用分号分隔*/
|
||||
|
||||
//初始化全局变量
|
||||
DllHandle = null;
|
||||
|
||||
|
||||
|
||||
//加载DLL
|
||||
LoadDll = function(){
|
||||
try{
|
||||
DllHandle = ..raw.loadDll("\USB2XXX.dll")
|
||||
}
|
||||
catch(err)
|
||||
{
|
||||
import win;
|
||||
DllHandle = null;
|
||||
win.msgboxTimeout("加载USB2LIN的DLL失败，请检查USB2XXX.dll和libusb-1.0.dll文件","错误",3000,);
|
||||
}
|
||||
if(DllHandle == null)return 1;
|
||||
return 0;
|
||||
}
|
||||
|
||||
//刷新硬件
|
||||
FlashHw = function(){
|
||||
|
||||
if(DllHandle = null){
|
||||
//DLL为空，返回
|
||||
AvailableHW = {}
|
||||
return 0;
|
||||
}
|
||||
var arr_temp = {int value[] = { length = 10/*可以使用变量*/ } }//类似动态数组
|
||||
HwNum = DllHandle.USB_ScanDevice(arr_temp)
|
||||
AvailableHW = {}
|
||||
for(i=1;HwNum;1){
|
||||
var devtemp = {};
|
||||
devtemp.devnum = i;
|
||||
devtemp.channel = 1;
|
||||
devtemp.hLINHW = arr_temp.value[i];
|
||||
devtemp.name = "dev-" + i + ":" + tostring(arr_temp.value[i],16);
|
||||
..table.push(AvailableHW,devtemp);
|
||||
}
|
||||
return HwNum; //返回有效硬件数
|
||||
}
|
||||
|
||||
//获取设备信息
|
||||
GetDevInfo = function(index){
|
||||
if(index > HwNum)
|
||||
{ //如果序号大于最大硬件数
|
||||
return 0;
|
||||
}
|
||||
DllHandle.USB_OpenDevice(AvailableHW[index].hLINHW);
|
||||
var DeviceInfo = ..usb2canfd.DEVICE_INFO();
|
||||
var funcstr = ..raw.buffer(100);
|
||||
|
||||
var ret = DllHandle.DEV_GetDeviceInfo(AvailableHW[index].hLINHW,DeviceInfo,funcstr);
|
||||
|
||||
return ret,DeviceInfo,funcstr;
|
||||
}
|
||||
|
||||
//获取设备信息
|
||||
GetNowInfo = function(){
|
||||
if(Hwconnected == null){
|
||||
return 0;
|
||||
}
|
||||
//DllHandle.USB_OpenDevice(Hwconnected);
|
||||
var DeviceInfo = ..usb2canfd.DEVICE_INFO();
|
||||
var funcstr = ..raw.buffer(100);
|
||||
|
||||
var ret = DllHandle.DEV_GetDeviceInfo(Hwconnected,DeviceInfo,funcstr);
|
||||
|
||||
return ret,DeviceInfo,funcstr;
|
||||
}
|
||||
|
||||
//获取有效硬件
|
||||
GetAvailableHW = function(){
|
||||
return AvailableHW;
|
||||
}
|
||||
|
||||
SetFilter = function(index){
|
||||
CANFilter = ..usb2canfd.CAN_FILTER_CONFIG();
|
||||
CANFilter.FilterIndex = 0;
|
||||
CANFilter.Enable = 1;
|
||||
CANFilter.ExtFrame = 0; //需要过滤接收的帧为标准帧
|
||||
CANFilter.FilterMode = 1;//标识符列表模式
|
||||
CANFilter.ID_IDE = 0; //接收到的数据帧IDE必须为1，也就是必须为扩展帧数据
|
||||
CANFilter.ID_RTR = 0; //接收到的帧类型必须为数据帧
|
||||
CANFilter.ID_Std_Ext = 0x620;//接收到的帧ID必须等于CANFilter.ID_Std_Ext设置的值
|
||||
var ret = DllHandle.CAN_Filter_Init(AvailableHW[index].hLINHW,0,CANFilter);
|
||||
|
||||
CANFilter.FilterIndex = 1;
|
||||
CANFilter.ID_Std_Ext = 0x610;
|
||||
var ret = DllHandle.CAN_Filter_Init(AvailableHW[index].hLINHW,0,CANFilter);
|
||||
|
||||
|
||||
for(i=2;13;1){
|
||||
CANFilter.FilterIndex = i;
|
||||
CANFilter.Enable = 0;
|
||||
DllHandle.CAN_Filter_Init(AvailableHW[index].hLINHW,0,CANFilter);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//打开设备，包括初始化通道
|
||||
OpenDevice = function(index,channel,canfd){
|
||||
if(index > HwNum)
|
||||
{ //如果序号大于最大硬件数
|
||||
return 0;
|
||||
}
|
||||
import console;
|
||||
var ret = DllHandle.USB_OpenDevice(AvailableHW[index].hLINHW)
|
||||
//canfd = true;
|
||||
if(canfd == true){
|
||||
var canconfig = ..usb2canfd.CANFD_INIT_CONFIG();
|
||||
|
||||
canconfig.Mode = 0; //0-正常模式，1-自发自收模式
|
||||
canconfig.ISOCRCEnable = 0;//0-禁止ISO CRC,1-使能ISO CRC
|
||||
canconfig.RetrySend = 1;//0-禁止重发，1-无限制重发
|
||||
canconfig.ResEnable = 1;//0-不接入内部120欧终端电阻，1-接入内部120欧终端电阻
|
||||
//波特率参数可以用TCANLINPro软件里面的波特率计算工具计算
|
||||
//仲裁段波特率参数,波特率=40M/NBT_BRP*(1+NBT_SEG1+NBT_SEG2)
|
||||
canconfig.NBT_BRP = 1; //参数来自官方上位机，默认500K
|
||||
canconfig.NBT_SEG1 = 59;
|
||||
canconfig.NBT_SEG2 = 20;
|
||||
canconfig.NBT_SJW = 2;
|
||||
//数据段波特率参数,波特率=40M/DBT_BRP*(1+DBT_SEG1+DBT_SEG2)
|
||||
canconfig.DBT_BRP = 2; //参数来自官方上位机，默认500K
|
||||
canconfig.DBT_SEG1 = 29;
|
||||
canconfig.DBT_SEG2 = 10;
|
||||
canconfig.DBT_SJW = 2;
|
||||
|
||||
ret = DllHandle.CANFD_Init(AvailableHW[index].hLINHW,channel,canconfig);
|
||||
}
|
||||
else {
|
||||
var canconfig = ..usb2canfd.CAN_INIT_CONFIG();
|
||||
|
||||
canconfig.CAN_Mode = 0x80;//0-正常模式 1-环回模式 0x80终端电阻
|
||||
|
||||
canconfig.CAN_ABOM = 0;//禁止自动离线
|
||||
canconfig.CAN_NART = 0;//禁止报文重传
|
||||
canconfig.CAN_RFLM = 0;//FIFO满之后覆盖旧报文
|
||||
canconfig.CAN_TXFP = 1;//发送请求决定发送顺序
|
||||
//配置波特率,波特率 = 42M/(BRP*(SJW+BS1+BS2))
|
||||
canconfig.CAN_BRP = 4;
|
||||
canconfig.CAN_BS1 = 15;
|
||||
canconfig.CAN_BS2 = 5;
|
||||
canconfig.CAN_SJW = 2;
|
||||
ret = DllHandle.CAN_Init(AvailableHW[index].hLINHW,channel,canconfig);
|
||||
//console.log("init ret = " + ret);
|
||||
this.SetFilter(index);
|
||||
}
|
||||
|
||||
canfd_connected = canfd;
|
||||
if(ret == 0){//调用成功
|
||||
Hwconnected = AvailableHW[index].hLINHW;
|
||||
Chconntected = channel;
|
||||
|
||||
}
|
||||
else {
|
||||
//Hwconnected = null
|
||||
Chconntected = null;
|
||||
}
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
//关闭设备
|
||||
CloseDevice = function(){
|
||||
if(Hwconnected == null){
|
||||
return;
|
||||
}
|
||||
try{
|
||||
DllHandle.USB_CloseDevice(Hwconnected);
|
||||
Hwconnected = null;
|
||||
}
|
||||
}
|
||||
|
||||
//是否连接
|
||||
isConnected = function(){
|
||||
if(Hwconnected == null){
|
||||
return false;
|
||||
}
|
||||
else {
|
||||
return true;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
//发送报文
|
||||
SendMsg = function(id,data){
|
||||
if(Hwconnected == null){//未连接
|
||||
return 0;
|
||||
}
|
||||
if(#data == 0 || #data>8){//长度不对
|
||||
return 0;
|
||||
}
|
||||
//console.log("发送报文")
|
||||
var ret = 0;
|
||||
if(canfd_connected == true){
|
||||
var msg = ..usb2canfd.CANFD_MSG();
|
||||
msg.Flags = 0;
|
||||
if(id <= 0x7ff){
|
||||
msg.ID = id; //| (1<<31);//扩展帧
|
||||
}
|
||||
else {
|
||||
msg.ID = id | (1<<31);//扩展帧
|
||||
}
|
||||
|
||||
|
||||
msg.DLC = #data;
|
||||
msg.Data = data;
|
||||
|
||||
//console.dumpJson(msg);
|
||||
//console.log("Hwconnected = " + Hwconnected);
|
||||
//console.log("Chconntected = " + Chconntected);
|
||||
ret = DllHandle.CANFD_SendMsg(Hwconnected,Chconntected,msg,1);
|
||||
}
|
||||
else {
|
||||
var msg = ..usb2canfd.CAN_MSG();
|
||||
//msg.Flags = 0;
|
||||
if(id <= 0x7ff){
|
||||
msg.ID = id; //| (1<<31);//扩展帧
|
||||
}
|
||||
else {
|
||||
msg.ID = id | (1<<31);//扩展帧
|
||||
}
|
||||
msg.ExternFlag = 0;
|
||||
msg.RemoteFlag = 0;
|
||||
msg.DataLen = #data;
|
||||
msg.Data = data;
|
||||
//console.log("发送报文")
|
||||
ret = DllHandle.CAN_SendMsg(Hwconnected,Chconntected,msg,1);
|
||||
//console.log("ret = " + ret);
|
||||
}
|
||||
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
//从设备缓冲区获取报文
|
||||
GetMsg = function(){
|
||||
var ret = 0;
|
||||
var retdata = {};
|
||||
if(canfd_connected == true){
|
||||
//CANFD
|
||||
do{
|
||||
var msgbuf = ..usb2canfd.CANFD_MSG();
|
||||
ret = DllHandle.CANFD_GetMsg(Hwconnected,CANIndex,msgbuf,1);
|
||||
if(ret == 1){
|
||||
var data = {};
|
||||
for(i=1;msgbuf.DLC;1){
|
||||
data[i] = msgbuf.Data[i];
|
||||
}
|
||||
var msg = {"id"=msgbuf.ID;"data"=data;};//
|
||||
..table.push(retdata,msg);
|
||||
}
|
||||
}while(ret > 0)
|
||||
}
|
||||
else {
|
||||
//CAN
|
||||
do{
|
||||
//raw.convertArray(raw.sizeof(..usb2canfd.CAN_MSG())
|
||||
var msgbuf = {};
|
||||
for(i=1;10;1){
|
||||
//msgbuf.push(new ..usb2canfd.CAN_MS())
|
||||
var temp = ..usb2canfd.CAN_MSG()
|
||||
..table.push(msgbuf,temp);
|
||||
}
|
||||
|
||||
//var msgbuf = ..raw.toarray(10,"struct",..usb2canfd.CAN_MS);
|
||||
ret = DllHandle.CAN_GetMsgWithSize(Hwconnected,CANIndex,msgbuf[1],1);
|
||||
if(ret == 1){
|
||||
var data = {};
|
||||
for(i=1;msgbuf[1].DataLen;1){
|
||||
data[i] = msgbuf[1].Data[i];
|
||||
}
|
||||
var msg = {"id"=msgbuf[1].ID;"data"=data;};//
|
||||
..table.push(retdata,msg);
|
||||
}
|
||||
}while(ret > 0)
|
||||
}
|
||||
|
||||
|
||||
return retdata;
|
||||
}
|
||||
|
||||
GetDiag = function(data){
|
||||
if(#data<2){
|
||||
return 0,1;
|
||||
}
|
||||
var UDSAddr = ..usb2canfd.CAN_UDS_ADDR()
|
||||
UDSAddr.Flag = 1;//使用扩展帧
|
||||
UDSAddr.AddrFormats = 0;
|
||||
UDSAddr.ReqID = 0x18dadff1;
|
||||
UDSAddr.ResID = 0x18daf1df;
|
||||
UDSAddr.MaxDLC = 8;
|
||||
var req_data = ..raw.buffer(#data);
|
||||
for(i=1;#data;1){
|
||||
req_data[i] = data[i];
|
||||
}
|
||||
ret = DllHandle.CAN_UDS_Request(Hwconnected,CANIndex,UDSAddr,req_data,#data);
|
||||
var res_data = ..raw.buffer(4096);
|
||||
//sleep(10);
|
||||
var ret = DllHandle.CAN_UDS_Response(Hwconnected,CANIndex,UDSAddr,res_data,1000);
|
||||
|
||||
return ret,2,res_data;
|
||||
}
|
||||
|
||||
SetPower = function(state){
|
||||
var ret = DllHandle.LIN_EX_CtrlPowerOut(Hwconnected,state);
|
||||
return ret;
|
||||
}
|
||||
|
||||
GetPower = function(){
|
||||
var buf = ..raw.buffer(10);
|
||||
var ret = DllHandle.LIN_EX_GetVbatValue(Hwconnected,buf);
|
||||
|
||||
return ret,buf;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**intellisense()
|
||||
usb2canfd = 图莫斯CANFD驱动
|
||||
usb2canfd.USB2CANHW = USB2CAN库
|
||||
usb2canfd.USB2CANHW() = 创建设备对象\n!usb2canfdUSB2CANHW.
|
||||
!usb2canfdUSB2CANHW.LoadDll() = 加载DLL
|
||||
!usb2canfdUSB2CANHW.FlashHw() = 刷新硬件
|
||||
!usb2canfdUSB2CANHW.GetDevInfo() = 获取设备信息
|
||||
!usb2canfdUSB2CANHW.GetAvailableHW() = 获取有效设备，需要先FlashHw()刷新
|
||||
!usb2canfdUSB2CANHW.OpenDevice() = 打开设备
|
||||
!usb2canfdUSB2CANHW.CloseDevice() = 关闭设备
|
||||
!usb2canfdUSB2CANHW.isConnected() = 是否已连接
|
||||
!usb2canfdUSB2CANHW.SendMsg() = 发送报文
|
||||
!usb2canfdUSB2CANHW.GetMsg() = 接收报文
|
||||
end intellisense**/
|
||||
|
||||
BIN
CAN_Bootloader/libusb-1.0.dll
Normal file
BIN
CAN_Bootloader/libusb-1.0.dll
Normal file
Binary file not shown.
266
CAN_Bootloader/main.aardio
Normal file
266
CAN_Bootloader/main.aardio
Normal file
@ -0,0 +1,266 @@
|
||||
import win.ui;
|
||||
/*DSG{{*/
|
||||
mainForm = win.form(text="CAN_Bootloader";right=599;bottom=465;border="dialog frame";max=false)
|
||||
mainForm.add(
|
||||
btnConnect={cls="button";text="连接";left=204;top=64;right=289;bottom=90;z=4};
|
||||
btnFlash={cls="button";text="开始刷写";left=36;top=329;right=135;bottom=357;z=9};
|
||||
btnFresh={cls="button";text="刷新";left=204;top=28;right=288;bottom=54;z=2};
|
||||
btnOpen={cls="button";text="打开文件";left=36;top=296;right=135;bottom=324;z=8};
|
||||
btnOpenFlashdrv={cls="button";text="打开FlashDriver";left=148;top=296;right=247;bottom=324;z=24};
|
||||
btnReadF180={cls="button";text="读取boot版本";left=36;top=429;right=135;bottom=457;z=19};
|
||||
btnReadF186={cls="button";text="读取当前会话";left=36;top=363;right=135;bottom=391;z=13};
|
||||
btnReadF187={cls="button";text="读取型号";left=148;top=429;right=247;bottom=457;z=20};
|
||||
btnReadF191={cls="button";text="读取编译日期";left=148;top=362;right=247;bottom=390;z=25};
|
||||
btnReadHw={cls="button";text="读取硬件版本号";left=148;top=395;right=247;bottom=423;z=12};
|
||||
btnReadSw={cls="button";text="读取软件版本号";left=36;top=396;right=135;bottom=424;z=10};
|
||||
btnTest={cls="button";text="停止";left=148;top=330;right=247;bottom=358;z=11};
|
||||
cbbChannel={cls="combobox";left=58;top=64;right=191;bottom=90;edge=1;items={};mode="dropdown";z=3};
|
||||
cbbDev={cls="combobox";left=58;top=27;right=191;bottom=53;edge=1;items={};mode="dropdown";z=1};
|
||||
checkbox={cls="checkbox";text="CANFD设备";left=151;top=101;right=248;bottom=120;checked=1;z=21};
|
||||
edFile={cls="richedit";left=8;top=131;right=288;bottom=187;border=1;disabled=1;edge=1;multiline=1;wrap=1;z=14};
|
||||
edFile2={cls="richedit";left=8;top=202;right=288;bottom=258;border=1;disabled=1;edge=1;multiline=1;wrap=1;z=22};
|
||||
edit={cls="edit";left=294;top=19;right=596;bottom=401;autovscroll=false;edge=1;multiline=1;vscroll=1;z=5};
|
||||
progress={cls="progress";left=296;top=436;right=596;bottom=464;edge=1;max=100;min=0;z=15};
|
||||
radiobutton={cls="radiobutton";text="左侧";left=45;top=268;right=121;bottom=288;checked=1;group=1;z=26};
|
||||
radiobutton2={cls="radiobutton";text="右侧";left=163;top=268;right=242;bottom=287;z=27};
|
||||
static={cls="static";text="设备";left=1;top=28;right=61;bottom=52;align="center";center=1;transparent=1;z=6};
|
||||
static2={cls="static";text="通道";left=1;top=66;right=61;bottom=90;align="center";center=1;transparent=1;z=7};
|
||||
static3={cls="static";text="刷写进度";left=296;top=409;right=349;bottom=429;transparent=1;z=16};
|
||||
static4={cls="static";text="烧录APP";left=13;top=108;right=85;bottom=132;center=1;transparent=1;z=17};
|
||||
static5={cls="static";text="V0.2_20241219";left=451;top=1;right=595;bottom=17;align="right";center=1;transparent=1;z=18};
|
||||
static6={cls="static";text="FlashDriver";left=13;top=184;right=101;bottom=207;transparent=1;z=23}
|
||||
)
|
||||
/*}}*/
|
||||
|
||||
import win;
|
||||
import usb2canfd;
|
||||
import win.timer;
|
||||
|
||||
var boot_count = 0;//boot时间计数器
|
||||
var bootstate = false;//boot状态标志
|
||||
var starttime = time.now();
|
||||
timer_bootcount = win.timer(mainForm,100);
|
||||
timer_bootcount.onTimer = function(){//boot时间定时器，100ms间隔
|
||||
boot_count++;
|
||||
}
|
||||
|
||||
Display = function(str){//显示日志
|
||||
var nowtime = time();
|
||||
nowtime.format="%H:%M:%S";
|
||||
mainForm.edit.print(tostring(nowtime) + " " + str);
|
||||
}
|
||||
//遍历目录
|
||||
import console;
|
||||
|
||||
/*
|
||||
import fsys.fileInfo;
|
||||
info = fsys.fileInfo("C:\Users\fcb19\Desktop\dll\libusb-1.0.dll");
|
||||
console.log(info.writeTime);
|
||||
execute("pause")
|
||||
raw.loadDll("C:\Users\fcb19\Desktop\dll\libusb-1.0.dll");
|
||||
*/
|
||||
CANHw = usb2canfd.USB2CANHW();//尝试加载CAN dll
|
||||
var ret = CANHw.LoadDll();
|
||||
if(ret == 0){
|
||||
Display("DLL加载成功");
|
||||
}
|
||||
else {
|
||||
//Display("DLL加载失败");
|
||||
return ;
|
||||
}
|
||||
|
||||
|
||||
//初始化界面
|
||||
mainForm.cbbChannel.add("通道1");
|
||||
mainForm.cbbChannel.add("通道2");
|
||||
mainForm.cbbChannel.selIndex = 1
|
||||
|
||||
|
||||
//刷新按键
|
||||
mainForm.btnFresh.oncommand = function(id,event){
|
||||
mainForm.cbbDev.clear();//清空下拉框，防止反复刷新叠加
|
||||
var hwnum = CANHw.FlashHw();//获取硬件数量
|
||||
if(hwnum == 0){
|
||||
mainForm.cbbDev.text = "未找到硬件"
|
||||
}
|
||||
else {
|
||||
var allhw = CANHw.GetAvailableHW();
|
||||
for(i=1;#allhw;1){
|
||||
mainForm.cbbDev.add(allhw[i].name);
|
||||
}
|
||||
}
|
||||
mainForm.cbbDev.selIndex = 1
|
||||
::PostThreadMessage(thrdId,100,0,0)//自定义消息
|
||||
}
|
||||
|
||||
mainForm.btnConnect.oncommand = function(id,event){
|
||||
var canfd_check = mainForm.checkbox.checked?0x80:0x00;
|
||||
::PostThreadMessage(thrdId,101,mainForm.cbbDev.selIndex,(mainForm.cbbChannel.selIndex - 1)|canfd_check)//自定义消息
|
||||
/*
|
||||
var ret = CANHw.OpenDevice(mainForm.cbbDev.selIndex,mainForm.cbbChannel.selIndex - 1);//通道为0和1
|
||||
if(ret == 0){
|
||||
Display("连接成功");
|
||||
}
|
||||
else {
|
||||
Display("连接失败");
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
//CAN通讯线程
|
||||
import thread.command;
|
||||
var listener = thread.command();
|
||||
var flag_connected=0;
|
||||
listener.$Display = function(str){
|
||||
Display(str);
|
||||
}
|
||||
listener.$ShowPath = function(str){
|
||||
mainForm.edFile.text = str;
|
||||
}
|
||||
listener.$ShowFlashDrvPath = function(str){
|
||||
mainForm.edFile2.text = str;
|
||||
}
|
||||
listener.$SetProgress = function(pos){
|
||||
if(pos >= 0 && pos <= 100){
|
||||
mainForm.progress.pos = pos;
|
||||
}
|
||||
}
|
||||
|
||||
listener.$Connected = function(){
|
||||
mainForm.btnConnect.disabled = true;
|
||||
mainForm.btnFresh.disabled = true;
|
||||
mainForm.cbbDev.disabled = true;
|
||||
mainForm.cbbChannel.disabled = true;
|
||||
flag_connected = 1;
|
||||
}
|
||||
listener.$SendEnd = function(isSuccess){
|
||||
//timer_bootcount.disable();
|
||||
var usetime = time.now().diffsecond(starttime);
|
||||
bootstate = false;
|
||||
if(isSuccess == true){
|
||||
Display("刷写成功，用时 " + usetime + " S")
|
||||
}
|
||||
}
|
||||
|
||||
//线程函数
|
||||
var CanThread = function(){
|
||||
|
||||
//线程函数内部要添加自已的import语句
|
||||
import win;
|
||||
import console;
|
||||
//console.log("线程开始运行")
|
||||
loadcodex("\user\CanThread.aardio");//加载线程程序
|
||||
//在子线程启动消息循环
|
||||
win.loopMessage(FuncLoopMsg)
|
||||
}
|
||||
DiagReadDID = function(did){
|
||||
::PostThreadMessage(thrdId,110,did,0)//自定义消息
|
||||
}
|
||||
var Diag10Req = function(num){
|
||||
::PostThreadMessage(thrdId,111,num,0)//自定义消息
|
||||
}
|
||||
var DiagBootReq = function(){
|
||||
::PostThreadMessage(thrdId,102,0,0)//自定义消息
|
||||
}
|
||||
var DiagStopReq = function(){
|
||||
::PostThreadMessage(thrdId,103,0,0)//自定义消息
|
||||
}
|
||||
|
||||
mainForm.btnReadSw.oncommand = function(id,event){
|
||||
DiagReadDID(0xF195);
|
||||
}
|
||||
|
||||
|
||||
mainForm.btnReadHw.oncommand = function(id,event){
|
||||
DiagReadDID(0xF193);
|
||||
}
|
||||
|
||||
mainForm.btnReadF186.oncommand = function(id,event){
|
||||
DiagReadDID(0xF186);
|
||||
}
|
||||
|
||||
mainForm.btnTest.oncommand = function(id,event){
|
||||
DiagStopReq();
|
||||
}
|
||||
|
||||
mainForm.btnFlash.oncommand = function(id,event){
|
||||
if(io.exist(mainForm.edFile.text) == null){
|
||||
Display("请打开烧写文件");
|
||||
return;
|
||||
}
|
||||
if(io.exist(mainForm.edFile2.text) == null){
|
||||
Display("请打开flashdriver文件");
|
||||
return;
|
||||
}
|
||||
if(flag_connected == 0){
|
||||
Display("请连接设备");
|
||||
return;
|
||||
}
|
||||
if(bootstate == true){
|
||||
return ;
|
||||
}
|
||||
bootstate = true;
|
||||
mainForm.edit.text = "";
|
||||
Display("开始刷写流程");
|
||||
starttime = time.now();
|
||||
//timer_bootcount.enable();
|
||||
boot_count = 0;
|
||||
DiagBootReq();
|
||||
|
||||
|
||||
}
|
||||
|
||||
mainForm.btnOpen.oncommand = function(id,event){
|
||||
::PostThreadMessage(thrdId,104,2,0)//自定义消息-打开文件
|
||||
}
|
||||
|
||||
//程序关闭
|
||||
mainForm.onClose = function(hwnd,message,wParam,lParam){
|
||||
if(thrdId != null){
|
||||
::PostThreadMessage(thrdId,105,0,0)//自定义消息
|
||||
thread.waitClose(thrdHandle);
|
||||
}
|
||||
|
||||
|
||||
//PLinHw.isConnected()///待完善
|
||||
//console.print("线程已关闭")
|
||||
//console.pause()
|
||||
}
|
||||
|
||||
mainForm.btnReadF180.oncommand = function(id,event){
|
||||
DiagReadDID(0xF180);
|
||||
}
|
||||
|
||||
mainForm.btnReadF187.oncommand = function(id,event){
|
||||
DiagReadDID(0xF187);
|
||||
}
|
||||
|
||||
mainForm.btnOpenFlashdrv.oncommand = function(id,event){
|
||||
::PostThreadMessage(thrdId,104,1,0)//自定义消息-打开flashdriver
|
||||
}
|
||||
|
||||
|
||||
|
||||
thrdHandle,thrdId = thread.create( CanThread )
|
||||
|
||||
|
||||
mainForm.onClose = function(hwnd,message,wParam,lParam){
|
||||
raw.closehandle(thrdHandle);
|
||||
//frmChild.close();
|
||||
}
|
||||
|
||||
mainForm.btnReadF191.oncommand = function(id,event){
|
||||
DiagReadDID(0xF191);
|
||||
}
|
||||
|
||||
mainForm.radiobutton.oncommand = function(id,event){
|
||||
::PostThreadMessage(thrdId,121,0x731,0x7b1)//自定义消息-修改ID
|
||||
}
|
||||
|
||||
mainForm.radiobutton2.oncommand = function(id,event){
|
||||
::PostThreadMessage(thrdId,121,0x732,0x7b2)//自定义消息-修改ID
|
||||
}
|
||||
|
||||
mainForm.show();
|
||||
::PostThreadMessage(thrdId,121,0x731,0x7b1)//自定义消息-修改ID
|
||||
return win.loopMessage();
|
||||
BIN
CAN_Bootloader/res/icon.ico
Normal file
BIN
CAN_Bootloader/res/icon.ico
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 34 KiB |
328
CAN_Bootloader/user/CanThread.aardio
Normal file
328
CAN_Bootloader/user/CanThread.aardio
Normal file
@ -0,0 +1,328 @@
|
||||
import usb2canfd;
|
||||
import thread.command;
|
||||
import win.timer;
|
||||
//初始化CAN句柄对象
|
||||
CANHw = usb2canfd.USB2CANHW();
|
||||
CANHw.LoadDll();
|
||||
|
||||
DiagReqID = 0x732;//0x18dadff1;
|
||||
DiagRespID = 0x7B2;//0x18daf1df;
|
||||
DiagGloableID = 0x7DF;//0x18DB33F1;
|
||||
stopflag = 0;
|
||||
|
||||
write2Etest = function(did){
|
||||
select(did) {
|
||||
case 0xF010 {
|
||||
var data = {1,2,3,4, 0,0,0,0, 0,0,0,0, 0,0,0,0,};
|
||||
FuncReq2E(did,data);
|
||||
}
|
||||
case 0xF101 {
|
||||
var data = {1,2,3,4, 0,0,0,0, };
|
||||
FuncReq2E(did,data);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//注册一个消息钩子函数
|
||||
FuncLoopMsg = function(msg){
|
||||
select(msg.message) {
|
||||
case 100 {//刷新硬件
|
||||
FuncFreshHw();
|
||||
}
|
||||
case 101 {//连接硬件
|
||||
//console.log("msg.wParam = " + msg.wParam);
|
||||
//console.log("msg.lParam = " + msg.lParam);
|
||||
FuncConnect(msg.wParam,msg.lParam);
|
||||
}
|
||||
case 102 {//开始boot
|
||||
FuncStartBoot();
|
||||
}
|
||||
case 103 {//停止boot
|
||||
FuncStopBoot();
|
||||
}
|
||||
case 104 {//打开s19文件
|
||||
if(msg.wParam == 1){
|
||||
FuncDisplay("打开FlashDriver");
|
||||
var ret = FuncOpenS19File(msg.wParam);
|
||||
if(ret != null){
|
||||
thread.command.$ShowFlashDrvPath(ret);
|
||||
var crc32 = FuncGetFlashCRC(1);
|
||||
FuncDisplay("CRC = " ++ string.format("%X",crc32));
|
||||
}
|
||||
}
|
||||
else {
|
||||
FuncDisplay("打开烧写文件");
|
||||
var ret = FuncOpenS19File(msg.wParam);
|
||||
if(ret != null){
|
||||
thread.command.$ShowPath(ret);
|
||||
var crc32 = FuncGetFlashCRC(2);
|
||||
FuncDisplay("CRC = " ++ string.format("%X",crc32));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
case 105 {//停止boot
|
||||
thread.stop(0);
|
||||
}
|
||||
case 110 {//readDID
|
||||
FuncReadDID(msg.wParam);
|
||||
}
|
||||
case 111 {
|
||||
FuncReq10(msg.wParam,msg.lParam);
|
||||
}
|
||||
case 112 {
|
||||
FuncReq28(msg.wParam);
|
||||
}
|
||||
case 113 {
|
||||
FuncReq85(msg.wParam);
|
||||
}
|
||||
case 114 {
|
||||
FuncReq27(msg.wParam);
|
||||
}
|
||||
case 115 {
|
||||
write2Etest(msg.wParam)
|
||||
}
|
||||
case 120 {
|
||||
win.quitMessage()
|
||||
}
|
||||
case 121 {
|
||||
SetDiagID(msg.wParam,msg.lParam);
|
||||
}
|
||||
else {
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
SetDiagID = function(reqid,respid){
|
||||
DiagReqID = reqid;//0x18dadff1;
|
||||
DiagRespID = respid;//0x18daf1df;
|
||||
var idstr = string.format("req=0x%x,resp=0x%x",DiagReqID,DiagRespID);
|
||||
FuncDisplay(idstr);
|
||||
}
|
||||
|
||||
|
||||
|
||||
var delay_const = 100000;
|
||||
DelayTest = function(){
|
||||
import time.performance;
|
||||
var tk = time.performance.tick();
|
||||
for(i=1;1000000;1)
|
||||
{
|
||||
}
|
||||
var tk2 = time.performance.tick();
|
||||
tk2 = tk2 - tk;
|
||||
delay_const = math.ceil(1000000*(1/tk2));
|
||||
FuncDisplay(delay_const);
|
||||
//console.log(delay_const);
|
||||
}
|
||||
|
||||
|
||||
|
||||
FuncFreshHw = function(){
|
||||
var hwnum = CANHw.FlashHw();
|
||||
if(hwnum == 0){
|
||||
//mainForm.cbbDev.text = "未找到硬件"
|
||||
}
|
||||
else {
|
||||
FuncDisplay("找到硬件")
|
||||
}
|
||||
}
|
||||
|
||||
FuncConnect = function(dev,chn){
|
||||
var canfd = (chn&0x80)==0x80?true:false;
|
||||
var ret = CANHw.OpenDevice(dev,chn&0x7f,canfd);
|
||||
if(ret == 0){
|
||||
FuncDisplay("连接成功");
|
||||
thread.command.$Connected();
|
||||
}
|
||||
else {
|
||||
FuncDisplay("连接失败");
|
||||
}
|
||||
}
|
||||
|
||||
FuncDisplay = function(str){
|
||||
thread.command.$Display(str);//"线程" +
|
||||
}
|
||||
|
||||
|
||||
loadcodex("\user\Diag10code.aardio");
|
||||
loadcodex("\user\Diag11code.aardio");
|
||||
loadcodex("\user\Diag22code.aardio");
|
||||
loadcodex("\user\Diag27code.aardio");
|
||||
loadcodex("\user\Diag2Ecode.aardio");
|
||||
loadcodex("\user\Diag28code.aardio");
|
||||
loadcodex("\user\Diag31code.aardio");
|
||||
loadcodex("\user\Diag34code.aardio");
|
||||
loadcodex("\user\Diag36code.aardio");
|
||||
loadcodex("\user\Diag37code.aardio");
|
||||
loadcodex("\user\Diag7Fcode.aardio");
|
||||
loadcodex("\user\Diag85code.aardio");
|
||||
|
||||
loadcodex("\user\DiagBootcode.aardio");
|
||||
loadcodex("\user\S19Decode.aardio");
|
||||
|
||||
|
||||
RespState = 0;
|
||||
|
||||
FuncDiagPro = function(diagmsg){
|
||||
|
||||
select(diagmsg.sid) {
|
||||
case 0x50 {
|
||||
FuncDiag10Pro(table.slice(diagmsg.data,1,diagmsg.len))
|
||||
}
|
||||
case 0x62 {
|
||||
FuncDiag22Pro(table.slice(diagmsg.data,1,diagmsg.len))
|
||||
}
|
||||
case 0x67 {
|
||||
FuncDiag27Pro(table.slice(diagmsg.data,1,diagmsg.len))
|
||||
}
|
||||
case 0x74 {
|
||||
FuncDiag34Pro(table.slice(diagmsg.data,1,diagmsg.len))
|
||||
}
|
||||
case 0x71 {
|
||||
FuncDiag31Pro(table.slice(diagmsg.data,1,diagmsg.len))
|
||||
}
|
||||
case 0x76 {
|
||||
FuncDiag36Pro(table.slice(diagmsg.data,1,diagmsg.len))
|
||||
}
|
||||
case 0x68 {
|
||||
FuncDiag28Pro(table.slice(diagmsg.data,1,diagmsg.len))
|
||||
}
|
||||
case 0xC5 {
|
||||
FuncDiag85Pro(table.slice(diagmsg.data,1,diagmsg.len))
|
||||
}
|
||||
case 0x7F {
|
||||
FuncDiag7FPro(table.slice(diagmsg.data,1,diagmsg.len))
|
||||
}
|
||||
case 0x6E {
|
||||
FuncDiag2EPro(table.slice(diagmsg.data,1,diagmsg.len))
|
||||
}
|
||||
else {
|
||||
}
|
||||
}
|
||||
RespState = diagmsg.sid;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
FuncStartBoot = function(){
|
||||
FuncInitBootState();
|
||||
boottimer.enable();
|
||||
|
||||
FuncDisplay("开始刷写");
|
||||
stopflag = 0;
|
||||
}
|
||||
|
||||
var delay = function(w){
|
||||
var delay_time = w*delay_const;
|
||||
for(i=1;delay_time;1)
|
||||
{
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
var PackNext = 0x21;
|
||||
var Packdata = {};
|
||||
var PackID = 0;
|
||||
var FuncSendPackage = function(){
|
||||
while(#Packdata > 0)
|
||||
{
|
||||
//sleep(1);
|
||||
delay(1);
|
||||
var data = {PackNext,0xCC,0xCC,0xCC,0xCC,0xCC,0xCC,0xCC};
|
||||
var max = #Packdata > 7 ? 7 : #Packdata;
|
||||
for(i=1;max;1){
|
||||
data[i+1] = table.remove(Packdata);
|
||||
}
|
||||
//sleep(0.3);
|
||||
CANHw.SendMsg(PackID,data);
|
||||
|
||||
PackNext += 1;
|
||||
if(PackNext > 0x2f){
|
||||
PackNext = 0x20;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
FuncPushPackage = function(ID,data){
|
||||
PackNext = 0x21;
|
||||
Packdata = data;
|
||||
PackID = ID;
|
||||
}
|
||||
|
||||
|
||||
|
||||
boottimer = win.timer(,10);
|
||||
boottimer.onTimer = function(){
|
||||
if(CANHw.isConnected() == false){
|
||||
boottimer.disable();
|
||||
return;
|
||||
}
|
||||
FuncBootSeq();
|
||||
}
|
||||
|
||||
|
||||
timer1 = win.timer(,1);
|
||||
diagresp = {}
|
||||
timer1.onTimer = function(){
|
||||
if(CANHw.isConnected() == false){
|
||||
return;
|
||||
}
|
||||
ret = CANHw.GetMsg();
|
||||
|
||||
for(i=1;#ret;1){
|
||||
//console.log("id = " + tostring(ret[i].id))
|
||||
if(ret[i].id & 0x7FFFFFFF == DiagRespID){
|
||||
if(ret[i].data[1] == 0x10){//首帧
|
||||
var data = {0x30,0x00,0x14,0x00,0,0,0,0};
|
||||
CANHw.SendMsg(DiagReqID,data);
|
||||
diagresp["sid"] = ret[i].data[3];
|
||||
diagresp["len"] = ret[i].data[2]-1;
|
||||
diagresp["data"] = {};
|
||||
diagresp["next"] = 0x21;
|
||||
table.append(diagresp["data"],table.slice(ret[i].data,4));
|
||||
}
|
||||
elseif(ret[i].data[1] <= 0x07){//单帧
|
||||
//console.dumpJson()
|
||||
diagresp["sid"] = ret[i].data[2];
|
||||
diagresp["len"] = ret[i].data[1]-1;
|
||||
diagresp["data"] = table.slice(ret[i].data,3);
|
||||
FuncDiagPro(diagresp);
|
||||
}
|
||||
elseif(ret[i].data[1] >= 0x21 && ret[i].data[1] <= 0x2f){
|
||||
if(ret[i].data[1] == diagresp["next"]){//多帧
|
||||
diagresp["next"] += 1;
|
||||
if(diagresp["next"] >= 0x2F){
|
||||
diagresp["next"] = 0x20;
|
||||
}
|
||||
table.append(diagresp["data"],table.slice(ret[i].data,2));
|
||||
if(#diagresp["data"] >= diagresp["len"]){
|
||||
FuncDiagPro(diagresp);
|
||||
}
|
||||
}
|
||||
}
|
||||
elseif(ret[i].data[1] == 0x30){//
|
||||
FuncSendPackage();
|
||||
}
|
||||
}
|
||||
else {
|
||||
//console.varDump(ret[i].id);
|
||||
//显示报文
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
timer1.enable();
|
||||
FuncDisplay("正在运行");
|
||||
|
||||
|
||||
DelayTest();
|
||||
|
||||
33
CAN_Bootloader/user/Diag10code.aardio
Normal file
33
CAN_Bootloader/user/Diag10code.aardio
Normal file
@ -0,0 +1,33 @@
|
||||
|
||||
//发送
|
||||
FuncReq10 = function(Addr,num){
|
||||
if(num >= 1 && num <= 3){
|
||||
var data = {0x02,0x10,num,0,0,0,0,0};
|
||||
if(Addr == true){
|
||||
CANHw.SendMsg(DiagGloableID,data);
|
||||
}
|
||||
else {
|
||||
CANHw.SendMsg(DiagReqID,data);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
//接收
|
||||
FuncDiag10Pro = function(data){
|
||||
//console.dumpJson(data);
|
||||
select(data[1]) {
|
||||
case 1 {
|
||||
FuncDisplay("进入默认会话成功")
|
||||
}
|
||||
case 2 {
|
||||
FuncDisplay("进入编程会话成功")
|
||||
}
|
||||
case 3 {
|
||||
FuncDisplay("进入扩展会话成功")
|
||||
}
|
||||
else {
|
||||
}
|
||||
}
|
||||
}
|
||||
9
CAN_Bootloader/user/Diag11code.aardio
Normal file
9
CAN_Bootloader/user/Diag11code.aardio
Normal file
@ -0,0 +1,9 @@
|
||||
//发送
|
||||
FuncReq11 = function(num){
|
||||
var txdata = {0x2,0x11,num,0x00,0x00,0x00,0x00,0x00};
|
||||
CANHw.SendMsg(DiagReqID,txdata);
|
||||
}
|
||||
//接收
|
||||
FuncDiag11Pro = function(data){
|
||||
FuncDisplay("复位成功")
|
||||
}
|
||||
75
CAN_Bootloader/user/Diag22code.aardio
Normal file
75
CAN_Bootloader/user/Diag22code.aardio
Normal file
@ -0,0 +1,75 @@
|
||||
var diag22state = 0;
|
||||
//发送
|
||||
FuncReadDID = function(did){
|
||||
if(CANHw.isConnected() == false){
|
||||
return;
|
||||
}
|
||||
var data = {0x03,0x22,did>>8,did&0xff,0,0,0,0};
|
||||
var ret = CANHw.SendMsg(DiagReqID,data);
|
||||
diag22state = 1;
|
||||
//console.log("did = " + tostring(did,16));
|
||||
//console.log("ret = " + ret);
|
||||
//FuncDisplay("did = " + tostring(did,16));
|
||||
}
|
||||
g22data = {};
|
||||
//接收
|
||||
FuncDiag22Pro = function(data){
|
||||
//console.log("诊断22服务")
|
||||
if(#data < 3){
|
||||
return;
|
||||
}
|
||||
var did = (data[1]<<8) + data[2];
|
||||
select(did) {
|
||||
case 0xF180 {
|
||||
FuncDisplay("BOOT版本号");
|
||||
FuncDisplay(string.str(string.pack(table.slice(data,3))));
|
||||
|
||||
}
|
||||
case 0xF186 {
|
||||
FuncDisplay("当前会话： " + data[3]);
|
||||
}
|
||||
case 0xF193 {
|
||||
FuncDisplay("硬件版本号");
|
||||
FuncDisplay(string.str(string.pack(table.slice(data,3))));
|
||||
g22data["F193"] = string.str(string.pack(table.slice(data,3)));
|
||||
}
|
||||
case 0xF195 {
|
||||
FuncDisplay("软件版本号");
|
||||
FuncDisplay(string.str(string.pack(table.slice(data,3))));
|
||||
g22data["F195"] = string.str(string.pack(table.slice(data,3)));
|
||||
}
|
||||
case 0xF191 {
|
||||
FuncDisplay("编译时间");
|
||||
FuncDisplay(string.str(string.pack(table.slice(data,3))));
|
||||
}
|
||||
case 0xF187 {
|
||||
FuncDisplay("ECU系统名称");
|
||||
FuncDisplay(string.str(string.pack(table.slice(data,3))));
|
||||
g22data["F187"] = string.str(string.pack(table.slice(data,3)));
|
||||
|
||||
}
|
||||
case 0xF198 {
|
||||
FuncDisplay("repair_shopcode");
|
||||
FuncDisplay(string.str(string.pack(table.slice(data,3))));
|
||||
}
|
||||
case 0xF199 {
|
||||
FuncDisplay("installation_date");
|
||||
FuncDisplay(string.format("%x%X%x%x",data[3],data[4],data[5],data[6]));
|
||||
}
|
||||
|
||||
case 0xF18A {
|
||||
FuncDisplay("系统供应商公司名称代码");
|
||||
FuncDisplay(string.pack(table.slice(data,3)));
|
||||
|
||||
}
|
||||
case 0xF197 {
|
||||
FuncDisplay("ECU 系统名称");
|
||||
FuncDisplay(string.pack(table.slice(data,3)));
|
||||
|
||||
}
|
||||
else {
|
||||
FuncDisplay("未知DID - " + tostring(did,16));
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
78
CAN_Bootloader/user/Diag27code.aardio
Normal file
78
CAN_Bootloader/user/Diag27code.aardio
Normal file
@ -0,0 +1,78 @@
|
||||
|
||||
var SecuretySeed = {0,0,0,0,};
|
||||
var SecuretyKey = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
|
||||
var lockstate = 0;
|
||||
//发送
|
||||
FuncReq27 = function(num,key){
|
||||
if(num >= 1 && num <= 0x1C){
|
||||
if(key == null){
|
||||
var data = {0x02,0x27,num,0,0,0,0,0};
|
||||
CANHw.SendMsg(DiagReqID,data);
|
||||
}
|
||||
else {
|
||||
if(#key > 4){
|
||||
var data = {0x10,0X12,0x27,num,key[1],key[2],key[3],key[4]};
|
||||
CANHw.SendMsg(DiagReqID,data);
|
||||
|
||||
FuncPushPackage(DiagReqID,table.slice(key,5));
|
||||
}
|
||||
else {
|
||||
var data = {0x06,0x27,num,key[1],key[2],key[3],key[4],0x00};
|
||||
CANHw.SendMsg(DiagReqID,data);
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
else {
|
||||
FuncDisplay("27长度错误");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//loadcodex("\user\securety.aardio");
|
||||
loadcodex("\user\GeelySecurety.aardio");
|
||||
//接收
|
||||
FuncDiag27Pro = function(data){
|
||||
//console.dumpJson(data);
|
||||
select(data[1]) {
|
||||
case 1,3,5,7,9,11,0x11 {
|
||||
var str = "收到种子";
|
||||
for(i=1;4;1){
|
||||
SecuretySeed[i] = data[i+1];
|
||||
str += " " + tostring(SecuretySeed[i],16);
|
||||
lockstate = 1;
|
||||
}
|
||||
FuncDisplay(str)
|
||||
SecuretyKey = securetyKeyCalc(SecuretySeed,data[1]);
|
||||
if(#SecuretyKey >= 4){
|
||||
FuncReq27(data[1]+1,SecuretyKey);
|
||||
var str = "计算密钥-";
|
||||
for(i=1;4;1){
|
||||
str += " " + tostring(SecuretyKey[i],16);
|
||||
}
|
||||
FuncDisplay(str);
|
||||
}
|
||||
else {
|
||||
FuncDisplay("计算失败");
|
||||
}
|
||||
|
||||
}
|
||||
case 2,4,6,8,10,12,0x12 {
|
||||
FuncDisplay("解锁成功");
|
||||
lockstate = 2;
|
||||
}
|
||||
else {
|
||||
FuncDisplay("27服务未知子服务");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
FuncDiag27GetState = function(){
|
||||
if(lockstate == 2){
|
||||
return 0;
|
||||
}
|
||||
else {
|
||||
return 1;
|
||||
}
|
||||
|
||||
}
|
||||
27
CAN_Bootloader/user/Diag28code.aardio
Normal file
27
CAN_Bootloader/user/Diag28code.aardio
Normal file
@ -0,0 +1,27 @@
|
||||
|
||||
//发送
|
||||
FuncReq28 = function(num1,num2){
|
||||
var txdata = {0x03,0x28,num1,num2,0,0,0,0};
|
||||
var ret = CANHw.SendMsg(DiagGloableID,txdata);
|
||||
|
||||
}
|
||||
//接收
|
||||
FuncDiag28Pro = function(data){
|
||||
//console.dumpJson(data);
|
||||
select(data[1]) {
|
||||
case 0 {
|
||||
FuncDisplay("使能接收发送")
|
||||
}
|
||||
case 1 {
|
||||
FuncDisplay("使能接收，禁止发送")
|
||||
}
|
||||
case 2 {
|
||||
FuncDisplay("禁止接收，使能发送")
|
||||
}
|
||||
case 3 {
|
||||
FuncDisplay("禁止接收发送")
|
||||
}
|
||||
else {
|
||||
}
|
||||
}
|
||||
}
|
||||
43
CAN_Bootloader/user/Diag2Ecode.aardio
Normal file
43
CAN_Bootloader/user/Diag2Ecode.aardio
Normal file
@ -0,0 +1,43 @@
|
||||
|
||||
var diag22state = 0;
|
||||
//发送
|
||||
FuncDIDWriteStr = function(did,str){
|
||||
var data = {}
|
||||
for(i=1;string.len(str);1){
|
||||
data[i] = string.unpack(str,i);
|
||||
}
|
||||
FuncReq2E(did,data)
|
||||
return data;
|
||||
}
|
||||
|
||||
//FuncDIDWriteStr(0xf198,"0123456789abcdef1234");
|
||||
|
||||
FuncReq2E = function(did,data){
|
||||
if(CANHw.isConnected() == false){
|
||||
return;
|
||||
}
|
||||
if(#data > 4){
|
||||
//多帧
|
||||
var txdata = {0x10,3+#data,0x2E,did>>8,did&0xff,data[1],data[2],data[3]};
|
||||
CANHw.SendMsg(DiagReqID,txdata);
|
||||
//等待发送
|
||||
FuncPushPackage(DiagReqID,table.slice(data,3));
|
||||
}
|
||||
else {
|
||||
var txdata = {3+#data,0x2E,did>>8,did&0xff,0,0,0,0};
|
||||
for(i=1;#data;1){
|
||||
txdata[4+i] = data[i];
|
||||
}
|
||||
CANHw.SendMsg(DiagReqID,txdata);
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
//接收
|
||||
FuncDiag2EPro = function(data){
|
||||
var did = (data[1]<<8) + data[2];
|
||||
FuncDisplay("写入" + tostring(did,16) + "成功");
|
||||
|
||||
}
|
||||
82
CAN_Bootloader/user/Diag31code.aardio
Normal file
82
CAN_Bootloader/user/Diag31code.aardio
Normal file
@ -0,0 +1,82 @@
|
||||
|
||||
FuncReq31EraseFlash = function(addr,len){
|
||||
FuncDisplay("开始擦除数据")
|
||||
var data = {0xfd,0x01,0x44,addr>>24,addr>>16,addr>>8,addr,len>>24,len>>16,len>>8,len};
|
||||
FuncReq31(data);
|
||||
}
|
||||
|
||||
FuncReq31CheckLogicBlock = function(crc){//(addr,len)
|
||||
//var data = {0x02,0x02,0x44,addr>>24,addr>>16,addr>>8,addr,len>>24,len>>16,len>>8,len};
|
||||
var data = {0x02,0x02,crc>>24,crc>>16,crc>>8,crc};
|
||||
FuncReq31(data);
|
||||
}
|
||||
FuncReq31CheckPD = function(){//Programming Dependencies
|
||||
var data = {0xFF,0x01};
|
||||
FuncReq31(data);
|
||||
}
|
||||
FuncReq31CheckFlash = function(){
|
||||
var data = {0x02,0x02};
|
||||
FuncReq31(data);
|
||||
}
|
||||
|
||||
FuncReq3103 = function(id){
|
||||
//停止例程
|
||||
var txdata = {0x04,0x31,0x03,id>>8,id&0xff,0x00,0x00,0x00};
|
||||
CANHw.SendMsg(DiagReqID,txdata);
|
||||
}
|
||||
FuncReq3101FD02 = function(){
|
||||
var txdata = {0x04,0x31,0x01,0xfd,0x02,0x00,0x00,0x00};
|
||||
CANHw.SendMsg(DiagReqID,txdata);
|
||||
}
|
||||
FuncReq3101FD03 = function(){
|
||||
var txdata = {0x04,0x31,0x01,0xfd,0x03,0x00,0x00,0x00};
|
||||
CANHw.SendMsg(DiagReqID,txdata);
|
||||
}
|
||||
|
||||
|
||||
|
||||
//发送
|
||||
FuncReq31 = function(data){
|
||||
if(#data > 5){//多帧
|
||||
var txdata = {0x10,2+#data,0x31,0x01,data[1],data[2],data[3],data[4]};
|
||||
CANHw.SendMsg(DiagReqID,txdata);
|
||||
FuncPushPackage(DiagReqID,table.slice(data,5));
|
||||
}
|
||||
else {
|
||||
var txdata = {2+#data,0x31,0x01,0, 0,0,0,0};
|
||||
for(i=1;#data;1){
|
||||
txdata[3+i] = data[i];
|
||||
}
|
||||
CANHw.SendMsg(DiagReqID,txdata);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
//接收
|
||||
FuncDiag31Pro = function(data){
|
||||
//console.dumpJson(data);
|
||||
if(#data < 3){
|
||||
//FuncDisplay("31长度错误");
|
||||
return;
|
||||
}
|
||||
var rid = (data[2]<<8) + data[3];
|
||||
select(rid) {
|
||||
case 0xFD01 {
|
||||
FuncDisplay("擦除成功")
|
||||
}
|
||||
case 0xFD02 {
|
||||
FuncDisplay("flash driver校验成功")
|
||||
}
|
||||
case 0x0202 {
|
||||
FuncDisplay("校验成功")
|
||||
}
|
||||
case 0xFF01 {
|
||||
FuncDisplay("检查标志成功")
|
||||
}
|
||||
case 0xF518 {
|
||||
FuncDisplay("数字签名错误")
|
||||
}
|
||||
else {
|
||||
}
|
||||
}
|
||||
}
|
||||
29
CAN_Bootloader/user/Diag34code.aardio
Normal file
29
CAN_Bootloader/user/Diag34code.aardio
Normal file
@ -0,0 +1,29 @@
|
||||
|
||||
|
||||
//发送
|
||||
FuncReq34 = function(addr,len){
|
||||
var data = {0x44,addr>>24,addr>>16,addr>>8,addr,len>>24,len>>16,len>>8,len};
|
||||
var txdata = {0x10,2+#data,0x34,0x00,data[1],data[2],data[3],data[4]};
|
||||
CANHw.SendMsg(DiagReqID,txdata);
|
||||
FuncPushPackage(DiagReqID,table.slice(data,5));
|
||||
|
||||
}
|
||||
var maxlen = 0;
|
||||
//接收
|
||||
FuncDiag34Pro = function(data){
|
||||
//console.dumpJson(data);
|
||||
FuncDisplay("请求下载成功")
|
||||
maxlen = (data[2]<<8) + data[3];
|
||||
FuncDisplay("最大长度:" + maxlen);
|
||||
}
|
||||
|
||||
FuncGetSengLen = function(){
|
||||
if(maxlen>2){
|
||||
return maxlen-2;
|
||||
}
|
||||
else {
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
66
CAN_Bootloader/user/Diag36code.aardio
Normal file
66
CAN_Bootloader/user/Diag36code.aardio
Normal file
@ -0,0 +1,66 @@
|
||||
|
||||
//
|
||||
var blocknum=1;
|
||||
var flag_sendend = false;
|
||||
var flag_sending = false;
|
||||
var alldata = {};
|
||||
FuncStartSendBlock = function(data){
|
||||
blocknum = 0x01;
|
||||
flag_sendend = false;
|
||||
flag_sending = true;
|
||||
alldata = data;
|
||||
}
|
||||
FuncStopSendBlock = function(data){
|
||||
blocknum = 0x01;
|
||||
flag_sendend = false;
|
||||
flag_sending = false;
|
||||
}
|
||||
FuncGetSendStatus = function(){
|
||||
return flag_sendend;
|
||||
}
|
||||
FuncSendNextBlock = function(){
|
||||
var len = FuncGetSengLen();
|
||||
//sleep(500);
|
||||
if(#alldata>len){
|
||||
FuncReq36(blocknum,table.slice(alldata,1,len));
|
||||
alldata = table.slice(alldata,len+1,)
|
||||
}
|
||||
else {
|
||||
FuncReq36(blocknum,alldata);
|
||||
alldata = {};
|
||||
flag_sendend = true;
|
||||
}
|
||||
blocknum += 1;
|
||||
}
|
||||
|
||||
|
||||
//发送
|
||||
FuncReq36 = function(num,data){
|
||||
len = #data+2;
|
||||
if(len > 7){
|
||||
var txdata = {0x10+(len>>8),len&0xff,0x36,num&0xff,data[1],data[2],data[3],data[4]};
|
||||
CANHw.SendMsg(DiagReqID,txdata);
|
||||
FuncPushPackage(DiagReqID,table.slice(data,5));
|
||||
}
|
||||
else {
|
||||
var txdata = {len,0x36,num&0xff,0, 0,0,0,0};
|
||||
for(i=1;#data;1){
|
||||
txdata[i+3] = data[i];
|
||||
}
|
||||
|
||||
CANHw.SendMsg(DiagReqID,txdata);
|
||||
}
|
||||
|
||||
}
|
||||
//接收
|
||||
FuncDiag36Pro = function(data){
|
||||
//console.dumpJson(data);
|
||||
/*
|
||||
if(data[1] == blocknum){
|
||||
blocknum += 1;
|
||||
if(flag_sending == true){
|
||||
FuncSendNextBlock();
|
||||
}
|
||||
}
|
||||
*/
|
||||
}
|
||||
9
CAN_Bootloader/user/Diag37code.aardio
Normal file
9
CAN_Bootloader/user/Diag37code.aardio
Normal file
@ -0,0 +1,9 @@
|
||||
//发送
|
||||
FuncReq37 = function(){
|
||||
var txdata = {0x1,0x37,0xAA,0xAA,0xAA,0xAA,0xAA,0xAA};
|
||||
CANHw.SendMsg(DiagReqID,txdata);
|
||||
}
|
||||
//接收
|
||||
FuncDiag37Pro = function(data){
|
||||
|
||||
}
|
||||
46
CAN_Bootloader/user/Diag7Fcode.aardio
Normal file
46
CAN_Bootloader/user/Diag7Fcode.aardio
Normal file
@ -0,0 +1,46 @@
|
||||
|
||||
var errSID=0,errNRC=0;
|
||||
FuncGetNrc = function(){
|
||||
return errSID,errNRC;
|
||||
}
|
||||
FuncClrNrc = function(){
|
||||
//return errSID,errNRC;
|
||||
errSID = 0;
|
||||
errNRC = 0;
|
||||
}
|
||||
var TableToStr = function(data){
|
||||
if(data == null){
|
||||
return " ";
|
||||
}
|
||||
if(#data == 0){
|
||||
return " ";
|
||||
}
|
||||
var str = "data:"
|
||||
for(i=1;#data;1){
|
||||
str += " "
|
||||
str += tostring(data[i],16);
|
||||
}
|
||||
return str;
|
||||
|
||||
}
|
||||
|
||||
//接收
|
||||
FuncDiag7FPro = function(data){
|
||||
//console.dumpJson(data);
|
||||
errSID = data[1];
|
||||
errNRC = data[2];
|
||||
select(errNRC) {
|
||||
case 0x78 {
|
||||
if(errSID != 0x36){
|
||||
FuncDisplay("服务正忙")
|
||||
}
|
||||
|
||||
}
|
||||
else {
|
||||
FuncDisplay("SID:" + tostring(errSID,16))
|
||||
FuncDisplay("错误 - NRC:" + tostring(errNRC,16))
|
||||
FuncDisplay(TableToStr(data));
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
27
CAN_Bootloader/user/Diag85code.aardio
Normal file
27
CAN_Bootloader/user/Diag85code.aardio
Normal file
@ -0,0 +1,27 @@
|
||||
|
||||
//发送
|
||||
FuncReq85 = function(num){
|
||||
if(num >= 1 && num <= 3){
|
||||
var data = {0x02,0x85,num,0,0,0,0,0};
|
||||
CANHw.SendMsg(DiagGloableID,data);
|
||||
}
|
||||
|
||||
}
|
||||
//接收
|
||||
FuncDiag85Pro = function(data){
|
||||
//console.dumpJson(data);
|
||||
select(data[1]) {
|
||||
case 0x01 {
|
||||
FuncDisplay("DTC开启")
|
||||
}
|
||||
case 0x02 {
|
||||
FuncDisplay("DTC禁能")
|
||||
}
|
||||
case 3 {
|
||||
FuncDisplay("DTC - 01")
|
||||
}
|
||||
else {
|
||||
FuncDisplay("DTC - TDB")
|
||||
}
|
||||
}
|
||||
}
|
||||
521
CAN_Bootloader/user/DiagBootcode.aardio
Normal file
521
CAN_Bootloader/user/DiagBootcode.aardio
Normal file
@ -0,0 +1,521 @@
|
||||
|
||||
|
||||
var bootstate = 0;
|
||||
var bootcount = 0;
|
||||
var sendstate = 0;
|
||||
FuncWait = function(sid){
|
||||
if(RespState == (sid + 0x40)){//正响应
|
||||
//bootcount = 0;
|
||||
return 0;
|
||||
}
|
||||
errsid,errnrc = FuncGetNrc();
|
||||
FuncClrNrc();
|
||||
if(errsid == sid){
|
||||
if(errnrc == 0x78){//等待
|
||||
bootcount = 0;
|
||||
return 0xff;
|
||||
}
|
||||
else {
|
||||
FuncDisplay("刷写错误 步骤" + bootstate);
|
||||
boottimer.disable();
|
||||
thread.command.$SendEnd(false);
|
||||
return 1; //负响应
|
||||
}
|
||||
|
||||
}
|
||||
if(stopflag == 1){
|
||||
FuncDisplay("停止");
|
||||
boottimer.disable();
|
||||
thread.command.$SendEnd(false);
|
||||
return 2;//停止命令
|
||||
}
|
||||
bootcount += 1;
|
||||
/*
|
||||
if(bootcount > 20 && sid == 0x36){
|
||||
bootcount = 0;
|
||||
return 0;
|
||||
}
|
||||
*/
|
||||
if(bootcount >= 400){
|
||||
FuncDisplay("步骤" + bootstate + "超时 " + tostring(sid,16));
|
||||
thread.command.$SendEnd(false);
|
||||
boottimer.disable();
|
||||
return 3;//超时
|
||||
}
|
||||
}
|
||||
|
||||
FuncStopBoot = function(){
|
||||
stopflag = 1;
|
||||
}
|
||||
FuncClearState = function(){
|
||||
RespState = 0;
|
||||
bootcount = 0;
|
||||
sendstate = 1;
|
||||
}
|
||||
FuncInitBootState = function(){
|
||||
bootstate = 0;
|
||||
RespState = 0;
|
||||
bootcount = 0;
|
||||
sendstate = 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
BCD_Conv = function(num){
|
||||
if(num > 99){
|
||||
return 0;
|
||||
}
|
||||
var ret = 0;
|
||||
ret += math.floor(num/10) * 16;
|
||||
ret += num%10;
|
||||
return ret;
|
||||
}
|
||||
|
||||
var sendblockstate = 0;
|
||||
var alldata = {};
|
||||
var blocknum = 1;
|
||||
var alldata_blocknum = 0;
|
||||
var block_sended = 0;
|
||||
var sendFlashDriverState = 0;
|
||||
var FuncSendBlockApp_sendflag = 0;
|
||||
var nowid=0;
|
||||
FuncSendBlockInit = function(id){
|
||||
var len = 0;
|
||||
alldata = FuncGetAllData(id);
|
||||
blocknum = 1;
|
||||
if(alldata == null){
|
||||
FuncDisplay("错误：空数据");
|
||||
alldata_blocknum = 0;
|
||||
sendblockstate = 0xff;
|
||||
return 1;
|
||||
}
|
||||
for(i=1;#alldata;1){
|
||||
len += math.ceil(#alldata[i]["data"] / FuncGetSengLen())
|
||||
}
|
||||
alldata_blocknum = len;
|
||||
block_sended = 0;
|
||||
sendblockstate = 0;
|
||||
FuncSendBlockApp_sendflag = 0;
|
||||
nowid = id;
|
||||
//console.log("发送数据初始化")
|
||||
return 0;
|
||||
}
|
||||
nextstate = function(val){
|
||||
if(val == 0){
|
||||
bootstate += 1;
|
||||
sendstate = 0;
|
||||
block_sended += 1;
|
||||
}
|
||||
}
|
||||
|
||||
FuncSendBlockApp = function(){
|
||||
select(sendblockstate) {
|
||||
case 0{
|
||||
if(FuncSendBlockApp_sendflag == 0){
|
||||
FuncReq34(alldata[blocknum]["address"],#alldata[blocknum]["data"]);
|
||||
FuncSendBlockApp_sendflag = 1;
|
||||
RespState = 0;
|
||||
bootcount = 0;
|
||||
}
|
||||
else {
|
||||
if(FuncWait(0x34) == 0){
|
||||
FuncSendBlockApp_sendflag = 0;
|
||||
sendblockstate += 1;
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
case 1 {
|
||||
FuncStartSendBlock(alldata[blocknum]["data"]);//初始化
|
||||
FuncSendBlockApp_sendflag = 0;
|
||||
sendblockstate += 1;
|
||||
}
|
||||
case 2 {
|
||||
if(FuncSendBlockApp_sendflag == 0){
|
||||
FuncSendNextBlock();
|
||||
FuncSendBlockApp_sendflag = 1;
|
||||
block_sended += 1;
|
||||
RespState = 0;
|
||||
bootcount = 0;
|
||||
}
|
||||
else {
|
||||
if(FuncWait(0x36) == 0){
|
||||
FuncSendBlockApp_sendflag = 0;
|
||||
if(FuncGetSendStatus() == true){//所有块发送完成
|
||||
sendblockstate += 1;
|
||||
if(nowid == 1){
|
||||
sendblockstate += 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
case 3 {
|
||||
if(FuncSendBlockApp_sendflag == 0){
|
||||
FuncReq37();
|
||||
FuncSendBlockApp_sendflag = 1;
|
||||
RespState = 0;
|
||||
bootcount = 0;
|
||||
}
|
||||
else {
|
||||
if(FuncWait(0x37) == 0){
|
||||
FuncSendBlockApp_sendflag = 0;
|
||||
sendblockstate += 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
else {
|
||||
if(blocknum < #alldata){
|
||||
blocknum += 1;
|
||||
sendblockstate = 0;
|
||||
}
|
||||
else {
|
||||
//所有数据发送完成
|
||||
return 0;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
return 1;
|
||||
}
|
||||
FuncSendBlockFlashDriver = function(){
|
||||
select(sendFlashDriverState) {
|
||||
case 0 {
|
||||
}
|
||||
case 1 {
|
||||
}
|
||||
case 2 {
|
||||
}
|
||||
case 3 {
|
||||
}
|
||||
else {
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
var delaycount = 0;
|
||||
//boot总流程
|
||||
var boottime = 0;
|
||||
FuncBootSeq = function(){
|
||||
boottime++;
|
||||
select(bootstate) {
|
||||
case 0 {
|
||||
boottime = 1;
|
||||
if(sendstate == 0){
|
||||
//FuncSendBlockInit(0);
|
||||
g22data = {};
|
||||
FuncReadDID(0xF187);
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x22);
|
||||
if(g22data["F187"]!= null){
|
||||
if(g22data["F187"] == "RP-77B"){
|
||||
nextstate(0);
|
||||
}
|
||||
else {
|
||||
FuncDisplay("型号错误");
|
||||
FuncStopBoot();
|
||||
thread.command.$SendEnd(false);
|
||||
boottimer.disable();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
case 1 {
|
||||
if(sendstate == 0){
|
||||
FuncReadDID(0xF195);//读取软件版本
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x22);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 2 {
|
||||
if(sendstate == 0){
|
||||
FuncReadDID(0xF193);//读取硬件版本
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x22);
|
||||
if(g22data["F193"]!= null){
|
||||
if(g22data["F193"] == "HW01"){
|
||||
nextstate(0);
|
||||
}
|
||||
else {
|
||||
FuncDisplay("硬件错误");
|
||||
FuncStopBoot();
|
||||
thread.command.$SendEnd(false);
|
||||
boottimer.disable();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
case 3 {
|
||||
if(sendstate == 0){
|
||||
FuncReq10(true,0x03);//进入扩展会话
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x10);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 4 {
|
||||
if(sendstate == 0){
|
||||
FuncReq85(0x02);//关闭DTC
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x85);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 5 {
|
||||
if(sendstate == 0){
|
||||
FuncReq28(0x01,0x01);//禁止发送
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x28);
|
||||
nextstate(0);
|
||||
}
|
||||
}
|
||||
case 6 {
|
||||
if(sendstate == 0){
|
||||
FuncReq10(false,0x02);//进入编程会话
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x10);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 7 {
|
||||
if(sendstate == 0){//等待复位完成
|
||||
delaycount = 0;
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
delaycount += 1;
|
||||
if(delaycount > 20){
|
||||
nextstate(0);//延时1S
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
case 8 {
|
||||
if(sendstate == 0){
|
||||
FuncReq27(0x09);//解密
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x27);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 9 {
|
||||
if(sendstate == 0){
|
||||
//FuncReq27(02);//发送key
|
||||
FuncClearState();
|
||||
FuncDisplay("等待解锁");
|
||||
}
|
||||
else {
|
||||
//var ret = FuncWait(0x27);
|
||||
var ret = FuncDiag27GetState();
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 10 {
|
||||
if(sendstate == 0){
|
||||
FuncReq31EraseFlash(0x20005BF0,0x800);
|
||||
FuncClearState();
|
||||
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x31);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
|
||||
case 11 {
|
||||
if(sendstate == 0){//写入installation_date
|
||||
FuncReq3103(0xFD01);
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x31);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 12 {
|
||||
if(sendstate == 0){//发送数据
|
||||
FuncSendBlockInit(1);
|
||||
FuncDisplay("开始发送FlashDrv数据");
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncSendBlockApp();
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 13 {
|
||||
if(sendstate == 0){//CheckLogicBlock
|
||||
//var crc = FuncGetFlashCRC(0);
|
||||
//FuncReq31CheckLogicBlock(crc);
|
||||
FuncReq3101FD02();
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x31);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 14 {
|
||||
if(sendstate == 0){//
|
||||
FuncReq3103(0xFD02);
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x31);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 15 {
|
||||
if(sendstate == 0){//CheckLogicBlock
|
||||
FuncReq31EraseFlash(0x00010000,0x28000);
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x31);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
|
||||
case 16 {
|
||||
if(sendstate == 0){//发送数据
|
||||
FuncSendBlockInit(2);
|
||||
FuncDisplay("开始发送App数据");
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncSendBlockApp();
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 17 {
|
||||
if(sendstate == 0){//CheckLogicBlock
|
||||
FuncReq3101FD03();
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x31);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 18 {
|
||||
if(sendstate == 0){////Programming Dependencies
|
||||
FuncReq3103(0xFD03);
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x31);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 19 {
|
||||
if(sendstate == 0){//等待复位完成
|
||||
delaycount = 0;
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
delaycount += 1;
|
||||
if(delaycount > 10){
|
||||
nextstate(0);//延时0.1S
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
case 20 {
|
||||
if(sendstate == 0){//复位
|
||||
FuncClearState();
|
||||
FuncReq11(0x01);
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x11);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
|
||||
case 21 {
|
||||
if(sendstate == 0){//等待复位完成
|
||||
delaycount = 0;
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
delaycount += 1;
|
||||
if(delaycount > 20){
|
||||
nextstate(0);//延时1S
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
case 22 {
|
||||
if(sendstate == 0){
|
||||
FuncReq10(true,0x03);//进入扩展会话
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x10);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 23 {
|
||||
if(sendstate == 0){
|
||||
FuncReq28(0x00,0x01);//开启发送
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x28);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 24 {
|
||||
if(sendstate == 0){
|
||||
FuncReq85(0x01);//开启DTC
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x85);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
case 25 {
|
||||
if(sendstate == 0){
|
||||
FuncReq10(true,0x01);//进入默认会话
|
||||
FuncClearState();
|
||||
}
|
||||
else {
|
||||
var ret = FuncWait(0x10);
|
||||
nextstate(ret);
|
||||
}
|
||||
}
|
||||
else {
|
||||
thread.command.$SendEnd(true);
|
||||
//FuncDisplay("刷写完成,用时 " + boottime/100 + " S")
|
||||
boottimer.disable();
|
||||
}
|
||||
}
|
||||
if(alldata_blocknum != 0){
|
||||
thread.command.$SetProgress(block_sended/alldata_blocknum * 100);
|
||||
}
|
||||
|
||||
}
|
||||
99
CAN_Bootloader/user/GeelySecurety.aardio
Normal file
99
CAN_Bootloader/user/GeelySecurety.aardio
Normal file
@ -0,0 +1,99 @@
|
||||
|
||||
xorArray = {0xAA,0x50,0x43,0x52}
|
||||
securetyKeyCalc = function(pucSeed,ucSecurityLevel){
|
||||
//SeedSec_t cal,key,seed;
|
||||
var seed = {0,0,0,0};
|
||||
var key = {0,0,0,0};
|
||||
var cal = {0,0,0,0};
|
||||
seed[1]=pucSeed[4];
|
||||
seed[2]=pucSeed[3];
|
||||
seed[3]=pucSeed[2];
|
||||
seed[4]=pucSeed[1];
|
||||
select(ucSecurityLevel) {
|
||||
case 0x01 {
|
||||
var dll = raw.loadDll("/DM_RP_SA.dll",,"cdecl" );
|
||||
if(dll != null){
|
||||
FuncDisplay("加载密钥dll成功");
|
||||
var retlen = raw.buffer(4,0);
|
||||
var seedraw = raw.buffer(4,0);
|
||||
var iVariant = raw.buffer(20,0);
|
||||
var keyraw = raw.buffer(4,0);
|
||||
seedraw[1] = pucSeed[1];
|
||||
seedraw[2] = pucSeed[2];
|
||||
seedraw[3] = pucSeed[3];
|
||||
seedraw[4] = pucSeed[4];
|
||||
var ret = 0;
|
||||
ret = dll.GenerateKeyEx(seedraw,4,0x01,iVariant,keyraw,4,retlen);
|
||||
FuncDisplay("ret = " ++ ret );
|
||||
|
||||
key[1] = keyraw[1];
|
||||
key[2] = keyraw[2];
|
||||
key[3] = keyraw[3];
|
||||
key[4] = keyraw[4];
|
||||
return key;
|
||||
}
|
||||
else {
|
||||
FuncDisplay("加载密钥dll失败");
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
case 0x09 {
|
||||
var dll = raw.loadDll("/DM_RP_SA.dll",,"cdecl" );
|
||||
if(dll != null){
|
||||
FuncDisplay("加载密钥dll成功");
|
||||
var retlen = raw.buffer(4,0);
|
||||
var seedraw = raw.buffer(4,0);
|
||||
var iVariant = raw.buffer(20,0);
|
||||
var keyraw = raw.buffer(4,0);
|
||||
seedraw[1] = pucSeed[1];
|
||||
seedraw[2] = pucSeed[2];
|
||||
seedraw[3] = pucSeed[3];
|
||||
seedraw[4] = pucSeed[4];
|
||||
var ret = 0;
|
||||
ret = dll.GenerateKeyEx(seedraw,4,0x09,iVariant,keyraw,4,retlen);
|
||||
FuncDisplay("ret = " ++ ret );
|
||||
|
||||
key[1] = keyraw[1];
|
||||
key[2] = keyraw[2];
|
||||
key[3] = keyraw[3];
|
||||
key[4] = keyraw[4];
|
||||
return key;
|
||||
}
|
||||
else {
|
||||
FuncDisplay("加载密钥dll失败");
|
||||
}
|
||||
}
|
||||
case 0x11 {
|
||||
/*
|
||||
cal.byte[0] = seed.byte[0]^xorArray[0];
|
||||
cal.byte[1] = seed.byte[1]^xorArray[1];
|
||||
cal.byte[2] = seed.byte[2]^xorArray[2];
|
||||
cal.byte[3] = seed.byte[3]^xorArray[3];
|
||||
|
||||
key.byte[3] = ((cal.byte[1]&0x03)<<6)|(( cal.byte[0]&0xFC)>>2);
|
||||
key.byte[2] = ((cal.byte[0]&0x03)<<6)|(cal.byte[3]&0x3F);
|
||||
key.byte[1] = (cal.byte[3]&0xFC)|((cal.byte[2]&0xC0)>>6);
|
||||
key.byte[0] = (cal.byte[2]&0xFC)|(cal.byte[1]&0x03);
|
||||
*/
|
||||
cal[1] = seed[1]^xorArray[1];
|
||||
cal[2] = seed[2]^xorArray[2];
|
||||
cal[3] = seed[3]^xorArray[3];
|
||||
cal[4] = seed[4]^xorArray[4];
|
||||
|
||||
key[4] = ((cal[2]&0x03)<<6)|(( cal[1]&0xFC)>>2);
|
||||
key[3] = ((cal[1]&0x03)<<6)|(cal[4]&0x3F);
|
||||
key[2] = (cal[4]&0xFC)|((cal[3]&0xC0)>>6);
|
||||
key[1] = (cal[3]&0xFC)|(cal[2]&0x03);
|
||||
}
|
||||
else {
|
||||
}
|
||||
}
|
||||
var pucKey = {0,0,0,0};
|
||||
pucKey[1]=key[4];
|
||||
pucKey[2]=key[3];
|
||||
pucKey[3]=key[2];
|
||||
pucKey[4]=key[1];
|
||||
|
||||
return pucKey;
|
||||
}
|
||||
199
CAN_Bootloader/user/S19Decode.aardio
Normal file
199
CAN_Bootloader/user/S19Decode.aardio
Normal file
@ -0,0 +1,199 @@
|
||||
var Crc32Tble =
|
||||
{
|
||||
0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535, 0x9E6495A3,
|
||||
0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91,
|
||||
0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7,
|
||||
0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5,
|
||||
0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B,
|
||||
0x35B5A8FA, 0x42B2986C, 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59,
|
||||
0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F,
|
||||
0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D,
|
||||
0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433,
|
||||
0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, 0x91646C97, 0xE6635C01,
|
||||
0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457,
|
||||
0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65,
|
||||
0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB,
|
||||
0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
|
||||
0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F,
|
||||
0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81, 0xB7BD5C3B, 0xC0BA6CAD,
|
||||
0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683,
|
||||
0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1,
|
||||
0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7,
|
||||
0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5,
|
||||
0xD6D6A3E8, 0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B,
|
||||
0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF, 0x4669BE79,
|
||||
0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F,
|
||||
0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D,
|
||||
0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713,
|
||||
0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21,
|
||||
0x86D3D2D4, 0xF1D4E242, 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777,
|
||||
0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45,
|
||||
0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB,
|
||||
0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9,
|
||||
0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693, 0x54DE5729, 0x23D967BF,
|
||||
0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D
|
||||
};
|
||||
var fileinfo = "";
|
||||
var FlashData = {};
|
||||
var AllData = {}
|
||||
FuncGetAllData = function(id){
|
||||
if(id > #AllData){
|
||||
return null;
|
||||
}
|
||||
return AllData[id];
|
||||
}
|
||||
FuncGetFileInfo = function(){
|
||||
return fileinfo;
|
||||
}
|
||||
|
||||
FuncCRC32Calc = function(Data){
|
||||
|
||||
var usCRC = 0xFFFFFFFF;
|
||||
|
||||
for(i=1;#Data;1){
|
||||
var temp = (usCRC ^ Data[i]) & 0xFF;
|
||||
usCRC = ((usCRC >> 8)&0xffffff) ^ Crc32Tble[temp+1];
|
||||
|
||||
}
|
||||
usCRC ^= 0xFFFFFFFF;
|
||||
return usCRC;
|
||||
}
|
||||
|
||||
FuncGetFlashCRC = function(id){
|
||||
var Data = AllData[id];
|
||||
var crc = FuncCRC32Calc(Data[1].data);
|
||||
return crc;
|
||||
}
|
||||
|
||||
var s19crc = {};
|
||||
|
||||
|
||||
FuncOpenS19File = function(id,path){
|
||||
import fsys.dlg;
|
||||
if(path == null){
|
||||
path = fsys.dlg.open('S19文件|*.sx;*.s19;*.srec|所有文件|*.*||',,,winform);
|
||||
}
|
||||
|
||||
if(io.exist( path )){
|
||||
//winform.editPath.text = path;
|
||||
var readbuf = string.load(path);
|
||||
|
||||
readbuf = string.split(readbuf,'\r\n');
|
||||
//console.dumpJson(readbuf);
|
||||
var block = null;
|
||||
FlashData = {};
|
||||
for(i=1;#readbuf;1){
|
||||
if(#readbuf[i] == 0){
|
||||
continue;
|
||||
}
|
||||
var str = readbuf[i];
|
||||
var data = "";
|
||||
var addr = 0;
|
||||
var len = 0;
|
||||
select(string.slice(str,1,2)) {
|
||||
case "S0"{
|
||||
//S0为文件信息
|
||||
var fileinfobuf = string.slice(str,9,-3);//取出文件信息
|
||||
fileinfo = "file info:"+string.unhex(fileinfobuf,"")//解码
|
||||
fileinfo = string.replace(fileinfo,"\z"," ");//替换空字符
|
||||
FuncDisplay(fileinfo)//显示
|
||||
continue;
|
||||
}
|
||||
case "S1"{
|
||||
len = tonumber(string.slice(str,3,4),16)
|
||||
addr = tonumber(string.slice(str,5,8),16)
|
||||
data = string.slice(str,9,-3)
|
||||
}
|
||||
case "S2"{
|
||||
len = tonumber(string.slice(str,3,4),16)
|
||||
addr = tonumber(string.slice(str,5,10),16)
|
||||
data = string.slice(str,11,-3)
|
||||
|
||||
}
|
||||
case "S3"{
|
||||
len = tonumber(string.slice(str,3,4),16)
|
||||
addr = tonumber(string.slice(str,5,12),16)
|
||||
data = string.slice(str,13,-3)
|
||||
}
|
||||
else {
|
||||
continue;
|
||||
}
|
||||
}
|
||||
if(block == null){
|
||||
//空表，第一次进入
|
||||
block = {};
|
||||
block["address"] = addr;
|
||||
block["data"] = {};
|
||||
}
|
||||
else {
|
||||
//非空表
|
||||
if(addr == (block["address"]+#block["data"])){
|
||||
//连续,无动作
|
||||
}
|
||||
else {
|
||||
//不同块，新建块
|
||||
FlashData[#FlashData+1]={"address" = block["address"];"data" = block["data"];}
|
||||
block["address"] = addr;
|
||||
block["data"] = {};
|
||||
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
data = string.unhex(data,"")
|
||||
for(i=1;#data;1){
|
||||
var bytedata = string.unpack(data,i)
|
||||
table.push(block["data"],bytedata)
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
s19crc = null;
|
||||
FuncDisplay(string.format("addr=%x ,len = %x",block.address,#block.data))//显示
|
||||
if(block.address == 0x10000){
|
||||
var last_data_addr = 0;
|
||||
last_data_addr = #block.data;
|
||||
var temp = last_data_addr%2048;
|
||||
if(temp != 0){
|
||||
last_data_addr += 2048-temp;
|
||||
}
|
||||
for(i=#block.data+1;last_data_addr;1){
|
||||
block.data[i] = 0xff;
|
||||
}
|
||||
|
||||
s19crc = {};
|
||||
s19crc["address"] = 0x37800;
|
||||
s19crc["data"] = {};
|
||||
for(i=1;0x800;1){
|
||||
s19crc.data[i] = 0xff;
|
||||
}
|
||||
last_data_addr+=0x10000;
|
||||
s19crc.data[0x7FC] = last_data_addr>>24;
|
||||
s19crc.data[0x7FB] = last_data_addr>>16;
|
||||
s19crc.data[0x7FA] = last_data_addr>>8;
|
||||
s19crc.data[0x7F9] = last_data_addr&0XFF;
|
||||
|
||||
var crc32temp = FuncCRC32Calc(block.data);
|
||||
s19crc.data[0x800] = crc32temp>>24;
|
||||
s19crc.data[0x7FF] = crc32temp>>16;
|
||||
s19crc.data[0x7FE] = crc32temp>>8;
|
||||
s19crc.data[0x7FD] = crc32temp&0XFF;
|
||||
}
|
||||
if(block != null){
|
||||
table.push(FlashData,block)
|
||||
}
|
||||
if(s19crc != null){
|
||||
table.push(FlashData,s19crc)
|
||||
}
|
||||
|
||||
AllData[id] = FlashData;
|
||||
}
|
||||
|
||||
//blocknum = 1;
|
||||
|
||||
return path;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
25
cva_asw_m0118/.vscode/settings.json
vendored
Normal file
25
cva_asw_m0118/.vscode/settings.json
vendored
Normal file
@ -0,0 +1,25 @@
|
||||
{
|
||||
"MicroPython.executeButton": [
|
||||
{
|
||||
"text": "▶",
|
||||
"tooltip": "运行",
|
||||
"alignment": "left",
|
||||
"command": "extension.executeFile",
|
||||
"priority": 3.5
|
||||
}
|
||||
],
|
||||
"MicroPython.syncButton": [
|
||||
{
|
||||
"text": "$(sync)",
|
||||
"tooltip": "同步",
|
||||
"alignment": "left",
|
||||
"command": "extension.execute",
|
||||
"priority": 4
|
||||
}
|
||||
],
|
||||
"files.associations": {
|
||||
"canuser.h": "c",
|
||||
"apptask.h": "c",
|
||||
"mcu.h": "c"
|
||||
}
|
||||
}
|
||||
3092
cva_asw_m0118/BOOTHEX/RP-77B_BOOT_BL0101.srec
Normal file
3092
cva_asw_m0118/BOOTHEX/RP-77B_BOOT_BL0101.srec
Normal file
File diff suppressed because it is too large
Load Diff
65
cva_asw_m0118/BOOTHEX/cva_m0118_FlashDrv_iar.srec
Normal file
65
cva_asw_m0118/BOOTHEX/cva_m0118_FlashDrv_iar.srec
Normal file
@ -0,0 +1,65 @@
|
||||
S32520005BF000000000395E00204D5E00204D600020F1B489B00120694608710999096807914E
|
||||
S32520005C10002106916A461279520002231A400692069A079B1A606A46D070099A1268059193
|
||||
S32520005C306B46DB781B01102423400593059B13606B469870099B1B6804916C46A478640124
|
||||
S32520005C5020252C400494049C1C606C466070099C246803916D466D78AD01402635400395A9
|
||||
S32520005C70039D25606D462870099D2D6802916E463678F60008273E400296029E2E60099E3E
|
||||
S32520005C90366808910100C9B289000427394031600AB0F0BC7047F0B501000025280001222A
|
||||
S32520005CB013000C681E00F6B2F60180273E4026600B681B68DB091340DBB2002BF8D00B689F
|
||||
S32520005CD01B685B091340DBB2002B0CD10B681B681B091340DBB2002B05D10B681B681A4074
|
||||
S32520005CF0D2B2002A01D007221000C0B2F0BDF2B584B00400002528006946887028006946ED
|
||||
S32520005D104870206801260068C10A30000840C0B200280ED16846007C01280AD16068006864
|
||||
S32520005D30010D30000840C0B2012802D130006946487020680068C10930000840C0B20028D6
|
||||
S32520005D5001D109206DE02000FFF752FF0D2069460870290022680195FF2002900B00DBB278
|
||||
S32520005D70D3181F7F029B9F43BC466B461F78029B3B4067463B430193019B0F00FFB2D71978
|
||||
S32520005D903B776B461B7C002B01D0370000E02F0031006A461170216803910195029003984F
|
||||
S32520005DB0694609784018007F029988433900C9B2029A0A4002430192019803996A4612785F
|
||||
S32520005DD0891808772000FFF766FF6946097C002909D021680968CA0A31001140C9B20029C8
|
||||
S32520005DF001D1052108006946097C002909D1216809680A0B31001140C9B2002901D1052109
|
||||
S32520005E1008000100C9B200290BD169464978002907D021683200D2B2520380239B011A4026
|
||||
S32520005E300A60C0B205B0F0BD10B50400824804602000FFF7DDFE0020E06110BDF3B595B0EB
|
||||
S32520005E5000273800694608707B48046815988005800D002803D0012069460870E7E0380056
|
||||
S32520005E703D001698854200D3E1E0206801260068C10930000840C0B2002803D10920694607
|
||||
S32520005E900870D4E02000FFF7B3FE05216846017338006A469071206814900997FF2013901A
|
||||
S32520005EB0149A6B469B79D218137F139A93439C466A46137B139A1A4063461A430992099BCE
|
||||
S32520005ED09C46149B6A4692799A1863461377159A6B46DA7232006B465A7122681292089734
|
||||
S32520005EF01190129A6B465B79D218137F119A93439C466A46D37A119A1A4063461A43089219
|
||||
S32520005F10089B9C46129B6A4652799A1863461377159AAB02D218120A6B469A7202226B46C5
|
||||
S32520005F301A712268109207970F90109A6B461B79D218137F0F9A93439C466A46937A0F9A05
|
||||
S32520005F501A4063461A430792079B9C46109B6A4612799A1863461377159AAB02D218120C5F
|
||||
S32520005F706B465A7203226B46DA7022680E9206970D900E9A6B46DB78D218137F0D9A934345
|
||||
S32520005F909C466A46537A0D9A1A4063461A430692069B9C460E9B6A46D2789A1863461377C2
|
||||
S32520005FB0159AAB02D218120E6B461A7204226B469A7022680C9205970B900C9A6B469B785E
|
||||
S32520005FD0D218137F0B9A93439C466A46137A0B9A1A4063461A430592059B9C460C9B6A4600
|
||||
S32520005FF092789A18634613776A46D6716A465170266804970A90684640783018007F0A9981
|
||||
S3252000601088436946C9790A9A0A4002430492049869464978711808772000FFF73CFE6946B2
|
||||
S32520006030087068460078002801D16D1C19E76846007817B0F0BD0000F05B0020F7B598B010
|
||||
S325200060500025280069464874874800680190072018990140002901D0012501E11A99084074
|
||||
S32520006070002801D00325FBE028006946087002950B950198006801270068C10A380008408C
|
||||
S32520006090C0B2012802D138006946087068460078002803D000210198FFF729FE18988005D0
|
||||
S325200060B0800D0B900B98A021490544182E001A98864205D21998805D2070641C761CF6E7E8
|
||||
S325200060D0019800680068C10938000840C0B2002801D10925BCE00198FFF78AFD06206946B6
|
||||
S325200060F008742800694688720198006816900A95FF20159016996A46927A8918097F159AD0
|
||||
S3252000611091436A46137C159A1A400A430A920A9A16996B469B7AC9180A7718996A46D17324
|
||||
S3252000613069464F720199096814910995139014996A46527A8918097F139A91436A46D27BF8
|
||||
S32520006150139B13400B4309930999149A6B465B7AD21811771899090A6A46917302216A468B
|
||||
S3252000617011720199096812910895119012996A46127A8918097F119A91436A46927B119B82
|
||||
S3252000619013400B4308930899129A6B461B7AD21811771899090C6A46517303216A46D17039
|
||||
S325200061B001990968109107950F9010996A46D2788918097F0F9A91436A46527B0F9B1340FF
|
||||
S325200061D00B4307930799109A6B46DB78D21811771899090E6A46117304216A469170019975
|
||||
S325200061F009680E9106950D900E996A4692788918097F0D9A91436A46127B0D9B13400B4396
|
||||
S32520006210069306990E9A6B469B78D21811771A99C908491E6A46D17205216A465170019923
|
||||
S325200062300F6805950C90684640783818007F0C9988436946C97A0C9A0A400243059205987B
|
||||
S3252000625069464978791808770198FFF724FD050068460078002803D001210198FFF747FDBD
|
||||
S325200062702800C0B21BB0F0BDF05B0020FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF7F
|
||||
S32520006290FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFE8
|
||||
S325200062B0FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFC8
|
||||
S325200062D0FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFA8
|
||||
S325200062F0FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF88
|
||||
S32520006310FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF67
|
||||
S32520006330FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF47
|
||||
S32520006350FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF27
|
||||
S32520006370FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF07
|
||||
S32520006390FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFE7
|
||||
S325200063B0FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFC7
|
||||
S325200063D0FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF10CACC19E4
|
||||
S70500000001F9
|
||||
146
cva_asw_m0118/SDK/lib/shared/common/check/crc.h
Normal file
146
cva_asw_m0118/SDK/lib/shared/common/check/crc.h
Normal file
@ -0,0 +1,146 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _CRC_H_
|
||||
#define _CRC_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the CRC algorithms
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief The CRC table
|
||||
*/
|
||||
static const uint16_t c_crcTable[] =
|
||||
{
|
||||
0X0000, 0XC0C1, 0XC181, 0X0140, 0XC301, 0X03C0, 0X0280, 0XC241,
|
||||
0XC601, 0X06C0, 0X0780, 0XC741, 0X0500, 0XC5C1, 0XC481, 0X0440,
|
||||
0XCC01, 0X0CC0, 0X0D80, 0XCD41, 0X0F00, 0XCFC1, 0XCE81, 0X0E40,
|
||||
0X0A00, 0XCAC1, 0XCB81, 0X0B40, 0XC901, 0X09C0, 0X0880, 0XC841,
|
||||
0XD801, 0X18C0, 0X1980, 0XD941, 0X1B00, 0XDBC1, 0XDA81, 0X1A40,
|
||||
0X1E00, 0XDEC1, 0XDF81, 0X1F40, 0XDD01, 0X1DC0, 0X1C80, 0XDC41,
|
||||
0X1400, 0XD4C1, 0XD581, 0X1540, 0XD701, 0X17C0, 0X1680, 0XD641,
|
||||
0XD201, 0X12C0, 0X1380, 0XD341, 0X1100, 0XD1C1, 0XD081, 0X1040,
|
||||
0XF001, 0X30C0, 0X3180, 0XF141, 0X3300, 0XF3C1, 0XF281, 0X3240,
|
||||
0X3600, 0XF6C1, 0XF781, 0X3740, 0XF501, 0X35C0, 0X3480, 0XF441,
|
||||
0X3C00, 0XFCC1, 0XFD81, 0X3D40, 0XFF01, 0X3FC0, 0X3E80, 0XFE41,
|
||||
0XFA01, 0X3AC0, 0X3B80, 0XFB41, 0X3900, 0XF9C1, 0XF881, 0X3840,
|
||||
0X2800, 0XE8C1, 0XE981, 0X2940, 0XEB01, 0X2BC0, 0X2A80, 0XEA41,
|
||||
0XEE01, 0X2EC0, 0X2F80, 0XEF41, 0X2D00, 0XEDC1, 0XEC81, 0X2C40,
|
||||
0XE401, 0X24C0, 0X2580, 0XE541, 0X2700, 0XE7C1, 0XE681, 0X2640,
|
||||
0X2200, 0XE2C1, 0XE381, 0X2340, 0XE101, 0X21C0, 0X2080, 0XE041,
|
||||
0XA001, 0X60C0, 0X6180, 0XA141, 0X6300, 0XA3C1, 0XA281, 0X6240,
|
||||
0X6600, 0XA6C1, 0XA781, 0X6740, 0XA501, 0X65C0, 0X6480, 0XA441,
|
||||
0X6C00, 0XACC1, 0XAD81, 0X6D40, 0XAF01, 0X6FC0, 0X6E80, 0XAE41,
|
||||
0XAA01, 0X6AC0, 0X6B80, 0XAB41, 0X6900, 0XA9C1, 0XA881, 0X6840,
|
||||
0X7800, 0XB8C1, 0XB981, 0X7940, 0XBB01, 0X7BC0, 0X7A80, 0XBA41,
|
||||
0XBE01, 0X7EC0, 0X7F80, 0XBF41, 0X7D00, 0XBDC1, 0XBC81, 0X7C40,
|
||||
0XB401, 0X74C0, 0X7580, 0XB541, 0X7700, 0XB7C1, 0XB681, 0X7640,
|
||||
0X7200, 0XB2C1, 0XB381, 0X7340, 0XB101, 0X71C0, 0X7080, 0XB041,
|
||||
0X5000, 0X90C1, 0X9181, 0X5140, 0X9301, 0X53C0, 0X5280, 0X9241,
|
||||
0X9601, 0X56C0, 0X5780, 0X9741, 0X5500, 0X95C1, 0X9481, 0X5440,
|
||||
0X9C01, 0X5CC0, 0X5D80, 0X9D41, 0X5F00, 0X9FC1, 0X9E81, 0X5E40,
|
||||
0X5A00, 0X9AC1, 0X9B81, 0X5B40, 0X9901, 0X59C0, 0X5880, 0X9841,
|
||||
0X8801, 0X48C0, 0X4980, 0X8941, 0X4B00, 0X8BC1, 0X8A81, 0X4A40,
|
||||
0X4E00, 0X8EC1, 0X8F81, 0X4F40, 0X8D01, 0X4DC0, 0X4C80, 0X8C41,
|
||||
0X4400, 0X84C1, 0X8581, 0X4540, 0X8701, 0X47C0, 0X4680, 0X8641,
|
||||
0X8201, 0X42C0, 0X4380, 0X8341, 0X4100, 0X81C1, 0X8081, 0X4040
|
||||
};
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Calculates the CRC16 result
|
||||
*
|
||||
* This function implements the CRC16 calculation
|
||||
*
|
||||
* \param[in] pData : the input byte array
|
||||
* \param[in] length : the length of input array
|
||||
* \return the CRC16 result
|
||||
*/
|
||||
static inline uint16_t Crc_CalcCrc16(const uint8_t *pData, uint32_t length)
|
||||
{
|
||||
uint8_t tmp;
|
||||
uint16_t crcWord = 0xFFFF;
|
||||
|
||||
while(length--)
|
||||
{
|
||||
tmp = *pData++ ^ crcWord;
|
||||
crcWord >>= 8;
|
||||
crcWord ^= c_crcTable[tmp];
|
||||
}
|
||||
return crcWord;
|
||||
}
|
||||
|
||||
/*! \brief Calculates the CRC8 result
|
||||
*
|
||||
* This function implements the CRC8 calculation
|
||||
*
|
||||
* \param[in] pData : the input byte array
|
||||
* \param[in] length : the length of input array
|
||||
* \param[in] polynomial : the polynomial used for the calculation
|
||||
* \return the CRC8 result
|
||||
*/
|
||||
static inline uint8_t Crc_CalcCrc8(const uint8_t *pData, uint32_t length, uint8_t polynomial)
|
||||
{
|
||||
uint8_t bitIndex = 0;
|
||||
uint8_t byteIndex = 0;
|
||||
uint8_t crc = 0xFF;
|
||||
for(byteIndex = 0; byteIndex < length; ++byteIndex)
|
||||
{
|
||||
crc ^= pData[byteIndex];
|
||||
for(bitIndex = 0; bitIndex < 8; ++bitIndex)
|
||||
{
|
||||
if((crc & 0x80) != 0)
|
||||
{
|
||||
crc = (crc << 1) ^ polynomial;
|
||||
}
|
||||
else
|
||||
{
|
||||
crc = (crc << 1);
|
||||
}
|
||||
}
|
||||
}
|
||||
return ~crc;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _CRC_H_ */
|
||||
333
cva_asw_m0118/SDK/lib/shared/common/container/list.h
Normal file
333
cva_asw_m0118/SDK/lib/shared/common/container/list.h
Normal file
@ -0,0 +1,333 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _LIST_H_
|
||||
#define _LIST_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to a wrapped linked-list
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Declaration of LIST object
|
||||
*/
|
||||
typedef struct _ListNode_
|
||||
{
|
||||
int32_t nextIndex; /*!< next index value */
|
||||
void *pElement; /*!< the pointer to the element */
|
||||
} ListNode;
|
||||
|
||||
/*! \brief Declaration of LIST object
|
||||
*/
|
||||
typedef struct _ListType_
|
||||
{
|
||||
ListNode *nodeArray; /*!< the pointer to the nodes, which must be an 1-D array */
|
||||
uint32_t containerSize; /*!< the size of the container */
|
||||
uint32_t length; /*!< the length of list */
|
||||
ListNode head; /*!< the head node */
|
||||
} ListType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the LIST object.
|
||||
*
|
||||
* This function initialize the LIST instance
|
||||
*
|
||||
* \param[in] obj : pointer to List instance
|
||||
* \param[in] pNodes : pointer to node
|
||||
* \param[in] pContainer : pointer to container
|
||||
* \param[in] elemSize : element size in byte
|
||||
* \param[in] containerSize : the size of the container
|
||||
*/
|
||||
static inline void List_Init(ListType *obj, ListNode *pNodes, void *pContainer, uint32_t elemSize, uint32_t containerSize)
|
||||
{
|
||||
obj->nodeArray = pNodes;
|
||||
obj->containerSize = containerSize;
|
||||
uint32_t i = 0;
|
||||
for(i = 0; i < obj->containerSize; ++i)
|
||||
{
|
||||
obj->nodeArray[i].pElement = (void *)((unsigned char *)pContainer + i * elemSize);
|
||||
obj->nodeArray[i].nextIndex = -1; /* Next index is -1 representing not occupied */
|
||||
}
|
||||
obj->head.nextIndex = obj->containerSize; /* next index = containerSize Mark the list */
|
||||
obj->head.pElement = NULL;
|
||||
obj->length = 0;
|
||||
}
|
||||
|
||||
/*! \brief Get the length of the list
|
||||
*
|
||||
* This function get the length of the list
|
||||
*
|
||||
* \param[in] obj : pointer to List instance
|
||||
* \return The length
|
||||
*/
|
||||
static inline uint32_t List_Length(const ListType *obj)
|
||||
{
|
||||
return obj->length;
|
||||
}
|
||||
|
||||
/*! \brief Insert the element at the given index
|
||||
*
|
||||
* This function insert the element at the given index.
|
||||
*
|
||||
* \note If the given index is larger than the last element index+1,
|
||||
* or the vector is full, the function will do nothing
|
||||
*
|
||||
* \param[in] obj : pointer to List instance
|
||||
* \param[in] pElem : the pointer to the element
|
||||
* \param[in] elemSize : the element size
|
||||
* \param[in] index : the index to insert
|
||||
* \return the result of the operation
|
||||
* - true : success
|
||||
* - false : fail
|
||||
*/
|
||||
static inline bool List_Insert(ListType *obj, const void *pElem, uint32_t elemSize, uint32_t index)
|
||||
{
|
||||
/* If full, we cannot insert more elements */
|
||||
if(obj->length == obj->containerSize)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
/* If no enough elements*/
|
||||
if(index > obj->length)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
/* Find first node not occupied*/
|
||||
uint32_t actualIndex = 0;
|
||||
bool actualIndexFound = false;
|
||||
uint32_t i = 0;
|
||||
for(i = 0; i < obj->containerSize; ++i)
|
||||
{
|
||||
if(obj->nodeArray[i].nextIndex == -1)
|
||||
{
|
||||
actualIndexFound = true;
|
||||
actualIndex = i;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if(actualIndexFound == false)
|
||||
{
|
||||
return false; /* Must found */
|
||||
}
|
||||
|
||||
/* Assign the value */
|
||||
unsigned char *src = (unsigned char *)pElem;
|
||||
unsigned char *dest = (unsigned char *)(obj->nodeArray[actualIndex].pElement);
|
||||
uint32_t byte;
|
||||
for(byte = 0; byte < elemSize; byte++)
|
||||
{
|
||||
*dest++ = *src++;
|
||||
}
|
||||
|
||||
/* Find the previous node */
|
||||
if(index == 0)
|
||||
{
|
||||
/* Insert at the first node */
|
||||
obj->nodeArray[actualIndex].nextIndex = obj->head.nextIndex; /* Replace the first valid data node */
|
||||
obj->head.nextIndex = actualIndex; /* Mark the new first node */
|
||||
}
|
||||
else
|
||||
{
|
||||
uint32_t prevIndex = obj->head.nextIndex;
|
||||
for(i = 0; i < index - 1; ++i)
|
||||
{
|
||||
prevIndex = obj->nodeArray[prevIndex].nextIndex;
|
||||
}
|
||||
obj->nodeArray[actualIndex].nextIndex = obj->nodeArray[prevIndex].nextIndex;
|
||||
obj->nodeArray[prevIndex].nextIndex = actualIndex;
|
||||
}
|
||||
|
||||
/* Increase the length */
|
||||
obj->length++;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Get the element at the given index
|
||||
*
|
||||
* This function gets the element at the given index
|
||||
*
|
||||
* \note index must be in the range of 0-size
|
||||
*
|
||||
* \param[in] obj : pointer to List instance
|
||||
* \param[out] pElem : pointer to the element to get
|
||||
* \param[in] elemSize : size of element
|
||||
* \param[in] index : index of the element to get
|
||||
* \return result of the operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool List_GetElement(const ListType *obj, void *pElem, uint32_t elemSize, uint32_t index)
|
||||
{
|
||||
if(index >= obj->length)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
uint32_t i = 0;
|
||||
uint32_t actualIndex = obj->head.nextIndex;
|
||||
for(i = 0; i < index; ++i)
|
||||
{
|
||||
actualIndex = obj->nodeArray[actualIndex].nextIndex;
|
||||
}
|
||||
|
||||
unsigned char *dest = (unsigned char *)pElem;
|
||||
unsigned char *src = (unsigned char *)(obj->nodeArray[actualIndex].pElement);
|
||||
|
||||
for(i = 0; i < elemSize; i++)
|
||||
{
|
||||
*dest++ = *src++;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Get the element at the given index
|
||||
*
|
||||
* This function gets the element at the given index
|
||||
*
|
||||
* \note index must be in the range of 0-size-1
|
||||
*
|
||||
* \param[in] obj : pointer to List instance
|
||||
* \param[in] elemSize : the element size
|
||||
* \param[in] index : the index to get
|
||||
* \return the pointer to the element
|
||||
*/
|
||||
static inline const void *List_At(const ListType *obj, uint32_t elemSize, uint32_t index)
|
||||
{
|
||||
if(index >= obj->length)
|
||||
{
|
||||
return ((void *)0);
|
||||
}
|
||||
|
||||
uint32_t i = 0;
|
||||
uint32_t actualIndex = obj->head.nextIndex;
|
||||
for(i = 0; i < index; ++i)
|
||||
{
|
||||
actualIndex = obj->nodeArray[actualIndex].nextIndex;
|
||||
}
|
||||
|
||||
return obj->nodeArray[actualIndex].pElement;
|
||||
}
|
||||
|
||||
/*! \brief Clear the whole vector
|
||||
*
|
||||
* This function clears the whole vector
|
||||
*
|
||||
* \param[in] obj : pointer to List instance
|
||||
*/
|
||||
static inline void List_Clear(ListType *obj)
|
||||
{
|
||||
uint32_t i = 0;
|
||||
for(i = 0; i < obj->containerSize; ++i)
|
||||
{
|
||||
obj->nodeArray[i].nextIndex = -1; /* Next index is -1 representing not occupied */
|
||||
}
|
||||
obj->head.nextIndex = obj->containerSize;
|
||||
obj->head.pElement = NULL;
|
||||
obj->length = 0;
|
||||
}
|
||||
|
||||
/*! \brief Remove the element at the given index
|
||||
*
|
||||
* This function removes the element at the given index
|
||||
*
|
||||
* \param[in] obj : pointer to List instance
|
||||
*/
|
||||
static inline bool List_Remove(ListType *obj, uint32_t elemSize, uint32_t index)
|
||||
{
|
||||
/* If empty, we cannot remove any elements */
|
||||
if(obj->length == 0)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
/* If no enough elements */
|
||||
if(index >= obj->length)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
/* Find the previous node */
|
||||
if(index == 0)
|
||||
{
|
||||
/* Remove the first node */
|
||||
uint32_t currentIndex = obj->head.nextIndex;
|
||||
obj->head.nextIndex = obj->nodeArray[obj->head.nextIndex].nextIndex;
|
||||
obj->nodeArray[currentIndex].nextIndex = -1; /* Mark unoccupied */
|
||||
}
|
||||
else
|
||||
{
|
||||
uint32_t prevIndex = obj->head.nextIndex;
|
||||
uint32_t i = 0;
|
||||
for(i = 0; i < index - 1; ++i)
|
||||
{
|
||||
prevIndex = obj->nodeArray[prevIndex].nextIndex;
|
||||
}
|
||||
uint32_t currentIndex = obj->nodeArray[prevIndex].nextIndex;
|
||||
obj->nodeArray[prevIndex].nextIndex = obj->nodeArray[currentIndex].nextIndex;
|
||||
obj->nodeArray[currentIndex].nextIndex = -1; /* Mark unoccupied */
|
||||
}
|
||||
|
||||
/* Decrease the length */
|
||||
obj->length--;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Whether the list is full
|
||||
*
|
||||
* This function returns whether the list is full.
|
||||
*
|
||||
* \param[in] obj : pointer to List instance
|
||||
*/
|
||||
static inline bool List_IsFull(const ListType *obj)
|
||||
{
|
||||
return obj->length == obj->containerSize;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _LIST_H_ */
|
||||
194
cva_asw_m0118/SDK/lib/shared/common/container/ringbuffer.h
Normal file
194
cva_asw_m0118/SDK/lib/shared/common/container/ringbuffer.h
Normal file
@ -0,0 +1,194 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _RINGBUFFER_H_
|
||||
#define _RINGBUFFER_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the ring buffer template
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief RingBuffer prototype definition
|
||||
*/
|
||||
typedef struct _RingBufferType_
|
||||
{
|
||||
void *pBuffer; /*!< The actual buffer holder */
|
||||
int32_t readIndex; /*!< The current index for the read */
|
||||
int32_t writeIndex; /*!< The current index for the write */
|
||||
int32_t usedNum; /*!< The number of used elements */
|
||||
int32_t totalNum; /*!< The number of total elements */
|
||||
} RingBufferType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initializes the ringbuffer instance
|
||||
*
|
||||
* This function initializes a ringbuffer instance
|
||||
*
|
||||
* \param[in] obj : pointer to RingBuffer instance
|
||||
* \param[in] pBuffer : the actual buffer holder
|
||||
* \param[in] size : the size of actual buffer holder
|
||||
*/
|
||||
static inline void RingBuffer_Init(RingBufferType *obj, void *pBuffer, uint32_t size)
|
||||
{
|
||||
obj->pBuffer = pBuffer;
|
||||
obj->readIndex = 0;
|
||||
obj->writeIndex = 0;
|
||||
obj->usedNum = 0;
|
||||
obj->totalNum = size;
|
||||
}
|
||||
|
||||
/*! \brief Puts an element to the ringbuffer.
|
||||
*
|
||||
* This function puts an element to the ringbuffer.
|
||||
*
|
||||
* \param[in] obj : pointer to RingBuffer instance
|
||||
* \param[in] pElem : pointer to the element to push into the buffer
|
||||
* \param[in] size : the size of the element in bytes
|
||||
* \return the result of the put operation
|
||||
* true : success
|
||||
* false : failed because the buffer is full
|
||||
*/
|
||||
static inline bool RingBuffer_Put(RingBufferType *obj, const void *pElem, uint32_t size)
|
||||
{
|
||||
uint32_t i = 0;
|
||||
unsigned char *src;
|
||||
unsigned char *dest;
|
||||
|
||||
/* Check if the buffer is full */
|
||||
if(obj->usedNum >= obj->totalNum)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
/* Copy the element */
|
||||
src = (unsigned char *)pElem;
|
||||
dest = (unsigned char *)obj->pBuffer + (obj->writeIndex * size);
|
||||
for(i = 0; i < size; i++)
|
||||
{
|
||||
*dest++ = *src++;
|
||||
}
|
||||
|
||||
/* Move the index */
|
||||
obj->writeIndex++;
|
||||
if(obj->writeIndex >= obj->totalNum)
|
||||
{
|
||||
obj->writeIndex = 0;
|
||||
}
|
||||
obj->usedNum++;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Gets an element from the ringbuffer.
|
||||
*
|
||||
* This function gets an element from the ringbuffer.
|
||||
*
|
||||
* \param[in] obj : pointer to RingBuffer instance
|
||||
* \param[in] pElem : pointer to the element to get from the buffer
|
||||
* \param[in] size : the size of the element in bytes
|
||||
* \return the result of the put operation
|
||||
* true : success
|
||||
* false : failed because the buffer is empty
|
||||
*/
|
||||
static inline bool RingBuffer_Get(RingBufferType *obj, void *pElem, uint32_t size)
|
||||
{
|
||||
uint32_t i = 0;
|
||||
unsigned char *src;
|
||||
unsigned char *dest;
|
||||
|
||||
/* Check if the buffer is empty */
|
||||
if(obj->usedNum <= 0)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
/* Copy the element */
|
||||
dest = (unsigned char *)pElem;
|
||||
src = (unsigned char *)obj->pBuffer + (obj->readIndex * size);
|
||||
for(i = 0; i < size; i++)
|
||||
{
|
||||
*dest++ = *src++;
|
||||
}
|
||||
|
||||
/* Move the index */
|
||||
obj->readIndex++;
|
||||
if(obj->readIndex >= obj->totalNum)
|
||||
{
|
||||
obj->readIndex = 0;
|
||||
}
|
||||
obj->usedNum--;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief See if the ringbuffer is full.
|
||||
*
|
||||
* This function gets if the ringbuffer is full
|
||||
*
|
||||
* \param[in] obj : pointer to RingBuffer instance
|
||||
* \return whether the buffer is full
|
||||
* true : the buffer is full
|
||||
* false : the buffer is not full
|
||||
*/
|
||||
static inline bool RingBuffer_IsFull(const RingBufferType *obj)
|
||||
{
|
||||
return (obj->usedNum >= obj->totalNum);
|
||||
}
|
||||
|
||||
/*! \brief See if the ringbuffer is empty.
|
||||
*
|
||||
* This function gets if the ringbuffer is empty
|
||||
*
|
||||
* \param[in] obj : pointer to RingBuffer instance
|
||||
* \return whether the buffer is empty
|
||||
* true : the buffer is empty
|
||||
* false : the buffer is not empty
|
||||
*/
|
||||
static inline bool RingBuffer_IsEmpty(const RingBufferType *obj)
|
||||
{
|
||||
return (obj->usedNum <= 0);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _RINGBUFFER_H_ */
|
||||
118
cva_asw_m0118/SDK/lib/shared/common/container/table.h
Normal file
118
cva_asw_m0118/SDK/lib/shared/common/container/table.h
Normal file
@ -0,0 +1,118 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _TABLE_H_
|
||||
#define _TABLE_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the table template
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Declaration of table prototype
|
||||
* The container should be an array in the form of buffer[rowNum][columnNum]
|
||||
*/
|
||||
typedef struct _TableType_
|
||||
{
|
||||
void *pContainer; /*!< The pointer to the container, which must be a 2-D array */
|
||||
uint16_t rowNum; /*!< Total row number of the container */
|
||||
uint16_t columnNum; /*!< Total column number of the container */
|
||||
} TableType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the TABLE object.
|
||||
*
|
||||
* This function initializes a 2-D table instance
|
||||
*
|
||||
* \note The container should be the 2-D array
|
||||
*
|
||||
* \param[in] obj : pointer to Table instance
|
||||
* \param[in] pContainer : the container (2-D array) for this table
|
||||
* \param[in] rowNum : the total row count of the table
|
||||
* \param[in] columnNum : the total column count of the table
|
||||
*/
|
||||
static inline void Table_Init(TableType *obj, void *pContainer, uint16_t rowNum, uint16_t columnNum)
|
||||
{
|
||||
obj->pContainer = pContainer;
|
||||
obj->rowNum = rowNum;
|
||||
obj->columnNum = columnNum;
|
||||
}
|
||||
|
||||
/*! \brief Get a certain element determined by row and column from the table
|
||||
*
|
||||
* This function gets a certain element determined by row and column from the table
|
||||
*
|
||||
* \param[in] obj : pointer to Table instance
|
||||
* \param[out] pElem : pointer to the element
|
||||
* \param[in] elemSize : the size of element in byte
|
||||
* \param[in] row : the row of the output element
|
||||
* \param[in] column : the column of the output element
|
||||
* \return the result of the get operation
|
||||
* - true : succees
|
||||
* - false : fail to get the element
|
||||
*/
|
||||
static inline bool Table_GetElement(const TableType *obj, void *pElem, uint16_t elemSize, uint16_t row, uint16_t column)
|
||||
{
|
||||
if(row > obj->rowNum - 1 || column > obj->columnNum - 1)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
int i = 0;
|
||||
unsigned char *src;
|
||||
unsigned char *dest;
|
||||
|
||||
dest = (unsigned char *)pElem;
|
||||
src = (unsigned char *)(obj->pContainer) + elemSize * (row * obj->columnNum + column);
|
||||
|
||||
for(i = 0; i < elemSize; i++)
|
||||
{
|
||||
*dest++ = *src++;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _TABLE_H_ */
|
||||
122
cva_asw_m0118/SDK/lib/shared/common/container/table3d.h
Normal file
122
cva_asw_m0118/SDK/lib/shared/common/container/table3d.h
Normal file
@ -0,0 +1,122 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _TABLE3D_H_
|
||||
#define _TABLE3D_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the 3-D table template
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Declaration of 3-D table prototype
|
||||
* \note The container should be an array in the form of buffer[depthNum][rowNum][columnNum]
|
||||
*/
|
||||
typedef struct _Table3DType_
|
||||
{
|
||||
void *pContainer; /*!< The pointer to the container, which must be a 3-D array */
|
||||
uint16_t rowNum; /*!< Total row number of the container */
|
||||
uint16_t columnNum; /*!< Total column number of the container */
|
||||
uint16_t depthNum; /*!< Total depth number of the container */
|
||||
} Table3DType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the TABLE 3D object.
|
||||
*
|
||||
* This function initializes a 3-D table instance
|
||||
*
|
||||
* \note The container should be the 3-D array
|
||||
*
|
||||
* \param[in] obj : pointer to 3-D Table instance
|
||||
* \param[in] pContainer : the container (3-D array) for this table
|
||||
* \param[in] rowNum : the total row count of the table
|
||||
* \param[in] columnNum : the total column count of the table
|
||||
* \param[in] depthNum : the total depth count of the table
|
||||
*/
|
||||
static inline void Table3D_Init(Table3DType *obj, void *pContainer, uint16_t rowNum, uint16_t columnNum, uint16_t depthNum)
|
||||
{
|
||||
obj->pContainer = pContainer;
|
||||
obj->rowNum = rowNum;
|
||||
obj->columnNum = columnNum;
|
||||
obj->depthNum = depthNum;
|
||||
}
|
||||
|
||||
/*! \brief Get a certain element determined by row, column, depth from the table
|
||||
*
|
||||
* This function gets a certain element determined by row, column, depth from the table
|
||||
*
|
||||
* \param[in] obj : pointer to 3-D Table instance
|
||||
* \param[out] pElem : pointer to the element
|
||||
* \param[in] elemSize : the size of element in byte
|
||||
* \param[in] row : the row of the output element
|
||||
* \param[in] column : the column of the output element
|
||||
* \param[in] depth : the depth of the output element
|
||||
* \return the result of the get operation
|
||||
* - true : succees
|
||||
* - false : fail to get the element
|
||||
*/
|
||||
static inline bool Table3D_GetElement(const Table3DType *obj, void *pElem, uint16_t elemSize, uint16_t row, uint16_t column, uint16_t depth)
|
||||
{
|
||||
if(row > obj->rowNum - 1 || column > obj->columnNum - 1 || depth > obj->depthNum - 1)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
int i = 0;
|
||||
unsigned char *src;
|
||||
unsigned char *dest;
|
||||
|
||||
dest = (unsigned char *)pElem;
|
||||
src = (unsigned char *)(obj->pContainer) + elemSize * (depth * obj->rowNum * obj->columnNum + row * obj->columnNum + column);
|
||||
|
||||
for(i = 0; i < elemSize; i++)
|
||||
{
|
||||
*dest++ = *src++;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _TABLE3D_H_ */
|
||||
301
cva_asw_m0118/SDK/lib/shared/common/container/vector.h
Normal file
301
cva_asw_m0118/SDK/lib/shared/common/container/vector.h
Normal file
@ -0,0 +1,301 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _VECTOR_H_
|
||||
#define _VECTOR_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to a wrapped fix-size array
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Declaration of Vector prototype
|
||||
*/
|
||||
typedef struct _VectorType_
|
||||
{
|
||||
void *pContainer; /*!< The pointer to the container, which must be an 1-D array */
|
||||
uint32_t containerSize; /*!< The size of the container */
|
||||
uint32_t length; /*!< The current occupied length */
|
||||
|
||||
} VectorType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initializes the Vector instance.
|
||||
*
|
||||
* This function initializes the Vector instance
|
||||
*
|
||||
* \param[in] obj : pointer to Vector instance
|
||||
* \param[in] pContainer : the container (1-D array) for this table
|
||||
* \param[in] size : the size of the container array
|
||||
*/
|
||||
static inline void Vector_Init(VectorType *obj, void *pContainer, uint32_t size)
|
||||
{
|
||||
obj->pContainer = pContainer;
|
||||
obj->containerSize = size;
|
||||
obj->length = 0;
|
||||
}
|
||||
|
||||
/*! \brief Gets the current length of the vector
|
||||
*
|
||||
* This function gets the current length of the vector
|
||||
*
|
||||
* \param[in] obj : pointer to Vector instance
|
||||
* \return the current length of the vector
|
||||
*/
|
||||
static inline uint32_t Vector_Length(const VectorType *obj)
|
||||
{
|
||||
return obj->length;
|
||||
}
|
||||
|
||||
/*! \brief Inserts an element at the given index
|
||||
*
|
||||
* This function inserts an element at the given index
|
||||
*
|
||||
* \note If the given index is larger than the last element index+1,
|
||||
* or the vector is full, the function will do nothing
|
||||
*
|
||||
* \param[in] obj : pointer to Vector instance
|
||||
* \param[in] pElem : pointer to the element
|
||||
* \param[in] elemSize : the size of element in byte
|
||||
* \param[in] index : index where the element is inserted
|
||||
* \return the result of the insert operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool Vector_Insert(VectorType *obj, const void *pElem, uint32_t elemSize, uint32_t index)
|
||||
{
|
||||
/* If full, we cannot insert more elements */
|
||||
if(obj->length == obj->containerSize)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
/* If no enough elements */
|
||||
if(index > obj->length)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
unsigned char *src;
|
||||
unsigned char *dest;
|
||||
|
||||
/* Move items by one position in memory */
|
||||
if(obj->length > 0)
|
||||
{
|
||||
uint32_t i = 0;
|
||||
for(i = obj->length; i > index; --i)
|
||||
{
|
||||
src = (unsigned char *)(obj->pContainer) + elemSize * (i - 1);
|
||||
dest = (unsigned char *)(obj->pContainer) + elemSize * i;
|
||||
uint32_t byte;
|
||||
for(byte = 0; byte < elemSize; byte++)
|
||||
{
|
||||
*dest++ = *src++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* Assign the value */
|
||||
src = (unsigned char *)pElem;
|
||||
dest = (unsigned char *)(obj->pContainer) + elemSize * index;
|
||||
uint32_t byte;
|
||||
for(byte = 0; byte < elemSize; byte++)
|
||||
{
|
||||
*dest++ = *src++;
|
||||
}
|
||||
|
||||
/* Increase the length */
|
||||
obj->length++;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Gets the element at the given index
|
||||
*
|
||||
* This function gets the element at the given index
|
||||
*
|
||||
* \note index must be in the range of 0-size
|
||||
*
|
||||
* \param[in] obj : pointer to Vector instance
|
||||
* \param[in] pElem : pointer to the element
|
||||
* \param[in] elemSize : the size of element in byte
|
||||
* \param[in] index : index of the element to get
|
||||
* \return the result of the get operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool Vector_GetElement(const VectorType *obj, void *pElem, uint32_t elemSize, uint32_t index)
|
||||
{
|
||||
if(index >= obj->length)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
int i = 0;
|
||||
unsigned char *src;
|
||||
unsigned char *dest;
|
||||
|
||||
dest = (unsigned char *)pElem;
|
||||
src = (unsigned char *)(obj->pContainer) + elemSize * index;
|
||||
|
||||
for(i = 0; i < elemSize; i++)
|
||||
{
|
||||
*dest++ = *src++;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Get the pointer to the element at the given index
|
||||
*
|
||||
* This function gets the pointer to the element at the given index
|
||||
*
|
||||
* \note index must be in the range of 0-size
|
||||
*
|
||||
* \param[in] obj : pointer to Vector instance
|
||||
* \param[in] elemSize : the size of element in byte
|
||||
* \param[in] index : index of the element to get
|
||||
* \return pointer to the element
|
||||
*/
|
||||
static inline const void *Vector_At(const VectorType *obj, uint32_t elemSize, uint32_t index)
|
||||
{
|
||||
if(index >= obj->length)
|
||||
{
|
||||
return ((void *)0);
|
||||
}
|
||||
|
||||
return (void *)((unsigned char *)(obj->pContainer) + elemSize * index);
|
||||
}
|
||||
|
||||
/*! \brief Clears the whole vector
|
||||
*
|
||||
* This function clears the whole vector
|
||||
*
|
||||
* \param[in] obj : pointer to Vector instance
|
||||
*/
|
||||
static inline void Vector_Clear(VectorType *obj)
|
||||
{
|
||||
obj->length = 0;
|
||||
}
|
||||
|
||||
/*! \brief Remove the element at the given index
|
||||
*
|
||||
* This function removes the element at the at the given index
|
||||
*
|
||||
* \param[in] obj : pointer to Vector instance
|
||||
* \param[in] elemSize : the size of element in byte
|
||||
* \param[in] index : index of the element to remove
|
||||
* \return the result of the remove operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool Vector_Remove(VectorType *obj, uint32_t elemSize, uint32_t index)
|
||||
{
|
||||
/* If empty, we cannot remove any elements */
|
||||
if(obj->length == 0)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
/* If no enough elements */
|
||||
if(index >= obj->length)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
unsigned char *src;
|
||||
unsigned char *dest;
|
||||
|
||||
/* Move items by one position in memory */
|
||||
if(obj->length - 1 > index)
|
||||
{
|
||||
uint32_t i = 0;
|
||||
for(i = index; i < obj->length; ++i)
|
||||
{
|
||||
src = (unsigned char *)(obj->pContainer) + elemSize * (i + 1);
|
||||
dest = (unsigned char *)(obj->pContainer) + elemSize * i;
|
||||
uint32_t byte;
|
||||
for(byte = 0; byte < elemSize; byte++)
|
||||
{
|
||||
*dest++ = *src++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* Decrease the length */
|
||||
obj->length--;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Whether the vector is full
|
||||
*
|
||||
* This function gets whether the vector is full
|
||||
*
|
||||
* \param[in] obj : pointer to Vector instance
|
||||
* \return whether the vector is full
|
||||
* - true : full
|
||||
* - false : not full
|
||||
*/
|
||||
static inline bool Vector_IsFull(const VectorType *obj)
|
||||
{
|
||||
return obj->length == obj->containerSize;
|
||||
}
|
||||
|
||||
/*! \brief Whether the vector is empty
|
||||
*
|
||||
* This function gets whether the vector is empty
|
||||
*
|
||||
* \param[in] obj : pointer to Vector instance
|
||||
* \return whether the vector is empty
|
||||
* - true : empty
|
||||
* - false : not empty
|
||||
*/
|
||||
static inline bool Vector_IsEmpty(const VectorType *obj)
|
||||
{
|
||||
return obj->length == 0;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _VECTOR_H_ */
|
||||
157
cva_asw_m0118/SDK/lib/shared/common/curve/gradient.h
Normal file
157
cva_asw_m0118/SDK/lib/shared/common/curve/gradient.h
Normal file
@ -0,0 +1,157 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _GRADIENT_H_
|
||||
#define _GRADIENT_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the 1st order linear curve with GRADIENT
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Declaration of Gradient Class
|
||||
*
|
||||
*/
|
||||
typedef struct _GradientType_
|
||||
{
|
||||
_iq target; /*!< Input: target input */
|
||||
_iq upStep; /*!< Parameter: up step of ramp */
|
||||
_iq downStep; /*!< Parameter: down step of ramp */
|
||||
_iq output; /*!< Output: output value */
|
||||
|
||||
} GradientType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the Gradient instance
|
||||
*
|
||||
* This function initializes the Gradient instance
|
||||
*
|
||||
* \param[in] obj : pointer to Gradient instance
|
||||
* \param[in] upStep : step when going up
|
||||
* \param[in] downStep : step when going down
|
||||
*/
|
||||
static inline void Gradient_Init(GradientType *obj, _iq upStep, _iq downStep)
|
||||
{
|
||||
obj->target = 0;
|
||||
obj->output = 0;
|
||||
obj->upStep = upStep;
|
||||
obj->downStep = downStep;
|
||||
}
|
||||
|
||||
/*! \brief Calculates the output
|
||||
*
|
||||
* This function calculates the output
|
||||
*
|
||||
* \param[in] obj : pointer to Gradient instance
|
||||
*/
|
||||
static inline void Gradient_Calc(GradientType *obj)
|
||||
{
|
||||
_iq upStep = _IQabs(obj->upStep); /* step must be a positive value */
|
||||
_iq downStep = _IQabs(obj->downStep); /* step must be a positive value */
|
||||
|
||||
if(obj->target > obj->output)
|
||||
{
|
||||
if((obj->target - obj->output) > upStep)
|
||||
{
|
||||
obj->output += upStep;
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->output = obj->target; /* less than one step needed, just jump to the target */
|
||||
}
|
||||
}
|
||||
else if(obj->target < obj->output)
|
||||
{
|
||||
if((obj->output - obj->target) > downStep)
|
||||
{
|
||||
obj->output -= downStep;
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->output = obj->target; /* less than one step needed, just jump to the target */
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Calculate the output using the external reference
|
||||
*
|
||||
* This function calculates the output using the external reference,
|
||||
* instead of the internal output
|
||||
*
|
||||
* \param[in] obj : pointer to Gradient instance
|
||||
* \param[in] pOutput : pointer to external output
|
||||
*/
|
||||
static inline void Gradient_CalcExternal(GradientType *obj, _iq *pOutput)
|
||||
{
|
||||
_iq upStep = _IQabs(obj->upStep); /* step must be a positive value */
|
||||
_iq downStep = _IQabs(obj->downStep); /* step must be a positive value */
|
||||
|
||||
if(obj->target > (*pOutput))
|
||||
{
|
||||
if((obj->target - (*pOutput)) > upStep)
|
||||
{
|
||||
(*pOutput) += upStep;
|
||||
}
|
||||
else
|
||||
{
|
||||
(*pOutput) = obj->target; /* less than one step needed, just jump to the target */
|
||||
}
|
||||
}
|
||||
else if(obj->target < (*pOutput))
|
||||
{
|
||||
if(((*pOutput) - obj->target) > downStep)
|
||||
{
|
||||
(*pOutput) -= downStep;
|
||||
}
|
||||
else
|
||||
{
|
||||
(*pOutput) = obj->target; /* less than one step needed, just jump to the target */
|
||||
}
|
||||
}
|
||||
|
||||
obj->output = *pOutput; /* We don't use the obj->output normally in this function, just be safe */
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _GRADIENT_H_ */
|
||||
107
cva_asw_m0118/SDK/lib/shared/common/curve/ramp.h
Normal file
107
cva_asw_m0118/SDK/lib/shared/common/curve/ramp.h
Normal file
@ -0,0 +1,107 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _RAMP_H_
|
||||
#define _RAMP_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the ramp object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Declaration of Ramp Class
|
||||
*/
|
||||
typedef struct _RampType_
|
||||
{
|
||||
_iq target; /*!< Input: target input */
|
||||
_iq step; /*!< Parameter: step of ramp */
|
||||
_iq output; /*!< Output: output value */
|
||||
|
||||
} RampType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the Ramp instance
|
||||
*
|
||||
* This function initializes the Ramp instance
|
||||
*
|
||||
* \param[in] obj : pointer to Ramp instance
|
||||
* \param[in] Step : step of going up and down
|
||||
*/
|
||||
static inline void Ramp_Init(RampType *obj, _iq step)
|
||||
{
|
||||
obj->target = 0;
|
||||
obj->output = 0;
|
||||
obj->step = step;
|
||||
}
|
||||
|
||||
/*! \brief Calculates the output
|
||||
*
|
||||
* This function calculates the output
|
||||
*
|
||||
* \param[in] obj : pointer to Ramp instance
|
||||
*/
|
||||
static inline void Ramp_Calc(RampType *obj)
|
||||
{
|
||||
_iq step = _IQabs(obj->step); /* step must be a positive value */
|
||||
|
||||
if(_IQabs(obj->target - obj->output) > step)
|
||||
{
|
||||
if(obj->target > obj->output)
|
||||
{
|
||||
obj->output += step;
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->output -= step;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/* less than one step needed, just jump to the target */
|
||||
obj->output = obj->target;
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _RAMP_H_ */
|
||||
148
cva_asw_m0118/SDK/lib/shared/common/filter/average.h
Normal file
148
cva_asw_m0118/SDK/lib/shared/common/filter/average.h
Normal file
@ -0,0 +1,148 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _AVERAGE_H_
|
||||
#define _AVERAGE_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Averaging with sliding window (AVERAGE) filter object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
typedef struct _AverageType_
|
||||
{
|
||||
bool isInitial; /*!< Internal variable: Flag to indicate initial state */
|
||||
_iq *pBuffer; /*!< Internal variable: The pointer to the buffer */
|
||||
uint16_t winSize; /*!< Internal variable: window length */
|
||||
uint16_t index; /*!< Internal variable: index of the value ready to pop */
|
||||
_iq sum; /*!< Internal variable: the sum of all the values in buffer */
|
||||
|
||||
_iq output; /*!< Output: The output value */
|
||||
} AverageType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the AVERAGE object
|
||||
*
|
||||
* This function initializes the average instance.
|
||||
*
|
||||
* \param[in] obj : pointer to Average instance
|
||||
* \param[in] buffer : filter buffer
|
||||
* \param[in] bufferSize : size of buffer
|
||||
*/
|
||||
static inline void Average_Init(AverageType *obj, _iq buffer[], uint16_t bufferSize)
|
||||
{
|
||||
obj->pBuffer = &buffer[0];
|
||||
obj->winSize = bufferSize;
|
||||
|
||||
for(obj->index = 0; obj->index < obj->winSize; obj->index++)
|
||||
{
|
||||
obj->pBuffer[obj->index] = 0;
|
||||
}
|
||||
|
||||
obj->index = 0;
|
||||
obj->isInitial = true;
|
||||
obj->sum = 0;
|
||||
obj->output = 0;
|
||||
}
|
||||
|
||||
/*! \brief Push input to the filter
|
||||
*
|
||||
* This function pushes input to the filter.
|
||||
*
|
||||
* \param[in] obj : pointer to Average instance
|
||||
* \param[in] input : input value to be filter
|
||||
*/
|
||||
static inline void Average_PushInput(AverageType *obj, _iq input)
|
||||
{
|
||||
if(obj->isInitial)
|
||||
{
|
||||
obj->output = input;
|
||||
obj->isInitial = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->sum = obj->sum - obj->pBuffer[obj->index] + input;
|
||||
obj->pBuffer[obj->index] = input;
|
||||
obj->index++;
|
||||
if(obj->index > obj->winSize - 1)
|
||||
{
|
||||
obj->index = 0;
|
||||
}
|
||||
obj->output = obj->sum / obj->winSize;
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Get the output value
|
||||
*
|
||||
* This function gets the filter result.
|
||||
*
|
||||
* \param[in] obj : pointer to Average instance
|
||||
* \return the filter result in IQ format
|
||||
*/
|
||||
static inline _iq Average_GetOutput(const AverageType *obj)
|
||||
{
|
||||
return obj->output;
|
||||
}
|
||||
|
||||
/*! \brief Reset the filter
|
||||
*
|
||||
* This function resets the filter to the initial state.
|
||||
*
|
||||
* \param[in] obj : pointer to Average instance
|
||||
*/
|
||||
static inline void Average_Reset(AverageType *obj)
|
||||
{
|
||||
for(obj->index = 0; obj->index < obj->winSize; obj->index++)
|
||||
{
|
||||
obj->pBuffer[obj->index] = 0;
|
||||
}
|
||||
|
||||
obj->index = 0;
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _AVERAGE_H_ */
|
||||
246
cva_asw_m0118/SDK/lib/shared/common/filter/bp_so.h
Normal file
246
cva_asw_m0118/SDK/lib/shared/common/filter/bp_so.h
Normal file
@ -0,0 +1,246 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _BP_SO_H_
|
||||
#define _BP_SO_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the 2nd-Order band-pass (BpSo) filter object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include <math.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the BpSo object
|
||||
*
|
||||
* The transfer function is as follows:
|
||||
*
|
||||
* 1 - Z^-2
|
||||
* H(z) = (1-b)-------------------------------------
|
||||
* 1 - 2*b*cosWn*z^-1 + (2*b - 1)*z^-2
|
||||
*
|
||||
* 1
|
||||
* b = ---------------
|
||||
* 1+tan(deltaW/2)
|
||||
*
|
||||
*
|
||||
* a1= -2*b*cosWn
|
||||
*
|
||||
* a2= 2*b - 1
|
||||
*
|
||||
* a3= 1 - b
|
||||
*/
|
||||
typedef struct _BpSoType_
|
||||
{
|
||||
_iq coeff1; /*!< Parameter: The coefficient of Y(k-1) */
|
||||
_iq coeff2; /*!< Parameter: The coefficient of Y(k-2) */
|
||||
_iq coeff3; /*!< Parameter: The coefficient of X(k)-X(k-2) */
|
||||
bool isInitial; /*!< Internal variable: Has the filter got the first input */
|
||||
_iq prevOutput; /*!< Internal variable: The previous output cached */
|
||||
_iq prevPrevOutput; /*!< Internal variable: The previous previous output cached */
|
||||
_iq prevInput; /*!< Internal variable: The previous input cached */
|
||||
_iq prevPrevInput; /*!< Internal variable: The previous previous input cached */
|
||||
_iq output; /*!< Output: The output value */
|
||||
} BpSoType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initializes the BpSo instance
|
||||
*
|
||||
* This function initializes the BpSo instance using the unit of rad/s
|
||||
*
|
||||
* \param[in] obj : pointer to BpSo instance
|
||||
* \param[in] Wc_rps : the center frequency in rad/s
|
||||
* \param[in] runFreq_kHz : the frequency pushing the data in
|
||||
* \param[in] deltaW : 3-dB bandwidth in rad/s
|
||||
*/
|
||||
static inline void BpSo_Init(BpSoType *obj, float Wc_rps, float runFreq_kHz, float deltaW)
|
||||
{
|
||||
float b = 1 / (tan((deltaW / runFreq_kHz * 0.001) * 0.5) + 1);
|
||||
float a1 = -2 * b * cos(Wc_rps / runFreq_kHz * 0.001);
|
||||
float a2 = 2 * b - 1;
|
||||
float a3 = 1 - b;
|
||||
|
||||
obj->coeff1 = _IQ(a1);
|
||||
obj->coeff2 = _IQ(a2);
|
||||
obj->coeff3 = _IQ(a3);
|
||||
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
obj->prevOutput = 0;
|
||||
obj->prevPrevOutput = 0;
|
||||
obj->prevInput = 0;
|
||||
obj->prevPrevInput = 0;
|
||||
}
|
||||
|
||||
/*! \brief Initializes the BpSo instance, 2nd interface
|
||||
*
|
||||
* This function is an overload initialization that
|
||||
* initialize the BpSo instance using the unit of Hz
|
||||
*
|
||||
* \param[in] obj : pointer to BpSo instance
|
||||
* \param[in] fc_Hz : the center frequency in Hz
|
||||
* \param[in] runFreq_kHz : the frequency pushing the data in
|
||||
* \param[in] deltaF : 3 dB bandwidth in Hz
|
||||
*/
|
||||
static inline void BpSo_Init2(BpSoType *obj, float fc_Hz, float runFreq_kHz, float deltaF)
|
||||
{
|
||||
float b = 1 / (tan((MATH_2PI * deltaF / runFreq_kHz * 0.001) * 0.5) + 1);
|
||||
float a1 = -2 * b * cos(MATH_2PI * fc_Hz / runFreq_kHz * 0.001);
|
||||
float a2 = 2 * b - 1;
|
||||
float a3 = 1 - b;
|
||||
|
||||
obj->coeff1 = _IQ(a1);
|
||||
obj->coeff2 = _IQ(a2);
|
||||
obj->coeff3 = _IQ(a3);
|
||||
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
obj->prevOutput = 0;
|
||||
obj->prevPrevOutput = 0;
|
||||
obj->prevInput = 0;
|
||||
obj->prevPrevInput = 0;
|
||||
}
|
||||
|
||||
/*! \brief Push input to the filter
|
||||
*
|
||||
* This function is used to push data into the filter
|
||||
*
|
||||
* \param[in] obj : pointer to BpSo instance
|
||||
* \param[in] input : the input data in IQ format
|
||||
*/
|
||||
static inline void BpSo_PushInput(BpSoType *obj, _iq input)
|
||||
{
|
||||
if(obj->isInitial)
|
||||
{
|
||||
obj->output = input;
|
||||
obj->prevOutput = input;
|
||||
obj->prevPrevOutput = input;
|
||||
obj->prevInput = input;
|
||||
obj->prevPrevInput = input;
|
||||
obj->isInitial = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->output = -_IQmpy(obj->prevOutput, obj->coeff1) - _IQmpy(obj->prevPrevOutput, obj->coeff2)
|
||||
+ _IQmpy(input - obj->prevPrevInput, obj->coeff3);
|
||||
|
||||
obj->prevPrevInput = obj->prevInput;
|
||||
obj->prevInput = input;
|
||||
obj->prevPrevOutput = obj->prevOutput;
|
||||
obj->prevOutput = obj->output;
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Gets the output value
|
||||
*
|
||||
* This function gets the output of the filter
|
||||
*
|
||||
* \param[in] obj : pointer to BpSo instance
|
||||
* \return the result of the filter in IQ format
|
||||
*/
|
||||
static inline _iq BpSo_GetOutput(const BpSoType *obj)
|
||||
{
|
||||
return obj->output;
|
||||
}
|
||||
|
||||
/*! \brief Resets the filter
|
||||
*
|
||||
* This function resets the filter to initial state
|
||||
*
|
||||
* \param[in] obj : pointer to BpSo instance
|
||||
*/
|
||||
static inline void BpSo_Reset(BpSoType *obj)
|
||||
{
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
obj->prevOutput = 0;
|
||||
obj->prevPrevOutput = 0;
|
||||
obj->prevInput = 0;
|
||||
obj->prevPrevInput = 0;
|
||||
}
|
||||
|
||||
/*! \brief Update the parameters of the filter
|
||||
*
|
||||
* This function updates the parameters of the filter using the unit of rad/s
|
||||
*
|
||||
* \param[in] obj : pointer to BpSo instance
|
||||
* \param[in] Wc_rps : the center frequency in rad/s
|
||||
* \param[in] runFreq_kHz : the frequency pushing the data in
|
||||
* \param[in] deltaW : 3-dB bandwidth in rad/s
|
||||
*/
|
||||
static inline void BpSo_UpdateParams(BpSoType *obj, float Wc_rps, float runFreq_kHz, float deltaW)
|
||||
{
|
||||
float b = 1 / (tan((deltaW / runFreq_kHz * 0.001) * 0.5) + 1);
|
||||
float a1 = -2 * b * cos(Wc_rps / runFreq_kHz * 0.001);
|
||||
float a2 = 2 * b - 1;
|
||||
float a3 = 1 - b;
|
||||
|
||||
obj->coeff1 = _IQ(a1);
|
||||
obj->coeff2 = _IQ(a2);
|
||||
obj->coeff3 = _IQ(a3);
|
||||
}
|
||||
|
||||
/*! \brief Update the parameters of the filter
|
||||
*
|
||||
* This function updates the parameters of the filter using the unit of Hz
|
||||
*
|
||||
* \param[in] obj : pointer to BpSo instance
|
||||
* \param[in] fc_Hz : the center frequency in Hz
|
||||
* \param[in] runFreq_kHz : the frequency pushing the data in
|
||||
* \param[in] deltaF : 3 dB bandwidth in Hz
|
||||
*/
|
||||
static inline void BpSo_UpdateParams2(BpSoType *obj, float fc_Hz, float runFreq_kHz, float deltaF)
|
||||
{
|
||||
float b = 1 / (tan((MATH_2PI * deltaF / runFreq_kHz * 0.001) * 0.5) + 1);
|
||||
float a1 = -2 * b * cos(MATH_2PI * fc_Hz / runFreq_kHz * 0.001);
|
||||
float a2 = 2 * b - 1;
|
||||
float a3 = 1 - b;
|
||||
|
||||
obj->coeff1 = _IQ(a1);
|
||||
obj->coeff2 = _IQ(a2);
|
||||
obj->coeff3 = _IQ(a3);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _BP_SO_H_ */
|
||||
245
cva_asw_m0118/SDK/lib/shared/common/filter/bs_so.h
Normal file
245
cva_asw_m0118/SDK/lib/shared/common/filter/bs_so.h
Normal file
@ -0,0 +1,245 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _BS_SO_H_
|
||||
#define _BS_SO_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Band-stop (NOTCH) filter object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the BS_SO object
|
||||
* \note The transfer function is as follows:
|
||||
*
|
||||
* 1-2*cosWn*z^-1 + z^-2
|
||||
* H(z) = b-----------------------------------
|
||||
* 1 - 2*b*cosWn*z^-1 + (2*b -1)*z^-2
|
||||
*
|
||||
* 1
|
||||
* b = ---------------
|
||||
* 1+tan(deltaW/2)
|
||||
*
|
||||
* a1= -2*b*cosWn
|
||||
*
|
||||
* a2= 2*b - 1
|
||||
*
|
||||
*/
|
||||
typedef struct _BsSoType_
|
||||
{
|
||||
_iq coeff1; /*!< Parameter: The coefficient of Y(k-1) */
|
||||
_iq coeff2; /*!< Parameter: The coefficient of Y(k-2) */
|
||||
_iq coeff3; /*!< Parameter: The coefficient of X(k) */
|
||||
_iq coeff4; /*!< Parameter: The coefficient of X(k-1) */
|
||||
_iq coeff5; /*!< Parameter: The coefficient of X(k-2) */
|
||||
bool isInitial; /*!< Internal variable: Has the filter got the first input */
|
||||
_iq prevOutput; /*!< Internal variable: The previous output cached */
|
||||
_iq prevPrevOutput; /*!< Internal variable: The previous previous output cached */
|
||||
_iq prevInput; /*!< Internal variable: The previous input cached */
|
||||
_iq prevPrevInput; /*!< Internal variable: The previous previous input cached */
|
||||
_iq output; /*!< Output: The output value */
|
||||
} BsSoType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Theoretically initialize the BS_SO object with detailed parameters
|
||||
*
|
||||
* This function initializes the BsSo instance using the unit of rad/s
|
||||
*
|
||||
* \param[in] obj : pointer to BsSo instance
|
||||
* \param[in] Wc_rps : the center frequency in rad/s
|
||||
* \param[in] runFreq_kHz : the frequency pushing the data in
|
||||
* \param[in] deltaW : 3-dB bandwidth in rad/s
|
||||
*/
|
||||
static inline void BsSo_Init(BsSoType *obj, float Wc_rps, float runFreq_kHz, float deltaW)
|
||||
{
|
||||
float b = 1 / (tan((deltaW / runFreq_kHz * 0.001) / 2) + 1);
|
||||
float a2 = 2 * b - 1;
|
||||
float a1 = -2 * b * cos(Wc_rps / runFreq_kHz * 0.001);
|
||||
obj->coeff1 = _IQ(a1);
|
||||
obj->coeff2 = _IQ(a2);
|
||||
obj->coeff3 = _IQ(b);
|
||||
obj->coeff4 = obj->coeff1;
|
||||
obj->coeff5 = obj->coeff3;
|
||||
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
obj->prevOutput = 0;
|
||||
obj->prevPrevOutput = 0;
|
||||
obj->prevInput = 0;
|
||||
obj->prevPrevInput = 0;
|
||||
}
|
||||
|
||||
/*! \brief Theoretically initialize the BS_SO object with detailed parameters, 2nd interface
|
||||
*
|
||||
* This function is an overload initialization that
|
||||
* initialize the BsSo instance using the unit of Hz
|
||||
*
|
||||
* \param[in] obj : pointer to BsSo instance
|
||||
* \param[in] fc_Hz : the center frequency in Hz
|
||||
* \param[in] runFreq_kHz : the frequency pushing the data in
|
||||
* \param[in] deltaF : 3 dB bandwidth in Hz
|
||||
*/
|
||||
static inline void BsSo_Init2(BsSoType *obj, float fc_Hz, float runFreq_kHz, float deltaF)
|
||||
{
|
||||
float b = 1 / (tan((MATH_2PI * deltaF / runFreq_kHz * 0.001) / 2) + 1);
|
||||
float a2 = 2 * b - 1;
|
||||
float a1 = -2 * b * cos(MATH_2PI * fc_Hz / runFreq_kHz * 0.001);
|
||||
obj->coeff1 = _IQ(a1);
|
||||
obj->coeff2 = _IQ(a2);
|
||||
obj->coeff3 = _IQ(b);
|
||||
obj->coeff4 = obj->coeff1;
|
||||
obj->coeff5 = obj->coeff3;
|
||||
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
obj->prevOutput = 0;
|
||||
obj->prevPrevOutput = 0;
|
||||
obj->prevInput = 0;
|
||||
obj->prevPrevInput = 0;
|
||||
}
|
||||
|
||||
/*! \brief Push input to the filter
|
||||
*
|
||||
* This function is used to push data into the filter
|
||||
*
|
||||
* \param[in] obj : pointer to BsSo instance
|
||||
* \param[in] input : the input data in IQ format
|
||||
*/
|
||||
static inline void BsSo_PushInput(BsSoType *obj, _iq input)
|
||||
{
|
||||
if(obj->isInitial)
|
||||
{
|
||||
obj->output = input;
|
||||
obj->prevOutput = input;
|
||||
obj->prevPrevOutput = input;
|
||||
obj->prevInput = input;
|
||||
obj->prevPrevInput = input;
|
||||
obj->isInitial = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->output = -_IQmpy(obj->prevOutput, obj->coeff1) - _IQmpy(obj->prevPrevOutput, obj->coeff2)
|
||||
+ _IQmpy(input, obj->coeff3) + _IQmpy(obj->prevInput, obj->coeff4)
|
||||
+ _IQmpy(obj->prevPrevInput, obj->coeff5);
|
||||
|
||||
obj->prevPrevInput = obj->prevInput;
|
||||
obj->prevInput = input;
|
||||
obj->prevPrevOutput = obj->prevOutput;
|
||||
obj->prevOutput = obj->output;
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Gets the output value
|
||||
*
|
||||
* This function gets the output of the filter
|
||||
*
|
||||
* \param[in] obj : pointer to BsSo instance
|
||||
* \return the result of the filter in IQ format
|
||||
*/
|
||||
static inline _iq BsSo_GetOutput(const BsSoType *obj)
|
||||
{
|
||||
return obj->output;
|
||||
}
|
||||
|
||||
/*! \brief Resets the filter
|
||||
*
|
||||
* This function resets the filter to initial state
|
||||
*
|
||||
* \param[in] obj : pointer to BsSo instance
|
||||
*/
|
||||
static inline void BsSo_Reset(BsSoType *obj)
|
||||
{
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
obj->prevOutput = 0;
|
||||
obj->prevPrevOutput = 0;
|
||||
obj->prevInput = 0;
|
||||
obj->prevPrevInput = 0;
|
||||
}
|
||||
|
||||
/*! \brief Update the parameters of the filter
|
||||
*
|
||||
* This function updates the parameters of the filter with unit rad/s
|
||||
*
|
||||
* \param[in] obj : pointer to BsSo instance
|
||||
* \param[in] Wc_rps : the center frequency in rad/s
|
||||
* \param[in] runFreq_kHz : the frequency pushing the data in
|
||||
* \param[in] deltaW : 3-dB bandwidth in rad/s
|
||||
*/
|
||||
static inline void BsSo_UpdateParams(BsSoType *obj, float Wc_rps, float runFreq_kHz, float deltaW)
|
||||
{
|
||||
float b = 1 / (tan((deltaW / runFreq_kHz * 0.001) / 2) + 1);
|
||||
float a2 = 2 * b - 1;
|
||||
float a1 = -2 * b * cos(Wc_rps / runFreq_kHz * 0.001);
|
||||
obj->coeff1 = _IQ(a1);
|
||||
obj->coeff2 = _IQ(a2);
|
||||
obj->coeff3 = _IQ(b);
|
||||
obj->coeff4 = obj->coeff1;
|
||||
obj->coeff5 = obj->coeff3;
|
||||
}
|
||||
|
||||
/*! \brief Update the parameters of the filter
|
||||
*
|
||||
* This function update the parameters of the filter with unit Hz
|
||||
*
|
||||
* \param[in] obj : pointer to BsSo instance
|
||||
* \param[in] fc_Hz : the center frequency in Hz
|
||||
* \param[in] runFreq_kHz : the frequency pushing the data in
|
||||
* \param[in] deltaF : 3 dB bandwidth in Hz
|
||||
*/
|
||||
static inline void BsSo_UpdateParams2(BsSoType *obj, float fc_Hz, float runFreq_kHz, float deltaF)
|
||||
{
|
||||
float b = 1 / (tan((MATH_2PI * deltaF / runFreq_kHz * 0.001) / 2) + 1);
|
||||
float a2 = 2 * b - 1;
|
||||
float a1 = -2 * b * cos(MATH_2PI * fc_Hz / runFreq_kHz * 0.001);
|
||||
obj->coeff1 = _IQ(a1);
|
||||
obj->coeff2 = _IQ(a2);
|
||||
obj->coeff3 = _IQ(b);
|
||||
obj->coeff4 = obj->coeff1;
|
||||
obj->coeff5 = obj->coeff3;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _BS_SO_H_ */
|
||||
159
cva_asw_m0118/SDK/lib/shared/common/filter/debounce.h
Normal file
159
cva_asw_m0118/SDK/lib/shared/common/filter/debounce.h
Normal file
@ -0,0 +1,159 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _DEBOUNCE_H_
|
||||
#define _DEBOUNCE_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the debounce (DEBOUNCE) object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "common/sort/compare.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
typedef enum
|
||||
{
|
||||
DEBOUNCE_TYPE_OVER, /*!< Over the threshold is active */
|
||||
DEBOUNCE_TYPE_UNDER, /*!< Under the threshold is active */
|
||||
} Debounce_ModeType;
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize DEBOUNCE object
|
||||
*/
|
||||
typedef struct _Debounce_ParamsType_
|
||||
{
|
||||
uint32_t debounceConfirmCntMax; /*!< The max value of the debounce count */
|
||||
uint32_t debounceRehabCntMax; /*!< The max value of the debounce count */
|
||||
_iq threshold; /*!< The threshold of the input compare */
|
||||
Debounce_ModeType compType; /*!< The compare type */
|
||||
} Debounce_ParamsType;
|
||||
|
||||
/*! \brief Defines the DEBOUNCE object
|
||||
*/
|
||||
typedef struct _DebounceType_
|
||||
{
|
||||
_iq input; /*!< Input: The input value of the debounce */
|
||||
|
||||
uint32_t countConfirmMax; /*!< Parameters: The max value of the debounce count */
|
||||
uint32_t countRehabMax; /*!< Parameters: The max value of the debounce count */
|
||||
_iq threshold; /*!< Parameters: The threshold of the input compare */
|
||||
|
||||
uint32_t count; /*!< Internal variable: The count of the debouncing process */
|
||||
bool (*comp)(_iq, _iq); /*!< Internal Variable: The compare function pointer */
|
||||
|
||||
bool isActive; /*!< Output: Is active after debounce */
|
||||
} DebounceType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the DEBOUNCE object
|
||||
*
|
||||
* This function initialize the debounce instance.
|
||||
*
|
||||
* \param[in] obj : pointer to Debounce instance
|
||||
* \param[in] pParams : The pointer to initial parameters
|
||||
*/
|
||||
static inline void Debounce_Init(DebounceType *obj, const Debounce_ParamsType *pParams)
|
||||
{
|
||||
obj->countConfirmMax = pParams->debounceConfirmCntMax;
|
||||
obj->countRehabMax = pParams->debounceRehabCntMax;
|
||||
obj->threshold = pParams->threshold;
|
||||
if(pParams->compType == DEBOUNCE_TYPE_UNDER)
|
||||
{
|
||||
obj->comp = Compare_SmallerThan;
|
||||
}
|
||||
else if(pParams->compType == DEBOUNCE_TYPE_OVER)
|
||||
{
|
||||
obj->comp = Compare_GreaterThan;
|
||||
}
|
||||
obj->count = 0;
|
||||
obj->isActive = false;
|
||||
}
|
||||
|
||||
/*! \brief Run the DEBOUNCE process
|
||||
*
|
||||
* This function is the calculation of debounce process.
|
||||
*
|
||||
* \param[in] obj :pointer to Debounce instance
|
||||
*/
|
||||
static inline void Debounce_Run(DebounceType *obj)
|
||||
{
|
||||
if(obj->comp(obj->input, obj->threshold))
|
||||
{
|
||||
if(obj->isActive)
|
||||
{
|
||||
obj->count = 0;
|
||||
}
|
||||
else if(++obj->count >= obj->countConfirmMax)
|
||||
{
|
||||
obj->isActive = true;
|
||||
obj->count = 0;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if(!obj->isActive)
|
||||
{
|
||||
obj->count = 0;
|
||||
}
|
||||
else if(++obj->count >= obj->countRehabMax)
|
||||
{
|
||||
obj->isActive = false;
|
||||
obj->count = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Reset the DEBOUNCE object
|
||||
*
|
||||
* This function resets the debounce instance to intial state.
|
||||
*
|
||||
* \param[in] obj : pointer to Debounce instance
|
||||
*/
|
||||
static inline void Debounce_Reset(DebounceType *obj)
|
||||
{
|
||||
obj->count = 0;
|
||||
obj->isActive = false;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _DEBOUNCE_H_ */
|
||||
179
cva_asw_m0118/SDK/lib/shared/common/filter/iir_fo.h
Normal file
179
cva_asw_m0118/SDK/lib/shared/common/filter/iir_fo.h
Normal file
@ -0,0 +1,179 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _IIR_FO_H_
|
||||
#define _IIR_FO_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the 1st-Order IIR (IirFo) low-pass filter object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
typedef struct _IirFoType_
|
||||
{
|
||||
_iq output; /*!< the output value */
|
||||
bool isInitial; /*!< the flag to indicate whether the instance is initialized */
|
||||
_iq filterCoeff; /*!< 1st order IIR, y[n] = y[n-1] + coeff*(x[n]-y[n-1]) */
|
||||
|
||||
} IirFoType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the IirFo object
|
||||
*
|
||||
* This function initializes the 1st-order IIR filter instance
|
||||
*
|
||||
* \param[in] obj : pointer to IirFo instance
|
||||
* \param[in] filterCoeff : the coefficient of the filter
|
||||
*/
|
||||
static inline void IirFo_Init(IirFoType *obj, _iq filterCoeff)
|
||||
{
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
if(filterCoeff > 0 && filterCoeff < _IQ(1.0))
|
||||
{
|
||||
obj->filterCoeff = filterCoeff;
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->filterCoeff = _IQ(1.0); /* Just for protection, normally we don't want this */
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Theoretically initialize the IirFo object with detailed parameters
|
||||
*
|
||||
* This function initialize the IirFo object in the theoretical way using the unit rad/s
|
||||
*
|
||||
* \note The Wc_rps is the cutoff frequency in the unit of rad/s
|
||||
*
|
||||
* \param[in] obj : pointer to IirFo instance
|
||||
* \param[in] Wc_rps : the cut-off frequency in rad/s
|
||||
* \param[in] runFreq_kHz : the calculation frequency of the filter
|
||||
*/
|
||||
static inline void IirFo_InitTheo(IirFoType *obj, float Wc_rps, float runFreq_kHz)
|
||||
{
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
_iq filterCoeff = _IQ(Wc_rps / runFreq_kHz * 0.001);
|
||||
if(filterCoeff > 0 && filterCoeff < _IQ(1.0))
|
||||
{
|
||||
obj->filterCoeff = filterCoeff;
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->filterCoeff = _IQ(1.0); /* Just for protection, normally we don't want this */
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Theoretically initialize the IirFo object with detailed parameters, 2nd interface
|
||||
*
|
||||
* This function initialize the IirFo object in the theoretical way using the unit Hz
|
||||
*
|
||||
* \note The fc_Hz is the cutoff frequency in the unit of Hz
|
||||
*
|
||||
* \param[in] obj : pointer to IirFo instance
|
||||
* \param[in] fc_Hz : the cut-off frequency in Hz
|
||||
* \param[in] runFreq_kHz : the calculation frequency of the filter
|
||||
*/
|
||||
static inline void IirFo_InitTheo2(IirFoType *obj, float fc_Hz, float runFreq_kHz)
|
||||
{
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
_iq filterCoeff = _IQ(MATH_2PI * fc_Hz / runFreq_kHz * 0.001);
|
||||
if(filterCoeff > 0 && filterCoeff < _IQ(1.0))
|
||||
{
|
||||
obj->filterCoeff = filterCoeff;
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->filterCoeff = _IQ(1.0); /* Just for protection, normally we don't want this */
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Push input to the filter
|
||||
*
|
||||
* This function push data into the filter
|
||||
*
|
||||
* \param[in] obj : pointer to IirFo instance
|
||||
* \param[in] input : the input data
|
||||
*/
|
||||
static inline void IirFo_PushInput(IirFoType *obj, _iq input)
|
||||
{
|
||||
if(obj->isInitial)
|
||||
{
|
||||
obj->output = input;
|
||||
obj->isInitial = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->output = obj->output + _IQmpy(input - obj->output, obj->filterCoeff);
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Get the output value
|
||||
*
|
||||
* This function gets the output value.
|
||||
*
|
||||
* \param[in] obj : pointer to IirFo instance
|
||||
* \return the filter result of the filter in IQ format.
|
||||
*/
|
||||
static inline _iq IirFo_GetOutput(const IirFoType *obj)
|
||||
{
|
||||
return obj->output;
|
||||
}
|
||||
|
||||
/*! \brief Reset the filter
|
||||
*
|
||||
* This function reset the filter to the initial state.
|
||||
*
|
||||
* \param[in] obj : pointer to IirFo instance
|
||||
*/
|
||||
static inline void IirFo_Reset(IirFoType *obj)
|
||||
{
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _IIR_FO_H_ */
|
||||
271
cva_asw_m0118/SDK/lib/shared/common/filter/iir_so.h
Normal file
271
cva_asw_m0118/SDK/lib/shared/common/filter/iir_so.h
Normal file
@ -0,0 +1,271 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _IIR_SO_H_
|
||||
#define _IIR_SO_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the 1st-Order IIR (IirSo) low-pass filter object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the IirSo object
|
||||
* \note The transfer function is as follows:
|
||||
*
|
||||
* Wc^2
|
||||
* H(s) = -------------------------
|
||||
* s^2 + 2*Zeta*Wc*s + Wc^2
|
||||
*
|
||||
* The discrete equation uses Tustin method, in which
|
||||
*
|
||||
* 2 z - 1
|
||||
* s = --- * -------
|
||||
* T z + 1
|
||||
*
|
||||
* We add pre-warping to compensate the frequency, in which
|
||||
*
|
||||
* 2 T
|
||||
* W' = --- * tan(W*---)
|
||||
* T 2
|
||||
*/
|
||||
typedef struct _IirSoType_
|
||||
{
|
||||
_iq coeff1; /*!< Parameter: The coefficient of Y(k-1) */
|
||||
_iq coeff2; /*!< Parameter: The coefficient of Y(k-2) */
|
||||
_iq coeff3; /*!< Parameter: The coefficient of X(k)+2*X(k-1)+X(k-2) */
|
||||
|
||||
bool isInitial; /*!< Internal variable: Has the filter got the first input */
|
||||
_iq prevOutput; /*!< Internal variable: The previous output cached */
|
||||
_iq prevPrevOutput; /*!< Internal variable: The previous previous output cached */
|
||||
_iq prevInput; /*!< Internal variable: The previous input cached */
|
||||
_iq prevPrevInput; /*!< Internal variable: The previous previous input cached */
|
||||
_iq output;
|
||||
} IirSoType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the IirSo object
|
||||
*
|
||||
* This function initialize the IirSo instance with parameters
|
||||
*
|
||||
* \note The Wc_rps is the cutoff frequency in the unit of rad/s
|
||||
*
|
||||
* \param[in] obj : pointer to IirSo instance
|
||||
* \param[in] Wc_rps : the cut-off frequency in rad/s
|
||||
* \param[in] runFreq_kHz : the frequency pushing the data in
|
||||
* \param[in] zeta : the zeta coefficient
|
||||
*/
|
||||
static inline void IirSo_Init(IirSoType *obj, float Wc_rps, float runFreq_kHz, float zeta)
|
||||
{
|
||||
/* Prewarping */
|
||||
float twoph = 2000 * runFreq_kHz;
|
||||
float hptwo = 0.0005 / runFreq_kHz;
|
||||
Wc_rps = twoph * tan(Wc_rps * hptwo);
|
||||
|
||||
_iq tmp = _IQ(Wc_rps / runFreq_kHz * 0.001);
|
||||
_iq c1 = _IQmpy(tmp, tmp);
|
||||
_iq c2 = _IQ(zeta * Wc_rps / runFreq_kHz * 0.001);
|
||||
_iq k = _IQ(1) + c2 + _IQdiv4(c1);
|
||||
|
||||
obj->coeff1 = _IQdiv(_IQ(2) - _IQdiv2(c1), k);
|
||||
obj->coeff2 = _IQdiv(-_IQdiv4(c1) - _IQ(1) + c2, k);
|
||||
obj->coeff3 = _IQdiv(_IQdiv4(c1), k);
|
||||
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
obj->prevOutput = 0;
|
||||
obj->prevPrevOutput = 0;
|
||||
obj->prevInput = 0;
|
||||
obj->prevPrevInput = 0;
|
||||
}
|
||||
|
||||
/*! \brief Theoretically initialize the IirSo object with detailed parameters, 2nd interface
|
||||
*
|
||||
* This function theoretically initialize the IirSo object with detailed parameters
|
||||
* This is an overload function.
|
||||
*
|
||||
* \note The fc_Hz is the cutoff frequency in the unit of Hz
|
||||
*
|
||||
* \param[in] obj : pointer to IirSo instance
|
||||
* \param[in] fc_Hz : the cut-off frequency in Hz
|
||||
* \param[in] runFreq_kHz : the frequency pushing the data in
|
||||
* \param[in] zeta : the zeta coefficient
|
||||
*/
|
||||
static inline void IirSo_Init2(IirSoType *obj, float fc_Hz, float runFreq_kHz, float zeta)
|
||||
{
|
||||
/* Prewarping */
|
||||
float twoph = 2000 * runFreq_kHz;
|
||||
float hptwo = 0.0005 / runFreq_kHz;
|
||||
float Wc_rps = twoph * tan(MATH_2PI * fc_Hz * hptwo);
|
||||
|
||||
_iq tmp = _IQ(Wc_rps / runFreq_kHz * 0.001);
|
||||
_iq c1 = _IQmpy(tmp, tmp);
|
||||
_iq c2 = _IQ(zeta * Wc_rps / runFreq_kHz * 0.001);
|
||||
_iq k = _IQ(1) + c2 + _IQdiv4(c1);
|
||||
|
||||
obj->coeff1 = _IQdiv(_IQ(2) - _IQdiv2(c1), k);
|
||||
obj->coeff2 = _IQdiv(-_IQdiv4(c1) - _IQ(1) + c2, k);
|
||||
obj->coeff3 = _IQdiv(_IQdiv4(c1), k);
|
||||
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
obj->prevOutput = 0;
|
||||
obj->prevPrevOutput = 0;
|
||||
obj->prevInput = 0;
|
||||
obj->prevPrevInput = 0;
|
||||
}
|
||||
|
||||
/*! \brief Push input to the filter
|
||||
*
|
||||
* This function push data into the filter
|
||||
*
|
||||
* \param[in] obj : pointer to IirSo instance
|
||||
* \param[in] input : input data in IQ format
|
||||
*/
|
||||
static inline void IirSo_PushInput(IirSoType *obj, _iq input)
|
||||
{
|
||||
if(obj->isInitial)
|
||||
{
|
||||
obj->output = input;
|
||||
obj->prevOutput = input;
|
||||
obj->prevPrevOutput = input;
|
||||
obj->prevInput = input;
|
||||
obj->prevPrevInput = input;
|
||||
obj->isInitial = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->output = _IQmpy(obj->prevOutput, obj->coeff1) + _IQmpy(obj->prevPrevOutput, obj->coeff2)
|
||||
+ _IQmpy(input + _IQmpy2(obj->prevInput) + obj->prevPrevInput, obj->coeff3);
|
||||
|
||||
obj->prevPrevInput = obj->prevInput;
|
||||
obj->prevInput = input;
|
||||
obj->prevPrevOutput = obj->prevOutput;
|
||||
obj->prevOutput = obj->output;
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Get the output value
|
||||
*
|
||||
* This function gets the filter result
|
||||
*
|
||||
* \param[in] obj : pointer to IirSo instance
|
||||
* \return the filter result
|
||||
*/
|
||||
static inline _iq IirSo_GetOutput(const IirSoType *obj)
|
||||
{
|
||||
return obj->output;
|
||||
}
|
||||
|
||||
/*! \brief Reset the filter
|
||||
*
|
||||
* This function resets the filter to the initial state
|
||||
*
|
||||
* \param[in] obj : pointer to IirSo instance
|
||||
*/
|
||||
static inline void IirSo_Reset(IirSoType *obj)
|
||||
{
|
||||
obj->isInitial = true;
|
||||
obj->output = 0;
|
||||
obj->prevOutput = 0;
|
||||
obj->prevPrevOutput = 0;
|
||||
obj->prevInput = 0;
|
||||
obj->prevPrevInput = 0;
|
||||
}
|
||||
|
||||
/*! \brief Update the parameters of the filter
|
||||
*
|
||||
* This function updates the parameter of the filter in the runtime.
|
||||
*
|
||||
* \param[in] obj : pointer to IirSo instance
|
||||
* \param[in] Wc_rps : the cut-off frequency in rad/s
|
||||
* \param[in] runFreq_kHz : the frequency pushing the data in
|
||||
* \param[in] zeta : the zeta coefficient
|
||||
*/
|
||||
static inline void IirSo_UpdateParams(IirSoType *obj, float Wc_rps, float runFreq_kHz, float zeta)
|
||||
{
|
||||
/* Prewarping */
|
||||
float twoph = 2000 * runFreq_kHz;
|
||||
float hptwo = 0.0005 / runFreq_kHz;
|
||||
Wc_rps = twoph * tan(Wc_rps * hptwo);
|
||||
|
||||
_iq tmp = _IQ(Wc_rps / runFreq_kHz * 0.001);
|
||||
_iq c1 = _IQmpy(tmp, tmp);
|
||||
_iq c2 = _IQ(zeta * Wc_rps / runFreq_kHz * 0.001);
|
||||
_iq k = _IQ(1) + c2 + _IQdiv4(c1);
|
||||
|
||||
obj->coeff1 = _IQdiv(_IQ(2) - _IQdiv2(c1), k);
|
||||
obj->coeff2 = _IQdiv(-_IQdiv4(c1) - _IQ(1) + c2, k);
|
||||
obj->coeff3 = _IQdiv(_IQdiv4(c1), k);
|
||||
}
|
||||
|
||||
/*! \brief Update the parameters of the filter
|
||||
*
|
||||
* This function updates the parameter of the filter in the runtime.
|
||||
* This is an overload function.
|
||||
*
|
||||
* \param[in] obj : pointer to IirSo instance
|
||||
* \param[in] fc_Hz : the cut-off frequency in Hz
|
||||
* \param[in] runFreq_kHz : the frequency pushing the data in
|
||||
* \param[in] zeta : the zeta coefficient
|
||||
*/
|
||||
static inline void IirSo_UpdateParams2(IirSoType *obj, float fc_Hz, float runFreq_kHz, float zeta)
|
||||
{
|
||||
/* Prewarping */
|
||||
float twoph = 2000 * runFreq_kHz;
|
||||
float hptwo = 0.0005 / runFreq_kHz;
|
||||
float Wc_rps = twoph * tan(MATH_2PI * fc_Hz * hptwo);
|
||||
|
||||
_iq tmp = _IQ(Wc_rps / runFreq_kHz * 0.001);
|
||||
_iq c1 = _IQmpy(tmp, tmp);
|
||||
_iq c2 = _IQ(zeta * Wc_rps / runFreq_kHz * 0.001);
|
||||
_iq k = _IQ(1) + c2 + _IQdiv4(c1);
|
||||
|
||||
obj->coeff1 = _IQdiv(_IQ(2) - _IQdiv2(c1), k);
|
||||
obj->coeff2 = _IQdiv(-_IQdiv4(c1) - _IQ(1) + c2, k);
|
||||
obj->coeff3 = _IQdiv(_IQdiv4(c1), k);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _IIR_SO_H_ */
|
||||
197
cva_asw_m0118/SDK/lib/shared/common/interp/interp1d.h
Normal file
197
cva_asw_m0118/SDK/lib/shared/common/interp/interp1d.h
Normal file
@ -0,0 +1,197 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _INTERP1D_H_
|
||||
#define _INTERP1D_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the 1-D Linear Interpolation
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
typedef struct _Interp1d_PointType_
|
||||
{
|
||||
_iq x; /*!< x. */
|
||||
_iq y; /*!< y. */
|
||||
} Interp1d_PointType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief This is an linear interpolate calculation function using 2 x and the scale as input
|
||||
* The result x should satisfy: scale = (x-x1) / (x2-x1)
|
||||
*
|
||||
* \param[in] x1 : x value of point 1
|
||||
* \param[in] x2 : x value of point 2
|
||||
* \param[in] scale : the scale = (x-x1) / (x2-x1)
|
||||
* \return the value x in the scale equation
|
||||
*/
|
||||
static inline _iq Interp1d(_iq x1, _iq x2, _iq scale)
|
||||
{
|
||||
return (_IQmpy(scale, x2 - x1) + x1);
|
||||
}
|
||||
|
||||
/*! \brief This is an linear interpolate calculation function using 2 points as input
|
||||
* Calculate y for the given x, based on two points - (x1, y1) and (x2, y2)
|
||||
*
|
||||
* \note If x1 is equal to x2, which is not actually allowed, it will return
|
||||
* (y1+y2)/2 instead. User should prevent this situation.
|
||||
*
|
||||
* \param[in] x1 : x value of point 1
|
||||
* \param[in] y1 : y value of point 1
|
||||
* \param[in] x2 : x value of point 2
|
||||
* \param[in] y2 : y value of point 2
|
||||
* \param[in] x : x value of the target point
|
||||
* \return the y value of the target point
|
||||
*/
|
||||
static inline _iq Interp1dPoints(_iq x1, _iq y1, _iq x2, _iq y2, _iq x)
|
||||
{
|
||||
return (x2 != x1) ? (_IQmpy(_IQdiv(y2 - y1, x2 - x1), x - x1) + y1) : _IQdiv2(y2 + y1);
|
||||
}
|
||||
|
||||
/*! \brief This is an linear interpolate calculation function using the whole table as input
|
||||
*
|
||||
* \note The values in x[] must be from smallest to biggest
|
||||
*
|
||||
* \param[in] u0 : x value of the target point
|
||||
* \param[in] x[] : the x value array
|
||||
* \param[in] y[] : the y value array
|
||||
* \param[in] maxIndex : max index of the array
|
||||
* \return the y value of the target point
|
||||
*/
|
||||
static inline _iq Interp1dTable(_iq u0, const _iq x[], const _iq y[], uint32_t maxIndex)
|
||||
{
|
||||
_iq frac;
|
||||
uint32_t right;
|
||||
uint32_t left;
|
||||
uint32_t bpIdx;
|
||||
|
||||
if(u0 <= x[0U])
|
||||
{
|
||||
left = 0U;
|
||||
frac = (x[1U] == x[0U]) ? _IQ(0.5) : _IQdiv(u0 - x[0U], x[1U] - x[0U]);
|
||||
}
|
||||
else if(u0 < x[maxIndex])
|
||||
{
|
||||
/* Binary Search */
|
||||
bpIdx = maxIndex >> 1U;
|
||||
left = 0U;
|
||||
right = maxIndex;
|
||||
while(right - left > 1U)
|
||||
{
|
||||
if(u0 < x[bpIdx])
|
||||
{
|
||||
right = bpIdx;
|
||||
}
|
||||
else
|
||||
{
|
||||
left = bpIdx;
|
||||
}
|
||||
|
||||
bpIdx = (right + left) >> 1U;
|
||||
}
|
||||
|
||||
frac = (x[left + 1U] != x[left]) ? _IQdiv(u0 - x[left], x[left + 1U] - x[left]) : _IQ(0.5);
|
||||
}
|
||||
else
|
||||
{
|
||||
left = maxIndex - 1U;
|
||||
frac = (x[maxIndex] != x[maxIndex - 1U]) ? _IQdiv(u0 - x[maxIndex - 1U], x[maxIndex] - x[maxIndex - 1U]) : _IQ(0.5);
|
||||
}
|
||||
|
||||
return (_IQmpy(_IQ(1.0) - frac, y[left]) + _IQmpy(y[left + 1U], frac));
|
||||
}
|
||||
|
||||
/*! \brief This is an linear interpolate calculation function using the whole table as input
|
||||
*
|
||||
* \note The values in pPt[].x must be from smallest to biggest
|
||||
*
|
||||
* \param[in] u0 : x value of the target point
|
||||
* \param[in] pPt : the pointer to the points array
|
||||
* \param[in] maxIndex : max index of the array
|
||||
* \return the y value of the target point
|
||||
*/
|
||||
static inline _iq Interp1dPtArray(_iq u0, const Interp1d_PointType *pPt, uint32_t maxIndex)
|
||||
{
|
||||
_iq frac;
|
||||
uint32_t right;
|
||||
uint32_t left;
|
||||
uint32_t bpIdx;
|
||||
|
||||
if(u0 <= pPt[0U].x)
|
||||
{
|
||||
left = 0U;
|
||||
frac = (pPt[1U].x == pPt[0U].x) ? _IQ(0.5) : _IQdiv(u0 - pPt[0U].x, pPt[1U].x - pPt[0U].x);
|
||||
}
|
||||
else if(u0 < pPt[maxIndex].x)
|
||||
{
|
||||
/* Binary Search */
|
||||
bpIdx = maxIndex >> 1U;
|
||||
left = 0U;
|
||||
right = maxIndex;
|
||||
while(right - left > 1U)
|
||||
{
|
||||
if(u0 < pPt[bpIdx].x)
|
||||
{
|
||||
right = bpIdx;
|
||||
}
|
||||
else
|
||||
{
|
||||
left = bpIdx;
|
||||
}
|
||||
|
||||
bpIdx = (right + left) >> 1U;
|
||||
}
|
||||
|
||||
frac = (pPt[left + 1U].x != pPt[left].x) ? _IQdiv(u0 - pPt[left].x, pPt[left + 1U].x - pPt[left].x) : _IQ(0.5);
|
||||
}
|
||||
else
|
||||
{
|
||||
left = maxIndex - 1U;
|
||||
frac = (pPt[maxIndex].x != pPt[maxIndex - 1U].x) ? _IQdiv(u0 - pPt[maxIndex - 1U].x, pPt[maxIndex].x - pPt[maxIndex - 1U].x) : _IQ(0.5);
|
||||
}
|
||||
|
||||
return (_IQmpy(_IQ(1.0) - frac, pPt[left].y) + _IQmpy(pPt[left + 1U].y, frac));
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _INTERP1D_H_ */
|
||||
72
cva_asw_m0118/SDK/lib/shared/common/interp/interp2d.h
Normal file
72
cva_asw_m0118/SDK/lib/shared/common/interp/interp2d.h
Normal file
@ -0,0 +1,72 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _INTERP2D_H_
|
||||
#define _INTERP2D_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the 2-D linear interpolation
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "interp1d.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief This is an 2-D linear interpolate calculation function using the row and column scale as input
|
||||
*
|
||||
* \param[in] x00 : the x value of (0, 0) point
|
||||
* \param[in] x01 : the x value of (0, 1) point
|
||||
* \param[in] x10 : the x value of (1, 0) point
|
||||
* \param[in] x11 : the x value of (1, 1) point
|
||||
* \param[in] rowScale : the scale of row
|
||||
* \param[in] columnScale : the scale of column
|
||||
* \return the x value of the target point
|
||||
*/
|
||||
static inline _iq Interp2d(_iq x00, _iq x01, _iq x10, _iq x11, _iq rowScale, _iq columnScale)
|
||||
{
|
||||
return Interp1d(Interp1d(x00, x10, rowScale),
|
||||
Interp1d(x01, x11, rowScale),
|
||||
columnScale);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _INTERP2D_H_ */
|
||||
189
cva_asw_m0118/SDK/lib/shared/common/iqmath/iqmath.h
Normal file
189
cva_asw_m0118/SDK/lib/shared/common/iqmath/iqmath.h
Normal file
@ -0,0 +1,189 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _IQMATH_H_
|
||||
#define _IQMATH_H_
|
||||
|
||||
//! \brief This is the default floating point implementation of IQ math library.
|
||||
//! Almost all the platforms can use it, but some may come across
|
||||
//! the performance issue. So use it carefully unless you know what
|
||||
//! you are doing.
|
||||
//!
|
||||
|
||||
//###########################################################################
|
||||
#ifndef _USING_CUSTOM_IQMATH_
|
||||
//###########################################################################
|
||||
// The default floating point IQ math
|
||||
//===========================================================================
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <math.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
#define MATH_PI (3.1415926535897932384626433832795f)
|
||||
#define MATH_2PI (6.283185307179586476925286766559f)
|
||||
#define MATH_ONE_OVER_THREE (0.3333333333f)
|
||||
#define MATH_ONE_OVER_SQRT_THREE (0.5773502692f)
|
||||
#define MATH_SQRT_THREE_OVER_TWO (0.8660254038f)
|
||||
#define IQMATH_ONE_OVER_THREE (0.3333333333f)
|
||||
#define IQMATH_ONE_OVER_SQRT_THREE (0.5773502692f)
|
||||
#define IQMATH_SQRT_THREE_OVER_TWO (0.8660254038f)
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
typedef float _iq;
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
#define _IQmpy2(A) ((A)*2.0f)
|
||||
#define _IQmpy4(A) ((A)*4.0f)
|
||||
#define _IQmpy8(A) ((A)*8.0f)
|
||||
#define _IQmpy16(A) ((A)*16.0f)
|
||||
#define _IQmpy32(A) ((A)*32.0f)
|
||||
#define _IQmpy64(A) ((A)*64.0f)
|
||||
|
||||
#define _IQdiv2(A) ((A)*0.5f)
|
||||
#define _IQdiv4(A) ((A)*0.25f)
|
||||
#define _IQdiv8(A) ((A)*0.125f)
|
||||
#define _IQdiv16(A) ((A)*0.0625f)
|
||||
#define _IQdiv32(A) ((A)*0.03125f)
|
||||
#define _IQdiv64(A) ((A)*0.015625f)
|
||||
|
||||
#define _IQ(A) (A)
|
||||
|
||||
#define _IQtoF(A) (A)
|
||||
|
||||
//! \note In case for some compiler version, __fmax and __fmin are not defined
|
||||
//! Add a simple implementation here
|
||||
#ifndef __fmax
|
||||
#define __fmax(A, B) (A>B ? A : B)
|
||||
#endif
|
||||
#ifndef __fmin
|
||||
#define __fmin(A, B) (A<B ? A : B)
|
||||
#endif
|
||||
|
||||
#define _IQsat(A, Pos, Neg) (__fmax(((__fmin((A),(Pos)))),(Neg)))
|
||||
|
||||
#define _IQtoQ15(A) (int) ((A) * 32768.0f)
|
||||
#define _IQtoQ14(A) (int) ((A) * 16384.0f)
|
||||
#define _IQtoQ13(A) (int) ((A) * 8192.0f)
|
||||
#define _IQtoQ12(A) (int) ((A) * 4096.0f)
|
||||
#define _IQtoQ11(A) (int) ((A) * 2048.0f)
|
||||
#define _IQtoQ10(A) (int) ((A) * 1024.0f)
|
||||
#define _IQtoQ9(A) (int) ((A) * 512.0f)
|
||||
#define _IQtoQ8(A) (int) ((A) * 256.0f)
|
||||
#define _IQtoQ7(A) (int) ((A) * 128.0f)
|
||||
#define _IQtoQ6(A) (int) ((A) * 64.0f)
|
||||
#define _IQtoQ5(A) (int) ((A) * 32.0f)
|
||||
#define _IQtoQ4(A) (int) ((A) * 16.0f)
|
||||
#define _IQtoQ3(A) (int) ((A) * 8.0f)
|
||||
#define _IQtoQ2(A) (int) ((A) * 4.0f)
|
||||
#define _IQtoQ1(A) (int) ((A) * 2.0f)
|
||||
|
||||
#define _Q15toIQ(A) (((float) (A)) * 0.000030518f)
|
||||
#define _Q14toIQ(A) (((float) (A)) * 0.000061035f)
|
||||
#define _Q13toIQ(A) (((float) (A)) * 0.000122070f)
|
||||
#define _Q12toIQ(A) (((float) (A)) * 0.000244141f)
|
||||
#define _Q11toIQ(A) (((float) (A)) * 0.000488281f)
|
||||
#define _Q10toIQ(A) (((float) (A)) * 0.000976563f)
|
||||
#define _Q9toIQ(A) (((float) (A)) * 0.001953125f)
|
||||
#define _Q8toIQ(A) (((float) (A)) * 0.003906250f)
|
||||
#define _Q7toIQ(A) (((float) (A)) * 0.007812500f)
|
||||
#define _Q6toIQ(A) (((float) (A)) * 0.015625000f)
|
||||
#define _Q5toIQ(A) (((float) (A)) * 0.031250000f)
|
||||
#define _Q4toIQ(A) (((float) (A)) * 0.062500000f)
|
||||
#define _Q3toIQ(A) (((float) (A)) * 0.125000000f)
|
||||
#define _Q2toIQ(A) (((float) (A)) * 0.250000000f)
|
||||
#define _Q1toIQ(A) (((float) (A)) * 0.500000000f)
|
||||
|
||||
#define _IQmpy(A,B) ((A) * (B))
|
||||
|
||||
#define _IQrmpy(A,B) ((A) * (B))
|
||||
|
||||
#define _IQrsmpy(A,B) ((A) * (B))
|
||||
|
||||
#define _IQdiv(A,B) ((float)(A) / (float)(B))
|
||||
|
||||
#define _IQsin(A) sinf(A)
|
||||
|
||||
#define _IQsinPU(A) sinf((A)*6.283185307f)
|
||||
|
||||
#define _IQasin(A) asinf(A)
|
||||
|
||||
#define _IQcos(A) cosf(A)
|
||||
|
||||
#define _IQcosPU(A) cosf((A)*6.283185307f)
|
||||
|
||||
#define _IQacos(A) acosf(A)
|
||||
|
||||
#define _IQatan(A) atanf(A)
|
||||
|
||||
#define _IQatan2(A,B) atan2f(A,B)
|
||||
|
||||
#define _IQatan2PU(A,B) ((atan2f(A,B)*(1.0f/6.283185307f)) >= 0.0f ? (atan2f(A,B)*(1.0f/6.283185307f)) : (1.0f + (atan2f(A,B)*(1.0f/6.283185307f))))
|
||||
|
||||
#define _IQsqrt(A) sqrtf(A)
|
||||
|
||||
#define _IQisqrt(A) (1.0f/sqrtf(A))
|
||||
|
||||
#define _IQexp(A) expf(A)
|
||||
|
||||
#define _IQint(A) ((long) (A))
|
||||
|
||||
#define _IQfrac(A) ((A) - (float)((long) (A)))
|
||||
|
||||
#define _IQmag(A,B) sqrtf((A)*(A) + (B)*(B))
|
||||
|
||||
#define _IQabs(A) fabsf(A)
|
||||
|
||||
#define _IQlog(A) logf(A)
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
//###########################################################################
|
||||
#else
|
||||
//###########################################################################
|
||||
// The custom IQ math
|
||||
//===========================================================================
|
||||
|
||||
//! \note It's the user's duty to undefine the macros that are different with ones
|
||||
//! defined above in the "iqmathcustom.h", which must be put in this folder.
|
||||
//! \note When building some kind of library and we cannot access the BSW, just create
|
||||
//! and fake the MCU folder.
|
||||
//!
|
||||
#include "iqmathcustom.h"
|
||||
#endif
|
||||
|
||||
#endif /* _IQMATH_H_ */
|
||||
237
cva_asw_m0118/SDK/lib/shared/common/matrix/matrix.h
Normal file
237
cva_asw_m0118/SDK/lib/shared/common/matrix/matrix.h
Normal file
@ -0,0 +1,237 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _MATRIX_H_
|
||||
#define _MATRIX_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the matrix object.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the initial parameters for matrix object
|
||||
*/
|
||||
typedef struct _MatrixType_
|
||||
{
|
||||
_iq *pContainer; /*!< Pointer to the matrix table container */
|
||||
uint16_t rowNum; /*!< Total row number of the container */
|
||||
uint16_t columnNum; /*!< Total column number of the container */
|
||||
} MatrixType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the MATRIX object.
|
||||
*
|
||||
* This function initialize the MATRIX object.
|
||||
*
|
||||
* \note The container should be the 2-D array
|
||||
*
|
||||
* \param[in] obj : pointer to MATRIX instance
|
||||
* \param[in] pContainer : pointer to the container
|
||||
* \param[in] rowNum : the row number of the 2-D array
|
||||
* \param[in] columnNum : the column number of the 2-D array
|
||||
*/
|
||||
static inline void Matrix_Init(MatrixType *obj, _iq *pContainer, uint16_t rowNum, uint16_t columnNum)
|
||||
{
|
||||
obj->pContainer = pContainer;
|
||||
obj->rowNum = rowNum;
|
||||
obj->columnNum = columnNum;
|
||||
}
|
||||
|
||||
/*! \brief Set the value to the MATRIX element.
|
||||
*
|
||||
* This function sets the value to the specific position.
|
||||
*
|
||||
* \note The row and column start with 0
|
||||
* The first element is row 0 and column 0
|
||||
*
|
||||
* \param[in] obj : pointer to MATRIX instance
|
||||
* \param[in] value : the value to be set
|
||||
* \param[in] row : the row index to set value
|
||||
* \param[in] column : the column index to set value
|
||||
* \return the result of the operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool Matrix_SetValue(MatrixType *obj, _iq value, uint16_t row, uint16_t column)
|
||||
{
|
||||
if(row >= obj->rowNum || column >= obj->columnNum)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
(*(obj->pContainer + column + row * obj->columnNum)) = value;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Set the "other" matrix to this MATRIX.
|
||||
*
|
||||
* This function set the whole matrix values with another matrix
|
||||
*
|
||||
* \param[in] obj : pointer to MATRIX instance
|
||||
* \param[in] other : the pointer to the other matrix
|
||||
* \return the result of the operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool Matrix_SetMatrix(MatrixType *obj, const MatrixType *other)
|
||||
{
|
||||
if(obj->rowNum != other->rowNum || obj->columnNum != other->columnNum)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
uint16_t i;
|
||||
uint16_t j;
|
||||
for(i = 0; i < obj->rowNum; i++)
|
||||
{
|
||||
for(j = 0; j < obj->columnNum; j++)
|
||||
{
|
||||
(*(obj->pContainer + j + i * obj->columnNum)) = (*(other->pContainer + j + i * obj->columnNum));
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Get the value of the MATRIX element.
|
||||
*
|
||||
* This function gets the value of the specific position
|
||||
*
|
||||
* \note The row and column start with 0
|
||||
* The first element is row 0 and column 0
|
||||
*
|
||||
* \param[in] obj : pointer to MATRIX instance
|
||||
* \param[out] pValue : pointer to the output value
|
||||
* \param[in] row : the row index
|
||||
* \param[in] column : the column index
|
||||
* \return the result of the operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool Matrix_GetValue(MatrixType *obj, _iq *pValue, uint16_t row, uint16_t column)
|
||||
{
|
||||
if(row >= obj->rowNum || column >= obj->columnNum)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
*pValue = (*(obj->pContainer + column + row * obj->columnNum));
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief multiply 2 matrix
|
||||
*
|
||||
* This function multiply 2 matrix
|
||||
*
|
||||
* \note The formula is S = LR, return false if mismatch, else return true.
|
||||
*
|
||||
* \param[in] pL : pointer to the left matrix
|
||||
* \param[in] pR : pointer to the right matrix
|
||||
* \param[out] pS : pointer to the product matrix
|
||||
* \return the result of the operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool Matrix_Multiply(const MatrixType *pL, const MatrixType *pR, MatrixType *pS)
|
||||
{
|
||||
uint16_t i;
|
||||
uint16_t j;
|
||||
|
||||
if((pL->columnNum != pR->rowNum) || (pR->columnNum > 1))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
for(i = 0; i < pL->rowNum; i++)
|
||||
{
|
||||
*(pS->pContainer + i) = 0;
|
||||
for(j = 0; j < pR->rowNum; j++)
|
||||
{
|
||||
(*(pS->pContainer + i)) += _IQmpy((*(pL->pContainer + j + i * pR->rowNum)), (*(pR->pContainer + j)));
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Add 2 matrix
|
||||
*
|
||||
* This function add 2 matrix.
|
||||
*
|
||||
* \note The formula is S = L+R, return false if mismatch, else return true.
|
||||
*
|
||||
* \param[in] pL : pointer to the left matrix
|
||||
* \param[in] pR : pointer to the right matrix
|
||||
* \param[out] pS : pointer to the sum matrix
|
||||
* \return the result of the operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool Matrix_Add(MatrixType *pL, MatrixType *pR, MatrixType *pS)
|
||||
{
|
||||
uint16_t i;
|
||||
uint16_t j;
|
||||
|
||||
if((pL->columnNum != pR->columnNum) && (pL->rowNum != pR->rowNum))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
for(i = 0; i < pL->rowNum; i++)
|
||||
{
|
||||
for(j = 0; j < pL->columnNum; j++)
|
||||
{
|
||||
(*(pS->pContainer + j + i * pL->columnNum))
|
||||
= (*(pL->pContainer + j + i * pL->columnNum)) + (*(pR->pContainer + j + i * pL->columnNum));
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _MATRIX_H_ */
|
||||
236
cva_asw_m0118/SDK/lib/shared/common/matrix/matrix_f32.h
Normal file
236
cva_asw_m0118/SDK/lib/shared/common/matrix/matrix_f32.h
Normal file
@ -0,0 +1,236 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _MATRIX_F32_H_
|
||||
#define _MATRIX_F32_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the matrix object using float32_t.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the initial parameters for matrix object
|
||||
*/
|
||||
typedef struct _MatrixF32Type_
|
||||
{
|
||||
float *pContainer; /*!< Pointer to the matrix table container */
|
||||
uint16_t rowNum; /*!< Total row number of the container */
|
||||
uint16_t columnNum; /*!< Total column number of the container */
|
||||
} MatrixF32Type;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the MATRIX_F32 object.
|
||||
*
|
||||
* This function initialize the MATRIX_F32 object.
|
||||
*
|
||||
* \note The container should be the 2-D array
|
||||
*
|
||||
* \param[in] obj : pointer to Matrix_f32 instance
|
||||
* \param[in] pContainer : pointer to the container
|
||||
* \param[in] rowNum : the row number of the 2-D array
|
||||
* \param[in] columnNum : the column number of the 2-D array
|
||||
*/
|
||||
static inline void MatrixF32_Init(MatrixF32Type *obj, float *pContainer, uint16_t rowNum, uint16_t columnNum)
|
||||
{
|
||||
obj->pContainer = pContainer;
|
||||
obj->rowNum = rowNum;
|
||||
obj->columnNum = columnNum;
|
||||
}
|
||||
|
||||
/*! \brief Set the value to the MATRIX_F32 element.
|
||||
*
|
||||
* This function sets the value to the specific position.
|
||||
*
|
||||
* \note The row and column start with 0
|
||||
* The first element is row 0 and column 0
|
||||
*
|
||||
* \param[in] obj : pointer to Matrix_f32 instance
|
||||
* \param[in] value : the value to be set
|
||||
* \param[in] row : the row index to set value
|
||||
* \param[in] column : the column index to set value
|
||||
* \return the result of the operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool MatrixF32_SetValue(MatrixF32Type *obj, float value, uint16_t row, uint16_t column)
|
||||
{
|
||||
if(row >= obj->rowNum || column >= obj->columnNum)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
(*(obj->pContainer + column + row * obj->columnNum)) = value;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Set the "other" matrix to this MATRIX.
|
||||
*
|
||||
* This function set the whole matrix values with another matrix
|
||||
*
|
||||
* \param[in] obj : pointer to Matrix_f32 instance
|
||||
* \param[in] other : the pointer to the other matrix
|
||||
* \return the result of the operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool MatrixF32_SetMatrix(MatrixF32Type *obj, const MatrixF32Type *other)
|
||||
{
|
||||
if(obj->rowNum != other->rowNum || obj->columnNum != other->columnNum)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
uint16_t i;
|
||||
uint16_t j;
|
||||
for(i = 0; i < obj->rowNum; i++)
|
||||
{
|
||||
for(j = 0; j < obj->columnNum; j++)
|
||||
{
|
||||
(*(obj->pContainer + j + i * obj->columnNum)) = (*(other->pContainer + j + i * obj->columnNum));
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Get the value of the MATRIX_F32 element.
|
||||
*
|
||||
* This function gets the value of the specific position
|
||||
*
|
||||
* \note The row and column start with 0
|
||||
* The first element is row 0 and column 0
|
||||
*
|
||||
* \param[in] obj : pointer to Matrix_f32 instance
|
||||
* \param[out] pValue : pointer to the output value
|
||||
* \param[in] row : the row index
|
||||
* \param[in] column : the column index
|
||||
* \return the result of the operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool MatrixF32_GetValue(const MatrixF32Type *obj, float *pValue, uint16_t row, uint16_t column)
|
||||
{
|
||||
if(row >= obj->rowNum || column >= obj->columnNum)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
*pValue = (*(obj->pContainer + column + row * obj->columnNum));
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief multiply 2 matrix
|
||||
*
|
||||
* This function multiply 2 matrix
|
||||
*
|
||||
* \note The formula is S = LR, return false if mismatch, else return true.
|
||||
*
|
||||
* \param[in] pL : pointer to the left matrix
|
||||
* \param[in] pR : pointer to the right matrix
|
||||
* \param[out] pS : pointer to the product matrix
|
||||
* \return the result of the operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool MatrixF32_Multiply(const MatrixF32Type *pL, const MatrixF32Type *pR, MatrixF32Type *pS)
|
||||
{
|
||||
uint16_t i;
|
||||
uint16_t j;
|
||||
|
||||
if((pL->columnNum != pR->rowNum) || (pR->columnNum > 1))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
for(i = 0; i < pL->rowNum; i++)
|
||||
{
|
||||
*(pS->pContainer + i) = 0;
|
||||
for(j = 0; j < pR->rowNum; j++)
|
||||
{
|
||||
(*(pS->pContainer + i)) += ((*(pL->pContainer + j + i * pR->rowNum)) * (*(pR->pContainer + j)));
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
/*! \brief Add 2 matrix
|
||||
*
|
||||
* This function add 2 matrix.
|
||||
*
|
||||
* \note The formula is S = L+R, return false if mismatch, else return true.
|
||||
*
|
||||
* \param[in] pL : pointer to the left matrix
|
||||
* \param[in] pR : pointer to the right matrix
|
||||
* \param[out] pS : pointer to the sum matrix
|
||||
* \return the result of the operation
|
||||
* - true : success
|
||||
* - false : failed
|
||||
*/
|
||||
static inline bool MatrixF32_Add(const MatrixF32Type *pL, const MatrixF32Type *pR, MatrixF32Type *pS)
|
||||
{
|
||||
uint16_t i;
|
||||
uint16_t j;
|
||||
|
||||
if((pL->columnNum != pR->columnNum) && (pL->rowNum != pR->rowNum))
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
for(i = 0; i < pL->rowNum; i++)
|
||||
{
|
||||
for(j = 0; j < pL->columnNum; j++)
|
||||
{
|
||||
(*(pS->pContainer + j + i * pL->columnNum))
|
||||
= (*(pL->pContainer + j + i * pL->columnNum)) + (*(pR->pContainer + j + i * pL->columnNum));
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _MATRIX_F32_H_ */
|
||||
118
cva_asw_m0118/SDK/lib/shared/common/pid/ipi.h
Normal file
118
cva_asw_m0118/SDK/lib/shared/common/pid/ipi.h
Normal file
@ -0,0 +1,118 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _IPI_H_
|
||||
#define _IPI_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Incremental PI (IPI) object.
|
||||
* \note The form of this PID is parallel.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
typedef struct _IpiType_
|
||||
{
|
||||
_iq ref; /*!< Input: Reference input */
|
||||
_iq fdb; /*!< Input: Feedback input */
|
||||
|
||||
_iq Kp; /*!< Parameter: Proportional gain */
|
||||
_iq Ki; /*!< Parameter: Integral gain */
|
||||
|
||||
_iq lastError; /*!< Internal Variable: last error */
|
||||
|
||||
_iq delta; /*!< Output: The output of increment value */
|
||||
} IpiType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the IPI object
|
||||
*
|
||||
* This function intialize the IPI object
|
||||
*
|
||||
* \param[in] obj : pointer to IPI instance
|
||||
* \param[in] Kp : Kp value in IQ format
|
||||
* \param[in] Ki : Ki value in IQ format
|
||||
*/
|
||||
static inline void Ipi_Init(IpiType *obj, _iq Kp, _iq Ki)
|
||||
{
|
||||
obj->ref = 0;
|
||||
obj->fdb = 0;
|
||||
obj->delta = 0;
|
||||
obj->Kp = Kp;
|
||||
obj->Ki = Ki;
|
||||
obj->lastError = 0;
|
||||
}
|
||||
|
||||
/*! \brief Run the IPI control
|
||||
*
|
||||
* This function run the IPI calculation
|
||||
*
|
||||
* \param[in] obj : pointer to IPI instance
|
||||
*/
|
||||
static inline void Ipi_Run(IpiType *obj)
|
||||
{
|
||||
/* Compute the error */
|
||||
_iq error = obj->ref - obj->fdb;
|
||||
/* Compute the proportional output */
|
||||
_iq Up = _IQmpy(obj->Kp, error - obj->lastError);
|
||||
/* Compute the integral output */
|
||||
_iq Ui = _IQmpy(obj->Ki, error);
|
||||
/* Remember error for next time */
|
||||
obj->lastError = error;
|
||||
/* Assign the output */
|
||||
obj->delta = Up + Ui;
|
||||
}
|
||||
|
||||
/*! \brief Reset the IPI variables
|
||||
*
|
||||
* This function reset the IPI instance to the initial state
|
||||
*
|
||||
* \param[in] obj : pointer to IPI instance
|
||||
*/
|
||||
static inline void Ipi_Reset(IpiType *obj)
|
||||
{
|
||||
obj->lastError = 0;
|
||||
obj->delta = 0;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _IPI_H_ */
|
||||
165
cva_asw_m0118/SDK/lib/shared/common/pid/pid.h
Normal file
165
cva_asw_m0118/SDK/lib/shared/common/pid/pid.h
Normal file
@ -0,0 +1,165 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _PID_H_
|
||||
#define _PID_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the PID object.
|
||||
* \note The form of this PID is parallel.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Declaration of PID object
|
||||
*/
|
||||
typedef struct _PidType_
|
||||
{
|
||||
_iq ref; /*!< Input: Reference input */
|
||||
_iq fdb; /*!< Input: Feedback input */
|
||||
|
||||
_iq Kp; /*!< Parameter: Proportional gain */
|
||||
_iq Ki; /*!< Parameter: Integral gain */
|
||||
_iq Kd; /*!< Parameter: Derivative gain */
|
||||
_iq outMax; /*!< Parameter: Maximum output */
|
||||
_iq outMin; /*!< Parameter: Minimum output */
|
||||
|
||||
_iq Ui; /*!< Internal Variable: Integral output */
|
||||
_iq lastError; /*!< Internal Variable: last error */
|
||||
|
||||
_iq output; /*!< Output: PID output */
|
||||
} PidType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the PID object
|
||||
*
|
||||
* This function initializes the PID instance
|
||||
*
|
||||
* \param[in] obj : pointer to Pid instance
|
||||
* \param[in] Kp : the Kp value in IQ format
|
||||
* \param[in] Ki : the Ki value in IQ format
|
||||
* \param[in] Kd : the Kd value in IQ format
|
||||
* \param[in] min : the min value allowed in output
|
||||
* \param[in] max : the max value allowed in output
|
||||
*/
|
||||
static inline void Pid_Init(PidType *obj, _iq Kp, _iq Ki, _iq Kd, _iq min, _iq max)
|
||||
{
|
||||
obj->Kp = Kp;
|
||||
obj->Ki = Ki;
|
||||
obj->Kd = Kd;
|
||||
obj->outMin = min;
|
||||
obj->outMax = max;
|
||||
|
||||
obj->ref = 0;
|
||||
obj->fdb = 0;
|
||||
obj->Ui = 0;
|
||||
obj->lastError = 0;
|
||||
obj->output = 0;
|
||||
}
|
||||
|
||||
/*! \brief Run the PID control
|
||||
*
|
||||
* This fucntion runs the PID control
|
||||
*
|
||||
* \note The form of this PID is parallel
|
||||
*
|
||||
* \param[in] obj : pointer to Pid instance
|
||||
*/
|
||||
static inline void Pid_Run(PidType *obj)
|
||||
{
|
||||
/* Compute the error */
|
||||
_iq error = obj->ref - obj->fdb;
|
||||
|
||||
/* Compute the proportional output */
|
||||
_iq Up = _IQmpy(obj->Kp, error);
|
||||
|
||||
/* Compute the integral output */
|
||||
obj->Ui = obj->Ui + _IQmpy(obj->Ki, error);
|
||||
/* Saturate Ui */
|
||||
if(obj->Ui > obj->outMax)
|
||||
{
|
||||
obj->Ui = obj->outMax;
|
||||
}
|
||||
if(obj->Ui < obj->outMin)
|
||||
{
|
||||
obj->Ui = obj->outMin;
|
||||
}
|
||||
|
||||
/* Compute the derivative output */
|
||||
_iq Ud = _IQmpy(obj->Kd, (error - obj->lastError));
|
||||
obj->lastError = error;
|
||||
|
||||
/* Compute the pre-saturated output */
|
||||
_iq tmpOutput = Up + obj->Ui + Ud;
|
||||
|
||||
/* Saturate the output */
|
||||
if(tmpOutput > obj->outMax)
|
||||
{
|
||||
obj->output = obj->outMax;
|
||||
}
|
||||
else if(tmpOutput < obj->outMin)
|
||||
{
|
||||
obj->output = obj->outMin;
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->output = tmpOutput;
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Reset the PID variables
|
||||
*
|
||||
* This function reset the PID to initial state
|
||||
*
|
||||
* \note The form of this PID is parallel
|
||||
*
|
||||
* \param[in] obj : pointer to Pid instance
|
||||
*/
|
||||
static inline void Pid_Reset(PidType *obj)
|
||||
{
|
||||
obj->lastError = 0;
|
||||
obj->output = 0;
|
||||
obj->Ui = 0;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _PID_H_ */
|
||||
154
cva_asw_m0118/SDK/lib/shared/common/smc/smc.h
Normal file
154
cva_asw_m0118/SDK/lib/shared/common/smc/smc.h
Normal file
@ -0,0 +1,154 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _SMC_H_
|
||||
#define _SMC_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Sliding Mode Control (SMC) object.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize SMC object
|
||||
* \note We use 2 coefficients to determine the current output:
|
||||
*
|
||||
* accumulator(k) = coeff1 * accumulator(k-1) + coeff2 * Z(k)
|
||||
*
|
||||
* If coeff1 + coeff2 = 1, this will act like a normal LPF
|
||||
* whose gain will be 1. But sometimes we need this algorithm's
|
||||
* gain NOT equal to 1. So 2 coefficients are put here for the
|
||||
* user to set freely.
|
||||
*/
|
||||
typedef struct _Smc_ParamsType_
|
||||
{
|
||||
float Kslide; /*!< The gain of the sliding mode */
|
||||
float maxError; /*!< The max error of input */
|
||||
float coeff1; /*!< The coefficient of last output */
|
||||
float coeff2; /*!< The coefficient of bang-bang control value */
|
||||
} Smc_ParamsType;
|
||||
|
||||
/*! \brief Declaration of SMC object
|
||||
*/
|
||||
typedef struct _SmcType_
|
||||
{
|
||||
_iq error; /*!< Input: Reference input */
|
||||
|
||||
_iq Kslide; /*!< Parameter: The gain of the sliding mode */
|
||||
_iq maxError; /*!< Parameter: The max error of input */
|
||||
_iq gain; /*!< Parameter: The max error of input */
|
||||
_iq coeff1; /*!< Parameter: The coefficient of last output */
|
||||
_iq coeff2; /*!< Parameter: The coefficient of bang-bang control value */
|
||||
|
||||
_iq accum; /*!< Internal variable: The accumulator of bang-bang control value */
|
||||
|
||||
_iq output; /*!< Output: The output of the sliding-mode control */
|
||||
} SmcType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the SMC object
|
||||
*
|
||||
* This function initialize the SMC instance
|
||||
*
|
||||
* \param[in] obj : pointer to Smc instance
|
||||
* \param[in] pParams :
|
||||
*/
|
||||
static inline void Smc_Init(SmcType *obj, const Smc_ParamsType *pParams)
|
||||
{
|
||||
/* Initialize all parameters */
|
||||
obj->Kslide = _IQ(pParams->Kslide);
|
||||
obj->maxError = _IQ(pParams->maxError);
|
||||
obj->gain = _IQdiv(obj->Kslide, obj->maxError);
|
||||
obj->coeff1 = _IQ(pParams->coeff1);
|
||||
obj->coeff2 = _IQ(pParams->coeff2);
|
||||
|
||||
/* Initialize all internal variables */
|
||||
obj->accum = 0;
|
||||
|
||||
/* Reset the outputs */
|
||||
obj->output = 0;
|
||||
}
|
||||
|
||||
/*! \brief Run the SMC control
|
||||
*
|
||||
* This function run the SMC algorithm.
|
||||
*
|
||||
* \param[in] obj : pointer to Smc instance
|
||||
*/
|
||||
static inline void Smc_Run(SmcType *obj)
|
||||
{
|
||||
/* Bang-bang control with linear treatment around zero */
|
||||
_iq Z;
|
||||
if(_IQabs(obj->error) < obj->maxError)
|
||||
{
|
||||
Z = _IQmpy(obj->gain, obj->error);
|
||||
}
|
||||
else if(obj->error > 0)
|
||||
{
|
||||
Z = obj->Kslide;
|
||||
}
|
||||
else
|
||||
{
|
||||
Z = -obj->Kslide;
|
||||
}
|
||||
|
||||
/* Filter the bang-bang control value */
|
||||
obj->accum = _IQmpy(obj->accum, obj->coeff1) + _IQmpy(Z, obj->coeff2);
|
||||
|
||||
/* Put together the final output */
|
||||
obj->output = obj->accum + Z;
|
||||
}
|
||||
|
||||
/*! \brief Reset the SMC variables
|
||||
*
|
||||
* This function reset the SMC instance to the initial state.
|
||||
*
|
||||
* \param[in] obj : pointer to Smc instance
|
||||
*/
|
||||
static inline void Smc_Reset(SmcType *obj)
|
||||
{
|
||||
obj->accum = 0;
|
||||
obj->output = 0;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _SMC_H_ */
|
||||
128
cva_asw_m0118/SDK/lib/shared/common/sort/compare.h
Normal file
128
cva_asw_m0118/SDK/lib/shared/common/sort/compare.h
Normal file
@ -0,0 +1,128 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _COMPARE_H_
|
||||
#define _COMPARE_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the compare object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
#define FLOAT_EQUAL_DEADBAND (0.0001)
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief The greater than (>) comparison
|
||||
*
|
||||
* This function do the greater comparison between 2 IQ value
|
||||
*
|
||||
* \param[in] A : value A in IQ format
|
||||
* \param[in] B : value B in IQ format
|
||||
*/
|
||||
static inline bool Compare_GreaterThan(_iq A, _iq B)
|
||||
{
|
||||
return A > B;
|
||||
}
|
||||
|
||||
/*! \brief The smaller than (<) comparison
|
||||
*
|
||||
* This function do the smaller comparison between 2 IQ value
|
||||
*
|
||||
* \param[in] A : value A in IQ format
|
||||
* \param[in] B : value B in IQ format
|
||||
*/
|
||||
static inline bool Compare_SmallerThan(_iq A, _iq B)
|
||||
{
|
||||
return A < B;
|
||||
}
|
||||
|
||||
/*! \brief The greater than or equal (>=) comparison
|
||||
*
|
||||
* This function do the greater than or equal (>=) comparison between 2 IQ value
|
||||
*
|
||||
* \param[in] A : value A in IQ format
|
||||
* \param[in] B : value B in IQ format
|
||||
*/
|
||||
static inline bool Compare_GreaterOrEqual(_iq A, _iq B)
|
||||
{
|
||||
return A >= B;
|
||||
}
|
||||
|
||||
/*! \brief The smaller than or equal (<=) comparison
|
||||
*
|
||||
* This function do the smaller than or equal (<=) comparison between 2 IQ value
|
||||
*
|
||||
* \param[in] A : value A in IQ format
|
||||
* \param[in] B : value B in IQ format
|
||||
*/
|
||||
static inline bool Compare_SmallerOrEqual(_iq A, _iq B)
|
||||
{
|
||||
return A <= B;
|
||||
}
|
||||
|
||||
/*! \brief The equal (==) comparison
|
||||
*
|
||||
* This function do the equal (==) comparison between 2 IQ value
|
||||
*
|
||||
* \note If the IQ is floating value, it's not the exact equal because of the precision
|
||||
* of floating value.
|
||||
*
|
||||
* \param[in] A : value A in IQ format
|
||||
* \param[in] B : value B in IQ format
|
||||
*/
|
||||
static inline bool Compare_Equal(_iq A, _iq B)
|
||||
{
|
||||
if((long)_IQ(0.1))
|
||||
{ /* Fix-point IQ math */
|
||||
return (A == B);
|
||||
}
|
||||
else
|
||||
{
|
||||
return (_IQabs(A - B) < _IQ(FLOAT_EQUAL_DEADBAND));
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _COMPARE_H_ */
|
||||
139
cva_asw_m0118/SDK/lib/shared/common/sort/sort.h
Normal file
139
cva_asw_m0118/SDK/lib/shared/common/sort/sort.h
Normal file
@ -0,0 +1,139 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _SORT_H_
|
||||
#define _SORT_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the sort algorithms
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Return the max value in an array
|
||||
*
|
||||
* This function returns the max value in an array
|
||||
*
|
||||
* \param[in] array[] : the array to search
|
||||
* \param[in] len : the length of the array
|
||||
*/
|
||||
static inline _iq MaxInArray(const _iq array[], uint16_t len)
|
||||
{
|
||||
_iq retval = array[0];
|
||||
uint16_t i = 0;
|
||||
for(i = 0; i < len; i++)
|
||||
{
|
||||
if(array[i] > retval)
|
||||
{
|
||||
retval = array[i];
|
||||
}
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
/*! \brief Return the minimum value in an array
|
||||
*
|
||||
* This function returns the minimun value in an array
|
||||
*
|
||||
* \param[in] array[] : the array to search
|
||||
* \param[in] len : the length of the array
|
||||
*/
|
||||
static inline _iq MinInArray(const _iq array[], uint16_t len)
|
||||
{
|
||||
_iq retval = array[0];
|
||||
uint16_t i = 0;
|
||||
for(i = 0; i < len; i++)
|
||||
{
|
||||
if(array[i] < retval)
|
||||
{
|
||||
retval = array[i];
|
||||
}
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
/*! \brief Return the max absolute value in an array
|
||||
*
|
||||
* This function returns the max absolute value in an array
|
||||
*
|
||||
* \param[in] array[] : the array to search
|
||||
* \param[in] len : the length of the array
|
||||
*/
|
||||
static inline _iq MaxAbsInArray(const _iq array[], uint16_t len)
|
||||
{
|
||||
_iq retval = _IQabs(array[0]);
|
||||
uint16_t i = 0;
|
||||
for(i = 0; i < len; i++)
|
||||
{
|
||||
if(_IQabs(array[i]) > retval)
|
||||
{
|
||||
retval = _IQabs(array[i]);
|
||||
}
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
/*! \brief Return the minimum absolute value in an array
|
||||
*
|
||||
* This function returns the minimum absolute value in an array
|
||||
*
|
||||
* \param[in] array[] : the array to search
|
||||
* \param[in] len : the length of the array
|
||||
*/
|
||||
static inline _iq MinAbsInArray(const _iq array[], uint16_t len)
|
||||
{
|
||||
_iq retval = _IQabs(array[0]);
|
||||
uint16_t i = 0;
|
||||
for(i = 0; i < len; i++)
|
||||
{
|
||||
if(_IQabs(array[i]) < retval)
|
||||
{
|
||||
retval = _IQabs(array[i]);
|
||||
}
|
||||
}
|
||||
return retval;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _SORT_H_ */
|
||||
147
cva_asw_m0118/SDK/lib/shared/common/stimer/stimer.h
Normal file
147
cva_asw_m0118/SDK/lib/shared/common/stimer/stimer.h
Normal file
@ -0,0 +1,147 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _STIMER_H_
|
||||
#define _STIMER_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Software Timer (STIMER) object.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Declaration of STIMER object
|
||||
*/
|
||||
typedef struct _StimerType_
|
||||
{
|
||||
uint32_t counter; /*!< The counter register */
|
||||
uint32_t period; /*!< The period, time out will occur when count reach period */
|
||||
bool enable; /*!< Whether the timer is started */
|
||||
bool overflow; /*!< Whether the timer is overflow */
|
||||
|
||||
} StimerType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief The constructor of the timer object
|
||||
*
|
||||
* This function initialize the Stimer object
|
||||
*
|
||||
* \param[in] obj : pointer to Stimer instance
|
||||
*/
|
||||
static inline void Stimer_Init(StimerType *obj)
|
||||
{
|
||||
obj->counter = 0;
|
||||
obj->period = 0;
|
||||
obj->enable = false;
|
||||
obj->overflow = false;
|
||||
}
|
||||
|
||||
/*! \brief Start the timer for the period, this is one shot
|
||||
*
|
||||
* This function start the timer. This is one-shot.
|
||||
*
|
||||
* \note The real time is based on the time base running Ticker()
|
||||
* \note Call this function if already started will restart the timer
|
||||
*
|
||||
* \param[in] obj : pointer to Stimer instance
|
||||
* \param[in] period : the period value
|
||||
*/
|
||||
static inline void Stimer_Start(StimerType *obj, uint32_t period)
|
||||
{
|
||||
obj->counter = 0;
|
||||
obj->period = period;
|
||||
obj->enable = true;
|
||||
obj->overflow = false;
|
||||
}
|
||||
|
||||
/*! \brief The time base of the timer object
|
||||
*
|
||||
* This function provide the real time base of the stimer instance.
|
||||
*
|
||||
* \param[in] obj : pointer to Stimer instance
|
||||
*/
|
||||
static inline void Stimer_Tick(StimerType *obj)
|
||||
{
|
||||
if(obj->enable && obj->overflow == false)
|
||||
{
|
||||
if(obj->counter < obj->period)
|
||||
{
|
||||
obj->counter++;
|
||||
if(obj->counter == obj->period)
|
||||
{
|
||||
obj->overflow = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Whether timeout
|
||||
*
|
||||
* This function returns whether it's timeout
|
||||
*
|
||||
* \param[in] obj : pointer to Stimer instance
|
||||
* \return Whether it's timeout
|
||||
* - true : the timer is time-out
|
||||
* - false : the timer is not time-out
|
||||
*/
|
||||
static inline bool Stimer_Timeout(const StimerType *obj)
|
||||
{
|
||||
return obj->overflow;
|
||||
}
|
||||
|
||||
/*! \brief Whether it's started
|
||||
*
|
||||
* This function returns whether the Timer instance is started
|
||||
*
|
||||
* \param[in] obj : pointer to Stimer instance
|
||||
* \return Whether it's started
|
||||
* - true : the timer is started
|
||||
* - false : the timer is not started
|
||||
*/
|
||||
static inline bool Stimer_IsActive(StimerType *obj)
|
||||
{
|
||||
return obj->enable;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _STIMER_H_ */
|
||||
189
cva_asw_m0118/SDK/lib/shared/common/trigger/trigger.h
Normal file
189
cva_asw_m0118/SDK/lib/shared/common/trigger/trigger.h
Normal file
@ -0,0 +1,189 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _TRIGGER_H_
|
||||
#define _TRIGGER_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Trigger object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "common/sort/compare.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief The definition of Compare mode
|
||||
*/
|
||||
typedef enum
|
||||
{
|
||||
TRIGGER_COMPTYPE_OVER,
|
||||
TRIGGER_COMPTYPE_UNDER,
|
||||
} Trigger_CompModeType;
|
||||
|
||||
/*! \brief The definition of parameters of Trigger class
|
||||
*/
|
||||
typedef struct _Trigger_ParamsType_
|
||||
{
|
||||
Trigger_CompModeType compType;
|
||||
_iq threshold;
|
||||
_iq recoverValue;
|
||||
uint16_t trigCntMax;
|
||||
uint16_t recoverCntMax;
|
||||
bool isRecoverable;
|
||||
} Trigger_ParamsType;
|
||||
|
||||
/*! \brief The definition of Trigger prototype
|
||||
*/
|
||||
typedef struct _TriggerType_
|
||||
{
|
||||
_iq input; /*!< Input: The input for scan */
|
||||
|
||||
_iq threshold; /*!< Parameter: The threshold for compare */
|
||||
_iq recoverValue; /*!< Parameter: The recover value that will reverse trigger */
|
||||
uint16_t trigCntMax; /*!< Parameter: The max counts for the compare */
|
||||
uint16_t recoverCntMax; /*!< Parameter: The max counts for the recover */
|
||||
bool isRecoverable; /*!< Parameter: Whether the trigger can be recovered */
|
||||
|
||||
uint16_t trigCnt; /*!< Internal Variable: The count for the compare */
|
||||
uint16_t recoverCnt; /*!< Internal Variable: The count for the recover */
|
||||
bool (*comp)(_iq, _iq); /*!< Internal Variable: The compare function pointer */
|
||||
bool (*recover)(_iq, _iq); /*!< Internal Variable: The recover function pointer */
|
||||
|
||||
bool compSatisfied; /*!< Output: Whether compare satisfied without debounce */
|
||||
bool isTriggered; /*!< Output: Whether it's triggered based on compare and debounce */
|
||||
} TriggerType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief The initialization of Trigger
|
||||
*
|
||||
* This function initializes the trigger instance
|
||||
*
|
||||
* \param[in] obj : pointer to Trigger instance
|
||||
* \param[in] pParams : pointer to the parameters
|
||||
*/
|
||||
static inline void Trigger_Init(TriggerType *obj, const Trigger_ParamsType *pParams)
|
||||
{
|
||||
obj->trigCntMax = pParams->trigCntMax;
|
||||
obj->recoverCntMax = pParams->recoverCntMax;
|
||||
obj->threshold = pParams->threshold;
|
||||
obj->recoverValue = pParams->recoverValue;
|
||||
obj->isRecoverable = pParams->isRecoverable;
|
||||
if(pParams->compType == TRIGGER_COMPTYPE_OVER)
|
||||
{
|
||||
obj->comp = Compare_GreaterThan;
|
||||
obj->recover = Compare_SmallerThan;
|
||||
}
|
||||
else if(pParams->compType == TRIGGER_COMPTYPE_UNDER)
|
||||
{
|
||||
obj->comp = Compare_SmallerThan;
|
||||
obj->recover = Compare_GreaterThan;
|
||||
}
|
||||
|
||||
obj->trigCnt = 0;
|
||||
obj->recoverCnt = 0;
|
||||
obj->compSatisfied = false;
|
||||
obj->isTriggered = false;
|
||||
}
|
||||
|
||||
/*! \brief Run the trigger algorithm
|
||||
*
|
||||
* This function runs the trigger algorithm
|
||||
*
|
||||
* \param[in] obj : pointer to Trigger instance
|
||||
*/
|
||||
static inline void Trigger_Run(TriggerType *obj)
|
||||
{
|
||||
if(obj->comp(obj->input, obj->threshold))
|
||||
{
|
||||
obj->compSatisfied = true;
|
||||
obj->recoverCnt = 0;
|
||||
if(obj->trigCnt < obj->trigCntMax)
|
||||
{
|
||||
obj->trigCnt++;
|
||||
}
|
||||
if(obj->trigCnt >= obj->trigCntMax)
|
||||
{
|
||||
obj->isTriggered = true;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->compSatisfied = false;
|
||||
obj->trigCnt = 0;
|
||||
if(obj->isRecoverable)
|
||||
{
|
||||
if(obj->recover(obj->input, obj->recoverValue))
|
||||
{
|
||||
if(obj->recoverCnt < obj->recoverCntMax)
|
||||
{
|
||||
obj->recoverCnt++;
|
||||
}
|
||||
if(obj->recoverCnt >= obj->recoverCntMax)
|
||||
{
|
||||
obj->isTriggered = false;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->recoverCnt = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/*! \brief Reset the trigger instance
|
||||
*
|
||||
* This function reset the trigger to the initial state
|
||||
*
|
||||
* \param[in] obj : pointer to Trigger instance
|
||||
*/
|
||||
static inline void Trigger_Reset(TriggerType *obj)
|
||||
{
|
||||
obj->trigCnt = 0;
|
||||
obj->recoverCnt = 0;
|
||||
obj->compSatisfied = false;
|
||||
obj->isTriggered = false;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _TRIGGER_H_ */
|
||||
154
cva_asw_m0118/SDK/lib/shared/md_lib/acim/imefe.h
Normal file
154
cva_asw_m0118/SDK/lib/shared/md_lib/acim/imefe.h
Normal file
@ -0,0 +1,154 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _IMEFE_H_
|
||||
#define _IMEFE_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Induction Motor Enhance Flux Estimator (IMEFE) object.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "common/filter/iir_fo.h"
|
||||
#include "common/pid/pid.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize IMEFE object
|
||||
*/
|
||||
typedef struct _Imefe_ParamsType_
|
||||
{
|
||||
float Rs_ohm; /*!< Stator resistance (ohm) */
|
||||
float Rr_ohm; /*!< Rotor resistance (ohm) */
|
||||
float Ls_H; /*!< Stator inductance (H) */
|
||||
float Lr_H; /*!< Rotor inductance (H) */
|
||||
float Lm_H; /*!< Magnetizing inductance (H) */
|
||||
float IBase_A; /*!< Base phase current (amp) */
|
||||
float VBase_V; /*!< Base phase voltage (volt) */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float phaseCalcFreq_kHz; /*!< Frequency to run phase calculation */
|
||||
float responseSpeed_rps; /*!< The response speed in rad/s */
|
||||
float spdCalcFreq_kHz; /*!< Frequency to run phase calculation */
|
||||
float spdFilterPole_rps; /*!< Pole value of speed filter calculation */
|
||||
float gain; /*!< Controller Gain (0.0 to 0.9999) */
|
||||
float linearError; /*!< Controller Max allowed linear error (0.0 to 0.9999) */
|
||||
|
||||
} Imefe_ParamsType;
|
||||
|
||||
/*! \brief Defines the IMEFE object
|
||||
*/
|
||||
typedef struct _ImefeType_
|
||||
{
|
||||
_iq Ialpha; /*!< Input: The stationary d-axis stator current */
|
||||
_iq Ibeta; /*!< Input: The stationary q-axis stator current */
|
||||
_iq Valpha; /*!< Input: The stationary d-axis stator voltage */
|
||||
_iq Vbeta; /*!< Input: The stationary q-axis stator voltage */
|
||||
_iq emfAs; /*!< Internal Variable: The stationary d-axis emf */
|
||||
_iq emfBs; /*!< Internal Variable: The stationary q-axis emf */
|
||||
_iq psiAs; /*!< Internal Variable: The stationary d-axis psi */
|
||||
_iq psiBs; /*!< Internal Variable: The stationary q-axis psi */
|
||||
_iq psiAr; /*!< Internal Variable: The stationary d-axis psi */
|
||||
_iq psiBr; /*!< Internal Variable: The stationary q-axis psi */
|
||||
_iq gain1; /*!< Parameter: Motor dependent control gain */
|
||||
_iq sigma1; /*!< Parameter: Motor dependent control gain */
|
||||
_iq gain2; /*!< Parameter: Motor dependent control gain */
|
||||
_iq sigma2; /*!< Parameter: Motor dependent control gain */
|
||||
_iq Rs; /*!< Parameter: Motor dependent control gain */
|
||||
_iq model; /*!< Parameter: Motor dependent control gain */
|
||||
_iq gain3; /*!< Parameter: Motor dependent control gain */
|
||||
_iq gain4; /*!< Parameter: Motor dependent control gain */
|
||||
_iq gain5; /*!< Parameter: Motor dependent control gain */
|
||||
_iq factor; /*!< Parameter: Motor dependent control gain */
|
||||
_iq maxErr; /*!< Parameter: Motor dependent control max Error */
|
||||
IirFoType lpfFlx; /*!< Internal Variable: The filter for electric flux calculation */
|
||||
IirFoType lpfSpd; /*!< Internal Variable: The filter for electric speed calculation */
|
||||
PidType pidVAs; /*!< Internal Variable: The Stationary d-axis stator voltage PID */
|
||||
PidType pidVBs; /*!< Internal Variable: The Stationary q-axis stator voltage PID */
|
||||
PidType pidPLL; /*!< Internal Variable: The PLL PID */
|
||||
_iq rawSpeed_pu; /*!< Internal variable: The raw speed before filter in P.U. */
|
||||
_iq rawWslip_pu; /*!< Internal variable: The raw slip speed before filter in P.U. */
|
||||
_iq angle_pu; /*!< Output: The electric angle */
|
||||
_iq speed_pu; /*!< Output: The filtered electric speed updated every electric period */
|
||||
|
||||
} ImefeType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the IMEFE object
|
||||
*
|
||||
* This function initalizes IMEFE by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to IMEFE instance
|
||||
* \param[in] pParams : pointer to IMEFE configuration parameters
|
||||
*/
|
||||
extern int32_t Imefe_Init(ImefeType *obj, const Imefe_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the Angle Compensation
|
||||
*
|
||||
* This function runs IMEFE function, calculates Angle compensation value
|
||||
*
|
||||
* \param[in] obj : pointer to IMEFE instance
|
||||
*/
|
||||
extern int32_t Imefe_Run(ImefeType *obj);
|
||||
|
||||
/*! \brief Calculate the speed
|
||||
* \note Might run slower than current control frequency
|
||||
*
|
||||
*
|
||||
* \param[in] obj : pointer to IMEFE instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Imefe_CalcSpeed(ImefeType *obj);
|
||||
|
||||
/*! \brief Reset the IMEFE object
|
||||
*
|
||||
* This function resets the IMEFE relevant calculation parameters
|
||||
*
|
||||
* \param[in] obj : pointer to IMEFE instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Imefe_Reset(ImefeType *obj);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _IMEFE_H_ */
|
||||
39
cva_asw_m0118/SDK/lib/shared/md_lib/angle_comp/angle_comp.c
Normal file
39
cva_asw_m0118/SDK/lib/shared/md_lib/angle_comp/angle_comp.c
Normal file
@ -0,0 +1,39 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "angle_comp.h"
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the functions
|
||||
******************************************************************************/
|
||||
|
||||
void AngleComp_Init(AngleCompType *obj, const AngleComp_ParamsType *pParams)
|
||||
{
|
||||
obj->runFreq_kHz = pParams->runFreq_kHz;
|
||||
obj->compFactor = _IQ(pParams->fBase_Hz * 0.001 / pParams->runFreq_kHz * pParams->delayCompFactor);
|
||||
}
|
||||
117
cva_asw_m0118/SDK/lib/shared/md_lib/angle_comp/angle_comp.h
Normal file
117
cva_asw_m0118/SDK/lib/shared/md_lib/angle_comp/angle_comp.h
Normal file
@ -0,0 +1,117 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _ANGLE_COMP_H_
|
||||
#define _ANGLE_COMP_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Angle Compensation (ANGLE_COMP) object.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize ANGLE_COMP object
|
||||
*/
|
||||
typedef struct _AngleComp_ParamsType_
|
||||
{
|
||||
float runFreq_kHz; /*!< the frequency of running current loop in kHz */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float delayCompFactor; /*!< The factor used to compensate the delay caused by PWM generation. */
|
||||
} AngleComp_ParamsType;
|
||||
|
||||
/*! \brief Defines the ANGLE_COMP object
|
||||
*/
|
||||
typedef struct _AngleCompType_
|
||||
{
|
||||
_iq speed_pu; /*!< Input: the electrical speed in P.U. */
|
||||
_iq angleUncomp_pu; /*!< Input: the angle before compensation in P.U. */
|
||||
|
||||
_iq compFactor; /*!< Internal variable: The factor used to calculate delta angle */
|
||||
float runFreq_kHz; /*!< Internal variable: The frequency of running current loop in kHz */
|
||||
|
||||
_iq angleComp_pu; /*!< Output: the angle after compensation in P.U. */
|
||||
} AngleCompType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the ANGLE_COMP object
|
||||
*
|
||||
* This function initalizes ANGLE_COMP by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Angle_Comp instance
|
||||
* \param[in] pParams : pointer to Angle_Comp configuration parameters
|
||||
*/
|
||||
extern void AngleComp_Init(AngleCompType *obj, const AngleComp_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the Angle Compensation
|
||||
*
|
||||
* This function runs Angle_Comp function, calculates Angle compensation value
|
||||
*
|
||||
* \param[in] obj : pointer to Angle_Comp instance
|
||||
*/
|
||||
static inline void AngleComp_Run(AngleCompType *obj)
|
||||
{
|
||||
_iq angleTmp_pu = obj->angleUncomp_pu + _IQmpy(obj->compFactor, obj->speed_pu);
|
||||
|
||||
angleTmp_pu = _IQfrac(angleTmp_pu); /* get the fraction part */
|
||||
if(angleTmp_pu < 0)
|
||||
{
|
||||
angleTmp_pu += _IQ(1.0);
|
||||
}
|
||||
|
||||
obj->angleComp_pu = angleTmp_pu;
|
||||
}
|
||||
|
||||
/*! \brief Update the Angle Compensation configuration parameters
|
||||
*
|
||||
* This function updates the Angle_Comp function configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Angle_Comp instance
|
||||
* \param[in] runFreq_kHz : the frequency of running current loop
|
||||
*/
|
||||
static inline void AngleComp_UpdateParams(AngleCompType *obj, float runFreq_kHz)
|
||||
{
|
||||
obj->compFactor = _IQmpy(obj->compFactor, _IQ(obj->runFreq_kHz / runFreq_kHz));
|
||||
obj->runFreq_kHz = runFreq_kHz;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _ANGLE_COMP_H_ */
|
||||
39
cva_asw_m0118/SDK/lib/shared/md_lib/angle_comp/zero_offset.c
Normal file
39
cva_asw_m0118/SDK/lib/shared/md_lib/angle_comp/zero_offset.c
Normal file
@ -0,0 +1,39 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "zero_offset.h"
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the functions
|
||||
******************************************************************************/
|
||||
|
||||
void ZeroOffset_Init(ZeroOffsetType *obj, const ZeroOffset_ParamsType *pParams)
|
||||
{
|
||||
obj->scale = _IQ(pParams->delay_us * pParams->fBase_Hz / 1000000);
|
||||
obj->offset = -_IQmpy(obj->scale, _IQ(pParams->calibBaseOnSpd_Hz / pParams->fBase_Hz));
|
||||
}
|
||||
104
cva_asw_m0118/SDK/lib/shared/md_lib/angle_comp/zero_offset.h
Normal file
104
cva_asw_m0118/SDK/lib/shared/md_lib/angle_comp/zero_offset.h
Normal file
@ -0,0 +1,104 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _ZERO_OFFSET_H_
|
||||
#define _ZERO_OFFSET_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Zero angle Offset (ZERO_OFFSET) object.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize ZERO_OFFSET object
|
||||
*/
|
||||
typedef struct _ZeroOffset_ParamsType_
|
||||
{
|
||||
float calibBaseOnSpd_Hz; /*!< calibrate zero position base on speed in Hz */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float delay_us; /*!< The delay time for the current in */
|
||||
} ZeroOffset_ParamsType;
|
||||
|
||||
/*! \brief Defines the ANGLE_COMP object
|
||||
*/
|
||||
typedef struct _ZeroOffsetType_
|
||||
{
|
||||
_iq speed_pu; /*!< Input: the electrical speed in P.U. */
|
||||
_iq angleUncomp_pu; /*!< Input: the angle before compensation in P.U. */
|
||||
|
||||
_iq scale; /*!< Parameter: The scale for scale*speed+offset */
|
||||
_iq offset; /*!< Parameter: The offset for scale*speed+offset */
|
||||
|
||||
_iq angleComp_pu; /*!< Output: the angle after compensation in P.U. */
|
||||
} ZeroOffsetType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the ZERO_OFFSET object
|
||||
*
|
||||
* This function initalizes Zero_Offset by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Zero_Offset instance
|
||||
* \param[in] pParams : pointer to Zero_Offset configuration parameters
|
||||
*/
|
||||
extern void ZeroOffset_Init(ZeroOffsetType *obj, const ZeroOffset_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the ZERO_OFFSET Compensation
|
||||
*
|
||||
* This function runs Zero_Offset function, calculates zero offset value
|
||||
*
|
||||
* \param[in] obj : pointer to Zero_Offset instance
|
||||
*/
|
||||
static inline void ZeroOffset_Run(ZeroOffsetType *obj)
|
||||
{
|
||||
_iq angleTmp_pu = obj->angleUncomp_pu + _IQmpy(obj->scale, obj->speed_pu) + obj->offset;
|
||||
|
||||
angleTmp_pu = _IQfrac(angleTmp_pu); /* get the fraction part */
|
||||
if(angleTmp_pu < 0)
|
||||
{
|
||||
angleTmp_pu += _IQ(1.0);
|
||||
}
|
||||
|
||||
obj->angleComp_pu = angleTmp_pu;
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _ZERO_OFFSET_H_ */
|
||||
77
cva_asw_m0118/SDK/lib/shared/md_lib/clarke/clarke.h
Normal file
77
cva_asw_m0118/SDK/lib/shared/md_lib/clarke/clarke.h
Normal file
@ -0,0 +1,77 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _CLARKE_H_
|
||||
#define _CLARKE_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the clarke modules
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Clarke prototype definition
|
||||
*/
|
||||
typedef struct _ClarkeType_
|
||||
{
|
||||
_iq As; /*!< phase A component */
|
||||
_iq Bs; /*!< phase B component */
|
||||
_iq Cs; /*!< phase C component */
|
||||
_iq alpha; /*!< the alpha component */
|
||||
_iq beta; /*!< the beta component */
|
||||
} ClarkeType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Runs the clarke function
|
||||
*
|
||||
* This function runs clarke function, calculates clarke transforms value
|
||||
*
|
||||
* \param[in] obj : pointer to Clarke instance
|
||||
*/
|
||||
static inline void Clarke_Run(ClarkeType *obj)
|
||||
{
|
||||
obj->alpha = _IQmpy(_IQmpy2(obj->As) - (obj->Bs + obj->Cs), IQMATH_ONE_OVER_THREE);
|
||||
obj->beta = _IQmpy((obj->Bs - obj->Cs), IQMATH_ONE_OVER_SQRT_THREE);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _CLARKE_H_ */
|
||||
58
cva_asw_m0118/SDK/lib/shared/md_lib/clff/clff.c
Normal file
58
cva_asw_m0118/SDK/lib/shared/md_lib/clff/clff.c
Normal file
@ -0,0 +1,58 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "clff.h"
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the functions
|
||||
******************************************************************************/
|
||||
|
||||
void Clff_Init(ClffType *obj, const Clff_ParamsType *pParams)
|
||||
{
|
||||
/* Based value */
|
||||
obj->RsBase_ohm = pParams->VBase_V / pParams->IBase_A;
|
||||
obj->LBase_mH = pParams->VBase_V / pParams->IBase_A / (2 * MATH_PI * pParams->fBase_Hz) * 1000.0;
|
||||
obj->PsiBase_Wb = pParams->VBase_V / (2 * MATH_PI * pParams->fBase_Hz);
|
||||
|
||||
/*init value */
|
||||
_iq Vdc_pu = _IQ(pParams->ratedVdc_V / pParams->VBase_V);
|
||||
obj->Kd = _IQdiv(_IQ(pParams->Ld_mH / obj->LBase_mH), Vdc_pu);
|
||||
obj->Kq = _IQdiv(_IQ(pParams->Lq_mH / obj->LBase_mH), Vdc_pu);
|
||||
obj->Kf = _IQdiv(_IQ(pParams->flux_Wb / obj->PsiBase_Wb), Vdc_pu);
|
||||
obj->Kr = _IQdiv(_IQ(pParams->Rs_Ohm / obj->RsBase_ohm), Vdc_pu);
|
||||
|
||||
obj->minVdc_pu = _IQ(pParams->minVdc_V / pParams->VBase_V);
|
||||
obj->maxVdc_pu = _IQ(pParams->maxVdc_V / pParams->VBase_V);
|
||||
|
||||
obj->Vd = 0;
|
||||
obj->Vq = 0;
|
||||
}
|
||||
152
cva_asw_m0118/SDK/lib/shared/md_lib/clff/clff.h
Normal file
152
cva_asw_m0118/SDK/lib/shared/md_lib/clff/clff.h
Normal file
@ -0,0 +1,152 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _CLFF_H_
|
||||
#define _CLFF_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Current Loop Feed-Forward (CLFF) object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the initial parameters for CLFF object
|
||||
*/
|
||||
typedef struct _Clff_ParamsType_
|
||||
{
|
||||
float Rs_Ohm; /*!< Stationary resistance in Ohm */
|
||||
float Ld_mH; /*!< Normal D-axis inductance in mH */
|
||||
float Lq_mH; /*!< Normal Q-axis inductance in mH */
|
||||
float flux_Wb; /*!< The flux of rotor */
|
||||
float ratedVdc_V; /*!< Rated dc bus voltage */
|
||||
float IBase_A; /*!< Base value of current used for P.U. */
|
||||
float VBase_V; /*!< Base value of voltage used for P.U. */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float minVdc_V; /*!< Minimum DC voltage allowed */
|
||||
float maxVdc_V; /*!< Maximum DC voltage allowed */
|
||||
} Clff_ParamsType;
|
||||
|
||||
/*! \brief Defines the dynamic parameters used to update CLFF object
|
||||
*/
|
||||
typedef struct _Clff_DynamicParamsType_
|
||||
{
|
||||
float Rs_Ohm; /*!< Stationary resistance in Ohm */
|
||||
float Ld_mH; /*!< Normal D-axis inductance in mH */
|
||||
float Lq_mH; /*!< Normal Q-axis inductance in mH */
|
||||
float flux_Wb; /*!< The flux of rotor */
|
||||
_iq Vdc_pu; /*!< bus voltage in P.U. */
|
||||
} Clff_DynamicParamsType;
|
||||
|
||||
/*! \brief Defines the CLFF object
|
||||
*/
|
||||
typedef struct _ClffType_
|
||||
{
|
||||
_iq Id_pu; /*!< Input: Id current in P.U. */
|
||||
_iq Iq_pu; /*!< Input: Iq current in P.U. */
|
||||
_iq eleFreq_pu; /*!< Input: electrical frequency in P.U. */
|
||||
|
||||
_iq Kf; /*!< Parameter: coefficient determined by Back EMF */
|
||||
_iq Kd; /*!< Parameter: coefficient determined by Ld */
|
||||
_iq Kq; /*!< Parameter: coefficient determined by Lq */
|
||||
_iq Kr; /*!< Parameter: coefficient determined by Rs */
|
||||
float RsBase_ohm; /*!< Parameter: Base value of resistance used for P.U. */
|
||||
float LBase_mH; /*!< Parameter: Base value of Ls used for P.U. */
|
||||
float PsiBase_Wb; /*!< Parameter: Base value of flux used for P.U. */
|
||||
_iq minVdc_pu; /*!< Parameter: Minimum DC voltage allowed in P.U. */
|
||||
_iq maxVdc_pu; /*!< Parameter: Maximum DC voltage allowed in P.U. */
|
||||
|
||||
_iq Vd; /*!< Output: theoretical Vd */
|
||||
_iq Vq; /*!< Output: theoretical Vq */
|
||||
} ClffType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the CLFF object
|
||||
*
|
||||
* This function initalizes CLFF by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Clff instance
|
||||
* \param[in] pParams : pointer to CLFF configuration parameters
|
||||
*/
|
||||
extern void Clff_Init(ClffType *obj, const Clff_ParamsType *pParams);
|
||||
|
||||
/*! \brief Calculate the theoretical Vd, Vq
|
||||
*
|
||||
* This function runs Clff function, calculates the theoretical Vd, Vq value
|
||||
*
|
||||
* \param[in] obj : pointer to Clff instance
|
||||
*/
|
||||
static inline void Clff_Calc(ClffType *obj)
|
||||
{
|
||||
obj->Vd = _IQmpy(obj->Kr, obj->Id_pu)
|
||||
- _IQmpy(_IQmpy(obj->Kq, obj->Iq_pu), obj->eleFreq_pu);
|
||||
|
||||
obj->Vq = _IQmpy(obj->Kr, obj->Iq_pu)
|
||||
+ _IQmpy(_IQmpy(obj->Kd, obj->Id_pu) + obj->Kf, obj->eleFreq_pu);
|
||||
}
|
||||
|
||||
/*! \brief Update the parameters
|
||||
*
|
||||
* This function updates the Clff function configuration parameters dynamically
|
||||
*
|
||||
* \param[in] obj : pointer to Clff instance
|
||||
* \param[in] pParams : pointer to Clff dynamic configuration parameters instance
|
||||
*/
|
||||
static inline void Clff_UpdateParams(ClffType *obj, const Clff_DynamicParamsType *pParams)
|
||||
{
|
||||
if(pParams->Vdc_pu >= obj->minVdc_pu && pParams->Vdc_pu <= obj->maxVdc_pu)
|
||||
{
|
||||
obj->Kd = _IQdiv(_IQ(pParams->Ld_mH / obj->LBase_mH), pParams->Vdc_pu);
|
||||
obj->Kq = _IQdiv(_IQ(pParams->Lq_mH / obj->LBase_mH), pParams->Vdc_pu);
|
||||
obj->Kf = _IQdiv(_IQ(pParams->flux_Wb / obj->PsiBase_Wb), pParams->Vdc_pu);
|
||||
obj->Kr = _IQdiv(_IQ(pParams->Rs_Ohm / obj->RsBase_ohm), pParams->Vdc_pu);
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->Kd = 0;
|
||||
obj->Kq = 0;
|
||||
obj->Kf = 0;
|
||||
obj->Kr = 0;
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _CLFF_H_ */
|
||||
146
cva_asw_m0118/SDK/lib/shared/md_lib/estidc/estidc.h
Normal file
146
cva_asw_m0118/SDK/lib/shared/md_lib/estidc/estidc.h
Normal file
@ -0,0 +1,146 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _ESTIDC_H_
|
||||
#define _ESTIDC_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the DC current Estimation (ESTIDC) object.
|
||||
*
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the phase enumeration
|
||||
*/
|
||||
typedef enum
|
||||
{
|
||||
ESTIDC_PHASE_A = 0,
|
||||
ESTIDC_PHASE_B,
|
||||
ESTIDC_PHASE_C,
|
||||
ESTIDC_PHASE_U,
|
||||
ESTIDC_PHASE_V,
|
||||
ESTIDC_PHASE_W,
|
||||
|
||||
ESTIDC_PHASE_Num
|
||||
} Estidc_PhaseType;
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize ESTIDC object
|
||||
*/
|
||||
typedef struct _Estidc_ParamsType_
|
||||
{
|
||||
_iq Tdb; /*!< Percentage of dead-band */
|
||||
uint8_t phaseNumber; /*!< Number of phase */
|
||||
} Estidc_ParamsType;
|
||||
|
||||
/*! \brief data of each phase
|
||||
*/
|
||||
typedef struct _Estidc_PhaseDataType
|
||||
{
|
||||
_iq I; /*!< Current of ever phase */
|
||||
_iq T; /*!< 100%-(duty of ever phase ) */
|
||||
_iq prevI; /*!< The last Current of ever phase */
|
||||
_iq prevT; /*!< The last 100%-(duty of ever phase) */
|
||||
_iq prevPrevT; /*!< The previous last 100%-(duty of ever phase) */
|
||||
} Estidc_PhaseDataType;
|
||||
|
||||
/*! \brief Defines the ESTIDC object
|
||||
*/
|
||||
typedef struct _EstidcType_
|
||||
{
|
||||
_iq Ia; /*!< Input: current of phase A */
|
||||
_iq Ib; /*!< Input: current of phase B */
|
||||
_iq Ic; /*!< Input: current of phase C */
|
||||
_iq Iu; /*!< Input: current of phase U */
|
||||
_iq Iv; /*!< Input: current of phase V */
|
||||
_iq Iw; /*!< Input: current of phase W */
|
||||
_iq Ta; /*!< Input: 100%-(duty) of phase A */
|
||||
_iq Tb; /*!< Input: 100%-(duty) of phase B */
|
||||
_iq Tc; /*!< Input: 100%-(duty) of phase C */
|
||||
_iq Tu; /*!< Input: 100%-(duty) of phase U */
|
||||
_iq Tv; /*!< Input: 100%-(duty) of phase V */
|
||||
_iq Tw; /*!< Input: 100%-(duty) of phase W */
|
||||
|
||||
_iq Tdb; /*!< Parameter: Percentage of dead-band */
|
||||
uint16_t phaseNumber; /*!< Parameter: Number of phase */
|
||||
|
||||
Estidc_PhaseDataType data[ESTIDC_PHASE_Num]; /*!< Internal Variable: data of each phase */
|
||||
|
||||
_iq estIdc; /*!< Output: The estimated DC current */
|
||||
} EstidcType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the ESTIDC object
|
||||
*
|
||||
* This function initalizes Estidc by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Estidc instance
|
||||
* \param[in] pParams : pointer to Estidc configuration parameters
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Estidc_Init(EstidcType *obj, const Estidc_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the estimation
|
||||
*
|
||||
* This function runs Estidc function, calculates idc estimation value
|
||||
*
|
||||
* \param[in] obj : pointer to Estidc instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Estidc_Run(EstidcType *obj);
|
||||
|
||||
/*! \brief Update the parameters of ESTIDC object
|
||||
*
|
||||
* This function updates the Estidc function configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Estidc instance
|
||||
* \param[in] Tdb : the percentage of dead-band
|
||||
*/
|
||||
extern void Estidc_UpdateParams(EstidcType *obj, _iq Tdb);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _ESTIDC_H_ */
|
||||
54
cva_asw_m0118/SDK/lib/shared/md_lib/esttrq/esttrq_tf.c
Normal file
54
cva_asw_m0118/SDK/lib/shared/md_lib/esttrq/esttrq_tf.c
Normal file
@ -0,0 +1,54 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "esttrq_tf.h"
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the functions
|
||||
******************************************************************************/
|
||||
|
||||
void EstTrqTf_Init(EstTrqTfType *obj, const EstTrqTf_ParamsType *pParams)
|
||||
{
|
||||
obj->torqueFactor_I = _IQ(1.5 * pParams->polePairs * pParams->IBase_A / pParams->torqueBase_Nm);
|
||||
obj->torqueFactor_F = _IQ((pParams->Ld_mH - pParams->Lq_mH) * 0.001 * pParams->IBase_A);
|
||||
obj->flux_Wb = pParams->flux_Wb;
|
||||
obj->IBaseFactor = 0.001 * pParams->IBase_A;
|
||||
}
|
||||
|
||||
void EstTrqTf_Calc(EstTrqTfType *obj)
|
||||
{
|
||||
obj->torque_pu = _IQmpy(_IQmpy(obj->filteredIqFdb_pu,
|
||||
_IQmpy(obj->filteredIdFdb_pu, obj->torqueFactor_F) + obj->flux_Wb),
|
||||
obj->torqueFactor_I);
|
||||
}
|
||||
|
||||
void EstTrqTf_UpdateParams(EstTrqTfType *obj, float Ld_mH, float Lq_mH, float flux_Wb)
|
||||
{
|
||||
obj->torqueFactor_F = _IQ((Ld_mH - Lq_mH) * obj->IBaseFactor);
|
||||
obj->flux_Wb = flux_Wb;
|
||||
}
|
||||
110
cva_asw_m0118/SDK/lib/shared/md_lib/esttrq/esttrq_tf.h
Normal file
110
cva_asw_m0118/SDK/lib/shared/md_lib/esttrq/esttrq_tf.h
Normal file
@ -0,0 +1,110 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _ESTTRQ_TF_H_
|
||||
#define _ESTTRQ_TF_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Torque Estimation using Torque Formula method.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize ESTTRQ_TF object
|
||||
*/
|
||||
typedef struct _EstTrqTf_ParamsType_
|
||||
{
|
||||
float IBase_A; /*!< Base value of current used for P.U. */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float torqueBase_Nm; /*!< Base value of torque used for P.U. */
|
||||
uint32_t polePairs; /*!< Pole pairs of the motor */
|
||||
float Ld_mH; /*!< d-axis inductance in mH */
|
||||
float Lq_mH; /*!< q-axis inductance in mH */
|
||||
float flux_Wb; /*!< The flux of PM in Webers */
|
||||
} EstTrqTf_ParamsType;
|
||||
|
||||
/*! \brief Defines the ESTTRQ_TF object
|
||||
*/
|
||||
typedef struct _EstTrqTfType_
|
||||
{
|
||||
_iq filteredIdFdb_pu; /*!< Input: The Id feedback in P.U. */
|
||||
_iq filteredIqFdb_pu; /*!< Input: The Iq feedback in P.U. */
|
||||
|
||||
_iq flux_Wb; /*!< Parameter: The flux of PM in Webers */
|
||||
_iq torqueFactor_I; /*!< Parameter: Current factor to calculate torque */
|
||||
_iq torqueFactor_F; /*!< Parameter: Flux factor to calculate torque */
|
||||
float IBaseFactor; /*!< Parameter: Base current factor to calculate torque */
|
||||
|
||||
_iq torque_pu; /*!< Output: The estimated torque */
|
||||
} EstTrqTfType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the ESTTRQ_TF object
|
||||
*
|
||||
* This function initalizes Esttrq_Tf by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Esttrq_Tf instance
|
||||
* \param[in] pParams : pointer to parameters
|
||||
*/
|
||||
extern void EstTrqTf_Init(EstTrqTfType *obj, const EstTrqTf_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the Torque estimation
|
||||
*
|
||||
* This function runs Esttrq_Tf function, calculates torque estimation value
|
||||
*
|
||||
* \param[in] obj : pointer to Esttrq_Tf instance
|
||||
*/
|
||||
extern void EstTrqTf_Calc(EstTrqTfType *obj);
|
||||
|
||||
/*! \brief Update the parameters of ESTTRQ_TF object
|
||||
*
|
||||
* This function updates the Esttrq_Tf function configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Esttrq_Tf instance
|
||||
* \param[in] Ld_mH : d-axis inductance in mH
|
||||
* \param[in] Lq_mH : q-axis inductance in mH
|
||||
* \param[in] flux_Wb : the flux of PM in Webers
|
||||
*/
|
||||
extern void EstTrqTf_UpdateParams(EstTrqTfType *obj, float Ld_mH, float Lq_mH, float flux_Wb);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _ESTTRQ_TF_H_ */
|
||||
44
cva_asw_m0118/SDK/lib/shared/md_lib/fag/fag.c
Normal file
44
cva_asw_m0118/SDK/lib/shared/md_lib/fag/fag.c
Normal file
@ -0,0 +1,44 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "fag.h"
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the functions
|
||||
******************************************************************************/
|
||||
|
||||
void Fag_Init(FagType *obj, float fBase_Hz, float runFreq_kHz)
|
||||
{
|
||||
obj->factor = _IQ(fBase_Hz / (runFreq_kHz * 1000.0));
|
||||
obj->angle_pu = 0;
|
||||
obj->frequency_pu = 0;
|
||||
}
|
||||
116
cva_asw_m0118/SDK/lib/shared/md_lib/fag/fag.h
Normal file
116
cva_asw_m0118/SDK/lib/shared/md_lib/fag/fag.h
Normal file
@ -0,0 +1,116 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _FAG_H_
|
||||
#define _FAG_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the fag modules
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Fag prototype definition
|
||||
*/
|
||||
typedef struct _FagType_
|
||||
{
|
||||
_iq frequency_pu; /*!< Input: The electric frequency */
|
||||
|
||||
_iq factor; /*!< Internal Variable: The factor used to calculate the angle */
|
||||
|
||||
_iq angle_pu; /*!< Output: The angle generated */
|
||||
} FagType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the FAG object
|
||||
*
|
||||
* This function initalizes Fag by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Fag instance
|
||||
* \param[in] fBase_Hz : the default maximum current base frequency
|
||||
* \param[in] runFreq_kHz : the frequency of running current loop
|
||||
*/
|
||||
extern void Fag_Init(FagType *obj, float fBase_Hz, float runFreq_kHz);
|
||||
|
||||
/*! \brief Gets FAG calculation value
|
||||
*
|
||||
* This function gets Fag function calculation value
|
||||
*
|
||||
* \param[in] obj : pointer to Fag instance
|
||||
*/
|
||||
static inline _iq Fag_GetAngle(FagType *obj)
|
||||
{
|
||||
return (obj->angle_pu);
|
||||
}
|
||||
|
||||
/*! \brief Sets the frequency of false angle
|
||||
*
|
||||
* This function Sets the frequency of false angle
|
||||
*
|
||||
* \param[in] obj : pointer to Fag instance
|
||||
* \param[in] frequency : the desired frequency of false angle
|
||||
*/
|
||||
static inline void Fag_SetFrequency(FagType *obj, _iq frequency)
|
||||
{
|
||||
obj->frequency_pu = frequency;
|
||||
}
|
||||
|
||||
/*! \brief Runs the FAG
|
||||
*
|
||||
* This function runs Fag function, calculates dynamic changing false angle value
|
||||
*
|
||||
* \param[in] obj : pointer to Fag instance
|
||||
*/
|
||||
static inline void Fag_Run(FagType *obj)
|
||||
{
|
||||
obj->angle_pu += _IQmpy(obj->frequency_pu, obj->factor);
|
||||
|
||||
obj->angle_pu = _IQfrac(obj->angle_pu); /* Get the fraction part */
|
||||
if(obj->angle_pu < 0)
|
||||
{
|
||||
obj->angle_pu += _IQ(1.0);
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _FAG_H_ */
|
||||
223
cva_asw_m0118/SDK/lib/shared/md_lib/fast/fast.h
Normal file
223
cva_asw_m0118/SDK/lib/shared/md_lib/fast/fast.h
Normal file
@ -0,0 +1,223 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _FAST_H_
|
||||
#define _FAST_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Flux, Angle, Speed, Torque estimation (FAST) modules
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "common/pid/pid.h"
|
||||
#include "common/filter/iir_fo.h"
|
||||
#include "md_lib/clarke/clarke.h"
|
||||
#include "md_lib/park/park.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Fast prototype definition
|
||||
*/
|
||||
typedef struct _Fast_ParamsType_
|
||||
{
|
||||
uint32_t polePairs; /*!< Pole pairs of the motor */
|
||||
float runFreq_kHz; /*!< Frequency to run the process */
|
||||
float Rs_Ohm; /*!< Stationary resistance in Ohm */
|
||||
float Ld_mH; /*!< d-axis inductance in mH */
|
||||
float Lq_mH; /*!< q-axis inductance in mH */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float VBase_V; /*!< Base value of voltage used for P.U. */
|
||||
float IBase_A; /*!< Base value of current used for P.U. */
|
||||
float torqueBase_Nm; /*!< Base value of torque used for P.U. */
|
||||
float spdFilterPole_rps; /*!< Pole value of speed filter calculation */
|
||||
float dirFilterPole_rps; /*!< Pole value of speed direction filter calculation */
|
||||
float fluxFilterPole_rps; /*!< Pole value of flux filter calculation */
|
||||
float ratedVdc_V; /*!< The rated phase-to-ground voltage */
|
||||
float fstCalcFreq_kHz; /*!< The calculation frequency of flux, speed and torque */
|
||||
float minElecFreq_Hz; /*!< The min speed supported in Hz */
|
||||
float fluxBase_Wb; /*!< Base value of current used for P.U. */
|
||||
float defaultFlux_Wb; /*!< The default value of flux in Wb */
|
||||
float gain; /*!< Controller Gain (0.0 to 0.9999) */
|
||||
float linearError; /*!< Controller Max allowed linear error (0.0 to 0.9999) */
|
||||
float dampingFactor; /*!< Damping factor of controller */
|
||||
} Fast_ParamsType;
|
||||
|
||||
/*! \brief Defines the dynamic parameters used to update Fast object
|
||||
*/
|
||||
typedef struct _Fast_DynamicParamsType_
|
||||
{
|
||||
float runFreq_kHz; /*!< Frequency to run the process */
|
||||
float Rs_Ohm; /*!< Stationary resistance in Ohm */
|
||||
float Ld_mH; /*!< d-axis inductance in mH */
|
||||
float Lq_mH; /*!< q-axis inductance in mH */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float VBase_V; /*!< Base value of voltage used for P.U. */
|
||||
float IBase_A; /*!< Base value of current used for P.U. */
|
||||
} Fast_DynamicParamsType;
|
||||
|
||||
/*! \brief Defines the Fast type
|
||||
*/
|
||||
typedef struct _FastType_
|
||||
{
|
||||
_iq Ia_pu; /*!< Input: The Stationary current of phase A */
|
||||
_iq Ib_pu; /*!< Input: The Stationary current of phase B */
|
||||
_iq Ic_pu; /*!< Input: The Stationary current of phase C */
|
||||
_iq Va_pu; /*!< Input: The Stationary voltage of phase A */
|
||||
_iq Vb_pu; /*!< Input: The Stationary voltage of phase B */
|
||||
_iq Vc_pu; /*!< Input: The Stationary voltage of phase C */
|
||||
|
||||
_iq Fdsmo; /*!< Parameter: Motor dependent control gain */
|
||||
_iq Fqsmo; /*!< Parameter: Motor dependent control gain */
|
||||
_iq Gdsmo; /*!< Parameter: Motor dependent control gain */
|
||||
_iq Gqsmo; /*!< Parameter: Motor dependent control gain */
|
||||
_iq Kdsmo; /*!< Parameter: Motor dependent control gain */
|
||||
_iq Kqsmo; /*!< Parameter: Motor dependent control gain */
|
||||
_iq Kslide; /*!< Parameter: Sliding control gain */
|
||||
_iq maxError; /*!< Parameter: Maximum current error for linear SMC */
|
||||
_iq angleFactor; /*!< Parameter: Factor to calculate angle from speed */
|
||||
_iq fluxFactor; /*!< Parameter: Factor to calculate flux */
|
||||
_iq torqueFactor_I; /*!< Parameter: Current factor to calculate torque */
|
||||
_iq torqueFactor_F; /*!< Parameter: Flux factor to calculate torque */
|
||||
_iq minSpd_pu; /*!< Parameter: Min electric speed in P.U. */
|
||||
_iq defaultFlux_pu; /*!< Parameter: The default value of flux in P.U. */
|
||||
|
||||
_iq Vd; /*!< Internal Variable: The d-axis voltage */
|
||||
_iq Vq; /*!< Internal Variable: The q-axis voltage */
|
||||
_iq Zd; /*!< Internal Variable: Stationary d-axis sliding control */
|
||||
_iq Zq; /*!< Internal Variable: Stationary q-axis sliding control */
|
||||
_iq Eq; /*!< Internal Variable: Stationary q-axis back EMF */
|
||||
ClarkeType clarkeI; /*!< Internal Variable: The clarke transform for current */
|
||||
ClarkeType clarkeV; /*!< Internal Variable: The clarke transform for current */
|
||||
ParkType parkI; /*!< Internal Variable: The park transform for current */
|
||||
ParkType parkV; /*!< Internal Variable: The park transform for current */
|
||||
PidType pidPLL; /*!< Internal Variable: The PLL PID */
|
||||
_iq Id; /*!< Internal Variable: The d-axis current */
|
||||
_iq Iq; /*!< Internal Variable: The q-axis current */
|
||||
_iq IdEst; /*!< Internal Variable: Estimated d-axis current */
|
||||
_iq IqEst; /*!< Internal Variable: Estimated q-axis current */
|
||||
_iq IdError; /*!< Internal Variable: The d-axis current error */
|
||||
_iq IqError; /*!< Internal Variable: The q-axis current error */
|
||||
IirFoType filterSpd; /*!< Internal Variable: The filter for electric speed calculation */
|
||||
IirFoType filterDir; /*!< Internal Variable: The filter for speed direction detection */
|
||||
IirFoType filterFlux; /*!< Internal Variable: The filter for flux calculation */
|
||||
int16_t spdDir; /*!< Internal Variable: The actual speed direction; 1:forward, -1:backward */
|
||||
_iq rawSpeed_pu; /*!< Internal variable: The raw speed before filter in P.U. */
|
||||
_iq currentAngle_pu; /*!< Internal variable: The angle for this control loop */
|
||||
_iq nextAngle_pu; /*!< Internal variable: The angle for next control loop */
|
||||
|
||||
_iq angle_pu; /*!< Output: The electric angle */
|
||||
_iq speed_pu; /*!< Output: The filtered electric speed updated every electric period */
|
||||
_iq flux_pu; /*!< Output: The flux of PM in P.U. */
|
||||
_iq torque_pu; /*!< Output: The electrical torque in P.U. */
|
||||
} FastType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the FAST object
|
||||
*
|
||||
* This function initalizes Fast by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Fast instance
|
||||
* \param[in] pParams : pointer to Fast configuration parameters
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Fast_Init(FastType *obj, const Fast_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the FAST
|
||||
*
|
||||
* This function runs Fast function, calculates Fast relevant value
|
||||
*
|
||||
* \param[in] obj : pointer to Fast instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Fast_Run(FastType *obj);
|
||||
|
||||
/*! \brief Calculates current motor speed
|
||||
*
|
||||
* This function calculates current motor speed based on Fast estimation parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Fast instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Fast_CalcSpeed(FastType *obj);
|
||||
|
||||
/*! \brief Calculates current motor parameters
|
||||
*
|
||||
* This function calculates current motor flux and torque
|
||||
* based on Fast estimation parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Fast instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Fast_CalcFluxAndTorque(FastType *obj);
|
||||
|
||||
/*! \brief Updates configuration parameters
|
||||
*
|
||||
* This function updates configuration parameters dynamically
|
||||
*
|
||||
* \param[in] obj : pointer to Fast instance
|
||||
* \param[in] pParams : pointer to Fast configuration parameters
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Fast_UpdateParams(FastType *obj, const Fast_DynamicParamsType *pParams);
|
||||
|
||||
/*! \brief Reset the Fast object
|
||||
*
|
||||
* This function resets the Fast relevant calculation parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Fast instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Fast_Reset(FastType *obj);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _FAST_H_ */
|
||||
240
cva_asw_m0118/SDK/lib/shared/md_lib/foc/efoc.h
Normal file
240
cva_asw_m0118/SDK/lib/shared/md_lib/foc/efoc.h
Normal file
@ -0,0 +1,240 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _EFOC_H_
|
||||
#define _EFOC_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Enhanced Field-Oriented Control (EFOC) object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "md_lib/clarke/clarke.h"
|
||||
#include "md_lib/park/park.h"
|
||||
#include "md_lib/ipark/ipark.h"
|
||||
#include "md_lib/svgen/svgen.h"
|
||||
#include "md_lib/fullwave/fullwave.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the control type of the EFOC
|
||||
*/
|
||||
typedef enum
|
||||
{
|
||||
EFOC_CTRLTYPE_VVVF = 0,
|
||||
EFOC_CTRLTYPE_CURRENTLOOP,
|
||||
EFOC_CTRLTYPE_FULLWAVE,
|
||||
EFOC_CTRLTYPE_OFFLINE,
|
||||
} EFoc_CtrlModeType;
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize EFOC object
|
||||
*/
|
||||
typedef struct _EFoc_ParamsType_
|
||||
{
|
||||
float VsMax_pu; /*!< Max allowed Vs */
|
||||
float VdMaxScale; /*!< Max allowed Vd scale factor based on Vs. */
|
||||
float minVdc_V; /*!< Minimum DC voltage allowed */
|
||||
float maxVdc_V; /*!< Maximum DC voltage allowed */
|
||||
float Rs_Ohm; /*!< Stationary resistance in Ohm */
|
||||
float Ld_mH; /*!< Normal D-axis inductance in mH */
|
||||
float Lq_mH; /*!< Normal Q-axis inductance in mH */
|
||||
float flux_Wb; /*!< The flux of rotor */
|
||||
float runFreq_kHz; /*!< Frequency to run FOC */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float VBase_V; /*!< Base value of voltage used for P.U. */
|
||||
float ratedVdc_V; /*!< Rated dc bus voltage */
|
||||
float IBase_A; /*!< Base value of current used for P.U. */
|
||||
EFoc_CtrlModeType ctrlType; /*!< Control type of FOC */
|
||||
float switchTime_ms; /*!< The switch time between FOC and full wave */
|
||||
float fullwaveBWScale; /*!< Current control run frequency / Bandwidth in full wave mode */
|
||||
float lambda; /*!< Control parameter for the decouple network */
|
||||
float alpha; /*!< Control parameter for the Ls */
|
||||
float beta; /*!< Control parameter for the Rs */
|
||||
} EFoc_ParamsType;
|
||||
|
||||
/*! \brief Defines the dynamic parameters used to update EFOC object
|
||||
*/
|
||||
typedef struct _EFoc_DynamicParamsType_
|
||||
{
|
||||
float Rs_Ohm; /*!< Stationary resistance in Ohm */
|
||||
float Ld_mH; /*!< Normal D-axis inductance in mH */
|
||||
float Lq_mH; /*!< Normal Q-axis inductance in mH */
|
||||
float flux_Wb; /*!< The flux of rotor */
|
||||
float runFreq_kHz; /*!< Frequency to run FOC */
|
||||
_iq Vdc_pu; /*!< DC bus voltage */
|
||||
float lambda; /*!< Control parameter for the decouple network */
|
||||
float alpha; /*!< Control parameter for the Ls */
|
||||
float beta; /*!< Control parameter for the Rs */
|
||||
} EFoc_DynamicParamsType;
|
||||
|
||||
/*! \brief Defines the EFOC object
|
||||
*/
|
||||
typedef struct _EFocType_
|
||||
{
|
||||
_iq Ia_pu; /*!< Input: The phase-A current */
|
||||
_iq Ib_pu; /*!< Input: The phase-B current */
|
||||
_iq Ic_pu; /*!< Input: The phase-C current */
|
||||
_iq parkSinTh; /*!< Input: The sin value for PARK transform */
|
||||
_iq parkCosTh; /*!< Input: The cos value for PARK transform */
|
||||
_iq iparkSinTh; /*!< Input: The sin value for IPARK transform */
|
||||
_iq iparkCosTh; /*!< Input: The cos value for IPARK transform */
|
||||
_iq Vref; /*!< Input: Only used in VVVF mode */
|
||||
_iq IdRef; /*!< Input: The Id reference */
|
||||
_iq IqRef; /*!< Input: The Iq reference */
|
||||
_iq speed_pu; /*!< Input: Feedback speed in P.U. */
|
||||
_iq compVd; /*!< Input: The compensation value of Vd, normally is 0 */
|
||||
_iq compVq; /*!< Input: The compensation value of Vq, normally is 0 */
|
||||
|
||||
_iq VsMax; /*!< Parameters: Max value of Vs */
|
||||
_iq VdMax; /*!< Parameters: Max value of Vd */
|
||||
EFoc_CtrlModeType ctrlType; /*!< Parameters: Control type of FOC */
|
||||
_iq minVdc_pu; /*!< Parameter: Minimum DC voltage allowed in P.U. */
|
||||
_iq maxVdc_pu; /*!< Parameter: Maximum DC voltage allowed in P.U.*/
|
||||
|
||||
_iq Kr; /*!< Internal variable: coefficient determined by Rs */
|
||||
_iq Kd_Vd; /*!< Internal variable: coefficient determined by Ld in Vd equation */
|
||||
_iq Kq_Vd; /*!< Internal variable: coefficient determined by Lq in Vd equation */
|
||||
_iq Kq_Vq; /*!< Internal variable: coefficient determined by Lq in Vq equation */
|
||||
_iq Kd_Vq; /*!< Internal variable: coefficient determined by Ld in Vq equation */
|
||||
_iq Kf; /*!< Internal variable: coefficient determined by flux in Vq equation */
|
||||
float factorR; /*!< Internal variable: factor of IBase/VBase */
|
||||
float factorL; /*!< Internal variable: factor of fBase*IBase/VBase */
|
||||
float factorBemf; /*!< Internal variable: factor of fBase/VBase */
|
||||
ClarkeType clarkeI; /*!< Internal variable: Clarke transform of current */
|
||||
ParkType park; /*!< Internal variable: Part transform */
|
||||
IparkType ipark; /*!< Internal variable: iPark transform */
|
||||
SvgenType svgen; /*!< Internal variable: SVPWM generator */
|
||||
FullWaveType fullwave; /*!< Internal variable: Full wave control */
|
||||
_iq Vd; /*!< Internal variable: Vd */
|
||||
_iq Vq; /*!< Internal variable: Vq */
|
||||
_iq lastErrorId; /*!< Internal variable: Last error of Id */
|
||||
_iq lastErrorIq; /*!< Internal variable: Last error of Iq */
|
||||
_iq VdAccum; /*!< Internal variable: The accumulator of Vd */
|
||||
_iq VqAccum; /*!< Internal variable: The accumulator of Vq */
|
||||
|
||||
_iq Vs; /*!< Output: Clarke transform of current */
|
||||
} EFocType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the EFOC object
|
||||
*
|
||||
* This function initalizes EFoc by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to EFoc instance
|
||||
* \param[in] pParams : pointer to EFoc configuration parameters
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t EFoc_Init(EFocType *obj, const EFoc_ParamsType *pParams);
|
||||
|
||||
/*! \brief Set the current feedback value
|
||||
*
|
||||
* This function sets current feedback value
|
||||
*
|
||||
* \param[in] obj : pointer to EFoc instance
|
||||
* \param[in] Ia_pu : The phase-A current in P.U.
|
||||
* \param[in] Ib_pu : The phase-B current in P.U.
|
||||
* \param[in] Ic_pu : The phase-C current in P.U.
|
||||
*/
|
||||
static inline void EFoc_SetCurrentFdb(EFocType *obj, _iq Ia_pu, _iq Ib_pu, _iq Ic_pu)
|
||||
{
|
||||
obj->Ia_pu = Ia_pu;
|
||||
obj->Ib_pu = Ib_pu;
|
||||
obj->Ic_pu = Ic_pu;
|
||||
}
|
||||
|
||||
/*! \brief The main process function of EFoc
|
||||
*
|
||||
* This function runs EFoc function, perform motor control functions
|
||||
*
|
||||
* \param[in] obj : pointer to EFoc instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t EFoc_Run(EFocType *obj);
|
||||
|
||||
/*! \brief Get the PWM compare value of EFoc
|
||||
*
|
||||
* This function gets three phase duty
|
||||
*
|
||||
* \param[in] obj : pointer to EFoc instance
|
||||
* \param[out] Ta : the phase-A duty
|
||||
* \param[out] Tb : the phase-B duty
|
||||
* \param[out] Tc : the phase-C duty
|
||||
*/
|
||||
extern void EFoc_GetPwmCompareValue(EFocType *obj, _iq *Ta, _iq *Tb, _iq *Tc);
|
||||
|
||||
/*! \brief Reset the EFoc object
|
||||
*
|
||||
* This function resets the EFoc relevant calculation parameters
|
||||
*
|
||||
* \param[in] obj : pointer to EFoc instance
|
||||
*/
|
||||
extern void EFoc_Reset(EFocType *obj);
|
||||
|
||||
/*! \brief Update the parameters of EFoc
|
||||
*
|
||||
* This function updates the EFoc function configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to EFoc instance
|
||||
* \param[in] pParams : pointer to control configuration paramter
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t EFoc_UpdateParams(EFocType *obj, const EFoc_DynamicParamsType *pParams);
|
||||
|
||||
/*! \brief Change the control type of EFoc
|
||||
*
|
||||
* This function updates the EFoc function configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to EFoc instance
|
||||
* \param[in] ctrlType : the control type of the EFOC
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t EFoc_ChangeCtrlType(EFocType *obj, EFoc_CtrlModeType ctrlType);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _EFOC_H_ */
|
||||
241
cva_asw_m0118/SDK/lib/shared/md_lib/foc/foc.c
Normal file
241
cva_asw_m0118/SDK/lib/shared/md_lib/foc/foc.c
Normal file
@ -0,0 +1,241 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "foc.h"
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
#define FULL_WAVE_VS (_IQ(0.66666)) /* The Vs used in full wave mode */
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the functions
|
||||
******************************************************************************/
|
||||
|
||||
void Foc_Init(FocType *obj, const Foc_ParamsType *pParams)
|
||||
{
|
||||
obj->ctrlType = pParams->ctrlType;
|
||||
|
||||
obj->minVdc_pu = _IQ(pParams->minVdc_V / pParams->VBase_V);
|
||||
obj->maxVdc_pu = _IQ(pParams->maxVdc_V / pParams->VBase_V);
|
||||
obj->factorKpKi = 2 * MATH_PI * pParams->IBase_A / pParams->VBase_V / pParams->bandWidthScale;
|
||||
|
||||
/* Calculate PID parameters */
|
||||
_iq Ki_parallel = _IQ(2 * MATH_PI * pParams->Rs_Ohm / pParams->bandWidthScale
|
||||
* pParams->IBase_A / pParams->ratedVdc_V);
|
||||
_iq Kp_parallel = _IQ(2 * MATH_PI * pParams->Ld_mH * pParams->runFreq_kHz / pParams->bandWidthScale
|
||||
* pParams->IBase_A / pParams->ratedVdc_V);
|
||||
|
||||
obj->VsMax = _IQ(pParams->VsMax_pu);
|
||||
obj->VdMax = _IQ(pParams->VsMax_pu * pParams->VdMaxScale);
|
||||
|
||||
/* Apply to current PID, note that the pidIq limits will be set dynamically, so just set 0 when init */
|
||||
Pid_Init(&obj->pidId, Kp_parallel, Ki_parallel, 0, -obj->VdMax, obj->VdMax);
|
||||
|
||||
Ki_parallel = _IQ(2 * MATH_PI * pParams->Rs_Ohm / pParams->bandWidthScale
|
||||
* pParams->IBase_A / pParams->ratedVdc_V);
|
||||
Kp_parallel = _IQ(2 * MATH_PI * pParams->Lq_mH * pParams->runFreq_kHz / pParams->bandWidthScale
|
||||
* pParams->IBase_A / pParams->ratedVdc_V);
|
||||
Pid_Init(&obj->pidIq, Kp_parallel, Ki_parallel, 0, 0, 0);
|
||||
|
||||
/* Full wave control */
|
||||
FullWave_ParamsType fullwaveParams;
|
||||
fullwaveParams.Rs_Ohm = pParams->Rs_Ohm;
|
||||
fullwaveParams.Ld_mH = pParams->Ld_mH;
|
||||
fullwaveParams.runFreq_kHz = pParams->runFreq_kHz;
|
||||
fullwaveParams.ratedVdc_V = pParams->ratedVdc_V;
|
||||
fullwaveParams.IBase_A = pParams->IBase_A;
|
||||
fullwaveParams.VsMax = pParams->VsMax_pu;
|
||||
fullwaveParams.VdMaxScale = pParams->VdMaxScale;
|
||||
fullwaveParams.VsRampStep = FULL_WAVE_VS / (pParams->switchTime_ms * pParams->runFreq_kHz);
|
||||
fullwaveParams.bandWidthScale = pParams->fullwaveBWScale;
|
||||
FullWave_Init(&obj->fullwave, &fullwaveParams);
|
||||
|
||||
obj->svgen.mode = SVGEN_MODE_NORMAL;
|
||||
|
||||
obj->IdRef = 0;
|
||||
obj->IqRef = 0;
|
||||
obj->Vref = 0;
|
||||
obj->Vdff = 0;
|
||||
obj->Vqff = 0;
|
||||
}
|
||||
|
||||
void Foc_Run(FocType *obj)
|
||||
{
|
||||
if(obj->ctrlType == FOC_CTRLTYPE_VVVF)
|
||||
{
|
||||
/* No current control */
|
||||
obj->ipark.Ds = obj->Vref;
|
||||
obj->ipark.Qs = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
/* Clarke transform */
|
||||
obj->clarkeI.As = obj->Ia_pu;
|
||||
obj->clarkeI.Bs = obj->Ib_pu;
|
||||
obj->clarkeI.Cs = obj->Ic_pu;
|
||||
Clarke_Run(&obj->clarkeI);
|
||||
|
||||
/* Park transform */
|
||||
obj->park.alpha = obj->clarkeI.alpha;
|
||||
obj->park.beta = obj->clarkeI.beta;
|
||||
obj->park.sinTh = obj->parkSinTh;
|
||||
obj->park.cosTh = obj->parkCosTh;
|
||||
Park_Run(&obj->park);
|
||||
|
||||
if(obj->ctrlType == FOC_CTRLTYPE_CURRENTLOOP)
|
||||
{
|
||||
/* Id PID */
|
||||
obj->pidId.ref = obj->IdRef;
|
||||
obj->pidId.fdb = obj->park.Ds;
|
||||
Pid_Run(&obj->pidId);
|
||||
obj->Vd = _IQsat(obj->pidId.output + obj->Vdff, obj->VdMax, -obj->VdMax);
|
||||
|
||||
/* Vq limit calculation */
|
||||
_iq VsMaxSqr = _IQmpy(obj->VsMax, obj->VsMax);
|
||||
_iq VdSqr = _IQmpy(obj->Vd, obj->Vd);
|
||||
_iq VqMaxSqr = VdSqr < VsMaxSqr ? VsMaxSqr - VdSqr : 0;
|
||||
_iq VqMax = _IQsqrt(VqMaxSqr);
|
||||
|
||||
/* Iq PID */
|
||||
obj->pidIq.outMax = VqMax;
|
||||
obj->pidIq.outMin = -VqMax;
|
||||
obj->pidIq.ref = obj->IqRef;
|
||||
obj->pidIq.fdb = obj->park.Qs;
|
||||
Pid_Run(&obj->pidIq);
|
||||
obj->Vq = _IQsat(obj->pidIq.output + obj->Vqff, VqMax, -VqMax);
|
||||
|
||||
/* IPARK */
|
||||
obj->ipark.Ds = obj->Vd;
|
||||
obj->ipark.Qs = obj->Vq;
|
||||
}
|
||||
else if(obj->ctrlType == FOC_CTRLTYPE_FULLWAVE)
|
||||
{
|
||||
/* Full-wave control */
|
||||
obj->fullwave.IqRef_pu = obj->IqRef;
|
||||
obj->fullwave.Iq_pu = obj->park.Qs;
|
||||
obj->fullwave.speed_pu = obj->speed_pu;
|
||||
obj->fullwave.Vdff = obj->Vdff;
|
||||
FullWave_Run(&obj->fullwave);
|
||||
|
||||
/* IPARK */
|
||||
obj->ipark.Ds = obj->fullwave.Vd;
|
||||
obj->ipark.Qs = obj->fullwave.Vq;
|
||||
}
|
||||
}
|
||||
|
||||
obj->ipark.sinTh = obj->iparkSinTh;
|
||||
obj->ipark.cosTh = obj->iparkCosTh;
|
||||
IPark_Run(&obj->ipark);
|
||||
|
||||
/* Calculate Vs */
|
||||
obj->Vs = _IQmag(obj->ipark.Ds, obj->ipark.Qs);
|
||||
|
||||
/* SVGEN */
|
||||
obj->svgen.Ualpha = obj->ipark.alpha;
|
||||
obj->svgen.Ubeta = obj->ipark.beta;
|
||||
Svgen_Run(&obj->svgen);
|
||||
}
|
||||
|
||||
void Foc_GetPwmCompareValue(FocType *obj, _iq *Ta, _iq *Tb, _iq *Tc)
|
||||
{
|
||||
*Ta = obj->svgen.Ta;
|
||||
*Tb = obj->svgen.Tb;
|
||||
*Tc = obj->svgen.Tc;
|
||||
}
|
||||
|
||||
void Foc_Reset(FocType *obj)
|
||||
{
|
||||
obj->IqRef = 0; /* Clear IqRef first just to be safe */
|
||||
obj->IdRef = 0;
|
||||
obj->pidId.Ui = 0;
|
||||
obj->pidId.output = 0;
|
||||
obj->pidIq.Ui = 0;
|
||||
obj->pidIq.output = 0;
|
||||
obj->Vd = 0;
|
||||
obj->Vq = 0;
|
||||
obj->ipark.Ds = 0;
|
||||
obj->ipark.Qs = 0;
|
||||
obj->Vdff = 0;
|
||||
obj->Vqff = 0;
|
||||
}
|
||||
|
||||
void Foc_UpdateParams(FocType *obj, const Foc_DynamicParamsType *pParams)
|
||||
{
|
||||
if(pParams->Vdc_pu >= obj->minVdc_pu && pParams->Vdc_pu <= obj->maxVdc_pu)
|
||||
{
|
||||
if(obj->ctrlType != FOC_CTRLTYPE_FULLWAVE)
|
||||
{
|
||||
obj->pidId.Kp = _IQdiv(_IQ(obj->factorKpKi * pParams->Ld_mH * pParams->runFreq_kHz), pParams->Vdc_pu);
|
||||
obj->pidId.Ki = _IQdiv(_IQ(obj->factorKpKi * pParams->Rs_Ohm), pParams->Vdc_pu);
|
||||
|
||||
obj->pidIq.Kp = _IQdiv(_IQ(obj->factorKpKi * pParams->Lq_mH * pParams->runFreq_kHz), pParams->Vdc_pu);
|
||||
obj->pidIq.Ki = obj->pidId.Ki;
|
||||
}
|
||||
else
|
||||
{
|
||||
FullWave_DynamicParamsType fullwaveDynamicParams;
|
||||
fullwaveDynamicParams.Rs_Ohm = pParams->Rs_Ohm;
|
||||
fullwaveDynamicParams.Ld_mH = pParams->Ld_mH;
|
||||
fullwaveDynamicParams.runFreq_kHz = pParams->runFreq_kHz;
|
||||
fullwaveDynamicParams.Vdc_pu = pParams->Vdc_pu;
|
||||
FullWave_UpdateParams(&obj->fullwave, &fullwaveDynamicParams);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void Foc_ChangeCtrlType(FocType *obj, Foc_CtrlModeType ctrlType)
|
||||
{
|
||||
if(obj->ctrlType != FOC_CTRLTYPE_FULLWAVE
|
||||
&& ctrlType == FOC_CTRLTYPE_FULLWAVE)
|
||||
{ /* Switch to full wave control */
|
||||
/* Remember the current Vd, Vq */
|
||||
obj->fullwave.Vd = obj->ipark.Ds;
|
||||
obj->fullwave.Vq = obj->ipark.Qs;
|
||||
obj->fullwave.pidIq.output = -obj->fullwave.Vd;
|
||||
obj->fullwave.pidIq.Ui = obj->fullwave.pidIq.output;
|
||||
/* Change the target Vs */
|
||||
FullWave_SetVsMax(&obj->fullwave, FULL_WAVE_VS);
|
||||
obj->svgen.mode = SVGEN_MODE_SQUAREWAVE;
|
||||
}
|
||||
else if(obj->ctrlType == FOC_CTRLTYPE_FULLWAVE
|
||||
&& ctrlType == FOC_CTRLTYPE_CURRENTLOOP)
|
||||
{ /* Switch back to current loop */
|
||||
/* Remember the current Vd, Vq */
|
||||
obj->pidId.output = obj->ipark.Ds;
|
||||
obj->pidId.Ui = obj->pidId.output;
|
||||
obj->pidIq.output = obj->ipark.Qs;
|
||||
obj->pidIq.Ui = obj->pidIq.output;
|
||||
/* Change the target Vs */
|
||||
FullWave_SetVsMax(&obj->fullwave, obj->VsMax);
|
||||
obj->svgen.mode = SVGEN_MODE_NORMAL;
|
||||
}
|
||||
|
||||
obj->ctrlType = ctrlType;
|
||||
}
|
||||
212
cva_asw_m0118/SDK/lib/shared/md_lib/foc/foc.h
Normal file
212
cva_asw_m0118/SDK/lib/shared/md_lib/foc/foc.h
Normal file
@ -0,0 +1,212 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _FOC_H_
|
||||
#define _FOC_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Field-Oriented Control (FOC) object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "common/pid/pid.h"
|
||||
#include "md_lib/clarke/clarke.h"
|
||||
#include "md_lib/park/park.h"
|
||||
#include "md_lib/ipark/ipark.h"
|
||||
#include "md_lib/svgen/svgen.h"
|
||||
#include "md_lib/fullwave/fullwave.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the control type of the FOC
|
||||
*/
|
||||
typedef enum
|
||||
{
|
||||
FOC_CTRLTYPE_VVVF = 0,
|
||||
FOC_CTRLTYPE_CURRENTLOOP,
|
||||
FOC_CTRLTYPE_FULLWAVE,
|
||||
FOC_CTRLTYPE_OFFLINE,
|
||||
} Foc_CtrlModeType;
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize FOC object
|
||||
*/
|
||||
typedef struct _Foc_ParamsType_
|
||||
{
|
||||
float VsMax_pu; /*!< Max allowed Vs */
|
||||
float VdMaxScale; /*!< Max allowed Vd scale factor based on Vs. */
|
||||
float minVdc_V; /*!< Minimum DC voltage allowed */
|
||||
float maxVdc_V; /*!< Maximum DC voltage allowed */
|
||||
float Rs_Ohm; /*!< Stationary resistance in Ohm */
|
||||
float Ld_mH; /*!< Normal D-axis inductance in mH */
|
||||
float Lq_mH; /*!< Normal Q-axis inductance in mH */
|
||||
float runFreq_kHz; /*!< Frequency to run FOC */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float ratedVdc_V; /*!< Rated dc bus voltage */
|
||||
float VBase_V; /*!< Base value of voltage used for P.U. */
|
||||
float IBase_A; /*!< Base value of current used for P.U. */
|
||||
Foc_CtrlModeType ctrlType; /*!< Control type of FOC */
|
||||
float switchTime_ms; /*!< The switch time between FOC and full wave */
|
||||
float bandWidthScale; /*!< Current control run frequency / Bandwidth */
|
||||
float fullwaveBWScale; /*!< Current control run frequency / Bandwidth in full wave mode */
|
||||
} Foc_ParamsType;
|
||||
|
||||
/*! \brief Defines the dynamic parameters used to update FOC object
|
||||
*/
|
||||
typedef struct _Foc_DynamicParamsType_
|
||||
{
|
||||
float Rs_Ohm; /*!< Stationary resistance in Ohm */
|
||||
float Ld_mH; /*!< Normal D-axis inductance in mH */
|
||||
float Lq_mH; /*!< Normal Q-axis inductance in mH */
|
||||
float runFreq_kHz; /*!< Frequency to run FOC */
|
||||
_iq Vdc_pu; /*!< DC bus voltage */
|
||||
} Foc_DynamicParamsType;
|
||||
|
||||
/*! \brief Defines the FOC object
|
||||
*/
|
||||
typedef struct _FocType_
|
||||
{
|
||||
_iq Ia_pu; /*!< Input: The phase-A current */
|
||||
_iq Ib_pu; /*!< Input: The phase-B current */
|
||||
_iq Ic_pu; /*!< Input: The phase-C current */
|
||||
_iq parkSinTh; /*!< Input: The sin value for PARK transform */
|
||||
_iq parkCosTh; /*!< Input: The cos value for PARK transform */
|
||||
_iq iparkSinTh; /*!< Input: The sin value for IPARK transform */
|
||||
_iq iparkCosTh; /*!< Input: The cos value for IPARK transform */
|
||||
_iq Vref; /*!< Input: Only used in VVVF mode */
|
||||
_iq IdRef; /*!< Input: The Id reference */
|
||||
_iq IqRef; /*!< Input: The Iq reference */
|
||||
_iq speed_pu; /*!< Input: Feedback speed in P.U. */
|
||||
_iq Vdff; /*!< Input: Feed-forward Vd */
|
||||
_iq Vqff; /*!< Input: Feed-forward Vq */
|
||||
|
||||
_iq VsMax; /*!< Parameter: Max value of Vs */
|
||||
_iq VdMax; /*!< Parameter: Max value of Vd */
|
||||
Foc_CtrlModeType ctrlType; /*!< Parameter: Control type of FOC */
|
||||
float factorKpKi; /*!< Parameter: The factor to calculate Kp Ki in runtime */
|
||||
_iq minVdc_pu; /*!< Parameter: Minimum DC voltage allowed in P.U. */
|
||||
_iq maxVdc_pu; /*!< Parameter: Maximum DC voltage allowed in P.U. */
|
||||
|
||||
PidType pidId; /*!< Internal variable: The PID control of Id current */
|
||||
PidType pidIq; /*!< Internal variable: The PID control of Iq current */
|
||||
ClarkeType clarkeI; /*!< Internal variable: Clarke transform of current */
|
||||
ParkType park; /*!< Internal variable: Part transform */
|
||||
IparkType ipark; /*!< Internal variable: iPark transform */
|
||||
SvgenType svgen; /*!< Internal variable: SVPWM generator */
|
||||
FullWaveType fullwave; /*!< Internal variable: Full wave control */
|
||||
_iq Vd; /*!< Internal variable: Vd */
|
||||
_iq Vq; /*!< Internal variable: Vq */
|
||||
|
||||
_iq Vs; /*!< Output: Clarke transform of current */
|
||||
} FocType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the FOC object
|
||||
*
|
||||
* This function initalizes Foc by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Foc instance
|
||||
* \param[in] pParams : pointer to Foc configuration parameters
|
||||
*/
|
||||
extern void Foc_Init(FocType *obj, const Foc_ParamsType *pParams);
|
||||
|
||||
/*! \brief Set the current feedback value
|
||||
*
|
||||
* This function runs Foc function, perform motor control functions
|
||||
*
|
||||
* \param[in] obj : pointer to Foc instance
|
||||
* \param[in] Ia_pu : The phase-A current in P.U.
|
||||
* \param[in] Ib_pu : The phase-B current in P.U.
|
||||
* \param[in] Ic_pu : The phase-C current in P.U.
|
||||
*/
|
||||
static inline void Foc_SetCurrentFdb(FocType *obj, _iq Ia_pu, _iq Ib_pu, _iq Ic_pu)
|
||||
{
|
||||
obj->Ia_pu = Ia_pu;
|
||||
obj->Ib_pu = Ib_pu;
|
||||
obj->Ic_pu = Ic_pu;
|
||||
}
|
||||
|
||||
/*! \brief The main process function of Foc
|
||||
*
|
||||
* This function runs Foc function, perform motor control functions
|
||||
*
|
||||
* \param[in] obj : pointer to Foc instance
|
||||
*/
|
||||
extern void Foc_Run(FocType *obj);
|
||||
|
||||
/*! \brief Get the PWM compare value of Foc
|
||||
*
|
||||
* This function gets three phase duty
|
||||
*
|
||||
* \param[in] obj : pointer to Foc instance
|
||||
* \param[out] Ta : the phase-A duty
|
||||
* \param[out] Tb : the phase-B duty
|
||||
* \param[out] Tc : the phase-C duty
|
||||
*/
|
||||
extern void Foc_GetPwmCompareValue(FocType *obj, _iq *Ta, _iq *Tb, _iq *Tc);
|
||||
|
||||
/*! \brief Reset the Foc object
|
||||
*
|
||||
* This function resets the Foc relevant calculation parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Foc instance
|
||||
*/
|
||||
extern void Foc_Reset(FocType *obj);
|
||||
|
||||
/*! \brief Update the parameters of Foc
|
||||
*
|
||||
* This function updates the Foc function configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Foc instance
|
||||
* \param[in] pParams : pointer to control configuration paramter
|
||||
*/
|
||||
extern void Foc_UpdateParams(FocType *obj, const Foc_DynamicParamsType *pParams);
|
||||
|
||||
/*! \brief Change the control type of Foc
|
||||
*
|
||||
* This function updates the Foc function configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Foc instance
|
||||
* \param[in] ctrlType : the control type of the FOC
|
||||
*/
|
||||
extern void Foc_ChangeCtrlType(FocType *obj, Foc_CtrlModeType ctrlType);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _FOC_H_ */
|
||||
150
cva_asw_m0118/SDK/lib/shared/md_lib/fullwave/fullwave.h
Normal file
150
cva_asw_m0118/SDK/lib/shared/md_lib/fullwave/fullwave.h
Normal file
@ -0,0 +1,150 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _FULLWAVE_H_
|
||||
#define _FULLWAVE_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the full-wave control (FULLWAVE) object.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "common/pid/pid.h"
|
||||
#include "common/curve/ramp.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize FULLWAVE object
|
||||
*/
|
||||
typedef struct _FullWave_ParamsType_
|
||||
{
|
||||
float Rs_Ohm; /*!< Stationary resistance in Ohm */
|
||||
float Ld_mH; /*!< Normal D-axis inductance in mH */
|
||||
float runFreq_kHz; /*!< Frequency to run FOC */
|
||||
float ratedVdc_V; /*!< Rated dc bus voltage */
|
||||
float IBase_A; /*!< Base value of current used for P.U. */
|
||||
float VBase_V; /*!< Base value of voltage used for P.U. */
|
||||
float VsMax; /*!< Max allowed Vs */
|
||||
float VdMaxScale; /*!< Max allowed Vd scale factor based on Vs. */
|
||||
float VsRampStep; /*!< The step of changing the Vs */
|
||||
float bandWidthScale; /*!< Current control run frequency / Bandwidth */
|
||||
float minVdc_V; /*!< Minimum DC voltage allowed */
|
||||
float maxVdc_V; /*!< Minimum DC voltage allowed */
|
||||
} FullWave_ParamsType;
|
||||
|
||||
/*! \brief Defines the dynamic parameters used to update FULLWAVE object
|
||||
*/
|
||||
typedef struct _FullWave_DynamicParamsType_
|
||||
{
|
||||
float Rs_Ohm; /*!< Stationary resistance in Ohm */
|
||||
float Ld_mH; /*!< Normal D-axis inductance in mH */
|
||||
float runFreq_kHz; /*!< Frequency to run FOC */
|
||||
_iq Vdc_pu; /*!< DC bus voltage */
|
||||
} FullWave_DynamicParamsType;
|
||||
|
||||
/*! \brief Defines the FULLWAVE object
|
||||
*/
|
||||
typedef struct _FullWaveType_
|
||||
{
|
||||
_iq IqRef_pu; /*!< Input: Command Iq current in P.U. */
|
||||
_iq Iq_pu; /*!< Input: Feedback Iq current in P.U. */
|
||||
_iq speed_pu; /*!< Input: Feedback speed in P.U. */
|
||||
_iq Vdff; /*!< Input: Feed-forward Vd */
|
||||
|
||||
float factorKpKi; /*!< Parameter: The factor to calculate Kp and Ki */
|
||||
_iq minVdc_pu; /*!< Parameter: Minimum DC voltage allowed in P.U. */
|
||||
_iq maxVdc_pu; /*!< Parameter: Maximum DC voltage allowed in P.U. */
|
||||
|
||||
PidType pidIq; /*!< Internal variable: The PID to tune Iq */
|
||||
RampType rampVs; /*!< Internal variable: The ramp of changing the Vs */
|
||||
_iq VdMaxScale; /*!< Internal variable: Max allowed Vd scale factor based on Vs. */
|
||||
_iq VsMax; /*!< Internal variable: The Max ABS value of Vs */
|
||||
|
||||
_iq Vd; /*!< Output: Vd */
|
||||
_iq Vq; /*!< Output: Vq */
|
||||
} FullWaveType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the FullWave object
|
||||
*
|
||||
* This function initalizes FullWave by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to FullWave instance
|
||||
* \param[in] pParams : pointer to FullWave configuration parameters
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t FullWave_Init(FullWaveType *obj, const FullWave_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the full wave control
|
||||
*
|
||||
* This function runs full wave control function, perform motor control functions
|
||||
*
|
||||
* \param[in] obj : pointer to FullWave instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t FullWave_Run(FullWaveType *obj);
|
||||
|
||||
/*! \brief Set the Vs max
|
||||
*
|
||||
* This function sets Vs max value
|
||||
*
|
||||
* \param[in] obj : pointer to FullWave instance
|
||||
* \param[in] VsMax : Vs max value
|
||||
*/
|
||||
extern void FullWave_SetVsMax(FullWaveType *obj, _iq VsMax);
|
||||
|
||||
/*! \brief Update the parameters
|
||||
*
|
||||
* This function updates the FullWave function configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to FullWave instance
|
||||
* \param[in] pParams : pointer to control configuration paramter
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t FullWave_UpdateParams(FullWaveType *obj, const FullWave_DynamicParamsType *pParams);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _FULLWAVE_H_ */
|
||||
65
cva_asw_m0118/SDK/lib/shared/md_lib/fw/fw.c
Normal file
65
cva_asw_m0118/SDK/lib/shared/md_lib/fw/fw.c
Normal file
@ -0,0 +1,65 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "fw.h"
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the Field Weakening (FW) increment delta correction
|
||||
*/
|
||||
#define FW_INC_DELTA (0.00002)
|
||||
|
||||
/*! \brief Defines the Field Weakening (FW) decrement delta correction
|
||||
*/
|
||||
#define FW_DEC_DELTA (0.00002)
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the functions
|
||||
******************************************************************************/
|
||||
|
||||
void Fw_Init(FwType *obj, _iq maxNegIdRef)
|
||||
{
|
||||
obj->outMax = 0;
|
||||
obj->outMin = maxNegIdRef;
|
||||
obj->deltaInc = _IQ(FW_INC_DELTA);
|
||||
obj->deltaDec = _IQ(FW_DEC_DELTA);
|
||||
|
||||
obj->output = 0;
|
||||
}
|
||||
|
||||
void Fw_Run(FwType *obj)
|
||||
{
|
||||
if(obj->refValue > obj->fbackValue)
|
||||
{
|
||||
obj->output += obj->deltaInc;
|
||||
}
|
||||
else if(obj->refValue < obj->fbackValue)
|
||||
{
|
||||
obj->output -= obj->deltaDec;
|
||||
}
|
||||
|
||||
obj->output = _IQsat(obj->output, obj->outMax, obj->outMin); /* Saturate the output */
|
||||
}
|
||||
85
cva_asw_m0118/SDK/lib/shared/md_lib/fw/fw.h
Normal file
85
cva_asw_m0118/SDK/lib/shared/md_lib/fw/fw.h
Normal file
@ -0,0 +1,85 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _FW_H_
|
||||
#define _FW_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Field Weakening (FW) object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
typedef struct _FwType_
|
||||
{
|
||||
_iq refValue; /*!< Input: The reference value */
|
||||
_iq fbackValue; /*!< Input: The feedback value */
|
||||
|
||||
_iq outMax; /*!< Parameter: Maximum output */
|
||||
_iq outMin; /*!< Parameter: Minimum output */
|
||||
_iq deltaInc; /*!< Parameter: The field weakening delta increment of Id reference */
|
||||
_iq deltaDec; /*!< Parameter: The field weakening delta decrement of Id reference */
|
||||
|
||||
_iq output; /*!< Output: The output of field weakening */
|
||||
} FwType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the Fw object
|
||||
*
|
||||
* This function initalizes Fw by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Fw instance
|
||||
* \param[in] maxNegIdRef : max -id reference value
|
||||
*/
|
||||
extern void Fw_Init(FwType *obj, _iq maxNegIdRef);
|
||||
|
||||
/*! \brief Run the field weakening control
|
||||
*
|
||||
* This function runs Fw function, perform motor control functions
|
||||
*
|
||||
* \param[in] obj : pointer to Fw instance
|
||||
*/
|
||||
extern void Fw_Run(FwType *obj);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _FW_H_ */
|
||||
80
cva_asw_m0118/SDK/lib/shared/md_lib/ipark/ipark.h
Normal file
80
cva_asw_m0118/SDK/lib/shared/md_lib/ipark/ipark.h
Normal file
@ -0,0 +1,80 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _IPARK_H_
|
||||
#define _IPARK_H_
|
||||
|
||||
/*! \brief Contains the public interface to the
|
||||
* Park transform module routines
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the IPARK object
|
||||
*
|
||||
*/
|
||||
typedef struct _IparkType_
|
||||
{
|
||||
_iq sinTh; /*!< Input: sin value of rotating angle (pu) */
|
||||
_iq cosTh; /*!< Input: cos value of rotating angle (pu) */
|
||||
_iq Ds; /*!< Input: rotating d-axis stator variable */
|
||||
_iq Qs; /*!< Input: rotating q-axis stator variable */
|
||||
|
||||
_iq alpha; /*!< Output: stationary alpha-axis stator variable */
|
||||
_iq beta; /*!< Output: stationary beta-axis stator variable */
|
||||
} IparkType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Process the IPARK algorithm
|
||||
*
|
||||
* This function runs IPARK function to calculate stationary axis variable
|
||||
*
|
||||
* \param[in] obj : pointer to Ipark instance
|
||||
*/
|
||||
static inline void IPark_Run(IparkType *obj)
|
||||
{
|
||||
obj->alpha = _IQmpy(obj->Ds, obj->cosTh) - _IQmpy(obj->Qs, obj->sinTh);
|
||||
obj->beta = _IQmpy(obj->Qs, obj->cosTh) + _IQmpy(obj->Ds, obj->sinTh);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _IPARK_H_ */
|
||||
125
cva_asw_m0118/SDK/lib/shared/md_lib/ipd/hfi.h
Normal file
125
cva_asw_m0118/SDK/lib/shared/md_lib/ipd/hfi.h
Normal file
@ -0,0 +1,125 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _HFI_H_
|
||||
#define _HFI_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Initial Position Detection (IPD) using
|
||||
* High Frequency Injection method (HFI) object.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "common/filter/bp_so.h"
|
||||
#include "common/filter/iir_fo.h"
|
||||
#include "common/pid/pid.h"
|
||||
#include "md_lib/fag/fag.h"
|
||||
#include "md_lib/park/park.h"
|
||||
#include "md_lib/clarke/clarke.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize HFI object
|
||||
*/
|
||||
typedef struct _Hfi_ParamsType_
|
||||
{
|
||||
float runFreq_kHz; /*!< Frequency to run the process */
|
||||
float injectFreq_kHz; /*!< The injected frequency in kHz */
|
||||
float injectVd_pVdc; /*!< The injected frequency per Vdc */
|
||||
float lpfPole_rps; /*!< Pole value of low pass filter in rad/s */
|
||||
float pllPole_rps; /*!< Pole value of PLL in rad/s */
|
||||
float Ld_mH; /*!< d-axis inductance in mH */
|
||||
float Lq_mH; /*!< q-axis inductance in mH */
|
||||
float ratedVdc_V; /*!< Rated DC bus voltage in Volts */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float compFactor; /*!< The factor to compensate the high-frequency voltage and current */
|
||||
} Hfi_ParamsType;
|
||||
|
||||
/*! \brief Defines the HFI object
|
||||
*/
|
||||
typedef struct _HfiType_
|
||||
{
|
||||
_iq Ia_pu; /*!< Input: The phase-A current */
|
||||
_iq Ib_pu; /*!< Input: The phase-B current */
|
||||
_iq Ic_pu; /*!< Input: The phase-C current */
|
||||
|
||||
_iq VdAmplitude; /*!< Internal Variable: The amplitude of high-frequency Vd */
|
||||
_iq compAngle_pu; /*!< Internal Variable: The compensation angle */
|
||||
_iq angleFactor; /*!< Internal Variable: Factor to calculate angle from speed */
|
||||
_iq nextAngle_pu; /*!< Internal variable: The angle for next control loop */
|
||||
ClarkeType clarkeI; /*!< Internal Variable: The Clarke transform for current */
|
||||
IirFoType lpf; /*!< Internal Variable: The low pass filter for the Iq */
|
||||
BpSoType IalphaBpf; /*!< Internal Variable: The band-pass filter for the alpha-axis current */
|
||||
BpSoType IbetaBpf; /*!< Internal Variable: The band-pass filter for the beta-axis current */
|
||||
FagType fag; /*!< Internal Variable: The high-frequency angle generator */
|
||||
ParkType park; /*!< Internal Variable: The PARK transform of the injected high-frequency current */
|
||||
PidType pidPLL; /*!< Internal Variable: The PLL PID */
|
||||
|
||||
_iq Vd_hf; /*!< Output: The high-frequency Vd */
|
||||
_iq estAngle; /*!< Output: The delta angle between the true angle and the one passed in from inputs */
|
||||
} HfiType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the HFI object
|
||||
*
|
||||
* This function initalizes Hfi by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Hfi instance
|
||||
* \param[in] pParams : pointer to Hfi configuration parameters
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Hfi_Init(HfiType *obj, const Hfi_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the HFI process
|
||||
*
|
||||
* This function runs Hfi function to control motor
|
||||
*
|
||||
* \param[in] obj : pointer to Hfi instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Hfi_Run(HfiType *obj);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _HFI_H_ */
|
||||
0
cva_asw_m0118/SDK/lib/shared/md_lib/motor/im.c
Normal file
0
cva_asw_m0118/SDK/lib/shared/md_lib/motor/im.c
Normal file
0
cva_asw_m0118/SDK/lib/shared/md_lib/motor/im.h
Normal file
0
cva_asw_m0118/SDK/lib/shared/md_lib/motor/im.h
Normal file
0
cva_asw_m0118/SDK/lib/shared/md_lib/motor/im_pte.h
Normal file
0
cva_asw_m0118/SDK/lib/shared/md_lib/motor/im_pte.h
Normal file
108
cva_asw_m0118/SDK/lib/shared/md_lib/motor/ipm.c
Normal file
108
cva_asw_m0118/SDK/lib/shared/md_lib/motor/ipm.c
Normal file
@ -0,0 +1,108 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/interp/interp2d.h"
|
||||
#include "ipm_pte.h"
|
||||
#include "ipm.h"
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the functions
|
||||
******************************************************************************/
|
||||
|
||||
void Ipm_Init(IpmType *obj, const Ipm_ParamsType *pParams)
|
||||
{
|
||||
obj->type = pParams->type;
|
||||
obj->maxRows = pParams->maxRows;
|
||||
obj->maxColumns = pParams->maxColumns;
|
||||
obj->defaultRs_Ohm = pParams->defaultRs_Ohm;
|
||||
obj->defaultLd_mH = pParams->defaultLd_mH;
|
||||
obj->defaultLq_mH = pParams->defaultLq_mH;
|
||||
obj->defaultPsi_Wb = pParams->defaultPsi_Wb;
|
||||
|
||||
obj->Rs_Ohm = obj->defaultRs_Ohm;
|
||||
if(obj->type == IPM_OUTPUTTYPE_FIXED)
|
||||
{
|
||||
obj->Ld_mH = obj->defaultLd_mH;
|
||||
obj->Lq_mH = obj->defaultLq_mH;
|
||||
obj->Psi_Wb = obj->defaultPsi_Wb;
|
||||
}
|
||||
else if(obj->type == IPM_OUTPUTTYPE_DYNAMIC)
|
||||
{
|
||||
Table_Init(&obj->paramTable, pParams->pContainer, obj->maxRows, obj->maxColumns);
|
||||
/* Calculate row and column interval, the table must have at least 4 elements */
|
||||
IpmPteType elem00;
|
||||
IpmPteType elem01;
|
||||
IpmPteType elem10;
|
||||
Table_GetElement(&obj->paramTable, (void *)&elem00, sizeof(IpmPteType), 0, 0);
|
||||
Table_GetElement(&obj->paramTable, (void *)&elem01, sizeof(IpmPteType), 0, 1);
|
||||
Table_GetElement(&obj->paramTable, (void *)&elem10, sizeof(IpmPteType), 1, 0);
|
||||
/*! \note The interval between rows and columns must the same for the whole table */
|
||||
obj->rowInterval = _IQabs(elem10.absId_pu - elem00.absId_pu);
|
||||
obj->columnInterval = _IQabs(elem01.absIq_pu - elem00.absIq_pu);
|
||||
obj->oneOverRowIntvl = _IQdiv(_IQ(1.0), obj->rowInterval);
|
||||
obj->oneOverColumnIntvl = _IQdiv(_IQ(1.0), obj->columnInterval);
|
||||
}
|
||||
}
|
||||
|
||||
void Ipm_Calc(IpmType *obj)
|
||||
{
|
||||
if(obj->type == IPM_OUTPUTTYPE_DYNAMIC)
|
||||
{
|
||||
/* The row and column index value should all be ABS */
|
||||
obj->absId_pu = _IQabs(obj->Id_pu);
|
||||
obj->absIq_pu = _IQabs(obj->Iq_pu);
|
||||
/* Find row */
|
||||
/*! \note The interval between rows must the same for the whole table */
|
||||
uint16_t row = (uint16_t)(obj->absId_pu / obj->rowInterval);
|
||||
row = (row > obj->maxRows - 2 ? obj->maxRows - 2 : row);
|
||||
/* Find column */
|
||||
/*! \note The interval between columns must the same for the whole table */
|
||||
uint16_t column = (uint16_t)(obj->absIq_pu / obj->columnInterval);
|
||||
column = (column > obj->maxColumns - 2 ? obj->maxColumns - 2 : column);
|
||||
/* Find 4 elements */
|
||||
IpmPteType topLeft;
|
||||
IpmPteType topRight;
|
||||
IpmPteType bottomLeft;
|
||||
IpmPteType bottomRight;
|
||||
Table_GetElement(&obj->paramTable, (void *)&topLeft, sizeof(IpmPteType), row, column);
|
||||
Table_GetElement(&obj->paramTable, (void *)&topRight, sizeof(IpmPteType), row, column + 1);
|
||||
Table_GetElement(&obj->paramTable, (void *)&bottomLeft, sizeof(IpmPteType), row + 1, column);
|
||||
Table_GetElement(&obj->paramTable, (void *)&bottomRight, sizeof(IpmPteType), row + 1, column + 1);
|
||||
_iq rowScale = _IQmpy(obj->absId_pu - topLeft.absId_pu, obj->oneOverRowIntvl);
|
||||
rowScale = (rowScale > _IQ(1.0) ? _IQ(1.0) : (rowScale < 0 ? 0 : rowScale));
|
||||
_iq columnScale = _IQmpy(obj->absIq_pu - topLeft.absIq_pu, obj->oneOverColumnIntvl);
|
||||
columnScale = (columnScale > _IQ(1.0) ? _IQ(1.0) : (columnScale < 0 ? 0 : columnScale));
|
||||
/* Calculate Ld */
|
||||
obj->Ld_mH = Interp2d(topLeft.Ld_mH, topRight.Ld_mH, bottomLeft.Ld_mH, bottomRight.Ld_mH, rowScale, columnScale);
|
||||
/* Calculate Lq */
|
||||
obj->Lq_mH = Interp2d(topLeft.Lq_mH, topRight.Lq_mH, bottomLeft.Lq_mH, bottomRight.Lq_mH, rowScale, columnScale);
|
||||
|
||||
/* Calculate Psi */
|
||||
obj->Psi_Wb = Interp2d(topLeft.Psi_wb, topRight.Psi_wb, bottomLeft.Psi_wb, bottomRight.Psi_wb, rowScale, columnScale);
|
||||
}
|
||||
}
|
||||
125
cva_asw_m0118/SDK/lib/shared/md_lib/motor/ipm.h
Normal file
125
cva_asw_m0118/SDK/lib/shared/md_lib/motor/ipm.h
Normal file
@ -0,0 +1,125 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _IPM_H_
|
||||
#define _IPM_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Interior Permanent Magnet Motor (IPM)
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "common/container/table.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the motor object
|
||||
*/
|
||||
typedef enum
|
||||
{
|
||||
IPM_OUTPUTTYPE_FIXED,
|
||||
IPM_OUTPUTTYPE_DYNAMIC,
|
||||
} Ipm_ParamsModeType;
|
||||
|
||||
/*! \brief Defines the initial parameters for IPM object
|
||||
*/
|
||||
typedef struct _Ipm_ParamsType_
|
||||
{
|
||||
Ipm_ParamsModeType type; /*!< How the use motor parameters */
|
||||
void *pContainer; /*!< Pointer to the table container */
|
||||
uint16_t maxRows; /*!< Max row number of motor parameter 2-D table */
|
||||
uint16_t maxColumns; /*!< Max column number of motor parameter 2-D table */
|
||||
_iq defaultRs_Ohm; /*!< The default value of Rs */
|
||||
_iq defaultLd_mH; /*!< The default value of Ld */
|
||||
_iq defaultLq_mH; /*!< The default value of Lq */
|
||||
_iq defaultPsi_Wb; /*!< The default value of Psi */
|
||||
} Ipm_ParamsType;
|
||||
|
||||
/*! \brief Defines the motor object
|
||||
*/
|
||||
typedef struct _IpmType_
|
||||
{
|
||||
_iq temp_pu; /*!< Input: Motor temperature */
|
||||
_iq Id_pu; /*!< Input: D-axis current */
|
||||
_iq Iq_pu; /*!< Input: Q-axis current */
|
||||
|
||||
Ipm_ParamsModeType type; /*!< Parameter: How to use motor parameters */
|
||||
uint16_t maxRows; /*!< Parameter: Max row number of motor parameter matrix */
|
||||
uint16_t maxColumns; /*!< Parameter: Max column number of motor parameter matrix */
|
||||
_iq defaultRs_Ohm; /*!< Parameter: The default value of Rs */
|
||||
_iq defaultLd_mH; /*!< Parameter: The default value of Ld */
|
||||
_iq defaultLq_mH; /*!< Parameter: The default value of Lq */
|
||||
_iq defaultPsi_Wb; /*!< Parameter: The default value of Psi */
|
||||
|
||||
TableType paramTable; /*!< Internal variable: The motor parameter table */
|
||||
_iq rowInterval; /*!< Internal variable: The interval between rows of motor parameter matrix */
|
||||
_iq columnInterval; /*!< Internal variable: The interval between columns of motor parameter matrix */
|
||||
_iq oneOverRowIntvl; /*!< Internal variable: Reciprocal of interval between rows of motor parameter matrix */
|
||||
_iq oneOverColumnIntvl; /*!< Internal variable: Reciprocal of interval between columns of motor parameter matrix */
|
||||
_iq absId_pu; /*!< Internal variable: ABS value of D-axis current */
|
||||
_iq absIq_pu; /*!< Internal variable: ABS value of Q-axis current */
|
||||
|
||||
_iq Rs_Ohm; /*!< Output: The stator resistance in P.U. */
|
||||
_iq Ld_mH; /*!< Output: The direct stator inductance in P.U. */
|
||||
_iq Lq_mH; /*!< Output: The quadrature stator inductance in P.U. */
|
||||
_iq Psi_Wb; /*!< Output: The permanent magnet flux in P.U. */
|
||||
} IpmType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the IPM object
|
||||
*
|
||||
* This function initalizes Ipm by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Ipm instance
|
||||
* \param[in] pParams : pointer to Ipm configuration parameters
|
||||
*/
|
||||
extern void Ipm_Init(IpmType *obj, const Ipm_ParamsType *pParams);
|
||||
|
||||
/*! \brief Calculates and Gets the Ipm parameters
|
||||
*
|
||||
* This function calculates and gets the Ipm parameters from table data
|
||||
*
|
||||
* \param[in] obj : pointer to Ipm instance
|
||||
*/
|
||||
extern void Ipm_Calc(IpmType *obj);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _IPM_H_ */
|
||||
69
cva_asw_m0118/SDK/lib/shared/md_lib/motor/ipm_pte.h
Normal file
69
cva_asw_m0118/SDK/lib/shared/md_lib/motor/ipm_pte.h
Normal file
@ -0,0 +1,69 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _IPM_PTE_H_
|
||||
#define _IPM_PTE_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Interior Permanent Magnet Motor (IPM)
|
||||
* Parameters Table Element (PTE)
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the IPM parameters table element
|
||||
* \note To make it simple we use the ABS value for the row and column,
|
||||
* but actually the Id normally is negative, and Iq is irrelevant of
|
||||
* the sign.
|
||||
* \note The size must align to 4 bytes
|
||||
*/
|
||||
typedef struct _IpmPteType_
|
||||
{
|
||||
_iq absId_pu; /*!< Donate the row variable - ABS Id value in P.U. */
|
||||
_iq absIq_pu; /*!< Donate the column variable - ABS Iq value in P.U. */
|
||||
|
||||
_iq Ld_mH; /*!< Donate the D-axis inductance in mH */
|
||||
_iq Lq_mH; /*!< Donate the D-axis inductance in mH */
|
||||
_iq Psi_wb; /*!< Donate the permanent magnet flux in Wb */
|
||||
} IpmPteType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _IPM_PTE_H_ */
|
||||
79
cva_asw_m0118/SDK/lib/shared/md_lib/park/park.h
Normal file
79
cva_asw_m0118/SDK/lib/shared/md_lib/park/park.h
Normal file
@ -0,0 +1,79 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _PARK_H_
|
||||
#define _PARK_H_
|
||||
|
||||
/*! \brief Contains the public interface to the
|
||||
* Park transform module routines
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the PARK object
|
||||
*/
|
||||
typedef struct _ParkType_
|
||||
{
|
||||
_iq alpha; /*!< Input: stationary d-axis stator variable */
|
||||
_iq beta; /*!< Input: stationary q-axis stator variable */
|
||||
_iq sinTh; /*!< Input: sin value of rotating angle (pu) */
|
||||
_iq cosTh; /*!< Input: cos value of rotating angle (pu) */
|
||||
|
||||
_iq Ds; /*!< Output: rotating d-axis stator variable */
|
||||
_iq Qs; /*!< Output: rotating q-axis stator variable */
|
||||
} ParkType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief The main process function of Park
|
||||
*
|
||||
* This function runs Park function to calculate rotating axis variable
|
||||
*
|
||||
* \param[in] obj : pointer to Park instance
|
||||
*/
|
||||
static inline void Park_Run(ParkType *obj)
|
||||
{
|
||||
obj->Ds = _IQmpy(obj->alpha, obj->cosTh) + _IQmpy(obj->beta, obj->sinTh);
|
||||
obj->Qs = _IQmpy(obj->beta, obj->cosTh) - _IQmpy(obj->alpha, obj->sinTh);
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _PARK_H_ */
|
||||
106
cva_asw_m0118/SDK/lib/shared/md_lib/pcud/pcud.h
Normal file
106
cva_asw_m0118/SDK/lib/shared/md_lib/pcud/pcud.h
Normal file
@ -0,0 +1,106 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _PCUD_H_
|
||||
#define _PCUD_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the phase current unbalance detection (PCUD) object.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize PCUD object
|
||||
*/
|
||||
typedef struct _Pcud_ParamsType_
|
||||
{
|
||||
float unbalanceTh; /*!< the threshold of unbalance, normally will be 1.2 (120%) */
|
||||
float minDetectI_A; /*!< the minimum detect current in A */
|
||||
float minDetectFreq_Hz; /*!< the minimum detect frequency in Hz */
|
||||
float IBase_A; /*!< the current base value in A */
|
||||
float fBase_Hz; /*!< the base value of frequency used for P.U. */
|
||||
} Pcud_ParamsType;
|
||||
|
||||
/*! \brief Defines the PCUD object
|
||||
*/
|
||||
typedef struct _PcudType_
|
||||
{
|
||||
_iq Ia_rms; /*!< Input: phase A current */
|
||||
_iq Ib_rms; /*!< Input: phase B current */
|
||||
_iq Ic_rms; /*!< Input: phase C current */
|
||||
_iq speed_pu; /*!< Input: speed feedback in P.U. */
|
||||
|
||||
_iq unbalanceTh; /*!< Parameter: The threshold of unbalance */
|
||||
_iq minDetectI_pu; /*!< Parameter: The minimum detect current in P.U. */
|
||||
_iq minDetectFreq_pu; /*!< Parameter: The minimum detect frequency in P.U. */
|
||||
|
||||
bool isUnbalance; /*!< Output: Whether is unbalanced */
|
||||
} PcudType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the PCUD object
|
||||
*
|
||||
* This function initalizes Pcud by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Pcud instance
|
||||
* \param[in] pParams : pointer to Pcud configuration parameters
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Pcud_Init(PcudType *obj, const Pcud_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the PCUD process
|
||||
*
|
||||
* This function runs the phase current unbalance detection
|
||||
*
|
||||
* \param[in] obj : pointer to Pcud instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Pcud_Run(PcudType *obj);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _PCUD_H_ */
|
||||
126
cva_asw_m0118/SDK/lib/shared/md_lib/phlack/phlack.h
Normal file
126
cva_asw_m0118/SDK/lib/shared/md_lib/phlack/phlack.h
Normal file
@ -0,0 +1,126 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _PHLACK_H_
|
||||
#define _PHLACK_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Phase-lacking (PHLACK) object.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize PHLACK object
|
||||
*/
|
||||
typedef struct _Phlack_ParamsType_
|
||||
{
|
||||
float runFreq_kHz; /*!< the frequency of running current loop in kHz */
|
||||
float Vref; /*!< the reference voltage used to detect the current */
|
||||
float detectFreq_Hz; /*!< the reference frequency used to detect the current */
|
||||
float detectTime_ms; /*!< the time used to detect the phase lacking */
|
||||
float currentTh_A; /*!< the current threshold used to determine the phase lacking */
|
||||
float IBase_A; /*!< the base value of phase current in A */
|
||||
float fBase_Hz; /*!< the frequency base value in Hz */
|
||||
float VBase_V; /*!< the base value of voltage in V */
|
||||
} Phlack_ParamsType;
|
||||
|
||||
typedef enum
|
||||
{
|
||||
PHLACK_STATUS_FINISH = 0,
|
||||
PHLACK_STATUS_RUNNING,
|
||||
} Phlack_StatusType;
|
||||
|
||||
/*! \brief Defines the PHLACK object
|
||||
*/
|
||||
typedef struct _PhlackType_
|
||||
{
|
||||
bool startCmd; /*!< Input: True to command to start, will set false when finished */
|
||||
_iq Ia_pu; /*!< Input: The current of phase A */
|
||||
_iq Ib_pu; /*!< Input: the current of phase B */
|
||||
_iq Ic_pu; /*!< Input: the current of phase C */
|
||||
|
||||
_iq detectFreq_pu; /*!< Parameter: The reference frequency used to detect the current */
|
||||
_iq detectVolt_pu; /*!< Parameter: The reference voltage used to detect the current */
|
||||
_iq currentTh_pu; /*!< Parameter: The current threshold used to determine the phase lacking */
|
||||
uint32_t scanCountMax; /*!< Parameter: The max value of count used for timing */
|
||||
|
||||
uint32_t scanCount; /*!< Internal variable: The count value used for scan timing */
|
||||
Phlack_StatusType status; /*!< Internal variable: The status of the current process */
|
||||
bool flagA; /*!< Internal variable: The phase lacking flag of phase A */
|
||||
bool flagB; /*!< Internal variable: The phase lacking flag of phase B */
|
||||
bool flagC; /*!< Internal variable: The phase lacking flag of phase C */
|
||||
|
||||
_iq Vref_pu; /*!< Output: The reference voltage in P.U. */
|
||||
_iq freqRef_pu; /*!< Output: The reference frequency in P.U. */
|
||||
bool lackingPhaseA; /*!< Output: The final flag output of lacking phase A */
|
||||
bool lackingPhaseB; /*!< Output: The final flag output of lacking phase B */
|
||||
bool lackingPhaseC; /*!< Output: The final flag output of lacking phase C */
|
||||
} PhlackType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the PHLACK object
|
||||
*
|
||||
* This function initalizes Phlack by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Phlack instance
|
||||
* \param[in] pParams : pointer to Phlack configuration parameters
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Phlack_Init(PhlackType *obj, const Phlack_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the PHLACK process
|
||||
*
|
||||
* This function runs the phase-lacking detection
|
||||
*
|
||||
* \param[in] obj : pointer to Phlack instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Phlack_Run(PhlackType *obj);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _PHLACK_H_ */
|
||||
119
cva_asw_m0118/SDK/lib/shared/md_lib/pvcr/pvcr.h
Normal file
119
cva_asw_m0118/SDK/lib/shared/md_lib/pvcr/pvcr.h
Normal file
@ -0,0 +1,119 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _PVCR_H_
|
||||
#define _PVCR_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* Phase Voltage and Current Reconstruction (PVCR) object.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize PVCR object
|
||||
*/
|
||||
typedef struct _Pvcr_ParamsType_
|
||||
{
|
||||
float Tdb; /*!< The percent taking account of dead-band time and rise/fall time */
|
||||
} Pvcr_ParamsType;
|
||||
|
||||
/*! \brief Defines the PVCR object
|
||||
*/
|
||||
typedef struct _PvcrType_
|
||||
{
|
||||
_iq sensedIa; /*!< Input: The sampled current of phase A */
|
||||
_iq sensedIb; /*!< Input: The sampled current of phase B */
|
||||
_iq sensedIc; /*!< Input: The sampled current of phase C */
|
||||
_iq Ta; /*!< Input: 100%-(duty of phase A) */
|
||||
_iq Tb; /*!< Input: 100%-(duty of phase B) */
|
||||
_iq Tc; /*!< Input: 100%-(duty of phase C) */
|
||||
_iq Vdc; /*!< Input: Voltage of DC */
|
||||
|
||||
_iq Tdb; /*!< Parameter: The percent taking account of dead-band time and rise/fall time */
|
||||
|
||||
_iq offsetV; /*!< Internal variable: The offset voltage of 3 phases, note that all 3 phases's offset are the same */
|
||||
_iq prevTa; /*!< Internal variable: The previous Ta */
|
||||
_iq prevTb; /*!< Internal variable: The previous Tb */
|
||||
_iq prevTc; /*!< Internal variable: The previous Tc */
|
||||
_iq prevPrevTa; /*!< Internal variable: The previous of previous Ta */
|
||||
_iq prevPrevTb; /*!< Internal variable: The previous of previous Tb */
|
||||
_iq prevPrevTc; /*!< Internal variable: The previous of previous Tc; */
|
||||
_iq prevIa; /*!< Internal variable: The previous Ia */
|
||||
_iq prevIb; /*!< Internal variable: The previous Ib */
|
||||
_iq prevIc; /*!< Internal variable: The previous Ic */
|
||||
|
||||
_iq Va; /*!< Output: The estimated phase A voltage at the middle of last PWM period */
|
||||
_iq Vb; /*!< Output: The estimated phase B voltage at the middle of last PWM period */
|
||||
_iq Vc; /*!< Output: The estimated phase C voltage at the middle of last PWM period */
|
||||
_iq Ia; /*!< Output: The estimated phase A current at the middle of last PWM period */
|
||||
_iq Ib; /*!< Output: The estimated phase A current at the middle of last PWM period */
|
||||
_iq Ic; /*!< Output: The estimated phase A current at the middle of last PWM period */
|
||||
} PvcrType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the PVCR object
|
||||
*
|
||||
* This function initalizes Pvcr by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Pvcr instance
|
||||
* \param[in] pParams : pointer to Pvcr configuration parameters
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Pvcr_Init(PvcrType *obj, const Pvcr_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the PVCR process
|
||||
* \note The input must use the FOC control result from this loop
|
||||
*
|
||||
* This function runs the phase Voltage and current reconstruction function
|
||||
*
|
||||
* \param[in] obj : pointer to Pvcr instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Pvcr_Run(PvcrType *obj);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _PVCR_H_ */
|
||||
130
cva_asw_m0118/SDK/lib/shared/md_lib/pwmdbc/pwmdbc.h
Normal file
130
cva_asw_m0118/SDK/lib/shared/md_lib/pwmdbc/pwmdbc.h
Normal file
@ -0,0 +1,130 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _PWMDBC_H_
|
||||
#define _PWMDBC_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the PWM Dead-band Compensation (PWMDBC) object.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines all the parameters used to initialize PWMDBC object
|
||||
*/
|
||||
typedef struct _Pwmdbc_ParamsType_
|
||||
{
|
||||
float Tdb; /*!< The percent taking account of dead-band time and rise/fall time */
|
||||
float zeroCurrentTh_A; /*!< The threshold for zero current, in A */
|
||||
float IBase_A; /*!< Base value of current used for P.U. */
|
||||
float gain; /*!< Gain value for the compensation */
|
||||
} Pwmdbc_ParamsType;
|
||||
|
||||
/*! \brief Defines the dynamic parameters used to update PWMDBC object
|
||||
*/
|
||||
typedef struct _Pwmdbc_DynamicParamsType_
|
||||
{
|
||||
float Tdb; /*!< The percent taking account of dead-band time and rise/fall time */
|
||||
float zeroCurrentTh_A; /*!< The threshold for zero current, in A */
|
||||
float gain; /*!< Gain value for the compensation */
|
||||
} Pwmdbc_DynamicParamsType;
|
||||
|
||||
/*! \brief Defines the PWMDBC object
|
||||
*/
|
||||
typedef struct _PwmdbcType_
|
||||
{
|
||||
_iq TaUncomp; /*!< Input: (duty of phase A) - 50% before compensation */
|
||||
_iq TbUncomp; /*!< Input: (duty of phase B) - 50% before compensation */
|
||||
_iq TcUncomp; /*!< Input: (duty of phase C) - 50% before compensation */
|
||||
_iq Ia_pu; /*!< Input: The sampled current of phase A */
|
||||
_iq Ib_pu; /*!< Input: The sampled current of phase B */
|
||||
_iq Ic_pu; /*!< Input: The sampled current of phase C */
|
||||
|
||||
_iq Tdb; /*!< Parameter: The percent taking account of dead-band time and rise/fall time */
|
||||
_iq scale; /*!< Parameter: The scale of dead-band percent */
|
||||
_iq zeroCurrentTh_pu; /*!< Parameter: The threshold for zero current, in P.U. */
|
||||
float IBase_A; /*!< Parameter: Base value of current used for P.U. */
|
||||
|
||||
_iq TaComp; /*!< Input: (duty of phase A) - 50% after compensation */
|
||||
_iq TbComp; /*!< Input: (duty of phase B) - 50% after compensation */
|
||||
_iq TcComp; /*!< Input: (duty of phase C) - 50% after compensation */
|
||||
} PwmdbcType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the PWMDBC object
|
||||
*
|
||||
* This function initalizes Pwmdbc by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Pwmdbc instance
|
||||
* \param[in] pParams : pointer to Pwmdbc configuration parameters
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Pwmdbc_Init(PwmdbcType *obj, const Pwmdbc_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the PWMDBC process
|
||||
*
|
||||
* This function runs the pwm dead-band compensation function
|
||||
*
|
||||
* \param[in] obj : pointer to Pwmdbc instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Pwmdbc_Run(PwmdbcType *obj);
|
||||
|
||||
/*! \brief Update the parameters of PWMDBC
|
||||
*
|
||||
* This function updates the Pwmdbc function configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Pwmdbc instance
|
||||
* \param[in] pParams : pointer to control configuration paramter
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Pwmdbc_UpdateParams(PwmdbcType *obj, const Pwmdbc_DynamicParamsType *pParams);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _PWMDBC_H_ */
|
||||
133
cva_asw_m0118/SDK/lib/shared/md_lib/sensor/hall.h
Normal file
133
cva_asw_m0118/SDK/lib/shared/md_lib/sensor/hall.h
Normal file
@ -0,0 +1,133 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _HALL_H_
|
||||
#define _HALL_H_
|
||||
|
||||
/*! \brief Contains the public interface to the hall abstract class.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "common/filter/iir_fo.h"
|
||||
#include "../fag/fag.h"
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the hall parameters
|
||||
*/
|
||||
typedef struct _Hall_ParamsType_
|
||||
{
|
||||
float phaseCalcFreq_kHz; /*!< Frequency to run phase calculation */
|
||||
float spdCalcFreq_kHz; /*!< Frequency to run speed calculation */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float spdFilterPole_rps; /*!< Pole value of speed filter calculation */
|
||||
float stamptimerFreq_Hz; /*!< Base clock source frequency */
|
||||
uint8_t* pForwardHalSqe; /*!< Hall value order */
|
||||
float timeOutFreq_Hz; /*!< Timeout detection frequency */
|
||||
} Hall_ParamsType;
|
||||
|
||||
/*! \brief Defines the hall object
|
||||
*/
|
||||
typedef struct _HallType_
|
||||
{
|
||||
uint8_t halValue; /*!< Input: Current hall value */
|
||||
uint32_t timerCntDiff; /*!< Input: Time of change hall value */
|
||||
uint32_t dirRef; /*!< Input: Desired direction at startup */
|
||||
|
||||
_iq hallAngleBuf_pu[7]; /*!< Parameter: Hall Angle value used for P.U */
|
||||
uint16_t cntInCycle; /*!< Parameter: Mechanical commutation threshold value */
|
||||
uint32_t timerOutCnt; /*!< Parameter: Time out count threshold value */
|
||||
float spdCalCoef; /*!< Parameter: Coefficient of speed calculation*/
|
||||
float spdCalFastCoef; /*!< Parameter: Coefficient of fast speed calculation*/
|
||||
|
||||
_iq halCalibAngle_pu; /*!< Internal variable: Current hall value angle used for P.U */
|
||||
uint32_t timerCntDiffCycle; /*!< Internal variable: The time count after one turn of the electric angle */
|
||||
uint8_t halValuePre; /*!< Internal variable: previous hall value */
|
||||
bool reStartFlag; /*!< Internal variable: Start flag */
|
||||
int16_t reStartCnt; /*!< Internal variable: Start flag */
|
||||
uint16_t commutationCnt; /*!< Internal variable: Commutation count */
|
||||
FagType hallEstObj; /*!< Internal variable: Angle estimation object */
|
||||
FagType startAngleObj; /*!< Internal variable: Start Angle calculate object */
|
||||
uint32_t timerCnt; /*!< Internal variable: Running time counter */
|
||||
uint32_t reStartTimerCnt; /*!< Internal variable: Running time counter */
|
||||
_iq rawSpeed_pu; /*!< Internal variable: The raw speed before filter in P.U. */
|
||||
_iq rawSpeedFast_pu; /*!< Internal variable: The raw fast speed in P.U. */
|
||||
IirFoType filterSpd; /*!< Internal Variable: The filter for electric speed calculation */
|
||||
|
||||
_iq angle_pu; /*!< Output: The electrical angle in P.U. */
|
||||
uint8_t speedDir; /*!< Output: The electrical angle in P.U. */
|
||||
_iq speed_pu; /*!< Output: The speed in P.U. */
|
||||
} HallType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize hall
|
||||
*
|
||||
* This function Initialize hall object by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to hall instance
|
||||
* \param[in] pParams : pointer to hall configuration parameters
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Hall_Init(HallType *obj, const Hall_ParamsType *pParams);
|
||||
|
||||
/*! \brief Calculate the angle for PARK and IPARK module
|
||||
*
|
||||
* \note Must run in the same frequency with current control loop
|
||||
*
|
||||
* \param[in] obj : pointer to hall instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Hall_EstAngle(HallType *obj);
|
||||
|
||||
/*! \brief Calculate the speed
|
||||
*
|
||||
* \note Might run slower than current control frequency
|
||||
*
|
||||
* \param[in] obj : pointer to Hall instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Hall_CalcSpeed(HallType *obj);
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _HALL_H_ */
|
||||
149
cva_asw_m0118/SDK/lib/shared/md_lib/sensor/resolver.h
Normal file
149
cva_asw_m0118/SDK/lib/shared/md_lib/sensor/resolver.h
Normal file
@ -0,0 +1,149 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _RESOLVER_H_
|
||||
#define _RESOLVER_H_
|
||||
|
||||
/*! \brief Contains the public interface to the resolver
|
||||
* abstract class. This would also cover the usage of
|
||||
* MagnetoResistance position sensor
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "common/pid/pid.h"
|
||||
#include "common/filter/iir_fo.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the Resolver parameters
|
||||
* \note The pole pair scale should not > 128
|
||||
*/
|
||||
typedef struct _Resolver_ParamsType_
|
||||
{
|
||||
float polePairScale; /*!< Pole pair of the motor / Pole pair of the resolver */
|
||||
uint16_t reverseDir; /*!< Set this value other than 0 will reverse the positive direction, default to use 0 */
|
||||
float phaseCalcFreq_kHz; /*!< Frequency to run phase calculation */
|
||||
float spdCalcFreq_kHz; /*!< Frequency to run phase calculation */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float responseSpeed_rps; /*!< The response speed in rad/s */
|
||||
float spdFilterPole_rps; /*!< Pole value of speed filter calculation */
|
||||
} Resolver_ParamsType;
|
||||
|
||||
/*! \brief Defines the dynamic parameters used to update RESOLVER object
|
||||
*/
|
||||
typedef struct _Resolver_DynamicParamsType_
|
||||
{
|
||||
float phaseCalcFreq_kHz; /*!< Frequency to run phase calculation */
|
||||
float spdCalcFreq_kHz; /*!< Frequency to run phase calculation */
|
||||
} Resolver_DynamicParamsType;
|
||||
|
||||
/*! \brief Defines the Resolver object
|
||||
*/
|
||||
typedef struct _ResolverType_
|
||||
{
|
||||
_iq sin_pu; /*!< Input: The sin value in P.U. */
|
||||
_iq cos_pu; /*!< Input: The cos value in P.U. */
|
||||
|
||||
_iq error; /*!< Parameter: error to calculate angle from speed */
|
||||
_iq angleFactor; /*!< Parameter: Factor to calculate angle from speed */
|
||||
_iq polePairScale; /*!< Parameter: Pole pair of the motor / Pole pair of the resolver */
|
||||
uint16_t reverseDir; /*!< Parameter: Set this value other than 0 will reverse the positive direction, default to use 0 */
|
||||
float phaseCalcFreq_kHz; /*!< Parameter: Frequency to run phase calculation */
|
||||
float spdCalcFreq_kHz; /*!< Parameter: Frequency to run phase calculation */
|
||||
|
||||
uint16_t polePairScaleFactor; /*!< Internal variable: The factor for pole pair scale */
|
||||
bool firstCalcStatus; /*!< Internal variable: The PLL PID first calculate status */
|
||||
PidType pidPLL; /*!< Internal variable: The PLL PID */
|
||||
IirFoType filterSpd; /*!< Internal Variable: The filter for electric speed calculation */
|
||||
_iq rawSpeed_pu; /*!< Internal variable: The raw speed before filter in P.U. */
|
||||
_iq currentAngle_pu; /*!< Internal variable: The angle represented by input */
|
||||
_iq nextAngle_pu; /*!< Internal variable: The angle represented by input */
|
||||
|
||||
_iq angle_pu; /*!< Output: The electrical angle in P.U. */
|
||||
_iq speed_pu; /*!< Output: The speed in P.U. */
|
||||
} ResolverType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize resolver
|
||||
*
|
||||
* This function initalizes resolver by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Resolver instance
|
||||
* \param[in] pParams : pointer to Resolver configuration parameters
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Resolver_Init(ResolverType *obj, const Resolver_ParamsType *pParams);
|
||||
|
||||
/*! \brief Run the resolver the calculate the phase
|
||||
* for PARK and IPARK module
|
||||
* \note Must run in the same frequency with current control loop
|
||||
*
|
||||
* \param[in] obj : pointer to Resolver instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Resolver_CalcPhase(ResolverType *obj);
|
||||
|
||||
/*! \brief Calculate the speed
|
||||
* \note Might run slower than current control frequency
|
||||
*
|
||||
*
|
||||
* \param[in] obj : pointer to Resolver instance
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Resolver_CalcSpeed(ResolverType *obj);
|
||||
|
||||
/*! \brief Update the parameters of Resolver
|
||||
*
|
||||
* This function updates the Resolver function configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Resolver instance
|
||||
* \param[in] pParams : pointer to control configuration paramter
|
||||
* \return the MCUs authorized evaluation
|
||||
* - -1 : Functions not available
|
||||
* - 0 : Functions available
|
||||
*/
|
||||
extern int32_t Resolver_UpdateParams(ResolverType *obj, const Resolver_DynamicParamsType *pParams);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _RESOLVER_H_ */
|
||||
86
cva_asw_m0118/SDK/lib/shared/md_lib/spdctrl/afwsc.c
Normal file
86
cva_asw_m0118/SDK/lib/shared/md_lib/spdctrl/afwsc.c
Normal file
@ -0,0 +1,86 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "afwsc.h"
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
#define DAMPING_FACTOR (4)
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the functions
|
||||
******************************************************************************/
|
||||
|
||||
void Afwsc_Init(AfwscType *obj, Afwsc_ParamsType *pParams)
|
||||
{
|
||||
obj->speedRef = 0;
|
||||
|
||||
/* Calculate PID parameters */
|
||||
_iq Ki_series = _IQ(pParams->spdFilterPole_rps / (DAMPING_FACTOR * DAMPING_FACTOR) * pParams->runFreq_kHz / 1000);
|
||||
float K = 1.5 * pParams->polePairs * pParams->rotorFlux_Wb / pParams->inertia_kgm2;
|
||||
_iq Kp_series = _IQ(pParams->spdFilterPole_rps / (K * DAMPING_FACTOR)
|
||||
* 2 * MATH_PI * pParams->fBase_Hz / pParams->polePairs / pParams->IBase_A);
|
||||
_iq Kp_parallel = Kp_series;
|
||||
_iq Ki_parallel = _IQmpy(Ki_series, Kp_series);
|
||||
|
||||
Pid_Init(&obj->pidSpd, Kp_parallel, Ki_parallel, 0, _IQ(0), _IQ(pParams->maxCurrent_A / pParams->IBase_A));
|
||||
|
||||
Ramp_Init(&obj->spdRamp, _IQ(0.000005));
|
||||
|
||||
Fw_Init(&obj->fwObj, _IQ(pParams->minId_A / pParams->IBase_A));
|
||||
}
|
||||
|
||||
void Afwsc_Run(AfwscType *obj)
|
||||
{
|
||||
/* Field weakening */
|
||||
obj->fwObj.refValue = obj->VsRef;
|
||||
obj->fwObj.fbackValue = obj->Vs;
|
||||
Fw_Run(&obj->fwObj);
|
||||
obj->IdRef = obj->fwObj.output;
|
||||
|
||||
/* Ramp for the reference */
|
||||
obj->spdRamp.target = obj->speedRef;
|
||||
Ramp_Calc(&obj->spdRamp);
|
||||
/* PID for speed */
|
||||
obj->pidSpd.ref = obj->spdRamp.output;
|
||||
obj->pidSpd.fdb = obj->speed;
|
||||
Pid_Run(&obj->pidSpd);
|
||||
/* PID output is iq */
|
||||
obj->IqRef = obj->pidSpd.output;
|
||||
}
|
||||
|
||||
void Afwsc_Reset(AfwscType *obj)
|
||||
{
|
||||
obj->fwObj.output = 0;
|
||||
obj->pidSpd.Ui = 0;
|
||||
;
|
||||
obj->IdRef = 0;
|
||||
obj->IqRef = 0;
|
||||
}
|
||||
115
cva_asw_m0118/SDK/lib/shared/md_lib/spdctrl/afwsc.h
Normal file
115
cva_asw_m0118/SDK/lib/shared/md_lib/spdctrl/afwsc.h
Normal file
@ -0,0 +1,115 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _AFWSC_H_
|
||||
#define _AFWSC_H_
|
||||
|
||||
/*! \brief Contains public interface to various functions related
|
||||
* to the Auto Field-Weakening Speed Control of (AFWSC) object
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include <stdint.h>
|
||||
#include "common/iqmath/iqmath.h"
|
||||
#include "common/pid/pid.h"
|
||||
#include "common/curve/ramp.h"
|
||||
#include "md_lib/fw/fw.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the initial parameters for AFWSC_IPM object
|
||||
*/
|
||||
typedef struct _Afwsc_ParamsType_
|
||||
{
|
||||
uint16_t polePairs; /*!< Pole pairs of the motor */
|
||||
float runFreq_kHz; /*!< Frequency to run */
|
||||
float fBase_Hz; /*!< Base value of frequency used for P.U. */
|
||||
float IBase_A; /*!< Base value of current used for P.U. */
|
||||
float inertia_kgm2; /*!< The inertia of the rotoring system */
|
||||
float rotorFlux_Wb; /*!< The rotor flux, equal to BEMF in v*s/rad */
|
||||
float spdFilterPole_rps; /*!< Pole value of speed filter calculation */
|
||||
float minId_A; /*!< Max value of Id to prevent demagnetization for PM motors */
|
||||
float maxCurrent_A; /*!< Max value of speed PID output */
|
||||
} Afwsc_ParamsType;
|
||||
|
||||
/*! \brief Defines the AFWSC_IPM object
|
||||
*/
|
||||
typedef struct _AfwscType_
|
||||
{
|
||||
_iq speedRef; /*!< Input: The speed reference value of speed loop control */
|
||||
_iq speed; /*!< Input: The speed feedback */
|
||||
_iq VsRef; /*!< Input: The reference value of Vs */
|
||||
_iq Vs; /*!< Input: The feedback value of Vs */
|
||||
|
||||
PidType pidSpd; /*!< Internal Variable: The PID for speed loop */
|
||||
RampType spdRamp; /*!< Internal Variable: The ramp for speed reference value */
|
||||
FwType fwObj; /*!< Internal Variable: The field-weakening object */
|
||||
|
||||
_iq IdRef; /*!< Output: The Id reference value */
|
||||
_iq IqRef; /*!< Output: The Iq reference value */
|
||||
} AfwscType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Initialize the Afwsc object
|
||||
*
|
||||
* This function initalizes Afwsc by setting configuration parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Afwsc instance
|
||||
* \param[in] pParams : pointer to Afwsc configuration parameters
|
||||
*/
|
||||
extern void Afwsc_Init(AfwscType *obj, Afwsc_ParamsType *pParams);
|
||||
|
||||
/*! \brief The main process function of Afwsc
|
||||
*
|
||||
* This function runs Afwsc function, perform motor control functions
|
||||
*
|
||||
* \param[in] obj : pointer to Svgen instance
|
||||
*/
|
||||
extern void Afwsc_Run(AfwscType *obj);
|
||||
|
||||
/*! \brief Reset the Afwsc object
|
||||
*
|
||||
* This function resets the Afwsc relevant calculation parameters
|
||||
*
|
||||
* \param[in] obj : pointer to Afwsc instance
|
||||
*/
|
||||
extern void Afwsc_Reset(AfwscType *obj);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _AFWSC_H_ */
|
||||
134
cva_asw_m0118/SDK/lib/shared/md_lib/svgen/gdgen.h
Normal file
134
cva_asw_m0118/SDK/lib/shared/md_lib/svgen/gdgen.h
Normal file
@ -0,0 +1,134 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _GDGEN_H_
|
||||
#define _GDGEN_H_
|
||||
|
||||
/*! \brief Contains the public interface to the
|
||||
* GDPWM generator routines
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the control mode of the GDGEN
|
||||
*/
|
||||
typedef enum
|
||||
{
|
||||
GDGEN_MODE_NORMAL = 0, /*!< Normal mode of sine and trapezoid */
|
||||
GDGEN_MODE_SQUAREWAVE, /*!< Square wave mode */
|
||||
} Gdgen_ModeType;
|
||||
|
||||
/*! \brief Defines the Space Vector Generator object
|
||||
*/
|
||||
typedef struct _GdgenType_
|
||||
{
|
||||
_iq Ualpha; /*!< Input: reference alpha-axis phase voltage */
|
||||
_iq Ubeta; /*!< Input: reference beta-axis phase voltage */
|
||||
|
||||
Gdgen_ModeType mode; /*!< Parameter: the working mode */
|
||||
|
||||
_iq Ta; /*!< Output: reference phase-a switching function */
|
||||
_iq Tb; /*!< Output: reference phase-b switching function */
|
||||
_iq Tc; /*!< Output: reference phase-c switching function */
|
||||
} GdgenType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief The main process function of Gdgen
|
||||
*
|
||||
* This function runs Gdgen function, perform motor control functions
|
||||
*
|
||||
* \param[in] obj : pointer to Gdgen instance
|
||||
*/
|
||||
static inline void Gdgen_Run(GdgenType *obj)
|
||||
{
|
||||
_iq Vmax, Vcom;
|
||||
_iq Vref1, Vref2, Vref3;
|
||||
_iq Va_tmp = -_IQdiv2(obj->Ualpha);
|
||||
_iq Vb_tmp = _IQmpy(IQMATH_SQRT_THREE_OVER_TWO, obj->Ubeta);
|
||||
|
||||
Vref1 = obj->Ualpha; /*alpha */
|
||||
Vref2 = Va_tmp + Vb_tmp; /*-0.5*alpha + sqrt(3)/2 * beta; */
|
||||
Vref3 = Va_tmp - Vb_tmp; /*-0.5*alpha - sqrt(3)/2 * beta; */
|
||||
|
||||
Vmax = 0;
|
||||
|
||||
/* find Vmax, Vcom */
|
||||
Vmax = (_IQabs(Vref1) > _IQabs(Vref2)) ? Vref1 : Vref2;
|
||||
if(_IQabs(Vref3) > _IQabs(Vmax))
|
||||
{
|
||||
Vmax = Vref3;
|
||||
}
|
||||
Vcom = (Vmax > 0) ? (Vmax - _IQ(0.5)) : (Vmax + _IQ(0.5));
|
||||
|
||||
/* Subtract common-mode term to achieve GD modulation */
|
||||
obj->Ta = (Vref1 - Vcom);
|
||||
obj->Tb = (Vref2 - Vcom);
|
||||
obj->Tc = (Vref3 - Vcom);
|
||||
|
||||
/* If in SquareWave mode, the outputs is not continuous */
|
||||
if(obj->mode == GDGEN_MODE_SQUAREWAVE)
|
||||
{
|
||||
if(obj->Ta > 0)
|
||||
{
|
||||
obj->Ta = _IQ(0.5);
|
||||
}
|
||||
if(obj->Ta < 0)
|
||||
{
|
||||
obj->Ta = -_IQ(0.5);
|
||||
}
|
||||
if(obj->Tb > 0)
|
||||
{
|
||||
obj->Tb = _IQ(0.5);
|
||||
}
|
||||
if(obj->Tb < 0)
|
||||
{
|
||||
obj->Tb = -_IQ(0.5);
|
||||
}
|
||||
if(obj->Tc > 0)
|
||||
{
|
||||
obj->Tc = _IQ(0.5);
|
||||
}
|
||||
if(obj->Tc < 0)
|
||||
{
|
||||
obj->Tc = -_IQ(0.5);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _GDGEN_H_ */
|
||||
155
cva_asw_m0118/SDK/lib/shared/md_lib/svgen/svgen.h
Normal file
155
cva_asw_m0118/SDK/lib/shared/md_lib/svgen/svgen.h
Normal file
@ -0,0 +1,155 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
#ifndef _SVGEN_H_
|
||||
#define _SVGEN_H_
|
||||
|
||||
/*! \brief Contains the public interface to the
|
||||
* SVPWM generator routines
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "common/iqmath/iqmath.h"
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief Defines the control mode of the SVGEN
|
||||
*/
|
||||
typedef enum
|
||||
{
|
||||
SVGEN_MODE_NORMAL = 0, /*!< Normal mode of sine and trapezoid */
|
||||
SVGEN_MODE_SQUAREWAVE, /*!< Square wave mode */
|
||||
} Svgen_ModeType;
|
||||
|
||||
/*! \brief Defines the Space Vector Generator object
|
||||
*/
|
||||
typedef struct _SvgenType_
|
||||
{
|
||||
_iq Ualpha; /*!< Input: reference alpha-axis phase voltage */
|
||||
_iq Ubeta; /*!< Input: reference beta-axis phase voltage */
|
||||
|
||||
Svgen_ModeType mode; /*!< Parameter: the working mode */
|
||||
|
||||
_iq Ta; /*!< Output: reference phase-a switching function */
|
||||
_iq Tb; /*!< Output: reference phase-b switching function */
|
||||
_iq Tc; /*!< Output: reference phase-c switching function */
|
||||
|
||||
} SvgenType;
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the function prototypes
|
||||
******************************************************************************/
|
||||
|
||||
/*! \brief The main process function of Svgen
|
||||
*
|
||||
* This function runs Svgen function, perform motor control functions
|
||||
*
|
||||
* \param[in] obj : pointer to Svgen instance
|
||||
*/
|
||||
static inline void Svgen_Run(SvgenType *obj)
|
||||
{
|
||||
_iq Vmax, Vmin, Vcom;
|
||||
_iq Vref1, Vref2, Vref3;
|
||||
_iq Va_tmp = -_IQdiv2(obj->Ualpha);
|
||||
_iq Vb_tmp = _IQmpy(IQMATH_SQRT_THREE_OVER_TWO, obj->Ubeta);
|
||||
|
||||
Vref1 = obj->Ualpha; /* alpha */
|
||||
Vref2 = Va_tmp + Vb_tmp; /* -0.5*alpha + sqrt(3)/2 * beta; */
|
||||
Vref3 = Va_tmp - Vb_tmp; /* -0.5*alpha - sqrt(3)/2 * beta; */
|
||||
|
||||
Vmax = 0;
|
||||
Vmin = 0;
|
||||
|
||||
/* find order Vmin,Vmid,Vmax */
|
||||
if(Vref1 > Vref2)
|
||||
{
|
||||
Vmax = Vref1;
|
||||
Vmin = Vref2;
|
||||
}
|
||||
else
|
||||
{
|
||||
Vmax = Vref2;
|
||||
Vmin = Vref1;
|
||||
}
|
||||
|
||||
if(Vref3 > Vmax)
|
||||
{
|
||||
Vmax = Vref3;
|
||||
}
|
||||
else if(Vref3 < Vmin)
|
||||
{
|
||||
Vmin = Vref3;
|
||||
}
|
||||
|
||||
Vcom = _IQmpy(Vmax + Vmin, _IQ(0.5));
|
||||
|
||||
/* Subtract common-mode term to achieve SV modulation */
|
||||
obj->Ta = (Vref1 - Vcom);
|
||||
obj->Tb = (Vref2 - Vcom);
|
||||
obj->Tc = (Vref3 - Vcom);
|
||||
|
||||
/* If in SquareWave mode, the outputs is not continuous */
|
||||
if(obj->mode == SVGEN_MODE_SQUAREWAVE)
|
||||
{
|
||||
if(obj->Ta > 0)
|
||||
{
|
||||
obj->Ta = _IQ(0.5);
|
||||
}
|
||||
if(obj->Ta < 0)
|
||||
{
|
||||
obj->Ta = -_IQ(0.5);
|
||||
}
|
||||
if(obj->Tb > 0)
|
||||
{
|
||||
obj->Tb = _IQ(0.5);
|
||||
}
|
||||
if(obj->Tb < 0)
|
||||
{
|
||||
obj->Tb = -_IQ(0.5);
|
||||
}
|
||||
if(obj->Tc > 0)
|
||||
{
|
||||
obj->Tc = _IQ(0.5);
|
||||
}
|
||||
if(obj->Tc < 0)
|
||||
{
|
||||
obj->Tc = -_IQ(0.5);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* extern "C" */
|
||||
|
||||
#endif /* _SVGEN_H_ */
|
||||
164
cva_asw_m0118/SDK/middleware/dbc/dbc_comm.c
Normal file
164
cva_asw_m0118/SDK/middleware/dbc/dbc_comm.c
Normal file
@ -0,0 +1,164 @@
|
||||
/*
|
||||
* Copyright (c) 2022, Shenzhen CVA Innovation CO.,LTD
|
||||
* All rights reserved.
|
||||
*
|
||||
* Shenzhen CVA Innovation CO.,LTD (CVA chip) is supplying this file for use
|
||||
* exclusively with CVA's microcontroller products. This file can be freely
|
||||
* distributed within development tools that are supporting such microcontroller
|
||||
* products.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED
|
||||
* OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, IMPLIED WARRANTIES OF
|
||||
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE.
|
||||
* CVA SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, INCIDENTAL,
|
||||
* OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER.
|
||||
*/
|
||||
|
||||
/*******************************************************************************
|
||||
* the includes
|
||||
******************************************************************************/
|
||||
|
||||
#include "dbc_comm.h"
|
||||
|
||||
/*******************************************************************************
|
||||
* the defines
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the typedefs
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the globals
|
||||
******************************************************************************/
|
||||
|
||||
/*******************************************************************************
|
||||
* the functions
|
||||
******************************************************************************/
|
||||
|
||||
void DbcComm_Init(DbcCommType *obj, const DbcComm_ParamsType *pParams)
|
||||
{
|
||||
uint8_t node = 0;
|
||||
for(node = 0; node < DBCCOMM_NODE_NUM; ++node)
|
||||
{
|
||||
obj->enableNodeTx[node] = false;
|
||||
obj->enableNodeRx[node] = false;
|
||||
}
|
||||
|
||||
obj->sendCanMsg = pParams->sendCanMsg;
|
||||
|
||||
uint16_t i = 0;
|
||||
/* Process send message */
|
||||
for(i = 0; i < obj->txMsgNum; ++i)
|
||||
{
|
||||
obj->txMsgArray[i].periodCntMax = (uint32_t)(pParams->runFreq_kHz * obj->txMsgArray[i].pInfo->period_ms);
|
||||
obj->txMsgArray[i].periodCnt = i; /* Stagger the start timing */
|
||||
}
|
||||
|
||||
/* Process received message */
|
||||
for(i = 0; i < obj->rxMsgNum; ++i)
|
||||
{
|
||||
obj->rxMsgArray[i].timeoutCntMax = (uint32_t)(pParams->runFreq_kHz * obj->rxMsgArray[i].pInfo->timeout_ms);
|
||||
obj->rxMsgArray[i].timeoutCnt = 0;
|
||||
obj->rxMsgArray[i].isTimeout = false;
|
||||
}
|
||||
}
|
||||
|
||||
void DbcComm_Run(DbcCommType *obj)
|
||||
{
|
||||
uint16_t i = 0;
|
||||
/* Process send message */
|
||||
for(i = 0; i < obj->txMsgNum; ++i)
|
||||
{
|
||||
DbcComm_CanNodeType node = obj->txMsgArray[i].pInfo->node;
|
||||
if(obj->enableNodeTx[node])
|
||||
{
|
||||
if(obj->txMsgArray[i].periodCntMax > 0)
|
||||
{
|
||||
obj->txMsgArray[i].periodCnt++;
|
||||
if(obj->txMsgArray[i].periodCnt >= obj->txMsgArray[i].periodCntMax)
|
||||
{
|
||||
obj->txMsgArray[i].periodCnt = 0;
|
||||
/* Pack message and send it */
|
||||
DbcComm_CanMsgType msg = CAN_MSG_DEFAULT;
|
||||
obj->txMsgArray[i].pInfo->packMsg(obj, &msg);
|
||||
obj->sendCanMsg(node, &msg);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* Process received message */
|
||||
for(i = 0; i < obj->rxMsgNum; ++i)
|
||||
{
|
||||
DbcComm_CanNodeType node = obj->rxMsgArray[i].pInfo->node;
|
||||
if(obj->enableNodeRx[node])
|
||||
{
|
||||
if(obj->rxMsgArray[i].timeoutCntMax > 0 && false == obj->rxMsgArray[i].isTimeout)
|
||||
{
|
||||
obj->rxMsgArray[i].timeoutCnt++;
|
||||
if(obj->rxMsgArray[i].timeoutCnt >= obj->rxMsgArray[i].timeoutCntMax)
|
||||
{
|
||||
obj->rxMsgArray[i].timeoutCnt = 0;
|
||||
obj->rxMsgArray[i].isTimeout = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void DbcComm_ReceiveCanMsg(DbcCommType *obj, DbcComm_CanNodeType node, const DbcComm_CanMsgType *pMsg)
|
||||
{
|
||||
uint16_t i = 0;
|
||||
for(i = 0; i < obj->rxMsgNum; ++i)
|
||||
{
|
||||
if(pMsg->id == obj->rxMsgArray[i].pInfo->id && node == obj->rxMsgArray[i].pInfo->node)
|
||||
{
|
||||
obj->rxMsgArray[i].timeoutCnt = 0;
|
||||
obj->rxMsgArray[i].isTimeout = false;
|
||||
obj->rxMsgArray[i].pInfo->unpackMsg(obj, pMsg);
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void DbcComm_EnableRx(DbcCommType *obj, DbcComm_CanNodeType node, bool enable)
|
||||
{
|
||||
if(obj->enableNodeRx[node] != enable)
|
||||
{
|
||||
/* Change the enable status */
|
||||
uint16_t i = 0;
|
||||
for(i = 0; i < obj->rxMsgNum; ++i)
|
||||
{
|
||||
if(obj->rxMsgArray[i].pInfo->node == node)
|
||||
{
|
||||
if(obj->rxMsgArray[i].timeoutCntMax > 0)
|
||||
{
|
||||
obj->rxMsgArray[i].timeoutCnt = 0;
|
||||
obj->rxMsgArray[i].isTimeout = false;
|
||||
}
|
||||
}
|
||||
}
|
||||
obj->enableNodeRx[node] = enable;
|
||||
}
|
||||
}
|
||||
|
||||
void DbcComm_EnableTx(DbcCommType *obj, DbcComm_CanNodeType node, bool enable)
|
||||
{
|
||||
if(obj->enableNodeTx[node] != enable)
|
||||
{
|
||||
/* Change the enable status */
|
||||
uint16_t i = 0;
|
||||
for(i = 0; i < obj->txMsgNum; ++i)
|
||||
{
|
||||
if(obj->txMsgArray[i].pInfo->node == node)
|
||||
{
|
||||
if(obj->txMsgArray[i].periodCntMax > 0)
|
||||
{
|
||||
obj->txMsgArray[i].periodCnt = obj->txMsgArray[i].periodCntMax;
|
||||
}
|
||||
}
|
||||
}
|
||||
obj->enableNodeTx[node] = enable;
|
||||
}
|
||||
}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Loading…
x
Reference in New Issue
Block a user