OrgApache/incubator-nuttx
OrgApache
/
incubator-nuttx
mirror of https://github.com/apache/incubator-nuttx.git
1
0
Fork 0
Code Issues Releases Wiki Activity

libdsp/lib_motor.c: remove maximum openloop speed limiter

This commit is contained in:
raiden00pl 2021-02-28 22:10:24 +01:00 committed by Xiang Xiao
parent eea371093c
commit c43ec4283f
2 changed files with 2 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
include/dsp.h
View File

@ -237,7 +237,6 @@ struct svm3_state_f32_s
struct openloop_data_f32_s
{
float max; /* Open-loop max speed */
float angle; /* Open-loop current angle normalized to <0.0, 2PI> */
float per; /* Open-loop control execution period */
};
@ -445,8 +444,7 @@ void motor_sobserver_div(FAR struct motor_observer_f32_s *o,
/* Motor openloop control */
void motor_openloop_init(FAR struct openloop_data_f32_s *op,
float max, float per);
void motor_openloop_init(FAR struct openloop_data_f32_s *op, float per);
void motor_openloop(FAR struct openloop_data_f32_s *op, float speed,
float dir);
float motor_openloop_angle_get(FAR struct openloop_data_f32_s *op);

15
libs/libdsp/lib_motor.c
View File

@ -42,7 +42,6 @@
*
* Input Parameters:
* op - (in/out) pointer to the openloop data structure
* max - (in) maximum openloop speed
* per - (in) period of the open-loop control
*
* Returned Value:
@ -50,11 +49,9 @@
*
****************************************************************************/
void motor_openloop_init(FAR struct openloop_data_f32_s *op, float max,
float per)
void motor_openloop_init(FAR struct openloop_data_f32_s *op, float per)
{
LIBDSP_DEBUGASSERT(op != NULL);
LIBDSP_DEBUGASSERT(max > 0.0f);
LIBDSP_DEBUGASSERT(per > 0.0f);
/* Reset openloop structure */
@ -63,7 +60,6 @@ void motor_openloop_init(FAR struct openloop_data_f32_s *op, float max,
/* Initialize data */
op->max = max;
op->per = per;
}
@ -92,15 +88,6 @@ void motor_openloop(FAR struct openloop_data_f32_s *op, float speed,
float phase_step = 0.0f;
/* REVISIT: what should we do if speed is greater than max open-loop speed?
* Saturate speed or stop motor ?
*/
if (speed > op->max)
{
speed = op->max;
}
/* Get phase step */
phase_step = dir * speed * op->per;