├── .gitignore ├── COPYING ├── README ├── src ├── Makefile ├── controller.c ├── controller.h ├── dyn_model.c ├── dyn_model.h ├── main.cpp ├── misc_utils.c ├── misc_utils.h ├── switch.c └── switch.h └── tests ├── osc ├── Makefile └── main.c └── pwm ├── Makefile └── main.c /.gitignore: -------------------------------------------------------------------------------- 1 | *.o 2 | *.*~ 3 | -------------------------------------------------------------------------------- /COPYING: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. By contrast, 15 | the GNU General Public License is intended to guarantee your freedom to 16 | share and change all versions of a program--to make sure it remains free 17 | software for all its users. We, the Free Software Foundation, use the 18 | GNU General Public License for most of our software; it applies also to 19 | any other work released this way by its authors. You can apply it to 20 | your programs, too. 21 | 22 | When we speak of free software, we are referring to freedom, not 23 | price. Our General Public Licenses are designed to make sure that you 24 | have the freedom to distribute copies of free software (and charge for 25 | them if you wish), that you receive source code or can get it if you 26 | want it, that you can change the software or use pieces of it in new 27 | free programs, and that you know you can do these things. 28 | 29 | To protect your rights, we need to prevent others from denying you 30 | these rights or asking you to surrender the rights. Therefore, you have 31 | certain responsibilities if you distribute copies of the software, or if 32 | you modify it: responsibilities to respect the freedom of others. 33 | 34 | For example, if you distribute copies of such a program, whether 35 | gratis or for a fee, you must pass on to the recipients the same 36 | freedoms that you received. You must make sure that they, too, receive 37 | or can get the source code. And you must show them these terms so they 38 | know their rights. 39 | 40 | Developers that use the GNU GPL protect your rights with two steps: 41 | (1) assert copyright on the software, and (2) offer you this License 42 | giving you legal permission to copy, distribute and/or modify it. 43 | 44 | For the developers' and authors' protection, the GPL clearly explains 45 | that there is no warranty for this free software. For both users' and 46 | authors' sake, the GPL requires that modified versions be marked as 47 | changed, so that their problems will not be attributed erroneously to 48 | authors of previous versions. 49 | 50 | Some devices are designed to deny users access to install or run 51 | modified versions of the software inside them, although the manufacturer 52 | can do so. This is fundamentally incompatible with the aim of 53 | protecting users' freedom to change the software. The systematic 54 | pattern of such abuse occurs in the area of products for individuals to 55 | use, which is precisely where it is most unacceptable. Therefore, we 56 | have designed this version of the GPL to prohibit the practice for those 57 | products. If such problems arise substantially in other domains, we 58 | stand ready to extend this provision to those domains in future versions 59 | of the GPL, as needed to protect the freedom of users. 60 | 61 | Finally, every program is threatened constantly by software patents. 62 | States should not allow patents to restrict development and use of 63 | software on general-purpose computers, but in those that do, we wish to 64 | avoid the special danger that patents applied to a free program could 65 | make it effectively proprietary. To prevent this, the GPL assures that 66 | patents cannot be used to render the program non-free. 67 | 68 | The precise terms and conditions for copying, distribution and 69 | modification follow. 70 | 71 | TERMS AND CONDITIONS 72 | 73 | 0. Definitions. 74 | 75 | "This License" refers to version 3 of the GNU General Public License. 76 | 77 | "Copyright" also means copyright-like laws that apply to other kinds of 78 | works, such as semiconductor masks. 79 | 80 | "The Program" refers to any copyrightable work licensed under this 81 | License. Each licensee is addressed as "you". "Licensees" and 82 | "recipients" may be individuals or organizations. 83 | 84 | To "modify" a work means to copy from or adapt all or part of the work 85 | in a fashion requiring copyright permission, other than the making of an 86 | exact copy. The resulting work is called a "modified version" of the 87 | earlier work or a work "based on" the earlier work. 88 | 89 | A "covered work" means either the unmodified Program or a work based 90 | on the Program. 91 | 92 | To "propagate" a work means to do anything with it that, without 93 | permission, would make you directly or secondarily liable for 94 | infringement under applicable copyright law, except executing it on a 95 | computer or modifying a private copy. Propagation includes copying, 96 | distribution (with or without modification), making available to the 97 | public, and in some countries other activities as well. 98 | 99 | To "convey" a work means any kind of propagation that enables other 100 | parties to make or receive copies. Mere interaction with a user through 101 | a computer network, with no transfer of a copy, is not conveying. 102 | 103 | An interactive user interface displays "Appropriate Legal Notices" 104 | to the extent that it includes a convenient and prominently visible 105 | feature that (1) displays an appropriate copyright notice, and (2) 106 | tells the user that there is no warranty for the work (except to the 107 | extent that warranties are provided), that licensees may convey the 108 | work under this License, and how to view a copy of this License. If 109 | the interface presents a list of user commands or options, such as a 110 | menu, a prominent item in the list meets this criterion. 111 | 112 | 1. Source Code. 113 | 114 | The "source code" for a work means the preferred form of the work 115 | for making modifications to it. "Object code" means any non-source 116 | form of a work. 117 | 118 | A "Standard Interface" means an interface that either is an official 119 | standard defined by a recognized standards body, or, in the case of 120 | interfaces specified for a particular programming language, one that 121 | is widely used among developers working in that language. 122 | 123 | The "System Libraries" of an executable work include anything, other 124 | than the work as a whole, that (a) is included in the normal form of 125 | packaging a Major Component, but which is not part of that Major 126 | Component, and (b) serves only to enable use of the work with that 127 | Major Component, or to implement a Standard Interface for which an 128 | implementation is available to the public in source code form. A 129 | "Major Component", in this context, means a major essential component 130 | (kernel, window system, and so on) of the specific operating system 131 | (if any) on which the executable work runs, or a compiler used to 132 | produce the work, or an object code interpreter used to run it. 133 | 134 | The "Corresponding Source" for a work in object code form means all 135 | the source code needed to generate, install, and (for an executable 136 | work) run the object code and to modify the work, including scripts to 137 | control those activities. However, it does not include the work's 138 | System Libraries, or general-purpose tools or generally available free 139 | programs which are used unmodified in performing those activities but 140 | which are not part of the work. For example, Corresponding Source 141 | includes interface definition files associated with source files for 142 | the work, and the source code for shared libraries and dynamically 143 | linked subprograms that the work is specifically designed to require, 144 | such as by intimate data communication or control flow between those 145 | subprograms and other parts of the work. 146 | 147 | The Corresponding Source need not include anything that users 148 | can regenerate automatically from other parts of the Corresponding 149 | Source. 150 | 151 | The Corresponding Source for a work in source code form is that 152 | same work. 153 | 154 | 2. Basic Permissions. 155 | 156 | All rights granted under this License are granted for the term of 157 | copyright on the Program, and are irrevocable provided the stated 158 | conditions are met. This License explicitly affirms your unlimited 159 | permission to run the unmodified Program. The output from running a 160 | covered work is covered by this License only if the output, given its 161 | content, constitutes a covered work. This License acknowledges your 162 | rights of fair use or other equivalent, as provided by copyright law. 163 | 164 | You may make, run and propagate covered works that you do not 165 | convey, without conditions so long as your license otherwise remains 166 | in force. You may convey covered works to others for the sole purpose 167 | of having them make modifications exclusively for you, or provide you 168 | with facilities for running those works, provided that you comply with 169 | the terms of this License in conveying all material for which you do 170 | not control copyright. Those thus making or running the covered works 171 | for you must do so exclusively on your behalf, under your direction 172 | and control, on terms that prohibit them from making any copies of 173 | your copyrighted material outside their relationship with you. 174 | 175 | Conveying under any other circumstances is permitted solely under 176 | the conditions stated below. Sublicensing is not allowed; section 10 177 | makes it unnecessary. 178 | 179 | 3. Protecting Users' Legal Rights From Anti-Circumvention Law. 180 | 181 | No covered work shall be deemed part of an effective technological 182 | measure under any applicable law fulfilling obligations under article 183 | 11 of the WIPO copyright treaty adopted on 20 December 1996, or 184 | similar laws prohibiting or restricting circumvention of such 185 | measures. 186 | 187 | When you convey a covered work, you waive any legal power to forbid 188 | circumvention of technological measures to the extent such circumvention 189 | is effected by exercising rights under this License with respect to 190 | the covered work, and you disclaim any intention to limit operation or 191 | modification of the work as a means of enforcing, against the work's 192 | users, your or third parties' legal rights to forbid circumvention of 193 | technological measures. 194 | 195 | 4. Conveying Verbatim Copies. 196 | 197 | You may convey verbatim copies of the Program's source code as you 198 | receive it, in any medium, provided that you conspicuously and 199 | appropriately publish on each copy an appropriate copyright notice; 200 | keep intact all notices stating that this License and any 201 | non-permissive terms added in accord with section 7 apply to the code; 202 | keep intact all notices of the absence of any warranty; and give all 203 | recipients a copy of this License along with the Program. 204 | 205 | You may charge any price or no price for each copy that you convey, 206 | and you may offer support or warranty protection for a fee. 207 | 208 | 5. Conveying Modified Source Versions. 209 | 210 | You may convey a work based on the Program, or the modifications to 211 | produce it from the Program, in the form of source code under the 212 | terms of section 4, provided that you also meet all of these conditions: 213 | 214 | a) The work must carry prominent notices stating that you modified 215 | it, and giving a relevant date. 216 | 217 | b) The work must carry prominent notices stating that it is 218 | released under this License and any conditions added under section 219 | 7. This requirement modifies the requirement in section 4 to 220 | "keep intact all notices". 221 | 222 | c) You must license the entire work, as a whole, under this 223 | License to anyone who comes into possession of a copy. This 224 | License will therefore apply, along with any applicable section 7 225 | additional terms, to the whole of the work, and all its parts, 226 | regardless of how they are packaged. This License gives no 227 | permission to license the work in any other way, but it does not 228 | invalidate such permission if you have separately received it. 229 | 230 | d) If the work has interactive user interfaces, each must display 231 | Appropriate Legal Notices; however, if the Program has interactive 232 | interfaces that do not display Appropriate Legal Notices, your 233 | work need not make them do so. 234 | 235 | A compilation of a covered work with other separate and independent 236 | works, which are not by their nature extensions of the covered work, 237 | and which are not combined with it such as to form a larger program, 238 | in or on a volume of a storage or distribution medium, is called an 239 | "aggregate" if the compilation and its resulting copyright are not 240 | used to limit the access or legal rights of the compilation's users 241 | beyond what the individual works permit. Inclusion of a covered work 242 | in an aggregate does not cause this License to apply to the other 243 | parts of the aggregate. 244 | 245 | 6. Conveying Non-Source Forms. 246 | 247 | You may convey a covered work in object code form under the terms 248 | of sections 4 and 5, provided that you also convey the 249 | machine-readable Corresponding Source under the terms of this License, 250 | in one of these ways: 251 | 252 | a) Convey the object code in, or embodied in, a physical product 253 | (including a physical distribution medium), accompanied by the 254 | Corresponding Source fixed on a durable physical medium 255 | customarily used for software interchange. 256 | 257 | b) Convey the object code in, or embodied in, a physical product 258 | (including a physical distribution medium), accompanied by a 259 | written offer, valid for at least three years and valid for as 260 | long as you offer spare parts or customer support for that product 261 | model, to give anyone who possesses the object code either (1) a 262 | copy of the Corresponding Source for all the software in the 263 | product that is covered by this License, on a durable physical 264 | medium customarily used for software interchange, for a price no 265 | more than your reasonable cost of physically performing this 266 | conveying of source, or (2) access to copy the 267 | Corresponding Source from a network server at no charge. 268 | 269 | c) Convey individual copies of the object code with a copy of the 270 | written offer to provide the Corresponding Source. This 271 | alternative is allowed only occasionally and noncommercially, and 272 | only if you received the object code with such an offer, in accord 273 | with subsection 6b. 274 | 275 | d) Convey the object code by offering access from a designated 276 | place (gratis or for a charge), and offer equivalent access to the 277 | Corresponding Source in the same way through the same place at no 278 | further charge. You need not require recipients to copy the 279 | Corresponding Source along with the object code. If the place to 280 | copy the object code is a network server, the Corresponding Source 281 | may be on a different server (operated by you or a third party) 282 | that supports equivalent copying facilities, provided you maintain 283 | clear directions next to the object code saying where to find the 284 | Corresponding Source. Regardless of what server hosts the 285 | Corresponding Source, you remain obligated to ensure that it is 286 | available for as long as needed to satisfy these requirements. 287 | 288 | e) Convey the object code using peer-to-peer transmission, provided 289 | you inform other peers where the object code and Corresponding 290 | Source of the work are being offered to the general public at no 291 | charge under subsection 6d. 292 | 293 | A separable portion of the object code, whose source code is excluded 294 | from the Corresponding Source as a System Library, need not be 295 | included in conveying the object code work. 296 | 297 | A "User Product" is either (1) a "consumer product", which means any 298 | tangible personal property which is normally used for personal, family, 299 | or household purposes, or (2) anything designed or sold for incorporation 300 | into a dwelling. In determining whether a product is a consumer product, 301 | doubtful cases shall be resolved in favor of coverage. For a particular 302 | product received by a particular user, "normally used" refers to a 303 | typical or common use of that class of product, regardless of the status 304 | of the particular user or of the way in which the particular user 305 | actually uses, or expects or is expected to use, the product. A product 306 | is a consumer product regardless of whether the product has substantial 307 | commercial, industrial or non-consumer uses, unless such uses represent 308 | the only significant mode of use of the product. 309 | 310 | "Installation Information" for a User Product means any methods, 311 | procedures, authorization keys, or other information required to install 312 | and execute modified versions of a covered work in that User Product from 313 | a modified version of its Corresponding Source. The information must 314 | suffice to ensure that the continued functioning of the modified object 315 | code is in no case prevented or interfered with solely because 316 | modification has been made. 317 | 318 | If you convey an object code work under this section in, or with, or 319 | specifically for use in, a User Product, and the conveying occurs as 320 | part of a transaction in which the right of possession and use of the 321 | User Product is transferred to the recipient in perpetuity or for a 322 | fixed term (regardless of how the transaction is characterized), the 323 | Corresponding Source conveyed under this section must be accompanied 324 | by the Installation Information. But this requirement does not apply 325 | if neither you nor any third party retains the ability to install 326 | modified object code on the User Product (for example, the work has 327 | been installed in ROM). 328 | 329 | The requirement to provide Installation Information does not include a 330 | requirement to continue to provide support service, warranty, or updates 331 | for a work that has been modified or installed by the recipient, or for 332 | the User Product in which it has been modified or installed. Access to a 333 | network may be denied when the modification itself materially and 334 | adversely affects the operation of the network or violates the rules and 335 | protocols for communication across the network. 336 | 337 | Corresponding Source conveyed, and Installation Information provided, 338 | in accord with this section must be in a format that is publicly 339 | documented (and with an implementation available to the public in 340 | source code form), and must require no special password or key for 341 | unpacking, reading or copying. 342 | 343 | 7. Additional Terms. 344 | 345 | "Additional permissions" are terms that supplement the terms of this 346 | License by making exceptions from one or more of its conditions. 347 | Additional permissions that are applicable to the entire Program shall 348 | be treated as though they were included in this License, to the extent 349 | that they are valid under applicable law. If additional permissions 350 | apply only to part of the Program, that part may be used separately 351 | under those permissions, but the entire Program remains governed by 352 | this License without regard to the additional permissions. 353 | 354 | When you convey a copy of a covered work, you may at your option 355 | remove any additional permissions from that copy, or from any part of 356 | it. (Additional permissions may be written to require their own 357 | removal in certain cases when you modify the work.) You may place 358 | additional permissions on material, added by you to a covered work, 359 | for which you have or can give appropriate copyright permission. 360 | 361 | Notwithstanding any other provision of this License, for material you 362 | add to a covered work, you may (if authorized by the copyright holders of 363 | that material) supplement the terms of this License with terms: 364 | 365 | a) Disclaiming warranty or limiting liability differently from the 366 | terms of sections 15 and 16 of this License; or 367 | 368 | b) Requiring preservation of specified reasonable legal notices or 369 | author attributions in that material or in the Appropriate Legal 370 | Notices displayed by works containing it; or 371 | 372 | c) Prohibiting misrepresentation of the origin of that material, or 373 | requiring that modified versions of such material be marked in 374 | reasonable ways as different from the original version; or 375 | 376 | d) Limiting the use for publicity purposes of names of licensors or 377 | authors of the material; or 378 | 379 | e) Declining to grant rights under trademark law for use of some 380 | trade names, trademarks, or service marks; or 381 | 382 | f) Requiring indemnification of licensors and authors of that 383 | material by anyone who conveys the material (or modified versions of 384 | it) with contractual assumptions of liability to the recipient, for 385 | any liability that these contractual assumptions directly impose on 386 | those licensors and authors. 387 | 388 | All other non-permissive additional terms are considered "further 389 | restrictions" within the meaning of section 10. If the Program as you 390 | received it, or any part of it, contains a notice stating that it is 391 | governed by this License along with a term that is a further 392 | restriction, you may remove that term. If a license document contains 393 | a further restriction but permits relicensing or conveying under this 394 | License, you may add to a covered work material governed by the terms 395 | of that license document, provided that the further restriction does 396 | not survive such relicensing or conveying. 397 | 398 | If you add terms to a covered work in accord with this section, you 399 | must place, in the relevant source files, a statement of the 400 | additional terms that apply to those files, or a notice indicating 401 | where to find the applicable terms. 402 | 403 | Additional terms, permissive or non-permissive, may be stated in the 404 | form of a separately written license, or stated as exceptions; 405 | the above requirements apply either way. 406 | 407 | 8. Termination. 408 | 409 | You may not propagate or modify a covered work except as expressly 410 | provided under this License. Any attempt otherwise to propagate or 411 | modify it is void, and will automatically terminate your rights under 412 | this License (including any patent licenses granted under the third 413 | paragraph of section 11). 414 | 415 | However, if you cease all violation of this License, then your 416 | license from a particular copyright holder is reinstated (a) 417 | provisionally, unless and until the copyright holder explicitly and 418 | finally terminates your license, and (b) permanently, if the copyright 419 | holder fails to notify you of the violation by some reasonable means 420 | prior to 60 days after the cessation. 421 | 422 | Moreover, your license from a particular copyright holder is 423 | reinstated permanently if the copyright holder notifies you of the 424 | violation by some reasonable means, this is the first time you have 425 | received notice of violation of this License (for any work) from that 426 | copyright holder, and you cure the violation prior to 30 days after 427 | your receipt of the notice. 428 | 429 | Termination of your rights under this section does not terminate the 430 | licenses of parties who have received copies or rights from you under 431 | this License. If your rights have been terminated and not permanently 432 | reinstated, you do not qualify to receive new licenses for the same 433 | material under section 10. 434 | 435 | 9. Acceptance Not Required for Having Copies. 436 | 437 | You are not required to accept this License in order to receive or 438 | run a copy of the Program. Ancillary propagation of a covered work 439 | occurring solely as a consequence of using peer-to-peer transmission 440 | to receive a copy likewise does not require acceptance. However, 441 | nothing other than this License grants you permission to propagate or 442 | modify any covered work. These actions infringe copyright if you do 443 | not accept this License. Therefore, by modifying or propagating a 444 | covered work, you indicate your acceptance of this License to do so. 445 | 446 | 10. Automatic Licensing of Downstream Recipients. 447 | 448 | Each time you convey a covered work, the recipient automatically 449 | receives a license from the original licensors, to run, modify and 450 | propagate that work, subject to this License. You are not responsible 451 | for enforcing compliance by third parties with this License. 452 | 453 | An "entity transaction" is a transaction transferring control of an 454 | organization, or substantially all assets of one, or subdividing an 455 | organization, or merging organizations. If propagation of a covered 456 | work results from an entity transaction, each party to that 457 | transaction who receives a copy of the work also receives whatever 458 | licenses to the work the party's predecessor in interest had or could 459 | give under the previous paragraph, plus a right to possession of the 460 | Corresponding Source of the work from the predecessor in interest, if 461 | the predecessor has it or can get it with reasonable efforts. 462 | 463 | You may not impose any further restrictions on the exercise of the 464 | rights granted or affirmed under this License. For example, you may 465 | not impose a license fee, royalty, or other charge for exercise of 466 | rights granted under this License, and you may not initiate litigation 467 | (including a cross-claim or counterclaim in a lawsuit) alleging that 468 | any patent claim is infringed by making, using, selling, offering for 469 | sale, or importing the Program or any portion of it. 470 | 471 | 11. Patents. 472 | 473 | A "contributor" is a copyright holder who authorizes use under this 474 | License of the Program or a work on which the Program is based. The 475 | work thus licensed is called the contributor's "contributor version". 476 | 477 | A contributor's "essential patent claims" are all patent claims 478 | owned or controlled by the contributor, whether already acquired or 479 | hereafter acquired, that would be infringed by some manner, permitted 480 | by this License, of making, using, or selling its contributor version, 481 | but do not include claims that would be infringed only as a 482 | consequence of further modification of the contributor version. For 483 | purposes of this definition, "control" includes the right to grant 484 | patent sublicenses in a manner consistent with the requirements of 485 | this License. 486 | 487 | Each contributor grants you a non-exclusive, worldwide, royalty-free 488 | patent license under the contributor's essential patent claims, to 489 | make, use, sell, offer for sale, import and otherwise run, modify and 490 | propagate the contents of its contributor version. 491 | 492 | In the following three paragraphs, a "patent license" is any express 493 | agreement or commitment, however denominated, not to enforce a patent 494 | (such as an express permission to practice a patent or covenant not to 495 | sue for patent infringement). To "grant" such a patent license to a 496 | party means to make such an agreement or commitment not to enforce a 497 | patent against the party. 498 | 499 | If you convey a covered work, knowingly relying on a patent license, 500 | and the Corresponding Source of the work is not available for anyone 501 | to copy, free of charge and under the terms of this License, through a 502 | publicly available network server or other readily accessible means, 503 | then you must either (1) cause the Corresponding Source to be so 504 | available, or (2) arrange to deprive yourself of the benefit of the 505 | patent license for this particular work, or (3) arrange, in a manner 506 | consistent with the requirements of this License, to extend the patent 507 | license to downstream recipients. "Knowingly relying" means you have 508 | actual knowledge that, but for the patent license, your conveying the 509 | covered work in a country, or your recipient's use of the covered work 510 | in a country, would infringe one or more identifiable patents in that 511 | country that you have reason to believe are valid. 512 | 513 | If, pursuant to or in connection with a single transaction or 514 | arrangement, you convey, or propagate by procuring conveyance of, a 515 | covered work, and grant a patent license to some of the parties 516 | receiving the covered work authorizing them to use, propagate, modify 517 | or convey a specific copy of the covered work, then the patent license 518 | you grant is automatically extended to all recipients of the covered 519 | work and works based on it. 520 | 521 | A patent license is "discriminatory" if it does not include within 522 | the scope of its coverage, prohibits the exercise of, or is 523 | conditioned on the non-exercise of one or more of the rights that are 524 | specifically granted under this License. You may not convey a covered 525 | work if you are a party to an arrangement with a third party that is 526 | in the business of distributing software, under which you make payment 527 | to the third party based on the extent of your activity of conveying 528 | the work, and under which the third party grants, to any of the 529 | parties who would receive the covered work from you, a discriminatory 530 | patent license (a) in connection with copies of the covered work 531 | conveyed by you (or copies made from those copies), or (b) primarily 532 | for and in connection with specific products or compilations that 533 | contain the covered work, unless you entered into that arrangement, 534 | or that patent license was granted, prior to 28 March 2007. 535 | 536 | Nothing in this License shall be construed as excluding or limiting 537 | any implied license or other defenses to infringement that may 538 | otherwise be available to you under applicable patent law. 539 | 540 | 12. No Surrender of Others' Freedom. 541 | 542 | If conditions are imposed on you (whether by court order, agreement or 543 | otherwise) that contradict the conditions of this License, they do not 544 | excuse you from the conditions of this License. If you cannot convey a 545 | covered work so as to satisfy simultaneously your obligations under this 546 | License and any other pertinent obligations, then as a consequence you may 547 | not convey it at all. For example, if you agree to terms that obligate you 548 | to collect a royalty for further conveying from those to whom you convey 549 | the Program, the only way you could satisfy both those terms and this 550 | License would be to refrain entirely from conveying the Program. 551 | 552 | 13. Use with the GNU Affero General Public License. 553 | 554 | Notwithstanding any other provision of this License, you have 555 | permission to link or combine any covered work with a work licensed 556 | under version 3 of the GNU Affero General Public License into a single 557 | combined work, and to convey the resulting work. The terms of this 558 | License will continue to apply to the part which is the covered work, 559 | but the special requirements of the GNU Affero General Public License, 560 | section 13, concerning interaction through a network will apply to the 561 | combination as such. 562 | 563 | 14. Revised Versions of this License. 564 | 565 | The Free Software Foundation may publish revised and/or new versions of 566 | the GNU General Public License from time to time. Such new versions will 567 | be similar in spirit to the present version, but may differ in detail to 568 | address new problems or concerns. 569 | 570 | Each version is given a distinguishing version number. If the 571 | Program specifies that a certain numbered version of the GNU General 572 | Public License "or any later version" applies to it, you have the 573 | option of following the terms and conditions either of that numbered 574 | version or of any later version published by the Free Software 575 | Foundation. If the Program does not specify a version number of the 576 | GNU General Public License, you may choose any version ever published 577 | by the Free Software Foundation. 578 | 579 | If the Program specifies that a proxy can decide which future 580 | versions of the GNU General Public License can be used, that proxy's 581 | public statement of acceptance of a version permanently authorizes you 582 | to choose that version for the Program. 583 | 584 | Later license versions may give you additional or different 585 | permissions. However, no additional obligations are imposed on any 586 | author or copyright holder as a result of your choosing to follow a 587 | later version. 588 | 589 | 15. Disclaimer of Warranty. 590 | 591 | THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY 592 | APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT 593 | HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY 594 | OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, 595 | THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 596 | PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM 597 | IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF 598 | ALL NECESSARY SERVICING, REPAIR OR CORRECTION. 599 | 600 | 16. Limitation of Liability. 601 | 602 | IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING 603 | WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS 604 | THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY 605 | GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE 606 | USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF 607 | DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD 608 | PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), 609 | EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF 610 | SUCH DAMAGES. 611 | 612 | 17. Interpretation of Sections 15 and 16. 613 | 614 | If the disclaimer of warranty and limitation of liability provided 615 | above cannot be given local legal effect according to their terms, 616 | reviewing courts shall apply local law that most closely approximates 617 | an absolute waiver of all civil liability in connection with the 618 | Program, unless a warranty or assumption of liability accompanies a 619 | copy of the Program in return for a fee. 620 | 621 | END OF TERMS AND CONDITIONS 622 | 623 | How to Apply These Terms to Your New Programs 624 | 625 | If you develop a new program, and you want it to be of the greatest 626 | possible use to the public, the best way to achieve this is to make it 627 | free software which everyone can redistribute and change under these terms. 628 | 629 | To do so, attach the following notices to the program. It is safest 630 | to attach them to the start of each source file to most effectively 631 | state the exclusion of warranty; and each file should have at least 632 | the "copyright" line and a pointer to where the full notice is found. 633 | 634 | 635 | Copyright (C) 636 | 637 | This program is free software: you can redistribute it and/or modify 638 | it under the terms of the GNU General Public License as published by 639 | the Free Software Foundation, either version 3 of the License, or 640 | (at your option) any later version. 641 | 642 | This program is distributed in the hope that it will be useful, 643 | but WITHOUT ANY WARRANTY; without even the implied warranty of 644 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 645 | GNU General Public License for more details. 646 | 647 | You should have received a copy of the GNU General Public License 648 | along with this program. If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README: -------------------------------------------------------------------------------- 1 | Just a motor simulator usable to run software in the loop for open-bldc. 2 | -------------------------------------------------------------------------------- /src/Makefile: -------------------------------------------------------------------------------- 1 | 2 | OBJ=main.o misc_utils.o dyn_model.o controller.o switch.o 3 | 4 | CFLAGS=-I/opt/local/include -Wall 5 | CPPFLAGS=-I/opt/local/include -Wall -I/Users/esdentem/QtSDK/Desktop/Qt/4.8.1/gcc/include -I/Users/esdentem/QtSDK/Desktop/Qt/4.8.1/gcc/lib/QtCore.framework/Versions/Current/Headers/ 6 | LDFLAGS=-L/opt/local/lib -lgsl -F/Users/esdentem/QtSDK/Desktop/Qt/4.8.1/gcc/lib -framework QtCore 7 | 8 | all: obldc-csim 9 | 10 | obldc-csim: $(OBJ) 11 | $(CXX) $(LDFLAGS) $(OBJ) -o $@ 12 | 13 | clean: 14 | rm -rf *.o obldc-csim 15 | -------------------------------------------------------------------------------- /src/controller.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Open-BLDC CSim - Open BrushLess DC Motor Controller C Simulator 3 | * Copyright (C) 2012 by Piotr Esden-Tempski 4 | * 5 | * This program is free software; you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation; either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #include 20 | #include 21 | #include 22 | 23 | #include "switch.h" 24 | #include "dyn_model.h" 25 | #include "misc_utils.h" 26 | 27 | #include "controller.h" 28 | 29 | bool command_steps_init = false; 30 | 31 | enum switch_mode { 32 | SM_OFF, 33 | SM_ON, 34 | SM_PWM 35 | }; 36 | 37 | struct switch_modes { 38 | enum switch_mode hu; 39 | enum switch_mode lu; 40 | enum switch_mode hv; 41 | enum switch_mode lv; 42 | enum switch_mode hw; 43 | enum switch_mode lw; 44 | }; 45 | 46 | struct switch_modes command_steps[12]; 47 | 48 | void init_steps(void) 49 | { 50 | if (!command_steps_init) { 51 | 52 | /* 1b */ 53 | command_steps[0].hu=SM_OFF; 54 | command_steps[0].lu=SM_OFF; 55 | command_steps[0].hv=SM_OFF; 56 | command_steps[0].lv=SM_ON; 57 | command_steps[0].hw=SM_PWM; 58 | command_steps[0].lw=SM_OFF; 59 | 60 | /* 2a */ 61 | command_steps[1].hu=SM_PWM; 62 | command_steps[1].lu=SM_OFF; 63 | command_steps[1].hv=SM_OFF; 64 | command_steps[1].lv=SM_ON; 65 | command_steps[1].hw=SM_OFF; 66 | command_steps[1].lw=SM_OFF; 67 | 68 | /* 2b */ 69 | command_steps[2].hu=SM_PWM; 70 | command_steps[2].lu=SM_OFF; 71 | command_steps[2].hv=SM_OFF; 72 | command_steps[2].lv=SM_ON; 73 | command_steps[2].hw=SM_OFF; 74 | command_steps[2].lw=SM_OFF; 75 | 76 | /* 3a */ 77 | command_steps[3].hu=SM_PWM; 78 | command_steps[3].lu=SM_OFF; 79 | command_steps[3].hv=SM_OFF; 80 | command_steps[3].lv=SM_OFF; 81 | command_steps[3].hw=SM_OFF; 82 | command_steps[3].lw=SM_ON; 83 | 84 | /* 3b */ 85 | command_steps[4].hu=SM_PWM; 86 | command_steps[4].lu=SM_OFF; 87 | command_steps[4].hv=SM_OFF; 88 | command_steps[4].lv=SM_OFF; 89 | command_steps[4].hw=SM_OFF; 90 | command_steps[4].lw=SM_ON; 91 | 92 | /* 4a */ 93 | command_steps[5].hu=SM_OFF; 94 | command_steps[5].lu=SM_OFF; 95 | command_steps[5].hv=SM_PWM; 96 | command_steps[5].lv=SM_OFF; 97 | command_steps[5].hw=SM_OFF; 98 | command_steps[5].lw=SM_ON; 99 | 100 | /* 4b */ 101 | command_steps[6].hu=SM_OFF; 102 | command_steps[6].lu=SM_OFF; 103 | command_steps[6].hv=SM_PWM; 104 | command_steps[6].lv=SM_OFF; 105 | command_steps[6].hw=SM_OFF; 106 | command_steps[6].lw=SM_ON; 107 | 108 | /* 5a */ 109 | command_steps[7].hu=SM_OFF; 110 | command_steps[7].lu=SM_ON; 111 | command_steps[7].hv=SM_PWM; 112 | command_steps[7].lv=SM_OFF; 113 | command_steps[7].hw=SM_OFF; 114 | command_steps[7].lw=SM_OFF; 115 | 116 | /* 5b */ 117 | command_steps[8].hu=SM_OFF; 118 | command_steps[8].lu=SM_ON; 119 | command_steps[8].hv=SM_PWM; 120 | command_steps[8].lv=SM_OFF; 121 | command_steps[8].hw=SM_OFF; 122 | command_steps[8].lw=SM_OFF; 123 | 124 | /* 6a */ 125 | command_steps[9].hu=SM_OFF; 126 | command_steps[9].lu=SM_ON; 127 | command_steps[9].hv=SM_OFF; 128 | command_steps[9].lv=SM_OFF; 129 | command_steps[9].hw=SM_PWM; 130 | command_steps[9].lw=SM_OFF; 131 | 132 | /* 6b */ 133 | command_steps[10].hu=SM_OFF; 134 | command_steps[10].lu=SM_ON; 135 | command_steps[10].hv=SM_OFF; 136 | command_steps[10].lv=SM_OFF; 137 | command_steps[10].hw=SM_PWM; 138 | command_steps[10].lw=SM_OFF; 139 | 140 | /* 1a */ 141 | command_steps[11].hu=SM_OFF; 142 | command_steps[11].lu=SM_OFF; 143 | command_steps[11].hv=SM_OFF; 144 | command_steps[11].lv=SM_ON; 145 | command_steps[11].hw=SM_PWM; 146 | command_steps[11].lw=SM_OFF; 147 | } 148 | } 149 | 150 | void config_switch(struct ssn **ssn, double t, double t1, const struct setpoint *sp, enum switch_mode mode) 151 | { 152 | switch (mode) { 153 | case SM_OFF: 154 | switch_set(ssn, t, false); 155 | break; 156 | case SM_ON: 157 | switch_set(ssn, t, true); 158 | break; 159 | case SM_PWM: 160 | switch_pwm_gen(ssn, t, t1, sp->pwm_frequency, sp->pwm_duty, false); 161 | break; 162 | } 163 | } 164 | 165 | int run(double t, double t1, const struct setpoint *sp, const struct motor *m, const struct state_vector *sv, struct command_vector *cv) 166 | { 167 | /* create a virtual encoder */ 168 | double elec_angle = norm_angle(sv->theta * (m->NbPoles/2)); // + ((M_PI/6)*8); 169 | int slice = angle_slice(elec_angle, 12); 170 | struct switch_modes *selected_sm; 171 | 172 | init_steps(); 173 | 174 | selected_sm = &command_steps[11-slice]; 175 | 176 | config_switch(&(cv->hu), t, t1, sp, selected_sm->hu); 177 | config_switch(&(cv->lu), t, t1, sp, selected_sm->lu); 178 | config_switch(&(cv->hv), t, t1, sp, selected_sm->hv); 179 | config_switch(&(cv->lv), t, t1, sp, selected_sm->lv); 180 | config_switch(&(cv->hw), t, t1, sp, selected_sm->hw); 181 | config_switch(&(cv->lw), t, t1, sp, selected_sm->lw); 182 | 183 | //printf("step %d ", slice); 184 | 185 | return 1; 186 | } 187 | -------------------------------------------------------------------------------- /src/controller.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Open-BLDC CSim - Open BrushLess DC Motor Controller C Simulator 3 | * Copyright (C) 2012 by Piotr Esden-Tempski 4 | * 5 | * This program is free software; you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation; either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #ifndef _CONTROLLER_H 20 | #define _CONTROLLER_H 21 | 22 | #if defined(__cplusplus) 23 | extern "C" { 24 | #endif 25 | 26 | struct setpoint { 27 | double pwm_frequency; 28 | double pwm_duty; 29 | }; 30 | 31 | int run(double t, double t1, const struct setpoint *sp, const struct motor *m, const struct state_vector *sv, struct command_vector *cv); 32 | 33 | #if defined(__cplusplus) 34 | } /* extern "C" */ 35 | #endif 36 | 37 | #endif /* _CONTROLLER_H */ 38 | -------------------------------------------------------------------------------- /src/dyn_model.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Open-BLDC CSim - Open BrushLess DC Motor Controller C Simulator 3 | * Copyright (C) 2012 by Piotr Esden-Tempski 4 | * 5 | * This program is free software; you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation; either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #include 20 | #include 21 | #include 22 | 23 | #include "dyn_model.h" 24 | 25 | #include "misc_utils.h" 26 | #include "switch.h" 27 | 28 | #ifndef DEBUG 29 | //#define DEBUG 30 | #endif 31 | 32 | /* Simulator internal voltages vector. */ 33 | struct voltages_vector { 34 | double eu; 35 | double ev; 36 | double ew; 37 | double vu; 38 | double vv; 39 | double vw; 40 | double star; 41 | }; 42 | 43 | int backemf(struct state_vector *sv, struct motor *m, double thetae_offset, double *bemf) 44 | { 45 | double phase_thetae = norm_angle((sv->theta * (m->NbPoles / 2.)) + thetae_offset); 46 | double bemf_constant = vpradps_of_rpmpv(m->Kv); /* aka. ke in V/rad/s */ 47 | double max_bemf = bemf_constant * sv->omega; 48 | int slice = angle_slice(phase_thetae, 12); 49 | *bemf = 0.; 50 | 51 | switch (slice) { 52 | case 0: 53 | *bemf = (max_bemf / (M_PI * (1./6.))) * phase_thetae; 54 | break; 55 | case 1: 56 | case 2: 57 | case 3: 58 | case 4: 59 | *bemf = max_bemf; 60 | break; 61 | case 5: 62 | case 6: 63 | *bemf = -((max_bemf / (M_PI * (1./6.))) * (phase_thetae - M_PI)); 64 | break; 65 | case 7: 66 | case 8: 67 | case 9: 68 | case 10: 69 | *bemf = -max_bemf; 70 | break; 71 | case 11: 72 | *bemf = (max_bemf / (M_PI * (1./6.))) * (phase_thetae - (2. * M_PI)); 73 | break; 74 | default: 75 | printf("ERROR: angle out of bounds can not calculate bemf %f\n", phase_thetae); 76 | return GSL_FAILURE; 77 | } 78 | 79 | #ifdef DEBUG 80 | printf("DEBUG: alpha %.5e bemf %.5e\n", phase_thetae, *bemf); 81 | #endif 82 | 83 | return GSL_SUCCESS; 84 | } 85 | 86 | void voltages(double t, struct state_vector *sv, struct command_vector *cv, struct motor *m, struct voltages_vector *vv) 87 | { 88 | /* Check which phases are excited. */ 89 | 90 | bool hu = switch_get(&(cv->hu), t); 91 | bool lu = switch_get(&(cv->lu), t); 92 | bool hv = switch_get(&(cv->hv), t); 93 | bool lv = switch_get(&(cv->lv), t); 94 | bool hw = switch_get(&(cv->hw), t); 95 | bool lw = switch_get(&(cv->lw), t); 96 | 97 | bool pux = (hu || lu); 98 | bool pvx = (hv || lv); 99 | bool pwx = (hw || lw); 100 | 101 | vv->vu = 0.; 102 | vv->vv = 0.; 103 | vv->vw = 0.; 104 | vv->star = 0.; 105 | 106 | if (pux && pvx && pwx) { 107 | 108 | if (hu) { 109 | vv->vu = m->VDC / 2.; 110 | } else { 111 | vv->vu = -(m->VDC / 2.); 112 | } 113 | 114 | if (hv) { 115 | vv->vv = m->VDC / 2.; 116 | } else { 117 | vv->vv = -(m->VDC / 2.); 118 | } 119 | 120 | if (hw) { 121 | vv->vw = m->VDC / 2.; 122 | } else { 123 | vv->vw = -(m->VDC / 2.); 124 | } 125 | 126 | vv->star = (vv->vu + vv->vv + vv->vw - vv->eu - vv->ev - vv->ew) / 3.; 127 | 128 | } else if (pux && pvx) { 129 | 130 | if (hu) { 131 | vv->vu = m->VDC / 2.; 132 | } else { 133 | vv->vu = -(m->VDC / 2.); 134 | } 135 | 136 | if (hv) { 137 | vv->vv = m->VDC / 2.; 138 | } else { 139 | vv->vv = -(m->VDC / 2.); 140 | } 141 | 142 | vv->star = (vv->vu + vv->vv - vv->eu - vv->ev) / 2.; 143 | 144 | vv->vw = vv->ew + vv->star; 145 | 146 | } else if (pux && pwx) { 147 | 148 | if (hu) { 149 | vv->vu = m->VDC / 2.; 150 | } else { 151 | vv->vu = -(m->VDC / 2.); 152 | } 153 | 154 | if (hw) { 155 | vv->vw = m->VDC / 2.; 156 | } else { 157 | vv->vw = -(m->VDC / 2.); 158 | } 159 | 160 | vv->star = (vv->vu + vv->vw - vv->eu - vv->ew) / 2.; 161 | 162 | vv->vv = vv->ev + vv->star; 163 | 164 | } else if (pvx && pwx) { 165 | 166 | if (hv) { 167 | vv->vv = m->VDC / 2.; 168 | } else { 169 | vv->vv = -(m->VDC / 2.); 170 | } 171 | 172 | if (hw) { 173 | vv->vw = m->VDC / 2.; 174 | } else { 175 | vv->vw = -(m->VDC / 2.); 176 | } 177 | 178 | vv->star = (vv->vv + vv->vw - vv->ev - vv->ew) / 2.; 179 | 180 | vv->vu = vv->eu + vv->star; 181 | 182 | } else if (pux) { 183 | 184 | if (hu) { 185 | vv->vu = m->VDC / 2.; 186 | } else { 187 | vv->vu = -(m->VDC / 2.); 188 | } 189 | 190 | vv->star = (vv->vu - vv->eu); 191 | 192 | vv->vv = vv->ev + vv->star; 193 | vv->vw = vv->ew + vv->star; 194 | 195 | } else if (pvx) { 196 | 197 | if (hv) { 198 | vv->vv = m->VDC / 2.; 199 | } else { 200 | vv->vv = -(m->VDC / 2.); 201 | } 202 | 203 | vv->star = (vv->vv - vv->ev); 204 | 205 | vv->vu = vv->eu + vv->star; 206 | vv->vw = vv->ew + vv->star; 207 | 208 | } else if (pwx) { 209 | 210 | if (hw) { 211 | vv->vw = m->VDC / 2.; 212 | } else { 213 | vv->vw = -(m->VDC / 2.); 214 | } 215 | 216 | vv->star = (vv->vw - vv->ew); 217 | 218 | vv->vu = vv->eu + vv->star; 219 | vv->vv = vv->ev + vv->star; 220 | 221 | } else { 222 | /* XXX: this needs more precise checking I guess. :/ */ 223 | vv->vu = vv->eu; 224 | vv->vv = vv->ev; 225 | vv->vw = vv->ew; 226 | 227 | vv->star = 0; 228 | } 229 | } 230 | 231 | void init_state(struct state_vector *sv) 232 | { 233 | sv->iu = 0; 234 | sv->iv = 0; 235 | sv->iw = 0; 236 | sv->theta = 0; 237 | sv->omega = 0.000001; 238 | } 239 | 240 | int dyn(double t, const double asv[], double aov[], void *params) 241 | { 242 | struct state_vector *sv = (struct state_vector *)asv; 243 | struct state_vector *sv_dot = (struct state_vector *)aov; 244 | struct parameters *p = (struct parameters *)params; 245 | double etorque, mtorque; 246 | struct voltages_vector vv; 247 | int ret; 248 | 249 | #ifdef DEBUG 250 | printf("DEBUG: input t %.5e iu %.5e iv %.5e ew %5e th %5e om %5e\n", t, sv->iu, sv->iv, sv->iw, sv->theta, sv->omega); 251 | #endif 252 | 253 | /* Calculate backemf voltages. */ 254 | ret = backemf(sv, p->m, 0., &vv.eu); 255 | if (ret != GSL_SUCCESS) return ret; 256 | ret = backemf(sv, p->m, M_PI * (2. / 3.), &vv.ev); 257 | if (ret != GSL_SUCCESS) return ret; 258 | ret = backemf(sv, p->m, M_PI * (4. / 3.), &vv.ew); 259 | if (ret != GSL_SUCCESS) return ret; 260 | 261 | #ifdef DEBUG 262 | printf("DEBUG: bemf %.5e %.5e %.5e\n", vv.eu, vv.ev, vv.ew); 263 | #endif 264 | 265 | /* Electromagnetic torque. */ 266 | if (sv->omega == 0) { 267 | printf("ERROR: input state vector omega equals 0!!!\n"); 268 | return GSL_FAILURE; 269 | } 270 | etorque = ((vv.eu * sv->iu) + (vv.ev * sv->iv) + (vv.ew * sv->iw)) / sv->omega; 271 | 272 | #ifdef DEBUG 273 | printf("DEBUG: etorque %.5e\n", etorque); 274 | #endif 275 | 276 | /* Mechanical torque. */ 277 | mtorque = ((etorque * (p->m->NbPoles / 2)) - (p->m->damping * sv->omega) - p->pv->torque); 278 | 279 | #ifdef DEBUG 280 | printf("DEBUG: damping %.5e omega %.5e torque %.5e mtorque %.5e\n", p->m->damping, sv->omega, p->pv->torque, mtorque); 281 | #endif 282 | 283 | if ((mtorque > 0) && (mtorque <= p->m->static_friction)) { 284 | mtorque = 0; 285 | } else if (mtorque > p->m->static_friction) { 286 | mtorque -= p->m->static_friction; 287 | } else if ((mtorque < 0) && (mtorque >= -(p->m->static_friction))) { 288 | mtorque = 0; 289 | } else if (mtorque < -(p->m->static_friction)) { 290 | mtorque += p->m->static_friction; 291 | } 292 | 293 | /* Position of the rotor */ 294 | sv_dot->theta = sv->omega; 295 | 296 | /* Acceleration of the rotor. (omega_dot) */ 297 | sv_dot->omega = mtorque / p->m->inertia; 298 | 299 | /* Calculate voltages. */ 300 | voltages(t, sv, p->cv, p->m, &vv); 301 | 302 | /* Calculate dot currents. */ 303 | sv_dot->iu = (vv.vu - (p->m->R * sv->iu) - vv.eu - vv.star) / (p->m->L - p->m->M); 304 | sv_dot->iv = (vv.vv - (p->m->R * sv->iv) - vv.ev - vv.star) / (p->m->L - p->m->M); 305 | sv_dot->iw = (vv.vw - (p->m->R * sv->iw) - vv.ew - vv.star) / (p->m->L - p->m->M); 306 | 307 | #ifdef DEBUG 308 | printf("DEBUG: output %.5e %.5e %.5e %5e %5e %5e\n", t, sv_dot->iu, sv_dot->iv, sv_dot->iw, sv_dot->theta, sv_dot->omega); 309 | #endif 310 | 311 | return GSL_SUCCESS; 312 | } 313 | -------------------------------------------------------------------------------- /src/dyn_model.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Open-BLDC CSim - Open BrushLess DC Motor Controller C Simulator 3 | * Copyright (C) 2012 by Piotr Esden-Tempski 4 | * 5 | * This program is free software; you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation; either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #ifndef _DYN_MODEL_H 20 | #define _DYN_MODEL_H 21 | 22 | #if defined(__cplusplus) 23 | extern "C" { 24 | #endif 25 | 26 | /* Motor parameter struct. */ 27 | struct motor { 28 | double inertia; /* aka 'J' in kg/(m^2) */ 29 | double damping; /* aka 'B' in Nm/(rad/s) */ 30 | double static_friction; /* in Nm */ 31 | double Kv; /* motor constant in RPM/V */ 32 | double L; /* Coil inductance in H */ 33 | double M; /* Mutual coil inductance in H */ 34 | double R; /* Coil resistence in Ohm */ 35 | double VDC; /* Supply voltage */ 36 | int NbPoles; /* NbPoles / 2 = Number of pole pairs (you count the permanent magnets on the rotor to get NbPoles) */ 37 | }; 38 | 39 | /* State vector struct. */ 40 | struct state_vector { 41 | double theta; /* angle of the rotor */ 42 | double omega; /* angular speed of the rotor */ 43 | double iu; /* phase u current */ 44 | double iv; /* phase v current */ 45 | double iw; /* phase w current */ 46 | }; 47 | 48 | /* Command vector struct. */ 49 | struct command_vector { 50 | struct ssn *hu; /* low side phase U switch */ 51 | struct ssn *lu; /* high side phase U switch */ 52 | struct ssn *hv; /* low side phase V switch */ 53 | struct ssn *lv; /* high side phase V switch */ 54 | struct ssn *hw; /* low side phase W switch */ 55 | struct ssn *lw; /* high side phase W switch */ 56 | }; 57 | 58 | /* Perturbation vector struct. */ 59 | struct perturbation_vector { 60 | double torque; /* Torque applied to the shaft of the motor. */ 61 | }; 62 | 63 | /* Output vector struct. */ 64 | struct output_vector { 65 | double iu; /* Phase U current. */ 66 | double iv; /* Phase V current. */ 67 | double iw; /* Phase W current. */ 68 | double vu; /* Phase U voltage. */ 69 | double vv; /* Phase V voltage. */ 70 | double vw; /* Phase W voltage. */ 71 | double theta; /* Rotor angle. */ 72 | double omega; /* Rotor speed. */ 73 | }; 74 | 75 | /* Parameter struct. */ 76 | struct parameters { 77 | struct motor *m; 78 | struct command_vector *cv; 79 | struct perturbation_vector *pv; 80 | }; 81 | 82 | int backemf(struct state_vector *sv, struct motor *m, double thetae_offset, double *bemf); 83 | 84 | void init_state(struct state_vector *sv); 85 | int dyn(double t, const double asv[], double aov[], void *params); 86 | 87 | #if defined(__cplusplus) 88 | } /* extern "C" */ 89 | #endif 90 | 91 | #endif /* _DYN_MODEL_H */ 92 | -------------------------------------------------------------------------------- /src/main.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | * Open-BLDC CSim - Open BrushLess DC Motor Controller C Simulator 3 | * Copyright (C) 2012 by Piotr Esden-Tempski 4 | * 5 | * This program is free software; you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation; either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #include 20 | #include 21 | #include 22 | #include 23 | #include 24 | #include 25 | 26 | #include "dyn_model.h" 27 | #include "controller.h" 28 | 29 | struct motor motor = { 30 | motor.inertia = 1.1, 31 | motor.damping = 0.001, 32 | motor.static_friction = 0.1, 33 | motor.Kv = 1./32.3*1000, 34 | motor.L = 0.00207, 35 | motor.M = -0.00069, 36 | motor.R = 11.9, 37 | motor.VDC = 100, 38 | motor.NbPoles = 4 39 | }; 40 | 41 | struct command_vector cv = { 42 | cv.hu = NULL, 43 | cv.lu = NULL, 44 | cv.hv = NULL, 45 | cv.lv = NULL, 46 | cv.hw = NULL, 47 | cv.lw = NULL 48 | }; 49 | 50 | struct perturbation_vector pv = { 51 | pv.torque = 0.2 52 | }; 53 | 54 | struct parameters params = { 55 | params.m = &motor, 56 | params.cv = &cv, 57 | params.pv = &pv 58 | }; 59 | 60 | struct setpoint setpoint = { 61 | setpoint.pwm_frequency = 16000, 62 | setpoint.pwm_duty = 1 63 | }; 64 | 65 | int main(void) 66 | { 67 | 68 | gsl_odeiv2_system sys = {dyn, NULL, 5, ¶ms}; 69 | 70 | // prams: system, driver, initial step size, absolute error, relative error 71 | gsl_odeiv2_driver *d = gsl_odeiv2_driver_alloc_y_new(&sys, gsl_odeiv2_step_rk4, 1e-6, 1e-6, 0.0); 72 | 73 | int i; 74 | double t = 0.0, t_end = 2.0; 75 | double sim_freq = 100000; 76 | int steps = (t_end-t) * sim_freq; 77 | double t_step = (t_end - t) / steps; 78 | struct state_vector sv; 79 | double perc; 80 | 81 | QFile file("obldc-csim-out.dat"); 82 | file.open(QIODevice::WriteOnly); 83 | QDataStream out(&file); // we will serialize the data into the file 84 | 85 | init_state(&sv); 86 | run(t, t + t_step, &setpoint, &motor, &sv, &cv); 87 | 88 | for (i = 1; i <= steps; i++) 89 | { 90 | double ti = i * t_step; 91 | int status = gsl_odeiv2_driver_apply (d, &t, ti, (double *)&sv); 92 | 93 | if (status != GSL_SUCCESS) 94 | { 95 | printf ("error, return value=%d\n", status); 96 | break; 97 | } 98 | 99 | perc = (100./steps)*i; 100 | printf("Progress: %.2lf%%\r", perc); 101 | out << t << sv.iu << sv.iv << sv.iw << sv.theta << sv.omega; 102 | //fprintf (stderr, "%.5e %.5e %.5e %.5e %.5e %.5e\n", t, sv.iu, sv.iv, sv.iw, sv.theta, sv.omega); 103 | 104 | run(t, t + t_step, &setpoint, &motor, &sv, &cv); 105 | 106 | } 107 | 108 | gsl_odeiv2_driver_free (d); 109 | file.close(); 110 | return 0; 111 | } 112 | -------------------------------------------------------------------------------- /src/misc_utils.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Open-BLDC CSim - Open BrushLess DC Motor Controller C Simulator 3 | * Copyright (C) 2012 by Piotr Esden-Tempski 4 | * 5 | * This program is free software; you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation; either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #include 20 | 21 | #include "misc_utils.h" 22 | 23 | 24 | double rad_of_deg(double d) 25 | { 26 | return ((d/180.) * M_PI); 27 | } 28 | 29 | double deg_of_rad(double r) 30 | { 31 | return ((r*180.) / M_PI); 32 | } 33 | 34 | double rpm_of_radps(double rps) 35 | { 36 | return (rps / (2 * M_PI) * 60); 37 | } 38 | 39 | double degps_of_radps(double rps) 40 | { 41 | return (rps / (2 * M_PI) * 60 * 360); 42 | } 43 | 44 | double radps_of_rpm(double rpm) 45 | { 46 | return (rpm * (2 * M_PI) / 60); 47 | } 48 | 49 | double vpradps_of_rpmpv(double vprpm) 50 | { 51 | return (30 / (vprpm * M_PI)); 52 | } 53 | 54 | double norm_angle(double alpha) 55 | { 56 | double alpha_n = fmod(alpha, M_PI * 2); 57 | 58 | if (alpha_n < 0.) { 59 | alpha_n += (M_PI * 2); 60 | } 61 | 62 | return alpha_n; 63 | } 64 | 65 | int angle_slice(double alpha, double sec_count) 66 | { 67 | return (alpha / ((M_PI * 2) / sec_count)); 68 | } 69 | -------------------------------------------------------------------------------- /src/misc_utils.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Open-BLDC CSim - Open BrushLess DC Motor Controller C Simulator 3 | * Copyright (C) 2012 by Piotr Esden-Tempski 4 | * 5 | * This program is free software; you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation; either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #ifndef _MISC_UTILS 20 | #define _MISC_UTILS 21 | 22 | #if defined(__cplusplus) 23 | extern "C" { 24 | #endif 25 | 26 | double rad_of_deg(double d); 27 | double deg_of_rad(double r); 28 | double rpm_of_radps(double rps); 29 | double degps_of_radps(double rps); 30 | double radps_of_rpm(double rpm); 31 | double vpradps_of_rpmpv(double vprpm); 32 | double norm_angle(double alpha); 33 | int angle_slice(double alpha, double sec_count); 34 | 35 | #if defined(__cplusplus) 36 | } /* extern "C" */ 37 | #endif 38 | 39 | #endif /* _MISC_UTILS */ 40 | -------------------------------------------------------------------------------- /src/switch.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Open-BLDC CSim - Open BrushLess DC Motor Controller C Simulator 3 | * Copyright (C) 2012 by Piotr Esden-Tempski 4 | * 5 | * This program is free software; you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation; either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #include 20 | #include 21 | #include 22 | #include 23 | 24 | #include "switch.h" 25 | 26 | void switch_set(struct ssn **ssn, double t, bool state) 27 | { 28 | if (*ssn == NULL) { 29 | *ssn = malloc(sizeof(struct ssn)); 30 | (*ssn)->next = NULL; 31 | } 32 | 33 | (*ssn)->time = t; 34 | (*ssn)->state = state; 35 | (*ssn)->stop = true; 36 | } 37 | 38 | void switch_pwm_gen(struct ssn **ssn, double t, double t1, double freq, double duty, bool inverted) 39 | { 40 | double cycle_t = (1. / freq); /* duration of the pwm cycle */ 41 | double duty_t = cycle_t * duty; /* duration of the duty period */ 42 | struct ssn **cur_ssn = ssn; 43 | double cur_t = t - fmod(t, cycle_t); /* current time adjusted to the last pwm cycle start */ 44 | 45 | /* If duty cycle == 100% we only need one node. */ 46 | if (duty == 1.) { 47 | switch_set(ssn, t, !inverted); 48 | return; 49 | } 50 | 51 | /* If duty cycle == 0% we only need one node too. */ 52 | if (duty == 0.) { 53 | switch_set(ssn, t, inverted); 54 | return; 55 | } 56 | 57 | /* Generate PWM cycle nodes for at least the t to t1 timeframe. */ 58 | while (cur_t < t1) { 59 | /* Create node for the cycle beginning. */ 60 | switch_set(cur_ssn, cur_t, !inverted); 61 | cur_ssn = &((*cur_ssn)->next); 62 | cur_t += duty_t; 63 | switch_set(cur_ssn, cur_t, inverted); 64 | cur_ssn = &((*cur_ssn)->next); 65 | cur_t += cycle_t - duty_t; 66 | } 67 | 68 | /* Set stop sign. */ 69 | cur_ssn = ssn; 70 | while ((*cur_ssn)->next && ((*cur_ssn)->time < t1)) { 71 | (*cur_ssn)->stop = false; 72 | cur_ssn = &((*cur_ssn)->next); 73 | } 74 | 75 | } 76 | 77 | bool switch_get(struct ssn **ssn, double t) 78 | { 79 | struct ssn **cur_ssn = ssn; 80 | bool state; 81 | 82 | if (t < (*ssn)->time) { 83 | /* This should not happen! */ 84 | return -1; 85 | } 86 | 87 | while (((*cur_ssn)->time <= t)) { 88 | state = (*cur_ssn)->state; 89 | if ((*cur_ssn)->stop) { 90 | break; 91 | } 92 | cur_ssn = &((*cur_ssn)->next); 93 | } 94 | 95 | return state; 96 | } 97 | 98 | void switch_clear(struct ssn **ssn) 99 | { 100 | struct ssn **next_ssn; 101 | 102 | while (*ssn) { 103 | next_ssn = &((*ssn)->next); 104 | free(*ssn); 105 | *ssn = NULL; 106 | ssn = next_ssn; 107 | } 108 | } 109 | -------------------------------------------------------------------------------- /src/switch.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Open-BLDC CSim - Open BrushLess DC Motor Controller C Simulator 3 | * Copyright (C) 2012 by Piotr Esden-Tempski 4 | * 5 | * This program is free software; you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation; either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #ifndef SWITCH_H 20 | #define SWITCH_H 21 | 22 | #if defined(__cplusplus) 23 | extern "C" { 24 | #endif 25 | 26 | /* Switch state node. */ 27 | struct ssn { 28 | double time; 29 | bool state; 30 | bool stop; 31 | struct ssn *next; 32 | }; 33 | 34 | void switch_set(struct ssn **ssn, double t, bool state); 35 | void switch_pwm_gen(struct ssn **ssn, double t, double t1, double freq, double duty, bool inverted); 36 | bool switch_get(struct ssn **ssn, double t); 37 | void switch_clear(struct ssn **ssn); 38 | 39 | #if defined(__cplusplus) 40 | } /* extern "C" */ 41 | #endif 42 | 43 | #endif /* SWITCH_H */ 44 | -------------------------------------------------------------------------------- /tests/osc/Makefile: -------------------------------------------------------------------------------- 1 | 2 | OBJ=main.o 3 | 4 | CFLAGS=-I/opt/local/include 5 | LDFLAGS=-L/opt/local/lib -lgsl 6 | 7 | all: oscillator 8 | 9 | oscillator: $(OBJ) 10 | $(CC) $(LDFLAGS) $< -o $@ 11 | -------------------------------------------------------------------------------- /tests/osc/main.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Open-BLDC CSim - Open BrushLess DC Motor Controller C Simulator 3 | * Copyright (C) 2012 by Piotr Esden-Tempski 4 | * 5 | * This program is free software; you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation; either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #include 20 | #include 21 | #include 22 | #include 23 | 24 | struct variable_vector { 25 | double x1; 26 | double x2; 27 | }; 28 | 29 | int func(double t, const double y[], double f[], void *params) 30 | { 31 | struct variable_vector *ivv = (struct variable_vector *)y; 32 | struct variable_vector *ovv = (struct variable_vector *)f; 33 | ovv->x1 = ivv->x2; 34 | ovv->x2 = -ivv->x1; 35 | 36 | return GSL_SUCCESS; 37 | } 38 | 39 | int main(void) 40 | { 41 | gsl_odeiv2_system sys = {func, NULL, 2, NULL}; 42 | 43 | // prams: system, driver, initial step size, absolute error, relative error 44 | gsl_odeiv2_driver *d = gsl_odeiv2_driver_alloc_y_new(&sys, gsl_odeiv2_step_rk4, 1e-6, 1e-6, 0.0); 45 | 46 | int i; 47 | double t = 0.0, t1 = 100.0; 48 | struct variable_vector *vv; 49 | 50 | vv = malloc(sizeof(struct variable_vector)); 51 | 52 | vv->x1 = 1.0; 53 | vv->x2 = 0.0; 54 | 55 | for (i = 1; i <= 10000; i++) 56 | { 57 | double ti = i * t1 / 10000.0; 58 | int status = gsl_odeiv2_driver_apply (d, &t, ti, (double *)vv); 59 | 60 | if (status != GSL_SUCCESS) 61 | { 62 | printf ("error, return value=%d\n", status); 63 | break; 64 | } 65 | 66 | printf ("%.5e %.5e %.5e\n", t, vv->x1, vv->x2); 67 | } 68 | 69 | gsl_odeiv2_driver_free (d); 70 | 71 | free(vv); 72 | 73 | return 0; 74 | } 75 | -------------------------------------------------------------------------------- /tests/pwm/Makefile: -------------------------------------------------------------------------------- 1 | 2 | OBJ=main.o 3 | 4 | CFLAGS=-I/opt/local/include -g 5 | LDFLAGS=-L/opt/local/lib -lgsl 6 | 7 | all: pwm 8 | 9 | pwm: $(OBJ) 10 | $(CC) $(LDFLAGS) $< -o $@ 11 | 12 | clean: 13 | rm -rf *.o 14 | rm -rf pwm 15 | -------------------------------------------------------------------------------- /tests/pwm/main.c: -------------------------------------------------------------------------------- 1 | /* 2 | * Open-BLDC CSim - Open BrushLess DC Motor Controller C Simulator 3 | * Copyright (C) 2012 by Piotr Esden-Tempski 4 | * 5 | * This program is free software; you can redistribute it and/or modify 6 | * it under the terms of the GNU General Public License as published by 7 | * the Free Software Foundation; either version 3 of the License, or 8 | * (at your option) any later version. 9 | * 10 | * This program is distributed in the hope that it will be useful, 11 | * but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | * GNU General Public License for more details. 14 | * 15 | * You should have received a copy of the GNU General Public License 16 | * along with this program. If not, see . 17 | */ 18 | 19 | #include 20 | #include 21 | #include 22 | #include 23 | #include 24 | 25 | #include "../../src/dyn_model.h" 26 | 27 | struct ssn *ssn = NULL; 28 | 29 | void switch_set(struct ssn **ssn, double t, bool state) 30 | { 31 | if (*ssn == NULL) { 32 | *ssn = malloc(sizeof(struct ssn)); 33 | (*ssn)->next = NULL; 34 | } 35 | 36 | (*ssn)->time = t; 37 | (*ssn)->state = state; 38 | (*ssn)->stop = true; 39 | } 40 | 41 | void switch_pwm_gen(struct ssn **ssn, double t, double t1, double freq, double duty, bool inverted) 42 | { 43 | double cycle_t = (1. / freq); /* duration of the pwm cycle */ 44 | double duty_t = cycle_t * duty; /* duration of the duty period */ 45 | struct ssn **cur_ssn = ssn; 46 | double cur_t = t - fmod(t, cycle_t); /* current time adjusted to the last pwm cycle start */ 47 | 48 | /* If duty cycle == 100% we only need one node. */ 49 | if (duty == 1.) { 50 | switch_set(ssn, t, !inverted); 51 | return; 52 | } 53 | 54 | /* If duty cycle == 0% we only need one node too. */ 55 | if (duty == 0.) { 56 | switch_set(ssn, t, inverted); 57 | return; 58 | } 59 | 60 | /* Generate PWM cycle nodes for at least the t to t1 timeframe. */ 61 | while (cur_t < t1) { 62 | /* Create node for the cycle beginning. */ 63 | switch_set(cur_ssn, cur_t, !inverted); 64 | cur_ssn = &((*cur_ssn)->next); 65 | cur_t += duty_t; 66 | switch_set(cur_ssn, cur_t, inverted); 67 | cur_ssn = &((*cur_ssn)->next); 68 | cur_t += cycle_t - duty_t; 69 | } 70 | 71 | /* Set stop sign. */ 72 | cur_ssn = ssn; 73 | while ((*cur_ssn)->next && ((*cur_ssn)->time < t1)) { 74 | (*cur_ssn)->stop = false; 75 | cur_ssn = &((*cur_ssn)->next); 76 | } 77 | 78 | } 79 | 80 | bool switch_get(struct ssn **ssn, double t) 81 | { 82 | struct ssn **cur_ssn = ssn; 83 | bool state; 84 | 85 | if (t < (*ssn)->time) { 86 | /* This should not happen! */ 87 | return -1; 88 | } 89 | 90 | while (((*cur_ssn)->time <= t)) { 91 | state = (*cur_ssn)->state; 92 | if ((*cur_ssn)->stop) { 93 | break; 94 | } 95 | cur_ssn = &((*cur_ssn)->next); 96 | } 97 | 98 | return state; 99 | } 100 | 101 | void switch_clear(struct ssn **ssn) 102 | { 103 | struct ssn **next_ssn; 104 | 105 | while (*ssn) { 106 | next_ssn = &((*ssn)->next); 107 | free(*ssn); 108 | *ssn = NULL; 109 | ssn = next_ssn; 110 | } 111 | } 112 | 113 | int main() 114 | { 115 | struct ssn **cur_ssn = &ssn; 116 | 117 | printf("PWM node generator tester.\n"); 118 | 119 | double from = 0.0081; 120 | double to = 0.01; 121 | double freq = 1000; 122 | double duty = 0.25; 123 | double step_t = 0.000025; 124 | 125 | printf("from %.5f\n", from); 126 | printf("to %.5f\n", to); 127 | printf("freq %dHz\n", (int)freq); 128 | printf("duty %d%%\n", (int)(duty * 100)); 129 | switch_pwm_gen(&ssn, from, to, freq, duty, false); 130 | 131 | printf("\nList of all points:\n"); 132 | while (*cur_ssn) { 133 | printf("t %.5f ", (*cur_ssn)->time); 134 | if ((*cur_ssn)->state) { 135 | printf("on "); 136 | } else { 137 | printf("off "); 138 | } 139 | if ((*cur_ssn)->stop) { 140 | printf("stop\n"); 141 | } else { 142 | printf("\n"); 143 | } 144 | 145 | cur_ssn = &((*cur_ssn)->next); 146 | } 147 | 148 | printf("\nList of samples:\n"); 149 | for (double cur_t = from; cur_t < to; cur_t += step_t) { 150 | printf("t %.6f s ", cur_t); 151 | if (switch_get(&ssn, cur_t)) { 152 | printf("on\n"); 153 | } else { 154 | printf("off\n"); 155 | } 156 | } 157 | 158 | switch_clear(&ssn); 159 | 160 | return 0; 161 | } 162 | --------------------------------------------------------------------------------