hpm_mcl_common.h File Reference

#include "hpm_common.h"
#include "hpm_mcl_cfg.h"
#include "hpm_mcl_physical.h"
#include "hpm_mcl_math.h"
#include "stdio.h"

Go to the source code of this file.

Data Structures
struct	mcl_user_value_t
	User-defined data with data and enable bits. More...
struct	mcl_cfg_t

Macros
#define	MCL_DEBUG   printf
#define	MCL_PI   HPM_PI
#define	MCL_2PI   HPM_2_PI
#define	MCL_PI_DIV3   (MCL_PI / 3.0f)
#define	MCL_DELAY_US(x)   mcl_user_delay_us(x)
#define	MCL_DELAY_MS(x)   MCL_DELAY_US(1000*x)
#define	MCL_EMPTY
#define	MCL_ASSERT_BOOL(b, code_extend, errcode)
#define	MCL_ASSERT_EXEC_CODE_BOOL(b, code_extend)
#define	MCL_ASSERT(x, return_errcode)   MCL_ASSERT_BOOL(((uint32_t)(x) != 0), MCL_EMPTY, return_errcode)
#define	MCL_ASSERT_EXEC_CODE(x, code)   MCL_ASSERT_EXEC_CODE_BOOL((x), code)
#define	MCL_ASSERT_EXEC_CODE_AND_RETURN(x, code, return_errcode)   MCL_ASSERT_BOOL((x), code, return_errcode)
#define	MCL_ASSERT_EXEC_CODE_OPT   MCL_ASSERT_EXEC_CODE
#define	MCL_ASSERT_OPT   MCL_ASSERT
#define	MCL_ASSERT_EXEC_CODE_AND_RETURN_OPT   MCL_ASSERT_EXEC_CODE_AND_RETURN
#define	MCL_FUNCTION_EXC_IF_ENABLE(b, str_f, f)
#define	MCL_FUNCTION_EXC_IF_ELSE_ENABLE(b, str_f, _if, _else)
#define	MCL_FUNCTION_INIT_IF_EMPTY(str_function, function)   MCL_FUNCTION_EXC_IF_ENABLE((str_function == NULL), str_function, function)
#define	MCL_FUNCTION_INIT_IF_NO_EMPTY(function, str_function)   MCL_FUNCTION_EXC_IF_ENABLE((str_function != NULL), function, str_function)
#define	MCL_STATUS_SET_IF_TRUE(real, str, status)   MCL_FUNCTION_EXC_IF_ENABLE((real), str, status)
#define	MCL_VALUE_SET_IF_TRUE(real, str, value)   MCL_FUNCTION_EXC_IF_ENABLE((real), str, value)
#define	MCL_FUNCTION_SET_IF_ELSE_TRUE(real, str, _if, _else)   MCL_FUNCTION_EXC_IF_ELSE_ENABLE((real), str, _if, _else)
#define	MCL_ANGLE_MOD_X(down, up, val)
	Remainder of angle. More...
#define	MCL_GET_ANGLE_DELTA(val, offset)
	Calculate the difference in angle, because the angle is then changed between 0-360 degrees, there are 350 degrees to 0 degrees of the process of change, as well as 10 degrees to 360 degrees of the process of change, in this process, the actual angle change is 10 degrees, but it may be calculated as 350 degrees, so the role of the calculation is to strive for an angle value of 10 degrees, the offset value of the maximum angle value, the default is 2pi. More...
#define	MCL_VALUE_LIMIT(val, min, max)
	Data Range Limits. More...
#define	MCL_GET_ADC_12BIT_VALID_DATA(x)   ((x & 0xffff) >> 4)
	Get ADC data with 12bit valid bits. More...

Typedefs
typedef uint32_t	hpm_mcl_stat_t

Enumerations
enum	{   mcl_group_common = 0 , mcl_group_motor = 1 , mcl_group_encoder = 2 , mcl_group_analog = 3 ,   mcl_group_drivers = 4 }
enum	{   mcl_success = MAKE_STATUS(mcl_group_common, 0) , mcl_fail = MAKE_STATUS(mcl_group_common, 1) , mcl_invalid_argument = MAKE_STATUS(mcl_group_common, 2) , mcl_invalid_pointer = MAKE_STATUS(mcl_group_common, 3) ,   mcl_timeout = MAKE_STATUS(mcl_group_common, 4) , mcl_in_development = MAKE_STATUS(mcl_group_common, 5) , mcl_running = MAKE_STATUS(mcl_group_common, 6) }

Functions
void	mcl_user_delay_us (uint64_t tick)
	user define code More...

Macro Definition Documentation

MCL_2PI

#define MCL_2PI   HPM_2_PI

MCL_ANGLE_MOD_X

#define MCL_ANGLE_MOD_X	(		down,
			up,
			val
	)

Value:

({    \
    float val_; \
    if ((val) > up) { \
        val_ = (val); \
        do {  \
            val_ = (val_) - (up - down);    \
        } while ((val_) > up); \
    } else if ((val) < down) {    \
        val_ = (val); \
        do {  \
            val_ = (val_) + (up - down);   \
        } while ((val_) < down); \
    } else {    \
        val_ = (val); \
    }   \
    (val_);  \
})

Remainder of angle.

MCL_ASSERT

#define MCL_ASSERT	(		x,
			return_errcode
	)		MCL_ASSERT_BOOL(((uint32_t)(x) != 0), MCL_EMPTY, return_errcode)

MCL_ASSERT_BOOL

#define MCL_ASSERT_BOOL	(		b,
			code_extend,
			errcode
	)

Value:

    do {    \
        if (!b) {   \
            code_extend; \
            MCL_DEBUG("errcode:%d, file:%s, line:%d.\r\n", errcode, __FILE__, __LINE__);  \
            return errcode;    \
        }   \
    } while (0)

MCL_ASSERT_EXEC_CODE

#define MCL_ASSERT_EXEC_CODE	(		x,
			code
	)		MCL_ASSERT_EXEC_CODE_BOOL((x), code)

MCL_ASSERT_EXEC_CODE_AND_RETURN

#define MCL_ASSERT_EXEC_CODE_AND_RETURN	(		x,
			code,
			return_errcode
	)		MCL_ASSERT_BOOL((x), code, return_errcode)

MCL_ASSERT_EXEC_CODE_AND_RETURN_OPT

#define MCL_ASSERT_EXEC_CODE_AND_RETURN_OPT   MCL_ASSERT_EXEC_CODE_AND_RETURN

MCL_ASSERT_EXEC_CODE_BOOL

#define MCL_ASSERT_EXEC_CODE_BOOL	(		b,
			code_extend
	)

Value:

    do {    \
        if (!b) {   \
            code_extend; \
        }   \
    } while (0)

MCL_ASSERT_EXEC_CODE_OPT

#define MCL_ASSERT_EXEC_CODE_OPT   MCL_ASSERT_EXEC_CODE

MCL_ASSERT_OPT

#define MCL_ASSERT_OPT   MCL_ASSERT

MCL_DEBUG

#define MCL_DEBUG   printf

MCL_DELAY_MS

#define MCL_DELAY_MS

(

x

)

MCL_DELAY_US(1000*x)

MCL_DELAY_US

#define MCL_DELAY_US

(

x

)

mcl_user_delay_us(x)

MCL_EMPTY

#define MCL_EMPTY

MCL_FUNCTION_EXC_IF_ELSE_ENABLE

#define MCL_FUNCTION_EXC_IF_ELSE_ENABLE	(		b,
			str_f,
			_if,
			_else
	)

Value:

    do {    \
        if (b) {    \
            str_f = _if;  \
        } else {    \
            str_f = _else;  \
        }   \
    } while (0)

MCL_FUNCTION_EXC_IF_ENABLE

#define MCL_FUNCTION_EXC_IF_ENABLE	(		b,
			str_f,
			f
	)

Value:

    do {    \
        if (b) {    \
            str_f = f;  \
        }   \
    } while (0)

MCL_FUNCTION_INIT_IF_EMPTY

#define MCL_FUNCTION_INIT_IF_EMPTY	(		str_function,
			function
	)		MCL_FUNCTION_EXC_IF_ENABLE((str_function == NULL), str_function, function)

MCL_FUNCTION_INIT_IF_NO_EMPTY

#define MCL_FUNCTION_INIT_IF_NO_EMPTY	(		function,
			str_function
	)		MCL_FUNCTION_EXC_IF_ENABLE((str_function != NULL), function, str_function)

MCL_FUNCTION_SET_IF_ELSE_TRUE

#define MCL_FUNCTION_SET_IF_ELSE_TRUE	(		real,
			str,
			_if,
			_else
	)		MCL_FUNCTION_EXC_IF_ELSE_ENABLE((real), str, _if, _else)

MCL_GET_ADC_12BIT_VALID_DATA

#define MCL_GET_ADC_12BIT_VALID_DATA

(

x

)

((x & 0xffff) >> 4)

Get ADC data with 12bit valid bits.

MCL_GET_ANGLE_DELTA

#define MCL_GET_ANGLE_DELTA	(		val,
			offset
	)

Value:

({    \
    float val_; \
    float temp; \
    val_ = 0;   \
    temp = 0;   \
    if ((val) > 0) { \
        temp = (val) - offset;    \
    } else if ((val) < 0) {    \
        temp = (val) + offset;   \
    } else {    \
        val_ = 0; \
    }   \
    if (fabs(val) < fabs(temp)) { \
        val_ = val; \
    } else {\
        val_ = temp; \
    } \
    (val_);  \
})

Calculate the difference in angle, because the angle is then changed between 0-360 degrees, there are 350 degrees to 0 degrees of the process of change, as well as 10 degrees to 360 degrees of the process of change, in this process, the actual angle change is 10 degrees, but it may be calculated as 350 degrees, so the role of the calculation is to strive for an angle value of 10 degrees, the offset value of the maximum angle value, the default is 2pi.

MCL_PI

#define MCL_PI   HPM_PI

MCL_PI_DIV3

#define MCL_PI_DIV3   (MCL_PI / 3.0f)

MCL_STATUS_SET_IF_TRUE

#define MCL_STATUS_SET_IF_TRUE	(		real,
			str,
			status
	)		MCL_FUNCTION_EXC_IF_ENABLE((real), str, status)

MCL_VALUE_LIMIT

#define MCL_VALUE_LIMIT	(		val,
			min,
			max
	)

Value:

    do {    \
        if ((val) > (max)) {  \
            val = max;  \
        } else if ((val) < (min)) { \
            val = min;  \
        }   \
    } while (0)

Data Range Limits.

MCL_VALUE_SET_IF_TRUE

#define MCL_VALUE_SET_IF_TRUE	(		real,
			str,
			value
	)		MCL_FUNCTION_EXC_IF_ENABLE((real), str, value)

Typedef Documentation

hpm_mcl_stat_t

typedef uint32_t hpm_mcl_stat_t

Enumeration Type Documentation

anonymous enum

anonymous enum

Enumerator
mcl_group_common
mcl_group_motor
mcl_group_encoder
mcl_group_analog
mcl_group_drivers

anonymous enum

anonymous enum

Enumerator
mcl_success
mcl_fail
mcl_invalid_argument
mcl_invalid_pointer
mcl_timeout
mcl_in_development	Functions under development
mcl_running

Function Documentation

mcl_user_delay_us()

void mcl_user_delay_us

(

uint64_t

tick

)

user define code