Update repo
This commit is contained in:
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let Common = system.getScript("/driverlib/Common.js");
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let Pinmux = system.getScript("/driverlib/pinmux.js");
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let references = system.getScript("/libraries/C2000WARELibraryReferences.js");
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let controller_data = system.getScript("/libraries/control/dcl/controller_data.js");
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// get the main dropdown lists
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var CONTROLLER_CHOICE_LIST = controller_data.get_dropdown_list('controller');
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var PRECISION_LIST = controller_data.get_dropdown_list('precision');
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var ACCELERATOR_LIST = controller_data.get_dropdown_list('accelerator');
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// set the default values for each list
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var DEFAULT_CONTROLLER_CHOICE = CONTROLLER_CHOICE_LIST[0].name;
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var DEFAULT_PRECISION = "F32"; // F32 by default as it is most common
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var DEFAULT_ACCELERATOR = ACCELERATOR_LIST[0].name;
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// whenever the controller changes, the list of parameters should change
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function onChangeControllerChoice(inst, ui)
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{
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// TODO - update terms to zero when changing from PID to DF types
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// everything hidden by default
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for(var i in config)
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{
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// console.log("ui[config[i].name].hidden=" + ui[config[i].name].hidden)
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ui[config[i].name].hidden = true;
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}
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// default is to unhide controller choice, precision, and accelerator
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ui.controllerChoice.hidden = false;
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ui.controllerPrecision.hidden = false;
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ui.controllerAccelerator.hidden = true;
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ui.structDisplay.hidden = false;
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// get the list of elements for this chosen controller
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var control_struct_entry = controller_data.get_control_struct_entry(inst.structDisplay);
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if (control_struct_entry)
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{
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// unhide the long description for this controller
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var longDescName = control_struct_entry["longDescName"];
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ui["longDesc_" + longDescName].hidden=false;
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var config_entries_list = control_struct_entry["config_entries_list"];
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// unhide the given elements in that list
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for(var e of config_entries_list)
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{
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ui[e[0]].hidden = false;
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inst[e[0]] = e[1];
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}
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}
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}
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let config = [
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{
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name : "controllerChoice",
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displayName : "Controller/Filter",
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onChange : onChangeControllerChoice,
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description : 'Choice of Controller. NOTE: Changing controller will change all parameters to default.',
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hidden : false,
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default : DEFAULT_CONTROLLER_CHOICE,
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options : CONTROLLER_CHOICE_LIST,
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},
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{
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name : "controllerPrecision",
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displayName : "Precision",
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onChange : onChangeControllerChoice,
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description : 'Choice of Precision. NOTE: Changing precision will change all parameters to default.',
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hidden : false,
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default : DEFAULT_PRECISION,
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options : PRECISION_LIST,
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},
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{
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name : "controllerAccelerator",
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displayName : "Accelerator",
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description : 'Choice of Accelerator.',
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hidden : true,
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default : DEFAULT_ACCELERATOR,
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options : ACCELERATOR_LIST,
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},
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{
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name : "structDisplay",
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displayName : "Controller Structure Chosen",
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description : 'Visualization of the chosen DCL structure.',
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hidden : false,
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getValue : (inst) => {
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var choices_dict = {
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"controller":inst.controllerChoice,
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"precision":inst.controllerPrecision,
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"accelerator":inst.controllerAccelerator,
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};
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return controller_data.get_struct_options(choices_dict).join();
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},
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default : ""
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}
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]
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function isNumber(s)
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{
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// remove trailing L or f for longs and floats
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if (s.endsWith("L") || s.endsWith("f"))
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{
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s = s.slice(0,-1);
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}
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// check if the resultant value is a number
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return !isNaN(s);
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}
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function onValidate(inst, validation) {
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// list the available controlStruct options
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var choices_dict = {
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"controller":inst.controllerChoice,
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"precision":inst.controllerPrecision,
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"accelerator":inst.controllerAccelerator,
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};
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var availControlStructs = controller_data.get_struct_options(choices_dict);
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if (availControlStructs.length <= 0)
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{
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validation.logError(
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"Precision not available for this controller, please choose a different precision option.",
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inst, "controllerPrecision");
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// validation.logError(
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// "Precision and accelerator combination not available for this controller, please choose a different precision/accelerator option.",
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// inst, "controllerAccelerator");
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}
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var control_struct_entry = controller_data.get_control_struct_entry(inst.structDisplay);
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if (control_struct_entry)
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{
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var config_entries_list = control_struct_entry["config_entries_list"];
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for(var e of config_entries_list)
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{
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// check for empty elements
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if(inst[e[0]] == "")
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{
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validation.logError(
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"A value must be provided.",
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inst, e[0]);
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}
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// check if it's an actual number
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if(!isNumber(inst[e[0]]))
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{
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validation.logError(
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"Value must be a valid number (hex, decimal, float, long, etc.)",
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inst, e[0]
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);
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}
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}
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}
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// only do this check if one of the floating point precisions are chosen
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if (inst.controllerPrecision == "F32" || inst.controllerPrecision == "F64") {
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// check if controllerPrecision matches the precision being used by FPU.js in the "Other Dependencies" section
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var fpuMod = system.modules["/libraries/math/FPU/FPU.js"];
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if(fpuMod)
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{
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if(fpuMod.$static.fpuType.replace("PU","") != inst.controllerPrecision)
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{
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// when controller precision == F64, and the FPU.js file has FPU32 chosen, then warn the user that performance loss will occur
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if (inst.controllerPrecision == "F64" && fpuMod.$static.fpuType == "FPU32") {
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// for devices that can actually support F64, tell user that they can fix the issue
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if (controller_data.fpu64_supported)
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{
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validation.logWarning("Double-precision data type chosen with single-precision floating-point processor chosen. Relatively poor cycle performance should be expected. To improve performance, precision can be updated here or in 'Other Dependencies' below.", inst, "controllerPrecision");
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}
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// for devices that can't support F64, tell the user that performance loss should be expected
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else
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{
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validation.logWarning("Double-precision data type chosen with single-precision floating-point processor chosen. Relatively poor cycle performance should be expected.", inst, "controllerPrecision");
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}
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}
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else
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{
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// when controller precision == F32, and the FPU.js file has FPU64 chosen, there should be no issue as FPU64 is backwards compatible with FPU32 instructions and C code
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}
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}
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}
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}
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// verify that TMU1 is enabled if NLPID is chosen
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if (inst.controllerChoice == "NLPID")
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{
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var fpuMod = system.modules["/libraries/math/FPU/FPU.js"];
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if(fpuMod && fpuMod.$static.tmuType != "TMU1")
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{
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validation.logError("TMU1 must be enabled to use NLPID controller. Update 'Other Dependencies' below to enable TMU1.", inst, "controllerChoice");
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}
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}
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}
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// Choose which controllerChoice to have its parameters be unhidden by default
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controller_data.set_config_entries_default_unhidden(DEFAULT_CONTROLLER_CHOICE)
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// add on all the long description config entries for each controller
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config = config.concat(controller_data.getLongDescriptionConfigEntries(DEFAULT_CONTROLLER_CHOICE));
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// add on all the config_entries from controller_data.js to "config" array
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config = config.concat(controller_data.get_config_entries_list());
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var longDescription = `The DCL contains the following controller types:
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* Linear PID
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* Linear PI
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* Non-linear PID
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* Non-linear PI
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* Double Integrator
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* Direct Form 1 (first order)
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* Direct Form 1 (third order)
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* Direct Form 2 (second order)
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* Direct Form 2 (third order)
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See the DCL User's Guide for details on each controller/compensator and its variables:
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[Digital Control Library User's Guide](https://dev.ti.com/tirex/explore/node?node=AKZRbh4oxv98HaO0YKjygQ__gYkahfz__LATEST)`
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var controllerModule = {
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c2000wareLibraryName: "CONTROLLER",
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displayName: "CONTROLLER",
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defaultInstanceName: "myCONTROLLER",
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description: "CONTROLLER",
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longDescription: longDescription,
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config: config,
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references : [],
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templates: {
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c2000ware_libraries_c : "/libraries/control/dcl/templates/controller.c2000ware_libraries.c.xdt",
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c2000ware_libraries_h : "/libraries/control/dcl/templates/controller.c2000ware_libraries.h.xdt",
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},
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validate : onValidate,
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modules: (inst) => {
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var mods = [];
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var refFilesArr = controller_data.getRefFilesModuleArrFromControlStruct(inst.structDisplay);
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mods = refFilesArr;
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return mods;
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}
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};
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exports = controllerModule;
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@@ -0,0 +1,557 @@
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var longDescriptionObj = system.getScript("/libraries/control/dcl/controller_longdesc.js").get_longDescriptionObj();
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let fpu_obj = system.getScript("/libraries/.meta/math/FPU/FPU.js").moduleStatic.config;
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//==========================================================================
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// CONFIG ENTRIES LOOKUP LISTS
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// Use to lookup which config entries to enable/disable per controller
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// structure. Stored as "{name:default_val}"
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//==========================================================================
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// PID
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var PID32 = [["Kp","0x01000000"],["Ki","0L"],["Kd","0L"],["c1","0x01000000"],["c2","0L"],["d2","0L"],["d3","0L"],["i10","0L"],["i14","0x01000000"],["Umax","0x01000000"],["Umin","0xFF000000"]]
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var PID_CLA = [["Kp","1.0f"],["Ki","0.0f"],["Kd","0.0f"],["Kr","1.0f"],["c1","0.0f"],["c2","0.0f"],["d2","0.0f"],["d3","0.0f"],["i10","0.0f"],["i14","0.0f"],["Umax","1.0f"],["Umin","-1.0f"]]
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var PID = [["Kp","1.0f"],["Ki","0.0f"],["Kd","0.0f"],["Kr","1.0f"],["c1","1.0f"],["c2","0.0f"],["d2","0.0f"],["d3","0.0f"],["i10","0.0f"],["i14","1.0f"],["Umax","1.0f"],["Umin","-1.0f"]]
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var PIDF64 = [["Kp","1.0L"],["Ki","0.0L"],["Kd","0.0L"],["Kr","1.0L"],["c1","0.0L"],["c2","0.0L"],["d2","0.0L"],["d3","0.0L"],["i10","0.0L"],["i14","0.0L"],["i16","0.0L"],["Umax","1.0L"],["Umin","-1.0L"]]
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// PI
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var PI32 = [["Kp","0x01000000"],["Ki","0L"],["i6","0x01000000"],["i10","0L"],["Umax","0x01000000"],["Umin","0xFF000000"]]
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var PI_CLA = [["Kp","1.0f"],["Ki","0.0f"],["i10","0.0f"],["Umax","1.0f"],["Umin","-1.0f"],["i6","1.0f"],["i11","0.0f"],["Imax","1.0f"],["Imin","-1.0f"]]
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var PI = [["Kp","1.0f"],["Ki","0.0f"],["i10","0.0f"],["Umax","1.0f"],["Umin","-1.0f"],["i6","1.0f"],["i11","0.0f"],["Imax","1.0f"],["Imin","-1.0f"]]
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var PI2 = [["Kp","1.0f"],["Ki","0.0f"],["i6{PI2}","0.0f"],["i9","0.0f"],["i12","1.0f"],["i13","1.0f"],["Umax","1.0f"],["Umin","-1.0f"]]
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//NLPID
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var NLPID = [["Kp","1.0f"],["Ki","0.0f"],["Kd","0.0f"],["alpha_p","1.0f"],["alpha_i","1.0f"],["alpha_d","1.0f"],["delta_p","0.1f"],["delta_i","0.1f"],["delta_d","0.1f"],["gamma_p","1.0f"],["gamma_i","1.0f"],["gamma_d","1.0f"],["c1","1.0f"],["c2","0.0f"],["d2","0.0f"],["d3","0.0f"],["i7","0.0f"],["i16","1.0f"],["i18","0.0f"],["Umax","1.0f"],["Umin","-1.0f"]]
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// DF
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var DF11_CLA = [["b0","0.5f"],["b1","0.5f"],["a1","1.0f"],["d1","0.0f"],["d2{DF11}","0.0f"]]
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var DF13_CLA = [["b0","0.25f"],["b1","0.25f"],["b2","0.25f"],["b3","0.25f"],["a0","0.0f"],["a1","0.0f"],["a2","0.0f"],["a3","0.0f"],["d0","0.0f"],["d1","0.0f"],["d2{DF13}","0.0f"],["d3{DF13}","0.0f"],["d4","0.0f"],["d5","0.0f"],["d6","0.0f"],["d7","0.0f"]]
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var DF22_CLA = [["b0","1.0f"],["b1","0.0f"],["b2","0.0f"],["a1","0.0f"],["a2","0.0f"],["x1","0.0f"],["x2","0.0f"]]
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var DF23_CLA = [["b0","1.0f"],["b1","0.0f"],["b2","0.0f"],["b3","0.0f"],["a1","0.0f"],["a2","0.0f"],["a3","0.0f"],["x1","0.0f"],["x2","0.0f"],["x3","0.0f"]]
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var DF11 = [["b0","0.5f"],["b1","0.5f"],["a1","0.0f"],["d1","0.0f"],["d2{DF11}","0.0f"]]
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var DF13 = [["b0","0.25f"],["b1","0.25f"],["b2","0.25f"],["b3","0.25f"],["a0","1.0f"],["a1","0.0f"],["a2","0.0f"],["a3","0.0f"],["d0","0.0f"],["d1","0.0f"],["d2{DF13}","0.0f"],["d3{DF13}","0.0f"],["d4","0.0f"],["d5","0.0f"],["d6","0.0f"],["d7","0.0f"]]
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var DF22 = [["b0","1.0f"],["b1","0.0f"],["b2","0.0f"],["a1","0.0f"],["a2","0.0f"],["x1","0.0f"],["x2","0.0f"]]
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var DF23 = [["b0","1.0f"],["b1","0.0f"],["b2","0.0f"],["b3","0.0f"],["a1","0.0f"],["a2","0.0f"],["a3","0.0f"],["x1","0.0f"],["x2","0.0f"],["x3","0.0f"]]
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var DF22F64 = [["b0","1.0"],["b1","0.0"],["b2","0.0"],["a1","0.0"],["a2","0.0"],["x1","0.0"],["x2","0.0"]]
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//==========================================================================
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// CONFIG ENTRIES DICTIONARY
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// These get directly dropped into the config list of the controller.js
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//==========================================================================
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var config_entries = [
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{name:"Kp", displayName:"Proportional Gain (Kp)", description:"Controller Proportional Gain", hidden:true, default:""},// PID
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{name:"Ki", displayName:"Integral Gain (Ki)", description:"Controller Integral Gain", hidden:true, default:""},
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{name:"Kd", displayName:"Derivative Gain (Kd)", description:"Controller Derivative Gain", hidden:true, default:""},
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{name:"Kr", displayName:"Set Point Weight (Kr)", description:"Set Point Weight", hidden:true, default:""},
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{name:"c1", displayName:"D-term filter coefficient 1 (c1)", description:"D-term filter coefficient 1", hidden:true, default:""},
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{name:"c2", displayName:"D-term filter coefficient 2 (c2)", description:"D-term filter coefficient 2", hidden:true, default:""},
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{name:"d2", displayName:"D-term filter Intermediate Storage 1 (d2)", description:"D-term filter Intermediate Storage 1", hidden:true, default:""},
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{name:"d3", displayName:"D-term filter Intermediate Storage 2 (d3)", description:"D-term filter Intermediate Storage 2", hidden:true, default:""},
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{name:"i10", displayName:"I-term Intermediate Storage (i10)", description:"I-term Intermediate Storage", hidden:true, default:""},
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{name:"i14", displayName:"Intermediate Saturation Storage (i14)", description:"Intermediate Saturation Storage", hidden:true, default:""},
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{name:"i16", displayName:"Spare (i16)", description:"Spare", hidden:true, default:""},
|
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{name:"Umax", displayName:"Upper Saturation Limit (Umax)", description:"Upper Saturation Limit", hidden:true, default:""},
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{name:"Umin", displayName:"Lower Saturation Limit (Umin)", description:"Lower Saturation Limit", hidden:true, default:""},
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{name:"i6", displayName:"Saturation Storage (i6)", description:"Saturation Storage", hidden:true, default:""},// PI unique
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{name:"i6{PI2}", displayName:"Integrator 1 Storage (i6)", description:"Integrator 1 Storage", hidden:true, default:""},
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||||
{name:"i9", displayName:"Integrator 2 Storage (i9)", description:"Integrator 2 Storage", hidden:true, default:""},
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||||
{name:"i11", displayName:"I Storage (i11)", description:"I Storage", hidden:true, default:""},
|
||||
{name:"i12", displayName:"Saturation 1 Storage (i12)", description:"Saturation 1 Storage", hidden:true, default:""},
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||||
{name:"i13", displayName:"Saturation 2 Storage (i13)", description:"Saturation 2 Storage", hidden:true, default:""},
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||||
{name:"Imax", displayName:"Upper integrator saturation limit (Imax)", description:"Upper integrator saturation limit", hidden:true, default:""},
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||||
{name:"Imin", displayName:"Lower integrator saturation limit (Imin)", description:"Lower integrator saturation limit", hidden:true, default:""},
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||||
{name:"alpha_p", displayName:"P path non-linear exponent (alpha_p)", description:"P path non-linear exponent", hidden:true, default:""},// NLPID unique
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{name:"alpha_i", displayName:"I path non-linear exponent (alpha_i)", description:"I path non-linear exponent", hidden:true, default:""},
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{name:"alpha_d", displayName:"D path non-linear exponent (alpha_d)", description:"D path non-linear exponent", hidden:true, default:""},
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{name:"delta_p", displayName:"P path linearized range (delta_p)", description:"P path linearized range", hidden:true, default:""},
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{name:"delta_i", displayName:"I path linearized range (delta_i)", description:"I path linearized range", hidden:true, default:""},
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{name:"delta_d", displayName:"D path linearized range (delta_d)", description:"D path linearized range", hidden:true, default:""},
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||||
{name:"gamma_p", displayName:"P path gain limit (gamma_p)", description:"P path gain limit", hidden:true, default:""},
|
||||
{name:"gamma_i", displayName:"I path gain limit (gamma_i)", description:"I path gain limit", hidden:true, default:""},
|
||||
{name:"gamma_d", displayName:"D path gain limit (gamma_d)", description:"D path gain limit", hidden:true, default:""},
|
||||
{name:"i7", displayName:"I path intermediate storage (i7)", description:"I path intermediate storage", hidden:true, default:""},
|
||||
{name:"i18", displayName:"Spare (i18)", description:"Spare", hidden:true, default:""},
|
||||
{name:"a0", displayName:"a0", description:"a0", hidden:true, default:""},// DF unique
|
||||
{name:"a1", displayName:"a1", description:"a1", hidden:true, default:""},
|
||||
{name:"a2", displayName:"a2", description:"a2", hidden:true, default:""},
|
||||
{name:"a3", displayName:"a3", description:"a3", hidden:true, default:""},
|
||||
{name:"b0", displayName:"b0", description:"b0", hidden:true, default:""},
|
||||
{name:"b1", displayName:"b1", description:"b1", hidden:true, default:""},
|
||||
{name:"b2", displayName:"b2", description:"b2", hidden:true, default:""},
|
||||
{name:"b3", displayName:"b3", description:"b3", hidden:true, default:""},
|
||||
{name:"d0", displayName:"e(k) (d0)", description:"e(k)", hidden:true, default:""},
|
||||
{name:"d1", displayName:"e(k-1) (d1)", description:"e(k-1)", hidden:true, default:""},
|
||||
{name:"d2{DF11}", displayName:"u(k-1) (d2)", description:"u(k-1)", hidden:true, default:""},
|
||||
{name:"d2{DF13}", displayName:"e(k-2) (d2)", description:"e(k-2)", hidden:true, default:""},
|
||||
{name:"d3{DF13}", displayName:"e(k-3) (d3)", description:"e(k-3)", hidden:true, default:""},
|
||||
{name:"d4", displayName:"u(k) (d4)", description:"u(k)", hidden:true, default:""},
|
||||
{name:"d5", displayName:"u(k-1) (d5)", description:"u(k-1)", hidden:true, default:""},
|
||||
{name:"d6", displayName:"u(k-2) (d6)", description:"u(k-2)", hidden:true, default:""},
|
||||
{name:"d7", displayName:"u(k-3) (d7)", description:"u(k-3)", hidden:true, default:""},
|
||||
{name:"x1", displayName:"x1", description:"x1", hidden:true, default:""},
|
||||
{name:"x2", displayName:"x2", description:"x2", hidden:true, default:""},
|
||||
{name:"x3", displayName:"x3", description:"x3", hidden:true, default:""},
|
||||
]
|
||||
|
||||
/**
|
||||
* Get the config_entries list of dictionaries, for use in config array
|
||||
* @returns config_entries list of dictionaries
|
||||
*/
|
||||
function get_config_entries_list()
|
||||
{
|
||||
return config_entries;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get a specific dictionary within config_entries
|
||||
* @param {string} name - The "name" of the dicitonary in
|
||||
* config_entries to return
|
||||
* @returns
|
||||
*/
|
||||
function get_config_entry(name)
|
||||
{
|
||||
for (obj of config_entries){
|
||||
if (obj.name === name){
|
||||
return obj
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the default values for a given control structure
|
||||
* @param {string} name - Name of the control type (like "PID") to have its variables unhidden
|
||||
*/
|
||||
function get_default_param_val(name, param_name)
|
||||
{
|
||||
var config_entries_list = get_control_struct_entry(name)["config_entries_list"];
|
||||
for (var name_val_list of config_entries_list)
|
||||
{
|
||||
if (name_val_list[0]==param_name)
|
||||
{
|
||||
return name_val_list[1];
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Choose which controller to have its parameters be unhidden by default
|
||||
* @param {string} name - Name of the control type (like "PID") to have its variables unhidden
|
||||
*/
|
||||
function set_config_entries_default_unhidden(name)
|
||||
{
|
||||
var config_entries_list = get_control_struct_entry(name)["config_entries_list"];
|
||||
for (var obj of config_entries)
|
||||
{
|
||||
for (var name_val_list of config_entries_list)
|
||||
{
|
||||
if (name_val_list[0]==obj["name"])
|
||||
{
|
||||
obj["hidden"] = false;
|
||||
obj["default"] = name_val_list[1];
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//==========================================================================
|
||||
// REFERENCE FILES AND HEADER FILES
|
||||
// Functions and data for the reference files that should be pulled in
|
||||
//==========================================================================
|
||||
// c and asm files, to be pulled in using submodules
|
||||
var refFiles = {
|
||||
"DCL_calcGamma": {"name":"DCL_calcGamma", "path":"../libraries/control/DCL/c28/source/DCL_calcGamma.asm", "alwaysInclude":false},
|
||||
"DCL_clamp_C1": {"name":"DCL_clamp_C1", "path":"../libraries/control/DCL/c28/source/DCL_clamp_C1.asm", "alwaysInclude":false},
|
||||
"DCL_clamp_L1": {"name":"DCL_clamp_L1", "path":"../libraries/control/DCL/c28/source/DCL_clamp_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF11_C1": {"name":"DCL_DF11_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF11_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF11_L1": {"name":"DCL_DF11_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF11_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_C1": {"name":"DCL_DF13_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF13_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_C2C3": {"name":"DCL_DF13_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF13_C2C3.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_L1": {"name":"DCL_DF13_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF13_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_L2L3": {"name":"DCL_DF13_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF13_L2L3.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_C1": {"name":"DCL_DF22_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF22_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_C2C3": {"name":"DCL_DF22_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF22_C2C3.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_L1": {"name":"DCL_DF22_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF22_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_L2L3": {"name":"DCL_DF22_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF22_L2L3.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_C1": {"name":"DCL_DF23_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF23_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_C2C3": {"name":"DCL_DF23_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF23_C2C3.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_L1": {"name":"DCL_DF23_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF23_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_L2L3": {"name":"DCL_DF23_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF23_L2L3.asm", "alwaysInclude":false},
|
||||
"DCL_error": {"name":"DCL_error", "path":"../libraries/control/DCL/c28/source/DCL_error.c", "alwaysInclude":false},
|
||||
"DCL_frwlog": {"name":"DCL_frwlog", "path":"../libraries/control/DCL/c28/source/DCL_frwlog.asm", "alwaysInclude":false},
|
||||
"DCL_futils": {"name":"DCL_futils", "path":"../libraries/control/DCL/c28/source/DCL_futils.asm", "alwaysInclude":false},
|
||||
"DCL_futils32": {"name":"DCL_futils32", "path":"../libraries/control/DCL/c28/source/DCL_futils32.asm", "alwaysInclude":false},
|
||||
"DCL_index": {"name":"DCL_index", "path":"../libraries/control/DCL/c28/source/DCL_index.asm", "alwaysInclude":false},
|
||||
"DCL_NLPID_C3": {"name":"DCL_NLPID_C3", "path":"../libraries/control/DCL/c28/source/DCL_NLPID_C3.asm", "alwaysInclude":false},
|
||||
"DCL_PI_A1": {"name":"DCL_PI_A1", "path":"../libraries/control/DCL/c28/source/DCL_PI_A1.asm", "alwaysInclude":false},
|
||||
"DCL_PI_C1": {"name":"DCL_PI_C1", "path":"../libraries/control/DCL/c28/source/DCL_PI_C1.asm", "alwaysInclude":false},
|
||||
"DCL_PI_C4": {"name":"DCL_PI_C4", "path":"../libraries/control/DCL/c28/source/DCL_PI_C4.asm", "alwaysInclude":false},
|
||||
"DCL_PI_C7": {"name":"DCL_PI_C7", "path":"../libraries/control/DCL/c28/source/DCL_PI_C7.asm", "alwaysInclude":false},
|
||||
"DCL_PI_L1": {"name":"DCL_PI_L1", "path":"../libraries/control/DCL/c28/source/DCL_PI_L1.asm", "alwaysInclude":false},
|
||||
"DCL_PI_L2": {"name":"DCL_PI_L2", "path":"../libraries/control/DCL/c28/source/DCL_PI_L2.asm", "alwaysInclude":false},
|
||||
"DCL_PI2_C2": {"name":"DCL_PI2_C2", "path":"../libraries/control/DCL/c28/source/DCL_PI2_C2.asm", "alwaysInclude":false},
|
||||
"DCL_PID_A1": {"name":"DCL_PID_A1", "path":"../libraries/control/DCL/c28/source/DCL_PID_A1.asm", "alwaysInclude":false},
|
||||
"DCL_PID_C1": {"name":"DCL_PID_C1", "path":"../libraries/control/DCL/c28/source/DCL_PID_C1.asm", "alwaysInclude":false},
|
||||
"DCL_PID_C4": {"name":"DCL_PID_C4", "path":"../libraries/control/DCL/c28/source/DCL_PID_C4.asm", "alwaysInclude":false},
|
||||
"DCL_PID_L1": {"name":"DCL_PID_L1", "path":"../libraries/control/DCL/c28/source/DCL_PID_L1.asm", "alwaysInclude":false},
|
||||
"DCL_PID_L2": {"name":"DCL_PID_L2", "path":"../libraries/control/DCL/c28/source/DCL_PID_L2.asm", "alwaysInclude":false}
|
||||
}
|
||||
|
||||
function getRefFilesArr()
|
||||
{
|
||||
var refArr = []
|
||||
for (var ref in refFiles)
|
||||
{
|
||||
refArr.push(refFiles[ref])
|
||||
}
|
||||
return refArr
|
||||
}
|
||||
|
||||
// h files, to be pulled in using c2000_libraries.h.xdt
|
||||
// some of these header files have certain refFiles (asm/c files) dependencies
|
||||
// NOTE: (probably) cannot move the refFilesList into the control_struct_dict since each header file references these reference files lists. If a reference file doesn't exist when the header file is imported, it may flag an error.
|
||||
var headerFiles = {
|
||||
"DCL": {"path":"../libraries/control/DCL/c28/include/DCL.h", "refFilesList":["DCL_error"]},
|
||||
"DCLC28": {"path":"../libraries/control/DCL/c28/include/DCLC28.h", "refFilesList":["DCL_futils32","DCL_PID_A1","DCL_futils32","DCL_PI_A1"]},
|
||||
"DCLCLA": {"path":"../libraries/control/DCL/c28/include/DCLCLA.h", "refFilesList":["DCL_PID_L1","DCL_PID_L2","DCL_PI_L1","DCL_PI_L2","DCL_DF11_L1","DCL_DF13_L1","DCL_DF13_L2L3","DCL_DF13_L2L3","DCL_DF22_L1","DCL_DF22_L2L3","DCL_DF22_L2L3","DCL_DF23_L1","DCL_DF23_L2L3","DCL_DF23_L2L3","DCL_clamp_L1"]},
|
||||
"DCLF32": {"path":"../libraries/control/DCL/c28/include/DCLF32.h", "refFilesList":["DCL_futils","DCL_PID_C1","DCL_PID_C4","DCL_futils","DCL_PI_C1","DCL_PI_C4","DCL_PI_C7","DCL_futils","DCL_futils","DCL_DF11_C1","DCL_futils","DCL_DF13_C1","DCL_DF13_C2C3","DCL_DF13_C2C3","DCL_futils","DCL_DF22_C1","DCL_DF22_C2C3","DCL_DF22_C2C3","DCL_futils","DCL_DF23_C1","DCL_DF23_C2C3","DCL_DF23_C2C3","DCL_clamp_C1","DCL_futils"]},
|
||||
"DCLF64": {"path":"../libraries/control/DCL/c28/include/DCLF64.h", "refFilesList":[]},
|
||||
"DCL_fdlog": {"path":"../libraries/control/DCL/c28/include/DCL_fdlog.h", "refFilesList":["DCL_frwlog","DCL_frwlog"]},
|
||||
"DCL_fdlog64": {"path":"../libraries/control/DCL/c28/include/DCL_fdlog64.h", "refFilesList":[]},
|
||||
"DCL_log32": {"path":"../libraries/control/DCL/c28/include/DCL_log32.h", "refFilesList":[]},
|
||||
"DCL_MLOG": {"path":"../libraries/control/DCL/c28/include/DCL_MLOG.h", "refFilesList":[]},
|
||||
"DCL_MLOG32": {"path":"../libraries/control/DCL/c28/include/DCL_MLOG32.h", "refFilesList":[]},
|
||||
"DCL_NLPID": {"path":"../libraries/control/DCL/c28/include/DCL_NLPID.h", "refFilesList":["DCL_futils","DCL_calcGamma","DCL_NLPID_C3"]},
|
||||
"DCL_refgen": {"path":"../libraries/control/DCL/c28/include/DCL_refgen.h", "refFilesList":[]},
|
||||
"DCL_refgen64": {"path":"../libraries/control/DCL/c28/include/DCL_refgen64.h", "refFilesList":[]},
|
||||
"DCL_TCM": {"path":"../libraries/control/DCL/c28/include/DCL_TCM.h", "refFilesList":["DCL_index","DCL_index","DCL_index"]},
|
||||
}
|
||||
|
||||
function getLongDescriptionConfigEntries(defaultControllerChoice)
|
||||
{
|
||||
var defaultLongDescName = control_struct_dict[defaultControllerChoice]["longDescName"];
|
||||
var configArr = [];
|
||||
for (var [c,longDescStr] of Object.entries(longDescriptionObj))
|
||||
{
|
||||
var hideByDefault = true;
|
||||
if (c == defaultLongDescName)
|
||||
{
|
||||
hideByDefault = false;
|
||||
}
|
||||
configArr.push({
|
||||
name:"longDesc_" + c,
|
||||
hidden:hideByDefault,
|
||||
default:"Click Question Mark for Details",
|
||||
displayName:"Detailed Description",
|
||||
longDescription:longDescStr,
|
||||
readOnly:true
|
||||
});
|
||||
}
|
||||
return configArr;
|
||||
}
|
||||
|
||||
//==========================================================================
|
||||
// CONTROL STRUCT LOOKUP DICTIONARY
|
||||
// For each controller structure, determine which header files to use, and
|
||||
// the config lookup list for this controller
|
||||
//==========================================================================
|
||||
var control_struct_dict = {
|
||||
"PID32": {"headerFilesList":["DCL","DCLC28"], "longDescName":"PID32", "config_entries_list":PID32},
|
||||
"PID_CLA": {"headerFilesList":["DCL","DCLCLA"], "longDescName":"PID", "config_entries_list":PID_CLA},
|
||||
"PID": {"headerFilesList":["DCL","DCLF32"], "longDescName":"PID", "config_entries_list":PID},
|
||||
"PIDF64": {"headerFilesList":["DCL","DCLF64"], "longDescName":"PID", "config_entries_list":PIDF64},
|
||||
"PI32": {"headerFilesList":["DCL","DCLC28"], "longDescName":"PI32", "config_entries_list":PI32},
|
||||
"PI_CLA": {"headerFilesList":["DCL","DCLCLA"], "longDescName":"PI", "config_entries_list":PI_CLA},
|
||||
"PI": {"headerFilesList":["DCL","DCLF32"], "longDescName":"PI", "config_entries_list":PI},
|
||||
"PI2": {"headerFilesList":["DCL","DCLF32"], "longDescName":"PI2", "config_entries_list":PI2},
|
||||
"NLPID": {"headerFilesList":["DCL","DCL_NLPID"], "longDescName":"NLPID", "config_entries_list":NLPID},
|
||||
"DF11_CLA": {"headerFilesList":["DCL","DCLCLA"], "longDescName":"DF11", "config_entries_list":DF11_CLA},
|
||||
"DF13_CLA": {"headerFilesList":["DCL","DCLCLA"], "longDescName":"DF13", "config_entries_list":DF13_CLA},
|
||||
"DF22_CLA": {"headerFilesList":["DCL","DCLCLA"], "longDescName":"DF22", "config_entries_list":DF22_CLA},
|
||||
"DF23_CLA": {"headerFilesList":["DCL","DCLCLA"], "longDescName":"DF23", "config_entries_list":DF23_CLA},
|
||||
"DF11": {"headerFilesList":["DCL","DCLF32"], "longDescName":"DF11", "config_entries_list":DF11},
|
||||
"DF13": {"headerFilesList":["DCL","DCLF32"], "longDescName":"DF13", "config_entries_list":DF13},
|
||||
"DF22": {"headerFilesList":["DCL","DCLF32"], "longDescName":"DF22", "config_entries_list":DF22},
|
||||
"DF23": {"headerFilesList":["DCL","DCLF32"], "longDescName":"DF23", "config_entries_list":DF23},
|
||||
"DF22F64": {"headerFilesList":["DCL","DCLF64"], "longDescName":"DF22", "config_entries_list":DF22F64},
|
||||
|
||||
}
|
||||
|
||||
function getHeaderFilesList(controlStruct)
|
||||
{
|
||||
return control_struct_dict[controlStruct]['headerFilesList'];
|
||||
}
|
||||
|
||||
function getOptIncludePaths(controlStruct)
|
||||
{
|
||||
var headerFilesList = control_struct_dict[controlStruct]['headerFilesList'];
|
||||
var includePathList = []
|
||||
for (var i in headerFilesList)
|
||||
{
|
||||
var headerFileName = headerFilesList[i];
|
||||
var headerFileObj = headerFiles[headerFileName];
|
||||
var headerFilePath = headerFileObj["path"];
|
||||
var includePath = headerFilePath.split("/").slice(0,-1).join("/");
|
||||
if (!(includePathList.includes(includePath)))
|
||||
{
|
||||
includePathList.push(includePath);
|
||||
}
|
||||
}
|
||||
return includePathList;
|
||||
}
|
||||
|
||||
function getRefFilesModuleArrFromControlStruct(controlStruct)
|
||||
{
|
||||
if (controlStruct.length === 0)
|
||||
{
|
||||
return [];
|
||||
}
|
||||
var arr = [];
|
||||
var headerFilesList = control_struct_dict[controlStruct]['headerFilesList'];
|
||||
var pathToDynamicJsFiles = "/libraries/control/dcl/templates/dynamic_mods/"
|
||||
for (var i in headerFilesList)
|
||||
{
|
||||
var h = headerFilesList[i]
|
||||
var refFilesList = headerFiles[h]['refFilesList'];
|
||||
for (var j in refFilesList)
|
||||
{
|
||||
var refFileName = refFilesList[j]
|
||||
var moduleNamePath = pathToDynamicJsFiles + refFileName + "_dynamic.js"
|
||||
// if it hasn't been added yet, add it
|
||||
var alreadyInArray = arr.some(el => refFileName === el["name"])
|
||||
if (!alreadyInArray)
|
||||
{
|
||||
arr.push({
|
||||
name:refFileName,
|
||||
moduleName:moduleNamePath,
|
||||
});
|
||||
}
|
||||
}
|
||||
}
|
||||
// all available Sysconfig devices use at least FPU32, and so require FPU.js to be included
|
||||
arr.push({name:"fpu", moduleName:"/libraries/.meta/math/FPU/FPU.js", hidden:false});
|
||||
return arr;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the full control_struct_dict, which has every control structure
|
||||
* @returns {dict} control_struct_dict, which contains each control stucture
|
||||
* type, the header/asm files, and the corresponding config_entries_list
|
||||
*/
|
||||
function get_control_struct_dict()
|
||||
{
|
||||
return control_struct_dict;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get a specific control_struct_dict entry by name.
|
||||
* @param {string} name - The name of the control structure to return (like "PID32")
|
||||
* @returns A specific control_struct_dict entry
|
||||
*/
|
||||
function get_control_struct_entry(name)
|
||||
{
|
||||
return control_struct_dict[name];
|
||||
}
|
||||
|
||||
//==========================================================================
|
||||
// DROPDOWN TO CONTROL STRUCTURE DICTIONARY
|
||||
// List the displayName and control structures (like "PIDF64") available for
|
||||
// each dropdown option (controller, precision, and accelerator).
|
||||
//==========================================================================
|
||||
var dropdown_to_controlstruct_dict = {
|
||||
"controller":{
|
||||
"PID":{
|
||||
"displayName": "PID",
|
||||
"structAvail":["PID32","PID_CLA","PID","PIDF64"]
|
||||
},
|
||||
"PI":{
|
||||
"displayName": "PI",
|
||||
"structAvail":["PI32","PI_CLA","PI"]
|
||||
},
|
||||
"PI2":{
|
||||
"displayName": "PI\xB2",
|
||||
"structAvail":["PI2"]
|
||||
},
|
||||
"NLPID":{
|
||||
"displayName": "Non-Linear PID",
|
||||
"structAvail":["NLPID"]
|
||||
},
|
||||
"DF11":{
|
||||
"displayName": "Direct-Form 1, 1st Order",
|
||||
"structAvail":["DF11","DF11_CLA"]
|
||||
},
|
||||
"DF13":{
|
||||
"displayName": "Direct-Form 1, 3rd Order",
|
||||
"structAvail":["DF13","DF13_CLA"]
|
||||
},
|
||||
"DF22":{
|
||||
"displayName": "Direct-Form 2, 2nd Order",
|
||||
"structAvail":["DF22","DF22_CLA","DF22F64"]
|
||||
},
|
||||
"DF23":{
|
||||
"displayName": "Direct-Form 2, 3rd Order",
|
||||
"structAvail":["DF23","DF23_CLA"]
|
||||
},
|
||||
},
|
||||
|
||||
"precision":{
|
||||
"FIXED":{
|
||||
"displayName": "Fixed-Point (32-bit)",
|
||||
"structAvail":["PID32","PI32"]
|
||||
},
|
||||
"F32":{
|
||||
"displayName": "Floating-Point (32-bit)",
|
||||
"structAvail":["PID_CLA","PID","PI_CLA","PI","PI2","NLPID","DF11","DF11_CLA","DF13","DF13_CLA","DF22","DF22_CLA","DF23","DF23_CLA"]
|
||||
},
|
||||
"F64":{
|
||||
"displayName": "Floating-Point (64-bit)",
|
||||
"structAvail":["PIDF64","DF22F64"]
|
||||
}
|
||||
},
|
||||
|
||||
"accelerator": {
|
||||
"NONE":{
|
||||
"displayName": "NONE",
|
||||
"structAvail":["PID32","PID","PIDF64","PI32","PI","PI2","NLPID","DF11","DF13","DF22","DF23","DF22F64"]
|
||||
},
|
||||
// "CLA":{
|
||||
// "displayName": "Control Law Accelerator (CLA)",
|
||||
// "structAvail":["PID_CLA","PI_CLA","DF11_CLA","DF13_CLA","DF22_CLA","DF23_CLA"]
|
||||
// }
|
||||
}
|
||||
}
|
||||
|
||||
// check FPU and TMU support
|
||||
var fpu_types = fpu_obj.filter(fpu_or_tmu_list => fpu_or_tmu_list.name === "fpuType")[0].options;
|
||||
var tmu_types = fpu_obj.filter(fpu_or_tmu_list => fpu_or_tmu_list.name === "tmuType")[0].options;
|
||||
var fpu64_supported = false;
|
||||
var tmu1_supported = false;
|
||||
if (fpu_types.length >= 2) {
|
||||
// 2 options available means that both FPU32 (all Sysconfig devices) and FPU64 (some Sysconfig devices) are supported
|
||||
fpu64_supported = true;
|
||||
}
|
||||
if (tmu_types.filter(tmu_obj => tmu_obj.name === "TMU1").length > 0) {
|
||||
// look for TMU1 support from FPU.js
|
||||
tmu1_supported = true;
|
||||
}
|
||||
// remove certain options depending on FPU/TMU support available
|
||||
// (don't remove F64 since it can technically be used with FPU32 processor, but with degraded performance)
|
||||
if (!tmu1_supported) {delete dropdown_to_controlstruct_dict["controller"]["NLPID"];}
|
||||
|
||||
//==========================================================================
|
||||
// STRUCTURES AVAILABLE PER DEVICE
|
||||
// List the device GPN and control structures (like "PIDF64") available for
|
||||
// each device. Some devices don't have FPU64 (which would prevent *64
|
||||
// usage), and some don't have TMU1 (which would prevent NLPID usage)
|
||||
//==========================================================================
|
||||
// start with a list of structures available on all devices (devices with at least C28x and FPU32)
|
||||
var structs_avail_per_device = ["PID32","PID","PIDF64","PI32","PI","PI2",/*"NLPID",*/"DF11","DF13","DF22","DF23","DF22F64"];
|
||||
// add TMU1 entries if there is "TMU1" available
|
||||
// NLPID only available on devices with TMU1 (like F28002x and F28003x)
|
||||
if (tmu1_supported) {structs_avail_per_device = structs_avail_per_device.concat(["NLPID"]);}
|
||||
|
||||
/**
|
||||
*
|
||||
*/
|
||||
function intersect(a, b) {
|
||||
var setA = new Set(a);
|
||||
var setB = new Set(b);
|
||||
var intersection = new Set([...setA].filter(x => setB.has(x)));
|
||||
return Array.from(intersection);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the controllerChoice options to be displayed within Sysconfig
|
||||
* @returns list of dicts with {name, displayName} entries for each control option
|
||||
*/
|
||||
function get_dropdown_list(list_name)
|
||||
{
|
||||
var l = [];
|
||||
for (var opt in dropdown_to_controlstruct_dict[list_name])
|
||||
{
|
||||
l.push({name:opt, displayName:dropdown_to_controlstruct_dict[list_name][opt]['displayName']});
|
||||
}
|
||||
return l;
|
||||
}
|
||||
|
||||
function get_struct_options(dropdown_choices_dict)
|
||||
{
|
||||
var all_controlstruct_lists = []
|
||||
// using the list of options, get a list of structures available for each option (like "precision==FPU64")
|
||||
for (var accelerator in dropdown_choices_dict)
|
||||
{
|
||||
var choice = dropdown_choices_dict[accelerator];
|
||||
all_controlstruct_lists.push(dropdown_to_controlstruct_dict[accelerator][choice]['structAvail']);
|
||||
}
|
||||
|
||||
// now get the options that are device specific (like TMU1 or FPU64 availability)
|
||||
all_controlstruct_lists.push(structs_avail_per_device);
|
||||
|
||||
// find the intersection of a bunch of lists, returns elements that are in all lists
|
||||
|
||||
// make the first list the starting array
|
||||
var intersection = all_controlstruct_lists[0];
|
||||
// get intersection of all the other lists and the first one
|
||||
for (var i = 1; i < all_controlstruct_lists.length; i++)
|
||||
{
|
||||
intersection = intersect(intersection,all_controlstruct_lists[i]);
|
||||
}
|
||||
|
||||
return intersection;
|
||||
// return intersection
|
||||
}
|
||||
|
||||
function getModuleDataObj(inst)
|
||||
{
|
||||
var controllerChoice = inst.structDisplay;
|
||||
var type = controllerChoice;
|
||||
var defaultsListName = controllerChoice+'_DEFAULTS';
|
||||
// the following 4 controllers prepend DCL_ to their *_DEFAULTS list, so do the same here
|
||||
if(['PI32','PID32','REFGEN','REFGEN64'].includes(controllerChoice))
|
||||
{
|
||||
defaultsListName = 'DCL_'+defaultsListName;
|
||||
}
|
||||
|
||||
var configEntriesList = get_control_struct_entry(controllerChoice)["config_entries_list"];
|
||||
var configEntriesVals = [];
|
||||
// create parameter,val pairs in lists, like [Ki,0]
|
||||
for (var j in configEntriesList)
|
||||
{
|
||||
configEntriesVals.push ([
|
||||
configEntriesList[j][0],
|
||||
inst[configEntriesList[j][0]]
|
||||
]);
|
||||
}
|
||||
|
||||
var resData = {
|
||||
"controllerChoice":controllerChoice,
|
||||
"type":type,
|
||||
"defaultsListName":defaultsListName,
|
||||
"instName":inst.$name,
|
||||
"configEntriesVals":configEntriesVals,
|
||||
};
|
||||
|
||||
return resData;
|
||||
}
|
||||
//==========================================================================
|
||||
// EXPORTS
|
||||
// Export all of the functions so variables/structures can be accessed
|
||||
// in other .js files
|
||||
//==========================================================================
|
||||
exports = {
|
||||
get_config_entries_list : get_config_entries_list,
|
||||
get_config_entry : get_config_entry,
|
||||
set_config_entries_default_unhidden : set_config_entries_default_unhidden,
|
||||
get_control_struct_dict : get_control_struct_dict,
|
||||
get_control_struct_entry : get_control_struct_entry,
|
||||
get_dropdown_list : get_dropdown_list,
|
||||
get_struct_options : get_struct_options,
|
||||
getRefFilesArr: getRefFilesArr,
|
||||
getRefFilesModuleArrFromControlStruct: getRefFilesModuleArrFromControlStruct,
|
||||
getOptIncludePaths:getOptIncludePaths,
|
||||
getHeaderFilesList:getHeaderFilesList,
|
||||
getModuleDataObj:getModuleDataObj,
|
||||
get_default_param_val:get_default_param_val,
|
||||
getLongDescriptionConfigEntries:getLongDescriptionConfigEntries,
|
||||
fpu64_supported:fpu64_supported,
|
||||
tmu1_supported:tmu1_supported
|
||||
}
|
||||
@@ -0,0 +1,734 @@
|
||||
var longDescriptionObj = {
|
||||
//*************************************************************************/
|
||||
// PID
|
||||
//*************************************************************************/
|
||||
"PID":
|
||||
`# ***Linear PID Controllers***
|
||||
|
||||
The basic controller type described here is a linear PID. The PID implementations in the
|
||||
DCL include several features not commonly found in basic PID designs, and this
|
||||
complexity is reflected the benchmark figures. Applications which do not require
|
||||
derivative action, or are more sensitive to cycle efficiency, may be better served by the
|
||||
simpler PI controller structure described in the next section.
|
||||
|
||||
***NOTE***: The DCL contains one implementation of a linear PID controller in double precision
|
||||
floating point form. This controller may be used with the FPU32 CPU, however support
|
||||
for the double precision data type currently relies on the run time support libraries which
|
||||
are not cycle efficient. The structure of the controller is identical to the PID_C1 & PID_C2
|
||||
controllers described earlier in this chapter. Support functions for PIDF64 do not currently
|
||||
include the ability to load the controller from transfer function coefficient or ZPK3
|
||||
descriptions.
|
||||
|
||||
PID control is widely used in systems which employ output feedback control. In such
|
||||
systems, the controlled output is measured and fed back to a summing point where it is
|
||||
subtracted from the reference input. The difference between the reference and feedback
|
||||
corresponds to the control loop error and forms the input to the PID controller.
|
||||
|
||||
Conceptually, the PID controller output is the parallel sum of three paths which act
|
||||
respectively on the error, error integral, and error derivative. The relative weight of each
|
||||
path may be adjusted by the user to optimize transient response, or to emulate the
|
||||
behavior of a specified transfer function expressed in terms of its poles and zeros.
|
||||
|
||||
*Figure: Parallel form PID controller*
|
||||
|
||||
|
||||
|
||||
|
||||
The diagram above shows the structure of a continuous time parallel PID controller. The
|
||||
output of this controller is captured in the following equation:
|
||||
|
||||
|
||||
|
||||
Conceptually, the controller comprises three separate paths connected in parallel. The
|
||||
upper path contains an adjustable gain term (Kp). Its effect is to fix the open loop gain of
|
||||
the control system. Since loop gain is proportional to this term, Kp is known as
|
||||
proportional gain.
|
||||
A second path contains an integrator which accumulates error history. A separate gain
|
||||
term acts on this path. The output of the integral path changes continuously as long as a
|
||||
non-zero error (e) is present at the controller input. A small but persistent servo error has
|
||||
the effect of driving the output of the integrator such that the loop error will eventually
|
||||
disappear. The principal effect of the integral path is therefore to eliminate steady state
|
||||
error. The effect of the integral gain term is to change the rate at which this happens.
|
||||
Integral action is especially important in applications such as electronic power supplies,
|
||||
which must maintain accurate regulation over long periods of time.
|
||||
The third path contains a differentiator. The output of this path is large whenever the rate
|
||||
of change of the error is large. The principal effects of the derivative action are to damp
|
||||
oscillation and reduce transients.
|
||||
The operation of the PID controller can be visualized in terms of the transient error
|
||||
following a step change of set-point.
|
||||
|
||||
*Figure: PID control action*
|
||||
|
||||
|
||||
|
||||
|
||||
The figure above shows the action of the PID controller in terms of the control loop error
|
||||
at time t1. The proportional term contributes a control effort which is proportional to the
|
||||
instantaneous loop error. The output of the integral path is the accumulated error history:
|
||||
the shaded area in the lower plot. The contribution of the derivative path is proportional to
|
||||
the rate of change of the loop error. Derivative gain fixes the time interval over which a
|
||||
tangential line to the error curve is projected forward in time.
|
||||
Tuning the PID controller is a matter of finding the optimum combination of these three
|
||||
effects. This in turn means finding the best balance of the three gain terms. For more
|
||||
information on PID control & tuning, see the references in section 6.1.
|
||||
The PID shown above is known as the “parallel” form because the three controller gains
|
||||
appear in separate parallel paths. A slightly different PID architecture in which the
|
||||
proportional gain is moved into the output path (i.e. after the summing point), so that the
|
||||
proportional path becomes a direct connection between the controller input and the
|
||||
summing point, is known as the “series” or “ideal” form. In the ideal form, the open loop
|
||||
gain is directly influenced by the proportional controller gain, and there is less interaction
|
||||
between the controller gains. However the proportional gain cannot be zero (since the
|
||||
loop would be opened), and to maintain good control cannot be small. The parallel form
|
||||
allows the proportional gain to be small, however there is slightly more interaction
|
||||
between the controller gains, complicating the tuning process. The DCL contains both
|
||||
ideal and parallel PID functions.
|
||||
|
||||
## ***Implementation***
|
||||
|
||||
The linear PID controllers in the DCL include the following features:
|
||||
* Parallel and ideal forms
|
||||
* Programmable output saturation
|
||||
* Independent reference weighting on proportional path
|
||||
* Anti-windup integrator reset
|
||||
* Programmable low-pass derivative filter
|
||||
* External saturation input for integrator anti-windup
|
||||
* Adjustable output saturation
|
||||
|
||||
It is important to note that the controller sample period is not accounted for in the selection
|
||||
of integral gain (Ki). This is relevant when computing the integral gain as opposed to
|
||||
manual tuning against a transient response, for example. In such situations, users must
|
||||
multiply the computed integral gain by the sample period before loading Ki (either directly
|
||||
or through the SPS). The element T in the CSS sub-structure can be used to store the
|
||||
sample period for this purpose.
|
||||
|
||||
All PID type controllers in the library implement integrator anti-windup reset in a similar
|
||||
way. A clamp is present at the controller output which allows the user to set upper and
|
||||
lower limits on the control effort. If either limit is exceeded, an internal floating-point
|
||||
controller variable changes from 1.0 to 0.0. This variable is multiplied by the integrator
|
||||
input, such that the integrator accumulates zero data only when the output is saturated,
|
||||
thus preventing the well-known “wind-up” phenomenon.
|
||||
|
||||
The PID controllers in the library make provision for anti-windup reset to be triggered from
|
||||
an external part of the loop. This is useful in situations where a component outside the
|
||||
controller may be saturated. The floating-point variable lk is expected to be either 1.0 or
|
||||
0.0 in the normal and saturated conditions respectively. If this feature is not required, the
|
||||
functions should be called with the lk argument set to 1.0. Note that all the controllers
|
||||
here require non-zero proportional gain to recover from loop saturation.
|
||||
|
||||
The derivative PID path includes a digital low-pass filter to avoid amplification of unwanted
|
||||
high frequency noise. The filter implemented here is a simple first order lag filter
|
||||
(with differentiator), converted into discrete form using the Tustin transform. Referring to
|
||||
Figure 6, the difference equation of the filtered differentiator is
|
||||
|
||||
|
||||
|
||||
The temporary storage elements d2 & d3 must be preserved from the (k - 1)th interval, so
|
||||
the following must be computed after the differentiator update.
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
The derivative filter coefficients are
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Both the sample period (T) and filter time constant (tau) must be determined by the user.
|
||||
The time constant is the reciprocal of the desired filter bandwidth in radians per second.
|
||||
All linear PID controller functions use a common C structure to hold coefficients and data.
|
||||
Refer to the header file DCLF32.h for details of the DCL_PID controller structure.
|
||||
The library PID controller architectures are shown below:
|
||||
|
||||
*Figure: DCL_PID C1, C2, & L1 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
*Figure: DCL_PID C3, C4, & L2 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
`,
|
||||
//*************************************************************************/
|
||||
// PI
|
||||
//*************************************************************************/
|
||||
"PI":
|
||||
`# ***Linear PI Controllers***
|
||||
The continuous time parallel PI control equation is
|
||||
|
||||
|
||||
|
||||
The linear PI controllers in the DCL differ from the PID in the following respects.
|
||||
* Removal of derivative path
|
||||
* Removal of set-point weighting
|
||||
* No provision for external saturation input
|
||||
|
||||
In all other respects, the PI controllers are similar to the PID controllers.
|
||||
|
||||
## ***Implementation***
|
||||
|
||||
All linear PI controller functions use a common C structure to hold coefficients and data,
|
||||
defined in the header files DCLF32.h and DCLCLA.h.
|
||||
|
||||
The PI controller architectures are shown in the following diagrams.
|
||||
|
||||
*Figure: DCL_PI C1, C2, L1, & L3 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
*Figure: DCL_PI C3, C4, L2 & L4 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
*Figure: DCL_PI C5 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
Note that the C5 parallel form PI controller contains enhanced anti-windup reset logic which allows the
|
||||
integral path to recover from saturation even when the proportional gain is zero.
|
||||
|
||||
*Figure: DCL_PI C6, C7, & L5 architecture*
|
||||
|
||||
|
||||
|
||||
The C6, C7, & L5 controllers combine a series form PI with a Tustin integrator. This configuration
|
||||
is best suited to applications in which the controller gains are selected on the basis of high
|
||||
frequency loop gain and zero frequency, because Kp and Ki are effectively un-coupled in the
|
||||
series form controller. Furthermore the Tustin integrator has fixed 90 degree phase lag at all
|
||||
frequencies below the Nyquist limit, simplifying design of the compensator.
|
||||
`,
|
||||
//*************************************************************************/
|
||||
// NLPID
|
||||
//*************************************************************************/
|
||||
"NLPID":
|
||||
`# ***Non-linear PID Controller***
|
||||
The DCL includes two implementations of a non-linear PID controller, denoted NLPID.
|
||||
The controllers are broadly similar to the ideal PID_C1 controller, except that there is no
|
||||
set-point weighting and in one case the derivative path sees the servo error instead of the
|
||||
feedback. A non-linear gain block appears in series with each of the three paths.
|
||||
|
||||
To improve computational efficiency, the non-linear law is separated into two parts: one
|
||||
part which is common to all paths, and a second part which contains terms specific to
|
||||
each path. The non-linear part of the high-level controller structure is shown below:
|
||||
|
||||
*Figure: DCL_NLPID C1 input architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
The linear part of the DCL_NLPID_C1 controller is shown below:
|
||||
|
||||
*Figure: DCL_NLPID C1 output architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
*Figure: DCL_NLPID C2 & C3 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
The non-linear control law is based on a power function of the modulus of the servo error,
|
||||
with a linearized region about the zero error point. In the equation below, x represents the
|
||||
input to the control law, y, the output, and "ALPHA" is a user selectable exponent representing
|
||||
the degree of non-linearity.
|
||||
|
||||
|
||||
|
||||
The following plot shows the x-y relationship for values of "ALPHA" between 0.2 and 2. Notice
|
||||
that the curves intersect at x = 0, and x = ±1.
|
||||
|
||||
*Figure: Non-linear control law input-output plot*
|
||||
|
||||
|
||||
|
||||
|
||||
The gain of the control law is the slope of the x-y curve. Observe that with "ALPHA" = 1 the
|
||||
control is linear with unity gain. With "ALPHA" > 1 the gain is zero when x = 0, and increases as x
|
||||
increases. In the controller, a value of "ALPHA" in this range produces controller gain which
|
||||
increases with increasing control error. With 0 < "ALPHA" < 1 the gain at x = 0 is infinite, and falls
|
||||
as x increases. This range of "ALPHA" setting produces controller gain which decreases with
|
||||
increasing servo error.
|
||||
|
||||
The plots below show the gain vs. control loop error curves for different values of "ALPHA".
|
||||
Notice particularly the singularity at x = 0 when "ALPHA" < 1.
|
||||
|
||||
*Figure: Gain vs error curves for varying alpha*
|
||||
|
||||
|
||||
|
||||
|
||||
The presence of zero or infinite gain at the zero control error point leads to practical
|
||||
difficulties. With "ALPHA" > 1 the response becomes sluggish for small errors; with "ALPHA" < 1 it is
|
||||
common to encounter oscillation or “chattering” near steady-state. These issues can be
|
||||
overcome by limiting the controller gain in a region close to x = 0. This is done by
|
||||
modifying the control law to introduce a user selectable region about x = 0 with linear gain
|
||||
is applied. The non-linear control law becomes
|
||||
|
||||
|
||||
|
||||
When the magnitude of servo error falls below δ the linear gain is applied, otherwise the
|
||||
gain is determined by the non-linear law. For computational efficiency, we pre-compute
|
||||
the gain in the linear region ("GAMMA") as follows.
|
||||
|
||||
|
||||
|
||||
A typical plot of the linearized control law is shown below. Observe that when x = δ the
|
||||
linear and non-linear curves intersect, so the controller makes a smooth transition
|
||||
between the linear and non-linear regions as the servo error passes through x = ±δ.
|
||||
|
||||
*Figure: NLPID linearized region*
|
||||
|
||||
|
||||
|
||||
|
||||
In addition to the P, I, and D gains, the user must select two additional terms in each
|
||||
control path: "ALPHA" and δ. The library includes a separate function to compute and update "GAMMA"
|
||||
for each path using the SPS structure. The use must initialize "GAMMA" parameters before calling
|
||||
the NL controllers.
|
||||
|
||||
The NLPID controller has been seen to provide significantly improved control in many
|
||||
cases, however it must be remembered that increased gain, even if only applied to part of
|
||||
the control range, can lead to significantly increased output from the controller. In most
|
||||
cases, this 'control effort' is limited by practical factors such as actuator saturation, PWM
|
||||
modulation range, and so on. The corollary is that not every application benefits equally
|
||||
from the use of non-linear control and some may see no benefit at all. In cases where
|
||||
satisfactory performance cannot be achieved through the use of linear PID control, the
|
||||
user is advised to start with all "ALPHA" = 1, and experiment by introducing non-linear terms
|
||||
gradually while monitoring both control performance and the magnitude of the control
|
||||
effort. In general, P and I paths benefit from increased gain at high servo error ("ALPHA" > 1),
|
||||
while the D path benefits from reduced gain at high servo error ("ALPHA" < 1), but this is not
|
||||
universally true. Further information on tuning the nonlinear PID controller can be found
|
||||
in the Nonlinear PID Controller Tuning Guide in the \docs directory of the DCL.
|
||||
|
||||
Further information on this control law can be found in: “From PID to Active Disturbance
|
||||
Rejection Control”, Jingqing Han, IEEE TRANSACTIONS ON INDUSTRIAL
|
||||
ELECTRONICS, VOL. 56, NO. 3, MARCH 2009
|
||||
|
||||
## ***Implementation***
|
||||
The NLPID controller uses a C structure to hold coefficients and data, defined in the
|
||||
header file DCL_NLPID.h. Note that the NLPID functions make use of the pow()
|
||||
function in the standard C library. For this reason the header file math.h must be
|
||||
included, which is not supported by the CLA compiler. To allow different DCL functions to
|
||||
be run on both the CPU and CLA in the same program, the NLPID functions are located in
|
||||
a separate header file. Refer to the file DCL_NLPID.h for details of the NLPID controller
|
||||
structure.
|
||||
`,
|
||||
//*************************************************************************/
|
||||
// DF11
|
||||
//*************************************************************************/
|
||||
"DF11":
|
||||
`# ***Direct Form 1 (First Order) Compensators***
|
||||
The DCL includes one first order compensator in Direct Form 1. The DF11 compensator
|
||||
implements a first order, or “simple lag”, type frequency response. The general form of
|
||||
discrete time first order transfer function is
|
||||
|
||||
|
||||
|
||||
Denominator coefficients must be normalized accordingly. The corresponding difference
|
||||
equation is
|
||||
|
||||
|
||||
|
||||
A diagrammatic representation of the DF11 is shown below:
|
||||
|
||||
*Figure: DCL_DF11 C1, C2, & L1 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
## ***Implementation***
|
||||
All DF11 functions use a common C structure to hold coefficients and data, defined in the
|
||||
header files DCLF32.h and DCLCLA.h.
|
||||
`,
|
||||
//*************************************************************************/
|
||||
// DF13
|
||||
//*************************************************************************/
|
||||
"DF13":
|
||||
`# ***Direct Form 1 (Third Order) Compensators***
|
||||
The Direct Form 1 (DF1) structure is a common type of discrete time control structure
|
||||
used to implement a control law or dynamical system model specified either as a polezero
|
||||
set, or as a rational polynomial in z (i.e. a discrete time transfer function). The DCL
|
||||
includes one third order DF1 compensator, denoted “DF13”.
|
||||
|
||||
In general, the Direct Form 1 structure is less numerically robust than the Direct Form 2
|
||||
(see below), and for this reason users are encouraged to choose the latter type whenever
|
||||
possible. However, the DCL_DF13 structure is very common in digital power supplies
|
||||
and for that reason is included in the library. The same function supports a second order
|
||||
control law after the superfluous coefficients (a3 & b3) have been set to zero.
|
||||
|
||||
The general form of third order transfer function is
|
||||
|
||||
|
||||
|
||||
Notice that the coefficients have been adjusted to normalize the highest power of z in the
|
||||
denominator. There is no notational standard for numbering of the controller coefficients;
|
||||
the notation used here has the advantage that the coefficient suffixes are the same as the
|
||||
delay line elements and this helps with clarity of the assembly code, however other
|
||||
notations may be found in the literature. The corresponding difference equation is
|
||||
|
||||
|
||||
|
||||
The DF13 controller uses two, three-element delay lines to store previous input and
|
||||
output data required to compute u(k). A diagrammatic representation is shown below.
|
||||
|
||||
*Figure: DCL_DF13 C1, C4, & L1 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
The DF13 control law consists of seven multiplication operations which yield seven partial
|
||||
products, and six addition or subtraction operations which combine the partial products to
|
||||
obtain the compensator output, u(k). When implemented in this way, the control law is
|
||||
referred to as the “full” DF13 form.
|
||||
|
||||
The DF13 control law can be re-structured to reduce control latency by pre-computing six
|
||||
of the seven partial products which are already known in the previous sample interval.
|
||||
The control law is then broken into two parts: the “immediate” part and the “partial” part.
|
||||
|
||||
The advantage of doing this is to reduce the “sample-to output” delay, or the time between
|
||||
e(k) being sampled, and a corresponding u(k) becoming available. By partially precomputing
|
||||
the control law, the computation delay can be reduced to one multiplication
|
||||
and one addition.
|
||||
|
||||
In the kth interval, the immediate part is computed.
|
||||
|
||||
|
||||
|
||||
Next, the v(k) partial result is pre-computed for use in the (k+1)th interval.
|
||||
|
||||
|
||||
|
||||
Structurally, the pre-computed control law can be drawn as below:
|
||||
|
||||
*Figure: DCL_DF13 C2, C3, C5, C6, L2, & L3 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
The pre-computed structure allows the controller output (u(k)) to be used as soon as it is
|
||||
computed. The remaining terms in the third order control law do not involve the newest
|
||||
input e(k) and therefore do not affect u(k). These terms can be computed after u(k) has
|
||||
been applied to the control loop and the input-output latency of the controller is therefore
|
||||
reduced.
|
||||
|
||||
A further benefit of the pre-computed structure is that it allows the control effort to be
|
||||
clamped after the immediate part. Computation of the pre-computed part can be made
|
||||
dependent on the outcome of the clamp such that if u(k) matches or exceeds the clamp
|
||||
limits there is no point in pre-computing the next partial control variable and the
|
||||
computation can be avoided. The DCL includes three clamp functions intended for this
|
||||
purpose.
|
||||
|
||||
## ***Implementation***
|
||||
All DF13 functions use a common C structure to hold coefficients and data, defined in the
|
||||
header files DCL.h and DCLCLA.h.
|
||||
|
||||
The assignment of coefficients and data in the DCL_DF13 structure to those in the
|
||||
diagram is shown below:
|
||||
|
||||
*Figure: DCL_DF13 data & coefficient layout*
|
||||
|
||||
|
||||
|
||||
|
||||
To implement a full DF13 controller, the user might call:
|
||||
|
||||
uk = DCL_runDF13_C1(&df13, ek);
|
||||
|
||||
…where ek and uk are the controller input and output respectively, and df13 is the
|
||||
controller structure.
|
||||
|
||||
To implement a pre-computed DF13 controller, the user might call:
|
||||
|
||||
uk = DCL_runDF13_C2(&df13, ek, vk);
|
||||
vk = DCL_runDF13_C3(&df13, ek, uk);
|
||||
|
||||
...where vk is an intermediate float variable. This arrangement allows the user to make
|
||||
use of the output immediately by placing instructions between the two lines above to use
|
||||
the newest value of uk.
|
||||
|
||||
For applications where it is necessary to restrict the output of the compensator, a clamp
|
||||
function can be used as follows.
|
||||
|
||||
uk = DCL_runDF13_C2(&df13, ek, vk);
|
||||
s = DCL_runClamp_C1(&uk, upperLim, lowerLim);
|
||||
if (0U == s)
|
||||
{
|
||||
vk = DCL_runDF13_C3(&df13, ek, uk);
|
||||
}
|
||||
|
||||
The clamp function limits the controller output to lie between “lowerLim” and “upperLim”
|
||||
and sets the unsigned integer “s” to 1 is that range is exceeded. The pre-computed part
|
||||
of the controller will only be executed when the immediate result is in range.
|
||||
`,
|
||||
//*************************************************************************/
|
||||
// DF22
|
||||
//*************************************************************************/
|
||||
"DF22":
|
||||
`# ***Direct Form 2 (Second Order) Compensators***
|
||||
The C2000 Digital Controller Library contains a second order implementation of the Direct
|
||||
Form 2 controller structure, denoted “DCL_DF22”. This structure is sometimes referred to
|
||||
as a “bi-quad” filter and is commonly used in a cascaded chain to build up digital filters of
|
||||
high order.
|
||||
|
||||
***NOTE***: From version 3.4, the DCL contains support for the DF22 compensator in double precision
|
||||
floating point. The controller architecture is identical to that described in section 3.8 so
|
||||
the details need not be repeated here. One full controller and a pair of functions to
|
||||
support a pre-computed controller are implemented. There are also 'reset' and 'update'
|
||||
functions, and a double precision clamp function. Other single precision
|
||||
functions to support coefficient calculation are not implemented at this time.
|
||||
|
||||
The transfer function of a second order discrete time compensator is
|
||||
|
||||
|
||||
|
||||
The corresponding difference equation is
|
||||
|
||||
|
||||
|
||||
A diagrammatic representation of the full Direct Form 2 realization is shown below:
|
||||
|
||||
*Figure: DCL_DF22 C1, C4,L1, & L4 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
As with the DCL_DF13 compensator, sample-to-output delay can be reduced through the
|
||||
use of pre-computation. The immediate and pre-computed control laws are as follows. In
|
||||
the kth interval, the immediate part is computed
|
||||
|
||||
|
||||
|
||||
Next, the v(k) partial result is pre-computed for use in the (k+1)th interval.
|
||||
|
||||
|
||||
|
||||
The pre-computed form of DCL_DF22 is shown in the following diagrams.
|
||||
|
||||
*Figure: DCL_DF22 C2, C5, & L2 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
*Figure: DCL_DF22 C3, C6, & L3 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
Notice that pre-computation is a little different from the Direct Form 1 case because the
|
||||
intermediate value exists as one of the internal states and is therefore automatically
|
||||
stored as “x1” in the DCL_DF22 structure. Therefore it is not necessary to create a
|
||||
separate variable to store v(k).
|
||||
|
||||
## ***Implementation***
|
||||
All DF22 functions use a common C structure to hold coefficients and data, defined in the
|
||||
header file DCL.h and DCLCLA.h.
|
||||
`,
|
||||
//*************************************************************************/
|
||||
// DF23
|
||||
//*************************************************************************/
|
||||
"DF23":
|
||||
`# ***Direct Form 2 (Third Order) Compensators***
|
||||
The third order Direct Form 2 compensator (DF23) is similar in all respects to the DF22
|
||||
compensator. Separate full and pre-computed forms are supplied in C and assembly for
|
||||
computation on the FPU32, and in assembly for computation on the CLA.
|
||||
The control law is the same as the DF13 compensator.
|
||||
|
||||
|
||||
|
||||
A diagrammatic representation of the full third order Direct Form 2 compensator is shown
|
||||
below:
|
||||
|
||||
*Figure: DCL_DF23 C1, C4, & L1 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
Sample-to-output delay can be reduced through the use of pre-computation, in a similar
|
||||
way to the DF22 compensator. In the kth interval, the immediate part is computed.
|
||||
|
||||
|
||||
|
||||
Next, the v(k) partial result is pre-computed for use in the (k+1)th interval.
|
||||
|
||||
|
||||
|
||||
The pre-computed form of DF23 is shown in the following diagrams:
|
||||
|
||||
*Figure: DCL_DF23 C2, C5, & L2 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
*Figure: DCL_DF23 C3, C6, & L3 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
## ***Implementation***
|
||||
All DF23 functions use a common C structure to hold coefficients and data, defined in the header
|
||||
file DCL.h. and DCLCLA.h.
|
||||
`,
|
||||
//*************************************************************************/
|
||||
// PID32
|
||||
//*************************************************************************/
|
||||
"PID32":
|
||||
`# ***Fixed-Point PID Controllers***
|
||||
The DCL contains one implementation of a parallel form fixed-point PID controller. The
|
||||
structure is similar to the floating-point C1 controller.
|
||||
|
||||
The linear PID controller in the DCL32 includes the following features.
|
||||
* Parallel form
|
||||
* Programmable output saturation
|
||||
* Anti-windup integrator reset
|
||||
* Programmable low-pass derivative filter
|
||||
* Feedback input to derivative path
|
||||
|
||||
Both PID and PI type controllers in the DCl32 library implement integrator anti-windup
|
||||
reset in a similar way. A clamp is present at the controller output which allows the user to
|
||||
set upper and lower limits on the control effort. If either limit is exceeded, an internal
|
||||
floating-point controller variable changes from logical 1 to logical 0. This variable is
|
||||
converted into Q24 format and multiplied by the integrator input, such that the integrator
|
||||
accumulates successive zero data when the output is saturated, avoiding the “wind-up”
|
||||
phenomenon.
|
||||
|
||||
The following equations describe the implementation of the PID32 controller. Note that
|
||||
the storage of static variables {i14 i10 d2 d3} is not shown.
|
||||
|
||||
The servo error equation is
|
||||
|
||||
|
||||
|
||||
The proportional path equation is
|
||||
|
||||
|
||||
|
||||
The integral path equations are
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
The derivative path equations are
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Note that the derivative coefficient c1 must be divided by two on initialization. This
|
||||
element is typically much larger than c2 so we enter half its value in the code and multiply
|
||||
twice. This allows greater numerical range for a given Q-format.
|
||||
|
||||
The output path equations are
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
The DCL_PID32 implementation is shown below:
|
||||
|
||||
*Figure: DCL_PID32 A1 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
The linear PID_A1 controller uses a C structure to hold coefficients and data, defined in
|
||||
the header file DCLC28.h. The order of these structure elements must not be changed
|
||||
by the user.
|
||||
`,
|
||||
//*************************************************************************/
|
||||
// PI32
|
||||
//*************************************************************************/
|
||||
"PI32":
|
||||
`# ***Fixed-Point PI Controllers***
|
||||
The DCL contains one implementation of a fixed-point series form PI controller. The PI is
|
||||
similar in operation to the PID controller, with the removal of the derivative path.
|
||||
|
||||
## ***Implementation***
|
||||
|
||||
The following equations describe the implementation of the PI32 controller.
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
The ideal form PI implementation is shown below:
|
||||
|
||||
*Figure: DCL_PI A1 architecture*
|
||||
|
||||
|
||||
|
||||
|
||||
The linear PI controller uses a C structure to hold coefficients and data, defined in the
|
||||
header file DCLC28.h. The order of these structure elements must not be changed by
|
||||
the user.
|
||||
`,
|
||||
//*************************************************************************/
|
||||
// PI2
|
||||
//*************************************************************************/
|
||||
"PI2":
|
||||
`# ***Double Integrator PI Controller***
|
||||
The DCL contains one implementation of a linear PI controller having two series
|
||||
integrators. This type of controller is similar to the parallel PI controller
|
||||
except that the anti-windup reset logic is more complicated.
|
||||
|
||||
In this controller, allowance has been made for the Kp element to be zero. This scenario
|
||||
presents a problem if the controller enters saturation because without the proportional
|
||||
path there is no way to recover. The PI2 resolves this by releasing the anti-windup lock
|
||||
when the integrator input reverses sign. The logic has to be implemented twice, since
|
||||
there are two cascaded integrators. Similar anti-windup reset logic is present in the
|
||||
PI_C5 controller.
|
||||
|
||||
## ***Implementation***
|
||||
The double integrator PI2 controller uses a C structure to hold coefficients and data,
|
||||
defined in the header file DCLF32.h.
|
||||
|
||||
The PI2 implementation is shown below:
|
||||
|
||||
*Figure: DCL_PI2 C1 architecture*
|
||||
|
||||
|
||||
`,
|
||||
}
|
||||
|
||||
function get_longDescriptionObj()
|
||||
{
|
||||
return longDescriptionObj;
|
||||
}
|
||||
|
||||
exports = {
|
||||
get_longDescriptionObj:get_longDescriptionObj,
|
||||
}
|
||||
@@ -0,0 +1,41 @@
|
||||
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|
||||
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@@ -0,0 +1,205 @@
|
||||
let Common = system.getScript("/driverlib/Common.js");
|
||||
let Pinmux = system.getScript("/driverlib/pinmux.js");
|
||||
let references = system.getScript("/libraries/C2000WARELibraryReferences.js");
|
||||
let logger_data = system.getScript("/libraries/control/dcl/logger_data.js");
|
||||
|
||||
|
||||
// whenever the controller changes, the list of parameters should change
|
||||
function onChangeControllerChoice(inst, ui)
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
let config = [
|
||||
{
|
||||
name : "loggerPrecision",
|
||||
displayName : "Precision",
|
||||
description : 'Choice of Precision.',
|
||||
hidden : false,
|
||||
default : "F32",
|
||||
options : [ {name:"FIXED",displayName:"Fixed-Point (32-bit)"},
|
||||
{name:"F32",displayName:"Floating-Point (32-bit)"},
|
||||
{name:"F64",displayName:"Floating-Point (64-bit)"}],
|
||||
},
|
||||
{
|
||||
name : "structDisplay",
|
||||
displayName : "Logger Structure Chosen",
|
||||
description : 'Visualization of the chosen DCL structure.',
|
||||
hidden : false,
|
||||
getValue : (inst) => {
|
||||
// choose structure based on precision only
|
||||
if (inst.loggerPrecision == "FIXED"){return "LOG32";}
|
||||
else if (inst.loggerPrecision == "F32") {return "FDLOG";}
|
||||
else if (inst.loggerPrecision == "F64") {return "FDLOG64";}
|
||||
else {return "FDLOG";}
|
||||
},
|
||||
default : "FDLOG"
|
||||
},
|
||||
{
|
||||
name:"arrName",
|
||||
hidden:false,
|
||||
default:"",
|
||||
displayName:"Re-Name Array Variable",
|
||||
description:"Name of the data array for the logger, default name provided if left blank",
|
||||
longDescription:"Name of the data array for the logger, default name provided if left blank. If the array already exists in memory, this will be used to point to that array."
|
||||
},
|
||||
{
|
||||
name:"logSize",
|
||||
hidden:false,
|
||||
default:0x0400,
|
||||
displayName:"Size",
|
||||
description:"The size of the memory block in words",
|
||||
longDescription:"The size of the memory block in words."
|
||||
},
|
||||
{
|
||||
name:"arrEn",
|
||||
hidden:false,
|
||||
default:true,
|
||||
displayName:"Create Array Object",
|
||||
description:"Create the array object, for cases where the array does not already exist.",
|
||||
longDescription:"Create the array object, for cases where the array does not already exist. NOTE: if this is unchecked the array must exist somewhere in the code, otherwise a compile error will occur."
|
||||
},
|
||||
{
|
||||
name:"linkerEn",
|
||||
hidden:false,
|
||||
default:false,
|
||||
onChange: (inst, ui) => {ui.linkerVal.hidden = ((inst.linkerEn) ? false : true);}, // hide Val when disabled
|
||||
displayName:"Enable Linker Location",
|
||||
description:"Linker command file used for declaring the array directly",
|
||||
longDescription:"This creates a pragma to point to the given location in memory"
|
||||
},
|
||||
{
|
||||
name:"linkerVal",
|
||||
hidden:true,
|
||||
default:"",
|
||||
displayName:"Re-Name Linker Pragma Name",
|
||||
description:"Pragma name of the location of the array in the linker command file, default name provided if left blank",
|
||||
longDescription:"Pragma name of the location of the array in the linker command file, default name provided if left blank"
|
||||
},
|
||||
{
|
||||
name:"fillEn",
|
||||
hidden:false,
|
||||
default:false,
|
||||
onChange: (inst, ui) => {ui.fillVal.hidden = ((inst.fillEn) ? false : true);}, // hide Val when disabled
|
||||
displayName:"Enable Fill",
|
||||
description:"Enable filling the buffer with a given data value and resets the data",
|
||||
longDescription:"Enable filling the entire array with a given value"
|
||||
},
|
||||
{
|
||||
name:"fillVal",
|
||||
hidden:true,
|
||||
default:0,
|
||||
displayName:"Fill Value",
|
||||
description:"Fills the buffer with the given value and resets the data",
|
||||
longDescription:"Fills the buffer with the given value and resets the data"
|
||||
},
|
||||
]
|
||||
|
||||
function onValidate(inst, validation) {
|
||||
// only do this check if one of the floating point precisions are chosen
|
||||
if (inst.loggerPrecision == "F32" || inst.loggerPrecision == "F64") {
|
||||
// check if loggerPrecision matches the precision being used by FPU.js in the "Other Dependencies" section
|
||||
var fpuMod = system.modules["/libraries/math/FPU/FPU.js"];
|
||||
if(fpuMod)
|
||||
{
|
||||
if(fpuMod.$static.fpuType.replace("PU","") != inst.loggerPrecision)
|
||||
{
|
||||
// when controller precision == F64, and the FPU.js file has FPU32 chosen, then warn the user that performance loss will occur
|
||||
if (inst.loggerPrecision == "F64" && fpuMod.$static.fpuType == "FPU32") {
|
||||
// for devices that can actually support F64, tell user that they can fix the issue
|
||||
let fpu_obj = system.getScript("/libraries/.meta/math/FPU/FPU.js").moduleStatic.config;
|
||||
var fpu_types = fpu_obj.filter(fpu_or_tmu_list => fpu_or_tmu_list.name === "fpuType")[0].options;
|
||||
var fpu64_supported = false;
|
||||
if (fpu_types.length >= 2) {
|
||||
// 2 options available means that both FPU32 (all Sysconfig devices) and FPU64 (some Sysconfig devices) are supported
|
||||
fpu64_supported = true;
|
||||
}
|
||||
if (fpu64_supported)
|
||||
{
|
||||
validation.logWarning("Double-precision data type chosen with single-precision floating-point processor chosen. Relatively poor cycle performance should be expected. To improve performance, precision can be updated here or in 'Other Dependencies' below.", inst, "loggerPrecision");
|
||||
}
|
||||
// for devices that can't support F64, tell the user that performance loss should be expected
|
||||
else
|
||||
{
|
||||
validation.logWarning("Double-precision data type chosen with single-precision floating-point processor chosen. Relatively poor cycle performance should be expected.", inst, "loggerPrecision");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// when controller precision == F32, and the FPU.js file has FPU64 chosen, there should be no issue as FPU64 is backwards compatible with FPU32 instructions and C code
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
var longDescription = `# ***Data Logging Functions***
|
||||
See the DCL User's Guide for more details on the DCL logger:
|
||||
|
||||
[Digital Control Library User's Guide](https://dev.ti.com/tirex/explore/node?node=AKZRbh4oxv98HaO0YKjygQ__gYkahfz__LATEST)
|
||||
|
||||
NOTE: The Digital Control Library contains support for fixed point data logging comprising a set
|
||||
of data buffer functions. It is similar to its floating point counterparts, and so the details below are similar for it.
|
||||
|
||||
The Digital Control Library includes a general purpose floating-point data logger utility
|
||||
which is useful when testing and debugging control applications. The intended use of the
|
||||
data logger utility is to capture a stream of data values in a block of memory for
|
||||
subsequent analysis. The data logger is supplied in the form of a C header file and one
|
||||
assembly file, and it may be used on any C2000 device irrespective of whether the DCL is
|
||||
used. The utility may not be used on the CLA.
|
||||
|
||||
The data logger operates with arrays of 32-bit floating-point data. The location, size, and
|
||||
indexing of each array are defined by three pointers capturing the start address, end
|
||||
address, and data index address. All three pointers are held in a common C structure
|
||||
with the data type “FDLOG”, defined as follows:
|
||||
|
||||
typedef volatile struct {
|
||||
float *fptr;
|
||||
float *lptr;
|
||||
float *dptr;
|
||||
} FDLOG;
|
||||
|
||||
Conceptually, the relationship between the array pointers and the elements of a data
|
||||
array of length “N” is shown below:
|
||||
|
||||
*Figure: Data log pointer allocation*
|
||||
|
||||
|
||||
|
||||
The data index pointer (dptr) always points to the next address to be written or read, and
|
||||
advances through the memory block as each new data value is written into the log. On
|
||||
reaching the end of the log, the pointer is reset to the first address in the log. The data
|
||||
logger header file contains a set of in-line C functions to access and manipulate data logs.
|
||||
|
||||
The log pointers can then be initialized in the user's code such that they reference a
|
||||
memory block in a specific address range. Thereafter, the code can clear or load the
|
||||
buffer a specific data value, and then begin writing data into it using the
|
||||
DCL_writeLog() function. The DF22 example project shows how this is done.
|
||||
|
||||
The DCL also contains two functions which perform fast read and write to a data log.
|
||||
These are assembly coded functions in the source file DCL_frwlog.asm.
|
||||
`
|
||||
|
||||
var controllerModule = {
|
||||
c2000wareLibraryName: "LOGGER",
|
||||
displayName: "LOGGER",
|
||||
defaultInstanceName: "myLOGGER",
|
||||
description: "LOGGER",
|
||||
longDescription:longDescription,
|
||||
config: config,
|
||||
references : [],
|
||||
templates: {
|
||||
c2000ware_libraries_c : "/libraries/control/dcl/templates/logger.c2000ware_libraries.c.xdt",
|
||||
c2000ware_libraries_h : "/libraries/control/dcl/templates/logger.c2000ware_libraries.h.xdt",
|
||||
},
|
||||
validate : onValidate,
|
||||
modules: (inst) => {
|
||||
var mods = [];
|
||||
var refFilesArr = logger_data.getRefFilesModuleArrFromControlStruct(inst.structDisplay);
|
||||
mods = refFilesArr;
|
||||
return mods;
|
||||
}
|
||||
};
|
||||
|
||||
exports = controllerModule;
|
||||
@@ -0,0 +1,229 @@
|
||||
//==========================================================================
|
||||
// CONFIG ENTRIES DICTIONARY
|
||||
// These get directly dropped into the config list of the controller.js
|
||||
//==========================================================================
|
||||
var config_entries = []
|
||||
|
||||
//==========================================================================
|
||||
// REFERENCE FILES AND HEADER FILES
|
||||
// Functions and data for the reference files that should be pulled in
|
||||
//==========================================================================
|
||||
// c and asm files, to be pulled in using submodules
|
||||
var refFiles = {
|
||||
"DCL_calcGamma": {"name":"DCL_calcGamma", "path":"../libraries/control/DCL/c28/source/DCL_calcGamma.asm", "alwaysInclude":false},
|
||||
"DCL_clamp_C1": {"name":"DCL_clamp_C1", "path":"../libraries/control/DCL/c28/source/DCL_clamp_C1.asm", "alwaysInclude":false},
|
||||
"DCL_clamp_L1": {"name":"DCL_clamp_L1", "path":"../libraries/control/DCL/c28/source/DCL_clamp_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF11_C1": {"name":"DCL_DF11_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF11_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF11_L1": {"name":"DCL_DF11_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF11_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_C1": {"name":"DCL_DF13_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF13_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_C2C3": {"name":"DCL_DF13_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF13_C2C3.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_L1": {"name":"DCL_DF13_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF13_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_L2L3": {"name":"DCL_DF13_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF13_L2L3.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_C1": {"name":"DCL_DF22_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF22_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_C2C3": {"name":"DCL_DF22_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF22_C2C3.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_L1": {"name":"DCL_DF22_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF22_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_L2L3": {"name":"DCL_DF22_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF22_L2L3.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_C1": {"name":"DCL_DF23_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF23_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_C2C3": {"name":"DCL_DF23_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF23_C2C3.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_L1": {"name":"DCL_DF23_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF23_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_L2L3": {"name":"DCL_DF23_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF23_L2L3.asm", "alwaysInclude":false},
|
||||
"DCL_error": {"name":"DCL_error", "path":"../libraries/control/DCL/c28/source/DCL_error.c", "alwaysInclude":false},
|
||||
"DCL_frwlog": {"name":"DCL_frwlog", "path":"../libraries/control/DCL/c28/source/DCL_frwlog.asm", "alwaysInclude":false},
|
||||
"DCL_futils": {"name":"DCL_futils", "path":"../libraries/control/DCL/c28/source/DCL_futils.asm", "alwaysInclude":false},
|
||||
"DCL_futils32": {"name":"DCL_futils32", "path":"../libraries/control/DCL/c28/source/DCL_futils32.asm", "alwaysInclude":false},
|
||||
"DCL_index": {"name":"DCL_index", "path":"../libraries/control/DCL/c28/source/DCL_index.asm", "alwaysInclude":false},
|
||||
"DCL_NLPID_C3": {"name":"DCL_NLPID_C3", "path":"../libraries/control/DCL/c28/source/DCL_NLPID_C3.asm", "alwaysInclude":false},
|
||||
"DCL_PI_A1": {"name":"DCL_PI_A1", "path":"../libraries/control/DCL/c28/source/DCL_PI_A1.asm", "alwaysInclude":false},
|
||||
"DCL_PI_C1": {"name":"DCL_PI_C1", "path":"../libraries/control/DCL/c28/source/DCL_PI_C1.asm", "alwaysInclude":false},
|
||||
"DCL_PI_C4": {"name":"DCL_PI_C4", "path":"../libraries/control/DCL/c28/source/DCL_PI_C4.asm", "alwaysInclude":false},
|
||||
"DCL_PI_C7": {"name":"DCL_PI_C7", "path":"../libraries/control/DCL/c28/source/DCL_PI_C7.asm", "alwaysInclude":false},
|
||||
"DCL_PI_L1": {"name":"DCL_PI_L1", "path":"../libraries/control/DCL/c28/source/DCL_PI_L1.asm", "alwaysInclude":false},
|
||||
"DCL_PI_L2": {"name":"DCL_PI_L2", "path":"../libraries/control/DCL/c28/source/DCL_PI_L2.asm", "alwaysInclude":false},
|
||||
"DCL_PI2_C2": {"name":"DCL_PI2_C2", "path":"../libraries/control/DCL/c28/source/DCL_PI2_C2.asm", "alwaysInclude":false},
|
||||
"DCL_PID_A1": {"name":"DCL_PID_A1", "path":"../libraries/control/DCL/c28/source/DCL_PID_A1.asm", "alwaysInclude":false},
|
||||
"DCL_PID_C1": {"name":"DCL_PID_C1", "path":"../libraries/control/DCL/c28/source/DCL_PID_C1.asm", "alwaysInclude":false},
|
||||
"DCL_PID_C4": {"name":"DCL_PID_C4", "path":"../libraries/control/DCL/c28/source/DCL_PID_C4.asm", "alwaysInclude":false},
|
||||
"DCL_PID_L1": {"name":"DCL_PID_L1", "path":"../libraries/control/DCL/c28/source/DCL_PID_L1.asm", "alwaysInclude":false},
|
||||
"DCL_PID_L2": {"name":"DCL_PID_L2", "path":"../libraries/control/DCL/c28/source/DCL_PID_L2.asm", "alwaysInclude":false}
|
||||
}
|
||||
|
||||
// h files, to be pulled in using c2000_libraries.h.xdt
|
||||
// some of these header files have certain refFiles (asm/c files) dependencies
|
||||
// NOTE: (probably) cannot move the refFilesList into the control_struct_dict since each header file references these reference files lists. If a reference file doesn't exist when the header file is imported, it may flag an error.
|
||||
var headerFiles = {
|
||||
"DCL": {"path":"../libraries/control/DCL/c28/include/DCL.h", "refFilesList":["DCL_error"]},
|
||||
"DCLC28": {"path":"../libraries/control/DCL/c28/include/DCLC28.h", "refFilesList":["DCL_futils32","DCL_PID_A1","DCL_futils32","DCL_PI_A1"]},
|
||||
"DCLCLA": {"path":"../libraries/control/DCL/c28/include/DCLCLA.h", "refFilesList":["DCL_PID_L1","DCL_PID_L2","DCL_PI_L1","DCL_PI_L2","DCL_DF11_L1","DCL_DF13_L1","DCL_DF13_L2L3","DCL_DF13_L2L3","DCL_DF22_L1","DCL_DF22_L2L3","DCL_DF22_L2L3","DCL_DF23_L1","DCL_DF23_L2L3","DCL_DF23_L2L3","DCL_clamp_L1"]},
|
||||
"DCLF32": {"path":"../libraries/control/DCL/c28/include/DCLF32.h", "refFilesList":["DCL_futils","DCL_PID_C1","DCL_PID_C4","DCL_futils","DCL_PI_C1","DCL_PI_C4","DCL_PI_C7","DCL_futils","DCL_futils","DCL_DF11_C1","DCL_futils","DCL_DF13_C1","DCL_DF13_C2C3","DCL_DF13_C2C3","DCL_futils","DCL_DF22_C1","DCL_DF22_C2C3","DCL_DF22_C2C3","DCL_futils","DCL_DF23_C1","DCL_DF23_C2C3","DCL_DF23_C2C3","DCL_clamp_C1","DCL_futils"]},
|
||||
"DCLF64": {"path":"../libraries/control/DCL/c28/include/DCLF64.h", "refFilesList":[]},
|
||||
"DCL_fdlog": {"path":"../libraries/control/DCL/c28/include/DCL_fdlog.h", "refFilesList":["DCL_frwlog","DCL_frwlog"]},
|
||||
"DCL_fdlog64": {"path":"../libraries/control/DCL/c28/include/DCL_fdlog64.h", "refFilesList":[]},
|
||||
"DCL_log32": {"path":"../libraries/control/DCL/c28/include/DCL_log32.h", "refFilesList":[]},
|
||||
"DCL_MLOG": {"path":"../libraries/control/DCL/c28/include/DCL_MLOG.h", "refFilesList":[]},
|
||||
"DCL_MLOG32": {"path":"../libraries/control/DCL/c28/include/DCL_MLOG32.h", "refFilesList":[]},
|
||||
"DCL_NLPID": {"path":"../libraries/control/DCL/c28/include/DCL_NLPID.h", "refFilesList":["DCL_futils","DCL_calcGamma","DCL_NLPID_C3"]},
|
||||
"DCL_refgen": {"path":"../libraries/control/DCL/c28/include/DCL_refgen.h", "refFilesList":[]},
|
||||
"DCL_refgen64": {"path":"../libraries/control/DCL/c28/include/DCL_refgen64.h", "refFilesList":[]},
|
||||
"DCL_TCM": {"path":"../libraries/control/DCL/c28/include/DCL_TCM.h", "refFilesList":["DCL_index","DCL_index","DCL_index"]},
|
||||
}
|
||||
|
||||
//==========================================================================
|
||||
// CONTROL STRUCT LOOKUP DICTIONARY
|
||||
// For each controller structure, determine which header files to use, and
|
||||
// the config lookup list for this controller
|
||||
//==========================================================================
|
||||
var control_struct_dict = {
|
||||
"LOG32": {"headerFilesList":["DCL_log32"], "config_entries_list":['arrName','logSize','linkerEn','linkerVal','fillEn','fillVal']},
|
||||
"FDLOG": {"headerFilesList":["DCL","DCL_fdlog"], "config_entries_list":['arrName','logSize','linkerEn','linkerVal','fillEn','fillVal']},
|
||||
"FDLOG64": {"headerFilesList":["DCL","DCL_fdlog64"], "config_entries_list":['arrName','logSize','linkerEn','linkerVal','fillEn','fillVal']},
|
||||
}
|
||||
|
||||
function getHeaderFilesList(controlStruct)
|
||||
{
|
||||
return control_struct_dict[controlStruct]['headerFilesList'];
|
||||
}
|
||||
|
||||
function getOptIncludePaths(controlStruct)
|
||||
{
|
||||
var headerFilesList = control_struct_dict[controlStruct]['headerFilesList'];
|
||||
var includePathList = []
|
||||
for (var i in headerFilesList)
|
||||
{
|
||||
var headerFileName = headerFilesList[i];
|
||||
var headerFileObj = headerFiles[headerFileName];
|
||||
var headerFilePath = headerFileObj["path"];
|
||||
var includePath = headerFilePath.split("/").slice(0,-1).join("/");
|
||||
if (!(includePathList.includes(includePath)))
|
||||
{
|
||||
includePathList.push(includePath);
|
||||
}
|
||||
}
|
||||
return includePathList;
|
||||
}
|
||||
|
||||
function getRefFilesModuleArrFromControlStruct(controlStruct)
|
||||
{
|
||||
if (controlStruct.length === 0)
|
||||
{
|
||||
return [];
|
||||
}
|
||||
var arr = [];
|
||||
var headerFilesList = control_struct_dict[controlStruct]['headerFilesList'];
|
||||
var pathToDynamicJsFiles = "/libraries/control/dcl/templates/dynamic_mods/"
|
||||
for (var i in headerFilesList)
|
||||
{
|
||||
var h = headerFilesList[i]
|
||||
var refFilesList = headerFiles[h]['refFilesList'];
|
||||
for (var j in refFilesList)
|
||||
{
|
||||
var refFileName = refFilesList[j]
|
||||
var moduleNamePath = pathToDynamicJsFiles + refFileName + "_dynamic.js"
|
||||
// if it hasn't been added yet, add it
|
||||
var alreadyInArray = arr.some(el => refFileName === el["name"])
|
||||
if (!alreadyInArray)
|
||||
{
|
||||
arr.push({
|
||||
name:refFileName,
|
||||
moduleName:moduleNamePath,
|
||||
});
|
||||
}
|
||||
}
|
||||
}
|
||||
// all available Sysconfig devices use at least FPU32, and so require FPU.js to be included
|
||||
arr.push({name:"fpu", moduleName:"/libraries/.meta/math/FPU/FPU.js", hidden:false});
|
||||
return arr;
|
||||
}
|
||||
|
||||
function getModuleDataObj(inst)
|
||||
{
|
||||
var loggerChoice = inst.structDisplay;
|
||||
// get the data type
|
||||
var type = null;
|
||||
// also get the fillLogCmd command, like "fillLog32"
|
||||
var fillLogCmd = null;
|
||||
if (inst.loggerPrecision == "FIXED")
|
||||
{
|
||||
type = "int32_t";
|
||||
fillLogCmd = "DCL_fillLog32";
|
||||
}
|
||||
else if(inst.loggerPrecision == "F32")
|
||||
{
|
||||
type = "float32_t";
|
||||
fillLogCmd = "DCL_fillLog";
|
||||
}
|
||||
else if(inst.loggerPrecision == "F64")
|
||||
{
|
||||
type = "float64_t";
|
||||
fillLogCmd = "DCL_fillLog64";
|
||||
}
|
||||
// default to F32
|
||||
else
|
||||
{
|
||||
type = "float32_t";
|
||||
fillLogCmd = "DCL_fillLog";
|
||||
}
|
||||
|
||||
// get the arrName, update with recommendation if empty string
|
||||
var arrName = inst.arrName;
|
||||
if (arrName=="")
|
||||
{
|
||||
arrName = inst.$name + "Arr";
|
||||
}
|
||||
|
||||
// get the logSize value
|
||||
var logSize = inst.logSize;
|
||||
|
||||
// get the linkerVal (if any)
|
||||
var linkerVal = null;
|
||||
if (inst.linkerEn == true)
|
||||
{
|
||||
linkerVal = inst.linkerVal;
|
||||
// replace empty string with the instance name by default
|
||||
if (linkerVal=="")
|
||||
{
|
||||
linkerVal = inst.$name + 'DataLogSection';
|
||||
}
|
||||
}
|
||||
|
||||
// get the fillVal (if any)
|
||||
var fillVal = null;
|
||||
if (inst.fillEn == true)
|
||||
{
|
||||
fillVal = inst.fillVal;
|
||||
}
|
||||
|
||||
// get the initLogCmd
|
||||
var initLogCmdObj = {
|
||||
"FDLOG": "DCL_initLog",
|
||||
"FDLOG64": "DCL_initLog64",
|
||||
"LOG32": "DCL_initLog32",
|
||||
};
|
||||
var initLogCmd = initLogCmdObj[loggerChoice];
|
||||
|
||||
var resData = {
|
||||
"loggerChoice":loggerChoice,
|
||||
"type":type,
|
||||
"instName":inst.$name,
|
||||
"arrName":arrName,
|
||||
"logSize":logSize,
|
||||
"linkerVal":linkerVal,
|
||||
"fillVal":fillVal,
|
||||
"fillLogCmd":fillLogCmd,
|
||||
"initLogCmd":initLogCmd,
|
||||
"arrEn":inst.arrEn,
|
||||
};
|
||||
|
||||
return resData;
|
||||
}
|
||||
|
||||
//==========================================================================
|
||||
// EXPORTS
|
||||
// Export all of the functions so variables/structures can be accessed
|
||||
// in other .js files
|
||||
//==========================================================================
|
||||
exports = {
|
||||
getRefFilesModuleArrFromControlStruct: getRefFilesModuleArrFromControlStruct,
|
||||
getOptIncludePaths:getOptIncludePaths,
|
||||
getHeaderFilesList:getHeaderFilesList,
|
||||
getModuleDataObj:getModuleDataObj,
|
||||
}
|
||||
@@ -0,0 +1,295 @@
|
||||
let Common = system.getScript("/driverlib/Common.js");
|
||||
let Pinmux = system.getScript("/driverlib/pinmux.js");
|
||||
let references = system.getScript("/libraries/C2000WARELibraryReferences.js");
|
||||
let refgen_data = system.getScript("/libraries/control/dcl/refgen_data.js");
|
||||
|
||||
// decide whether to show duty cycle option
|
||||
function onChangeMode(inst, ui)
|
||||
{
|
||||
// hide the duty cycle option if not using PULSE type
|
||||
if (inst.mode == "PULSE") {ui.duty.hidden = false;}
|
||||
else {ui.duty.hidden = true; }
|
||||
}
|
||||
|
||||
function onValidate(inst, validation) {
|
||||
//**********************************************************************
|
||||
// general checks
|
||||
//**********************************************************************
|
||||
// make sure name is not ref, which is a keyword but probably would be common mistake
|
||||
if (inst.$name == "ref")
|
||||
{
|
||||
validation.logWarning(
|
||||
"\"ref\" is a keyword and should not be used for the name of the reference generator.",
|
||||
inst, "refgenPrecision");
|
||||
}
|
||||
// // make sure nothing is empty
|
||||
// for(var e of inst)
|
||||
// {
|
||||
// if(inst[e].length<=0)
|
||||
// {
|
||||
// validation.logError("A value must be provided.", inst, e);
|
||||
// }
|
||||
// }
|
||||
|
||||
//**********************************************************************
|
||||
// hard coded checks for specific parameters
|
||||
//**********************************************************************
|
||||
// ensure duty cycle between 0 and 1
|
||||
var val = inst["duty"];
|
||||
if (val<0 || val>1)
|
||||
{
|
||||
validation.logError(
|
||||
"Value must be between 0 and 1.",
|
||||
inst,
|
||||
"duty"
|
||||
);
|
||||
}
|
||||
// ensure min is less than max
|
||||
if (inst["umax"] < inst["umin"])
|
||||
{
|
||||
validation.logError(
|
||||
"Max must be greater than or equal to min.",
|
||||
inst,
|
||||
"umax"
|
||||
);
|
||||
}
|
||||
|
||||
// only do this check if one of the floating point precisions are chosen
|
||||
if (inst.refgenPrecision == "F32" || inst.refgenPrecision == "F64") {
|
||||
// check if refgenPrecision matches the precision being used by FPU.js in the "Other Dependencies" section
|
||||
var fpuMod = system.modules["/libraries/math/FPU/FPU.js"];
|
||||
if(fpuMod)
|
||||
{
|
||||
if(fpuMod.$static.fpuType.replace("PU","") != inst.refgenPrecision)
|
||||
{
|
||||
// when controller precision == F64, and the FPU.js file has FPU32 chosen, then warn the user that performance loss will occur
|
||||
if (inst.refgenPrecision == "F64" && fpuMod.$static.fpuType == "FPU32") {
|
||||
// for devices that can actually support F64, tell user that they can fix the issue
|
||||
let fpu_obj = system.getScript("/libraries/.meta/math/FPU/FPU.js").moduleStatic.config;
|
||||
var fpu_types = fpu_obj.filter(fpu_or_tmu_list => fpu_or_tmu_list.name === "fpuType")[0].options;
|
||||
var fpu64_supported = false;
|
||||
if (fpu_types.length >= 2) {
|
||||
// 2 options available means that both FPU32 (all Sysconfig devices) and FPU64 (some Sysconfig devices) are supported
|
||||
fpu64_supported = true;
|
||||
}
|
||||
if (fpu64_supported)
|
||||
{
|
||||
validation.logWarning("Double-precision data type chosen with single-precision floating-point processor chosen. Relatively poor cycle performance should be expected. To improve performance, precision can be updated here or in 'Other Dependencies' below.", inst, "refgenPrecision");
|
||||
}
|
||||
// for devices that can't support F64, tell the user that performance loss should be expected
|
||||
else
|
||||
{
|
||||
validation.logWarning("Double-precision data type chosen with single-precision floating-point processor chosen. Relatively poor cycle performance should be expected.", inst, "refgenPrecision");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
// when controller precision == F32, and the FPU.js file has FPU64 chosen, there should be no issue as FPU64 is backwards compatible with FPU32 instructions and C code
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
let config = [
|
||||
{
|
||||
name : "refgenPrecision",
|
||||
displayName : "Precision",
|
||||
description : 'Choice of Precision.',
|
||||
hidden : false,
|
||||
default : "F32",
|
||||
options : [{name:"F32",displayName:"Floating-Point (32-bit)"},{name:"F64",displayName:"Floating-Point (64-bit)"}],
|
||||
},
|
||||
{
|
||||
name : "structDisplay",
|
||||
displayName : "Refgen Structure Chosen",
|
||||
description : 'Visualization of the chosen DCL structure.',
|
||||
hidden : false,
|
||||
getValue : (inst) => {
|
||||
// return REFGEN if 32-bit, REFGEN64 if 64-bit
|
||||
return ((inst.refgenPrecision == "F32") ? "REFGEN" : "REFGEN64" );
|
||||
},
|
||||
default : "REFGEN"
|
||||
},
|
||||
{name:"mode", hidden:false, default:"SINE", displayName:"Operating Mode", description:"Operating mode", onChange:onChangeMode, options:[{name:"OFF",displayName:"OFF"},{name:"STATIC",displayName:"STATIC"},{name:"SINE",displayName:"SINE"},{name:"SQUARE",displayName:"SQUARE"},{name:"SAW",displayName:"SAW"},{name:"TRIANGLE",displayName:"TRIANGLE"},{name:"PULSE",displayName:"PULSE"},{name:"SINE2",displayName:"SINE2"},{name:"SINE3",displayName:"SINE3"}]},
|
||||
{name:"sampPer", hidden:false, default:0.00001, displayName:"Sample Period (s)", description:"Sample period in seconds, rate at which DCL_runRefgen* is called", longDescription: "Typically DCL_runRefgen* and DCL_getRefgenPhase* functions would be called in an interrupt service routine to ensure they are executed at a deterministic rate. This value should match the ISR frequency."},
|
||||
{
|
||||
name : "signalPropertiesGroup",
|
||||
displayName : "Signal Properties",
|
||||
description : 'Reference signal settings',
|
||||
collapsed : false,
|
||||
config : [
|
||||
{name:"duty", hidden:true, default:0.5, displayName:"Duty Cycle", description:"Per-unit duty cycle value of the signal"},
|
||||
{name:"freq", hidden:false, default:7700, displayName:"Frequency (Hz)", description:"Signal frequency in Hz"},
|
||||
{name:"freqTr", hidden:false, default:0, displayName:"Frequency Change Time", description:"Transition time (s) to reach the new frequency"},
|
||||
{name:"ampl", hidden:false, default:1, displayName:"Amplitude", description:"Signal amplitude - half of peak-to-peak if sine, peak-to-peak if other types"},
|
||||
{name:"amplTr", hidden:false, default:0, displayName:"Amplitude Change Time", description:"Transition time (s) to reach the new amplitude"},
|
||||
{name:"offs", hidden:false, default:1, displayName:"Static Offset", description:"Value above or below zero that the generated signal will be referenced to"},
|
||||
{name:"offsTr", hidden:false, default:0, displayName:"Offset Change Time", description:"Transition time (s) to reach the new offset"},
|
||||
{name:"umax", hidden:false, default:2, displayName:"Maximum Signal Value", description:"Maximum allowable output"},
|
||||
{name:"umin", hidden:false, default:0, displayName:"Minimum Signal Value", description:"Minimum allowable output"},
|
||||
]
|
||||
},
|
||||
]
|
||||
|
||||
var longDescription = `# ***DCL Reference Generator***
|
||||
See the DCL Reference Generator User's Guide for more details:
|
||||
|
||||
[DCL Reference Generator User's Guide](https://dev.ti.com/tirex/explore/node?node=APmkmKXTQzc2tUCl049v4A__gYkahfz__LATEST)
|
||||
|
||||
The DCL reference generator module is capable of producing up to three channels each made up of a dynamic waveform superimposed on a common static offset. Dynamic waveforms include a single phase sine, square, saw-tooth, triangular, or pulse output; and two or three phase sine waves.
|
||||
|
||||
The reference generator consists of five sub-modules: a static offset generator, a three phase waveform generator, a frequency modulator, an amplitude modulator, and an output clamp. The relationship between these sub-modules is set out below.
|
||||
|
||||
Figure: Reference generator architecture
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## ***Static Offset Generator***
|
||||
|
||||
The static offset generator produces an adjustable offset onto which the dynamic component of the outputs is superimposed. The transition between two offsets is achieved using a linear ramp, the duration of which can be determined by the user.
|
||||
|
||||
The ramp is implemented by adding an increment to the offset each time the reference generator is run, the increment being computed when the ramp is loaded. In the floating point numerical format, resolution is lost as the size of the number increases, so adding a small number to a much larger number can result in the larger number not changing. For this reason there is an upper limit to the ramp transition time and a lower limit to the offset change which can be achieved. It is recommended that the reference generator module be used to generate outputs in the range ±1. This allows the computed ramp increment is checked against a lower limit (defined near the top of DCL_refgen.h) which is known to maintain accumulation up to the maximum accumulator value.
|
||||
|
||||
The function DCL_setRefgenRamp() allows the user to change both the static level and the transition time between level changes. When the user specifies a new target level, the generator outputs a linear ramp between the new and old levels in the specified time interval. Figure 2 shows an example of a static level change taking place over a specific time interval (tr).
|
||||
|
||||
Figure: Static level ramp
|
||||
|
||||
The ramp interval is programmable in units of seconds, and the function uses the generator update rate held in the CSS sub-structure to compute the incremental change in level on each update during the adjustment interval. For this reason, the update rate must be loaded into the CSS sub-structure before the level change function is called. To force an immediate (step) change to a new offset level, the ramp interval should be set to zero.
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
## ***Waveform Generator***
|
||||
|
||||
The waveform generator produces the dynamic component of the reference (sine waves, square waves, and so on). The frequency of the dynamic component is determined by two factors: the frequency of the desired waveform, and the update rate of the generator. Each time the DCL_runRefgen() function is called, the REFGEN generator determines a normalized angle from which the next waveform point is computed. This is done by adding a fixed angular increment to the angle variable. The increment is computed in the DCL_setRefgenFreq() function. At very low frequencies or very high update rates, the increment may violate the smallest allowable value defined in DCL_REFGEN_MIN_INC. In this case, if error handling is enabled an error will be generated, or if error handling is disabled the angle increment will be clamped to DCL_REFGEN_MIN_INC. The maximum recommended frequency of the generated waveform is one quarter of the update rate.
|
||||
|
||||
Prior to using the waveform generator, the user must load the correct update period into the CSS sub-structure before calling any of the REFGEN functions. This can be done using the DCL_SET_SAMPLE_RATE macro (see the example code in the function descriptions section).
|
||||
|
||||
The waveform generator produces three outputs denoted phase A, phase B, and phase C. The generator can produce the following waveforms.
|
||||
* sinusoidal
|
||||
* square
|
||||
* saw-tooth
|
||||
* triangular
|
||||
* pulse
|
||||
* 2 phase sine
|
||||
* 3 phase sine
|
||||
|
||||
The waveform type is selected by the DCL_setRefgenMode() function which takes as an argument an enumerated 16-bit integer denoting the mode. In all cases, the frequency and amplitude of the waveforms are freely adjustable by the user.
|
||||
|
||||
On TMU equipped devices, sinusoidal waveform generation modes make use of TMU C intrinsics to accelerate the run function. Devices which do not have a TMU must use RTS library support functions so will execute more slowly. None of the waveforms use look-up tables so the data memory footprint of the REFGEN module is very small.
|
||||
|
||||
The table below shows the operating modes available in the reference generator. The mode number is in the leftmost column and the enumerated mode name in the second column from the left. Double precision modes have a '64' appended to the 'REFGEN', for example 'REFGEN64_STATIC'.
|
||||
|
||||
No | Mode Name | Type | Phase A | Phase B | Phase C
|
||||
---|-----------------|--------------------|-----------|---------------|----------------
|
||||
0 | REFGEN_OFF | No output | 0 | 0 | 0
|
||||
1 | REFGEN_STATIC | Static offset only | Static | Static | Static
|
||||
2 | REFGEN_SINE | Sine wave | Sine | Static | Static
|
||||
3 | REFGEN_SQUARE | Square wave | Square | Static | Static
|
||||
4 | REFGEN_SAW | Saw tooth wave | Saw tooth | Static | Static
|
||||
5 | REFGEN_TRIANGLE | Triangle wave | Triangle | Static | Static
|
||||
6 | REFGEN_PULSE | Pulsed wave | Pulse | Static | Static
|
||||
7 | REFGEN_SINE2 | 2 phase sine wave | Sine | Cosine | Static
|
||||
8 | REFGEN_SINE3 | 3 phase sine wave | Sine | 120 deg. sine | 240 deg. sine
|
||||
|
||||
The same amplitude adjustment is applied to all phases prior to their addition to the static offset. Amplitude adjustment is made using the DCL_setRefgenAmpl() function.
|
||||
|
||||
|
||||
|
||||
### ***OFF Mode***
|
||||
In this mode all three outputs are forced to zero. This is the default mode.
|
||||
|
||||
### ***STATIC Mode***
|
||||
In this mode all outputs are controlled by the static reference generator only. The waveform generator is not used.
|
||||
|
||||
### ***SINE Mode***
|
||||
In this mode phase A is a sinewave of configurable frequency and amplitude, while phases B & C are static outputs.
|
||||
|
||||
*Figure: Sine wave mode*
|
||||
|
||||
|
||||
|
||||
|
||||
### ***SQUARE Mode***
|
||||
In this mode phase A is a square wave of configurable frequency and amplitude, superimposed on the static generator output. Phases B & C are static outputs.
|
||||
|
||||
*Figure: Square wave mode*
|
||||
|
||||
|
||||
|
||||
|
||||
### ***SAW Mode***
|
||||
In this mode phase A is a saw-tooth wave of configurable frequency and amplitude superimposed on the output of the static generator. Phases B & C are static outputs. The saw-tooth output is zero when the angle is zero, and rises to the amplitude when the angle is 1.
|
||||
|
||||
*Figure: Saw tooth mode*
|
||||
|
||||
|
||||
|
||||
|
||||
### ***TRIANGLE Mode***
|
||||
In this mode phase A is a triangle wave of configurable frequency and amplitude superimposed on the output of the static generator. Phases B & C are static outputs. The saw-tooth output is zero when the angle is zero, and increases linearly to the commanded amplitude when the angle is 0.5.
|
||||
|
||||
*Figure: Triangle mode*
|
||||
|
||||
|
||||
|
||||
|
||||
### ***PULSE Mode***
|
||||
In this mode phase A is a pulsed wave of configurable frequency and amplitude superimposed on the output of the static generator. Phases B & C are static outputs. The pulse width is controlled by the duty cycle setting in the DCL_REFGEN structure, which may be set using the DCL_setRefgenDuty() function. The pulse output is one when the angle is below the normalized duty cycle, and zero when the angle is greater than the normalized duty cycle value.
|
||||
|
||||
*Figure: Pulse mode*
|
||||
|
||||
|
||||
|
||||
|
||||
### ***SINE2 Mode***
|
||||
In this mode, phases A & B are two sine waves of similar frequency and amplitude superimposed on the static reference generator output. The phases are separated by 90 degrees, so that the outputs form a sine/cosine pair. Phase C is the static generator output.
|
||||
|
||||
*Figure: 2-phase sine mode*
|
||||
|
||||
|
||||
|
||||
|
||||
### ***SINE3 Mode***
|
||||
In this mode, the three output phases are sine waves of similar frequency and amplitude superimposed on the static reference generator output. The angular separation of the phases is 120 degrees.
|
||||
|
||||
*Figure: 3-phase sine mode*
|
||||
|
||||
|
||||
|
||||
# ***Amplitude Modulation***
|
||||
Amplitude modulation is implemented in a similar fashion to frequency modulation. The transition interval is the last argument in the function DCL_setRefgenAmpl(). Similarly, an attempt to force large transition time together with a small amplitude change will result in either an error or the minimum increment being adopted, according to whether error handling is enabled.
|
||||
|
||||
# ***Output Clamp***
|
||||
All three reference outputs are clamped to the same upper and lower limits. Limits are loaded by the user using the DCL_setRefgenClamp() function with the only restriction that the upper limit be equal to or greater than the lower limit.
|
||||
|
||||
`
|
||||
var refgenModule = {
|
||||
c2000wareLibraryName: "REFGEN",
|
||||
displayName: "REFGEN",
|
||||
defaultInstanceName: "myREFGEN",
|
||||
description: "REFGEN",
|
||||
longDescription:longDescription,
|
||||
config: config,
|
||||
references : [],
|
||||
templates: {
|
||||
c2000ware_libraries_c : "/libraries/control/dcl/templates/refgen.c2000ware_libraries.c.xdt",
|
||||
c2000ware_libraries_h : "/libraries/control/dcl/templates/refgen.c2000ware_libraries.h.xdt",
|
||||
},
|
||||
validate : onValidate,
|
||||
modules: (inst) => {
|
||||
var mods = [];
|
||||
var refFilesArr = refgen_data.getRefFilesModuleArrFromControlStruct(inst.structDisplay);
|
||||
mods = refFilesArr;
|
||||
return mods;
|
||||
}
|
||||
};
|
||||
|
||||
exports = refgenModule;
|
||||
@@ -0,0 +1,139 @@
|
||||
//==========================================================================
|
||||
// REFERENCE FILES AND HEADER FILES
|
||||
// Functions and data for the reference files that should be pulled in
|
||||
//==========================================================================
|
||||
// c and asm files, to be pulled in using submodules
|
||||
var refFiles = {
|
||||
"DCL_calcGamma": {"name":"DCL_calcGamma", "path":"../libraries/control/DCL/c28/source/DCL_calcGamma.asm", "alwaysInclude":false},
|
||||
"DCL_clamp_C1": {"name":"DCL_clamp_C1", "path":"../libraries/control/DCL/c28/source/DCL_clamp_C1.asm", "alwaysInclude":false},
|
||||
"DCL_clamp_L1": {"name":"DCL_clamp_L1", "path":"../libraries/control/DCL/c28/source/DCL_clamp_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF11_C1": {"name":"DCL_DF11_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF11_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF11_L1": {"name":"DCL_DF11_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF11_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_C1": {"name":"DCL_DF13_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF13_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_C2C3": {"name":"DCL_DF13_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF13_C2C3.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_L1": {"name":"DCL_DF13_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF13_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_L2L3": {"name":"DCL_DF13_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF13_L2L3.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_C1": {"name":"DCL_DF22_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF22_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_C2C3": {"name":"DCL_DF22_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF22_C2C3.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_L1": {"name":"DCL_DF22_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF22_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_L2L3": {"name":"DCL_DF22_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF22_L2L3.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_C1": {"name":"DCL_DF23_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF23_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_C2C3": {"name":"DCL_DF23_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF23_C2C3.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_L1": {"name":"DCL_DF23_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF23_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_L2L3": {"name":"DCL_DF23_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF23_L2L3.asm", "alwaysInclude":false},
|
||||
"DCL_error": {"name":"DCL_error", "path":"../libraries/control/DCL/c28/source/DCL_error.c", "alwaysInclude":false},
|
||||
"DCL_frwlog": {"name":"DCL_frwlog", "path":"../libraries/control/DCL/c28/source/DCL_frwlog.asm", "alwaysInclude":false},
|
||||
"DCL_futils": {"name":"DCL_futils", "path":"../libraries/control/DCL/c28/source/DCL_futils.asm", "alwaysInclude":false},
|
||||
"DCL_futils32": {"name":"DCL_futils32", "path":"../libraries/control/DCL/c28/source/DCL_futils32.asm", "alwaysInclude":false},
|
||||
"DCL_index": {"name":"DCL_index", "path":"../libraries/control/DCL/c28/source/DCL_index.asm", "alwaysInclude":false},
|
||||
"DCL_NLPID_C3": {"name":"DCL_NLPID_C3", "path":"../libraries/control/DCL/c28/source/DCL_NLPID_C3.asm", "alwaysInclude":false},
|
||||
"DCL_PI_A1": {"name":"DCL_PI_A1", "path":"../libraries/control/DCL/c28/source/DCL_PI_A1.asm", "alwaysInclude":false},
|
||||
"DCL_PI_C1": {"name":"DCL_PI_C1", "path":"../libraries/control/DCL/c28/source/DCL_PI_C1.asm", "alwaysInclude":false},
|
||||
"DCL_PI_C4": {"name":"DCL_PI_C4", "path":"../libraries/control/DCL/c28/source/DCL_PI_C4.asm", "alwaysInclude":false},
|
||||
"DCL_PI_C7": {"name":"DCL_PI_C7", "path":"../libraries/control/DCL/c28/source/DCL_PI_C7.asm", "alwaysInclude":false},
|
||||
"DCL_PI_L1": {"name":"DCL_PI_L1", "path":"../libraries/control/DCL/c28/source/DCL_PI_L1.asm", "alwaysInclude":false},
|
||||
"DCL_PI_L2": {"name":"DCL_PI_L2", "path":"../libraries/control/DCL/c28/source/DCL_PI_L2.asm", "alwaysInclude":false},
|
||||
"DCL_PI2_C2": {"name":"DCL_PI2_C2", "path":"../libraries/control/DCL/c28/source/DCL_PI2_C2.asm", "alwaysInclude":false},
|
||||
"DCL_PID_A1": {"name":"DCL_PID_A1", "path":"../libraries/control/DCL/c28/source/DCL_PID_A1.asm", "alwaysInclude":false},
|
||||
"DCL_PID_C1": {"name":"DCL_PID_C1", "path":"../libraries/control/DCL/c28/source/DCL_PID_C1.asm", "alwaysInclude":false},
|
||||
"DCL_PID_C4": {"name":"DCL_PID_C4", "path":"../libraries/control/DCL/c28/source/DCL_PID_C4.asm", "alwaysInclude":false},
|
||||
"DCL_PID_L1": {"name":"DCL_PID_L1", "path":"../libraries/control/DCL/c28/source/DCL_PID_L1.asm", "alwaysInclude":false},
|
||||
"DCL_PID_L2": {"name":"DCL_PID_L2", "path":"../libraries/control/DCL/c28/source/DCL_PID_L2.asm", "alwaysInclude":false}
|
||||
}
|
||||
|
||||
|
||||
// h files, to be pulled in using c2000_libraries.h.xdt
|
||||
// some of these header files have certain refFiles (asm/c files) dependencies
|
||||
// NOTE: (probably) cannot move the refFilesList into the control_struct_dict since each header file references these reference files lists. If a reference file doesn't exist when the header file is imported, it may flag an error.
|
||||
var headerFiles = {
|
||||
"DCL": {"path":"../libraries/control/DCL/c28/include/DCL.h", "refFilesList":["DCL_error"]},
|
||||
"DCLC28": {"path":"../libraries/control/DCL/c28/include/DCLC28.h", "refFilesList":["DCL_futils32","DCL_PID_A1","DCL_futils32","DCL_PI_A1"]},
|
||||
"DCLCLA": {"path":"../libraries/control/DCL/c28/include/DCLCLA.h", "refFilesList":["DCL_PID_L1","DCL_PID_L2","DCL_PI_L1","DCL_PI_L2","DCL_DF11_L1","DCL_DF13_L1","DCL_DF13_L2L3","DCL_DF13_L2L3","DCL_DF22_L1","DCL_DF22_L2L3","DCL_DF22_L2L3","DCL_DF23_L1","DCL_DF23_L2L3","DCL_DF23_L2L3","DCL_clamp_L1"]},
|
||||
"DCLF32": {"path":"../libraries/control/DCL/c28/include/DCLF32.h", "refFilesList":["DCL_futils","DCL_PID_C1","DCL_PID_C4","DCL_futils","DCL_PI_C1","DCL_PI_C4","DCL_PI_C7","DCL_futils","DCL_futils","DCL_DF11_C1","DCL_futils","DCL_DF13_C1","DCL_DF13_C2C3","DCL_DF13_C2C3","DCL_futils","DCL_DF22_C1","DCL_DF22_C2C3","DCL_DF22_C2C3","DCL_futils","DCL_DF23_C1","DCL_DF23_C2C3","DCL_DF23_C2C3","DCL_clamp_C1","DCL_futils"]},
|
||||
"DCLF64": {"path":"../libraries/control/DCL/c28/include/DCLF64.h", "refFilesList":[]},
|
||||
"DCL_fdlog": {"path":"../libraries/control/DCL/c28/include/DCL_fdlog.h", "refFilesList":["DCL_frwlog","DCL_frwlog"]},
|
||||
"DCL_fdlog64": {"path":"../libraries/control/DCL/c28/include/DCL_fdlog64.h", "refFilesList":[]},
|
||||
"DCL_log32": {"path":"../libraries/control/DCL/c28/include/DCL_log32.h", "refFilesList":[]},
|
||||
"DCL_MLOG": {"path":"../libraries/control/DCL/c28/include/DCL_MLOG.h", "refFilesList":[]},
|
||||
"DCL_MLOG32": {"path":"../libraries/control/DCL/c28/include/DCL_MLOG32.h", "refFilesList":[]},
|
||||
"DCL_NLPID": {"path":"../libraries/control/DCL/c28/include/DCL_NLPID.h", "refFilesList":["DCL_futils","DCL_calcGamma","DCL_NLPID_C3"]},
|
||||
"DCL_refgen": {"path":"../libraries/control/DCL/c28/include/DCL_refgen.h", "refFilesList":[]},
|
||||
"DCL_refgen64": {"path":"../libraries/control/DCL/c28/include/DCL_refgen64.h", "refFilesList":[]},
|
||||
"DCL_TCM": {"path":"../libraries/control/DCL/c28/include/DCL_TCM.h", "refFilesList":["DCL_index","DCL_index","DCL_index"]},
|
||||
}
|
||||
|
||||
//==========================================================================
|
||||
// CONTROL STRUCT LOOKUP DICTIONARY
|
||||
// For each controller structure, determine which header files to use, and
|
||||
// the config lookup list for this controller
|
||||
//==========================================================================
|
||||
var control_struct_dict = {
|
||||
"REFGEN": {"headerFilesList":["DCL","DCL_refgen"]}, // add all of config_entries to the list
|
||||
"REFGEN64": {"headerFilesList":["DCL","DCL_refgen64"]}, // add all of config_entries to the list
|
||||
}
|
||||
|
||||
function getHeaderFilesList(controlStruct)
|
||||
{
|
||||
return control_struct_dict[controlStruct]['headerFilesList'];
|
||||
}
|
||||
|
||||
function getOptIncludePaths(controlStruct)
|
||||
{
|
||||
var headerFilesList = control_struct_dict[controlStruct]['headerFilesList'];
|
||||
var includePathList = []
|
||||
for (var i in headerFilesList)
|
||||
{
|
||||
var headerFileName = headerFilesList[i];
|
||||
var headerFileObj = headerFiles[headerFileName];
|
||||
var headerFilePath = headerFileObj["path"];
|
||||
var includePath = headerFilePath.split("/").slice(0,-1).join("/");
|
||||
if (!(includePathList.includes(includePath)))
|
||||
{
|
||||
includePathList.push(includePath);
|
||||
}
|
||||
}
|
||||
return includePathList;
|
||||
}
|
||||
|
||||
function getRefFilesModuleArrFromControlStruct(controlStruct)
|
||||
{
|
||||
if (controlStruct.length === 0)
|
||||
{
|
||||
return [];
|
||||
}
|
||||
var arr = [];
|
||||
var headerFilesList = control_struct_dict[controlStruct]['headerFilesList'];
|
||||
var pathToDynamicJsFiles = "/libraries/control/dcl/templates/dynamic_mods/"
|
||||
for (var i in headerFilesList)
|
||||
{
|
||||
var h = headerFilesList[i]
|
||||
var refFilesList = headerFiles[h]['refFilesList'];
|
||||
for (var j in refFilesList)
|
||||
{
|
||||
var refFileName = refFilesList[j]
|
||||
var moduleNamePath = pathToDynamicJsFiles + refFileName + "_dynamic.js"
|
||||
// if it hasn't been added yet, add it
|
||||
var alreadyInArray = arr.some(el => refFileName === el["name"])
|
||||
if (!alreadyInArray)
|
||||
{
|
||||
arr.push({
|
||||
name:refFileName,
|
||||
moduleName:moduleNamePath,
|
||||
});
|
||||
}
|
||||
}
|
||||
}
|
||||
// all available Sysconfig devices use at least FPU32, and so require FPU.js to be included
|
||||
arr.push({name:"fpu", moduleName:"/libraries/.meta/math/FPU/FPU.js", hidden:false});
|
||||
return arr;
|
||||
}
|
||||
//==========================================================================
|
||||
// EXPORTS
|
||||
// Export all of the functions so variables/structures can be accessed
|
||||
// in other .js files
|
||||
//==========================================================================
|
||||
exports = {
|
||||
getRefFilesModuleArrFromControlStruct: getRefFilesModuleArrFromControlStruct,
|
||||
getHeaderFilesList:getHeaderFilesList,
|
||||
getOptIncludePaths:getOptIncludePaths,
|
||||
}
|
||||
@@ -0,0 +1,214 @@
|
||||
let Common = system.getScript("/driverlib/Common.js");
|
||||
let Pinmux = system.getScript("/driverlib/pinmux.js");
|
||||
let references = system.getScript("/libraries/C2000WARELibraryReferences.js");
|
||||
let tcm_data = system.getScript("/libraries/control/dcl/tcm_data.js");
|
||||
|
||||
let config = [
|
||||
{
|
||||
name:"fdlogName",
|
||||
hidden:false,
|
||||
default:"",
|
||||
displayName:"Re-Name FDLOG Structure",
|
||||
description:"Name of the FDLOG structure for the logger, default name provided if left blank",
|
||||
longDescription:"Name of the data array for the logger, default name provided if left blank"
|
||||
},
|
||||
{
|
||||
name:"arrName",
|
||||
hidden:false,
|
||||
default:"",
|
||||
displayName:"Re-Name Data Array",
|
||||
description:"Name of the data array for the logger, default name provided if left blank",
|
||||
longDescription:"Name of the data array for the logger, default name provided if left blank. If the array already exists in memory, this will be used to point to that array."
|
||||
},
|
||||
{
|
||||
name:"arrEn",
|
||||
hidden:false,
|
||||
default:true,
|
||||
displayName:"Create Array Object",
|
||||
description:"Create the array object, for cases where the array does not already exist.",
|
||||
longDescription:"Create the array object, for cases where the array does not already exist. NOTE: if this is unchecked the array must exist somewhere in the code, otherwise a compile error will occur."
|
||||
},
|
||||
{
|
||||
name:"linkerEn",
|
||||
hidden:false,
|
||||
default:false,
|
||||
displayName:"Enable Linker Location",
|
||||
description:"Linker command file used for declaring the array directly",
|
||||
longDescription:"This creates a pragma to point to the given location in memory",
|
||||
onChange:(inst, ui) => {ui["linkerVal"].hidden=!inst["linkerEn"];}
|
||||
},
|
||||
{
|
||||
name:"linkerVal",
|
||||
hidden:true,
|
||||
default:"",
|
||||
displayName:"Re-Name Linker Pragma",
|
||||
description:"Pragma name of the location of the array in the linker command file, default name provided if left blank",
|
||||
longDescription:"Pragma name of the location of the array in the linker command file, default name provided if left blank"
|
||||
},
|
||||
{
|
||||
name:"lead",
|
||||
hidden:false,
|
||||
default:100,
|
||||
displayName:"Lead Frame Size",
|
||||
description:"Amount of data samples to save ahead of the trigger point, in 32-bit words",
|
||||
longDescription:"Amount of data samples to save ahead of the trigger point, in 32-bit words.\nTrigger crossing index."
|
||||
},
|
||||
{
|
||||
name:"captSize",
|
||||
hidden:false,
|
||||
default:300,
|
||||
displayName:"Capture Frame Size",
|
||||
description:"Amount of data samples to save after the lead frame is captured, in 32-bit words",
|
||||
longDescription:"Amount of data samples to save after the lead frame is captured, in 32-bit words"
|
||||
},
|
||||
{
|
||||
name:"totSize",
|
||||
hidden:false,
|
||||
default:0,
|
||||
displayName:"Calculated Total Size",
|
||||
description:"Total number of samples of the lead frame and capture frame together.",
|
||||
longDescription:"Total number of samples of the lead frame and capture frame together.",
|
||||
getValue: (inst) => {return inst["lead"]+inst["captSize"];}
|
||||
},
|
||||
{
|
||||
name:"trigMax",
|
||||
hidden:false,
|
||||
default:"0",
|
||||
displayName:"Upper Trigger Threshold",
|
||||
description:"Upper trigger threshold",
|
||||
longDescription:"Upper trigger threshold. Can include variable names."
|
||||
},
|
||||
{
|
||||
name:"trigMin",
|
||||
hidden:false,
|
||||
default:"0",
|
||||
displayName:"Lower Trigger Threshold",
|
||||
description:"Lower trigger threshold",
|
||||
longDescription:"Lower trigger threshold. Can include variable names."
|
||||
},
|
||||
{
|
||||
name:"armTCM",
|
||||
hidden:false,
|
||||
default:false,
|
||||
displayName:"Arm TCM During Init",
|
||||
description:"Arm the TCM module so it is ready to capture immediately upon initialization",
|
||||
longDescription:"Arm the TCM module so it is ready to capture immediately upon initialization"
|
||||
},
|
||||
]
|
||||
|
||||
function onValidate(inst, validation){
|
||||
// TCM only has FPU32 support, which is compatible with both FPU32 and FPU64, so no checks needed
|
||||
}
|
||||
|
||||
let longDescription = `The Transient Capture Module (TCM) is a triggered data logger which captures a burst of
|
||||
incoming data. A typical use is the capture of a transient response following a step input
|
||||
to a control system. The trigger conditions are a pair of user defined limits on the
|
||||
incoming data. The capture process is triggered by the first data point which exceeds
|
||||
either limit.
|
||||
|
||||
A feature of the TCM is that it captures a programmable length lead frame, allowing the
|
||||
user to inspect conditions immediately prior to the trigger condition. This is accomplished
|
||||
with three FDLOG structures which are elements in the TCM data structure, together with
|
||||
the limit pair.
|
||||
|
||||
Once initialized, the status of the TCM is captured in one of four
|
||||
enumerated operating modes:
|
||||
* TCM_idle
|
||||
* TCM_armed
|
||||
* TCM_capture
|
||||
* TCM_complete
|
||||
|
||||
The current mode is available in the mode element in the TCM structure. To use the
|
||||
TCM, the user must do the following in their code:
|
||||
1. Arm the TCM using DCL_armTCM()
|
||||
2. Log data into the TCM using DCL_runTCM()
|
||||
3. Monitor the mode element in the TCM structure to determine when the capture is complete.
|
||||
|
||||
In the following diagrams, lead, capture, and monitor frames are indexed using the
|
||||
FDLOG structures x, y, & z respectively (note that these are not the names used in the
|
||||
TCM structure). FDLOG pointers are color coded blue, green, and red, respectively. To
|
||||
help visualize the sequence of events, the diagram shows in light gray the data which will
|
||||
eventually be logged into the TCM, and in blue the current frame contents in each mode.
|
||||
|
||||
|
||||
## ***TCM_idle Mode***
|
||||
|
||||
In TCM_idle mode the TCM buffers are as shown below. All buffer contents are zero, all
|
||||
frame data pointers are at the start of their respective frames and no data is being logged.
|
||||
This is the condition after the DCL_initTCM() function has been called.
|
||||
|
||||
*Figure: TCM operation in TCM_idle mode*
|
||||
|
||||
|
||||
|
||||
## ***TCM_armed Mode***
|
||||
|
||||
The TCM is armed by a call to DCL_armTCM(). In this mode, incoming data is
|
||||
continually logged in the monitor frame. The monitor frame acts as a circular buffer, the
|
||||
index pointer wrapping to the start of the monitor frame when it reaches the end.
|
||||
|
||||
Each data point is compared with the upper and lower trigger thresholds to determine
|
||||
whether to initiate a capture sequence. As long as the incoming data remains within the
|
||||
specified limits, the TCM remains in TCM_armed mode.
|
||||
|
||||
*Figure: TCM operation in TCM_armed mode*
|
||||
|
||||
|
||||
|
||||
## ***TCM_capture Mode***
|
||||
|
||||
The first data point which exceeds either trigger threshold initiates a capture sequence.
|
||||
The TCM automatically enters TCM_capture mode and incoming data is logged into the
|
||||
capture frame. Meanwhile, the monitor frame stops collecting data and starts to un-wind
|
||||
its contents into the lead frame. Notice that the monitor frame contains the lead data
|
||||
sequence, but the starting point is not aligned with the frame.
|
||||
|
||||
*Figure: TCM operation in capture mode (monitor frame un-winding)*
|
||||
|
||||
|
||||
|
||||
Once the lead frame is full, the monitor frame stops copying out its data. Incoming data
|
||||
continues being logged into the capture frame until it is full. The monitor frame contents
|
||||
have now been completely loaded into the lead frame and will be over-written.
|
||||
|
||||
*Figure: TCM operation in TCM_capture mode (lead frame complete)*
|
||||
|
||||
|
||||
|
||||
## ***TCM_complete Mode***
|
||||
|
||||
Once the capture frame is full, data logging stops and the TCM enters TCM_complete
|
||||
mode. The capture frame pointers are adjusted to span the entire TCM buffer.
|
||||
|
||||
*Figure: TCM capture complete*
|
||||
|
||||
|
||||
|
||||
The buffer contents may now be read out using DCL_readLog() or DCL_freadLog().
|
||||
|
||||
See the DCL User's Guide for more details:
|
||||
|
||||
[Digital Control Library User's Guide](https://dev.ti.com/tirex/explore/node?node=AKZRbh4oxv98HaO0YKjygQ__gYkahfz__LATEST)`
|
||||
|
||||
var sfoModule = {
|
||||
c2000wareLibraryName: "TCM",
|
||||
displayName: "TCM",
|
||||
defaultInstanceName: "myTCM",
|
||||
description: "Transient Capture Module",
|
||||
longDescription: longDescription,
|
||||
config: config,
|
||||
validate:onValidate,
|
||||
references : [],
|
||||
templates: {
|
||||
c2000ware_libraries_c : "/libraries/control/dcl/templates/tcm.c2000ware_libraries.c.xdt",
|
||||
c2000ware_libraries_h : "/libraries/control/dcl/templates/tcm.c2000ware_libraries.h.xdt",
|
||||
},
|
||||
modules: (inst) => {
|
||||
var mods = [];
|
||||
var refFilesArr = tcm_data.getRefFilesModuleArrFromControlStruct("TCM");
|
||||
mods = refFilesArr;
|
||||
return mods;
|
||||
},
|
||||
};
|
||||
|
||||
exports = sfoModule;
|
||||
@@ -0,0 +1,145 @@
|
||||
//==========================================================================
|
||||
// CONFIG ENTRIES DICTIONARY
|
||||
// These get directly dropped into the config list of the controller.js
|
||||
//==========================================================================
|
||||
var config_entries = [];
|
||||
|
||||
//==========================================================================
|
||||
// REFERENCE FILES AND HEADER FILES
|
||||
// Functions and data for the reference files that should be pulled in
|
||||
//==========================================================================
|
||||
// c and asm files, to be pulled in using submodules
|
||||
var refFiles = {
|
||||
"DCL_calcGamma": {"name":"DCL_calcGamma", "path":"../libraries/control/DCL/c28/source/DCL_calcGamma.asm", "alwaysInclude":false},
|
||||
"DCL_clamp_C1": {"name":"DCL_clamp_C1", "path":"../libraries/control/DCL/c28/source/DCL_clamp_C1.asm", "alwaysInclude":false},
|
||||
"DCL_clamp_L1": {"name":"DCL_clamp_L1", "path":"../libraries/control/DCL/c28/source/DCL_clamp_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF11_C1": {"name":"DCL_DF11_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF11_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF11_L1": {"name":"DCL_DF11_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF11_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_C1": {"name":"DCL_DF13_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF13_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_C2C3": {"name":"DCL_DF13_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF13_C2C3.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_L1": {"name":"DCL_DF13_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF13_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF13_L2L3": {"name":"DCL_DF13_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF13_L2L3.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_C1": {"name":"DCL_DF22_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF22_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_C2C3": {"name":"DCL_DF22_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF22_C2C3.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_L1": {"name":"DCL_DF22_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF22_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF22_L2L3": {"name":"DCL_DF22_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF22_L2L3.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_C1": {"name":"DCL_DF23_C1", "path":"../libraries/control/DCL/c28/source/DCL_DF23_C1.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_C2C3": {"name":"DCL_DF23_C2C3", "path":"../libraries/control/DCL/c28/source/DCL_DF23_C2C3.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_L1": {"name":"DCL_DF23_L1", "path":"../libraries/control/DCL/c28/source/DCL_DF23_L1.asm", "alwaysInclude":false},
|
||||
"DCL_DF23_L2L3": {"name":"DCL_DF23_L2L3", "path":"../libraries/control/DCL/c28/source/DCL_DF23_L2L3.asm", "alwaysInclude":false},
|
||||
"DCL_error": {"name":"DCL_error", "path":"../libraries/control/DCL/c28/source/DCL_error.c", "alwaysInclude":false},
|
||||
"DCL_frwlog": {"name":"DCL_frwlog", "path":"../libraries/control/DCL/c28/source/DCL_frwlog.asm", "alwaysInclude":false},
|
||||
"DCL_futils": {"name":"DCL_futils", "path":"../libraries/control/DCL/c28/source/DCL_futils.asm", "alwaysInclude":false},
|
||||
"DCL_futils32": {"name":"DCL_futils32", "path":"../libraries/control/DCL/c28/source/DCL_futils32.asm", "alwaysInclude":false},
|
||||
"DCL_index": {"name":"DCL_index", "path":"../libraries/control/DCL/c28/source/DCL_index.asm", "alwaysInclude":false},
|
||||
"DCL_NLPID_C3": {"name":"DCL_NLPID_C3", "path":"../libraries/control/DCL/c28/source/DCL_NLPID_C3.asm", "alwaysInclude":false},
|
||||
"DCL_PI_A1": {"name":"DCL_PI_A1", "path":"../libraries/control/DCL/c28/source/DCL_PI_A1.asm", "alwaysInclude":false},
|
||||
"DCL_PI_C1": {"name":"DCL_PI_C1", "path":"../libraries/control/DCL/c28/source/DCL_PI_C1.asm", "alwaysInclude":false},
|
||||
"DCL_PI_C4": {"name":"DCL_PI_C4", "path":"../libraries/control/DCL/c28/source/DCL_PI_C4.asm", "alwaysInclude":false},
|
||||
"DCL_PI_C7": {"name":"DCL_PI_C7", "path":"../libraries/control/DCL/c28/source/DCL_PI_C7.asm", "alwaysInclude":false},
|
||||
"DCL_PI_L1": {"name":"DCL_PI_L1", "path":"../libraries/control/DCL/c28/source/DCL_PI_L1.asm", "alwaysInclude":false},
|
||||
"DCL_PI_L2": {"name":"DCL_PI_L2", "path":"../libraries/control/DCL/c28/source/DCL_PI_L2.asm", "alwaysInclude":false},
|
||||
"DCL_PI2_C2": {"name":"DCL_PI2_C2", "path":"../libraries/control/DCL/c28/source/DCL_PI2_C2.asm", "alwaysInclude":false},
|
||||
"DCL_PID_A1": {"name":"DCL_PID_A1", "path":"../libraries/control/DCL/c28/source/DCL_PID_A1.asm", "alwaysInclude":false},
|
||||
"DCL_PID_C1": {"name":"DCL_PID_C1", "path":"../libraries/control/DCL/c28/source/DCL_PID_C1.asm", "alwaysInclude":false},
|
||||
"DCL_PID_C4": {"name":"DCL_PID_C4", "path":"../libraries/control/DCL/c28/source/DCL_PID_C4.asm", "alwaysInclude":false},
|
||||
"DCL_PID_L1": {"name":"DCL_PID_L1", "path":"../libraries/control/DCL/c28/source/DCL_PID_L1.asm", "alwaysInclude":false},
|
||||
"DCL_PID_L2": {"name":"DCL_PID_L2", "path":"../libraries/control/DCL/c28/source/DCL_PID_L2.asm", "alwaysInclude":false}
|
||||
}
|
||||
|
||||
// h files, to be pulled in using c2000_libraries.h.xdt
|
||||
// some of these header files have certain refFiles (asm/c files) dependencies
|
||||
// NOTE: (probably) cannot move the refFilesList into the control_struct_dict since each header file references these reference files lists. If a reference file doesn't exist when the header file is imported, it may flag an error.
|
||||
var headerFiles = {
|
||||
"DCL": {"path":"../libraries/control/DCL/c28/include/DCL.h", "refFilesList":["DCL_error"]},
|
||||
"DCLC28": {"path":"../libraries/control/DCL/c28/include/DCLC28.h", "refFilesList":["DCL_futils32","DCL_PID_A1","DCL_futils32","DCL_PI_A1"]},
|
||||
"DCLCLA": {"path":"../libraries/control/DCL/c28/include/DCLCLA.h", "refFilesList":["DCL_PID_L1","DCL_PID_L2","DCL_PI_L1","DCL_PI_L2","DCL_DF11_L1","DCL_DF13_L1","DCL_DF13_L2L3","DCL_DF13_L2L3","DCL_DF22_L1","DCL_DF22_L2L3","DCL_DF22_L2L3","DCL_DF23_L1","DCL_DF23_L2L3","DCL_DF23_L2L3","DCL_clamp_L1"]},
|
||||
"DCLF32": {"path":"../libraries/control/DCL/c28/include/DCLF32.h", "refFilesList":["DCL_futils","DCL_PID_C1","DCL_PID_C4","DCL_futils","DCL_PI_C1","DCL_PI_C4","DCL_PI_C7","DCL_futils","DCL_futils","DCL_DF11_C1","DCL_futils","DCL_DF13_C1","DCL_DF13_C2C3","DCL_DF13_C2C3","DCL_futils","DCL_DF22_C1","DCL_DF22_C2C3","DCL_DF22_C2C3","DCL_futils","DCL_DF23_C1","DCL_DF23_C2C3","DCL_DF23_C2C3","DCL_clamp_C1","DCL_futils"]},
|
||||
"DCLF64": {"path":"../libraries/control/DCL/c28/include/DCLF64.h", "refFilesList":[]},
|
||||
"DCL_fdlog": {"path":"../libraries/control/DCL/c28/include/DCL_fdlog.h", "refFilesList":["DCL_frwlog","DCL_frwlog"]},
|
||||
"DCL_fdlog64": {"path":"../libraries/control/DCL/c28/include/DCL_fdlog64.h", "refFilesList":[]},
|
||||
"DCL_log32": {"path":"../libraries/control/DCL/c28/include/DCL_log32.h", "refFilesList":[]},
|
||||
"DCL_MLOG": {"path":"../libraries/control/DCL/c28/include/DCL_MLOG.h", "refFilesList":[]},
|
||||
"DCL_MLOG32": {"path":"../libraries/control/DCL/c28/include/DCL_MLOG32.h", "refFilesList":[]},
|
||||
"DCL_NLPID": {"path":"../libraries/control/DCL/c28/include/DCL_NLPID.h", "refFilesList":["DCL_futils","DCL_calcGamma","DCL_NLPID_C3"]},
|
||||
"DCL_refgen": {"path":"../libraries/control/DCL/c28/include/DCL_refgen.h", "refFilesList":[]},
|
||||
"DCL_refgen64": {"path":"../libraries/control/DCL/c28/include/DCL_refgen64.h", "refFilesList":[]},
|
||||
"DCL_TCM": {"path":"../libraries/control/DCL/c28/include/DCL_TCM.h", "refFilesList":["DCL_index","DCL_index","DCL_index"]},
|
||||
}
|
||||
|
||||
//==========================================================================
|
||||
// CONTROL STRUCT LOOKUP DICTIONARY
|
||||
// For each controller structure, determine which header files to use, and
|
||||
// the config lookup list for this controller
|
||||
//==========================================================================
|
||||
var control_struct_dict = {
|
||||
"TCM": {"headerFilesList":["DCL_fdlog","DCL_TCM"], "config_entries_list":config_entries.map(x => x.name)}, // add all of config_entries to the list
|
||||
}
|
||||
|
||||
function getHeaderFilesList(controlStruct)
|
||||
{
|
||||
// for TCM, always use "TCM" as controlStruct choice
|
||||
return control_struct_dict["TCM"]['headerFilesList'];
|
||||
}
|
||||
|
||||
function getOptIncludePaths(controlStruct)
|
||||
{
|
||||
// for TCM, always use "TCM" as controlStruct choice
|
||||
var headerFilesList = control_struct_dict["TCM"]['headerFilesList'];
|
||||
var includePathList = []
|
||||
for (var i in headerFilesList)
|
||||
{
|
||||
var headerFileName = headerFilesList[i];
|
||||
var headerFileObj = headerFiles[headerFileName];
|
||||
var headerFilePath = headerFileObj["path"];
|
||||
var includePath = headerFilePath.split("/").slice(0,-1).join("/");
|
||||
if (!(includePathList.includes(includePath)))
|
||||
{
|
||||
includePathList.push(includePath);
|
||||
}
|
||||
}
|
||||
return includePathList;
|
||||
}
|
||||
|
||||
function getRefFilesModuleArrFromControlStruct(controlStruct)
|
||||
{
|
||||
if (controlStruct.length === 0)
|
||||
{
|
||||
return [];
|
||||
}
|
||||
var arr = [];
|
||||
var headerFilesList = control_struct_dict[controlStruct]['headerFilesList'];
|
||||
var pathToDynamicJsFiles = "/libraries/control/dcl/templates/dynamic_mods/"
|
||||
for (var i in headerFilesList)
|
||||
{
|
||||
var h = headerFilesList[i]
|
||||
var refFilesList = headerFiles[h]['refFilesList'];
|
||||
for (var j in refFilesList)
|
||||
{
|
||||
var refFileName = refFilesList[j]
|
||||
var moduleNamePath = pathToDynamicJsFiles + refFileName + "_dynamic.js"
|
||||
// if it hasn't been added yet, add it
|
||||
var alreadyInArray = arr.some(el => refFileName === el["name"])
|
||||
if (!alreadyInArray)
|
||||
{
|
||||
arr.push({
|
||||
name:refFileName,
|
||||
moduleName:moduleNamePath,
|
||||
});
|
||||
}
|
||||
}
|
||||
}
|
||||
// all available Sysconfig devices use at least FPU32, and so require FPU.js to be included
|
||||
arr.push({name:"fpu", moduleName:"/libraries/.meta/math/FPU/FPU.js", hidden:false});
|
||||
return arr;
|
||||
}
|
||||
//==========================================================================
|
||||
// EXPORTS
|
||||
// Export all of the functions so variables/structures can be accessed
|
||||
// in other .js files
|
||||
//==========================================================================
|
||||
exports = {
|
||||
getRefFilesModuleArrFromControlStruct: getRefFilesModuleArrFromControlStruct,
|
||||
getOptIncludePaths:getOptIncludePaths,
|
||||
getHeaderFilesList:getHeaderFilesList,
|
||||
}
|
||||
@@ -0,0 +1,62 @@
|
||||
%%{
|
||||
let controller_data = system.getScript("/libraries/control/dcl/controller_data.js");
|
||||
var mod = system.modules['/libraries/control/dcl/controller.js'];
|
||||
var controllerChoiceList = [];
|
||||
if (mod != null)
|
||||
{
|
||||
// get all the modules
|
||||
for(var i = 0; i < mod.$instances.length; i++)
|
||||
{
|
||||
var inst = mod.$instances[i];
|
||||
var resData = controller_data.getModuleDataObj(inst);
|
||||
controllerChoiceList.push(resData);
|
||||
}
|
||||
}
|
||||
%%}
|
||||
|
||||
%if (mod != null)
|
||||
%{
|
||||
//
|
||||
// DCL CONTROLLER
|
||||
//
|
||||
% for (var obj of controllerChoiceList)
|
||||
%{
|
||||
//
|
||||
// `obj["instName"]` variables
|
||||
//
|
||||
DCL_`obj["type"]` `obj["instName"]` = `obj["defaultsListName"]`;
|
||||
DCL_`obj["type"]`_SPS `obj["instName"]`_sps = `obj["type"]`_SPS_DEFAULTS;
|
||||
DCL_CSS `obj["instName"]`_css = DCL_CSS_DEFAULTS;
|
||||
%}
|
||||
% for (var obj of controllerChoiceList)
|
||||
% {
|
||||
void `obj["instName"]`_init(){
|
||||
//
|
||||
// `obj["instName"]` settings
|
||||
//
|
||||
`obj["instName"]`.sps = &`obj["instName"]`_sps;
|
||||
`obj["instName"]`.css = &`obj["instName"]`_css;
|
||||
% for (var j in obj["configEntriesVals"])
|
||||
%{
|
||||
% var configEntry = obj["configEntriesVals"][j][0];
|
||||
% var configVal = obj["configEntriesVals"][j][1];
|
||||
% // remove any text between curly brackets in the config Entry name, Example:
|
||||
% // d2{DF11}
|
||||
% // becomes
|
||||
% // d2
|
||||
% // This is because the actual variable name in DCL for .c file output is without the curly braces.
|
||||
% if (configEntry.includes("{"))
|
||||
% {
|
||||
% configEntry = configEntry.replace(/{.*?}/g,"");
|
||||
% }
|
||||
`obj["instName"]`.`configEntry` = `configVal`;
|
||||
%}
|
||||
}
|
||||
% }
|
||||
void `mod.c2000wareLibraryName`_init(){
|
||||
% for (var obj of controllerChoiceList)
|
||||
% {
|
||||
`obj["instName"]`_init();
|
||||
% }
|
||||
}
|
||||
%}
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user