| /**************************************************************************** |
| * include/dspb16.h |
| * |
| * Licensed to the Apache Software Foundation (ASF) under one or more |
| * contributor license agreements. See the NOTICE file distributed with |
| * this work for additional information regarding copyright ownership. The |
| * ASF licenses this file to you under the Apache License, Version 2.0 (the |
| * "License"); you may not use this file except in compliance with the |
| * License. You may obtain a copy of the License at |
| * |
| * http://www.apache.org/licenses/LICENSE-2.0 |
| * |
| * Unless required by applicable law or agreed to in writing, software |
| * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT |
| * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the |
| * License for the specific language governing permissions and limitations |
| * under the License. |
| * |
| ****************************************************************************/ |
| |
| #ifndef __INCLUDE_DSPB16_H |
| #define __INCLUDE_DSPB16_H |
| |
| /**************************************************************************** |
| * Included Files |
| ****************************************************************************/ |
| |
| #include <nuttx/compiler.h> |
| |
| #include <assert.h> |
| #include <stddef.h> |
| #include <stdint.h> |
| #include <stdbool.h> |
| #include <fixedmath.h> |
| |
| /**************************************************************************** |
| * Pre-processor Definitions |
| ****************************************************************************/ |
| |
| /* Disable DEBUGASSERT macro if LIBDSP debug is not enabled */ |
| |
| #ifdef CONFIG_LIBDSP_DEBUG |
| # ifndef CONFIG_DEBUG_ASSERTIONS |
| # warning "Need CONFIG_DEBUG_ASSERTIONS to work properly" |
| # endif |
| # define LIBDSP_DEBUGASSERT(x) DEBUGASSERT(x) |
| #else |
| # undef LIBDSP_DEBUGASSERT |
| # define LIBDSP_DEBUGASSERT(x) |
| #endif |
| |
| #ifndef CONFIG_LIBDSP_PRECISION |
| # define CONFIG_LIBDSP_PRECISION 0 |
| #endif |
| |
| /* Phase rotation direction */ |
| |
| #define DIR_NONE_B16 ftob16(0.0f) |
| #define DIR_CW_B16 ftob16(1.0f) |
| #define DIR_CCW_B16 ftob16(-1.0f) |
| |
| /* Some math constants ******************************************************/ |
| |
| #define SQRT3_BY_TWO_B16 ftob16(0.866025f) |
| #define SQRT3_BY_THREE_B16 ftob16(0.57735f) |
| #define ONE_BY_SQRT3_B16 ftob16(0.57735f) |
| #define TWO_BY_SQRT3_B16 ftob16(1.15470f) |
| |
| /* Some lib constants *******************************************************/ |
| |
| /* Motor electrical angle is in range 0.0 to 2*PI */ |
| |
| #define MOTOR_ANGLE_E_MAX_B16 (b16TWOPI) |
| #define MOTOR_ANGLE_E_MIN_B16 (0) |
| #define MOTOR_ANGLE_E_RANGE_B16 (MOTOR_ANGLE_E_MAX_B16 - MOTOR_ANGLE_E_MIN_B16) |
| |
| /* Motor mechanical angle is in range 0.0 to 2*PI */ |
| |
| #define MOTOR_ANGLE_M_MAX_B16 (b16TWOPI) |
| #define MOTOR_ANGLE_M_MIN_B16 (0) |
| #define MOTOR_ANGLE_M_RANGE_B16 (MOTOR_ANGLE_M_MAX_B16 - MOTOR_ANGLE_M_MIN_B16) |
| |
| /* Some useful macros *******************************************************/ |
| |
| /**************************************************************************** |
| * Name: LP_FILTER_B16 |
| * |
| * Description: |
| * Simple single-pole digital low pass filter: |
| * Y(n) = (1-beta)*Y(n-1) + beta*X(n) = (beta * (Y(n-1) - X(n))) |
| * |
| * filter - (0.0 - 1.0) where 1.0 gives unfiltered values |
| * filter = T * (2*PI) * f_c |
| * |
| * phase shift = -arctan(f_in/f_c) |
| * time constant = -T / (ln(1 - filter)) |
| * |
| * T - period at which the digital filter is being calculated |
| * f_in - input frequency of the filter |
| * f_c - cutoff frequency of the filter |
| * |
| * REFERENCE: https://www.embeddedrelated.com/showarticle/779.php |
| * |
| ****************************************************************************/ |
| |
| #define LP_FILTER_B16(val, sample, filter) val -= (b16mulb16(filter, (val - sample))) |
| |
| /**************************************************************************** |
| * Name: SVM3_BASE_VOLTAGE_GET_B16 |
| * |
| * Description: |
| * Get maximum voltage for SVM3 without overmodulation |
| * |
| * Notes: |
| * max possible phase voltage for 3-phase power inverter: |
| * Vd = (2/3)*Vdc |
| * max phase reference voltage according to SVM modulation diagram: |
| * Vrefmax = Vd * cos(30*) = SQRT3_BY_2 * Vd |
| * which give us: |
| * Vrefmax = SQRT3_BY_3 * Vdc |
| * |
| * Vdc - bus voltage |
| * |
| ****************************************************************************/ |
| |
| #define SVM3_BASE_VOLTAGE_GET_B16(vbus) (b16mulb16(vbus, SQRT3_BY_THREE_B16)) |
| |
| /**************************************************************************** |
| * Public Types |
| ****************************************************************************/ |
| |
| /* This structure represents phase angle. |
| * Besides angle value it also stores sine and cosine values for given angle. |
| */ |
| |
| struct phase_angle_b16_s |
| { |
| b16_t angle; /* Phase angle in radians <0, 2PI> */ |
| b16_t sin; /* Phase angle sine */ |
| b16_t cos; /* Phase angle cosine */ |
| }; |
| |
| typedef struct phase_angle_b16_s phase_angle_b16_t; |
| |
| /* This structure stores motor angles and corresponding sin and cos values |
| * |
| * th_el = th_m * pole_pairs |
| * th_m = th_el/pole_pairs |
| * |
| * where: |
| * th_el - motor electrical angle |
| * th_m - motor mechanical angle |
| * pole_pairs - motor pole pairs |
| * |
| * NOTE: pole_pairs = poles_total/2 |
| */ |
| |
| struct motor_angle_b16_s |
| { |
| phase_angle_b16_t angle_el; /* Electrical angle */ |
| b16_t anglem; /* Mechanical angle in radians <0, 2PI> */ |
| b16_t one_by_p; /* Aux variable */ |
| uint8_t p; /* Number of the motor pole pairs */ |
| int8_t i; /* Pole counter */ |
| }; |
| |
| /* Float number saturaton */ |
| |
| struct float_sat_b16_s |
| { |
| b16_t min; /* Lower limit */ |
| b16_t max; /* Upper limit */ |
| }; |
| |
| typedef struct float_sat_b16_s float_sat_b16_t; |
| |
| /* PI/PID controller state structure */ |
| |
| struct pid_controller_b16_s |
| { |
| bool aw_en; /* Integral part decay if saturated */ |
| bool ireset_en; /* Intergral part reset if saturated */ |
| bool pisat_en; /* PI saturation enabled */ |
| bool pidsat_en; /* PID saturation enabled */ |
| bool _res; /* Reserved */ |
| b16_t out; /* Controller output */ |
| float_sat_b16_t sat; /* Output saturation */ |
| b16_t err; /* Current error value */ |
| b16_t err_prev; /* Previous error value */ |
| b16_t KP; /* Proportional coefficient */ |
| b16_t KI; /* Integral coefficient */ |
| b16_t KD; /* Derivative coefficient */ |
| b16_t part[3]; /* 0 - proporitonal part |
| * 1 - integral part |
| * 2 - derivative part |
| */ |
| b16_t KC; /* Integral anti-windup decay coefficient */ |
| b16_t aw; /* Integral anti-windup decay part */ |
| }; |
| |
| typedef struct pid_controller_b16_s pid_controller_b16_t; |
| |
| /* This structure represents the ABC frame (3 phase vector) */ |
| |
| struct abc_frame_b16_s |
| { |
| b16_t a; /* A component */ |
| b16_t b; /* B component */ |
| b16_t c; /* C component */ |
| }; |
| |
| typedef struct abc_frame_b16_s abc_frame_b16_t; |
| |
| /* This structure represents the alpha-beta frame (2 phase vector) */ |
| |
| struct ab_frame_b16_s |
| { |
| b16_t a; /* Alpha component */ |
| b16_t b; /* Beta component */ |
| }; |
| |
| typedef struct ab_frame_b16_s ab_frame_b16_t; |
| |
| /* This structure represent the direct-quadrature frame */ |
| |
| struct dq_frame_b16_s |
| { |
| b16_t d; /* Driect component */ |
| b16_t q; /* Quadrature component */ |
| }; |
| |
| typedef struct dq_frame_b16_s dq_frame_b16_t; |
| |
| /* Space Vector Modulation data for 3-phase system */ |
| |
| struct svm3_state_b16_s |
| { |
| uint8_t sector; /* Current space vector sector */ |
| b16_t d_u; /* Duty cycle for phase U */ |
| b16_t d_v; /* Duty cycle for phase V */ |
| b16_t d_w; /* Duty cycle for phase W */ |
| }; |
| |
| /* Motor open-loop control data */ |
| |
| struct openloop_data_b16_s |
| { |
| b16_t angle; /* Open-loop current angle normalized to <0.0, 2PI> */ |
| b16_t per; /* Open-loop control execution period */ |
| }; |
| |
| /* Common motor speed observer structure */ |
| |
| struct motor_sobserver_b16_s |
| { |
| b16_t speed; /* Estimated observer speed */ |
| b16_t per; /* Observer execution period */ |
| |
| /* There are different types of motor observers which different |
| * sets of private data. |
| */ |
| |
| void *so; /* Speed estimation observer data */ |
| }; |
| |
| /* Common motor angle observer structure */ |
| |
| struct motor_aobserver_b16_s |
| { |
| b16_t angle; /* Estimated observer angle */ |
| b16_t per; /* Observer execution period */ |
| |
| /* There are different types of motor observers which different |
| * sets of private data. |
| */ |
| |
| void *ao; /* Angle estimation observer data */ |
| }; |
| |
| /* Speed observer division method data */ |
| |
| struct motor_sobserver_div_b16_s |
| { |
| b16_t angle_diff; /* Angle difference */ |
| b16_t angle_acc; /* Accumulated angle */ |
| b16_t angle_prev; /* Previous angle */ |
| b16_t one_by_dt; /* Frequency of observer execution */ |
| b16_t cntr; /* Sample counter */ |
| b16_t samples; /* Number of samples for observer */ |
| b16_t filter; /* Low-pass filter for final omega */ |
| }; |
| |
| /* Speed observer PLL method data */ |
| |
| struct motor_sobserver_pll_b16_s |
| { |
| b16_t pll_phase; |
| b16_t pll_kp; |
| b16_t pll_ki; |
| }; |
| |
| /* Motor Sliding Mode Observer private data */ |
| |
| struct motor_aobserver_smo_b16_s |
| { |
| b16_t k_slide; /* Bang-bang controller gain */ |
| b16_t err_max; /* Linear mode threshold */ |
| b16_t one_by_err_max; /* One by err_max */ |
| b16_t F; /* Current observer F gain (1-Ts*R/L) */ |
| b16_t G; /* Current observer G gain (Ts/L) */ |
| b16_t emf_lp_filter1; /* Adaptive first low pass EMF filter */ |
| b16_t emf_lp_filter2; /* Adaptive second low pass EMF filter */ |
| ab_frame_b16_t emf; /* Estimated back-EMF */ |
| ab_frame_b16_t emf_f; /* Fitlered estimated back-EMF */ |
| ab_frame_b16_t z; /* Correction factor */ |
| ab_frame_b16_t i_est; /* Estimated idq current */ |
| ab_frame_b16_t v_err; /* v_err = v_ab - emf */ |
| ab_frame_b16_t i_err; /* i_err = i_est - i_dq */ |
| ab_frame_b16_t sign; /* Bang-bang controller sign */ |
| }; |
| |
| /* Motor Nonlinear FluxLink Observer private data */ |
| |
| struct motor_aobserver_nfo_b16_s |
| { |
| b16_t x1; |
| b16_t x2; |
| }; |
| |
| /* FOC initialize data */ |
| |
| struct foc_initdata_b16_s |
| { |
| b16_t id_kp; /* KP for d current */ |
| b16_t id_ki; /* KI for d current */ |
| b16_t iq_kp; /* KP for q current */ |
| b16_t iq_ki; /* KI for q current */ |
| }; |
| |
| /* Field Oriented Control (FOC) data */ |
| |
| struct foc_data_b16_s |
| { |
| abc_frame_b16_t v_abc; /* Voltage in ABC frame */ |
| ab_frame_b16_t v_ab; /* Voltage in alpha-beta frame */ |
| dq_frame_b16_t v_dq; /* Requested voltage in dq frame */ |
| ab_frame_b16_t v_ab_mod; /* Modulation voltage normalized to |
| * magnitude (0.0, 1.0) |
| */ |
| |
| abc_frame_b16_t i_abc; /* Current in ABC frame */ |
| ab_frame_b16_t i_ab; /* Current in alpha-beta frame */ |
| dq_frame_b16_t i_dq; /* Current in dq frame */ |
| dq_frame_b16_t i_dq_err; /* DQ current error */ |
| |
| dq_frame_b16_t i_dq_ref; /* Requested current for the FOC |
| * current controller |
| */ |
| |
| pid_controller_b16_t id_pid; /* Current d-axis component PI controller */ |
| pid_controller_b16_t iq_pid; /* Current q-axis component PI controller */ |
| |
| b16_t vdq_mag_max; /* Maximum dq voltage magnitude */ |
| b16_t vab_mod_scale; /* Voltage alpha-beta modulation scale */ |
| |
| phase_angle_b16_t angle; /* Phase angle */ |
| }; |
| |
| /* Motor physical parameters. |
| * This data structure was designed to work with BLDC/PMSM motors, |
| * but probably can be used to describe different types of motors. |
| */ |
| |
| struct motor_phy_params_b16_s |
| { |
| uint8_t p; /* Number of the motor pole pairs */ |
| b16_t flux_link; /* Flux linkage */ |
| b16_t res; /* Average phase-to-neutral resistance */ |
| b16_t ind; /* Average phase-to-neutral inductance */ |
| b16_t one_by_ind; /* Inverse phase-to-neutral inductance */ |
| b16_t one_by_p; /* Inverse number of motor pole pairs */ |
| }; |
| |
| /* PMSM motor physcial parameters */ |
| |
| struct pmsm_phy_params_b16_s |
| { |
| struct motor_phy_params_b16_s motor; /* Motor common PHY */ |
| b16_t iner; /* Rotor inertia */ |
| b16_t ind_d; /* d-inductance */ |
| b16_t ind_q; /* q-inductance */ |
| b16_t one_by_iner; /* One by J */ |
| b16_t one_by_indd; /* One by Ld */ |
| b16_t one_by_indq; /* One by Lq */ |
| }; |
| |
| /* PMSM motor model state */ |
| |
| struct pmsm_model_state_b16_s |
| { |
| /* Motor model phase current */ |
| |
| abc_frame_b16_t i_abc; |
| ab_frame_b16_t i_ab; |
| dq_frame_b16_t i_dq; |
| |
| /* Motor model phase voltage */ |
| |
| abc_frame_b16_t v_abc; |
| ab_frame_b16_t v_ab; |
| dq_frame_b16_t v_dq; |
| |
| /* Motor model angle */ |
| |
| struct motor_angle_b16_s angle; |
| |
| /* Angular speed */ |
| |
| b16_t omega_e; |
| b16_t omega_m; |
| }; |
| |
| /* PMSM motor model external conditions */ |
| |
| struct pmsm_model_ext_b16_s |
| { |
| b16_t load; /* Motor model load torque */ |
| }; |
| |
| /* PMSM motor model */ |
| |
| struct pmsm_model_b16_s |
| { |
| struct pmsm_phy_params_b16_s phy; /* Motor model physical parameters */ |
| struct pmsm_model_state_b16_s state; /* Motor model state */ |
| struct pmsm_model_ext_b16_s ext; /* Motor model external conditions */ |
| b16_t per; /* Control period */ |
| b16_t id_int; /* Id integral part */ |
| b16_t iq_int; /* Iq integral part */ |
| }; |
| |
| /**************************************************************************** |
| * Public Functions Prototypes |
| ****************************************************************************/ |
| |
| #undef EXTERN |
| #if defined(__cplusplus) |
| #define EXTERN extern "C" |
| extern "C" |
| { |
| #else |
| #define EXTERN extern |
| #endif |
| |
| /* Math functions */ |
| |
| b16_t fast_sin_b16(b16_t angle); |
| b16_t fast_sin2_b16(b16_t angle); |
| b16_t fast_cos_b16(b16_t angle); |
| b16_t fast_cos2_b16(b16_t angle); |
| b16_t fast_atan2_b16(b16_t y, b16_t x); |
| void f_saturate_b16(FAR b16_t *val, b16_t min, b16_t max); |
| b16_t vector2d_mag_b16(b16_t x, b16_t y); |
| void vector2d_saturate_b16(FAR b16_t *x, FAR b16_t *y, b16_t max); |
| void dq_saturate_b16(FAR dq_frame_b16_t *dq, b16_t max); |
| b16_t dq_mag_b16(FAR dq_frame_b16_t *dq); |
| |
| /* PID controller functions */ |
| |
| void pid_controller_init_b16(FAR pid_controller_b16_t *pid, |
| b16_t KP, b16_t KI, b16_t KD); |
| void pi_controller_init_b16(FAR pid_controller_b16_t *pid, |
| b16_t KP, b16_t KI); |
| void pid_saturation_set_b16(FAR pid_controller_b16_t *pid, b16_t min, |
| b16_t max); |
| void pi_saturation_set_b16(FAR pid_controller_b16_t *pid, b16_t min, |
| b16_t max); |
| void pid_integral_reset_b16(FAR pid_controller_b16_t *pid); |
| void pi_integral_reset_b16(FAR pid_controller_b16_t *pid); |
| b16_t pi_controller_b16(FAR pid_controller_b16_t *pid, b16_t err); |
| b16_t pid_controller_b16(FAR pid_controller_b16_t *pid, b16_t err); |
| void pi_antiwindup_enable_b16(FAR pid_controller_b16_t *pid, b16_t KC, |
| bool enable); |
| void pi_ireset_enable_b16(FAR pid_controller_b16_t *pid, bool enable); |
| |
| /* Transformation functions */ |
| |
| void clarke_transform_b16(FAR abc_frame_b16_t *abc, FAR ab_frame_b16_t *ab); |
| void inv_clarke_transform_b16(FAR ab_frame_b16_t *ab, |
| FAR abc_frame_b16_t *abc); |
| void park_transform_b16(FAR phase_angle_b16_t *angle, FAR ab_frame_b16_t *ab, |
| FAR dq_frame_b16_t *dq); |
| void inv_park_transform_b16(FAR phase_angle_b16_t *angle, |
| FAR dq_frame_b16_t *dq, FAR ab_frame_b16_t *ab); |
| |
| /* Phase angle related functions */ |
| |
| void angle_norm_b16(FAR b16_t *angle, b16_t per, b16_t bottom, b16_t top); |
| void angle_norm_2pi_b16(FAR b16_t *angle, b16_t bottom, b16_t top); |
| void phase_angle_update_b16(FAR struct phase_angle_b16_s *angle, b16_t val); |
| |
| /* 3-phase system space vector modulation */ |
| |
| void svm3_init_b16(FAR struct svm3_state_b16_s *s); |
| void svm3_b16(FAR struct svm3_state_b16_s *s, FAR ab_frame_b16_t *ab); |
| void svm3_current_correct_b16(FAR struct svm3_state_b16_s *s, |
| b16_t *c0, b16_t *c1, b16_t *c2); |
| |
| /* Field Oriented Control */ |
| |
| void foc_init_b16(FAR struct foc_data_b16_s *foc, |
| FAR struct foc_initdata_b16_s *init); |
| void foc_vbase_update_b16(FAR struct foc_data_b16_s *foc, b16_t vbase); |
| void foc_angle_update_b16(FAR struct foc_data_b16_s *foc, |
| FAR phase_angle_b16_t *angle); |
| void foc_iabc_update_b16(FAR struct foc_data_b16_s *foc, |
| FAR abc_frame_b16_t *i_abc); |
| void foc_voltage_control_b16(FAR struct foc_data_b16_s *foc, |
| FAR dq_frame_b16_t *vdq_ref); |
| void foc_current_control_b16(FAR struct foc_data_b16_s *foc, |
| FAR dq_frame_b16_t *idq_ref, |
| FAR dq_frame_b16_t *vdq_comp, |
| FAR dq_frame_b16_t *v_dq_ref); |
| void foc_vabmod_get_b16(FAR struct foc_data_b16_s *foc, |
| FAR ab_frame_b16_t *v_ab_mod); |
| void foc_vdq_mag_max_get_b16(FAR struct foc_data_b16_s *foc, FAR b16_t *max); |
| |
| /* BLDC/PMSM motor observers */ |
| |
| void motor_sobserver_init_b16(FAR struct motor_sobserver_b16_s *observer, |
| FAR void *so, b16_t per); |
| void motor_aobserver_init_b16(FAR struct motor_aobserver_b16_s *observer, |
| FAR void *ao, b16_t per); |
| b16_t motor_sobserver_speed_get_b16(FAR struct motor_sobserver_b16_s *o); |
| b16_t motor_aobserver_angle_get_b16(FAR struct motor_aobserver_b16_s *o); |
| |
| void motor_aobserver_smo_init_b16(FAR struct motor_aobserver_smo_b16_s *smo, |
| b16_t kslide, b16_t err_max); |
| void motor_aobserver_smo_b16(FAR struct motor_aobserver_b16_s *o, |
| FAR ab_frame_b16_t *i_ab, |
| FAR ab_frame_b16_t *v_ab, |
| FAR struct motor_phy_params_b16_s *phy, |
| b16_t dir, b16_t speed); |
| |
| void motor_sobserver_div_init_b16(FAR struct motor_sobserver_div_b16_s *so, |
| uint8_t samples, b16_t filer, b16_t per); |
| void motor_sobserver_div_b16(FAR struct motor_sobserver_b16_s *o, |
| b16_t angle); |
| |
| void motor_aobserver_nfo_init_b16(FAR struct motor_aobserver_nfo_b16_s *nfo); |
| void motor_aobserver_nfo_b16(FAR struct motor_aobserver_b16_s *o, |
| FAR ab_frame_b16_t *i_ab, |
| FAR ab_frame_b16_t *v_ab, |
| FAR struct motor_phy_params_b16_s *phy, |
| b16_t gain); |
| |
| void motor_sobserver_pll_init_b16(FAR struct motor_sobserver_pll_b16_s *so, |
| b16_t pll_kp, b16_t pll_ki); |
| void motor_sobserver_pll_b16(FAR struct motor_sobserver_b16_s *o, |
| b16_t angle); |
| |
| /* Motor openloop control */ |
| |
| void motor_openloop_init_b16(FAR struct openloop_data_b16_s *op, b16_t per); |
| void motor_openloop_b16(FAR struct openloop_data_b16_s *op, b16_t speed, |
| b16_t dir); |
| b16_t motor_openloop_angle_get_b16(FAR struct openloop_data_b16_s *op); |
| |
| /* Motor angle */ |
| |
| void motor_angle_init_b16(FAR struct motor_angle_b16_s *angle, uint8_t p); |
| void motor_angle_e_update_b16(FAR struct motor_angle_b16_s *angle, |
| b16_t angle_new, b16_t dir); |
| void motor_angle_m_update_b16(FAR struct motor_angle_b16_s *angle, |
| b16_t angle_new, b16_t dir); |
| b16_t motor_angle_m_get_b16(FAR struct motor_angle_b16_s *angle); |
| b16_t motor_angle_e_get_b16(FAR struct motor_angle_b16_s *angle); |
| |
| /* Motor physical parameters */ |
| |
| void motor_phy_params_init_b16(FAR struct motor_phy_params_b16_s *phy, |
| uint8_t poles, b16_t res, b16_t ind, |
| b16_t fluxlink); |
| |
| /* PMSM physical parameters functions */ |
| |
| void pmsm_phy_params_init_b16(FAR struct pmsm_phy_params_b16_s *phy, |
| uint8_t poles, b16_t res, b16_t ind, |
| b16_t iner, b16_t flux, |
| b16_t ind_d, b16_t ind_q); |
| |
| /* PMSM motor model */ |
| |
| int pmsm_model_initialize_b16(FAR struct pmsm_model_b16_s *model, |
| FAR struct pmsm_phy_params_b16_s *phy, |
| b16_t per); |
| int pmsm_model_elec_b16(FAR struct pmsm_model_b16_s *model, |
| FAR ab_frame_b16_t *vab); |
| int pmsm_model_mech_b16(FAR struct pmsm_model_b16_s *model, b16_t load); |
| |
| #undef EXTERN |
| #if defined(__cplusplus) |
| } |
| #endif |
| |
| #endif /* __INCLUDE_DSPB16_H */ |
