Made changes for compatible definitions and constructors

Shobuj-Paul · Feb 22, 2024 · 279f025 · 279f025
1 parent 21eaf7e
commit 279f025
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Showing 8 changed files with 37 additions and 21 deletions.
diff --git a/include/math/operators.hpp b/include/math/operators.hpp
@@ -16,7 +16,7 @@ class integrator
   float output, input_prev, Ts;
 
 public:
-  integrator();
+  integrator(float initial_value = 0);
   float loop(float input, float Ts);
 };
 

diff --git a/include/observers/bemf_observer.hpp b/include/observers/bemf_observer.hpp
@@ -15,16 +15,21 @@ struct BemfOutput
 
 class BemfObserver
 {
-  DQUpdate dq_update;
-  Tracker tracker;
   float speed_prev, angle_prev, Vbus_prev;
 
 public:
-  BemfObserver();
-  BemfOutput loop(math::FrameABC line_currents, math::FrameABC line_voltages, math::FrameABC duties, float Vbus,
-                  const float Ts, const SetBemfParams& set_bemf_params, const SetTrackerParams& set_tracker_params,
-                  const ExtBemfParams& ext_bemf_params, const ExtTrackerParams& ext_tracker_params,
-                  uint8_t pos_obs_mode, uint8_t idle_mode, uint8_t opmode, const uint8_t num_rotor_poles,
-                  const uint8_t freq_mode, bool force_bemf, bool en_dis_6_step_comm);
+  DQUpdate dq_update;
+  Tracker tracker;
+  float Ts;
+
+  BemfObserver(const float Ts = 0);
+  BemfOutput loop(const math::FrameABC& line_currents, const math::FrameABC& line_voltages,
+                  const math::FrameABC& duties, float Vbus,
+                  const SetBemfParams& set_bemf_params,
+                  const SetTrackerParams& set_tracker_params,
+                  const ExtBemfParams& ext_bemf_params,
+                  const ExtTrackerParams& ext_tracker_params, const uint8_t pos_obs_mode,
+                  const uint8_t idle_mode, const uint8_t opmode, const uint8_t num_rotor_poles,
+                  const uint8_t freq_mode, const bool force_bemf, const bool en_dis_6_step_comm);
 };
 }  // namespace observers
diff --git a/include/observers/dq_update.hpp b/include/observers/dq_update.hpp
@@ -71,10 +71,11 @@ class DQUpdate
   controllers::PIController d_axis, q_axis;
 
 public:
-  DQUpdate();
   controllers::PIConfig config;
   BemfGains gains;
 
+  DQUpdate();
+  DQUpdate(controllers::PIConfig config, BemfGains gains);
   float loop(math::FrameAlphaBeta currents, math::FrameAlphaBeta voltages, float angular_velocity, float rotor_angle,
              const SetBemfParams& set_params = SetBemfParams(), const ExtBemfParams& ext_params = ExtBemfParams());
   math::FrameDQ get_emfs() const;

diff --git a/include/observers/tracker.hpp b/include/observers/tracker.hpp
@@ -36,7 +36,9 @@ class Tracker
 
 public:
   controllers::PIConfig config;
+
   Tracker() = default;
+  Tracker(controllers::PIConfig config);
   float loop(float phase_error, const SetTrackerParams& params = SetTrackerParams(),
              const ExtTrackerParams& ext_params = ExtTrackerParams());
   float speed_tracker(float angle_est, float Ts);

diff --git a/src/math/operators.cpp b/src/math/operators.cpp
@@ -11,7 +11,7 @@ float math::differentiator::loop(float input, float Ts)
   return output;
 }
 
-math::integrator::integrator() : output(0), input_prev(0)
+math::integrator::integrator(float initial_value) : output(0), input_prev(initial_value)
 {
 }
 

diff --git a/src/observers/bemf_observer.cpp b/src/observers/bemf_observer.cpp
@@ -1,17 +1,17 @@
 #include <observers/bemf_observer.hpp>
 
-observers::BemfObserver::BemfObserver() : speed_prev(0), angle_prev(0)
+observers::BemfObserver::BemfObserver(const float Ts) : speed_prev(0), angle_prev(0), Ts(Ts)
 {
 }
 
-observers::BemfOutput observers::BemfObserver::loop(math::FrameABC line_currents, math::FrameABC line_voltages,
-                                                    math::FrameABC duties, float Vbus, const float Ts,
+observers::BemfOutput observers::BemfObserver::loop(const math::FrameABC& line_currents, const math::FrameABC& line_voltages,
+                                                    const math::FrameABC& duties, float Vbus,
                                                     const SetBemfParams& set_bemf_params,
                                                     const SetTrackerParams& set_tracker_params,
                                                     const ExtBemfParams& ext_bemf_params,
-                                                    const ExtTrackerParams& ext_tracker_params, uint8_t pos_obs_mode,
-                                                    uint8_t idle_mode, uint8_t opmode, const uint8_t num_rotor_poles,
-                                                    const uint8_t freq_mode, bool force_bemf, bool en_dis_6_step_comm)
+                                                    const ExtTrackerParams& ext_tracker_params, const uint8_t pos_obs_mode,
+                                                    const uint8_t idle_mode, const uint8_t opmode, const uint8_t num_rotor_poles,
+                                                    const uint8_t freq_mode, const bool force_bemf, const bool en_dis_6_step_comm)
 {
   observers::BemfOutput output;
 
@@ -39,11 +39,11 @@ observers::BemfOutput observers::BemfObserver::loop(math::FrameABC line_currents
   }
 
   dq_update.gains = observers::BemfGains(0.0001, 0.0001, 0.1, Ts, 0);
-  dq_update.config = [freq_mode, opmode, Ts]() {
+  dq_update.config = [freq_mode, opmode, this]() {
     controllers::PIConfig config = { 0.1, 0.1, Ts, -180, 180 };
     return config;
   }();
-  tracker.config = [freq_mode, opmode, Ts]() {
+  tracker.config = [freq_mode, opmode, this]() {
     controllers::PIConfig config = { 0.1, 0.1, Ts, -180, 180 };
     return config;
   }();
@@ -64,7 +64,7 @@ observers::BemfOutput observers::BemfObserver::loop(math::FrameABC line_currents
       return speed * alpha + (1 - alpha) * speed_prev;
   }();
   output.m_speed_rpm = angular_velocity * 30 / (PI * num_rotor_poles / 2);
-  output.e_theta_deg = [angular_velocity, angle, Ts, this]() -> float {
+  output.e_theta_deg = [angular_velocity, angle, this]() -> float {
     float e_theta_deg = (angular_velocity * Ts + angle) * 180 / PI;
     if (e_theta_deg > 180)
       e_theta_deg -= 360;

diff --git a/src/observers/dq_update.cpp b/src/observers/dq_update.cpp
@@ -5,6 +5,10 @@ observers::DQUpdate::DQUpdate() : I_prev(0, 0), X_prev(0, 0), E(0, 0)
 {
 }
 
+observers::DQUpdate::DQUpdate(controllers::PIConfig config, BemfGains gains) : I_prev(0, 0), X_prev(0, 0), E(0, 0), config(config), gains(gains)
+{
+}
+
 float observers::DQUpdate::loop(math::FrameAlphaBeta currents, math::FrameAlphaBeta voltages, float angular_velocity,
                                   float rotor_angle, const SetBemfParams& set_params, const ExtBemfParams& ext_params)
 {

diff --git a/src/observers/tracker.cpp b/src/observers/tracker.cpp
@@ -1,6 +1,6 @@
 #include <observers/tracker.hpp>
 
-float observers::Tracker::loop(float phase_error, controllers::PIConfig config, const SetTrackerParams& set_params,
+float observers::Tracker::loop(float phase_error, const SetTrackerParams& set_params,
                                const ExtTrackerParams& ext_params)
 {
   if (set_params.error)
@@ -12,6 +12,10 @@ float observers::Tracker::loop(float phase_error, controllers::PIConfig config,
   return angle_est;
 }
 
+observers::Tracker::Tracker(controllers::PIConfig config) : config(config)
+{
+}
+
 float observers::Tracker::speed_tracker(float angle_est, float Ts)
 {
   return angle_integrator.loop(angle_est, Ts);