int main () {
//ifstream ifs("..\\experiment_data\\8_seconds_flight\\bird_data.pbdata", ios::in | ios::binary);
ifstream ifs("C:\\Users\\k\\bird_data.pbdata", ios::in | ios::binary);
assert(ifs.is_open());
//string string_data;
//ifs >> string_data;
proto::BirdOptimizerData data;
if (!data.ParseFromIstream(&ifs)) {
cerr << "Cannot parse protobuf!" << endl;
}
//cout << data.DebugString();
assert(data.IsInitialized());
cout << "Choose from [0-" << data.result_size() << ") results.";
int result_ii;
cin >> result_ii;
const proto::BirdOptimizerResult& result = data.result(result_ii);
const proto::WingbeatData& wingbeat_data = result.bird().wingbeatdata();
vector<double> x1;
vector<double> x2;
vector<double> t;
x1.reserve(wingbeat_data.sample_size());
x2.reserve(wingbeat_data.sample_size());
t.reserve(wingbeat_data.sample_size());
for (int ii = 0; ii < wingbeat_data.sample_size(); ++ii) {
t.push_back(ii);
x1.push_back(wingbeat_data.sample(ii).feather());
x2.push_back(wingbeat_data.sample(ii).wing());
}
Dislin g;
init_dislin(g);
g.graf(0.0, 100.0, 0.0, 100.0, -70.0, 70.0, -70.0, 70.0);
g.color ("red");
g.curve (&t[0], &x1[0], x1.size());
g.color ("blue");
g.curve (&t[0], &x2[0], x2.size());
g.disfin ();
return 0;
}
void init_dislin(Dislin& g) {
g.metafl ("cons");
g.scrmod ("revers");
g.disini ();
g.pagera ();
g.complx ();
g.axspos (450, 1800);
g.axslen (2200, 1200);
g.name ("X-axis", "x");
g.name ("Y-axis", "y");
g.labdig (-1, "x");
g.ticks (9, "x");
g.ticks (10, "y");
g.titlin ("Energy over generations", 1);
g.titlin ("Energy", 3);
int ic = g.intrgb (0.95,0.95,0.95);
g.axsbgd (ic);
//g.graf (0.0, 360.0, 0.0, 90.0, -1.0, 1.0, -1.0, 0.5);
g.setrgb (0.7, 0.7, 0.7);
g.grid (1, 1);
g.color ("fore");
g.height (50);
g.title ();
}
void myplot (int id)
{ string ctitle;
int isel;
double xa, xe, xorg, xstp, ya, ye, yorg, ystp;
if (id != id_but) return; /* Dummy statement */
xa = -180.;
xe = 180.;
xorg = -180.;
xstp = 60.;
ya = -90.;
ye = 90.;
yorg = -90.;
ystp = 30.;
isel = g.gwglis (id_lis);
g.setxid (id_draw, "widget");
g.metafl ("xwin");
g.disini ();
g.erase ();
g.hwfont ();
if (isel >=4 && isel <= 7)
g.noclip ();
else if (isel == 2)
{ ya = -85;
ye = 85;
yorg = -60;
}
else if (isel >= 8 && isel <= 10)
{ ya = 0;
ye = 90;
yorg = 0;
}
g.labdig (-1, "xy");
g.name ("Longitude", "x");
g.name ("Latitude", "y");
g.projct (cl2[isel-1].c_str ());
g.htitle (50);
ctitle = cl1[isel-1];
ctitle += " Projection";
g.titlin (ctitle. c_str (), 3);
g.grafmp (xa, xe, xorg, xstp, ya, ye, yorg, ystp);
g.title ();
g.gridmp (1,1);
g.color ("green");
g.world ();
g.errmod ("protocol", "off");
g.disfin ();
}
int main( int argc, char *argv[], char *env[] )
{
Verilated::commandArgs( argc, argv );
top = new Vbldc_mcasic_enc;
top->clk = 0;
top->eval();
Dislin g;
g.itmstr( "Yes!", 1 );
g.metafl( "CONS" );
g.setpag( "da4l" ); // Page format
static const double power_supply_voltage = 12.0; // [V]
// TODO: Need to account for rounded off encoder counts in HDL.
static const int rotor_pole_pair_cnt = 6;
static const int enc_lpr = 334; // [lines/rev]
top->period = ( enc_lpr << 2 ) / rotor_pole_pair_cnt;
printf( "Electrical commutation period: %d eu\n", top->period );
static const double sqrt3 = sqrt( 3.0 );
static const double enc_res = 2.0 * M_PI / (double)( enc_lpr << 2 ); // [rad/eu]
printf( "Encoder resolution: %.6f rad/eu.\n", enc_res );
static const double dt = 1 / 50E6; // [sec]
static const double tmax = 0.2; // [sec]
static const int step_max = tmax / dt + 1;
printf( "Step max: %d\n", step_max );
static double A[step_max];
static double B[step_max];
// Keep these out of the stack by making them static.
static double t[step_max]; // [sec]
static double stator_phase[step_max];
static double rotor_phase[step_max];
static double mtr_phase[step_max];
static double mtr_vel[step_max];
static double winding_voltage[3][step_max];
top->clk = 0;
top->pwm = 1024;
top->A = 0;
top->B = 0;
top->eval();
typedef struct
{
int A;
int B;
} quad_state_t;
static const quad_state_t quad_state_arr[] =
{
// A, B
{ 0, 0 },
{ 1, 0 },
{ 1, 1 },
{ 0, 1 },
};
static const int quad_state_cnt
= sizeof( quad_state_arr ) / sizeof( quad_state_arr[0] );
static int quad_state_idx = 0;
static double enc_line_phase = 0.0; // [rad] Position of last quadrature state change.
A[0] = quad_state_arr[quad_state_idx].A;
B[0] = quad_state_arr[quad_state_idx].B;
t[0] = 0.0;
stator_phase[0] = 0.0;
rotor_phase[0] = 0.0;
mtr_phase[0] = 0.0;
mtr_vel[0] = 0.0;
// bldc_mcasic_enc( clk, rst, pwm, offset, period, A, B, out );
// First order digital low-pass butterworth filter with cut-off frequency of 100 Hz and sampling frequency of 50 MHz.
static const double Abutter = 0.999987433708342;
static const double Bbutter = 1.777142009174172E-05;
static const double Cbutter = 0.707102338331525;
static const double Dbutter = 6.283145829092713E-06;
static int step_cnt;
for ( step_cnt = 1; step_cnt < step_max; ++step_cnt )
{
t[step_cnt] = t[step_cnt-1] + dt; // [sec]
mtr_vel[step_cnt] = 10; // [rad/sec]
mtr_phase[step_cnt] = mtr_phase[step_cnt-1] + mtr_vel[step_cnt-1] * dt; // [rad]
stator_phase[step_cnt] = 0.0;
rotor_phase[step_cnt] = 0.0;
// Simulate encoder.
if ( mtr_phase[step_cnt] >= enc_line_phase + enc_res )
{
quad_state_idx = ( quad_state_idx + 1 ) % quad_state_cnt;
enc_line_phase += enc_res; // Update the location of the last quadrature state change.
}
else if ( mtr_phase[step_cnt] <= enc_line_phase - enc_res )
{
quad_state_idx = ( quad_state_idx - 1 ) % quad_state_cnt;
enc_line_phase -= enc_res; // Update the location of the last quadrature state change.
}
if ( abs( mtr_phase[step_cnt] - enc_line_phase ) >= enc_res )
{
printf( "Error: Multiple quadrature states in a single timestep."
" Timestep: %.6f sec, velocity: %.3f rad/sec\n",
dt, mtr_vel[step_cnt] );
break;
}
top->A = quad_state_arr[quad_state_idx].A;
top->B = quad_state_arr[quad_state_idx].B;
A[step_cnt] = top->A;
B[step_cnt] = top->B;
top->clk = 1;
top->eval();
top->clk = 0;
top->eval();
static double xpwm[3] = { 0.0, 0.0, 0.0 };
int i;
for ( i = 0; i < 3; ++i )
{
winding_voltage[i][step_cnt] = Cbutter * xpwm[i] + Dbutter * power_supply_voltage * top->out[i];
xpwm[i] = Abutter * xpwm[i] + Bbutter * power_supply_voltage * top->out[i];
}
//printf( "xpwm[2]: %.6f, out[2]: %d\n", xpwm[2], top->out[2] );
}
g.disini(); // Initializes DISLIN
g.pagera();
g.hwfont();
//g.axspos( 450, 1800 );
//g.axslen( 2200, 1200);
g.name( "Time (sec)", "x" );
g.name( "Phase (rad)", "y" );
g.labdig( -1, "x" );
g.ticks( 5, "xy" );
g.titlin( "BLDC MCASIC ENC", 1 );
//g.titlin ("SIN(X), COS(X)", 3);
/*
GRAF plots a two-dimensional axis system.
The call is: CALL GRAF (XA, XE, XOR, XSTP, YA, YE, YOR, YSTP) level 1
or: void graf (float xa, float xe, float xor, float xstp, float ya, float ye, float yor, float ystp);
XA, XE are the lower and upper limits of the X-axis.
XOR, XSTP are the first X-axis label and the step between labels.
YA, YE are the lower and upper limits of the Y-axis.
YOR, YSTP are the first Y-axis label and the step between labels.
*/
//g.graf( -2.0 * M_PI, ( (double)period_cnt + 1.0 ) * 2.0 * M_PI, 0.0, 90.0, -150, 150, -150, 50 );
g.graf( 0.0, tmax, 0.0, 1.0, -10.0, 10.0, -10, 1.0 );
g.title();
g.color( "red" );
g.curve( t, stator_phase, step_max );
g.color( "green" );
g.curve( t, rotor_phase, step_max );
g.color( "blue" );
g.curve( t, mtr_phase, step_max );
g.color( "fore" );
//g.dash(); // Sets dashed line style.
g.xaxgit(); // Plots the line y = 0.
g.endgrf();
// Encoder window.
g.opnwin(2);
g.name( "Time (sec)", "x" );
g.name( "Encoder", "y" );
g.labdig( -1, "x" );
g.ticks( 5, "xy" );
g.graf( 0.0, tmax, 0.0, 1.0, -1.0, 2.0, -1.0, 0.5 );
g.title();
g.color( "red" );
g.curve( t, A, step_max );
g.color( "green" );
g.curve( t, B, step_max );
g.color( "fore" );
g.endgrf();
// Phase voltage window
g.opnwin(3);
g.name( "Time (sec)", "x" );
g.name( "Voltage (V)", "y" );
g.labdig( -1, "x" );
g.ticks( 5, "xy" );
g.graf( 0.0, tmax, 0.0, 1.0, -1.0, power_supply_voltage + 1.0, -1.0, 0.5 );
g.title();
g.color( "red" );
g.curve( t, winding_voltage[0], step_max );
g.color( "green" );
g.curve( t, winding_voltage[1], step_max );
g.color( "blue" );
g.curve( t, winding_voltage[2], step_max );
g.color( "fore" );
g.endgrf();
g.disfin(); // Terminates DISLIN
delete top;
exit( 0 );
}
int main( int argc, char *argv[], char *env[] )
{
Verilated::commandArgs( argc, argv );
top = new Vsine3;
top->clk = 0;
top->eval();
Dislin g;
g.itmstr( "Yes!", 1 );
g.metafl( "CONS" );
g.setpag( "da4l" );
top->period = 64;
const int period_cnt = 2; // [periods]
const int res = 100; // [samples/period]
const int sample_cnt = period_cnt * res; // [samples]
const double dx = 2.0 * M_PI / (double)res;
double x[3][sample_cnt]; // [radians]
double y[3][sample_cnt];
int n;
for ( n = 0; n < sample_cnt; ++n )
{
x[0][n] = (double)n * dx; // [radians]
x[1][n] = x[0][n]; // [radians]
x[2][n] = x[0][n]; // [radians]
top->in0 = (int)round( x[0][n] * (double)top->period / 2.0 / M_PI );
top->in1 = (int)round( ( x[1][n] - 2.0 * M_PI / 3.0 ) * (double)top->period / 2.0 / M_PI );
top->in2 = (int)round( ( x[2][n] + 2.0 * M_PI / 3.0 ) * (double)top->period / 2.0 / M_PI );
top->eval();
y[0][n] = ( (double)(signed char)top->out0 );
y[1][n] = ( (double)(signed char)top->out1 );
y[2][n] = ( (double)(signed char)top->out2 );
//printf( "n: %d, in0: %d, out0: %d\n",
// n, top->in0, (signed char)top->out0 );
}
g.disini();
g.pagera();
g.hwfont();
g.axspos( 450, 1800 );
g.axslen( 2200, 1200) ;
g.name( "Phase (radians)", "x" );
g.name( "Sine (8 bit)", "y" );
g.labdig( -1, "x" );
g.ticks( 10, "xy" );
g.titlin( "Sine simulation", 1 );
//g.titlin ("SIN(X), COS(X)", 3);
g.graf( -2.0 * M_PI, ( (double)period_cnt + 1.0 ) * 2.0 * M_PI, 0.0, 90.0, -150, 150, -150, 50 );
g.title();
g.color( "red" );
g.curve( x[0], y[0], sample_cnt );
g.color( "green" );
g.curve( x[1], y[1], sample_cnt );
g.color( "blue" );
g.curve( x[2], y[2], sample_cnt );
g.color( "fore" );
g.dash();
g.xaxgit();
g.disfin();
delete top;
exit( 0 );
}
void plot_curve(Dislin& g, const vector<double>& x, const vector<double>& y) {
g.color ("red");
g.curve (&x[0], &y[0], x.size());
g.disfin ();
}