Merge remote-tracking branch 'origin/main'

README.md

@@ -10,14 +10,36 @@ __Remarks__: The library is currently not optimized to make it easier to read (w
 
 ## Features
 
-The library provides the following functionalities mainly through C++ objects :
+The library provides the following functionalities mainly through C++ objects.
+
+### Controllers.
+
+Controllers provided are:
  * `Pid()`: Standard form of the PID regulator.
  * `Pr()`: Proportional Resonant regulator.
  * `Rst()`: Discrete form of Polynomial regulator.
+
+`Pid()`, `Pr()` and `Rst()` inherit from the `Controller()` class which define the same interface.
+
+### Filters
+
  * `PllSinus()`: Software PLL (Phased Lock Loop)
  * Digital filters: `LowPassFirstOrdreFilter()`, `NotchFilter()`
 
-`Pid()`, `Pr()` and `Rst()` inherit from the `Controller()` class which define the same interface.
+### Three phase system transformations.
+
+It provides also three phase system transformation through a `static` class : `Transform` from `transform.h` header. 
+* `Idqo = Transform::to_dqo(Iabc, angle);`
+* `Iabc = Transofrm::to_abc(Idqo, angle);`
+* `Iabo = Transform::clarke(Iabc);`
+* `Iabc = Transform::clarke_inverse(Iabo);`
+* `Idqo = Transform::rotation_to_dqo(Iabo, angle)`
+* `Iabo = Transform::rotation_to_clarke(Idqo, angle)`
+
+It includes also types:
+* `threephase_t`
+* `dqo_t`
+* `clarke_t`
 
 
 ## Installation

src/control_factory.cpp

@@ -1,3 +1,27 @@
+/*
+ * Copyright (c) 2024 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGPL-2.1
+ */
+
+/**
+ * @date 2024
+ * @author Régis Ruelland <[email protected]>
+ */
+
 #include "control_factory.h"
 
 Pid ControlFactory::pid(float32_t Ts, float32_t Kp, float32_t Ti, float32_t Td, float32_t N, float32_t lower_bound, float32_t upper_bound) {

src/control_factory.h

@@ -1,3 +1,27 @@
+/*
+ * Copyright (c) 2024 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGPL-2.1
+ */
+
+/**
+ * @date 2024
+ * @author Régis Ruelland <[email protected]>
+ */
+
 #include "pid.h"
 #include "pr.h"
 #include "rst.h"

src/controller.h

@@ -14,7 +14,7 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**

src/filters.cpp

@@ -14,7 +14,7 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**

src/filters.h

@@ -14,7 +14,7 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**

src/fir.cpp

@@ -14,7 +14,7 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**

src/fir.h

@@ -14,13 +14,14 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**
  * @date 2024
  * @author Régis Ruelland <[email protected]>
  */
+
 #ifndef FIR_H_
 #define FIR_H_
 #include <arm_math.h>

src/pid.cpp

@@ -14,13 +14,14 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**
  * @date 2024
  * @author Régis Ruelland <[email protected]>
  */
+
 #include <zephyr/logging/log.h>
 #include <errno.h>
 #include "pid.h"

src/pid.h

@@ -14,13 +14,14 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**
  * @date 2024
  * @author Régis Ruelland <[email protected]>
  */
+
 #ifndef PID_H_
 #define PID_H_
 #include "controller.h"

src/pr.cpp

@@ -14,7 +14,7 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**

src/pr.h

@@ -14,7 +14,7 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**

src/rst.cpp

@@ -14,13 +14,14 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**
  * @date 2024
  * @author Régis Ruelland <[email protected]>
  */
+
 #include <errno.h>
 #include <zephyr/logging/log.h> 
 #include "rst.h"

src/rst.h

@@ -14,13 +14,14 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**
  * @date 2024
  * @author Régis Ruelland <[email protected]>
  */
+
 #ifndef RST_H_
 #define RST_H_
 #include "controller.h"

src/transform.cpp

@@ -1,3 +1,27 @@
+/*
+ * Copyright (c) 2024 LAAS-CNRS
+ *
+ *   This program is free software: you can redistribute it and/or modify
+ *   it under the terms of the GNU Lesser General Public License as published by
+ *   the Free Software Foundation, either version 2.1 of the License, or
+ *   (at your option) any later version.
+ *
+ *   This program is distributed in the hope that it will be useful,
+ *   but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *   GNU Lesser General Public License for more details.
+ *
+ *   You should have received a copy of the GNU Lesser General Public License
+ *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
+ *
+ * SPDX-License-Identifier: LGPL-2.1
+ */
+
+/**
+ * @date 2024
+ * @author Régis Ruelland <[email protected]>
+ */
+
 #include "transform.h"
 
 clarke_t Transform::clarke(three_phase_t Xabc)

src/transform.h

@@ -14,7 +14,7 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 /**
  * @date 2024

src/trigo.cpp

@@ -14,7 +14,7 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**

src/trigo.h

@@ -14,7 +14,7 @@
  *   You should have received a copy of the GNU Lesser General Public License
  *   along with this program.  If not, see <https://www.gnu.org/licenses/>.
  *
- * SPDX-License-Identifier: LGLPV2.1
+ * SPDX-License-Identifier: LGPL-2.1
  */
 
 /**