nuttx-apps/examples/foc/foc_thr.h

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/****************************************************************************
* apps/examples/foc/foc_thr.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 __APPS_EXAMPLES_FOC_FOC_THR_H
#define __APPS_EXAMPLES_FOC_FOC_THR_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <pthread.h>
#include <mqueue.h>
#include <nuttx/motor/foc/foc.h>
#include "foc_device.h"
/****************************************************************************
* Public Type Definition
****************************************************************************/
/* FOC example state */
enum foc_example_state_e
{
FOC_EXAMPLE_STATE_INVALID = 0, /* Reserved */
FOC_EXAMPLE_STATE_FREE = 1, /* No current */
FOC_EXAMPLE_STATE_STOP = 2, /* Active break */
FOC_EXAMPLE_STATE_CW = 3, /* CW direction */
FOC_EXAMPLE_STATE_CCW = 4, /* CCW direction */
};
/* FOC control mode */
enum foc_foc_mode_e
{
FOC_FMODE_INVALID = 0, /* Reserved */
FOC_FMODE_IDLE = 1, /* IDLE */
FOC_FMODE_VOLTAGE = 2, /* Voltage mode */
FOC_FMODE_CURRENT = 3, /* Current mode */
};
/* Motor control mode */
enum foc_motor_mode_e
{
FOC_MMODE_INVALID = 0, /* Reserved */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
FOC_MMODE_TORQ = 1, /* Torque control */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
FOC_MMODE_VEL = 2, /* Velocity control */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
FOC_MMODE_POS = 3, /* Position control */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
FOC_MMODE_ALIGN_ONLY = 4, /* Sensor alignment only */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
FOC_MMODE_IDENT_ONLY = 5, /* Motor identification only */
#endif
};
/* Controller state */
enum foc_controller_state_e
{
FOC_CTRL_STATE_INVALID = 0,
FOC_CTRL_STATE_INIT,
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
FOC_CTRL_STATE_ALIGN,
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
FOC_CTRL_STATE_IDENT,
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
FOC_CTRL_STATE_RUN_INIT,
FOC_CTRL_STATE_RUN,
#endif
FOC_CTRL_STATE_IDLE,
FOC_CTRL_STATE_TERMINATE
};
/* FOC thread data */
struct foc_ctrl_env_s
{
mqd_t mqd; /* Control msg queue */
int id; /* FOC device id */
int inst; /* Type specific instance counter */
int type; /* Controller type */
int fmode; /* FOC control mode */
int mmode; /* Motor control mode */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
int qparam; /* Open-loop Q setting (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
uint32_t foc_pi_kp; /* FOC PI Kp (x1000) */
uint32_t foc_pi_ki; /* FOC PI Ki (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
uint32_t torqmax; /* Torque max (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
uint32_t velmax; /* Velocity max (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
uint32_t posmax; /* Position max (x1000) */
#endif
};
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
int foc_threads_init(void);
void foc_threads_deinit(void);
bool foc_threads_terminated(void);
int foc_ctrlthr_init(FAR struct foc_ctrl_env_s *foc, int i, FAR mqd_t *mqd,
FAR pthread_t *thread);
#endif /* __APPS_EXAMPLES_FOC_FOC_THR_H */