100 lines
4.5 KiB
C
100 lines
4.5 KiB
C
|
/****************************************************************************
|
||
|
|
* apps/examples/foc/foc_motor_b16.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 __EXAMPLES_FOC_FOC_MOTOR_B16_H
|
||
|
|
#define __EXAMPLES_FOC_FOC_MOTOR_B16_H
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Included Files
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
#include <nuttx/config.h>
|
||
|
|
|
||
|
|
#include "foc_mq.h"
|
||
|
|
#include "foc_thr.h"
|
||
|
|
|
||
|
|
#include "industry/foc/fixed16/foc_handler.h"
|
||
|
|
#include "industry/foc/fixed16/foc_ramp.h"
|
||
|
|
#include "industry/foc/fixed16/foc_angle.h"
|
||
|
|
#include "industry/foc/fixed16/foc_velocity.h"
|
||
|
|
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
|
||
|
|
# include "industry/foc/fixed16/foc_model.h"
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Pre-processor Definitions
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Public Type Definition
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
/* FOC motor data (fixed16) */
|
||
|
|
|
||
|
|
struct foc_motor_b16_s
|
||
|
|
{
|
||
|
|
FAR struct foc_ctrl_env_s *envp; /* Thread env */
|
||
|
|
bool fault; /* Fault flag */
|
||
|
|
bool startstop; /* Start/stop request */
|
||
|
|
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
|
||
|
|
bool openloop_now; /* Open-loop now */
|
||
|
|
b16_t angle_ol; /* Phase angle open-loop */
|
||
|
|
foc_angle_b16_t openloop; /* Open-loop angle handler */
|
||
|
|
#endif
|
||
|
|
int foc_mode; /* FOC mode */
|
||
|
|
b16_t vbus; /* Power bus voltage */
|
||
|
|
b16_t angle_now; /* Phase angle now */
|
||
|
|
b16_t vel_set; /* Velocity setting now */
|
||
|
|
b16_t vel_now; /* Velocity now */
|
||
|
|
b16_t vel_des; /* Velocity destination */
|
||
|
|
b16_t dir; /* Motor's direction */
|
||
|
|
b16_t per; /* Controller period in seconds */
|
||
|
|
b16_t iphase_adc; /* Iphase ADC scaling factor */
|
||
|
|
b16_t pwm_duty_max; /* PWM duty max */
|
||
|
|
dq_frame_b16_t dq_ref; /* DQ reference */
|
||
|
|
dq_frame_b16_t vdq_comp; /* DQ voltage compensation */
|
||
|
|
foc_handler_b16_t handler; /* FOC controller */
|
||
|
|
struct foc_mq_s mq; /* MQ data */
|
||
|
|
struct foc_state_b16_s foc_state; /* FOC controller sate */
|
||
|
|
struct foc_ramp_b16_s ramp; /* Velocity ramp data */
|
||
|
|
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
|
||
|
|
struct foc_model_b16_s model; /* Model handler */
|
||
|
|
struct foc_model_state_b16_s model_state; /* PMSM model state */
|
||
|
|
#endif
|
||
|
|
};
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Public Data
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
/****************************************************************************
|
||
|
|
* Public Function Prototypes
|
||
|
|
****************************************************************************/
|
||
|
|
|
||
|
|
int foc_motor_init(FAR struct foc_motor_b16_s *motor,
|
||
|
|
FAR struct foc_ctrl_env_s *envp);
|
||
|
|
int foc_motor_deinit(FAR struct foc_motor_b16_s *motor);
|
||
|
|
int foc_motor_get(FAR struct foc_motor_b16_s *motor);
|
||
|
|
int foc_motor_control(FAR struct foc_motor_b16_s *motor);
|
||
|
|
int foc_motor_handle(FAR struct foc_motor_b16_s *motor,
|
||
|
|
FAR struct foc_mq_s *handle);
|
||
|
|
|
||
|
|
#endif /* __EXAMPLES_FOC_FOC_MOTOR_B16_H */
|