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industry/foc: add general FOC routine handler

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This commit is contained in:
raiden00pl 2021-10-29 13:10:39 +02:00 committed by Xiang Xiao
parent f5e40d3809
commit 084cfa4e5e
5 changed files with 640 additions and 0 deletions
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140
include/industry/foc/fixed16/foc_routine.h Normal file
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@ -0,0 +1,140 @@
/****************************************************************************
* apps/include/industry/foc/fixed16/foc_routine.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 __INDUSTRY_FOC_FIXED16_FOC_ROUTINE_H
#define __INDUSTRY_FOC_FIXED16_FOC_ROUTINE_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include "industry/foc/fixed16/foc_handler.h"
/****************************************************************************
* Public Type Definition
****************************************************************************/
/* Routine run return */
enum foc_routine_run_e
{
FOC_ROUTINE_RUN_NOTDONE = 0,
FOC_ROUTINE_RUN_DONE = 1
};
/* FOC routine input */
struct foc_routine_in_b16_s
{
FAR struct foc_state_b16_s *foc_state; /* FOC controller state */
b16_t angle; /* Angle now */
b16_t vel; /* Velocity now */
b16_t vbus; /* VBUS now */
};
/* FOC routine output */
struct foc_routine_out_b16_s
{
dq_frame_b16_t dq_ref; /* Output DQ reference */
dq_frame_b16_t vdq_comp; /* Output DQ voltage compensation */
b16_t angle; /* Output phase angle */
int foc_mode; /* Output FOC mode */
};
/* Forward declaration */
typedef struct foc_routine_b16_s foc_routine_b16_t;
/* FOC routine operations */
struct foc_routine_ops_b16_s
{
/* Initialize */
CODE int (*init)(FAR foc_routine_b16_t *h);
/* Deinitialize */
CODE void (*deinit)(FAR foc_routine_b16_t *h);
/* Configure */
CODE int (*cfg)(FAR foc_routine_b16_t *h, FAR void *cfg);
/* Run routine */
CODE int (*run)(FAR foc_routine_b16_t *h,
FAR struct foc_routine_in_b16_s *in,
FAR struct foc_routine_out_b16_s *out);
/* Run routine */
CODE int (*final)(FAR foc_routine_b16_t *h, FAR void *data);
};
/* FOC routine data */
struct foc_routine_b16_s
{
FAR struct foc_routine_ops_b16_s *ops;
FAR void *data;
};
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: foc_routine_init_b16
****************************************************************************/
int foc_routine_init_b16(FAR foc_routine_b16_t *r,
FAR struct foc_routine_ops_b16_s *ops);
/****************************************************************************
* Name: foc_routine_deinit_b16
****************************************************************************/
int foc_routine_deinit_b16(FAR foc_routine_b16_t *r);
/****************************************************************************
* Name: foc_routine_cfg_b16
****************************************************************************/
int foc_routine_cfg_b16(FAR foc_routine_b16_t *r, FAR void *cfg);
/****************************************************************************
* Name: foc_routine_run_b16
****************************************************************************/
int foc_routine_run_b16(FAR foc_routine_b16_t *r,
FAR struct foc_routine_in_b16_s *in,
FAR struct foc_routine_out_b16_s *out);
/****************************************************************************
* Name: foc_routine_final_b16
****************************************************************************/
int foc_routine_final_b16(FAR foc_routine_b16_t *r, FAR void *data);
#endif /* __INDUSTRY_FOC_FIXED16_FOC_ROUTINE_H */

140
include/industry/foc/float/foc_routine.h Normal file
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@ -0,0 +1,140 @@
/****************************************************************************
* apps/include/industry/foc/float/foc_routine.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 __INDUSTRY_FOC_FLOAT_FOC_ROUTINE_H
#define __INDUSTRY_FOC_FLOAT_FOC_ROUTINE_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include "industry/foc/float/foc_handler.h"
/****************************************************************************
* Public Type Definition
****************************************************************************/
/* Routine run return */
enum foc_routine_run_e
{
FOC_ROUTINE_RUN_NOTDONE = 0,
FOC_ROUTINE_RUN_DONE = 1
};
/* FOC routine input */
struct foc_routine_in_f32_s
{
FAR struct foc_state_f32_s *foc_state; /* FOC controller state */
float angle; /* Angle now */
float vel; /* Velocity now */
float vbus; /* VBUS now */
};
/* FOC routine output */
struct foc_routine_out_f32_s
{
dq_frame_f32_t dq_ref; /* Output DQ reference */
dq_frame_f32_t vdq_comp; /* Output DQ voltage compensation */
float angle; /* Output phase angle */
int foc_mode; /* Output FOC mode */
};
/* Forward declaration */
typedef struct foc_routine_f32_s foc_routine_f32_t;
/* FOC routine operations */
struct foc_routine_ops_f32_s
{
/* Initialize */
CODE int (*init)(FAR foc_routine_f32_t *h);
/* Deinitialize */
CODE void (*deinit)(FAR foc_routine_f32_t *h);
/* Configure */
CODE int (*cfg)(FAR foc_routine_f32_t *h, FAR void *cfg);
/* Run routine */
CODE int (*run)(FAR foc_routine_f32_t *h,
FAR struct foc_routine_in_f32_s *in,
FAR struct foc_routine_out_f32_s *out);
/* Run routine */
CODE int (*final)(FAR foc_routine_f32_t *h, FAR void *data);
};
/* FOC routine data */
struct foc_routine_f32_s
{
FAR struct foc_routine_ops_f32_s *ops;
FAR void *data;
};
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: foc_routine_init_f32
****************************************************************************/
int foc_routine_init_f32(FAR foc_routine_f32_t *r,
FAR struct foc_routine_ops_f32_s *ops);
/****************************************************************************
* Name: foc_routine_deinit_f32
****************************************************************************/
int foc_routine_deinit_f32(FAR foc_routine_f32_t *r);
/****************************************************************************
* Name: foc_routine_cfg_f32
****************************************************************************/
int foc_routine_cfg_f32(FAR foc_routine_f32_t *r, FAR void *cfg);
/****************************************************************************
* Name: foc_routine_run_f32
****************************************************************************/
int foc_routine_run_f32(FAR foc_routine_f32_t *r,
FAR struct foc_routine_in_f32_s *in,
FAR struct foc_routine_out_f32_s *out);
/****************************************************************************
* Name: foc_routine_final_f32
****************************************************************************/
int foc_routine_final_f32(FAR foc_routine_f32_t *r, FAR void *data);
#endif /* __INDUSTRY_FOC_FLOAT_FOC_ROUTINE_H */

2
industry/foc/Makefile
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@ -32,6 +32,7 @@ CSRCS += float/foc_ramp.c
CSRCS += float/foc_handler.c
CSRCS += float/foc_angle.c
CSRCS += float/foc_velocity.c
CSRCS += float/foc_routine.c
ifeq ($(CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP),y)
CSRCS += float/foc_openloop.c
endif
@ -61,6 +62,7 @@ CSRCS += fixed16/foc_ramp.c
CSRCS += fixed16/foc_handler.c
CSRCS += fixed16/foc_angle.c
CSRCS += fixed16/foc_velocity.c
CSRCS += fixed16/foc_routine.c
ifeq ($(CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP),y)
CSRCS += fixed16/foc_openloop.c
endif

179
industry/foc/fixed16/foc_routine.c Normal file
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@ -0,0 +1,179 @@
/****************************************************************************
* apps/industry/foc/fixed16/foc_routine.c
*
* 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <assert.h>
#include <errno.h>
#include "industry/foc/foc_log.h"
#include "industry/foc/fixed16/foc_routine.h"
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: foc_routine_init_b16
*
* Description:
* Initialize the FOC routine (fixed16)
*
* Input Parameter:
* r - pointer to FOC routine
* ops - pointer to FOC routine operations
*
****************************************************************************/
int foc_routine_init_b16(FAR foc_routine_b16_t *r,
FAR struct foc_routine_ops_b16_s *ops)
{
int ret = OK;
DEBUGASSERT(r);
DEBUGASSERT(ops);
/* Routine ops */
DEBUGASSERT(ops->init);
DEBUGASSERT(ops->deinit);
DEBUGASSERT(ops->cfg);
DEBUGASSERT(ops->run);
/* Reset routine */
memset(r, 0, sizeof(foc_routine_b16_t));
/* Connect ops */
r->ops = ops;
/* Initialize routine */
ret = r->ops->init(r);
if (ret < 0)
{
FOCLIBERR("ERROR: ops->init failed %d\n", ret);
goto errout;
}
errout:
return ret;
}
/****************************************************************************
* Name: foc_routine_deinit_b16
*
* Description:
* De-initialize the FOC routine (fixed16)
*
* Input Parameter:
* r - pointer to FOC routine
*
****************************************************************************/
int foc_routine_deinit_b16(FAR foc_routine_b16_t *r)
{
int ret = OK;
DEBUGASSERT(r);
/* Deinitialize routine */
r->ops->deinit(r);
/* Reset data */
memset(r, 0, sizeof(foc_routine_b16_t));
return ret;
}
/****************************************************************************
* Name: foc_routine_cfg_b16
*
* Description:
* Configure the FOC routine (fixed16)
*
* Input Parameter:
* r - pointer to FOC routine
* cfg - pointer to routine configuration data
*
****************************************************************************/
int foc_routine_cfg_b16(FAR foc_routine_b16_t *r, FAR void *cfg)
{
DEBUGASSERT(r);
DEBUGASSERT(cfg);
return r->ops->cfg(r, cfg);
}
/****************************************************************************
* Name: foc_routine_run_b16
*
* Description:
* Run the FOC routine (fixed16)
*
* Input Parameter:
* r - pointer to FOC routine
* in - pointer to FOC routine input data
* out - pointer to FOC routine output data
*
****************************************************************************/
int foc_routine_run_b16(FAR foc_routine_b16_t *r,
FAR struct foc_routine_in_b16_s *in,
FAR struct foc_routine_out_b16_s *out)
{
DEBUGASSERT(r);
DEBUGASSERT(in);
DEBUGASSERT(out);
/* Run routine handler */
return r->ops->run(r, in, out);
}
/****************************************************************************
* Name: foc_routine_final_b16
*
* Description:
* Finalize the FOC routine data (fixed16)
*
* Input Parameter:
* r - pointer to FOC routine
* data - pointer to FOC routine final data
*
****************************************************************************/
int foc_routine_final_b16(FAR foc_routine_b16_t *r, FAR void *data)
{
DEBUGASSERT(r);
DEBUGASSERT(data);
/* Finalize routine */
return r->ops->final(r, data);
}

179
industry/foc/float/foc_routine.c Normal file
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@ -0,0 +1,179 @@
/****************************************************************************
* apps/industry/foc/float/foc_routine.c
*
* 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <assert.h>
#include <errno.h>
#include "industry/foc/foc_log.h"
#include "industry/foc/float/foc_routine.h"
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: foc_routine_init_f32
*
* Description:
* Initialize the FOC routine (float32)
*
* Input Parameter:
* r - pointer to FOC routine
* ops - pointer to FOC routine operations
*
****************************************************************************/
int foc_routine_init_f32(FAR foc_routine_f32_t *r,
FAR struct foc_routine_ops_f32_s *ops)
{
int ret = OK;
DEBUGASSERT(r);
DEBUGASSERT(ops);
/* Routine ops */
DEBUGASSERT(ops->init);
DEBUGASSERT(ops->deinit);
DEBUGASSERT(ops->cfg);
DEBUGASSERT(ops->run);
/* Reset routine */
memset(r, 0, sizeof(foc_routine_f32_t));
/* Connect ops */
r->ops = ops;
/* Initialize routine */
ret = r->ops->init(r);
if (ret < 0)
{
FOCLIBERR("ERROR: ops->init failed %d\n", ret);
goto errout;
}
errout:
return ret;
}
/****************************************************************************
* Name: foc_routine_deinit_f32
*
* Description:
* De-initialize the FOC routine (float32)
*
* Input Parameter:
* r - pointer to FOC routine
*
****************************************************************************/
int foc_routine_deinit_f32(FAR foc_routine_f32_t *r)
{
int ret = OK;
DEBUGASSERT(r);
/* Deinitialize routine */
r->ops->deinit(r);
/* Reset data */
memset(r, 0, sizeof(foc_routine_f32_t));
return ret;
}
/****************************************************************************
* Name: foc_routine_cfg_f32
*
* Description:
* Configure the FOC routine (float32)
*
* Input Parameter:
* r - pointer to FOC routine
* cfg - pointer to routine configuration data
*
****************************************************************************/
int foc_routine_cfg_f32(FAR foc_routine_f32_t *r, FAR void *cfg)
{
DEBUGASSERT(r);
DEBUGASSERT(cfg);
return r->ops->cfg(r, cfg);
}
/****************************************************************************
* Name: foc_routine_run_f32
*
* Description:
* Run the FOC routine (float32)
*
* Input Parameter:
* r - pointer to FOC routine
* in - pointer to FOC routine input data
* out - pointer to FOC routine output data
*
****************************************************************************/
int foc_routine_run_f32(FAR foc_routine_f32_t *r,
FAR struct foc_routine_in_f32_s *in,
FAR struct foc_routine_out_f32_s *out)
{
DEBUGASSERT(r);
DEBUGASSERT(in);
DEBUGASSERT(out);
/* Run routine handler */
return r->ops->run(r, in, out);
}
/****************************************************************************
* Name: foc_routine_final_f32
*
* Description:
* Finalize the FOC routine data (float32)
*
* Input Parameter:
* r - pointer to FOC routine
* data - pointer to FOC routine final data
*
****************************************************************************/
int foc_routine_final_f32(FAR foc_routine_f32_t *r, FAR void *data)
{
DEBUGASSERT(r);
DEBUGASSERT(data);
/* Finalize routine */
return r->ops->final(r, data);
}