/**************************************************************************** * apps/examples/foc/foc_cfg.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_CFG_H #define __APPS_EXAMPLES_FOC_FOC_CFG_H /**************************************************************************** * Included Files ****************************************************************************/ #include #include /**************************************************************************** * Pre-processor Definitions ****************************************************************************/ #if defined(CONFIG_EXAMPLES_FOC_SENSORLESS) && \ defined(CONFIG_EXAMPLES_FOC_SENSORED) # error Simultaneous support for sensorless and sensored mode not supported #endif /* For now only sensorless velocity control supported */ #ifdef CONFIG_EXAMPLES_FOC_SENSORLESS # ifndef CONFIG_EXAMPLES_FOC_HAVE_VEL # error # endif #endif /* Open-loop configuration */ #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP # ifndef CONFIG_EXAMPLES_FOC_HAVE_VEL # error open-loop needs CONFIG_EXAMPLES_FOC_HAVE_VEL set # endif # ifndef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP # error open-loop needs CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP # endif #endif /* For now only the FOC PI current controller supported */ #ifndef CONFIG_EXAMPLES_FOC_CONTROL_PI # error For now only the FOC PI current controller supported #endif /* Velocity ramp must be configured */ #if (CONFIG_EXAMPLES_FOC_RAMP_THR == 0) # error CONFIG_EXAMPLES_FOC_RAMP_THR not configured #endif #if (CONFIG_EXAMPLES_FOC_RAMP_ACC == 0) # error CONFIG_EXAMPLES_FOC_RAMP_ACC not configured #endif #if (CONFIG_EXAMPLES_FOC_RAMP_DEC == 0) # error CONFIG_EXAMPLES_FOC_RAMP_DEC not configured #endif /* Motor identification support */ #ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT # if (CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT == 0) # error CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT not configured # endif # if (CONFIG_EXAMPLES_FOC_IDENT_RES_KI == 0) # error CONFIG_EXAMPLES_FOC_IDENT_RES_KI not configured # endif # if (CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE == 0) # error CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE not configured # endif # if (CONFIG_EXAMPLES_FOC_IDENT_RES_SEC == 0) # error CONFIG_EXAMPLES_FOC_IDENT_RES_SEC not configured # endif # if (CONFIG_EXAMPLES_FOC_IDENT_IND_SEC == 0) # error CONFIG_EXAMPLES_FOC_IDENT_IND_SEC not configured # endif #endif /* Printer prescaler */ #if defined(CONFIG_INDUSTRY_FOC_HANDLER_PRINT) && \ (CONFIG_EXAMPLES_FOC_STATE_PRINT_FREQ > 0) # define FOC_STATE_PRINT_PRE (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ / \ CONFIG_EXAMPLES_FOC_STATE_PRINT_FREQ) #else # undef FOC_STATE_PRINT_PRE #endif /* Velocity ramp configuration */ #define RAMP_CFG_THR (CONFIG_EXAMPLES_FOC_RAMP_THR / 1.0f) #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM /* PMSM model parameters */ # define FOC_MODEL_POLES 7 # define FOC_MODEL_LOAD (1.0f) # define FOC_MODEL_RES (0.11f) # define FOC_MODEL_IND (0.0002f) # define FOC_MODEL_INER (0.1f) # define FOC_MODEL_FLUX (0.001f) # define FOC_MODEL_INDD (0.0002f) # define FOC_MODEL_INDQ (0.0002f) #endif /* Qenco configuration */ #ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO # if CONFIG_EXAMPLES_FOC_MOTOR_POLES == 0 # error CONFIG_EXAMPLES_FOC_MOTOR_POLES must be defined # endif # if CONFIG_EXAMPLES_FOC_QENCO_POSMAX == 0 # error CONFIG_EXAMPLES_FOC_QENCO_POSMAX must be defined # endif #endif /* Setpoint source must be specified */ #if !defined(CONFIG_EXAMPLES_FOC_SETPOINT_CONST) && \ !defined(CONFIG_EXAMPLES_FOC_SETPOINT_ADC) && \ !defined(CONFIG_EXAMPLES_FOC_SETPOINT_CHAR) # error setpoint source not selected #endif /* Setpoint ADC scale factor */ #ifdef CONFIG_EXAMPLES_FOC_SETPOINT_ADC # define SETPOINT_INTF_SCALE (1.0f / CONFIG_EXAMPLES_FOC_ADC_MAX) #endif /* If constant setpoint is selected, setpoint value must be provided */ #ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST # define SETPOINT_INTF_SCALE (1) # if CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE == 0 # error CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE not configured # endif #endif /* CHARCTRL setpoint control */ #ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CHAR # define SETPOINT_INTF_SCALE (1.0f / (CONFIG_EXAMPLES_FOC_SETPOINT_MAX / 1000.0f)) #endif /* VBUS source must be specified */ #if !defined(CONFIG_EXAMPLES_FOC_VBUS_CONST) && \ !defined(CONFIG_EXAMPLES_FOC_VBUS_ADC) # error no VBUS source selected ! #endif /* VBUS ADC scale factor */ #ifdef CONFIG_EXAMPLES_FOC_VBUS_ADC # define VBUS_ADC_SCALE (CONFIG_EXAMPLES_FOC_ADC_VREF * \ CONFIG_EXAMPLES_FOC_VBUS_SCALE / \ CONFIG_EXAMPLES_FOC_ADC_MAX / \ 1000.0f / \ 1000.0f) #endif /* If constant VBUS is selected, VBUS value must be provided */ #ifdef CONFIG_EXAMPLES_FOC_VBUS_CONST # define VBUS_ADC_SCALE (1) # define VBUS_CONST_VALUE (CONFIG_EXAMPLES_FOC_VBUS_CONST_VALUE / 1000.0f) # if CONFIG_EXAMPLES_FOC_VBUS_CONST_VALUE == 0 # error CONFIG_EXAMPLES_FOC_VBUS_CONST_VALUE not configured # endif #endif /* Velocity controller prescaler */ #define VEL_CONTROL_PRESCALER (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ / \ CONFIG_EXAMPLES_FOC_VELCTRL_FREQ) /* Open-loop to observer angle merge factor */ #ifdef CONFIG_EXAMPLES_FOC_SENSORLESS # if CONFIG_EXAMPLES_FOC_ANGOBS_MERGE_RATIO > 0 # define ANGLE_MERGE_FACTOR (CONFIG_EXAMPLES_FOC_ANGOBS_MERGE_RATIO / 100.0f) # endif #endif /**************************************************************************** * Public Type Definition ****************************************************************************/ struct foc_thr_cfg_s { int fmode; /* FOC control mode */ int mmode; /* Motor control mode */ #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP uint32_t qparam; /* Open-loop Q setting (x1000) */ bool ol_force; /* Force open-loop */ # ifdef CONFIG_EXAMPLES_FOC_ANGOBS uint32_t ol_thr; /* Observer vel threshold [x1] */ uint32_t ol_hys; /* Observer vel hysteresys [x1] */ # endif #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) */ uint32_t acc; /* Acceleration (x1) */ uint32_t dec; /* Deceleration (x1) */ #endif #ifdef CONFIG_EXAMPLES_FOC_HAVE_POS uint32_t posmax; /* Position max (x1000) */ #endif #ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT uint32_t ident_res_ki; /* Ident res Ki (x1000) */ uint32_t ident_res_curr; /* Ident res current (x1000) */ uint32_t ident_res_sec; /* Ident res sec */ uint32_t ident_ind_volt; /* Ident res voltage (x1000) */ uint32_t ident_ind_sec; /* Ident ind sec */ #endif #ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL uint32_t vel_filter; /* Velocity filter (x1000) */ #endif #ifdef CONFIG_EXAMPLES_FOC_VELOBS_PLL uint32_t vel_pll_kp; /* Vel PLL observer Kp (x1000) */ uint32_t vel_pll_ki; /* Vel PLL observer Ki (x1000) */ #endif #ifdef CONFIG_EXAMPLES_FOC_VELOBS_DIV uint32_t vel_div_samples; /* Vel DIV observer samples */ uint32_t vel_div_filter; /* Vel DIV observer filter (x1000) */ #endif #ifdef CONFIG_EXAMPLES_FOC_VELCTRL_PI uint32_t vel_pi_kp; /* Vel controller PI Kp (x1000000) */ uint32_t vel_pi_ki; /* Vel controller PI Ki (x1000000) */ #endif #ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO uint32_t ang_nfo_slow; /* Ang NFO slow gain (x1) */ uint32_t ang_nfo_gain; /* Ang NFO gain (x1) */ #endif }; #endif /* __APPS_EXAMPLES_FOC_FOC_CFG_H */