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nuttx-apps/examples/foc/foc_motor_b16.c

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/****************************************************************************
* apps/examples/foc/foc_motor_b16.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 "foc_motor_b16.h"
#include "foc_cfg.h"
#include "foc_debug.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Type Definition
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
/****************************************************************************
* Name: foc_align_dir_cb
****************************************************************************/
static int foc_align_zero_cb(FAR void *priv, b16_t offset)
{
FAR foc_angle_b16_t *angle = (FAR foc_angle_b16_t *)priv;
DEBUGASSERT(angle);
UNUSED(offset);
return foc_angle_zero_b16(angle);
}
/****************************************************************************
* Name: foc_align_dir_cb
****************************************************************************/
static int foc_align_dir_cb(FAR void *priv, b16_t dir)
{
FAR foc_angle_b16_t *angle = (FAR foc_angle_b16_t *)priv;
DEBUGASSERT(angle);
return foc_angle_dir_b16(angle, dir);
}
/****************************************************************************
* Name: foc_motor_align
****************************************************************************/
static int foc_motor_align(FAR struct foc_motor_b16_s *motor, FAR bool *done)
{
struct foc_routine_in_b16_s in;
struct foc_routine_out_b16_s out;
struct foc_routine_aling_final_b16_s final;
int ret = OK;
/* Get input */
in.foc_state = &motor->foc_state;
in.angle = motor->angle_now;
in.angle_m = motor->angle_m;
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
in.vel = motor->vel.now;
#endif
in.vbus = motor->vbus;
/* Run align procedure */
ret = foc_routine_run_b16(&motor->align, &in, &out);
if (ret < 0)
{
PRINTFV("ERROR: foc_routine_run_b16 failed %d!\n", ret);
goto errout;
}
if (ret == FOC_ROUTINE_RUN_DONE)
{
ret = foc_routine_final_b16(&motor->align, &final);
if (ret < 0)
{
PRINTFV("ERROR: foc_routine_final_b16 failed %d!\n", ret);
goto errout;
}
PRINTF("Aling results:\n");
PRINTF(" dir = %.2f\n", b16tof(final.dir));
PRINTF(" offset = %.2f\n", b16tof(final.offset));
*done = true;
}
/* Copy output */
motor->dq_ref.d = out.dq_ref.d;
motor->dq_ref.q = out.dq_ref.q;
motor->vdq_comp.d = out.vdq_comp.d;
motor->vdq_comp.q = out.vdq_comp.q;
motor->angle_now = out.angle;
motor->foc_mode = out.foc_mode;
errout:
return ret;
}
#endif
/****************************************************************************
* Name: foc_runmode_init
****************************************************************************/
static int foc_runmode_init(FAR struct foc_motor_b16_s *motor)
{
int ret = OK;
switch (motor->envp->fmode)
{
case FOC_FMODE_IDLE:
{
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
break;
}
case FOC_FMODE_VOLTAGE:
{
motor->foc_mode = FOC_HANDLER_MODE_VOLTAGE;
break;
}
case FOC_FMODE_CURRENT:
{
motor->foc_mode = FOC_HANDLER_MODE_CURRENT;
break;
}
default:
{
PRINTF("ERROR: unsupported op mode %d\n", motor->envp->fmode);
ret = -EINVAL;
goto errout;
}
}
/* Force open-loop if sensorlesss */
#ifdef CONFIG_EXAMPLES_FOC_SENSORLESS
# ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
motor->openloop_now = true;
# else
# error
# endif
#endif
errout:
return ret;
}
/****************************************************************************
* Name: foc_motor_configure
****************************************************************************/
static int foc_motor_configure(FAR struct foc_motor_b16_s *motor)
{
#ifdef CONFIG_INDUSTRY_FOC_CONTROL_PI
struct foc_initdata_b16_s ctrl_cfg;
#endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
struct foc_mod_cfg_b16_s mod_cfg;
#endif
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
struct foc_model_pmsm_cfg_b16_s pmsm_cfg;
#endif
int ret = OK;
DEBUGASSERT(motor);
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
/* Initialize velocity ramp */
ret = foc_ramp_init_b16(&motor->ramp,
motor->per,
ftob16(RAMP_CFG_THR),
ftob16(RAMP_CFG_ACC),
ftob16(RAMP_CFG_ACC));
if (ret < 0)
{
PRINTF("ERROR: foc_ramp_init failed %d\n", ret);
goto errout;
}
#endif
/* Initialize FOC handler */
ret = foc_handler_init_b16(&motor->handler,
&g_foc_control_pi_b16,
&g_foc_mod_svm3_b16);
if (ret < 0)
{
PRINTF("ERROR: foc_handler_init failed %d\n", ret);
goto errout;
}
#ifdef CONFIG_INDUSTRY_FOC_CONTROL_PI
/* Get PI controller configuration */
ctrl_cfg.id_kp = ftob16(motor->envp->pi_kp / 1000.0f);
ctrl_cfg.id_ki = ftob16(motor->envp->pi_ki / 1000.0f);
ctrl_cfg.iq_kp = ftob16(motor->envp->pi_kp / 1000.0f);
ctrl_cfg.iq_ki = ftob16(motor->envp->pi_ki / 1000.0f);
#endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
/* Get SVM3 modulation configuration */
mod_cfg.pwm_duty_max = motor->pwm_duty_max;
#endif
/* Configure FOC handler */
foc_handler_cfg_b16(&motor->handler, &ctrl_cfg, &mod_cfg);
#ifdef CONFIG_EXAMPLES_FOC_MOTOR_POLES
/* Configure motor poles */
motor->poles = CONFIG_EXAMPLES_FOC_MOTOR_POLES;
#endif
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
/* Initialize PMSM model */
ret = foc_model_init_b16(&motor->model,
&g_foc_model_pmsm_ops_b16);
if (ret < 0)
{
PRINTF("ERROR: foc_model_init failed %d\n", ret);
goto errout;
}
/* Get PMSM model configuration */
pmsm_cfg.poles = FOC_MODEL_POLES;
pmsm_cfg.res = ftob16(FOC_MODEL_RES);
pmsm_cfg.ind = ftob16(FOC_MODEL_IND);
pmsm_cfg.iner = ftob16(FOC_MODEL_INER);
pmsm_cfg.flux_link = ftob16(FOC_MODEL_FLUX);
pmsm_cfg.ind_d = ftob16(FOC_MODEL_INDD);
pmsm_cfg.ind_q = ftob16(FOC_MODEL_INDQ);
pmsm_cfg.per = motor->per;
pmsm_cfg.iphase_adc = motor->iphase_adc;
/* Configure PMSM model */
foc_model_cfg_b16(&motor->model, &pmsm_cfg);
#endif
errout:
return ret;
}
/****************************************************************************
* Name: foc_motor_vbus
****************************************************************************/
static int foc_motor_vbus(FAR struct foc_motor_b16_s *motor, uint32_t vbus)
{
DEBUGASSERT(motor);
/* Update motor VBUS */
motor->vbus = b16muli(vbus, ftob16(VBUS_ADC_SCALE));
return OK;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
/****************************************************************************
* Name: foc_motor_torq
****************************************************************************/
static int foc_motor_torq(FAR struct foc_motor_b16_s *motor, uint32_t torq)
{
b16_t tmp1 = 0;
b16_t tmp2 = 0;
DEBUGASSERT(motor);
/* Update motor torqocity destination
* NOTE: torqmax may not fit in b16_t so we can't use b16idiv()
*/
tmp1 = itob16(motor->envp->torqmax / 1000);
tmp2 = b16mulb16(ftob16(SETPOINT_ADC_SCALE), tmp1);
motor->torq.des = b16muli(tmp2, torq);
return OK;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
/****************************************************************************
* Name: foc_motor_vel
****************************************************************************/
static int foc_motor_vel(FAR struct foc_motor_b16_s *motor, uint32_t vel)
{
b16_t tmp1 = 0;
b16_t tmp2 = 0;
DEBUGASSERT(motor);
/* Update motor velocity destination
* NOTE: velmax may not fit in b16_t so we can't use b16idiv()
*/
tmp1 = itob16(motor->envp->velmax / 1000);
tmp2 = b16mulb16(ftob16(SETPOINT_ADC_SCALE), tmp1);
motor->vel.des = b16muli(tmp2, vel);
return OK;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
/****************************************************************************
* Name: foc_motor_pos
****************************************************************************/
static int foc_motor_pos(FAR struct foc_motor_b16_s *motor, uint32_t pos)
{
b16_t tmp1 = 0;
b16_t tmp2 = 0;
DEBUGASSERT(motor);
/* Update motor posocity destination
* NOTE: posmax may not fit in b16_t so we can't use b16idiv()
*/
tmp1 = itob16(motor->envp->posmax / 1000);
tmp2 = b16mulb16(ftob16(SETPOINT_ADC_SCALE), tmp1);
motor->pos.des = b16muli(tmp2, pos);
return OK;
}
#endif
/****************************************************************************
* Name: foc_motor_setpoint
****************************************************************************/
static int foc_motor_setpoint(FAR struct foc_motor_b16_s *motor, uint32_t sp)
{
int ret = OK;
switch (motor->envp->mmode)
{
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
case FOC_MMODE_TORQ:
{
/* Update motor torque destination */
ret = foc_motor_torq(motor, sp);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_torq failed %d!\n", ret);
goto errout;
}
break;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
case FOC_MMODE_VEL:
{
/* Update motor velocity destination */
ret = foc_motor_vel(motor, sp);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_vel failed %d!\n", ret);
goto errout;
}
break;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
case FOC_MMODE_POS:
{
/* Update motor position destination */
ret = foc_motor_pos(motor, sp);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_pos failed %d!\n", ret);
goto errout;
}
break;
}
#endif
default:
{
PRINTF("ERROR: unsupported ctrl mode %d\n", motor->envp->mmode);
ret = -EINVAL;
goto errout;
}
}
errout:
return ret;
}
/****************************************************************************
* Name: foc_motor_state
****************************************************************************/
static int foc_motor_state(FAR struct foc_motor_b16_s *motor, int state)
{
int ret = OK;
DEBUGASSERT(motor);
/* Update motor state */
switch (state)
{
case FOC_EXAMPLE_STATE_FREE:
{
motor->dir = DIR_NONE_B16;
/* Force DQ vector to zero */
motor->dq_ref.q = 0;
motor->dq_ref.d = 0;
break;
}
case FOC_EXAMPLE_STATE_STOP:
{
motor->dir = DIR_NONE_B16;
/* DQ vector not zero - active brake */
break;
}
case FOC_EXAMPLE_STATE_CW:
{
motor->dir = DIR_CW_B16;
break;
}
case FOC_EXAMPLE_STATE_CCW:
{
motor->dir = DIR_CCW_B16;
break;
}
default:
{
ret = -EINVAL;
goto errout;
}
}
/* Reset current setpoint */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
motor->torq.set = 0;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
motor->vel.set = 0;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
motor->pos.set = 0;
#endif
errout:
return ret;
}
/****************************************************************************
* Name: foc_motor_start
****************************************************************************/
static int foc_motor_start(FAR struct foc_motor_b16_s *motor, bool start)
{
int ret = OK;
DEBUGASSERT(motor);
if (start == true)
{
/* Start motor if VBUS data present */
if (motor->mq.vbus > 0)
{
/* Configure motor controller */
PRINTF("Configure motor %d!\n", motor->envp->id);
ret = foc_motor_configure(motor);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_configure failed %d!\n", ret);
goto errout;
}
/* Start/stop FOC dev request */
motor->startstop = true;
}
}
else
{
/* Start/stop FOC dev request */
motor->startstop = true;
}
errout:
return ret;
}
/****************************************************************************
* Name: foc_motor_run
****************************************************************************/
static int foc_motor_run(FAR struct foc_motor_b16_s *motor)
{
b16_t q_ref = 0;
b16_t d_ref = 0;
int ret = OK;
DEBUGASSERT(motor);
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
/* Open-loop works only in velocity control mode */
if (motor->openloop_now == true)
{
# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
if (motor->envp->mmode != FOC_MMODE_VEL)
#endif
{
PRINTF("ERROR: open-loop only with FOC_MMODE_VEL\n");
ret = -EINVAL;
goto errout;
}
}
#endif
/* Get previous DQ */
q_ref = motor->dq_ref.q;
d_ref = motor->dq_ref.d;
/* Controller */
switch (motor->envp->mmode)
{
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
case FOC_MMODE_TORQ:
{
motor->torq.set = b16mulb16(motor->dir, motor->torq.des);
q_ref = motor->torq.set;
d_ref = 0;
break;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
case FOC_MMODE_VEL:
{
/* Run velocity ramp controller */
ret = foc_ramp_run_b16(&motor->ramp, motor->vel.des,
motor->vel.now, &motor->vel.set);
if (ret < 0)
{
PRINTF("ERROR: foc_ramp_run failed %d\n", ret);
goto errout;
}
break;
}
#endif
default:
{
ret = -EINVAL;
goto errout;
}
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
/* Force open-loop current */
if (motor->openloop_now == true)
{
/* Get open-loop currents
* NOTE: Id always set to 0
*/
motor->dq_ref.q = b16idiv(motor->envp->qparam, 1000);
motor->dq_ref.d = 0;
}
#endif
/* Set DQ reference frame */
motor->dq_ref.q = q_ref;
motor->dq_ref.d = d_ref;
/* DQ compensation */
motor->vdq_comp.q = 0;
motor->vdq_comp.d = 0;
errout:
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: foc_motor_init
****************************************************************************/
int foc_motor_init(FAR struct foc_motor_b16_s *motor,
FAR struct foc_ctrl_env_s *envp)
{
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
struct foc_openloop_cfg_b16_s ol_cfg;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
struct foc_qenco_cfg_b16_s qe_cfg;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
struct foc_hall_cfg_b16_s hl_cfg;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
struct foc_routine_align_cfg_b16_s align_cfg;
#endif
int ret = OK;
DEBUGASSERT(motor);
DEBUGASSERT(envp);
/* Reset data */
memset(motor, 0, sizeof(struct foc_motor_b16_s));
/* Connect envp with motor handler */
motor->envp = envp;
/* Initialize motor data */
motor->per = b16divi(b16ONE, CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ);
motor->iphase_adc = ftob16((CONFIG_EXAMPLES_FOC_IPHASE_ADC) / 100000.0f);
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
/* Initialize open-loop angle handler */
foc_angle_init_b16(&motor->openloop,
&g_foc_angle_ol_b16);
/* Configure open-loop angle handler */
ol_cfg.per = motor->per;
foc_angle_cfg_b16(&motor->openloop, &ol_cfg);
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
/* Initialize qenco angle handler */
ret = foc_angle_init_b16(&motor->qenco,
&g_foc_angle_qe_b16);
if (ret < 0)
{
PRINTFV("ERROR: foc_angle_init_b16 failed %d!\n", ret);
goto errout;
}
/* Get qenco devpath */
sprintf(motor->qedpath,
"%s%d",
CONFIG_EXAMPLES_FOC_QENCO_DEVPATH,
motor->envp->id);
/* Configure qenco angle handler */
qe_cfg.posmax = CONFIG_EXAMPLES_FOC_QENCO_POSMAX;
qe_cfg.devpath = motor->qedpath;
ret = foc_angle_cfg_b16(&motor->qenco, &qe_cfg);
if (ret < 0)
{
PRINTFV("ERROR: foc_angle_cfg_b16 failed %d!\n", ret);
goto errout;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
/* Initialize hall angle handler */
ret = foc_angle_init_b16(&motor->hall,
&g_foc_angle_hl_b16);
if (ret < 0)
{
PRINTFV("ERROR: foc_angle_init_b16 failed %d!\n", ret);
goto errout;
}
/* Get hall devpath */
sprintf(motor->hldpath,
"%s%d",
CONFIG_EXAMPLES_FOC_HALL_DEVPATH,
motor->envp->id);
/* Configure hall angle handler */
hl_cfg.devpath = motor->hldpath;
hl_cfg.per = motor->per;
ret = foc_angle_cfg_b16(&motor->hall, &hl_cfg);
if (ret < 0)
{
PRINTFV("ERROR: foc_angle_cfg_b16 failed %d!\n", ret);
goto errout;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
/* Initialize motor alignment routine */
ret = foc_routine_init_b16(&motor->align, &g_foc_routine_align_b16);
if (ret < 0)
{
PRINTFV("ERROR: foc_routine_init_b16 failed %d!\n", ret);
goto errout;
}
/* Initialize motor alignment data */
align_cfg.volt = ftob16(CONFIG_EXAMPLES_FOC_ALIGN_VOLT / 1000.0f);
align_cfg.offset_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ * \
CONFIG_EXAMPLES_FOC_ALIGN_SEC / 1000);
/* Connect align callbacks */
align_cfg.cb.zero = foc_align_zero_cb;
align_cfg.cb.dir = foc_align_dir_cb;
/* Connect align callbacks private data */
# ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
align_cfg.cb.priv = &motor->qenco;
# endif
# ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
align_cfg.cb.priv = &motor->hall;
# endif
ret = foc_routine_cfg_b16(&motor->align, &align_cfg);
if (ret < 0)
{
PRINTFV("ERROR: foc_routine_cfg_b16 failed %d!\n", ret);
goto errout;
}
#endif
/* Initialize controller state */
motor->ctrl_state = FOC_CTRL_STATE_INIT;
#ifdef CONFIG_EXAMPLES_FOC_SENSORED
errout:
#endif
return ret;
}
/****************************************************************************
* Name: foc_motor_deinit
****************************************************************************/
int foc_motor_deinit(FAR struct foc_motor_b16_s *motor)
{
int ret = OK;
DEBUGASSERT(motor);
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
/* Deinitialize PMSM model */
ret = foc_model_deinit_b16(&motor->model);
if (ret < 0)
{
PRINTF("ERROR: foc_model_deinit failed %d\n", ret);
goto errout;
}
#endif
/* Deinitialize FOC handler */
ret = foc_handler_deinit_b16(&motor->handler);
if (ret < 0)
{
PRINTF("ERROR: foc_handler_deinit failed %d\n", ret);
goto errout;
}
/* Reset data */
memset(motor, 0, sizeof(struct foc_motor_b16_s));
errout:
return ret;
}
/****************************************************************************
* Name: foc_motor_get
****************************************************************************/
int foc_motor_get(FAR struct foc_motor_b16_s *motor)
{
struct foc_angle_in_b16_s ain;
struct foc_angle_out_b16_s aout;
int ret = OK;
DEBUGASSERT(motor);
/* Update open-loop angle handler */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
ain.vel = motor->vel.set;
#endif
ain.angle = motor->angle_now;
ain.dir = motor->dir;
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
foc_angle_run_b16(&motor->openloop, &ain, &aout);
/* Store open-loop angle */
motor->angle_ol = aout.angle;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
ret = foc_angle_run_b16(&motor->qenco, &ain, &aout);
if (ret < 0)
{
PRINTF("ERROR: foc_angle_run failed %d\n", ret);
goto errout;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
ret = foc_angle_run_b16(&motor->hall, &ain, &aout);
if (ret < 0)
{
PRINTF("ERROR: foc_angle_run failed %d\n", ret);
goto errout;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_SENSORED
/* Handle angle from sensor */
if (aout.type == FOC_ANGLE_TYPE_ELE)
{
/* Store electrical angle */
motor->angle_el = aout.angle;
}
else if (aout.type == FOC_ANGLE_TYPE_MECH)
{
/* Store mechanical angle */
motor->angle_m = aout.angle;
/* Convert mechanical angle to electrical angle */
motor->angle_el = (b16muli(motor->angle_m,
motor->poles) % MOTOR_ANGLE_E_MAX_B16);
}
else
{
ASSERT(0);
}
#endif /* CONFIG_EXAMPLES_FOC_SENSORED */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
/* Get phase angle now */
if (motor->openloop_now == true)
{
motor->angle_now = motor->angle_ol;
}
else
#endif
{
/* Get phase angle from observer or sensor */
motor->angle_now = motor->angle_el;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
if (motor->openloop_now == true)
{
/* No velocity feedback - assume that velocity now is velocity set */
motor->vel.now = motor->vel.set;
}
else
#endif
{
/* TODO: velocity observer or sensor */
}
#ifdef CONFIG_EXAMPLES_FOC_SENSORED
errout:
#endif
return ret;
}
/****************************************************************************
* Name: foc_motor_control
****************************************************************************/
int foc_motor_control(FAR struct foc_motor_b16_s *motor)
{
int ret = OK;
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
bool align_done = false;
#endif
DEBUGASSERT(motor);
/* Controller state machine */
switch (motor->ctrl_state)
{
case FOC_CTRL_STATE_INIT:
{
/* Next state */
motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
break;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
case FOC_CTRL_STATE_ALIGN:
{
/* Run motor align procedure */
ret = foc_motor_align(motor, &align_done);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_align failed %d!\n", ret);
goto errout;
}
if (align_done == true)
{
/* Next state */
motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
}
break;
}
#endif
case FOC_CTRL_STATE_RUN_INIT:
{
/* Initialize run controller mode */
ret = foc_runmode_init(motor);
if (ret < 0)
{
PRINTF("ERROR: foc_runmode_init failed %d!\n", ret);
goto errout;
}
/* Next state */
motor->ctrl_state += 1;
}
case FOC_CTRL_STATE_RUN:
{
/* Run motor */
ret = foc_motor_run(motor);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_run failed %d!\n", ret);
goto errout;
}
break;
}
case FOC_CTRL_STATE_IDLE:
{
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
break;
}
default:
{
PRINTF("ERROR: invalid ctrl_state=%d\n", motor->ctrl_state);
ret = -EINVAL;
goto errout;
}
}
errout:
return ret;
}
/****************************************************************************
* Name: foc_motor_handle
****************************************************************************/
int foc_motor_handle(FAR struct foc_motor_b16_s *motor,
FAR struct foc_mq_s *handle)
{
int ret = OK;
DEBUGASSERT(motor);
DEBUGASSERT(handle);
/* Terminate */
if (handle->quit == true)
{
motor->mq.quit = true;
}
/* Update motor VBUS */
if (motor->mq.vbus != handle->vbus)
{
PRINTFV("Set vbus=%" PRIu32 " for FOC driver %d!\n",
handle->vbus, motor->envp->id);
ret = foc_motor_vbus(motor, handle->vbus);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_vbus failed %d!\n", ret);
goto errout;
}
motor->mq.vbus = handle->vbus;
}
/* Update motor velocity destination */
if (motor->mq.setpoint != handle->setpoint)
{
PRINTFV("Set setpoint=%" PRIu32 " for FOC driver %d!\n",
handle->setpoint, motor->envp->id);
/* Update motor setpoint */
ret = foc_motor_setpoint(motor, handle->setpoint);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_setpoint failed %d!\n", ret);
goto errout;
}
motor->mq.setpoint = handle->setpoint;
}
/* Update motor state */
if (motor->mq.app_state != handle->app_state)
{
PRINTFV("Set app_state=%d for FOC driver %d!\n",
handle->app_state, motor->envp->id);
ret = foc_motor_state(motor, handle->app_state);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_state failed %d!\n", ret);
goto errout;
}
motor->mq.app_state = handle->app_state;
}
/* Start/stop controller */
if (motor->mq.start != handle->start)
{
PRINTFV("Set start=%d for FOC driver %d!\n",
handle->start, motor->envp->id);
/* Start/stop motor controller */
ret = foc_motor_start(motor, handle->start);
if (ret < 0)
{
PRINTF("ERROR: foc_motor_start failed %d!\n", ret);
goto errout;
}
motor->mq.start = handle->start;
}
errout:
return ret;
}
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