1c922f2d2d
This app can work now as sensorless ESC. Also introduce a cmd line option that force open-loop control which is useful when tuning angle/velocity observers
96 lines
4.2 KiB
C
96 lines
4.2 KiB
C
/****************************************************************************
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* apps/examples/foc/foc_nxscope.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __APPS_EXAMPLES_FOC_FOC_NXSCOPE_H
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#define __APPS_EXAMPLES_FOC_FOC_NXSCOPE_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include "logging/nxscope/nxscope.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Definitions for CONFIG_EXAMPLES_FOC_NXSCOPE_CFG bit-mask */
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#define FOC_NXSCOPE_IABC (1 << 0) /* Phases current */
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#define FOC_NXSCOPE_IDQ (1 << 1) /* Current dq */
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#define FOC_NXSCOPE_IAB (1 << 2) /* Current alpha-beta */
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#define FOC_NXSCOPE_VABC (1 << 3) /* Phases voltage */
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#define FOC_NXSCOPE_VDQ (1 << 4) /* Voltage dq */
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#define FOC_NXSCOPE_VAB (1 << 5) /* Voltage alpha-beta */
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#define FOC_NXSCOPE_AEL (1 << 6) /* Electrical angle */
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#define FOC_NXSCOPE_AM (1 << 7) /* Mechanical angle */
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#define FOC_NXSCOPE_VEL (1 << 8) /* Electrical velocity */
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#define FOC_NXSCOPE_VM (1 << 9) /* Mechanical velocity */
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#define FOC_NXSCOPE_VBUS (1 << 10) /* VBUS */
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#define FOC_NXSCOPE_SPTORQ (1 << 11) /* Torque setpoint */
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#define FOC_NXSCOPE_SPVEL (1 << 12) /* Velolcity setpoint */
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#define FOC_NXSCOPE_SPPOS (1 << 13) /* Position setpoint */
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#define FOC_NXSCOPE_DQREF (1 << 14) /* DQ reference */
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#define FOC_NXSCOPE_VDQCOMP (1 << 15) /* VDQ compensation */
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#define FOC_NXSCOPE_SVM3 (1 << 16) /* Space-vector modulation sector */
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#define FOC_NXSCOPE_VOBS (1 << 17) /* Output from velocity observer */
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#define FOC_NXSCOPE_AOBS (1 << 18) /* Output from angle observer */
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/* Max 32-bit */
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/****************************************************************************
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* Public Type Definition
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****************************************************************************/
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struct foc_nxscope_s
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{
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struct nxscope_s nxs;
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struct nxscope_intf_s intf;
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struct nxscope_proto_s proto;
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struct nxscope_ser_cfg_s ser_cfg;
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struct nxscope_callbacks_s cb;
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uint8_t ch_per_inst;
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};
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: foc_nxscope_init
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****************************************************************************/
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int foc_nxscope_init(FAR struct foc_nxscope_s *nxs);
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/****************************************************************************
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* Name: foc_nxscope_deinit
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****************************************************************************/
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void foc_nxscope_deinit(FAR struct foc_nxscope_s *nxs);
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/****************************************************************************
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* Name: foc_nxscope_work
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****************************************************************************/
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void foc_nxscope_work(FAR struct foc_nxscope_s *nxs);
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#endif /* __APPS_EXAMPLES_FOC_FOC_NXSCOPE_H */
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