190 lines
4.8 KiB
C
190 lines
4.8 KiB
C
/****************************************************************************
|
|
* apps/industry/foc/float/foc_model.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 <string.h>
|
|
|
|
#include "industry/foc/foc_log.h"
|
|
#include "industry/foc/foc_common.h"
|
|
#include "industry/foc/float/foc_model.h"
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: foc_model_init_f32
|
|
*
|
|
* Description:
|
|
* Initialize the FOC model (float32)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC model handler
|
|
* ops - pointer to FOC model operations
|
|
*
|
|
****************************************************************************/
|
|
|
|
int foc_model_init_f32(FAR foc_model_f32_t *h,
|
|
FAR struct foc_model_ops_f32_s *ops)
|
|
{
|
|
int ret = OK;
|
|
|
|
DEBUGASSERT(h);
|
|
DEBUGASSERT(ops);
|
|
|
|
/* Model ops */
|
|
|
|
DEBUGASSERT(ops->init);
|
|
DEBUGASSERT(ops->deinit);
|
|
DEBUGASSERT(ops->cfg);
|
|
DEBUGASSERT(ops->ele_run);
|
|
DEBUGASSERT(ops->mech_run);
|
|
DEBUGASSERT(ops->state);
|
|
|
|
/* Reset handler */
|
|
|
|
memset(h, 0, sizeof(foc_model_f32_t));
|
|
|
|
/* Connect ops */
|
|
|
|
h->ops = ops;
|
|
|
|
/* Initialize model */
|
|
|
|
ret = h->ops->init(h);
|
|
if (ret < 0)
|
|
{
|
|
FOCLIBERR("ERROR: ops->init failed %d\n", ret);
|
|
goto errout;
|
|
}
|
|
|
|
errout:
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_model_deinit_f32
|
|
*
|
|
* Description:
|
|
* De-initialize the FOC model (float32)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC model handler
|
|
*
|
|
****************************************************************************/
|
|
|
|
int foc_model_deinit_f32(FAR foc_model_f32_t *h)
|
|
{
|
|
int ret = OK;
|
|
|
|
DEBUGASSERT(h);
|
|
|
|
/* Deinitialize model */
|
|
|
|
h->ops->deinit(h);
|
|
|
|
/* Reset data */
|
|
|
|
memset(h, 0, sizeof(foc_model_f32_t));
|
|
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_model_cfg_f32
|
|
*
|
|
* Description:
|
|
* Configure the FOC model (float32)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC model handler
|
|
* cfg - pointer to FOC model configuration data
|
|
*
|
|
****************************************************************************/
|
|
|
|
int foc_model_cfg_f32(FAR foc_model_f32_t *h, FAR void *cfg)
|
|
{
|
|
DEBUGASSERT(h);
|
|
DEBUGASSERT(cfg);
|
|
|
|
return h->ops->cfg(h, cfg);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_model_run_f32
|
|
*
|
|
* Description:
|
|
* Run the FOC model (float32)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC model handler
|
|
* load - applied load
|
|
* v_ab - applied voltage in alpha-beta frame
|
|
*
|
|
* REVISIT:
|
|
* It would be better if we feed model with duty cycle and VBUS, but it
|
|
* complicates the calculations, so we leave it like that for now
|
|
*
|
|
****************************************************************************/
|
|
|
|
void foc_model_run_f32(FAR foc_model_f32_t *h,
|
|
float load,
|
|
FAR ab_frame_f32_t *v_ab)
|
|
{
|
|
DEBUGASSERT(h);
|
|
DEBUGASSERT(v_ab);
|
|
|
|
/* Run electrical model */
|
|
|
|
h->ops->ele_run(h, v_ab);
|
|
|
|
/* Run mechanical model */
|
|
|
|
h->ops->mech_run(h, load);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_model_state_f32
|
|
*
|
|
* Description:
|
|
* Get model state (float32)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC model handler
|
|
* state - pointer to FOC model state
|
|
*
|
|
****************************************************************************/
|
|
|
|
void foc_model_state_f32(FAR foc_model_f32_t *h,
|
|
FAR struct foc_model_state_f32_s *state)
|
|
{
|
|
DEBUGASSERT(h);
|
|
DEBUGASSERT(state);
|
|
|
|
h->ops->state(h, state);
|
|
}
|