112 lines
3.7 KiB
C
112 lines
3.7 KiB
C
/****************************************************************************
|
|
* apps/include/industry/foc/float/foc_ident.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_IDENT_H
|
|
#define __INDUSTRY_FOC_FLOAT_FOC_IDENT_H
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
|
|
#include <dsp.h>
|
|
|
|
#include "industry/foc/float/foc_routine.h"
|
|
|
|
/****************************************************************************
|
|
* Public Type Definition
|
|
****************************************************************************/
|
|
|
|
#ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
|
|
/* Identification routine callbacks */
|
|
|
|
struct foc_routine_ident_cb_f32_s
|
|
{
|
|
/* Private data for angle callbacks */
|
|
|
|
FAR void *priv_angle;
|
|
|
|
/* Private data for speed callbacks */
|
|
|
|
FAR void *priv_speed;
|
|
|
|
/* Private data for kpki callbacks */
|
|
|
|
FAR void *priv_kpki;
|
|
|
|
/* Openloop angle zero callback */
|
|
|
|
CODE int (*zero)(FAR void *priv);
|
|
|
|
/* Identification openloop angle callback */
|
|
|
|
CODE float (*angle)(FAR void *priv, float speed, float dir);
|
|
|
|
/* Identification openloop speed callback */
|
|
|
|
CODE float (*speed)(FAR void *priv, float des, float now);
|
|
|
|
/* Identification calculate kp and ki callback */
|
|
|
|
CODE int (*kpki)(FAR void *priv, float res, float ind, float per);
|
|
};
|
|
#endif
|
|
|
|
/* Identification routine configuration */
|
|
|
|
struct foc_routine_ident_cfg_f32_s
|
|
{
|
|
#ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
|
|
struct foc_routine_ident_cb_f32_s cb; /* Identification routine callbacks */
|
|
|
|
float flux_vel; /* Flux linkage measurement velocity */
|
|
float flux_curr; /* Flux linkage measurement current */
|
|
int flux_steps; /* Flux linkage measurement steps */
|
|
#endif
|
|
float per; /* Routine period in sec */
|
|
float res_current; /* Resistance measurement current */
|
|
float res_ki; /* Resistance measurement Ki */
|
|
float ind_volt; /* Inductance measurement voltage */
|
|
int res_steps; /* Resistance measurement steps */
|
|
int ind_steps; /* Inductance measurement steps */
|
|
int idle_steps; /* IDLE steps */
|
|
};
|
|
|
|
/* Identification routine final data */
|
|
|
|
struct foc_routine_ident_final_f32_s
|
|
{
|
|
bool ready; /* Result ready */
|
|
float res; /* Phase resistance */
|
|
float ind; /* Phase inductance */
|
|
#ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
|
|
float flux; /* Motor flux linkage */
|
|
#endif
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Public Data
|
|
****************************************************************************/
|
|
|
|
extern struct foc_routine_ops_f32_s g_foc_routine_ident_f32;
|
|
|
|
#endif /* __INDUSTRY_FOC_FLOAT_FOC_IDENT_H */
|