e6b6c14f53
For now only the FOC PI current controller is supported, but this can be easily extended to support other control methods
194 lines
5.2 KiB
C
194 lines
5.2 KiB
C
/****************************************************************************
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* apps/examples/foc/foc_cfg.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_CFG_H
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#define __APPS_EXAMPLES_FOC_FOC_CFG_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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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* For now only torque mode supported for sensored */
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#ifdef CONFIG_EXAMPLES_FOC_SENSORED
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# ifndef CONFIG_EXAMPLES_FOC_HAVE_TORQ
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# error
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# endif
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#endif
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/* For now only sensorless velocity control supported */
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#ifdef CONFIG_EXAMPLES_FOC_SENSORLESS
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# ifndef CONFIG_EXAMPLES_FOC_HAVE_VEL
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# error
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# endif
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#endif
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/* Open-loop configuration */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
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# ifndef CONFIG_EXAMPLES_FOC_HAVE_VEL
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# error
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# endif
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# ifndef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
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# error
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# endif
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#endif
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/* For now only the FOC PI current controller supported */
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#ifndef CONFIG_EXAMPLES_FOC_CONTROL_PI
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# error For now only the FOC PI current controller supported
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#endif
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/* Velocity ramp must be configured */
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#if (CONFIG_EXAMPLES_FOC_RAMP_THR == 0)
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# error
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#endif
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#if (CONFIG_EXAMPLES_FOC_RAMP_ACC == 0)
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# error
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#endif
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#if (CONFIG_EXAMPLES_FOC_RAMP_DEC == 0)
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# error
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#endif
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/* ADC Iphase ratio must be provided */
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#if (CONFIG_EXAMPLES_FOC_IPHASE_ADC == 0)
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# error
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#endif
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/* Printer prescaler */
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#if defined(CONFIG_INDUSTRY_FOC_HANDLER_PRINT) && \
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(CONFIG_EXAMPLES_FOC_STATE_PRINT_FREQ > 0)
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# define FOC_STATE_PRINT_PRE (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ / \
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CONFIG_EXAMPLES_FOC_STATE_PRINT_FREQ)
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#else
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# undef FOC_STATE_PRINT_PRE
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#endif
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/* Velocity ramp configuration */
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#define RAMP_CFG_THR (CONFIG_EXAMPLES_FOC_RAMP_THR / 1000.0f)
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#define RAMP_CFG_ACC (CONFIG_EXAMPLES_FOC_RAMP_ACC / 1000.0f)
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#define RAMP_CFG_DEC (CONFIG_EXAMPLES_FOC_RAMP_DEC / 1000.0f)
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#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
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/* PMSM model parameters */
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# define FOC_MODEL_POLES 7
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# define FOC_MODEL_LOAD (1.0f)
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# define FOC_MODEL_RES (0.11f)
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# define FOC_MODEL_IND (0.0002f)
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# define FOC_MODEL_INER (0.1f)
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# define FOC_MODEL_FLUX (0.001f)
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# define FOC_MODEL_INDD (0.0002f)
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# define FOC_MODEL_INDQ (0.0002f)
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#endif
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/* Motor alignment configuration */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
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# if CONFIG_EXAMPLES_FOC_ALIGN_VOLT == 0
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# error
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# endif
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# if CONFIG_EXAMPLES_FOC_ALIGN_SEC == 0
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# error
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# endif
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#endif
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/* Qenco configuration */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
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# if CONFIG_EXAMPLES_FOC_MOTOR_POLES == 0
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# error
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# endif
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# if CONFIG_EXAMPLES_FOC_QENCO_POSMAX == 0
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# error
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# endif
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#endif
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/* Setpoint source must be specified */
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#if !defined(CONFIG_EXAMPLES_FOC_SETPOINT_CONST) && \
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!defined(CONFIG_EXAMPLES_FOC_SETPOINT_ADC) && \
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!defined(CONFIG_EXAMPLES_FOC_SETPOINT_CHAR)
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# error
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#endif
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/* Setpoint ADC scale factor */
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#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
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# define SETPOINT_ADC_SCALE (1.0f / CONFIG_EXAMPLES_FOC_ADC_MAX)
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#endif
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/* If constant setpoint is selected, setpoint value must be provided */
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#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
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# define SETPOINT_ADC_SCALE (1)
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# if CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE == 0
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# error
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# endif
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#endif
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/* CHARCTRL setpoint control */
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#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CHAR
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# define SETPOINT_ADC_SCALE (1 / 1000.0f)
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#endif
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/* VBUS source must be specified */
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#if !defined(CONFIG_EXAMPLES_FOC_VBUS_CONST) && \
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!defined(CONFIG_EXAMPLES_FOC_VBUS_ADC)
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# error
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#endif
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/* VBUS ADC scale factor */
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#ifdef CONFIG_EXAMPLES_FOC_VBUS_ADC
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# define VBUS_ADC_SCALE (CONFIG_EXAMPLES_FOC_ADC_VREF * \
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CONFIG_EXAMPLES_FOC_VBUS_SCALE / \
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CONFIG_EXAMPLES_FOC_ADC_MAX / \
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1000.0f / \
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1000.0f)
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#endif
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/* If constant VBUS is selected, VBUS value must be provided */
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#ifdef CONFIG_EXAMPLES_FOC_VBUS_CONST
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# define VBUS_ADC_SCALE (1)
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# define VBUS_CONST_VALUE (CONFIG_EXAMPLES_FOC_VBUS_CONST_VALUE / 1000.0f)
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# if CONFIG_EXAMPLES_FOC_VBUS_CONST_VALUE == 0
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# error
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# endif
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#endif
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#endif /* __APPS_EXAMPLES_FOC_FOC_CFG_H */
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