134 lines
5.6 KiB
C
134 lines
5.6 KiB
C
/****************************************************************************
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* apps/examples/foc/foc_motor_b16.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_MOTOR_B16_H
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#define __APPS_EXAMPLES_FOC_FOC_MOTOR_B16_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 "foc_mq.h"
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#include "foc_thr.h"
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#include "industry/foc/fixed16/foc_handler.h"
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#include "industry/foc/fixed16/foc_ramp.h"
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#include "industry/foc/fixed16/foc_angle.h"
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#include "industry/foc/fixed16/foc_velocity.h"
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
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# include "industry/foc/fixed16/foc_align.h"
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
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# include "industry/foc/fixed16/foc_model.h"
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#endif
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Public Type Definition
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****************************************************************************/
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/* FOC setpoint (fixed16) */
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struct foc_setpoint_b16_s
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{
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b16_t set;
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b16_t now;
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b16_t des;
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};
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/* FOC motor data (fixed16) */
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struct foc_motor_b16_s
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{
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FAR struct foc_ctrl_env_s *envp; /* Thread env */
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bool fault; /* Fault flag */
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bool startstop; /* Start/stop request */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
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bool openloop_now; /* Open-loop now */
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b16_t angle_ol; /* Phase angle open-loop */
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foc_angle_b16_t openloop; /* Open-loop angle handler */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
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char hldpath[32]; /* Hall devpath */
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foc_angle_b16_t hall; /* Hall angle handler */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
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char qedpath[32]; /* Qenco devpath */
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foc_angle_b16_t qenco; /* Qenco angle handler */
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#endif
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int foc_mode; /* FOC mode */
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int ctrl_state; /* Controller state */
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b16_t vbus; /* Power bus voltage */
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b16_t angle_now; /* Phase angle now */
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b16_t angle_m; /* Motor mechanical angle */
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b16_t angle_el; /* Motor electrical angle */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
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struct foc_setpoint_b16_s torq; /* Torque setpoint */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
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struct foc_setpoint_b16_s vel; /* Velocity setpoint */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
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struct foc_setpoint_b16_s pos; /* Position setpoint */
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#endif
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b16_t dir; /* Motor's direction */
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b16_t per; /* Controller period in seconds */
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b16_t iphase_adc; /* Iphase ADC scaling factor */
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b16_t pwm_duty_max; /* PWM duty max */
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uint8_t poles; /* Motor poles */
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dq_frame_b16_t dq_ref; /* DQ reference */
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dq_frame_b16_t vdq_comp; /* DQ voltage compensation */
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foc_handler_b16_t handler; /* FOC controller */
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struct foc_mq_s mq; /* MQ data */
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struct foc_state_b16_s foc_state; /* FOC controller sate */
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struct foc_ramp_b16_s ramp; /* Velocity ramp data */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
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struct foc_routine_b16_s align; /* Alignment routine */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
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struct foc_model_b16_s model; /* Model handler */
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struct foc_model_state_b16_s model_state; /* PMSM model state */
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#endif
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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int foc_motor_init(FAR struct foc_motor_b16_s *motor,
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FAR struct foc_ctrl_env_s *envp);
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int foc_motor_deinit(FAR struct foc_motor_b16_s *motor);
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int foc_motor_get(FAR struct foc_motor_b16_s *motor);
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int foc_motor_control(FAR struct foc_motor_b16_s *motor);
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int foc_motor_handle(FAR struct foc_motor_b16_s *motor,
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FAR struct foc_mq_s *handle);
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#endif /* __APPS_EXAMPLES_FOC_FOC_MOTOR_B16_H */
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