289 lines
8.2 KiB
C
289 lines
8.2 KiB
C
/****************************************************************************
|
|
* apps/industry/foc/fixed16/foc_svm3.c
|
|
* This file implements 3-phase space vector modulation for fixed16
|
|
*
|
|
* 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 <stdlib.h>
|
|
#include <string.h>
|
|
|
|
#include "industry/foc/fixed16/foc_handler.h"
|
|
|
|
/****************************************************************************
|
|
* Pre-processor Definitions
|
|
****************************************************************************/
|
|
|
|
#if CONFIG_MOTOR_FOC_PHASES != 3
|
|
# error
|
|
#endif
|
|
|
|
/* Enable current samples correction if 3-shunts */
|
|
|
|
#if CONFIG_MOTOR_FOC_SHUNTS == 3
|
|
# define FOC_CORRECT_CURRENT_SAMPLES 1
|
|
#endif
|
|
|
|
/****************************************************************************
|
|
* Private Function Prototypes
|
|
****************************************************************************/
|
|
|
|
/* SVM3 data */
|
|
|
|
struct foc_svm3mod_b16_s
|
|
{
|
|
struct foc_mod_cfg_b16_s cfg;
|
|
struct svm3_state_b16_s state;
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Private Function Prototypes
|
|
****************************************************************************/
|
|
|
|
static int foc_modulation_init_b16(FAR foc_handler_b16_t *h);
|
|
static void foc_modulation_deinit_b16(FAR foc_handler_b16_t *h);
|
|
static void foc_modulation_cfg_b16(FAR foc_handler_b16_t *h, FAR void *cfg);
|
|
static void foc_modulation_current_b16(FAR foc_handler_b16_t *h,
|
|
FAR b16_t *curr);
|
|
static void foc_modulation_vbase_get_b16(FAR foc_handler_b16_t *h,
|
|
b16_t vbus,
|
|
FAR b16_t *vbase);
|
|
static void foc_modulation_run_b16(FAR foc_handler_b16_t *h,
|
|
FAR ab_frame_b16_t *v_ab_mod,
|
|
FAR b16_t *duty);
|
|
|
|
/****************************************************************************
|
|
* Public Data
|
|
****************************************************************************/
|
|
|
|
/* FOC modulation fixed16 interface */
|
|
|
|
struct foc_modulation_ops_b16_s g_foc_mod_svm3_b16 =
|
|
{
|
|
.init = foc_modulation_init_b16,
|
|
.deinit = foc_modulation_deinit_b16,
|
|
.cfg = foc_modulation_cfg_b16,
|
|
.current = foc_modulation_current_b16,
|
|
.vbase_get = foc_modulation_vbase_get_b16,
|
|
.run = foc_modulation_run_b16,
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Private Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: foc_modulation_init_b16
|
|
*
|
|
* Description:
|
|
* Initialize the SVM3 modulation (fixed16)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC handler
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int foc_modulation_init_b16(FAR foc_handler_b16_t *h)
|
|
{
|
|
int ret = OK;
|
|
|
|
DEBUGASSERT(h);
|
|
|
|
/* Connect modulation data */
|
|
|
|
h->modulation = zalloc(sizeof(struct foc_svm3mod_b16_s));
|
|
if (h->modulation == NULL)
|
|
{
|
|
ret = -ENOMEM;
|
|
goto errout;
|
|
}
|
|
|
|
errout:
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_modulation_deinit_b16
|
|
*
|
|
* Description:
|
|
* Deinitialize the SVM3 modulation (fixed16)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC handler
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void foc_modulation_deinit_b16(FAR foc_handler_b16_t *h)
|
|
{
|
|
DEBUGASSERT(h);
|
|
|
|
/* Free modulation data */
|
|
|
|
if (h->modulation)
|
|
{
|
|
free(h->modulation);
|
|
}
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_modulation_cfg_b16
|
|
*
|
|
* Description:
|
|
* Configure the SVM3 modulation (fixed16)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC handler
|
|
* cfg - pointer to modulation configuration data
|
|
* (struct foc_svm3mod_b16_s)
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void foc_modulation_cfg_b16(FAR foc_handler_b16_t *h, FAR void *cfg)
|
|
{
|
|
FAR struct foc_svm3mod_b16_s *svm = NULL;
|
|
|
|
DEBUGASSERT(h);
|
|
DEBUGASSERT(cfg);
|
|
|
|
/* Get modulation data */
|
|
|
|
DEBUGASSERT(h->modulation);
|
|
svm = h->modulation;
|
|
|
|
/* Copy data */
|
|
|
|
memcpy(&svm->cfg, cfg, sizeof(struct foc_mod_cfg_b16_s));
|
|
|
|
/* Initialize SVM3 data */
|
|
|
|
svm3_init_b16(&svm->state);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_modulation_vbase_get_b16
|
|
*
|
|
* Description:
|
|
* Get the modulation base voltage (fixed16)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC handler
|
|
* vbus - bus voltage
|
|
* vbase - (out) pointer to base voltage from modulation
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void foc_modulation_vbase_get_b16(FAR foc_handler_b16_t *h,
|
|
b16_t vbus,
|
|
FAR b16_t *vbase)
|
|
{
|
|
DEBUGASSERT(h);
|
|
DEBUGASSERT(vbus);
|
|
DEBUGASSERT(vbase);
|
|
|
|
/* Get maximum possible base voltage */
|
|
|
|
*vbase = SVM3_BASE_VOLTAGE_GET_B16(vbus);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_modulation_current_b16
|
|
*
|
|
* Description:
|
|
* Correct current samples according to the SVM3 modulation state (fixed16)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC handler
|
|
* curr - (in/out) phase currents
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void foc_modulation_current_b16(FAR foc_handler_b16_t *h,
|
|
FAR b16_t *curr)
|
|
{
|
|
#ifdef FOC_CORRECT_CURRENT_SAMPLES
|
|
FAR struct foc_svm3mod_b16_s *svm = NULL;
|
|
|
|
DEBUGASSERT(h);
|
|
DEBUGASSERT(curr);
|
|
|
|
/* Get modulation data */
|
|
|
|
DEBUGASSERT(h->modulation);
|
|
svm = h->modulation;
|
|
|
|
/* Correct ADC current samples */
|
|
|
|
svm3_current_correct_b16(&svm->state,
|
|
&curr[0],
|
|
&curr[1],
|
|
&curr[2]);
|
|
#endif
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_modulation_b16
|
|
*
|
|
* Description:
|
|
* Handle the SVM3 modulation (fixed16)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC handler
|
|
* v_ab_mod - requested modulation voltage scaled to 0.0-1.0 range
|
|
* duty - (out) duty cycle for switches
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void foc_modulation_run_b16(FAR foc_handler_b16_t *h,
|
|
FAR ab_frame_b16_t *v_ab_mod,
|
|
FAR b16_t *duty)
|
|
{
|
|
FAR struct foc_svm3mod_b16_s *svm = NULL;
|
|
|
|
DEBUGASSERT(h);
|
|
DEBUGASSERT(v_ab_mod);
|
|
DEBUGASSERT(duty);
|
|
|
|
/* Get modulation data */
|
|
|
|
DEBUGASSERT(h->modulation);
|
|
svm = h->modulation;
|
|
|
|
/* Call 3-phase space vector modulation */
|
|
|
|
svm3_b16(&svm->state, v_ab_mod);
|
|
|
|
/* Copy duty cycle */
|
|
|
|
duty[0] = svm->state.d_u;
|
|
duty[1] = svm->state.d_v;
|
|
duty[2] = svm->state.d_w;
|
|
|
|
/* Saturate duty cycle */
|
|
|
|
f_saturate_b16(&duty[0], 0, svm->cfg.pwm_duty_max);
|
|
f_saturate_b16(&duty[1], 0, svm->cfg.pwm_duty_max);
|
|
f_saturate_b16(&duty[2], 0, svm->cfg.pwm_duty_max);
|
|
}
|