139 lines
4.3 KiB
C
139 lines
4.3 KiB
C
/****************************************************************************
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* apps/examples/foc/foc_thr.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_THR_H
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#define __APPS_EXAMPLES_FOC_FOC_THR_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 <pthread.h>
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#include <mqueue.h>
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#include <nuttx/motor/foc/foc.h>
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#include "foc_device.h"
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/****************************************************************************
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* Public Type Definition
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****************************************************************************/
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/* FOC example state */
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enum foc_example_state_e
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{
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FOC_EXAMPLE_STATE_INVALID = 0, /* Reserved */
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FOC_EXAMPLE_STATE_FREE = 1, /* No current */
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FOC_EXAMPLE_STATE_STOP = 2, /* Active break */
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FOC_EXAMPLE_STATE_CW = 3, /* CW direction */
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FOC_EXAMPLE_STATE_CCW = 4, /* CCW direction */
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};
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/* FOC control mode */
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enum foc_foc_mode_e
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{
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FOC_FMODE_INVALID = 0, /* Reserved */
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FOC_FMODE_IDLE = 1, /* IDLE */
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FOC_FMODE_VOLTAGE = 2, /* Voltage mode */
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FOC_FMODE_CURRENT = 3, /* Current mode */
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};
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/* Motor control mode */
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enum foc_motor_mode_e
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{
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FOC_MMODE_INVALID = 0, /* Reserved */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
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FOC_MMODE_TORQ = 1, /* Torque control */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
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FOC_MMODE_VEL = 2, /* Velocity control */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
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FOC_MMODE_POS = 3 /* Position control */
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#endif
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};
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/* Controller state */
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enum foc_controller_state_e
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{
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FOC_CTRL_STATE_INVALID = 0,
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FOC_CTRL_STATE_INIT,
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
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FOC_CTRL_STATE_ALIGN,
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
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FOC_CTRL_STATE_RUN_INIT,
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FOC_CTRL_STATE_RUN,
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#endif
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FOC_CTRL_STATE_IDLE
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};
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/* FOC thread data */
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struct foc_ctrl_env_s
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{
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mqd_t mqd; /* Control msg queue */
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int id; /* FOC device id */
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int inst; /* Type specific instance counter */
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int type; /* Controller type */
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int fmode; /* FOC control mode */
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int mmode; /* Motor control mode */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
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int qparam; /* Open-loop Q setting (x1000) */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
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uint32_t foc_pi_kp; /* FOC PI Kp (x1000) */
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uint32_t foc_pi_ki; /* FOC PI Ki (x1000) */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
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uint32_t torqmax; /* Torque max (x1000) */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
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uint32_t velmax; /* Velocity max (x1000) */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
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uint32_t posmax; /* Position max (x1000) */
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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_threads_init(void);
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void foc_threads_deinit(void);
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bool foc_threads_terminated(void);
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int foc_ctrlthr_init(FAR struct foc_ctrl_env_s *foc, int i, FAR mqd_t *mqd,
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FAR pthread_t *thread);
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#endif /* __APPS_EXAMPLES_FOC_FOC_THR_H */
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