d75d6b7af0
Supported features: - float and fixed16 operations - helper interface to interact with the kernel-side FOC device - general interface for FOC controller - PI current/voltage controller - 3-phase space vector modulation - general interface for FOC model - PMSM model - general interface for phase angle data - open-loop handler - general interface for phase velocity data - general interface for ramp (eg. velocity ramp, torque ramp) - (WIP) CORDIC interface for hardware acceleration
122 lines
4.0 KiB
C
122 lines
4.0 KiB
C
/****************************************************************************
|
|
* apps/include/industry/foc/fixed16/foc_velocity.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_FIXED16_FOC_VELOCITY_H
|
|
#define __INDUSTRY_FOC_FIXED16_FOC_VELOCITY_H
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
|
|
#include <dspb16.h>
|
|
|
|
#include "industry/foc/fixed16/foc_handler.h"
|
|
|
|
/****************************************************************************
|
|
* Public Type Definition
|
|
****************************************************************************/
|
|
|
|
/* Input to velocity handler */
|
|
|
|
struct foc_velocity_in_b16_s
|
|
{
|
|
FAR struct foc_state_b16_s *state; /* FOC state */
|
|
b16_t angle; /* Last angle */
|
|
b16_t vel; /* Last velocity */
|
|
b16_t dir; /* Movement direction */
|
|
};
|
|
|
|
/* Output from velocity handler */
|
|
|
|
struct foc_velocity_out_b16_s
|
|
{
|
|
b16_t velocity;
|
|
};
|
|
|
|
/* Forward declaration */
|
|
|
|
typedef struct foc_velocity_b16_s foc_velocity_b16_t;
|
|
|
|
/* Velocity operations */
|
|
|
|
struct foc_velocity_ops_b16_s
|
|
{
|
|
/* Initialize */
|
|
|
|
CODE int (*init)(FAR foc_velocity_b16_t *h);
|
|
|
|
/* Deinitialize */
|
|
|
|
CODE void (*deinit)(FAR foc_velocity_b16_t *h);
|
|
|
|
/* Configure */
|
|
|
|
CODE int (*cfg)(FAR foc_velocity_b16_t *h, FAR void *cfg);
|
|
|
|
/* Run */
|
|
|
|
CODE void (*run)(FAR foc_velocity_b16_t *h,
|
|
FAR struct foc_velocity_in_b16_s *in,
|
|
FAR struct foc_velocity_out_b16_s *out);
|
|
};
|
|
|
|
/* Velocity handler - sensor or sensorless */
|
|
|
|
struct foc_velocity_b16_s
|
|
{
|
|
FAR struct foc_velocity_ops_b16_s *ops;
|
|
FAR void *data;
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Public Function Prototypes
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_init_b16
|
|
****************************************************************************/
|
|
|
|
int foc_velocity_init_b16(FAR foc_velocity_b16_t *h,
|
|
FAR struct foc_velocity_ops_b16_s *ops);
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_deinit_b16
|
|
****************************************************************************/
|
|
|
|
int foc_velocity_deinit_b16(FAR foc_velocity_b16_t *h);
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_cfg_b16
|
|
****************************************************************************/
|
|
|
|
int foc_velocity_cfg_b16(FAR foc_velocity_b16_t *h, FAR void *cfg);
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_run_b16
|
|
****************************************************************************/
|
|
|
|
void foc_velocity_run_b16(FAR foc_velocity_b16_t *h,
|
|
FAR struct foc_velocity_in_b16_s *in,
|
|
FAR struct foc_velocity_out_b16_s *out);
|
|
|
|
#endif /* __INDUSTRY_FOC_FIXED16_FOC_VELOCITY_H */
|