249 lines
7.6 KiB
C
249 lines
7.6 KiB
C
/****************************************************************************
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* apps/include/industry/foc/float/foc_handler.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 __INDUSTRY_FOC_FLOAT_FOC_HANDLER_H
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#define __INDUSTRY_FOC_FLOAT_FOC_HANDLER_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 <dsp.h>
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#ifdef CONFIG_INDUSTRY_FOC_CORDIC
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# include "industry/foc/float/foc_cordic.h"
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#endif
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/****************************************************************************
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* Public Type Definition
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****************************************************************************/
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/* Input to FOC controller */
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struct foc_handler_input_f32_s
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{
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FAR float *current; /* Phase current samples */
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FAR dq_frame_f32_t *dq_ref; /* DQ reference frame */
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FAR dq_frame_f32_t *vdq_comp; /* DQ voltage compensation */
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float angle; /* Phase angle */
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float vbus; /* Bus voltage */
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int mode; /* Controller mode (enum foc_handler_mode_e) */
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};
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/* Output from FOC controller */
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struct foc_handler_output_f32_s
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{
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float duty[CONFIG_MOTOR_FOC_PHASES]; /* New duty cycle for PWM */
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};
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/* Controller state */
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struct foc_state_f32_s
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{
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float curr[CONFIG_MOTOR_FOC_PHASES];
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float volt[CONFIG_MOTOR_FOC_PHASES];
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ab_frame_f32_t iab;
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ab_frame_f32_t vab;
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dq_frame_f32_t vdq;
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dq_frame_f32_t idq;
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};
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/* Forward declaration */
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typedef struct foc_handler_f32_s foc_handler_f32_t;
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/* Modulation operations */
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struct foc_modulation_ops_f32_s
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{
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/* Initialize */
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CODE int (*init)(FAR foc_handler_f32_t *h);
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/* Deinitialzie */
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CODE void (*deinit)(FAR foc_handler_f32_t *h);
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/* Configure modulation */
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CODE void (*cfg)(FAR foc_handler_f32_t *h, FAR void *cfg);
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/* Modulation specific current correction */
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CODE void (*current)(FAR foc_handler_f32_t *h, FAR float *curr);
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/* Get the base voltage for a given modulation scheme */
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CODE void (*vbase_get)(FAR foc_handler_f32_t *h,
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float vbus,
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FAR float *vbase);
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/* Run modulation */
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CODE void (*run)(FAR foc_handler_f32_t *h,
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FAR ab_frame_f32_t *v_ab_mod,
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FAR float *duty);
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};
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/* Current/voltage controller operations */
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struct foc_control_ops_f32_s
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{
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/* Initialize */
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CODE int (*init)(FAR foc_handler_f32_t *h);
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/* Deinitialize */
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CODE void (*deinit)(FAR foc_handler_f32_t *h);
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/* Configure controller */
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CODE void (*cfg)(FAR foc_handler_f32_t *h,
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FAR void *cfg);
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/* Feed controller with input data */
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CODE void (*input_set)(FAR foc_handler_f32_t *h,
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FAR float *current,
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float vbase,
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float angle);
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/* Run voltage controller */
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CODE void (*voltage_run)(FAR foc_handler_f32_t *h,
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FAR dq_frame_f32_t *dq_ref,
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FAR ab_frame_f32_t *v_ab_mod);
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/* Run current controller */
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CODE void (*current_run)(FAR foc_handler_f32_t *h,
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FAR dq_frame_f32_t *dq_ref,
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FAR dq_frame_f32_t *vdq_comp,
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FAR ab_frame_f32_t *v_ab_mod);
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/* Get controller state data */
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CODE void (*state_get)(FAR foc_handler_f32_t *h,
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FAR struct foc_state_f32_s *state);
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};
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/* FOC handler operations */
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struct foc_handler_ops_f32_s
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{
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/* Current/voltage controller interface */
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struct foc_control_ops_f32_s *ctrl;
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/* Modulation interface */
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struct foc_modulation_ops_f32_s *mod;
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};
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/* FOC handler data */
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struct foc_handler_f32_s
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{
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#ifdef CONFIG_INDUSTRY_FOC_CORDIC
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int fd; /* CORDIC device */
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#endif
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struct foc_handler_ops_f32_s ops; /* Handler operations */
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FAR void *modulation; /* Modulation data */
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FAR void *control; /* Controller data */
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};
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/* Modulation configuration */
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struct foc_mod_cfg_f32_s
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{
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float pwm_duty_max; /* Maximum allowed PWM duty cycle */
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#ifdef CONFIG_INDUSTRY_FOC_CONTROL_PI
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/* FOC PI controller (float) */
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extern struct foc_control_ops_f32_s g_foc_control_pi_f32;
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#endif
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#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
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/* 3-phase space vector modulation Modulation handler (float) */
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extern struct foc_modulation_ops_f32_s g_foc_mod_svm3_f32;
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: foc_handler_init_f32
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****************************************************************************/
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int foc_handler_init_f32(FAR foc_handler_f32_t *h,
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FAR struct foc_control_ops_f32_s *ctrl,
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FAR struct foc_modulation_ops_f32_s *mod);
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/****************************************************************************
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* Name: foc_handler_deinit_f32
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****************************************************************************/
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int foc_handler_deinit_f32(FAR foc_handler_f32_t *h);
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/****************************************************************************
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* Name: foc_handler_run_f32
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****************************************************************************/
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int foc_handler_run_f32(FAR foc_handler_f32_t *h,
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FAR struct foc_handler_input_f32_s *in,
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FAR struct foc_handler_output_f32_s *out);
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/****************************************************************************
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* Name: foc_handler_cfg_f32
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****************************************************************************/
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void foc_handler_cfg_f32(FAR foc_handler_f32_t *h,
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FAR void *ctrl_cfg,
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FAR void *mod_cfg);
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/****************************************************************************
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* Name: foc_handler_state_f32
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****************************************************************************/
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void foc_handler_state_f32(FAR foc_handler_f32_t *h,
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FAR struct foc_state_f32_s *state);
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#ifdef CONFIG_INDUSTRY_FOC_HANDLER_PRINT
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/****************************************************************************
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* Name: foc_handler_state_print_f32
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****************************************************************************/
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void foc_handler_state_print_f32(FAR struct foc_state_f32_s *state);
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#endif
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#endif /* __INDUSTRY_FOC_FLOAT_FOC_HANDLER_H */
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