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
161 lines
4.9 KiB
C
161 lines
4.9 KiB
C
/****************************************************************************
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* apps/include/industry/foc/float/foc_model.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_MODEL_H
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#define __INDUSTRY_FOC_FLOAT_FOC_MODEL_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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/****************************************************************************
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* Public Type Definition
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****************************************************************************/
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#ifdef CONFIG_INDUSTRY_FOC_MODEL_PMSM
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/* PMSM model configuration */
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struct foc_model_pmsm_cfg_f32_s
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{
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uint8_t poles;
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float res;
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float ind;
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float iner;
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float flux_link;
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float ind_d;
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float ind_q;
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float per;
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float iphase_adc;
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};
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#endif /* CONFIG_INDUSTRY_FOC_MODEL_PMSM */
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/* FOC model state */
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struct foc_model_state_f32_s
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{
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int32_t curr_raw[CONFIG_MOTOR_FOC_PHASES];
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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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float omega_e;
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float omega_m;
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};
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/* Forward declaration */
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typedef struct foc_model_f32_s foc_model_f32_t;
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/* FOC model operations */
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struct foc_model_ops_f32_s
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{
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/* Initialize */
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CODE int (*init)(FAR foc_model_f32_t *h);
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/* Deinitialize */
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CODE void (*deinit)(FAR foc_model_f32_t *h);
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/* Configure model */
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CODE int (*cfg)(FAR foc_model_f32_t *h, FAR void *cfg);
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/* Run electrical model */
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CODE void (*ele_run)(FAR foc_model_f32_t *h,
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FAR ab_frame_f32_t *v_ab);
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/* Run mechanical model */
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CODE void (*mech_run)(FAR foc_model_f32_t *h,
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float load);
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/* Get model state */
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CODE void (*state)(FAR foc_model_f32_t *h,
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FAR struct foc_model_state_f32_s *state);
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};
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/* FOC model handler */
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struct foc_model_f32_s
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{
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FAR struct foc_model_ops_f32_s *ops;
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FAR void *model;
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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_MODEL_PMSM
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/* PMSM model operations (float) */
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extern struct foc_model_ops_f32_s g_foc_model_pmsm_ops_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_model_init_f32
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****************************************************************************/
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int foc_model_init_f32(FAR foc_model_f32_t *h,
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FAR struct foc_model_ops_f32_s *ops);
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/****************************************************************************
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* Name: foc_model_deinit_f32
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****************************************************************************/
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int foc_model_deinit_f32(FAR foc_model_f32_t *h);
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/****************************************************************************
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* Name: foc_model_cfg_f32
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****************************************************************************/
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int foc_model_cfg_f32(FAR foc_model_f32_t *h, FAR void *cfg);
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/****************************************************************************
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* Name: foc_model_run_f32
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****************************************************************************/
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void foc_model_run_f32(FAR foc_model_f32_t *h,
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float load,
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FAR ab_frame_f32_t *v_ab);
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/****************************************************************************
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* Name: foc_model_state_f32
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****************************************************************************/
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void foc_model_state_f32(FAR foc_model_f32_t *h,
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FAR struct foc_model_state_f32_s *state);
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#endif /* __INDUSTRY_FOC_FLOAT_FOC_MODEL_H */
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