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nuttx-apps/examples/foc/foc_motor_b16.h
raiden00pl 1c922f2d2d examples/foc: add phase angle observer support (sensorless mode) 
This app can work now as sensorless ESC.

Also introduce a cmd line option that force open-loop control
which is useful when tuning angle/velocity observers
2023-10-19 19:33:43 +08:00

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/****************************************************************************
* apps/examples/foc/foc_motor_b16.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 __APPS_EXAMPLES_FOC_FOC_MOTOR_B16_H
#define __APPS_EXAMPLES_FOC_FOC_MOTOR_B16_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include "foc_mq.h"
#include "foc_thr.h"
#include "industry/foc/fixed16/foc_handler.h"
#include "industry/foc/fixed16/foc_ramp.h"
#include "industry/foc/fixed16/foc_angle.h"
#include "industry/foc/fixed16/foc_velocity.h"
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
# include "industry/foc/fixed16/foc_align.h"
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
# include "industry/foc/fixed16/foc_ident.h"
#endif
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
# include "industry/foc/fixed16/foc_model.h"
#endif
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Public Type Definition
****************************************************************************/
/* FOC setpoint (fixed16) */
struct foc_setpoint_b16_s
{
b16_t set;
b16_t now;
b16_t des;
};
/* FOC motor data (fixed16) */
struct foc_motor_b16_s
{
/* App data ***************************************************************/
FAR struct foc_ctrl_env_s *envp; /* Thread env */
struct foc_mq_s mq; /* MQ data */
bool fault; /* Fault flag */
bool startstop; /* Start/stop request */
int ctrl_state; /* Controller state */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
int foc_mode_run; /* FOC mode for run state */
#endif
/* FOC data ***************************************************************/
struct foc_state_b16_s foc_state; /* FOC controller sate */
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
struct svm3_state_b16_s mod_state; /* Modulation state */
#endif
foc_handler_b16_t handler; /* FOC controller */
dq_frame_b16_t dq_ref; /* DQ reference */
dq_frame_b16_t vdq_comp; /* DQ voltage compensation */
int foc_mode; /* FOC mode */
int time; /* Helper counter */
b16_t vbus; /* Power bus voltage */
b16_t per; /* Controller period in seconds */
b16_t iphase_adc; /* Iphase ADC scaling factor */
b16_t pwm_duty_max; /* PWM duty max */
#ifdef CONFIG_EXAMPLES_FOC_ANGOBS
b16_t ol_thr; /* Angle observer threshold velocity */
b16_t ol_hys; /* Angle observer hysteresis */
b16_t angle_step; /* Open-loop transition step */
#endif
/* Velocity controller data ***********************************************/
struct foc_ramp_b16_s ramp; /* Velocity ramp data */
#ifdef CONFIG_EXAMPLES_FOC_VELCTRL_PI
pid_controller_b16_t vel_pi; /* Velocity controller */
#endif
/* Angle state ************************************************************/
b16_t angle_now; /* Phase angle now */
b16_t angle_m; /* Motor mechanical angle */
b16_t angle_el; /* Motor electrical angle */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
b16_t angle_ol; /* Phase angle open-loop */
#endif
#ifdef CONFIG_EXAMPLES_FOC_ANGOBS
b16_t angle_obs; /* Angle observer output */
b16_t angle_err; /* Open-loop to observer error */
#endif
/* Velocity state *********************************************************/
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
b16_t vel_el; /* Velocity - electrical */
b16_t vel_mech; /* Velocity - mechanical */
b16_t vel_filter; /* Velocity low-pass filter */
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELOBS
b16_t vel_obs; /* Velocity observer output */
#endif
/* Motor setpoints ********************************************************/
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
struct foc_setpoint_b16_s torq; /* Torque setpoint */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
struct foc_setpoint_b16_s vel; /* Velocity setpoint */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
struct foc_setpoint_b16_s pos; /* Position setpoint */
#endif
b16_t dir; /* Motor's direction */
/* Motor routines *********************************************************/
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
struct foc_routine_b16_s align; /* Alignment routine */
bool align_done; /* Alignment done */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
struct foc_routine_b16_s ident; /* Motor ident routine */
struct motor_phy_params_b16_s phy_ident; /* Motor phy from ident */
bool ident_done; /* Motor ident done */
#endif
/* Motor data *************************************************************/
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
struct foc_model_b16_s model; /* Model handler */
struct foc_model_state_b16_s model_state; /* PMSM model state */
#endif
struct motor_phy_params_b16_s phy; /* Motor phy */
/* Motor velocity and angle handlers **************************************/
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
foc_angle_b16_t openloop; /* Open-loop angle handler */
uint8_t openloop_now; /* Open-loop now */
b16_t openloop_q; /* Open-loop Q parameter */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
foc_angle_b16_t hall; /* Hall angle handler */
char hldpath[32]; /* Hall devpath */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
foc_angle_b16_t qenco; /* Qenco angle handler */
char qedpath[32]; /* Qenco devpath */
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELOBS_DIV
foc_velocity_b16_t vel_div; /* DIV velocity observer */
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELOBS_PLL
foc_velocity_b16_t vel_pll; /* PLL velocity observer */
#endif
#ifdef CONFIG_EXAMPLES_FOC_ANGOBS_SMO
foc_angle_b16_t ang_smo; /* SMO angle observer */
#endif
#ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO
foc_angle_b16_t ang_nfo; /* NFO angle observer */
#endif
};
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
int foc_motor_init(FAR struct foc_motor_b16_s *motor,
FAR struct foc_ctrl_env_s *envp);
int foc_motor_deinit(FAR struct foc_motor_b16_s *motor);
int foc_motor_get(FAR struct foc_motor_b16_s *motor);
int foc_motor_control(FAR struct foc_motor_b16_s *motor);
int foc_motor_handle(FAR struct foc_motor_b16_s *motor,
FAR struct foc_mq_s *handle);
#endif /* __APPS_EXAMPLES_FOC_FOC_MOTOR_B16_H */
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