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
141 lines
4.3 KiB
C
141 lines
4.3 KiB
C
/****************************************************************************
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* apps/include/industry/foc/fixed16/foc_angle.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_FIXED16_FOC_ANGLE_H
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#define __INDUSTRY_FOC_FIXED16_FOC_ANGLE_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 <dspb16.h>
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#include "industry/foc/fixed16/foc_handler.h"
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/****************************************************************************
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* Public Type Definition
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****************************************************************************/
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/* Input to angle handler */
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struct foc_angle_in_b16_s
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{
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FAR struct foc_state_b16_s *state; /* FOC state */
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b16_t angle; /* Last angle */
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b16_t vel; /* Last velocity */
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b16_t dir; /* Movement direction */
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};
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/* Output from angle handler */
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struct foc_angle_out_b16_s
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{
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b16_t angle;
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};
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/* Forward declaration */
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typedef struct foc_angle_b16_s foc_angle_b16_t;
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/* Angle operations */
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struct foc_angle_ops_b16_s
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{
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/* Initialize */
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CODE int (*init)(FAR foc_angle_b16_t *h);
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/* Deinitialize */
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CODE void (*deinit)(FAR foc_angle_b16_t *h);
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/* Configure */
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CODE int (*cfg)(FAR foc_angle_b16_t *h, FAR void *cfg);
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/* Run */
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CODE void (*run)(FAR foc_angle_b16_t *h,
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FAR struct foc_angle_in_b16_s *in,
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FAR struct foc_angle_out_b16_s *out);
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};
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/* Angle handler - sensor or sensorless */
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struct foc_angle_b16_s
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{
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FAR struct foc_angle_ops_b16_s *ops;
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FAR void *data;
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};
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#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
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/* Open-loop configuration data */
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struct foc_openloop_cfg_b16_s
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{
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b16_t per; /* Controller period */
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};
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#endif
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
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/* Open-loop angle operations (fixed16) */
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extern struct foc_angle_ops_b16_s g_foc_angle_ol_b16;
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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_angle_init_b16
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****************************************************************************/
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int foc_angle_init_b16(FAR foc_angle_b16_t *h,
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FAR struct foc_angle_ops_b16_s *ops);
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/****************************************************************************
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* Name: foc_angle_deinit_b16
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****************************************************************************/
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int foc_angle_deinit_b16(FAR foc_angle_b16_t *h);
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/****************************************************************************
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* Name: foc_angle_cfg_b16
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****************************************************************************/
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int foc_angle_cfg_b16(FAR foc_angle_b16_t *h, FAR void *cfg);
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/****************************************************************************
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* Name: foc_angle_run_b16
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****************************************************************************/
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void foc_angle_run_b16(FAR foc_angle_b16_t *h,
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FAR struct foc_angle_in_b16_s *in,
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FAR struct foc_angle_out_b16_s *out);
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#endif /* __INDUSTRY_FOC_FIXED16_FOC_ANGLE_H */
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