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
69 lines
2.7 KiB
C
69 lines
2.7 KiB
C
/****************************************************************************
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* apps/include/industry/foc/float/foc_ramp.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_RAMP_H
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#define __INDUSTRY_FOC_FLOAT_FOC_RAMP_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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/* Ramp data */
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struct foc_ramp_f32_s
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{
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uint8_t ramp_mode; /* Ramp mode */
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float per; /* Controller period */
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float ramp_thr; /* Ramp threshold */
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float ramp_acc; /* Ramp acceleration */
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float ramp_dec; /* Ramp deceleration */
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float ramp_dec_per; /* dec * per */
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float ramp_acc_per; /* acc * per */
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float diff; /* Difference now */
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};
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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_ramp_init_f32
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****************************************************************************/
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int foc_ramp_init_f32(FAR struct foc_ramp_f32_s *ramp, float per,
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float thr, float acc, float dec);
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/****************************************************************************
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* Name: foc_ramp_run_f32
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****************************************************************************/
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int foc_ramp_run_f32(FAR struct foc_ramp_f32_s *ramp, float des,
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float now, FAR float *set);
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#endif /* __INDUSTRY_FOC_FLOAT_FOC_RAMP_H */
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