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
122 lines
4.0 KiB
C
122 lines
4.0 KiB
C
/****************************************************************************
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* apps/include/industry/foc/float/foc_velocity.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_VELOCITY_H
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#define __INDUSTRY_FOC_FLOAT_FOC_VELOCITY_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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#include "industry/foc/float/foc_handler.h"
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/****************************************************************************
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* Public Type Definition
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****************************************************************************/
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/* Input to velocity handler */
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struct foc_velocity_in_f32_s
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{
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FAR struct foc_state_f32_s *state; /* FOC state */
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float angle; /* Last angle */
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float vel; /* Last velocity */
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float dir; /* Movement direction */
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};
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/* Output from velocity handler */
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struct foc_velocity_out_f32_s
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{
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float velocity;
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};
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/* Forward declaration */
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typedef struct foc_velocity_f32_s foc_velocity_f32_t;
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/* Velocity operations */
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struct foc_velocity_ops_f32_s
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{
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/* Initialize */
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CODE int (*init)(FAR foc_velocity_f32_t *h);
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/* Deinitialize */
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CODE void (*deinit)(FAR foc_velocity_f32_t *h);
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/* Configure */
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CODE int (*cfg)(FAR foc_velocity_f32_t *h, FAR void *cfg);
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/* Run velocity handler */
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CODE void (*run)(FAR foc_velocity_f32_t *h,
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FAR struct foc_velocity_in_f32_s *in,
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FAR struct foc_velocity_out_f32_s *out);
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};
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/* Velocity handler - sensor or sensorless */
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struct foc_velocity_f32_s
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{
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FAR struct foc_velocity_ops_f32_s *ops;
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FAR void *data;
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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_velocity_init_f32
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****************************************************************************/
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int foc_velocity_init_f32(FAR foc_velocity_f32_t *h,
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FAR struct foc_velocity_ops_f32_s *ops);
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/****************************************************************************
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* Name: foc_velocity_deinit_f32
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****************************************************************************/
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int foc_velocity_deinit_f32(FAR foc_velocity_f32_t *h);
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/****************************************************************************
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* Name: foc_velocity_cfg_f32
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****************************************************************************/
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int foc_velocity_cfg_f32(FAR foc_velocity_f32_t *h, FAR void *cfg);
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/****************************************************************************
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* Name: foc_velocity_run_f32
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****************************************************************************/
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void foc_velocity_run_f32(FAR foc_velocity_f32_t *h,
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FAR struct foc_velocity_in_f32_s *in,
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FAR struct foc_velocity_out_f32_s *out);
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#endif /* __INDUSTRY_FOC_FLOAT_FOC_VELOCITY_H */
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