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
158 lines
4.1 KiB
C
158 lines
4.1 KiB
C
/****************************************************************************
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* apps/industry/foc/float/foc_angle.c
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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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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <assert.h>
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#include <errno.h>
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#include "industry/foc/foc_log.h"
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#include "industry/foc/float/foc_angle.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: foc_angle_init_f32
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*
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* Description:
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* Initialize the FOC angle handler (float32)
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*
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* Input Parameter:
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* h - pointer to FOC angle handler
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* ops - pointer to FOC angle handler operations
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*
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****************************************************************************/
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int foc_angle_init_f32(FAR foc_angle_f32_t *h,
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FAR struct foc_angle_ops_f32_s *ops)
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{
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int ret = OK;
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DEBUGASSERT(h);
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DEBUGASSERT(ops);
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/* Angle ops */
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DEBUGASSERT(ops->init);
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DEBUGASSERT(ops->deinit);
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DEBUGASSERT(ops->cfg);
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DEBUGASSERT(ops->run);
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/* Reset handler */
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memset(h, 0, sizeof(foc_angle_f32_t));
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/* Connect ops */
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h->ops = ops;
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/* Initialize angle */
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ret = h->ops->init(h);
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if (ret < 0)
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{
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FOCLIBERR("ERROR: ops->init failed %d\n", ret);
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goto errout;
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}
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errout:
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return ret;
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}
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/****************************************************************************
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* Name: foc_angle_deinit_f32
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*
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* Description:
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* De-initialize the FOC angle handler (float32)
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*
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* Input Parameter:
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* h - pointer to FOC angle handler
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*
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****************************************************************************/
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int foc_angle_deinit_f32(FAR foc_angle_f32_t *h)
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{
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int ret = OK;
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DEBUGASSERT(h);
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/* Deinitialize angle */
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h->ops->deinit(h);
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/* Reset data */
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memset(h, 0, sizeof(foc_angle_f32_t));
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return ret;
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}
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/****************************************************************************
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* Name: foc_angle_cfg_f32
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*
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* Description:
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* Configure the FOC angle handler (float32)
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*
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* Input Parameter:
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* h - pointer to FOC angle handler
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* cfg - pointer to angle handler configuration data
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*
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****************************************************************************/
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int foc_angle_cfg_f32(FAR foc_angle_f32_t *h, FAR void *cfg)
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{
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DEBUGASSERT(h);
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DEBUGASSERT(cfg);
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return h->ops->cfg(h, cfg);
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}
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/****************************************************************************
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* Name: foc_angle_run_f32
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*
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* Description:
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* Process the FOC angle handler data (float32)
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*
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* Input Parameter:
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* h - pointer to FOC angle handler
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* in - pointer to FOC angle handler input data
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* out - pointer to FOC angle handler output data
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*
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****************************************************************************/
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void foc_angle_run_f32(FAR foc_angle_f32_t *h,
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FAR struct foc_angle_in_f32_s *in,
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FAR struct foc_angle_out_f32_s *out)
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{
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DEBUGASSERT(h);
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DEBUGASSERT(in);
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DEBUGASSERT(out);
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/* Run angle handler */
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h->ops->run(h, in, out);
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}
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