190 lines
4.8 KiB
C
190 lines
4.8 KiB
C
/****************************************************************************
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* apps/industry/foc/fixed16/foc_model.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 <string.h>
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#include "industry/foc/foc_log.h"
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#include "industry/foc/foc_common.h"
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#include "industry/foc/fixed16/foc_model.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_model_init_b16
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*
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* Description:
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* Initialize the FOC model (fixed16)
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*
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* Input Parameter:
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* h - pointer to FOC model handler
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* ops - pointer to FOC model operations
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*
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****************************************************************************/
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int foc_model_init_b16(FAR foc_model_b16_t *h,
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FAR struct foc_model_ops_b16_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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/* Model 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->ele_run);
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DEBUGASSERT(ops->mech_run);
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DEBUGASSERT(ops->state);
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/* Reset handler */
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memset(h, 0, sizeof(foc_model_b16_t));
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/* Connect ops */
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h->ops = ops;
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/* Initialize model */
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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_model_deinit_b16
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*
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* Description:
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* De-initialize the FOC model (fixed16)
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*
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* Input Parameter:
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* h - pointer to FOC model handler
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*
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****************************************************************************/
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int foc_model_deinit_b16(FAR foc_model_b16_t *h)
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{
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int ret = OK;
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DEBUGASSERT(h);
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/* Deinitialize model */
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h->ops->deinit(h);
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/* Reset data */
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memset(h, 0, sizeof(foc_model_b16_t));
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return ret;
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}
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/****************************************************************************
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* Name: foc_model_cfg_b16
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*
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* Description:
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* Configure the FOC model (fixed16)
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*
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* Input Parameter:
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* h - pointer to FOC model handler
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* cfg - pointer to FOC model configuration data
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*
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****************************************************************************/
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int foc_model_cfg_b16(FAR foc_model_b16_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_model_run_b16
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*
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* Description:
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* Run the FOC model (fixed16)
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*
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* Input Parameter:
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* h - pointer to FOC model handler
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* load - applied load
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* v_ab - applied voltage in alpha-beta frame
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*
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* REVISIT:
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* It would be better if we feed model with duty cycle and VBUS, but it
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* complicates the calculations, so we leave it like that for now
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*
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****************************************************************************/
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void foc_model_run_b16(FAR foc_model_b16_t *h,
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b16_t load,
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FAR ab_frame_b16_t *v_ab)
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{
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DEBUGASSERT(h);
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DEBUGASSERT(v_ab);
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/* Run electrical model */
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h->ops->ele_run(h, v_ab);
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/* Run mechanical model */
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h->ops->mech_run(h, load);
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}
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/****************************************************************************
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* Name: foc_model_state_b16
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*
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* Description:
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* Get model state (fixed16)
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*
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* Input Parameter:
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* h - pointer to FOC model handler
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* state - pointer to FOC model state
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*
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****************************************************************************/
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void foc_model_state_b16(FAR foc_model_b16_t *h,
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FAR struct foc_model_state_b16_s *state)
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{
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DEBUGASSERT(h);
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DEBUGASSERT(state);
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h->ops->state(h, state);
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}
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