289 lines
8.0 KiB
C
289 lines
8.0 KiB
C
/****************************************************************************
|
|
* apps/industry/foc/fixed16/foc_vel_odiv.c
|
|
*
|
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
|
* contributor license agreements. See the NOTICE file distributed with
|
|
* this work for additional information regarding copyright ownership. The
|
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
|
* "License"); you may not use this file except in compliance with the
|
|
* License. You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
|
* License for the specific language governing permissions and limitations
|
|
* under the License.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
|
|
#include <assert.h>
|
|
#include <errno.h>
|
|
#include <stdlib.h>
|
|
|
|
#include <dspb16.h>
|
|
|
|
#include "industry/foc/foc_common.h"
|
|
#include "industry/foc/foc_log.h"
|
|
#include "industry/foc/fixed16/foc_velocity.h"
|
|
|
|
/****************************************************************************
|
|
* Pre-processor Definitions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Private Data Types
|
|
****************************************************************************/
|
|
|
|
/* Div private data */
|
|
|
|
struct foc_div_b16_s
|
|
{
|
|
struct foc_vel_div_b16_cfg_s cfg;
|
|
struct motor_sobserver_div_b16_s data;
|
|
struct motor_sobserver_b16_s o;
|
|
b16_t sensor_dir;
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Private Function Prototypes
|
|
****************************************************************************/
|
|
|
|
static int foc_velocity_div_init_b16(FAR foc_velocity_b16_t *h);
|
|
static void foc_velocity_div_deinit_b16(FAR foc_velocity_b16_t *h);
|
|
static int foc_velocity_div_cfg_b16(FAR foc_velocity_b16_t *h,
|
|
FAR void *cfg);
|
|
static int foc_velocity_div_zero_b16(FAR foc_velocity_b16_t *h);
|
|
static int foc_velocity_div_dir_b16(FAR foc_velocity_b16_t *h, b16_t dir);
|
|
static int foc_velocity_div_run_b16(FAR foc_velocity_b16_t *h,
|
|
FAR struct foc_velocity_in_b16_s *in,
|
|
FAR struct foc_velocity_out_b16_s *out);
|
|
|
|
/****************************************************************************
|
|
* Public Data
|
|
****************************************************************************/
|
|
|
|
/* FOC velocity b16_t interface */
|
|
|
|
struct foc_velocity_ops_b16_s g_foc_velocity_odiv_b16 =
|
|
{
|
|
.init = foc_velocity_div_init_b16,
|
|
.deinit = foc_velocity_div_deinit_b16,
|
|
.cfg = foc_velocity_div_cfg_b16,
|
|
.zero = foc_velocity_div_zero_b16,
|
|
.dir = foc_velocity_div_dir_b16,
|
|
.run = foc_velocity_div_run_b16,
|
|
};
|
|
|
|
/****************************************************************************
|
|
* Private Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_div_init_b16
|
|
*
|
|
* Description:
|
|
* Initialize the DIV velocity observer (fixed16)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC velocity handler
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int foc_velocity_div_init_b16(FAR foc_velocity_b16_t *h)
|
|
{
|
|
int ret = OK;
|
|
|
|
DEBUGASSERT(h);
|
|
|
|
/* Connect velocity data */
|
|
|
|
h->data = zalloc(sizeof(struct foc_div_b16_s));
|
|
if (h->data == NULL)
|
|
{
|
|
ret = -ENOMEM;
|
|
goto errout;
|
|
}
|
|
|
|
errout:
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_div_deinit_b16
|
|
*
|
|
* Description:
|
|
* De-initialize the DIV velocity observer (fixed16)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC velocity handler
|
|
*
|
|
****************************************************************************/
|
|
|
|
static void foc_velocity_div_deinit_b16(FAR foc_velocity_b16_t *h)
|
|
{
|
|
DEBUGASSERT(h);
|
|
|
|
if (h->data)
|
|
{
|
|
/* Free velocity data */
|
|
|
|
free(h->data);
|
|
}
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_div_cfg_b16
|
|
*
|
|
* Description:
|
|
* Configure the DIV velocity observer (fixed16)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC velocity handler
|
|
* cfg - pointer to velocity handler configuration data
|
|
* (struct foc_div_b16_s)
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int foc_velocity_div_cfg_b16(FAR foc_velocity_b16_t *h, FAR void *cfg)
|
|
{
|
|
FAR struct foc_div_b16_s *div = NULL;
|
|
int ret = OK;
|
|
|
|
DEBUGASSERT(h);
|
|
|
|
/* Get div data */
|
|
|
|
DEBUGASSERT(h->data);
|
|
div = h->data;
|
|
|
|
/* Copy configuration */
|
|
|
|
memcpy(&div->cfg, cfg, sizeof(struct foc_vel_div_b16_cfg_s));
|
|
|
|
/* Configure observer */
|
|
|
|
motor_sobserver_div_init_b16(&div->data,
|
|
div->cfg.samples,
|
|
div->cfg.filter,
|
|
div->cfg.per);
|
|
|
|
motor_sobserver_init_b16(&div->o, &div->data, div->cfg.per);
|
|
|
|
/* Initialize with CW direction */
|
|
|
|
div->sensor_dir = DIR_CW_B16;
|
|
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_div_zero_b16
|
|
*
|
|
* Description:
|
|
* Zero the DIV velocity observer (fixed16)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC velocity handler
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int foc_velocity_div_zero_b16(FAR foc_velocity_b16_t *h)
|
|
{
|
|
FAR struct foc_div_b16_s *div = NULL;
|
|
int ret = OK;
|
|
|
|
DEBUGASSERT(h);
|
|
|
|
/* Get div data */
|
|
|
|
DEBUGASSERT(h->data);
|
|
div = h->data;
|
|
|
|
/* Reinitialize observer */
|
|
|
|
motor_sobserver_div_init_b16(&div->data,
|
|
div->cfg.samples,
|
|
div->cfg.filter,
|
|
div->cfg.per);
|
|
|
|
div->o.speed = 0;
|
|
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_div_dir_b16
|
|
*
|
|
* Description:
|
|
* Set the DIV velocity observer direction (fixed16)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC velocity handler
|
|
* dir - sensor direction (1 if normal -1 if inverted)
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int foc_velocity_div_dir_b16(FAR foc_velocity_b16_t *h, b16_t dir)
|
|
{
|
|
FAR struct foc_div_b16_s *div = NULL;
|
|
|
|
DEBUGASSERT(h);
|
|
|
|
/* Get div data */
|
|
|
|
DEBUGASSERT(h->data);
|
|
div = h->data;
|
|
|
|
/* Set direction */
|
|
|
|
div->sensor_dir = dir;
|
|
|
|
return OK;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_div_run_b16
|
|
*
|
|
* Description:
|
|
* Process the DIV velocity observer (fixed16)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC velocity handler
|
|
* in - pointer to FOC velocity handler input data
|
|
* out - pointer to FOC velocity handler output data
|
|
*
|
|
****************************************************************************/
|
|
|
|
static int foc_velocity_div_run_b16(FAR foc_velocity_b16_t *h,
|
|
FAR struct foc_velocity_in_b16_s *in,
|
|
FAR struct foc_velocity_out_b16_s *out)
|
|
{
|
|
FAR struct foc_div_b16_s *div = NULL;
|
|
|
|
DEBUGASSERT(h);
|
|
|
|
/* Get div data */
|
|
|
|
DEBUGASSERT(h->data);
|
|
div = h->data;
|
|
|
|
/* Run observer */
|
|
|
|
motor_sobserver_div_b16(&div->o, in->angle);
|
|
|
|
/* Copy data */
|
|
|
|
out->velocity = b16mulb16(div->sensor_dir,
|
|
motor_sobserver_speed_get_b16(&div->o));
|
|
|
|
return OK;
|
|
}
|