129 lines
5.3 KiB
C
129 lines
5.3 KiB
C
/****************************************************************************
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* apps/examples/foc/foc_motor_f32.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 __EXAMPLES_FOC_FOC_MOTOR_F32_H
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#define __EXAMPLES_FOC_FOC_MOTOR_F32_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 "foc_mq.h"
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#include "foc_thr.h"
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#include "industry/foc/float/foc_handler.h"
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#include "industry/foc/float/foc_ramp.h"
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#include "industry/foc/float/foc_angle.h"
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#include "industry/foc/float/foc_velocity.h"
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
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# include "industry/foc/float/foc_align.h"
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
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# include "industry/foc/float/foc_model.h"
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#endif
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Public Type Definition
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****************************************************************************/
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/* FOC setpoint (float32) */
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struct foc_setpoint_f32_s
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{
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float set;
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float now;
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float des;
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};
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/* FOC motor data (float32) */
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struct foc_motor_f32_s
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{
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FAR struct foc_ctrl_env_s *envp; /* Thread env */
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bool fault; /* Fault flag */
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bool startstop; /* Start/stop request */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
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bool openloop_now; /* Open-loop now */
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float angle_ol; /* Phase angle open-loop */
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foc_angle_f32_t openloop; /* Open-loop angle handler */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
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char hldpath[32]; /* Hall devpath */
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foc_angle_f32_t hall; /* Hall angle handler */
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#endif
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int foc_mode; /* FOC mode */
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int ctrl_state; /* Controller state */
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float vbus; /* Power bus voltage */
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float angle_now; /* Phase angle now */
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float angle_m; /* Motor mechanical angle */
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float angle_el; /* Motor electrical angle */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
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struct foc_setpoint_f32_s torq; /* Torque setpoint */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
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struct foc_setpoint_f32_s vel; /* Velocity setpoint */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
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struct foc_setpoint_f32_s pos; /* Position setpoint */
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#endif
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float dir; /* Motor's direction */
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float per; /* Controller period in seconds */
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float iphase_adc; /* Iphase ADC scaling factor */
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float pwm_duty_max; /* PWM duty max */
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dq_frame_f32_t dq_ref; /* DQ reference */
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dq_frame_f32_t vdq_comp; /* DQ voltage compensation */
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foc_handler_f32_t handler; /* FOC controller */
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struct foc_mq_s mq; /* MQ data */
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struct foc_state_f32_s foc_state; /* FOC controller sate */
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struct foc_ramp_f32_s ramp; /* Velocity ramp data */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
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struct foc_routine_f32_s align; /* Alignment routine */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
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struct foc_model_f32_s model; /* Model handler */
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struct foc_model_state_f32_s model_state; /* PMSM model state */
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#endif
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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int foc_motor_init(FAR struct foc_motor_f32_s *motor,
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FAR struct foc_ctrl_env_s *envp);
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int foc_motor_deinit(FAR struct foc_motor_f32_s *motor);
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int foc_motor_get(FAR struct foc_motor_f32_s *motor);
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int foc_motor_control(FAR struct foc_motor_f32_s *motor);
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int foc_motor_handle(FAR struct foc_motor_f32_s *motor,
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FAR struct foc_mq_s *handle);
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#endif /* __EXAMPLES_FOC_FOC_MOTOR_F32_H */
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