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
4.2 KiB
C
158 lines
4.2 KiB
C
/****************************************************************************
|
|
* apps/industry/foc/float/foc_velocity.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 <debug.h>
|
|
#include <errno.h>
|
|
|
|
#include "industry/foc/foc_log.h"
|
|
#include "industry/foc/float/foc_velocity.h"
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_init_f32
|
|
*
|
|
* Description:
|
|
* Initialize the FOC velocity handler (float32)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC velocity handler
|
|
* ops - pointer to FOC velocity handler operations
|
|
*
|
|
****************************************************************************/
|
|
|
|
int foc_velocity_init_f32(FAR foc_velocity_f32_t *h,
|
|
FAR struct foc_velocity_ops_f32_s *ops)
|
|
{
|
|
int ret = OK;
|
|
|
|
DEBUGASSERT(h);
|
|
DEBUGASSERT(ops);
|
|
|
|
/* Velocity ops */
|
|
|
|
DEBUGASSERT(ops->init);
|
|
DEBUGASSERT(ops->deinit);
|
|
DEBUGASSERT(ops->cfg);
|
|
DEBUGASSERT(ops->run);
|
|
|
|
/* Reset handler */
|
|
|
|
memset(h, 0, sizeof(foc_velocity_f32_t));
|
|
|
|
/* Connect ops */
|
|
|
|
h->ops = ops;
|
|
|
|
/* Initialize velocity */
|
|
|
|
ret = h->ops->init(h);
|
|
if (ret < 0)
|
|
{
|
|
FOCLIBERR("ERROR: ops->init failed %d\n", ret);
|
|
goto errout;
|
|
}
|
|
|
|
errout:
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_deinit_f32
|
|
*
|
|
* Description:
|
|
* De-initialize the FOC velocity handler (float32)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC velocity handler
|
|
*
|
|
****************************************************************************/
|
|
|
|
int foc_velocity_deinit_f32(FAR foc_velocity_f32_t *h)
|
|
{
|
|
int ret = OK;
|
|
|
|
DEBUGASSERT(h);
|
|
|
|
/* Deinitialize velocity */
|
|
|
|
h->ops->deinit(h);
|
|
|
|
/* Reset data */
|
|
|
|
memset(h, 0, sizeof(foc_velocity_f32_t));
|
|
|
|
return ret;
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_cfg_f32
|
|
*
|
|
* Description:
|
|
* Configure the FOC velocity handler (float32)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC velocity handler
|
|
* cfg - pointer to velocity handler configuration data
|
|
*
|
|
****************************************************************************/
|
|
|
|
int foc_velocity_cfg_f32(FAR foc_velocity_f32_t *h, FAR void *cfg)
|
|
{
|
|
DEBUGASSERT(h);
|
|
DEBUGASSERT(cfg);
|
|
|
|
return h->ops->cfg(h, cfg);
|
|
}
|
|
|
|
/****************************************************************************
|
|
* Name: foc_velocity_run_f32
|
|
*
|
|
* Description:
|
|
* Process the FOC velocity handler data (float32)
|
|
*
|
|
* Input Parameter:
|
|
* h - pointer to FOC velocity handler
|
|
* in - pointer to FOC velocity handler input data
|
|
* out - pointer to FOC velocity handler output data
|
|
*
|
|
****************************************************************************/
|
|
|
|
void foc_velocity_run_f32(FAR foc_velocity_f32_t *h,
|
|
FAR struct foc_velocity_in_f32_s *in,
|
|
FAR struct foc_velocity_out_f32_s *out)
|
|
{
|
|
DEBUGASSERT(h);
|
|
DEBUGASSERT(in);
|
|
DEBUGASSERT(out);
|
|
|
|
/* Run velocity handler */
|
|
|
|
h->ops->run(h, in, out);
|
|
}
|