| /**************************************************************************** |
| * apps/examples/foc/foc_motor_b16.h |
| * |
| * 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. |
| * |
| ****************************************************************************/ |
| |
| #ifndef __APPS_EXAMPLES_FOC_FOC_MOTOR_B16_H |
| #define __APPS_EXAMPLES_FOC_FOC_MOTOR_B16_H |
| |
| /**************************************************************************** |
| * Included Files |
| ****************************************************************************/ |
| |
| #include <nuttx/config.h> |
| |
| #include "foc_mq.h" |
| #include "foc_thr.h" |
| |
| #include "industry/foc/fixed16/foc_handler.h" |
| #include "industry/foc/fixed16/foc_ramp.h" |
| #include "industry/foc/fixed16/foc_angle.h" |
| #include "industry/foc/fixed16/foc_velocity.h" |
| |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN |
| # include "industry/foc/fixed16/foc_align.h" |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT |
| # include "industry/foc/fixed16/foc_ident.h" |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM |
| # include "industry/foc/fixed16/foc_model.h" |
| #endif |
| |
| /**************************************************************************** |
| * Pre-processor Definitions |
| ****************************************************************************/ |
| |
| /**************************************************************************** |
| * Public Type Definition |
| ****************************************************************************/ |
| |
| /* FOC setpoint (fixed16) */ |
| |
| struct foc_setpoint_b16_s |
| { |
| b16_t set; |
| b16_t now; |
| b16_t des; |
| }; |
| |
| /* FOC motor data (fixed16) */ |
| |
| struct foc_motor_b16_s |
| { |
| /* App data ***************************************************************/ |
| |
| FAR struct foc_ctrl_env_s *envp; /* Thread env */ |
| struct foc_mq_s mq; /* MQ data */ |
| bool fault; /* Fault flag */ |
| bool startstop; /* Start/stop request */ |
| int ctrl_state; /* Controller state */ |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN |
| int foc_mode_run; /* FOC mode for run state */ |
| #endif |
| |
| /* FOC data ***************************************************************/ |
| |
| struct foc_state_b16_s foc_state; /* FOC controller sate */ |
| #ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3 |
| struct svm3_state_b16_s mod_state; /* Modulation state */ |
| #endif |
| foc_handler_b16_t handler; /* FOC controller */ |
| dq_frame_b16_t dq_ref; /* DQ reference */ |
| dq_frame_b16_t vdq_comp; /* DQ voltage compensation */ |
| int foc_mode; /* FOC mode */ |
| int time; /* Helper counter */ |
| b16_t vbus; /* Power bus voltage */ |
| b16_t per; /* Controller period in seconds */ |
| #ifdef CONFIG_EXAMPLES_FOC_ANGOBS |
| b16_t ol_thr; /* Angle observer threshold velocity */ |
| b16_t ol_hys; /* Angle observer hysteresis */ |
| b16_t angle_step; /* Open-loop transition step */ |
| #endif |
| |
| /* Data from FOC device ***************************************************/ |
| |
| b16_t iphase_adc; /* Iphase ADC scaling factor */ |
| b16_t pwm_duty_max; /* PWM duty max */ |
| |
| /* Velocity controller data ***********************************************/ |
| |
| struct foc_ramp_b16_s ramp; /* Velocity ramp data */ |
| #ifdef CONFIG_EXAMPLES_FOC_VELCTRL_PI |
| pid_controller_b16_t vel_pi; /* Velocity controller */ |
| #endif |
| |
| /* Angle state ************************************************************/ |
| |
| b16_t angle_now; /* Phase angle now */ |
| b16_t angle_m; /* Motor mechanical angle */ |
| b16_t angle_el; /* Motor electrical angle */ |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP |
| b16_t angle_ol; /* Phase angle open-loop */ |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_ANGOBS |
| b16_t angle_obs; /* Angle observer output */ |
| b16_t angle_err; /* Open-loop to observer error */ |
| #endif |
| |
| /* Velocity state *********************************************************/ |
| |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL |
| b16_t vel_el; /* Velocity - electrical */ |
| b16_t vel_mech; /* Velocity - mechanical */ |
| b16_t vel_filter; /* Velocity low-pass filter */ |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_VELOBS |
| b16_t vel_obs; /* Velocity observer output */ |
| #endif |
| |
| /* Motor setpoints ********************************************************/ |
| |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ |
| struct foc_setpoint_b16_s torq; /* Torque setpoint */ |
| b16_t torq_sat; /* Torque saturation */ |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL |
| struct foc_setpoint_b16_s vel; /* Velocity setpoint */ |
| b16_t vel_sat; /* Velocity saturation */ |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_POS |
| struct foc_setpoint_b16_s pos; /* Position setpoint */ |
| #endif |
| b16_t dir; /* Motor's direction */ |
| |
| /* Motor routines *********************************************************/ |
| |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN |
| struct foc_routine_b16_s align; /* Alignment routine */ |
| bool align_done; /* Alignment done */ |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT |
| struct foc_routine_b16_s ident; /* Motor ident routine */ |
| struct motor_phy_params_b16_s phy_ident; /* Motor phy from ident */ |
| bool ident_done; /* Motor ident done */ |
| #endif |
| |
| /* Motor data *************************************************************/ |
| |
| #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM |
| struct foc_model_b16_s model; /* Model handler */ |
| struct foc_model_state_b16_s model_state; /* PMSM model state */ |
| #endif |
| struct motor_phy_params_b16_s phy; /* Motor phy */ |
| |
| /* Motor velocity and angle handlers **************************************/ |
| |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP |
| foc_angle_b16_t openloop; /* Open-loop angle handler */ |
| uint8_t openloop_now; /* Open-loop now */ |
| b16_t openloop_q; /* Open-loop Q parameter */ |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL |
| foc_angle_b16_t hall; /* Hall angle handler */ |
| char hldpath[32]; /* Hall devpath */ |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO |
| foc_angle_b16_t qenco; /* Qenco angle handler */ |
| char qedpath[32]; /* Qenco devpath */ |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_VELOBS_DIV |
| foc_velocity_b16_t vel_div; /* DIV velocity observer */ |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_VELOBS_PLL |
| foc_velocity_b16_t vel_pll; /* PLL velocity observer */ |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_ANGOBS_SMO |
| foc_angle_b16_t ang_smo; /* SMO angle observer */ |
| #endif |
| #ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO |
| foc_angle_b16_t ang_nfo; /* NFO angle observer */ |
| #endif |
| }; |
| |
| /**************************************************************************** |
| * Public Data |
| ****************************************************************************/ |
| |
| /**************************************************************************** |
| * Public Function Prototypes |
| ****************************************************************************/ |
| |
| int foc_motor_init(FAR struct foc_motor_b16_s *motor, |
| FAR struct foc_ctrl_env_s *envp); |
| int foc_motor_deinit(FAR struct foc_motor_b16_s *motor); |
| int foc_motor_get(FAR struct foc_motor_b16_s *motor); |
| int foc_motor_control(FAR struct foc_motor_b16_s *motor); |
| int foc_motor_handle(FAR struct foc_motor_b16_s *motor, |
| FAR struct foc_mq_s *handle); |
| |
| #endif /* __APPS_EXAMPLES_FOC_FOC_MOTOR_B16_H */ |
