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Add FOC library
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
This commit is contained in:
raiden00pl
Xiang Xiao
parent
a333a908a8
commit
d75d6b7af0
39 changed files with 6744 additions and 0 deletions
140
include/industry/foc/fixed16/foc_angle.h
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140
include/industry/foc/fixed16/foc_angle.h
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@ -0,0 +1,140 @@
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/****************************************************************************
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* apps/include/industry/foc/fixed16/foc_angle.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
|
||||
* 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 __INDUSTRY_FOC_FIXED16_FOC_ANGLE_H
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#define __INDUSTRY_FOC_FIXED16_FOC_ANGLE_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 <dspb16.h>
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#include "industry/foc/fixed16/foc_handler.h"
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/****************************************************************************
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* Public Type Definition
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****************************************************************************/
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/* Input to angle handler */
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struct foc_angle_in_b16_s
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{
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FAR struct foc_state_b16_s *state; /* FOC state */
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b16_t angle; /* Last angle */
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b16_t vel; /* Last velocity */
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b16_t dir; /* Movement direction */
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};
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/* Output from angle handler */
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struct foc_angle_out_b16_s
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{
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b16_t angle;
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};
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/* Forward declaration */
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typedef struct foc_angle_b16_s foc_angle_b16_t;
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/* Angle operations */
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struct foc_angle_ops_b16_s
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{
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/* Initialize */
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CODE int (*init)(FAR foc_angle_b16_t *h);
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/* Deinitialize */
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CODE void (*deinit)(FAR foc_angle_b16_t *h);
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/* Configure */
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CODE int (*cfg)(FAR foc_angle_b16_t *h, FAR void *cfg);
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/* Run */
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CODE void (*run)(FAR foc_angle_b16_t *h,
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FAR struct foc_angle_in_b16_s *in,
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FAR struct foc_angle_out_b16_s *out);
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};
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/* Angle handler - sensor or sensorless */
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struct foc_angle_b16_s
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{
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FAR struct foc_angle_ops_b16_s *ops;
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FAR void *data;
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};
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#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
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/* Open-loop configuration data */
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struct foc_openloop_cfg_b16_s
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{
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b16_t per; /* Controller period */
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};
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#endif
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
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/* Open-loop angle operations (fixed16) */
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extern struct foc_angle_ops_b16_s g_foc_angle_ol_b16;
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: foc_angle_init_b16
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****************************************************************************/
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int foc_angle_init_b16(FAR foc_angle_b16_t *h,
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FAR struct foc_angle_ops_b16_s *ops);
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/****************************************************************************
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* Name: foc_angle_deinit_b16
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****************************************************************************/
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int foc_angle_deinit_b16(FAR foc_angle_b16_t *h);
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/****************************************************************************
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* Name: foc_angle_cfg_b16
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****************************************************************************/
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int foc_angle_cfg_b16(FAR foc_angle_b16_t *h, FAR void *cfg);
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/****************************************************************************
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* Name: foc_angle_run_b16
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****************************************************************************/
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void foc_angle_run_b16(FAR foc_angle_b16_t *h,
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FAR struct foc_angle_in_b16_s *in,
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FAR struct foc_angle_out_b16_s *out);
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#endif /* __INDUSTRY_FOC_FIXED16_FOC_ANGLE_H */
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48
include/industry/foc/fixed16/foc_cordic.h
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48
include/industry/foc/fixed16/foc_cordic.h
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@ -0,0 +1,48 @@
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/****************************************************************************
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* apps/include/industry/foc/fixed16/foc_cordic.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 __INDUSTRY_FOC_FIXED16_FOC_CORDIC_H
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#define __INDUSTRY_FOC_FIXED16_FOC_CORDIC_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 <dspb16.h>
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: foc_cordic_dqsat_b16
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****************************************************************************/
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int foc_cordic_dqsat_b16(int fd, FAR dq_frame_b16_t *dq_ref, b16_t mag_max);
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/****************************************************************************
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* Name: foc_cordic_angle_b16
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****************************************************************************/
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int foc_cordic_angle_b16(int fd, FAR phase_angle_b16_t *angle, b16_t a);
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#endif /* __INDUSTRY_FOC_FIXED16_FOC_CORDIC_H */
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247
include/industry/foc/fixed16/foc_handler.h
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247
include/industry/foc/fixed16/foc_handler.h
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@ -0,0 +1,247 @@
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/****************************************************************************
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* apps/include/industry/foc/fixed16/foc_handler.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
|
||||
* contributor license agreements. See the NOTICE file distributed with
|
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* 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
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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 __INDUSTRY_FOC_FIXED16_FOC_HANDLER_H
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#define __INDUSTRY_FOC_FIXED16_FOC_HANDLER_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 <dspb16.h>
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#ifdef CONFIG_INDUSTRY_FOC_CORDIC
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# include "industry/foc/fixed16/foc_cordic.h"
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#endif
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/****************************************************************************
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* Public Type Definition
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****************************************************************************/
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/* Input to FOC controller */
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struct foc_handler_input_b16_s
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{
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FAR b16_t *current; /* Phase current samples */
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FAR dq_frame_b16_t *dq_ref; /* DQ reference frame */
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FAR dq_frame_b16_t *vdq_comp; /* DQ voltage compensation */
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FAR b16_t angle; /* Phase angle */
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FAR b16_t vbus; /* Bus voltage */
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FAR int mode; /* Controller mode (enum foc_handler_mode_e) */
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};
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/* Output from FOC controller */
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struct foc_handler_output_b16_s
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{
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b16_t duty[CONFIG_MOTOR_FOC_PHASES]; /* New duty cycle for PWM */
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};
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/* Controller state */
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struct foc_state_b16_s
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{
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b16_t curr[CONFIG_MOTOR_FOC_PHASES];
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b16_t volt[CONFIG_MOTOR_FOC_PHASES];
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ab_frame_b16_t iab;
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ab_frame_b16_t vab;
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dq_frame_b16_t vdq;
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dq_frame_b16_t idq;
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};
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/* Forward declaration */
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typedef struct foc_handler_b16_s foc_handler_b16_t;
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/* Modulation operations */
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struct foc_modulation_ops_b16_s
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{
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/* Initialize */
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CODE int (*init)(FAR foc_handler_b16_t *h);
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/* Deinitialzie */
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CODE void (*deinit)(FAR foc_handler_b16_t *h);
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/* Configure modulation */
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CODE void (*cfg)(FAR foc_handler_b16_t *h, FAR void *cfg);
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/* Modulation specific current correction */
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CODE void (*current)(FAR foc_handler_b16_t *h, FAR b16_t *curr);
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/* Get the base voltage for a given modulation scheme */
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CODE void (*vbase_get)(FAR foc_handler_b16_t *h,
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b16_t vbus,
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FAR b16_t *vbase);
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/* Run modulation */
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CODE void (*run)(FAR foc_handler_b16_t *h,
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FAR ab_frame_b16_t *v_ab_mod,
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FAR b16_t *duty);
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};
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/* Current/voltage controller operations */
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struct foc_control_ops_b16_s
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{
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/* Initialize */
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CODE int (*init)(FAR foc_handler_b16_t *h);
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/* Deinitialize */
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CODE void (*deinit)(FAR foc_handler_b16_t *h);
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/* Configure controller */
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CODE void (*cfg)(FAR foc_handler_b16_t *h, FAR void *cfg);
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/* Feed controller with input data */
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CODE void (*input_set)(FAR foc_handler_b16_t *h,
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FAR b16_t *current,
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b16_t vbase,
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b16_t angle);
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/* Run voltage controller */
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CODE void (*voltage_run)(FAR foc_handler_b16_t *h,
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FAR dq_frame_b16_t *dq_ref,
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FAR ab_frame_b16_t *v_ab_mod);
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/* Run current controller */
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CODE void (*current_run)(FAR foc_handler_b16_t *h,
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FAR dq_frame_b16_t *dq_ref,
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FAR dq_frame_b16_t *vdq_comp,
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FAR ab_frame_b16_t *v_ab_mod);
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/* Get controller state data */
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CODE void (*state_get)(FAR foc_handler_b16_t *h,
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FAR struct foc_state_b16_s *state);
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};
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/* FOC handler operations */
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struct foc_handler_ops_b16_s
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{
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/* Current/voltage controller interface */
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struct foc_control_ops_b16_s *ctrl;
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/* Modulation interface */
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struct foc_modulation_ops_b16_s *mod;
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};
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/* FOC handler data */
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struct foc_handler_b16_s
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{
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#ifdef CONFIG_INDUSTRY_FOC_CORDIC
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int fd; /* CORDIC device */
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#endif
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struct foc_handler_ops_b16_s ops; /* Handler operations */
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FAR void *modulation; /* Modulation data */
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FAR void *control; /* Controller data */
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};
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/* Modulation configuration */
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struct foc_mod_cfg_b16_s
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{
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b16_t pwm_duty_max; /* Maximum allowed PWM duty cycle */
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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#ifdef CONFIG_INDUSTRY_FOC_CONTROL_PI
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/* FOC PI controller (fixed16) */
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extern struct foc_control_ops_b16_s g_foc_control_pi_b16;
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#endif
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#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
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/* 3-phase space vector modulation Modulation handler (fixed16) */
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extern struct foc_modulation_ops_b16_s g_foc_mod_svm3_b16;
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#endif
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: foc_handler_init_b16
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****************************************************************************/
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int foc_handler_init_b16(FAR foc_handler_b16_t *h,
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FAR struct foc_control_ops_b16_s *ctrl,
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FAR struct foc_modulation_ops_b16_s *mod);
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/****************************************************************************
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* Name: foc_handler_deinit_b16
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****************************************************************************/
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int foc_handler_deinit_b16(FAR foc_handler_b16_t *h);
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/****************************************************************************
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* Name: foc_handler_run_b16
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****************************************************************************/
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int foc_handler_run_b16(FAR foc_handler_b16_t *h,
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FAR struct foc_handler_input_b16_s *in,
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FAR struct foc_handler_output_b16_s *out);
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/****************************************************************************
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* Name: foc_handler_cfg_b16
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****************************************************************************/
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void foc_handler_cfg_b16(FAR foc_handler_b16_t *h,
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FAR void *ctrl_cfg,
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FAR void *mod_cfg);
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/****************************************************************************
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* Name: foc_handler_state_b16
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****************************************************************************/
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void foc_handler_state_b16(FAR foc_handler_b16_t *h,
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FAR struct foc_state_b16_s *state);
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#ifdef CONFIG_INDUSTRY_FOC_HANDLER_PRINT
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/****************************************************************************
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* Name: foc_handler_state_print_b16
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****************************************************************************/
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void foc_handler_state_print_b16(FAR struct foc_state_b16_s *state);
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#endif
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#endif /* __INDUSTRY_FOC_FIXED16_FOC_HANDLER_H */
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160
include/industry/foc/fixed16/foc_model.h
Normal file
160
include/industry/foc/fixed16/foc_model.h
Normal file
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@ -0,0 +1,160 @@
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/****************************************************************************
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* apps/include/industry/foc/fixed16/foc_model.h
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*
|
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* 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
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#ifndef __INDUSTRY_FOC_FIXED16_FOC_MODEL_H
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#define __INDUSTRY_FOC_FIXED16_FOC_MODEL_H
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/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
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#include <nuttx/config.h>
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#include <dspb16.h>
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/****************************************************************************
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* Public Type Definition
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||||
****************************************************************************/
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#ifdef CONFIG_INDUSTRY_FOC_MODEL_PMSM
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/* PMSM model configuration */
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struct foc_model_pmsm_cfg_b16_s
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{
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uint8_t poles;
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b16_t res;
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b16_t ind;
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b16_t iner;
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b16_t flux_link;
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b16_t ind_d;
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b16_t ind_q;
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b16_t per;
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b16_t iphase_adc;
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};
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#endif /* CONFIG_INDUSTRY_FOC_MODEL_PMSM */
|
||||
|
||||
/* FOC model state */
|
||||
|
||||
struct foc_model_state_b16_s
|
||||
{
|
||||
int32_t curr_raw[CONFIG_MOTOR_FOC_PHASES];
|
||||
b16_t curr[CONFIG_MOTOR_FOC_PHASES];
|
||||
b16_t volt[CONFIG_MOTOR_FOC_PHASES];
|
||||
ab_frame_b16_t iab;
|
||||
ab_frame_b16_t vab;
|
||||
dq_frame_b16_t vdq;
|
||||
dq_frame_b16_t idq;
|
||||
b16_t omega_e;
|
||||
b16_t omega_m;
|
||||
};
|
||||
|
||||
/* Forward declaration */
|
||||
|
||||
typedef struct foc_model_b16_s foc_model_b16_t;
|
||||
|
||||
/* FOC model operations */
|
||||
|
||||
struct foc_model_ops_b16_s
|
||||
{
|
||||
/* Initialize */
|
||||
|
||||
CODE int (*init)(FAR foc_model_b16_t *h);
|
||||
|
||||
/* Deinitialize */
|
||||
|
||||
CODE void (*deinit)(FAR foc_model_b16_t *h);
|
||||
|
||||
/* Configure model */
|
||||
|
||||
CODE int (*cfg)(FAR foc_model_b16_t *h, FAR void *cfg);
|
||||
|
||||
/* Run electrical model */
|
||||
|
||||
CODE void (*ele_run)(FAR foc_model_b16_t *h,
|
||||
FAR ab_frame_b16_t *v_ab);
|
||||
|
||||
/* Run mechanical model */
|
||||
|
||||
CODE void (*mech_run)(FAR foc_model_b16_t *h,
|
||||
b16_t load);
|
||||
|
||||
/* Get model state */
|
||||
|
||||
CODE void (*state)(FAR foc_model_b16_t *h,
|
||||
FAR struct foc_model_state_b16_s *state);
|
||||
};
|
||||
|
||||
/* FOC model handler */
|
||||
|
||||
struct foc_model_b16_s
|
||||
{
|
||||
FAR struct foc_model_ops_b16_s *ops;
|
||||
FAR void *model;
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_INDUSTRY_FOC_MODEL_PMSM
|
||||
/* PMSM model operations (fixed16) */
|
||||
|
||||
extern struct foc_model_ops_b16_s g_foc_model_pmsm_ops_b16;
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_model_init_b16
|
||||
****************************************************************************/
|
||||
|
||||
int foc_model_init_b16(FAR foc_model_b16_t *h,
|
||||
FAR struct foc_model_ops_b16_s *ops);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_model_deinit_b16
|
||||
****************************************************************************/
|
||||
|
||||
int foc_model_deinit_b16(FAR foc_model_b16_t *h);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_model_cfg_b16
|
||||
****************************************************************************/
|
||||
|
||||
int foc_model_cfg_b16(FAR foc_model_b16_t *h, FAR void *cfg);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_model_run_b16
|
||||
****************************************************************************/
|
||||
|
||||
void foc_model_run_b16(FAR foc_model_b16_t *h,
|
||||
b16_t load,
|
||||
FAR ab_frame_b16_t *v_ab);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_model_state_b16
|
||||
****************************************************************************/
|
||||
|
||||
void foc_model_state_b16(FAR foc_model_b16_t *h,
|
||||
FAR struct foc_model_state_b16_s *state);
|
||||
|
||||
#endif /* __INDUSTRY_FOC_FIXED16_FOC_MODEL_H */
|
||||
68
include/industry/foc/fixed16/foc_ramp.h
Normal file
68
include/industry/foc/fixed16/foc_ramp.h
Normal file
|
|
@ -0,0 +1,68 @@
|
|||
/****************************************************************************
|
||||
* apps/include/industry/foc/fixed16/foc_ramp.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 __INDUSTRY_FOC_FIXED16_FOC_RAMP_H
|
||||
#define __INDUSTRY_FOC_FIXED16_FOC_RAMP_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <dspb16.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Public Type Definition
|
||||
****************************************************************************/
|
||||
|
||||
/* Ramp data */
|
||||
|
||||
struct foc_ramp_b16_s
|
||||
{
|
||||
uint8_t ramp_mode; /* Ramp mode */
|
||||
b16_t per; /* Controller period */
|
||||
b16_t ramp_thr; /* Ramp threshold */
|
||||
b16_t ramp_acc; /* Ramp acceleration */
|
||||
b16_t ramp_dec; /* Ramp deceleration */
|
||||
b16_t ramp_dec_per; /* dec * per */
|
||||
b16_t ramp_acc_per; /* acc * per */
|
||||
b16_t diff; /* Difference now */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_ramp_init_b16
|
||||
****************************************************************************/
|
||||
|
||||
int foc_ramp_init_b16(FAR struct foc_ramp_b16_s *ramp, b16_t per,
|
||||
b16_t thr, b16_t acc, b16_t dec);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_ramp_run_b16
|
||||
****************************************************************************/
|
||||
|
||||
int foc_ramp_run_b16(FAR struct foc_ramp_b16_s *ramp, b16_t des,
|
||||
b16_t now, FAR b16_t *set);
|
||||
|
||||
#endif /* __INDUSTRY_FOC_FIXED16_FOC_RAMP_H */
|
||||
121
include/industry/foc/fixed16/foc_velocity.h
Normal file
121
include/industry/foc/fixed16/foc_velocity.h
Normal file
|
|
@ -0,0 +1,121 @@
|
|||
/****************************************************************************
|
||||
* apps/include/industry/foc/fixed16/foc_velocity.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 __INDUSTRY_FOC_FIXED16_FOC_VELOCITY_H
|
||||
#define __INDUSTRY_FOC_FIXED16_FOC_VELOCITY_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <dspb16.h>
|
||||
|
||||
#include "industry/foc/fixed16/foc_handler.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Public Type Definition
|
||||
****************************************************************************/
|
||||
|
||||
/* Input to velocity handler */
|
||||
|
||||
struct foc_velocity_in_b16_s
|
||||
{
|
||||
FAR struct foc_state_b16_s *state; /* FOC state */
|
||||
b16_t angle; /* Last angle */
|
||||
b16_t vel; /* Last velocity */
|
||||
b16_t dir; /* Movement direction */
|
||||
};
|
||||
|
||||
/* Output from velocity handler */
|
||||
|
||||
struct foc_velocity_out_b16_s
|
||||
{
|
||||
b16_t velocity;
|
||||
};
|
||||
|
||||
/* Forward declaration */
|
||||
|
||||
typedef struct foc_velocity_b16_s foc_velocity_b16_t;
|
||||
|
||||
/* Velocity operations */
|
||||
|
||||
struct foc_velocity_ops_b16_s
|
||||
{
|
||||
/* Initialize */
|
||||
|
||||
CODE int (*init)(FAR foc_velocity_b16_t *h);
|
||||
|
||||
/* Deinitialize */
|
||||
|
||||
CODE void (*deinit)(FAR foc_velocity_b16_t *h);
|
||||
|
||||
/* Configure */
|
||||
|
||||
CODE int (*cfg)(FAR foc_velocity_b16_t *h, FAR void *cfg);
|
||||
|
||||
/* Run */
|
||||
|
||||
CODE void (*run)(FAR foc_velocity_b16_t *h,
|
||||
FAR struct foc_velocity_in_b16_s *in,
|
||||
FAR struct foc_velocity_out_b16_s *out);
|
||||
};
|
||||
|
||||
/* Velocity handler - sensor or sensorless */
|
||||
|
||||
struct foc_velocity_b16_s
|
||||
{
|
||||
FAR struct foc_velocity_ops_b16_s *ops;
|
||||
FAR void *data;
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_velocity_init_b16
|
||||
****************************************************************************/
|
||||
|
||||
int foc_velocity_init_b16(FAR foc_velocity_b16_t *h,
|
||||
FAR struct foc_velocity_ops_b16_s *ops);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_velocity_deinit_b16
|
||||
****************************************************************************/
|
||||
|
||||
int foc_velocity_deinit_b16(FAR foc_velocity_b16_t *h);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_velocity_cfg_b16
|
||||
****************************************************************************/
|
||||
|
||||
int foc_velocity_cfg_b16(FAR foc_velocity_b16_t *h, FAR void *cfg);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_velocity_run_b16
|
||||
****************************************************************************/
|
||||
|
||||
void foc_velocity_run_b16(FAR foc_velocity_b16_t *h,
|
||||
FAR struct foc_velocity_in_b16_s *in,
|
||||
FAR struct foc_velocity_out_b16_s *out);
|
||||
|
||||
#endif /* __INDUSTRY_FOC_FIXED16_FOC_VELOCITY_H */
|
||||
140
include/industry/foc/float/foc_angle.h
Normal file
140
include/industry/foc/float/foc_angle.h
Normal file
|
|
@ -0,0 +1,140 @@
|
|||
/****************************************************************************
|
||||
* apps/include/industry/foc/float/foc_angle.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 __INDUSTRY_FOC_FLOAT_FOC_ANGLE_H
|
||||
#define __INDUSTRY_FOC_FLOAT_FOC_ANGLE_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <dsp.h>
|
||||
|
||||
#include "industry/foc/float/foc_handler.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Public Type Definition
|
||||
****************************************************************************/
|
||||
|
||||
/* Input to angle handler */
|
||||
|
||||
struct foc_angle_in_f32_s
|
||||
{
|
||||
FAR struct foc_state_f32_s *state; /* FOC state */
|
||||
float angle; /* Last angle */
|
||||
float vel; /* Last velocity */
|
||||
float dir; /* Movement direction */
|
||||
};
|
||||
|
||||
/* Output from angle handler */
|
||||
|
||||
struct foc_angle_out_f32_s
|
||||
{
|
||||
float angle;
|
||||
};
|
||||
|
||||
/* Forward declaration */
|
||||
|
||||
typedef struct foc_angle_f32_s foc_angle_f32_t;
|
||||
|
||||
/* Angle operations */
|
||||
|
||||
struct foc_angle_ops_f32_s
|
||||
{
|
||||
/* Initialize */
|
||||
|
||||
CODE int (*init)(FAR foc_angle_f32_t *h);
|
||||
|
||||
/* Deinitialize */
|
||||
|
||||
CODE void (*deinit)(FAR foc_angle_f32_t *h);
|
||||
|
||||
/* Configure */
|
||||
|
||||
CODE int (*cfg)(FAR foc_angle_f32_t *h, FAR void *cfg);
|
||||
|
||||
/* Run angle handler */
|
||||
|
||||
CODE void (*run)(FAR foc_angle_f32_t *h,
|
||||
FAR struct foc_angle_in_f32_s *in,
|
||||
FAR struct foc_angle_out_f32_s *out);
|
||||
};
|
||||
|
||||
/* Angle handler - sensor or sensorless */
|
||||
|
||||
struct foc_angle_f32_s
|
||||
{
|
||||
FAR struct foc_angle_ops_f32_s *ops;
|
||||
FAR void *data;
|
||||
};
|
||||
|
||||
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
|
||||
/* Open-loop configuration data */
|
||||
|
||||
struct foc_openloop_cfg_f32_s
|
||||
{
|
||||
float per; /* Controller period */
|
||||
};
|
||||
#endif /* CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP */
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
|
||||
/* Open-loop angle operations (float) */
|
||||
|
||||
extern struct foc_angle_ops_f32_s g_foc_angle_ol_f32;
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_angle_init_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_angle_init_f32(FAR foc_angle_f32_t *h,
|
||||
FAR struct foc_angle_ops_f32_s *ops);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_angle_deinit_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_angle_deinit_f32(FAR foc_angle_f32_t *h);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_angle_cfg_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_angle_cfg_f32(FAR foc_angle_f32_t *h, FAR void *cfg);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_angle_run_f32
|
||||
****************************************************************************/
|
||||
|
||||
void foc_angle_run_f32(FAR foc_angle_f32_t *h,
|
||||
FAR struct foc_angle_in_f32_s *in,
|
||||
FAR struct foc_angle_out_f32_s *out);
|
||||
|
||||
#endif /* __INDUSTRY_FOC_FLOAT_FOC_ANGLE_H */
|
||||
48
include/industry/foc/float/foc_cordic.h
Normal file
48
include/industry/foc/float/foc_cordic.h
Normal file
|
|
@ -0,0 +1,48 @@
|
|||
/****************************************************************************
|
||||
* apps/include/industry/foc/float/foc_cordic.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 __INDUSTRY_FOC_FLOAT_FOC_CORDIC_H
|
||||
#define __INDUSTRY_FOC_FLOAT_FOC_CORDIC_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <dsp.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_cordic_dqsat_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_cordic_dqsat_f32(int fd, FAR dq_frame_f32_t *dq_ref, float mag_max);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_cordic_angle_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_cordic_angle_f32(int fd, FAR phase_angle_f32_t *angle, float a);
|
||||
|
||||
#endif /* __INDUSTRY_FOC_FLOAT_FOC_CORDIC_H */
|
||||
248
include/industry/foc/float/foc_handler.h
Normal file
248
include/industry/foc/float/foc_handler.h
Normal file
|
|
@ -0,0 +1,248 @@
|
|||
/****************************************************************************
|
||||
* apps/include/industry/foc/float/foc_handler.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 __INDUSTRY_FOC_FLOAT_FOC_HANDLER_H
|
||||
#define __INDUSTRY_FOC_FLOAT_FOC_HANDLER_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <dsp.h>
|
||||
|
||||
#ifdef CONFIG_INDUSTRY_FOC_CORDIC
|
||||
# include "industry/foc/float/foc_cordic.h"
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Type Definition
|
||||
****************************************************************************/
|
||||
|
||||
/* Input to FOC controller */
|
||||
|
||||
struct foc_handler_input_f32_s
|
||||
{
|
||||
FAR float *current; /* Phase current samples */
|
||||
FAR dq_frame_f32_t *dq_ref; /* DQ reference frame */
|
||||
FAR dq_frame_f32_t *vdq_comp; /* DQ voltage compensation */
|
||||
FAR float angle; /* Phase angle */
|
||||
FAR float vbus; /* Bus voltage */
|
||||
FAR int mode; /* Controller mode (enum foc_handler_mode_e) */
|
||||
};
|
||||
|
||||
/* Output from FOC controller */
|
||||
|
||||
struct foc_handler_output_f32_s
|
||||
{
|
||||
float duty[CONFIG_MOTOR_FOC_PHASES]; /* New duty cycle for PWM */
|
||||
};
|
||||
|
||||
/* Controller state */
|
||||
|
||||
struct foc_state_f32_s
|
||||
{
|
||||
float curr[CONFIG_MOTOR_FOC_PHASES];
|
||||
float volt[CONFIG_MOTOR_FOC_PHASES];
|
||||
ab_frame_f32_t iab;
|
||||
ab_frame_f32_t vab;
|
||||
dq_frame_f32_t vdq;
|
||||
dq_frame_f32_t idq;
|
||||
};
|
||||
|
||||
/* Forward declaration */
|
||||
|
||||
typedef struct foc_handler_f32_s foc_handler_f32_t;
|
||||
|
||||
/* Modulation operations */
|
||||
|
||||
struct foc_modulation_ops_f32_s
|
||||
{
|
||||
/* Initialize */
|
||||
|
||||
CODE int (*init)(FAR foc_handler_f32_t *h);
|
||||
|
||||
/* Deinitialzie */
|
||||
|
||||
CODE void (*deinit)(FAR foc_handler_f32_t *h);
|
||||
|
||||
/* Configure modulation */
|
||||
|
||||
CODE void (*cfg)(FAR foc_handler_f32_t *h, FAR void *cfg);
|
||||
|
||||
/* Modulation specific current correction */
|
||||
|
||||
CODE void (*current)(FAR foc_handler_f32_t *h, FAR float *curr);
|
||||
|
||||
/* Get the base voltage for a given modulation scheme */
|
||||
|
||||
CODE void (*vbase_get)(FAR foc_handler_f32_t *h,
|
||||
float vbus,
|
||||
FAR float *vbase);
|
||||
|
||||
/* Run modulation */
|
||||
|
||||
CODE void (*run)(FAR foc_handler_f32_t *h,
|
||||
FAR ab_frame_f32_t *v_ab_mod,
|
||||
FAR float *duty);
|
||||
};
|
||||
|
||||
/* Current/voltage controller operations */
|
||||
|
||||
struct foc_control_ops_f32_s
|
||||
{
|
||||
/* Initialize */
|
||||
|
||||
CODE int (*init)(FAR foc_handler_f32_t *h);
|
||||
|
||||
/* Deinitialize */
|
||||
|
||||
CODE void (*deinit)(FAR foc_handler_f32_t *h);
|
||||
|
||||
/* Configure controller */
|
||||
|
||||
CODE void (*cfg)(FAR foc_handler_f32_t *h,
|
||||
FAR void *cfg);
|
||||
|
||||
/* Feed controller with input data */
|
||||
|
||||
CODE void (*input_set)(FAR foc_handler_f32_t *h,
|
||||
FAR float *current,
|
||||
float vbase,
|
||||
float angle);
|
||||
|
||||
/* Run voltage controller */
|
||||
|
||||
CODE void (*voltage_run)(FAR foc_handler_f32_t *h,
|
||||
FAR dq_frame_f32_t *dq_ref,
|
||||
FAR ab_frame_f32_t *v_ab_mod);
|
||||
|
||||
/* Run current controller */
|
||||
|
||||
CODE void (*current_run)(FAR foc_handler_f32_t *h,
|
||||
FAR dq_frame_f32_t *dq_ref,
|
||||
FAR dq_frame_f32_t *vdq_comp,
|
||||
FAR ab_frame_f32_t *v_ab_mod);
|
||||
|
||||
/* Get controller state data */
|
||||
|
||||
CODE void (*state_get)(FAR foc_handler_f32_t *h,
|
||||
FAR struct foc_state_f32_s *state);
|
||||
};
|
||||
|
||||
/* FOC handler operations */
|
||||
|
||||
struct foc_handler_ops_f32_s
|
||||
{
|
||||
/* Current/voltage controller interface */
|
||||
|
||||
struct foc_control_ops_f32_s *ctrl;
|
||||
|
||||
/* Modulation interface */
|
||||
|
||||
struct foc_modulation_ops_f32_s *mod;
|
||||
};
|
||||
|
||||
/* FOC handler data */
|
||||
|
||||
struct foc_handler_f32_s
|
||||
{
|
||||
#ifdef CONFIG_INDUSTRY_FOC_CORDIC
|
||||
int fd; /* CORDIC device */
|
||||
#endif
|
||||
struct foc_handler_ops_f32_s ops; /* Handler operations */
|
||||
FAR void *modulation; /* Modulation data */
|
||||
FAR void *control; /* Controller data */
|
||||
};
|
||||
|
||||
/* Modulation configuration */
|
||||
|
||||
struct foc_mod_cfg_f32_s
|
||||
{
|
||||
float pwm_duty_max; /* Maximum allowed PWM duty cycle */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_INDUSTRY_FOC_CONTROL_PI
|
||||
/* FOC PI controller (float) */
|
||||
|
||||
extern struct foc_control_ops_f32_s g_foc_control_pi_f32;
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
|
||||
/* 3-phase space vector modulation Modulation handler (float) */
|
||||
|
||||
extern struct foc_modulation_ops_f32_s g_foc_mod_svm3_f32;
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_handler_init_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_handler_init_f32(FAR foc_handler_f32_t *h,
|
||||
FAR struct foc_control_ops_f32_s *ctrl,
|
||||
FAR struct foc_modulation_ops_f32_s *mod);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_handler_deinit_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_handler_deinit_f32(FAR foc_handler_f32_t *h);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_handler_run_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_handler_run_f32(FAR foc_handler_f32_t *h,
|
||||
FAR struct foc_handler_input_f32_s *in,
|
||||
FAR struct foc_handler_output_f32_s *out);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_handler_cfg_f32
|
||||
****************************************************************************/
|
||||
|
||||
void foc_handler_cfg_f32(FAR foc_handler_f32_t *h,
|
||||
FAR void *ctrl_cfg,
|
||||
FAR void *mod_cfg);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_handler_state_f32
|
||||
****************************************************************************/
|
||||
|
||||
void foc_handler_state_f32(FAR foc_handler_f32_t *h,
|
||||
FAR struct foc_state_f32_s *state);
|
||||
|
||||
#ifdef CONFIG_INDUSTRY_FOC_HANDLER_PRINT
|
||||
/****************************************************************************
|
||||
* Name: foc_handler_state_print_f32
|
||||
****************************************************************************/
|
||||
|
||||
void foc_handler_state_print_f32(FAR struct foc_state_f32_s *state);
|
||||
#endif
|
||||
|
||||
#endif /* __INDUSTRY_FOC_FLOAT_FOC_HANDLER_H */
|
||||
160
include/industry/foc/float/foc_model.h
Normal file
160
include/industry/foc/float/foc_model.h
Normal file
|
|
@ -0,0 +1,160 @@
|
|||
/****************************************************************************
|
||||
* apps/include/industry/foc/float/foc_model.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 __INDUSTRY_FOC_FLOAT_FOC_MODEL_H
|
||||
#define __INDUSTRY_FOC_FLOAT_FOC_MODEL_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <dsp.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Public Type Definition
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_INDUSTRY_FOC_MODEL_PMSM
|
||||
/* PMSM model configuration */
|
||||
|
||||
struct foc_model_pmsm_cfg_f32_s
|
||||
{
|
||||
uint8_t poles;
|
||||
float res;
|
||||
float ind;
|
||||
float iner;
|
||||
float flux_link;
|
||||
float ind_d;
|
||||
float ind_q;
|
||||
float per;
|
||||
float iphase_adc;
|
||||
};
|
||||
#endif /* CONFIG_INDUSTRY_FOC_MODEL_PMSM */
|
||||
|
||||
/* FOC model state */
|
||||
|
||||
struct foc_model_state_f32_s
|
||||
{
|
||||
int32_t curr_raw[CONFIG_MOTOR_FOC_PHASES];
|
||||
float curr[CONFIG_MOTOR_FOC_PHASES];
|
||||
float volt[CONFIG_MOTOR_FOC_PHASES];
|
||||
ab_frame_f32_t iab;
|
||||
ab_frame_f32_t vab;
|
||||
dq_frame_f32_t vdq;
|
||||
dq_frame_f32_t idq;
|
||||
float omega_e;
|
||||
float omega_m;
|
||||
};
|
||||
|
||||
/* Forward declaration */
|
||||
|
||||
typedef struct foc_model_f32_s foc_model_f32_t;
|
||||
|
||||
/* FOC model operations */
|
||||
|
||||
struct foc_model_ops_f32_s
|
||||
{
|
||||
/* Initialize */
|
||||
|
||||
CODE int (*init)(FAR foc_model_f32_t *h);
|
||||
|
||||
/* Deinitialize */
|
||||
|
||||
CODE void (*deinit)(FAR foc_model_f32_t *h);
|
||||
|
||||
/* Configure model */
|
||||
|
||||
CODE int (*cfg)(FAR foc_model_f32_t *h, FAR void *cfg);
|
||||
|
||||
/* Run electrical model */
|
||||
|
||||
CODE void (*ele_run)(FAR foc_model_f32_t *h,
|
||||
FAR ab_frame_f32_t *v_ab);
|
||||
|
||||
/* Run mechanical model */
|
||||
|
||||
CODE void (*mech_run)(FAR foc_model_f32_t *h,
|
||||
float load);
|
||||
|
||||
/* Get model state */
|
||||
|
||||
CODE void (*state)(FAR foc_model_f32_t *h,
|
||||
FAR struct foc_model_state_f32_s *state);
|
||||
};
|
||||
|
||||
/* FOC model handler */
|
||||
|
||||
struct foc_model_f32_s
|
||||
{
|
||||
FAR struct foc_model_ops_f32_s *ops;
|
||||
FAR void *model;
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_INDUSTRY_FOC_MODEL_PMSM
|
||||
/* PMSM model operations (float) */
|
||||
|
||||
extern struct foc_model_ops_f32_s g_foc_model_pmsm_ops_f32;
|
||||
#endif
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_model_init_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_model_init_f32(FAR foc_model_f32_t *h,
|
||||
FAR struct foc_model_ops_f32_s *ops);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_model_deinit_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_model_deinit_f32(FAR foc_model_f32_t *h);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_model_cfg_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_model_cfg_f32(FAR foc_model_f32_t *h, FAR void *cfg);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_model_run_f32
|
||||
****************************************************************************/
|
||||
|
||||
void foc_model_run_f32(FAR foc_model_f32_t *h,
|
||||
float load,
|
||||
FAR ab_frame_f32_t *v_ab);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_model_state_f32
|
||||
****************************************************************************/
|
||||
|
||||
void foc_model_state_f32(FAR foc_model_f32_t *h,
|
||||
FAR struct foc_model_state_f32_s *state);
|
||||
|
||||
#endif /* __INDUSTRY_FOC_FLOAT_FOC_MODEL_H */
|
||||
68
include/industry/foc/float/foc_ramp.h
Normal file
68
include/industry/foc/float/foc_ramp.h
Normal file
|
|
@ -0,0 +1,68 @@
|
|||
/****************************************************************************
|
||||
* apps/include/industry/foc/float/foc_ramp.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 __INDUSTRY_FOC_FLOAT_FOC_RAMP_H
|
||||
#define __INDUSTRY_FOC_FLOAT_FOC_RAMP_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <dsp.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Public Type Definition
|
||||
****************************************************************************/
|
||||
|
||||
/* Ramp data */
|
||||
|
||||
struct foc_ramp_f32_s
|
||||
{
|
||||
uint8_t ramp_mode; /* Ramp mode */
|
||||
float per; /* Controller period */
|
||||
float ramp_thr; /* Ramp threshold */
|
||||
float ramp_acc; /* Ramp acceleration */
|
||||
float ramp_dec; /* Ramp deceleration */
|
||||
float ramp_dec_per; /* dec * per */
|
||||
float ramp_acc_per; /* acc * per */
|
||||
float diff; /* Difference now */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_ramp_init_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_ramp_init_f32(FAR struct foc_ramp_f32_s *ramp, float per,
|
||||
float thr, float acc, float dec);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_ramp_run_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_ramp_run_f32(FAR struct foc_ramp_f32_s *ramp, float des,
|
||||
float now, FAR float *set);
|
||||
|
||||
#endif /* __INDUSTRY_FOC_FLOAT_FOC_RAMP_H */
|
||||
121
include/industry/foc/float/foc_velocity.h
Normal file
121
include/industry/foc/float/foc_velocity.h
Normal file
|
|
@ -0,0 +1,121 @@
|
|||
/****************************************************************************
|
||||
* apps/include/industry/foc/float/foc_velocity.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 __INDUSTRY_FOC_FLOAT_FOC_VELOCITY_H
|
||||
#define __INDUSTRY_FOC_FLOAT_FOC_VELOCITY_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <dsp.h>
|
||||
|
||||
#include "industry/foc/float/foc_handler.h"
|
||||
|
||||
/****************************************************************************
|
||||
* Public Type Definition
|
||||
****************************************************************************/
|
||||
|
||||
/* Input to velocity handler */
|
||||
|
||||
struct foc_velocity_in_f32_s
|
||||
{
|
||||
FAR struct foc_state_f32_s *state; /* FOC state */
|
||||
float angle; /* Last angle */
|
||||
float vel; /* Last velocity */
|
||||
float dir; /* Movement direction */
|
||||
};
|
||||
|
||||
/* Output from velocity handler */
|
||||
|
||||
struct foc_velocity_out_f32_s
|
||||
{
|
||||
float velocity;
|
||||
};
|
||||
|
||||
/* Forward declaration */
|
||||
|
||||
typedef struct foc_velocity_f32_s foc_velocity_f32_t;
|
||||
|
||||
/* Velocity operations */
|
||||
|
||||
struct foc_velocity_ops_f32_s
|
||||
{
|
||||
/* Initialize */
|
||||
|
||||
CODE int (*init)(FAR foc_velocity_f32_t *h);
|
||||
|
||||
/* Deinitialize */
|
||||
|
||||
CODE void (*deinit)(FAR foc_velocity_f32_t *h);
|
||||
|
||||
/* Configure */
|
||||
|
||||
CODE int (*cfg)(FAR foc_velocity_f32_t *h, FAR void *cfg);
|
||||
|
||||
/* Run velocity handler */
|
||||
|
||||
CODE void (*run)(FAR foc_velocity_f32_t *h,
|
||||
FAR struct foc_velocity_in_f32_s *in,
|
||||
FAR struct foc_velocity_out_f32_s *out);
|
||||
};
|
||||
|
||||
/* Velocity handler - sensor or sensorless */
|
||||
|
||||
struct foc_velocity_f32_s
|
||||
{
|
||||
FAR struct foc_velocity_ops_f32_s *ops;
|
||||
FAR void *data;
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_velocity_init_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_velocity_init_f32(FAR foc_velocity_f32_t *h,
|
||||
FAR struct foc_velocity_ops_f32_s *ops);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_velocity_deinit_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_velocity_deinit_f32(FAR foc_velocity_f32_t *h);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_velocity_cfg_f32
|
||||
****************************************************************************/
|
||||
|
||||
int foc_velocity_cfg_f32(FAR foc_velocity_f32_t *h, FAR void *cfg);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_velocity_run_f32
|
||||
****************************************************************************/
|
||||
|
||||
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);
|
||||
|
||||
#endif /* __INDUSTRY_FOC_FLOAT_FOC_VELOCITY_H */
|
||||
78
include/industry/foc/foc_common.h
Normal file
78
include/industry/foc/foc_common.h
Normal file
|
|
@ -0,0 +1,78 @@
|
|||
/****************************************************************************
|
||||
* apps/include/industry/foc/foc_common.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_INCLUDE_INDUSTRY_FOC_FOC_COMMON_H
|
||||
#define __APPS_INCLUDE_INDUSTRY_FOC_FOC_COMMON_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Types
|
||||
****************************************************************************/
|
||||
|
||||
/* FOC controller mode */
|
||||
|
||||
enum foc_handler_mode_e
|
||||
{
|
||||
FOC_HANDLER_MODE_INIT = 0, /* Initial state */
|
||||
FOC_HANDLER_MODE_IDLE, /* Idle */
|
||||
FOC_HANDLER_MODE_VOLTAGE, /* Voltage mode - control DQ voltage */
|
||||
FOC_HANDLER_MODE_CURRENT /* Current mode - control DQ current */
|
||||
};
|
||||
|
||||
/* FOC number type identifiers */
|
||||
|
||||
enum foc_number_type_e
|
||||
{
|
||||
FOC_NUMBER_TYPE_INVALID = 0,
|
||||
#ifdef CONFIG_INDUSTRY_FOC_FLOAT
|
||||
FOC_NUMBER_TYPE_FLOAT = 1, /* float */
|
||||
#endif
|
||||
#ifdef CONFIG_INDUSTRY_FOC_FIXED16
|
||||
FOC_NUMBER_TYPE_FIXED16 = 2, /* b16_t */
|
||||
#endif
|
||||
};
|
||||
|
||||
/* Speed ramp mode */
|
||||
|
||||
enum foc_ramp_mode_e
|
||||
{
|
||||
RAMP_MODE_INVALID = 0, /* Reserved */
|
||||
RAMP_MODE_SOFTSTART = 1, /* Soft start */
|
||||
RAMP_MODE_SOFTSTOP = 2, /* Soft stop */
|
||||
RAMP_MODE_NORMAL = 3, /* Normal operation */
|
||||
};
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
#endif /* __APPS_INCLUDE_INDUSTRY_FOC_FOC_COMMON_H */
|
||||
42
include/industry/foc/foc_log.h
Normal file
42
include/industry/foc/foc_log.h
Normal file
|
|
@ -0,0 +1,42 @@
|
|||
/****************************************************************************
|
||||
* apps/include/industry/foc/foc_log.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_INCLUDE_INDUSTRY_FOC_FOC_LOG_H
|
||||
#define __APPS_INCLUDE_INDUSTRY_FOC_FOC_LOG_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <stdio.h>
|
||||
#include <inttypes.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
#define FOCLIBLOG(format, ...) printf(format, ##__VA_ARGS__)
|
||||
#define FOCLIBERR(format, ...) printf(format, ##__VA_ARGS__)
|
||||
#define FOCLIBWARN(format, ...) printf(format, ##__VA_ARGS__)
|
||||
|
||||
#endif /* __APPS_INCLUDE_INDUSTRY_FOC_FOC_LOG_H */
|
||||
92
include/industry/foc/foc_utils.h
Normal file
92
include/industry/foc/foc_utils.h
Normal file
|
|
@ -0,0 +1,92 @@
|
|||
/****************************************************************************
|
||||
* apps/include/industry/foc/foc_utils.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_INCLUDE_INDUSTRY_FOC_FOC_UTILS_H
|
||||
#define __APPS_INCLUDE_INDUSTRY_FOC_FOC_UTILS_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <nuttx/motor/foc/foc.h>
|
||||
#include <nuttx/motor/motor_ioctl.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_dev_stop
|
||||
****************************************************************************/
|
||||
|
||||
int foc_dev_stop(int fd);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_dev_start
|
||||
****************************************************************************/
|
||||
|
||||
int foc_dev_start(int fd);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_dev_clearfault
|
||||
****************************************************************************/
|
||||
|
||||
int foc_dev_clearfault(int fd);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_dev_getstate
|
||||
****************************************************************************/
|
||||
|
||||
int foc_dev_getstate(int fd, FAR struct foc_state_s *state);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_dev_setparams
|
||||
****************************************************************************/
|
||||
|
||||
int foc_dev_setparams(int fd, FAR struct foc_params_s *params);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_dev_setcfg
|
||||
****************************************************************************/
|
||||
|
||||
int foc_dev_setcfg(int fd, FAR struct foc_cfg_s *cfg);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_dev_getcfg
|
||||
****************************************************************************/
|
||||
|
||||
int foc_dev_getcfg(int fd, FAR struct foc_cfg_s *cfg);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_dev_getinfo
|
||||
****************************************************************************/
|
||||
|
||||
int foc_dev_getinfo(int fd, FAR struct foc_info_s *info);
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_cfg_print
|
||||
****************************************************************************/
|
||||
|
||||
void foc_cfg_print(FAR struct foc_cfg_s *cfg);
|
||||
|
||||
#endif /* __APPS_INCLUDE_INDUSTRY_FOC_FOC_UTILS_H */
|
||||
Loading…
Add table
Add a link
Reference in a new issue