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Posted to commits@nuttx.apache.org by xi...@apache.org on 2021/10/30 06:18:17 UTC
[incubator-nuttx-apps] 01/03: industry/foc: add general FOC routine
handler
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 084cfa4e5e3dac43809436e78e3630260f3f5c89
Author: raiden00pl <ra...@railab.me>
AuthorDate: Fri Oct 29 13:10:39 2021 +0200
industry/foc: add general FOC routine handler
---
include/industry/foc/fixed16/foc_routine.h | 140 ++++++++++++++++++++++
include/industry/foc/float/foc_routine.h | 140 ++++++++++++++++++++++
industry/foc/Makefile | 2 +
industry/foc/fixed16/foc_routine.c | 179 +++++++++++++++++++++++++++++
industry/foc/float/foc_routine.c | 179 +++++++++++++++++++++++++++++
5 files changed, 640 insertions(+)
diff --git a/include/industry/foc/fixed16/foc_routine.h b/include/industry/foc/fixed16/foc_routine.h
new file mode 100644
index 0000000..409b334
--- /dev/null
+++ b/include/industry/foc/fixed16/foc_routine.h
@@ -0,0 +1,140 @@
+/****************************************************************************
+ * apps/include/industry/foc/fixed16/foc_routine.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_ROUTINE_H
+#define __INDUSTRY_FOC_FIXED16_FOC_ROUTINE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "industry/foc/fixed16/foc_handler.h"
+
+/****************************************************************************
+ * Public Type Definition
+ ****************************************************************************/
+
+/* Routine run return */
+
+enum foc_routine_run_e
+{
+ FOC_ROUTINE_RUN_NOTDONE = 0,
+ FOC_ROUTINE_RUN_DONE = 1
+};
+
+/* FOC routine input */
+
+struct foc_routine_in_b16_s
+{
+ FAR struct foc_state_b16_s *foc_state; /* FOC controller state */
+ b16_t angle; /* Angle now */
+ b16_t vel; /* Velocity now */
+ b16_t vbus; /* VBUS now */
+};
+
+/* FOC routine output */
+
+struct foc_routine_out_b16_s
+{
+ dq_frame_b16_t dq_ref; /* Output DQ reference */
+ dq_frame_b16_t vdq_comp; /* Output DQ voltage compensation */
+ b16_t angle; /* Output phase angle */
+ int foc_mode; /* Output FOC mode */
+};
+
+/* Forward declaration */
+
+typedef struct foc_routine_b16_s foc_routine_b16_t;
+
+/* FOC routine operations */
+
+struct foc_routine_ops_b16_s
+{
+ /* Initialize */
+
+ CODE int (*init)(FAR foc_routine_b16_t *h);
+
+ /* Deinitialize */
+
+ CODE void (*deinit)(FAR foc_routine_b16_t *h);
+
+ /* Configure */
+
+ CODE int (*cfg)(FAR foc_routine_b16_t *h, FAR void *cfg);
+
+ /* Run routine */
+
+ CODE int (*run)(FAR foc_routine_b16_t *h,
+ FAR struct foc_routine_in_b16_s *in,
+ FAR struct foc_routine_out_b16_s *out);
+
+ /* Run routine */
+
+ CODE int (*final)(FAR foc_routine_b16_t *h, FAR void *data);
+};
+
+/* FOC routine data */
+
+struct foc_routine_b16_s
+{
+ FAR struct foc_routine_ops_b16_s *ops;
+ FAR void *data;
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: foc_routine_init_b16
+ ****************************************************************************/
+
+int foc_routine_init_b16(FAR foc_routine_b16_t *r,
+ FAR struct foc_routine_ops_b16_s *ops);
+
+/****************************************************************************
+ * Name: foc_routine_deinit_b16
+ ****************************************************************************/
+
+int foc_routine_deinit_b16(FAR foc_routine_b16_t *r);
+
+/****************************************************************************
+ * Name: foc_routine_cfg_b16
+ ****************************************************************************/
+
+int foc_routine_cfg_b16(FAR foc_routine_b16_t *r, FAR void *cfg);
+
+/****************************************************************************
+ * Name: foc_routine_run_b16
+ ****************************************************************************/
+
+int foc_routine_run_b16(FAR foc_routine_b16_t *r,
+ FAR struct foc_routine_in_b16_s *in,
+ FAR struct foc_routine_out_b16_s *out);
+
+/****************************************************************************
+ * Name: foc_routine_final_b16
+ ****************************************************************************/
+
+int foc_routine_final_b16(FAR foc_routine_b16_t *r, FAR void *data);
+
+#endif /* __INDUSTRY_FOC_FIXED16_FOC_ROUTINE_H */
diff --git a/include/industry/foc/float/foc_routine.h b/include/industry/foc/float/foc_routine.h
new file mode 100644
index 0000000..892e5e0
--- /dev/null
+++ b/include/industry/foc/float/foc_routine.h
@@ -0,0 +1,140 @@
+/****************************************************************************
+ * apps/include/industry/foc/float/foc_routine.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_ROUTINE_H
+#define __INDUSTRY_FOC_FLOAT_FOC_ROUTINE_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include "industry/foc/float/foc_handler.h"
+
+/****************************************************************************
+ * Public Type Definition
+ ****************************************************************************/
+
+/* Routine run return */
+
+enum foc_routine_run_e
+{
+ FOC_ROUTINE_RUN_NOTDONE = 0,
+ FOC_ROUTINE_RUN_DONE = 1
+};
+
+/* FOC routine input */
+
+struct foc_routine_in_f32_s
+{
+ FAR struct foc_state_f32_s *foc_state; /* FOC controller state */
+ float angle; /* Angle now */
+ float vel; /* Velocity now */
+ float vbus; /* VBUS now */
+};
+
+/* FOC routine output */
+
+struct foc_routine_out_f32_s
+{
+ dq_frame_f32_t dq_ref; /* Output DQ reference */
+ dq_frame_f32_t vdq_comp; /* Output DQ voltage compensation */
+ float angle; /* Output phase angle */
+ int foc_mode; /* Output FOC mode */
+};
+
+/* Forward declaration */
+
+typedef struct foc_routine_f32_s foc_routine_f32_t;
+
+/* FOC routine operations */
+
+struct foc_routine_ops_f32_s
+{
+ /* Initialize */
+
+ CODE int (*init)(FAR foc_routine_f32_t *h);
+
+ /* Deinitialize */
+
+ CODE void (*deinit)(FAR foc_routine_f32_t *h);
+
+ /* Configure */
+
+ CODE int (*cfg)(FAR foc_routine_f32_t *h, FAR void *cfg);
+
+ /* Run routine */
+
+ CODE int (*run)(FAR foc_routine_f32_t *h,
+ FAR struct foc_routine_in_f32_s *in,
+ FAR struct foc_routine_out_f32_s *out);
+
+ /* Run routine */
+
+ CODE int (*final)(FAR foc_routine_f32_t *h, FAR void *data);
+};
+
+/* FOC routine data */
+
+struct foc_routine_f32_s
+{
+ FAR struct foc_routine_ops_f32_s *ops;
+ FAR void *data;
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: foc_routine_init_f32
+ ****************************************************************************/
+
+int foc_routine_init_f32(FAR foc_routine_f32_t *r,
+ FAR struct foc_routine_ops_f32_s *ops);
+
+/****************************************************************************
+ * Name: foc_routine_deinit_f32
+ ****************************************************************************/
+
+int foc_routine_deinit_f32(FAR foc_routine_f32_t *r);
+
+/****************************************************************************
+ * Name: foc_routine_cfg_f32
+ ****************************************************************************/
+
+int foc_routine_cfg_f32(FAR foc_routine_f32_t *r, FAR void *cfg);
+
+/****************************************************************************
+ * Name: foc_routine_run_f32
+ ****************************************************************************/
+
+int foc_routine_run_f32(FAR foc_routine_f32_t *r,
+ FAR struct foc_routine_in_f32_s *in,
+ FAR struct foc_routine_out_f32_s *out);
+
+/****************************************************************************
+ * Name: foc_routine_final_f32
+ ****************************************************************************/
+
+int foc_routine_final_f32(FAR foc_routine_f32_t *r, FAR void *data);
+
+#endif /* __INDUSTRY_FOC_FLOAT_FOC_ROUTINE_H */
diff --git a/industry/foc/Makefile b/industry/foc/Makefile
index 29b66bd..60f00ca 100644
--- a/industry/foc/Makefile
+++ b/industry/foc/Makefile
@@ -32,6 +32,7 @@ CSRCS += float/foc_ramp.c
CSRCS += float/foc_handler.c
CSRCS += float/foc_angle.c
CSRCS += float/foc_velocity.c
+CSRCS += float/foc_routine.c
ifeq ($(CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP),y)
CSRCS += float/foc_openloop.c
endif
@@ -61,6 +62,7 @@ CSRCS += fixed16/foc_ramp.c
CSRCS += fixed16/foc_handler.c
CSRCS += fixed16/foc_angle.c
CSRCS += fixed16/foc_velocity.c
+CSRCS += fixed16/foc_routine.c
ifeq ($(CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP),y)
CSRCS += fixed16/foc_openloop.c
endif
diff --git a/industry/foc/fixed16/foc_routine.c b/industry/foc/fixed16/foc_routine.c
new file mode 100644
index 0000000..bba1e61
--- /dev/null
+++ b/industry/foc/fixed16/foc_routine.c
@@ -0,0 +1,179 @@
+/****************************************************************************
+ * apps/industry/foc/fixed16/foc_routine.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <assert.h>
+#include <errno.h>
+
+#include "industry/foc/foc_log.h"
+#include "industry/foc/fixed16/foc_routine.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: foc_routine_init_b16
+ *
+ * Description:
+ * Initialize the FOC routine (fixed16)
+ *
+ * Input Parameter:
+ * r - pointer to FOC routine
+ * ops - pointer to FOC routine operations
+ *
+ ****************************************************************************/
+
+int foc_routine_init_b16(FAR foc_routine_b16_t *r,
+ FAR struct foc_routine_ops_b16_s *ops)
+{
+ int ret = OK;
+
+ DEBUGASSERT(r);
+ DEBUGASSERT(ops);
+
+ /* Routine ops */
+
+ DEBUGASSERT(ops->init);
+ DEBUGASSERT(ops->deinit);
+ DEBUGASSERT(ops->cfg);
+ DEBUGASSERT(ops->run);
+
+ /* Reset routine */
+
+ memset(r, 0, sizeof(foc_routine_b16_t));
+
+ /* Connect ops */
+
+ r->ops = ops;
+
+ /* Initialize routine */
+
+ ret = r->ops->init(r);
+ if (ret < 0)
+ {
+ FOCLIBERR("ERROR: ops->init failed %d\n", ret);
+ goto errout;
+ }
+
+errout:
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_routine_deinit_b16
+ *
+ * Description:
+ * De-initialize the FOC routine (fixed16)
+ *
+ * Input Parameter:
+ * r - pointer to FOC routine
+ *
+ ****************************************************************************/
+
+int foc_routine_deinit_b16(FAR foc_routine_b16_t *r)
+{
+ int ret = OK;
+
+ DEBUGASSERT(r);
+
+ /* Deinitialize routine */
+
+ r->ops->deinit(r);
+
+ /* Reset data */
+
+ memset(r, 0, sizeof(foc_routine_b16_t));
+
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_routine_cfg_b16
+ *
+ * Description:
+ * Configure the FOC routine (fixed16)
+ *
+ * Input Parameter:
+ * r - pointer to FOC routine
+ * cfg - pointer to routine configuration data
+ *
+ ****************************************************************************/
+
+int foc_routine_cfg_b16(FAR foc_routine_b16_t *r, FAR void *cfg)
+{
+ DEBUGASSERT(r);
+ DEBUGASSERT(cfg);
+
+ return r->ops->cfg(r, cfg);
+}
+
+/****************************************************************************
+ * Name: foc_routine_run_b16
+ *
+ * Description:
+ * Run the FOC routine (fixed16)
+ *
+ * Input Parameter:
+ * r - pointer to FOC routine
+ * in - pointer to FOC routine input data
+ * out - pointer to FOC routine output data
+ *
+ ****************************************************************************/
+
+int foc_routine_run_b16(FAR foc_routine_b16_t *r,
+ FAR struct foc_routine_in_b16_s *in,
+ FAR struct foc_routine_out_b16_s *out)
+{
+ DEBUGASSERT(r);
+ DEBUGASSERT(in);
+ DEBUGASSERT(out);
+
+ /* Run routine handler */
+
+ return r->ops->run(r, in, out);
+}
+
+/****************************************************************************
+ * Name: foc_routine_final_b16
+ *
+ * Description:
+ * Finalize the FOC routine data (fixed16)
+ *
+ * Input Parameter:
+ * r - pointer to FOC routine
+ * data - pointer to FOC routine final data
+ *
+ ****************************************************************************/
+
+int foc_routine_final_b16(FAR foc_routine_b16_t *r, FAR void *data)
+{
+ DEBUGASSERT(r);
+ DEBUGASSERT(data);
+
+ /* Finalize routine */
+
+ return r->ops->final(r, data);
+}
diff --git a/industry/foc/float/foc_routine.c b/industry/foc/float/foc_routine.c
new file mode 100644
index 0000000..767fb18
--- /dev/null
+++ b/industry/foc/float/foc_routine.c
@@ -0,0 +1,179 @@
+/****************************************************************************
+ * apps/industry/foc/float/foc_routine.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <assert.h>
+#include <errno.h>
+
+#include "industry/foc/foc_log.h"
+#include "industry/foc/float/foc_routine.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: foc_routine_init_f32
+ *
+ * Description:
+ * Initialize the FOC routine (float32)
+ *
+ * Input Parameter:
+ * r - pointer to FOC routine
+ * ops - pointer to FOC routine operations
+ *
+ ****************************************************************************/
+
+int foc_routine_init_f32(FAR foc_routine_f32_t *r,
+ FAR struct foc_routine_ops_f32_s *ops)
+{
+ int ret = OK;
+
+ DEBUGASSERT(r);
+ DEBUGASSERT(ops);
+
+ /* Routine ops */
+
+ DEBUGASSERT(ops->init);
+ DEBUGASSERT(ops->deinit);
+ DEBUGASSERT(ops->cfg);
+ DEBUGASSERT(ops->run);
+
+ /* Reset routine */
+
+ memset(r, 0, sizeof(foc_routine_f32_t));
+
+ /* Connect ops */
+
+ r->ops = ops;
+
+ /* Initialize routine */
+
+ ret = r->ops->init(r);
+ if (ret < 0)
+ {
+ FOCLIBERR("ERROR: ops->init failed %d\n", ret);
+ goto errout;
+ }
+
+errout:
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_routine_deinit_f32
+ *
+ * Description:
+ * De-initialize the FOC routine (float32)
+ *
+ * Input Parameter:
+ * r - pointer to FOC routine
+ *
+ ****************************************************************************/
+
+int foc_routine_deinit_f32(FAR foc_routine_f32_t *r)
+{
+ int ret = OK;
+
+ DEBUGASSERT(r);
+
+ /* Deinitialize routine */
+
+ r->ops->deinit(r);
+
+ /* Reset data */
+
+ memset(r, 0, sizeof(foc_routine_f32_t));
+
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_routine_cfg_f32
+ *
+ * Description:
+ * Configure the FOC routine (float32)
+ *
+ * Input Parameter:
+ * r - pointer to FOC routine
+ * cfg - pointer to routine configuration data
+ *
+ ****************************************************************************/
+
+int foc_routine_cfg_f32(FAR foc_routine_f32_t *r, FAR void *cfg)
+{
+ DEBUGASSERT(r);
+ DEBUGASSERT(cfg);
+
+ return r->ops->cfg(r, cfg);
+}
+
+/****************************************************************************
+ * Name: foc_routine_run_f32
+ *
+ * Description:
+ * Run the FOC routine (float32)
+ *
+ * Input Parameter:
+ * r - pointer to FOC routine
+ * in - pointer to FOC routine input data
+ * out - pointer to FOC routine output data
+ *
+ ****************************************************************************/
+
+int foc_routine_run_f32(FAR foc_routine_f32_t *r,
+ FAR struct foc_routine_in_f32_s *in,
+ FAR struct foc_routine_out_f32_s *out)
+{
+ DEBUGASSERT(r);
+ DEBUGASSERT(in);
+ DEBUGASSERT(out);
+
+ /* Run routine handler */
+
+ return r->ops->run(r, in, out);
+}
+
+/****************************************************************************
+ * Name: foc_routine_final_f32
+ *
+ * Description:
+ * Finalize the FOC routine data (float32)
+ *
+ * Input Parameter:
+ * r - pointer to FOC routine
+ * data - pointer to FOC routine final data
+ *
+ ****************************************************************************/
+
+int foc_routine_final_f32(FAR foc_routine_f32_t *r, FAR void *data)
+{
+ DEBUGASSERT(r);
+ DEBUGASSERT(data);
+
+ /* Finalize routine */
+
+ return r->ops->final(r, data);
+}