158 lines
5.0 KiB
C
158 lines
5.0 KiB
C
/****************************************************************************
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* include/nuttx/motor/foc/foc_lower.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 __INCLUDE_NUTTX_MOTOR_FOC_FOC_LOWER_H
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#define __INCLUDE_NUTTX_MOTOR_FOC_FOC_LOWER_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 <nuttx/motor/foc/foc.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Only for kernel side */
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#ifndef __KERNEL__
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# error
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#endif
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/* Helper macros */
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#define FOC_OPS_CONFIGURE(d, c) (d)->lower->ops->configure(d, c)
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#define FOC_OPS_SETUP(d) (d)->lower->ops->setup(d)
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#define FOC_OPS_SHUTDOWN(d) (d)->lower->ops->shutdown(d)
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#define FOC_OPS_START(d, s) (d)->lower->ops->start(d, s)
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#define FOC_OPS_PWMOFF(d, o) (d)->lower->ops->pwm_off(d, o)
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#define FOC_OPS_DUTY(d, x) (d)->lower->ops->pwm_duty_set(d, x)
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#define FOC_OPS_IOCTL(d, c, a) (d)->lower->ops->ioctl(d, c, a)
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#define FOC_OPS_INFOGET(d, i) (d)->lower->ops->info_get(d, i)
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#define FOC_OPS_BIND(d, c) (d)->lower->ops->bind(d, c)
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#define FOC_OPS_FAULT_CLEAR(d) (d)->lower->ops->fault_clear(d)
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#ifdef CONFIG_MOTOR_FOC_TRACE
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# define FOC_OPS_TRACE(d, t, s) (d)->lower->ops->trace(d, t, s)
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#endif
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/****************************************************************************
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* Public Types
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****************************************************************************/
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#ifdef CONFIG_MOTOR_FOC_TRACE
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/* FOC trace type */
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enum foc_trace_type_e
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{
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FOC_TRACE_NONE = 0, /* Not used */
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FOC_TRACE_PARAMS = 1, /* In foc_params_set() */
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FOC_TRACE_STATE = 2, /* In foc_state_get() */
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FOC_TRACE_NOTIFIER = 3, /* In foc_notifier() */
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FOC_TRACE_LOWER = 4 /* Reserved for lower-half code */
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};
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#endif
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/* Upper-half FOC callbacks */
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struct foc_callbacks_s
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{
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/* FOC notifier callback
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*
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* Description:
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* Deliver the phase current samples (and optional BEMF voltages)
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* and wake up the thread waiting. Must be called by lower-half
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* logic at a frequency determined by configuration (notifier_freq
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* in foc_cfg_s).
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*/
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CODE int (*notifier)(FAR struct foc_dev_s *dev,
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FAR foc_current_t *current,
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FAR foc_voltage_t *voltage);
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};
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/* Lower-half FOC operations */
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struct foc_lower_ops_s
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{
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/* Lower-half configuration */
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CODE int (*configure)(FAR struct foc_dev_s *dev,
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FAR struct foc_cfg_s *cfg);
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/* Lower-half setup */
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CODE int (*setup)(FAR struct foc_dev_s *dev);
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/* Lower-half shutdwon */
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CODE int (*shutdown)(FAR struct foc_dev_s *dev);
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/* Set the PWM duty cycles */
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CODE int (*pwm_duty_set)(FAR struct foc_dev_s *dev,
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FAR foc_duty_t *duty);
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/* Force all PWM switches to the off state */
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CODE int (*pwm_off)(FAR struct foc_dev_s *dev, bool off);
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/* Lower-half start/stop */
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CODE int (*start)(FAR struct foc_dev_s *dev, bool state);
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/* Get all hardware information */
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CODE int (*info_get)(FAR struct foc_dev_s *dev,
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FAR struct foc_info_s *info);
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/* Lower-half IOCTL */
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CODE int (*ioctl)(FAR struct foc_dev_s *dev, int cmd,
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unsigned long arg);
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/* Bind the upper-half driver with the lower-half logic */
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CODE int (*bind)(FAR struct foc_dev_s *dev,
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FAR struct foc_callbacks_s *cb);
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/* Lower-half fault clear */
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CODE int (*fault_clear)(FAR struct foc_dev_s *dev);
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#ifdef CONFIG_MOTOR_FOC_TRACE
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/* FOC trace */
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CODE void (*trace)(FAR struct foc_dev_s *dev, int type, bool state);
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#endif
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};
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/* Lower-half FOC data - must be provided by lower-half implementation */
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struct foc_lower_s
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{
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FAR struct foc_lower_ops_s *ops; /* The FOC lower-half operations */
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FAR void *data; /* The FOC lower-half data */
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};
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#endif /* __INCLUDE_NUTTX_MOTOR_FOC_FOC_LOWER_H */
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