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mcpwm_foc.h
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/*
Copyright 2016 - 2020 Benjamin Vedder [email protected]
This file is part of the VESC firmware.
The VESC firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
The VESC firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef MCPWM_FOC_H_
#define MCPWM_FOC_H_
#include "conf_general.h"
#include "datatypes.h"
#include <stdbool.h>
// Functions
void mcpwm_foc_init(mc_configuration *conf_m1, mc_configuration *conf_m2);
void mcpwm_foc_deinit(void);
bool mcpwm_foc_init_done(void);
void mcpwm_foc_set_configuration(mc_configuration *configuration);
mc_state mcpwm_foc_get_state(void);
mc_control_mode mcpwm_foc_control_mode(void);
bool mcpwm_foc_is_dccal_done(void);
int mcpwm_foc_isr_motor(void);
void mcpwm_foc_stop_pwm(bool is_second_motor);
void mcpwm_foc_set_duty(float dutyCycle);
void mcpwm_foc_set_duty_noramp(float dutyCycle);
void mcpwm_foc_set_pid_speed(float rpm);
void mcpwm_foc_set_pid_pos(float pos);
void mcpwm_foc_set_current(float current);
void mcpwm_foc_release_motor(void);
void mcpwm_foc_set_brake_current(float current);
void mcpwm_foc_set_handbrake(float current);
void mcpwm_foc_set_openloop(float current, float rpm);
void mcpwm_foc_set_openloop_phase(float current, float phase);
void mcpwm_foc_set_openloop_duty(float dutyCycle, float rpm);
void mcpwm_foc_set_openloop_duty_phase(float dutyCycle, float phase);
int mcpwm_foc_set_tachometer_value(int steps);
float mcpwm_foc_get_duty_cycle_set(void);
float mcpwm_foc_get_duty_cycle_now(void);
float mcpwm_foc_get_pid_pos_set(void);
float mcpwm_foc_get_pid_pos_now(void);
float mcpwm_foc_get_switching_frequency_now(void);
float mcpwm_foc_get_sampling_frequency_now(void);
float mcpwm_foc_get_rpm(void);
float mcpwm_foc_get_rpm_fast(void);
float mcpwm_foc_get_rpm_faster(void);
float mcpwm_foc_get_tot_current(void);
float mcpwm_foc_get_tot_current_filtered(void);
float mcpwm_foc_get_abs_motor_current(void);
float mcpwm_foc_get_abs_motor_current_unbalance(void);
float mcpwm_foc_get_abs_motor_voltage(void);
float mcpwm_foc_get_abs_motor_current_filtered(void);
float mcpwm_foc_get_tot_current_directional(void);
float mcpwm_foc_get_tot_current_directional_filtered(void);
float mcpwm_foc_get_id(void);
float mcpwm_foc_get_iq(void);
float mcpwm_foc_get_tot_current_in(void);
float mcpwm_foc_get_tot_current_in_filtered(void);
int mcpwm_foc_get_tachometer_value(bool reset);
int mcpwm_foc_get_tachometer_abs_value(bool reset);
float mcpwm_foc_get_phase(void);
float mcpwm_foc_get_phase_observer(void);
float mcpwm_foc_get_phase_encoder(void);
float mcpwm_foc_get_vd(void);
float mcpwm_foc_get_vq(void);
float mcpwm_foc_get_mod_alpha_raw(void);
float mcpwm_foc_get_mod_beta_raw(void);
float mcpwm_foc_get_mod_alpha_measured(void);
float mcpwm_foc_get_mod_beta_measured(void);
void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *ratio, bool *inverted);
float mcpwm_foc_measure_resistance(float current, int samples, bool stop_after);
float mcpwm_foc_measure_inductance(float duty, int samples, float *curr, float *ld_lq_diff);
float mcpwm_foc_measure_inductance_current(float curr_goal, int samples, float *curr, float *ld_lq_diff);
bool mcpwm_foc_measure_res_ind(float *res, float *ind, float *ld_lq_diff);
bool mcpwm_foc_hall_detect(float current, uint8_t *hall_table);
int mcpwm_foc_dc_cal(bool cal_undriven);
void mcpwm_foc_print_state(void);
float mcpwm_foc_get_last_adc_isr_duration(void);
void mcpwm_foc_get_current_offsets(
volatile float *curr0_offset,
volatile float *curr1_offset,
volatile float *curr2_offset,
bool is_second_motor);
void mcpwm_foc_set_current_offsets(
volatile float curr0_offset,
volatile float curr1_offset,
volatile float curr2_offset);
void mcpwm_foc_get_voltage_offsets(
float *v0_offset,
float *v1_offset,
float *v2_offset,
bool is_second_motor);
void mcpwm_foc_get_voltage_offsets_undriven(
float *v0_offset,
float *v1_offset,
float *v2_offset,
bool is_second_motor);
float mcpwm_foc_get_ts(void);
bool mcpwm_foc_is_using_encoder(void);
void mcpwm_foc_get_observer_state(float *x1, float *x2);
void mcpwm_foc_set_current_off_delay(float delay_sec);
// Functions where the motor can be selected
float mcpwm_foc_get_tot_current_motor(bool is_second_motor);
float mcpwm_foc_get_tot_current_filtered_motor(bool is_second_motor);
float mcpwm_foc_get_tot_current_in_motor(bool is_second_motor);
float mcpwm_foc_get_tot_current_in_filtered_motor(bool is_second_motor);
float mcpwm_foc_get_abs_motor_current_motor(bool is_second_motor);
float mcpwm_foc_get_abs_motor_current_filtered_motor(bool is_second_motor);
mc_state mcpwm_foc_get_state_motor(bool is_second_motor);
// Interrupt handlers
void mcpwm_foc_tim_sample_int_handler(void);
void mcpwm_foc_adc_int_handler(void *p, uint32_t flags);
// Defines
#define MCPWM_FOC_CURRENT_SAMP_OFFSET (2) // Offset from timer top for ADC samples
#endif /* MCPWM_FOC_H_ */