mirror of https://github.com/rusefi/bldc.git
95 lines
4.1 KiB
C
95 lines
4.1 KiB
C
/*
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Copyright 2016 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef MCPWM_FOC_H_
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#define MCPWM_FOC_H_
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#include "conf_general.h"
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#include "datatypes.h"
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#include <stdbool.h>
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// Functions
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void mcpwm_foc_init(volatile mc_configuration *configuration);
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void mcpwm_foc_deinit(void);
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bool mcpwm_foc_init_done(void);
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void mcpwm_foc_set_configuration(volatile mc_configuration *configuration);
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mc_state mcpwm_foc_get_state(void);
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bool mcpwm_foc_is_dccal_done(void);
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void mcpwm_foc_stop_pwm(void);
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void mcpwm_foc_set_duty(float dutyCycle);
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void mcpwm_foc_set_duty_noramp(float dutyCycle);
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void mcpwm_foc_set_pid_speed(float rpm);
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void mcpwm_foc_set_pid_pos(float pos);
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void mcpwm_foc_set_current(float current);
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void mcpwm_foc_set_brake_current(float current);
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void mcpwm_foc_set_handbrake(float current);
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void mcpwm_foc_set_openloop(float current, float rpm);
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void mcpwm_foc_set_openloop_phase(float current, float phase);
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void mcpwm_foc_set_openloop_duty(float dutyCycle, float rpm);
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void mcpwm_foc_set_openloop_duty_phase(float dutyCycle, float phase);
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float mcpwm_foc_get_duty_cycle_set(void);
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float mcpwm_foc_get_duty_cycle_now(void);
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float mcpwm_foc_get_pid_pos_set(void);
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float mcpwm_foc_get_pid_pos_now(void);
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float mcpwm_foc_get_switching_frequency_now(void);
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float mcpwm_foc_get_sampling_frequency_now(void);
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float mcpwm_foc_get_rpm(void);
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float mcpwm_foc_get_tot_current(void);
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float mcpwm_foc_get_tot_current_filtered(void);
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float mcpwm_foc_get_abs_motor_current(void);
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float mcpwm_foc_get_abs_motor_current_unbalance(void);
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float mcpwm_foc_get_abs_motor_voltage(void);
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float mcpwm_foc_get_abs_motor_current_filtered(void);
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float mcpwm_foc_get_tot_current_directional(void);
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float mcpwm_foc_get_tot_current_directional_filtered(void);
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float mcpwm_foc_get_id(void);
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float mcpwm_foc_get_iq(void);
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float mcpwm_foc_get_tot_current_in(void);
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float mcpwm_foc_get_tot_current_in_filtered(void);
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int mcpwm_foc_get_tachometer_value(bool reset);
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int mcpwm_foc_get_tachometer_abs_value(bool reset);
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float mcpwm_foc_get_phase(void);
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float mcpwm_foc_get_phase_observer(void);
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float mcpwm_foc_get_phase_encoder(void);
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float mcpwm_foc_get_vd(void);
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float mcpwm_foc_get_vq(void);
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void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *ratio, bool *inverted);
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float mcpwm_foc_measure_resistance(float current, int samples);
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float mcpwm_foc_measure_inductance(float duty, int samples, float *curr);
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float mcpwm_foc_measure_inductance_current(float curr_goal, int samples, float *curr);
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bool mcpwm_foc_measure_res_ind(float *res, float *ind);
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bool mcpwm_foc_hall_detect(float current, uint8_t *hall_table);
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void mcpwm_foc_print_state(void);
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float mcpwm_foc_get_last_adc_isr_duration(void);
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void mcpwm_foc_get_current_offsets(volatile int *curr0_offset, volatile int *curr1_offset, volatile int *curr2_offset);
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void mcpwm_foc_set_current_offsets(volatile int curr0_offset, volatile int curr1_offset, volatile int curr2_offset);
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float mcpwm_foc_get_ts(void);
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bool mcpwm_foc_is_using_encoder(void);
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// Interrupt handlers
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void mcpwm_foc_tim_sample_int_handler(void);
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void mcpwm_foc_adc_int_handler(void *p, uint32_t flags);
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// Defines
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#define MCPWM_FOC_INDUCTANCE_SAMPLE_CNT_OFFSET 10 // Offset for the inductance measurement sample time in timer ticks
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#define MCPWM_FOC_INDUCTANCE_SAMPLE_RISE_COMP 50 // Current rise time compensation
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#define MCPWM_FOC_CURRENT_SAMP_OFFSET (2) // Offset from timer top for injected ADC samples
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#endif /* MCPWM_FOC_H_ */
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