hpm_bldc_define.h

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/*
 * Copyright (c) 2021-2022 HPMicro
 *
 * SPDX-License-Identifier: BSD-3-Clause
 *
 */
#ifndef HPM_BLDC_DEFINE_H
#define HPM_BLDC_DEFINE_H
 
#if defined(__cplusplus)
extern "C" {
#endif /* __cplusplus */
 
#ifdef CONFIG_BLDC_HAS_EXTRA_CONFIG
#include CONFIG_BLDC_HAS_EXTRA_CONFIG
#endif
 
#include "hpm_motor_math.h"
#define BLDC_MOTOR_DIR_FORWARD 0
#define BLDC_MOTOR_DIR_REVERSE 1
 
#define BLDC_PWM_PIN_UH     0
#define BLDC_PWM_PIN_UL     1
#define BLDC_PWM_PIN_VH     2
#define BLDC_PWM_PIN_VL     3
#define BLDC_PWM_PIN_WH     4
#define BLDC_PWM_PIN_WL     5
 
#define BLDC_MOTOR0_INDEX                (1)
#define BLDC_MOTOR1_INDEX                (2)
#define BLDC_MOTOR2_INDEX                (3)
#define BLDC_MOTOR3_INDEX                (4)
 
#define ADCU_INDEX                 (0)
#define ADCV_INDEX                 (1)
#define ADCW_INDEX                 (2)
 
#define BLDC_PWM_U          0
#define BLDC_PWM_V          1
#define BLDC_PWM_W          2
 
#define GET_ADC_12BIT_VALID_DATA(x)             ((x & 0xffff) >> 4)
 
extern void hpm_mcl_nullcallback_func(void);
 
typedef enum bldc_hall_phase {
    bldc_hall_phase_60, /*60 °*/
    bldc_hall_phase_120 /*120 °*/
} bldc_hall_phase_t;
 
typedef struct hpm_motor_par {
    float  i_rstator_ohm;           
    float  i_poles_n;               
    float  i_maxspeed_rs;           
    float  i_lstator_h;             
    float  i_phasecur_a;            
    float  i_phasevol_v;            
    float  i_samplingper_s;         
    HPM_MOTOR_MATH_TYPE  o_smc_f;   
    HPM_MOTOR_MATH_TYPE  o_smc_g;   
    void   (*func_smc_const)(void *str);     
} hpm_motor_para_t;
 
#define BLDC_MOTOR_PARA_DEFAULTS {0, 0, 0,\
                                        0, 0, 0,\
                                        0, 0, 0,\
                                        NULL}
 
typedef struct  bldc_contrl_spd_par {
    uint16_t            i_speedacq;               
    uint16_t            num;                    
    HPM_MOTOR_MATH_TYPE       i_speedlooptime_s;        
    HPM_MOTOR_MATH_TYPE       speedtheta;             
    HPM_MOTOR_MATH_TYPE       speedlasttheta;          
    HPM_MOTOR_MATH_TYPE       speedthetalastn;        
    HPM_MOTOR_MATH_TYPE       i_speedfilter;            
    HPM_MOTOR_MATH_TYPE       o_speedout_filter;        
    HPM_MOTOR_MATH_TYPE       o_speedout;               
    hpm_motor_para_t     *i_motorpar;                
    void    (*func_getspd)(void *str);                     
} BLDC_CONTRL_SPD_PARA;
 
#define BLDC_CONTRL_SPD_PARA_DEFAULTS {0, 0, 0, 0, 0,\
                                        0, 0, 0, 0, NULL,\
                                        NULL}
 
typedef struct bldc_contrl_pid_par {
    HPM_MOTOR_MATH_TYPE       i_kp;                   
    HPM_MOTOR_MATH_TYPE       i_ki;                   
    HPM_MOTOR_MATH_TYPE       i_kd;                   
    HPM_MOTOR_MATH_TYPE       i_max;                  
    HPM_MOTOR_MATH_TYPE       target;                 
    HPM_MOTOR_MATH_TYPE       mem;                    
    HPM_MOTOR_MATH_TYPE       cur;                    
    HPM_MOTOR_MATH_TYPE       outval;                 
    void (*func_pid)(void *str);                               
} BLDC_CONTRL_PID_PARA;
#define BLDC_CONTRL_PID_PARA_DEFAULTS {0, 0, 0, 0,\
                                        0, 0, 0, 0,\
                                       NULL}
 
typedef struct bldc_contrl_current_par {
    uint16_t            adc_u;                  
    uint16_t            adc_v;                  
    uint16_t            adc_w;                  
    uint16_t            adc_u_middle;           
    uint16_t            adc_v_middle;           
    uint16_t            adc_w_middle;           
    HPM_MOTOR_MATH_TYPE       cal_u;            
    HPM_MOTOR_MATH_TYPE       cal_v;            
    HPM_MOTOR_MATH_TYPE       cal_w;            
    void *userdata;                             
    void (*func_sampl)(void *str);                       
} BLDC_CONTROL_CURRENT_PARA;
#define BLDC_CONTROL_CURRENT_PARA_DEFAULTS {0, 0, 0,\
                                            0, 0, 0,\
                                            0, 0, 0,\
                                            NULL, NULL}
 
typedef struct bldc_control_pwmout_par {
    uint8_t             i_motor_id;           
    uint8_t             i_sync_id;            
    uint32_t            pwm_u;                
    uint32_t            pwm_v;                
    uint32_t            pwm_w;                
    uint32_t            i_pwm_reload;         
    void (*func_set_pwm)(void *str);                   
} BLDC_CONTROL_PWMOUT_PARA;
#define BLDC_CONTROL_PWMOUT_PARA_DEFAULTS {0, 0, 0,\
                                            0, 0, 0,\
                                            NULL}
typedef struct bldc_control_pwm_par {
    HPM_MOTOR_MATH_TYPE       target_alpha; 
    HPM_MOTOR_MATH_TYPE       target_beta;  
    int8_t             sector;             
    uint32_t            i_pwm_reload_max;       
    BLDC_CONTROL_PWMOUT_PARA    pwmout; 
    void (*func_spwm)(void *str);                    
} BLDC_CONTROL_PWM_PARA;
#define BLDC_CONTROL_PWM_PARA_DEFAULTS {0, 0, 0, 0,\
                                           BLDC_CONTROL_PWMOUT_PARA_DEFAULTS,\
                                            NULL}
typedef struct bldc_func_cal {
    void *par;
    void (*func)(void *str);
} BLDC_FUNC_CAL;
 
#define BLDC_FUNC_CAL_DEFAULTS {NULL, NULL}
 
typedef struct bldc_contrl_foc_par {
    BLDC_CONTRL_PID_PARA        currentdpipar;             
    BLDC_CONTRL_PID_PARA        currentqpipar;             
    BLDC_CONTRL_SPD_PARA        speedcalpar;               
    HPM_MOTOR_MATH_TYPE         electric_angle;            
    BLDC_CONTROL_CURRENT_PARA   samplcurpar;               
    hpm_motor_para_t             motorpar;                  
    BLDC_CONTROL_PWM_PARA       pwmpar;                    
    BLDC_FUNC_CAL               pos_estimator_par;         
    HPM_MOTOR_MATH_TYPE               ualpha;             
    HPM_MOTOR_MATH_TYPE               ubeta;              
    HPM_MOTOR_MATH_TYPE               ialpha;             
    HPM_MOTOR_MATH_TYPE               ibeta;              
    void (*func_dqsvpwm)(void *str, void *str1, void *str2, void *data);                               
} BLDC_CONTROL_FOC_PARA;
#define BLDC_CONTROL_FOC_PARA_DEFAULTS {BLDC_CONTRL_PID_PARA_DEFAULTS, BLDC_CONTRL_PID_PARA_DEFAULTS,\
                                        BLDC_CONTRL_SPD_PARA_DEFAULTS, 0,\
                                        BLDC_CONTROL_CURRENT_PARA_DEFAULTS, BLDC_MOTOR_PARA_DEFAULTS,\
                                        BLDC_CONTROL_PWM_PARA_DEFAULTS,\
                                        BLDC_FUNC_CAL_DEFAULTS,\
                                        0, 0, 0, 0, NULL}
 
#if defined(__cplusplus)
}
#endif /* __cplusplus */
#endif