hpm_mcl_physical.h

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/*
 * Copyright (c) 2023 HPMicro
 *
 * SPDX-License-Identifier: BSD-3-Clause
 *
 */
#ifndef HPM_MCL_PHYSICAL_H
#define HPM_MCL_PHYSICAL_H
#include "hpm_common.h"
 
#define MCL_ANALOG_CHN_NUM  10 
typedef enum {
    phase_60, /*60*/
    phase_120 /*120*/
} hall_phase_t;
 
typedef enum {
    motor_dir_forward = 1,
    motor_dir_back = 2
} mcl_motor_dir_t;
 
typedef struct {
    float res;    
    int32_t pole_num;  
    float vbus;     
    float ld;       
    float lq;   
    float ls;       
    float i_max;    
    float i_rated;  
    float power;    
    float inertia; 
    float rpm_max; 
    float flux;
    hall_phase_t hall;
} physical_motor_t;
 
typedef struct {
    int32_t res;    
    int32_t pole_num;  
    int32_t vbus;
    int32_t ld;
    int32_t lq;
    int32_t ls;
    int32_t i_max;
    int32_t i_rated;
    int32_t power;
    int32_t inertia; 
    int32_t rpm_max;
    int32_t flux;
    hall_phase_t hall;
} physical_motor_q_t;
 
typedef struct {
    float sample_res; 
    float adc_reference_vol; 
    float opamp_gain;   
    int32_t sample_precision; 
} physical_board_analog_t;
 
typedef struct {
    int32_t sample_res; 
    int32_t opamp_gain;     
    int32_t adc_reference_vol; 
    int32_t sample_precision;   
} physical_board_analog_q_t;
 
typedef struct {
    physical_board_analog_t analog[MCL_ANALOG_CHN_NUM];
    int32_t num_current_sample_res; 
    int32_t pwm_reload;    
    float pwm_frequency;    
    int32_t pwm_dead_time_tick; 
} physical_board_t;
 
typedef struct {
    physical_board_analog_q_t analog[MCL_ANALOG_CHN_NUM];
    int32_t num_current_sample_res; 
    int32_t pwm_reload;    
    int32_t pwm_frequency;    
    int32_t pwm_dead_tick; 
} physical_board_q_t;
 
typedef struct {
    int32_t pwm_clock_tick;   
    int32_t mcu_clock_tick;   
    float speed_loop_ts;    
    float current_loop_ts;
    float position_loop_ts;
    float encoder_process_ts; 
    float adc_sample_ts;    
} physical_time_t;
 
typedef struct {
    int32_t pwm_clock_tick;   
    int32_t mcu_clock_tick;   
    int32_t speed_loop_ts;    
    int32_t current_loop_ts;
    int32_t position_loop_ts;
    int32_t adc_sample_ts;    
} physical_time_q_t;
 
typedef struct {
    physical_motor_t motor;
    physical_board_t board;
    physical_time_t time;
} mcl_physical_para_t;
 
typedef struct {
    physical_motor_q_t motor;
    physical_board_q_t board;
    physical_time_q_t time;
} mcl_physical_para_q_t;
 
#endif