hpm_over_zero.h

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/*
 * Copyright (c) 2023 HPMicro
 *
 * SPDX-License-Identifier: BSD-3-Clause
 *
 */
#ifndef HPM_OVER_ZERO_H
#define HPM_OVER_ZERO_H
 
#include "hpm_common.h"
#if defined(__cplusplus)
extern "C" {
#endif /* __cplusplus */
 
typedef enum {
    hpm_mcl_over_zero_fsm_init = 0,  
    hpm_mcl_over_zero_fsm_location = 1,  
    hpm_mcl_over_zero_fsm_running = 2    
} hpm_mcl_over_zero_fsm_t;
 
typedef enum {
    hpm_motor_dir_forward = 0,  
    hpm_motor_dir_reverse = 3   
} hpm_mcl_dir_t;
 
typedef enum {
    hpm_mcl_interval_init = 0,       
    hpm_mcl_interval_w_down = 1,    
    hpm_mcl_interval_v_up = 2,      
    hpm_mcl_interval_u_down = 3,    
    hpm_mcl_interval_w_up = 4,      
    hpm_mcl_interval_v_down = 5,    
    hpm_mcl_interval_u_up = 6,      
} hpm_mcl_over_zero_interval_t;
 
 
typedef struct hpm_mcl_over_zero_cfg {
    int32_t adc_u;                     
    int32_t adc_v;                     
    int32_t adc_w;                     
    uint32_t number_consecutive_zeros;      
    uint32_t number_consecutive_zeros_w;  
    uint32_t delay_degree_30;           
    uint32_t last_interval_tick;         
    uint32_t interval_tick;             
    hpm_mcl_dir_t motor_dir;                  
    uint8_t adc_zero_ph;                
    hpm_mcl_over_zero_interval_t last_interval;     
    hpm_mcl_over_zero_interval_t next_interval; 
    uint32_t speed_tick;                
    hpm_mcl_over_zero_interval_t interval;                   
    uint8_t pole_num;                   
    float loop_time_in_sec;                /*< Time interval to get the position, unit: s*/
    hpm_mcl_over_zero_fsm_t fsm;
} hpm_mcl_over_zero_cfg_t;
 
typedef struct  hpm_mcl_over_zero_spd_par {
    float       speed;  
    float       err;    
    float       err_last;   
    float       filter_coef; 
    float       speedout;   
    float       kp; 
    float       ki; 
    float       mem;    
    float       integral_max;   
    float       integral_min;   
    float       output_max;     
    float       output_min;     
    void    (*func_getspd)(void *str);
} hpm_mcl_over_zero_spd_para_t;
 
typedef struct hpm_mcl_over_zero_pi_par {
    float       kp;                   
    float       ki;                   
    float       kd;                   
    float       integral_max;         
    float       integral_min;         
    float       output_max;           
    float       output_min;           
    float       target;                 
    float       mem;                    
    float       cur;                    
    float       outval;                 
    void (*func_pid)(void *str);                               
} hpm_mcl_over_zero_pi_para_t;
 
int8_t hpm_mcl_over_zero_step_get(hpm_mcl_over_zero_cfg_t *cfg);
 
float hpm_mcl_over_zero_speed_filter(hpm_mcl_over_zero_spd_para_t *par);
 
void hpm_mcl_over_zero_pwm_ctrl(uint8_t motorindex, uint8_t step);
 
float hpm_mcl_over_zero_cal_speed(hpm_mcl_over_zero_cfg_t *cfg);
 
float hpm_mcl_over_zero_pi_contrl(hpm_mcl_over_zero_pi_para_t *par);
 
#if defined(__cplusplus)
}
#endif /* __cplusplus */
 
#endif