hpm_smc.h

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/*
 * Copyright (c) 2021-2023 HPMicro
 *
 * SPDX-License-Identifier: BSD-3-Clause
 *
 */
#ifndef HPM_SMC_H
#define HPM_SMC_H
 
#if defined(__cplusplus)
extern "C" {
#endif /* __cplusplus */
 
typedef struct  hpm_smc_pll_para {
    float       theta_last; 
    float       err;    
    float       speedout;   
    float       theta;  
    float       kp; 
    float       ki; 
    float       max_i;    
    float       min_i;    
    float       max_o;    
    float       min_o;  
    float       mem;    
    float       theta0; 
    float       loop_in_sec; 
    void    (*func_getspd)(void *str);
} hpm_smc_pll_para_t;
 
#define BLDC_CONTROL_SMC_PLL_PARA_DEFAULTS {0, 0, 0, 0,\
                                            0, 0, 0, 0,\
                                            0, 0, 0, 0, 0,\
                                         NULL}
 
typedef struct hpm_mcl_para {
    float       zero;    
    float       ksmc;   
    float       filter_coeff;   
    float       *ualpha;  
    float       *ubeta;   
    float       *ialpha;  
    float       *ibeta;   
    float       ialpha_mem;   
    float       ibeta_mem;    
    float       alpha_cal;    
    float       zalpha_cal;   
    float       beta_cal; 
    float       zbeta_cal;    
    hpm_motor_para_t     *i_motorpar;    
    void (*func_smc)(void *str);                 
} hpm_mcl_para_t;
 
#define BLDC_CONTROL_SMC_PARA_DEFAULTS {0, 0, 0, NULL, NULL,\
                                        NULL, NULL, 0, 0, 0,\
                                        0, 0, 0,\
                                        NULL,\
                                         NULL}
 
void hpm_mcl_smc_pos_cal(hpm_mcl_para_t *par);
 
void hpm_mcl_smc_const_cal(hpm_motor_para_t *par);
 
float hpm_mcl_smc_pll(hpm_mcl_para_t *par, hpm_smc_pll_para_t *pll);
 
void hpm_mcl_smc_loop(BLDC_CONTROL_FOC_PARA *par, hpm_mcl_para_t *smc, hpm_smc_pll_para_t *pll, uint8_t *is_smc_enable);
 
#if defined(__cplusplus)
}
#endif /* __cplusplus */
 
#endif