mirror of https://github.com/rene-dev/stmbl.git
85 lines
1.8 KiB
C
85 lines
1.8 KiB
C
#include "commands.h"
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#include "hal.h"
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#include "math.h"
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#include "defines.h"
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#include "angle.h"
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HAL_COMP(acim_ttc);
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HAL_PIN(mode); // 0 = u/f, 1 = mtpa
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// motor values
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HAL_PIN(torque_n);
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HAL_PIN(cur_n);
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HAL_PIN(slip_n);
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HAL_PIN(polecount);
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// torque cmd in
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HAL_PIN(torque);
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HAL_PIN(vel);
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// cur cmd out
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HAL_PIN(id);
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HAL_PIN(iq);
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HAL_PIN(freq);
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HAL_PIN(slip)
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HAL_PIN(pos);
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static void rt_func(float period, volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
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// struct acim_ttc_ctx_t * ctx = (struct acim_ttc_ctx_t *)ctx_ptr;
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struct acim_ttc_pin_ctx_t *pins = (struct acim_ttc_pin_ctx_t *)pin_ptr;
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float poles = MAX(PIN(polecount), 1.0);
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float torque = PIN(torque);
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float vel = PIN(vel);
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float slip_n = PIN(slip_n);
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float torque_n = MAX(PIN(torque_n), 0.001);
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float cur_n = PIN(cur_n);
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float id = 0.0;
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float iq = 0.0;
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float freq = vel * poles / 2.0 / M_PI;
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float slip = 0.0;
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switch((int)PIN(mode)) {
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case 0: // slip control
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id = cur_n / sqrtf(2.0); // constant flux
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iq = cur_n / sqrtf(2.0) / torque_n * torque;
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slip = slip_n / torque_n * torque;
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break;
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case 1: // mtpa
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id = 0.0;
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iq = cur_n / torque_n * torque;
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slip = slip_n * SIGN(torque); // constant slip
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break;
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default:
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id = 0;
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iq = 0;
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slip = 0.0;
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}
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freq += slip;
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PIN(id) = id;
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PIN(iq) = iq;
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PIN(freq) = freq;
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PIN(slip) = slip;
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PIN(pos) = mod(PIN(pos) + freq * period * 2.0 * M_PI);
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}
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hal_comp_t acim_ttc_comp_struct = {
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.name = "acim_ttc",
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.nrt = 0,
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.rt = rt_func,
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.frt = 0,
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.nrt_init = 0,
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.rt_start = 0,
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.frt_start = 0,
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.rt_stop = 0,
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.frt_stop = 0,
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.ctx_size = 0,
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.pin_count = sizeof(struct acim_ttc_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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