mirror of https://github.com/rene-dev/stmbl.git
64 lines
1.5 KiB
C
64 lines
1.5 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(pmsm_ttc);
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// motor values
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HAL_PIN(psi);
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HAL_PIN(polecount);
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HAL_PIN(ac);
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HAL_PIN(pc);
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HAL_PIN(nc);
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HAL_PIN(ae);
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HAL_PIN(pe);
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HAL_PIN(ne);
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HAL_PIN(pos);
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HAL_PIN(t);
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HAL_PIN(g);
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// torque cmd in
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HAL_PIN(torque);
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// cur cmd out
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HAL_PIN(cur);
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static void nrt_init(volatile void *ctx_ptr, volatile hal_pin_inst_t *pin_ptr) {
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// struct sim_ctx_t * ctx = (struct sim_ctx_t *)ctx_ptr;
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struct pmsm_ttc_pin_ctx_t *pins = (struct pmsm_ttc_pin_ctx_t *)pin_ptr;
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PIN(nc) = 1.0;
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PIN(ne) = 1.0;
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}
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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 pmsm_ttc_ctx_t * ctx = (struct pmsm_ttc_ctx_t *)ctx_ptr;
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struct pmsm_ttc_pin_ctx_t *pins = (struct pmsm_ttc_pin_ctx_t *)pin_ptr;
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float p = MAX(PIN(polecount), 1.0);
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float psi_m = MAX(PIN(psi), 0.01);
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float torque = PIN(torque);
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float tc = PIN(ac) * sinf(PIN(pc) + PIN(pos) * PIN(nc) * p);
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float te = torque * PIN(ae) * sinf(PIN(pe) + PIN(pos) * PIN(ne) * p);
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PIN(t) = tc + te;
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PIN(cur) = (torque + PIN(g) * (tc + te)) / 3.0 * 2.0 / p / psi_m;
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}
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hal_comp_t pmsm_ttc_comp_struct = {
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.name = "pmsm_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 = nrt_init,
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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 pmsm_ttc_pin_ctx_t) / sizeof(struct hal_pin_inst_t),
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};
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