motor.h

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/*
 *  Copyright (C) 2024 Texas Instruments Incorporated
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *    Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 *    Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the
 *    distribution.
 *
 *    Neither the name of Texas Instruments Incorporated nor the names of
 *    its contributors may be used to endorse or promote products derived
 *    from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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 *  OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
 *  SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 *  LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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 *  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 */
 
#ifndef MOTOR_H
#define MOTOR_H
 
#ifdef __cplusplus
extern "C"
{
#endif
 
// the includes
#include "math_types.h"
 
 
// **************************************************************************
// the defines
 
 
// **************************************************************************
// the typedefs
 
 
//
typedef enum
{
  MOTOR_TYPE_INDUCTION = 0,   
  MOTOR_TYPE_PM        = 1    
} MOTOR_Type_e;
 
//
//
typedef enum
{
    FLYINGSTART_MODE_HALT    = 0,       
    FLYINGSTART_MODE_STANDBY = 1        
} FlyingStart_Mode_e;
 
 
//
//
typedef enum
{
    FREE_STOP_MODE           = 0,       
    HARDSWITCH_BRAKE_MODE    = 1,       
    FORCESTOP_BRAKE_MODE     = 2,       
    DYNAMIC_BRAKE_MODE       = 3,       
    REGENERATION_BRAKE_MODE  = 4        
} BRAKE_Mode_e;
 
//
//
typedef enum
{
    OPERATE_MODE_SCALAR = 0,        
    OPERATE_MODE_VQCL   = 1,        
    OPERATE_MODE_TORQUE = 2,        
    OPERATE_MODE_SPEED  = 3,        
    OPERATE_MODE_POWER  = 4         
} OPERATE_Mode_e;
 
//
typedef enum
{
    SAMPLE_MODE_DCSS2  = 0,         
    SAMPLE_MODE_DCSS4  = 1,         
    SAMPLE_MODE_DCLINK = 2,         
    SAMPLE_MODE_3LSR   = 3,         
    SAMPLE_MODE_3INL   = 4,         
    SAMPLE_MODE_SDFM   = 5          
} SAMPLE_Mode_e;
 
// State machine typedef for motor running status
typedef enum
{
    MOTOR_STOP_IDLE      = 0,
    MOTOR_FAULT_STOP     = 1,
    MOTOR_BRAKE_STOP     = 2,
    MOTOR_NORM_STOP      = 3,
    MOTOR_CHARGE         = 4,
    MOTOR_SEEK_POS       = 5,
    MOTOR_ALIGNMENT      = 6,
    MOTOR_IPD_HFI        = 7,
    MOTOR_OL_START       = 8,
    MOTOR_CL_RUNNING     = 9,
    MOTOR_CTRL_RUN       = 10,
    MOTOR_RUN_FWC        = 11,
    MOTOR_IDENTIFICATION = 12,
    MOTOR_RS_RECALC      = 13
} MOTOR_Status_e;
 
//
typedef enum
{
    MOTOR_CTRL_FREE_STOP    = 0,    
    MOTOR_CTRL_BRAKE_STOP   = 1,    
    MOTOR_CTRL_FREQ_CW      = 2,    
    MOTOR_CTRL_FREQ_CCW     = 3,    
    MOTOR_CTRL_TORQUE_CW    = 4,    
    MOTOR_CTRL_TORQUE_CCW   = 5,    
    MOTOR_CTRL_SPEED_CW     = 6,    
    MOTOR_CTRL_SPEED_CCW    = 7,    
    MOTOR_CTRL_DEBUG_CHECK  = 8,    
    MOTOR_CTRL_URGENT_STOP  = 9,    
    MOTOR_CTRL_IDENTIFy     = 10,   
    MOTOR_CTRL_RSCALC       = 11    
} MOTOR_CtrlMode_e;
 
typedef struct _MOTOR_Params_
{
  MOTOR_Type_e    type;               
 
  uint_least16_t  numPolePairs;       
 
  float32_t         Lmag_H;             
  float32_t         Ls_d_H;             
  float32_t         Ls_q_H;             
 
  float32_t         Rr_d_Ohm;           
  float32_t         Rr_q_Ohm;           
 
  float32_t         Rs_d_Ohm;           
  float32_t         Rs_q_Ohm;           
 
  float32_t         ratedFlux_Wb;       
} MOTOR_Params;
 
//*****************************************************************************
//
// Close the Doxygen group.
//
//*****************************************************************************
 
//*****************************************************************************
//
// Mark the end of the C bindings section for C++ compilers.
//
//*****************************************************************************
#ifdef __cplusplus
}
#endif
 
#endif // end of MOTOR_LIB_H definition