CurrentSense.h

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#ifndef CURRENTSENSE_H
#define CURRENTSENSE_H
 
#include "FOCDriver.h"
#include "../foc_utils.h"
#include "../time_utils.h"
#include "StepperDriver.h"
#include "BLDCDriver.h"
 
/**
 *  Current sensing abstract class defintion
 * Each current sensing implementation needs to extend this interface
 */
class CurrentSense{
    public:
 
    /**
     *  Function intialising the CurrentSense class
     *   - All the necessary intialisations of adc and sync should be implemented here
     *   
     * @returns -  0 - for failure &  1 - for success 
     */
    virtual int init() = 0;
    
    /**
     * Linking the current sense with the motor driver
     * Only necessary if synchronisation in between the two is required
     */
    void linkDriver(FOCDriver *driver);
 
    // variables
    bool skip_align = false; //!< variable signaling that the phase current direction should be verified during initFOC()
    
    FOCDriver* driver = nullptr; //!< driver link
    bool initialized = false; // true if current sense was successfully initialized   
    void* params = 0; //!< pointer to hardware specific parameters of current sensing
    DriverType driver_type = DriverType::UnknownDriver; //!< driver type (BLDC or Stepper)
    
    
    // ADC measurement gain for each phase
    // support for different gains for different phases of more commonly - inverted phase currents
    // this should be automated later
    float gain_a; //!< phase A gain
    float gain_b; //!< phase B gain
    float gain_c; //!< phase C gain
 
    float offset_ia; //!< zero current A voltage value (center of the adc reading)
    float offset_ib; //!< zero current B voltage value (center of the adc reading)
    float offset_ic; //!< zero current C voltage value (center of the adc reading)
 
    // hardware variables
   int pinA; //!< pin A analog pin for current measurement
   int pinB; //!< pin B analog pin for current measurement
   int pinC; //!< pin C analog pin for current measurement
 
    /**
     * Function intended to verify if:
     *   - phase current are oriented properly 
     *   - if their order is the same as driver phases
     * 
     * This function corrects the alignment errors if possible ans if no such thing is needed it can be left empty (return 1)
     * @returns -  
            0 - failure
            1 - success and nothing changed
            2 - success but pins reconfigured
            3 - success but gains inverted
            4 - success but pins reconfigured and gains inverted
     * 
     * IMPORTANT: Default implementation provided in the CurrentSense class, but can be overriden in the child classes
     */
    virtual int driverAlign(float align_voltage, bool modulation_centered = false);
 
    /**
     *  Function rading the phase currents a, b and c
     *   This function will be used with the foc control throught the function 
     *   CurrentSense::getFOCCurrents(electrical_angle)
     *   - it returns current c equal to 0 if only two phase measurements available
     * 
     *  @return PhaseCurrent_s current values
     */
    virtual PhaseCurrent_s getPhaseCurrents() = 0;
    /**
     * Function reading the magnitude of the current set to the motor
     *  It returns the absolute or signed magnitude if possible
     *  It can receive the motor electrical angle to help with calculation
     *  This function is used with the current control  (not foc)
     *  
     * @param angle_el - electrical angle of the motor (optional) 
     */
    virtual float getDCCurrent(float angle_el = 0);
 
    /**
     * Function used for FOC control, it reads the DQ currents of the motor 
     *   It uses the function getPhaseCurrents internally
     * 
     * @param angle_el - motor electrical angle
     */
    DQCurrent_s getFOCCurrents(float angle_el);
 
    /**
     * Function used for Clarke transform in FOC control
     *   It reads the phase currents of the motor 
     *   It returns the alpha and beta currents
     * 
     * @param current - phase current
     */
    ABCurrent_s getABCurrents(PhaseCurrent_s current);
 
    /**
     * Function used for Park transform in FOC control
     *   It reads the Alpha Beta currents and electrical angle of the motor 
     *   It returns the D and Q currents
     * 
     * @param current - phase current
     */
    DQCurrent_s getDQCurrents(ABCurrent_s current,float angle_el);
 
    /**
     * enable the current sense. default implementation does nothing, but you can
     * override it to do something useful.
     */
    virtual void enable();
 
    /**
     * disable the current sense. default implementation does nothing, but you can
     * override it to do something useful.
     */
    virtual void disable();
 
    /**
     * Function used to align the current sense with the BLDC motor driver
    */
    int alignBLDCDriver(float align_voltage, BLDCDriver* driver, bool modulation_centered);
    /**
     * Function used to align the current sense with the Stepper motor driver
    */
    int alignStepperDriver(float align_voltage, StepperDriver* driver, bool modulation_centered);
    /**
     * Function used to align the current sense with the Hybrid motor driver
     */
    int alignHybridDriver(float align_voltage, BLDCDriver* driver, bool modulation_centered);
 
    /**
     * Function used to read the average current values over N samples
    */
    PhaseCurrent_s readAverageCurrents(int N=100);
 
};
 
#endif