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Posted to commits@nuttx.apache.org by xi...@apache.org on 2021/12/07 13:52:54 UTC
[incubator-nuttx-apps] branch master updated (9397e92 -> 37aa562)
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a change to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git.
from 9397e92 examples/thttpd: Don't touch task_tcb_s::argv field
new edeaace examples/foc/foc_cfg.h: fix typo
new 3fda129 examples/foc: move setpoint and vbus configuration from foc_adc.h to foc_cfg.h
new ea27aac examples/foc: move threads related logic to a separate file
new 37aa562 examples/foc: move adc and button interfaces logic to a separate file
The 4 revisions listed above as "new" are entirely new to this
repository and will be described in separate emails. The revisions
listed as "add" were already present in the repository and have only
been added to this reference.
Summary of changes:
examples/foc/Kconfig | 13 +-
examples/foc/Makefile | 2 +-
examples/foc/foc_adc.h | 49 --
examples/foc/foc_cfg.h | 51 +-
examples/foc/foc_intf.c | 485 +++++++++++++++++++
.../lv_tick_interface.h => examples/foc/foc_intf.h | 40 +-
examples/foc/foc_main.c | 537 +++------------------
examples/foc/foc_motor_b16.c | 1 -
examples/foc/foc_motor_f32.c | 1 -
examples/foc/foc_thr.c | 312 ++++++++++++
examples/foc/foc_thr.h | 17 +-
11 files changed, 951 insertions(+), 557 deletions(-)
create mode 100644 examples/foc/foc_intf.c
copy graphics/lvgl/lv_tick_interface.h => examples/foc/foc_intf.h (76%)
create mode 100644 examples/foc/foc_thr.c
[incubator-nuttx-apps] 03/04: examples/foc: move threads related logic to a separate file
Posted by xi...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit ea27aacbd227b54b5d2201f166f4d7b43f8abd2b
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sun Dec 5 15:57:42 2021 +0100
examples/foc: move threads related logic to a separate file
---
examples/foc/Makefile | 2 +-
examples/foc/foc_main.c | 268 ++---------------------------------------
examples/foc/foc_thr.c | 312 ++++++++++++++++++++++++++++++++++++++++++++++++
examples/foc/foc_thr.h | 17 ++-
4 files changed, 328 insertions(+), 271 deletions(-)
diff --git a/examples/foc/Makefile b/examples/foc/Makefile
index 1fb157b..6b2b791 100644
--- a/examples/foc/Makefile
+++ b/examples/foc/Makefile
@@ -32,7 +32,7 @@ MODULE = $(CONFIG_EXAMPLES_FOC)
MAINSRC = foc_main.c
ASRCS =
-CSRCS = foc_device.c foc_mq.c
+CSRCS = foc_device.c foc_mq.c foc_thr.c
ifeq ($(CONFIG_BUILTIN),y)
CSRCS += foc_parseargs.c
diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index 134774c..fd1deec 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -28,22 +28,16 @@
#include <unistd.h>
#include <string.h>
#include <stdlib.h>
-#include <fcntl.h>
#include <assert.h>
#include <errno.h>
-#include <mqueue.h>
-#include <pthread.h>
#include <sys/types.h>
-#include <sys/ioctl.h>
#include <sys/boardctl.h>
-#include <nuttx/fs/fs.h>
#include "foc_mq.h"
#include "foc_thr.h"
#include "foc_cfg.h"
#include "foc_debug.h"
-#include "foc_device.h"
#include "foc_parseargs.h"
#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
@@ -84,40 +78,6 @@
#define INST_EN_DEAFULT (0xff)
/****************************************************************************
- * Private Type Definition
- ****************************************************************************/
-
-/****************************************************************************
- * Private Function Protototypes
- ****************************************************************************/
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
-/* Example state */
-
-static const int g_state_list[5] =
-{
- FOC_EXAMPLE_STATE_FREE,
- FOC_EXAMPLE_STATE_CW,
- FOC_EXAMPLE_STATE_STOP,
- FOC_EXAMPLE_STATE_CCW,
- 0
-};
-#endif
-
-pthread_mutex_t g_cntr_lock;
-
-#ifdef CONFIG_INDUSTRY_FOC_FLOAT
-static int g_float_thr_cntr = 0;
-#endif
-#ifdef CONFIG_INDUSTRY_FOC_FIXED16
-static int g_fixed16_thr_cntr = 0;
-#endif
-
-/****************************************************************************
* Private Functions
****************************************************************************/
@@ -336,218 +296,6 @@ static int foc_kill_send(mqd_t mqd)
}
/****************************************************************************
- * Name: foc_control_thr
- ****************************************************************************/
-
-FAR void *foc_control_thr(FAR void *arg)
-{
- FAR struct foc_ctrl_env_s *envp = (FAR struct foc_ctrl_env_s *) arg;
- char mqname[10];
- int ret = OK;
-
- DEBUGASSERT(envp);
-
- /* Get controller type */
-
- pthread_mutex_lock(&g_cntr_lock);
-
-#ifdef CONFIG_INDUSTRY_FOC_FLOAT
- if (g_float_thr_cntr < CONFIG_EXAMPLES_FOC_FLOAT_INST)
- {
- envp->type = FOC_NUMBER_TYPE_FLOAT;
- }
- else
-#endif
-#ifdef CONFIG_INDUSTRY_FOC_FIXED16
- if (g_fixed16_thr_cntr < CONFIG_EXAMPLES_FOC_FIXED16_INST)
- {
- envp->type = FOC_NUMBER_TYPE_FIXED16;
- }
- else
-#endif
- {
- /* Invalid configuration */
-
- ASSERT(0);
- }
-
- pthread_mutex_unlock(&g_cntr_lock);
-
- PRINTF("FOC device %d type = %d!\n", envp->id, envp->type);
-
- /* Get queue name */
-
- sprintf(mqname, "%s%d", CONTROL_MQ_MQNAME, envp->id);
-
- /* Open queue */
-
- envp->mqd = mq_open(mqname, (O_RDONLY | O_NONBLOCK), 0666, NULL);
- if (envp->mqd == (mqd_t)-1)
- {
- PRINTF("ERROR: mq_open failed errno=%d\n", errno);
- goto errout;
- }
-
- /* Select control logic according to FOC device type */
-
- switch (envp->type)
- {
-#ifdef CONFIG_INDUSTRY_FOC_FLOAT
- case FOC_NUMBER_TYPE_FLOAT:
- {
- pthread_mutex_lock(&g_cntr_lock);
- envp->inst = g_float_thr_cntr;
- g_float_thr_cntr += 1;
- pthread_mutex_unlock(&g_cntr_lock);
-
- /* Start thread */
-
- ret = foc_float_thr(envp);
-
- pthread_mutex_lock(&g_cntr_lock);
- g_float_thr_cntr -= 1;
- pthread_mutex_unlock(&g_cntr_lock);
-
- break;
- }
-#endif
-
-#ifdef CONFIG_INDUSTRY_FOC_FIXED16
- case FOC_NUMBER_TYPE_FIXED16:
- {
- pthread_mutex_lock(&g_cntr_lock);
- envp->inst = g_fixed16_thr_cntr;
- g_fixed16_thr_cntr += 1;
- pthread_mutex_unlock(&g_cntr_lock);
-
- /* Start thread */
-
- ret = foc_fixed16_thr(envp);
-
- pthread_mutex_lock(&g_cntr_lock);
- g_fixed16_thr_cntr -= 1;
- pthread_mutex_unlock(&g_cntr_lock);
-
- break;
- }
-#endif
-
- default:
- {
- PRINTF("ERROR: unknown FOC device type %d\n", envp->type);
- goto errout;
- }
- }
-
- if (ret < 0)
- {
- PRINTF("ERROR: foc control thread failed %d\n", ret);
- }
-
-errout:
-
- /* Close queue */
-
- if (envp->mqd == (mqd_t)-1)
- {
- mq_close(envp->mqd);
- }
-
- PRINTFV("foc_control_thr %d exit\n", envp->id);
-
- return NULL;
-}
-
-/****************************************************************************
- * Name: foc_threads_terminated
- ****************************************************************************/
-
-static bool foc_threads_terminated(void)
-{
- bool ret = false;
-
- pthread_mutex_unlock(&g_cntr_lock);
-
- if (1
-#ifdef CONFIG_INDUSTRY_FOC_FLOAT
- && g_float_thr_cntr <= 0
-#endif
-#ifdef CONFIG_INDUSTRY_FOC_FIXED16
- && g_fixed16_thr_cntr <= 0
-#endif
- )
- {
- ret = true;
- }
-
- pthread_mutex_lock(&g_cntr_lock);
-
- return ret;
-}
-
-/****************************************************************************
- * Name: foc_threads_init
- ****************************************************************************/
-
-static int foc_threads_init(FAR struct foc_ctrl_env_s *foc, int i,
- FAR mqd_t *mqd, FAR pthread_t *thread)
-{
- char mqname[10];
- int ret = OK;
- pthread_attr_t attr;
- struct mq_attr mqattr;
- struct sched_param param;
-
- DEBUGASSERT(foc);
- DEBUGASSERT(mqd);
- DEBUGASSERT(thread);
-
- /* Store device id */
-
- foc->id = i;
-
- /* Fill in attributes for message queue */
-
- mqattr.mq_maxmsg = CONTROL_MQ_MAXMSG;
- mqattr.mq_msgsize = CONTROL_MQ_MSGSIZE;
- mqattr.mq_flags = 0;
-
- /* Get queue name */
-
- sprintf(mqname, "%s%d", CONTROL_MQ_MQNAME, foc->id);
-
- /* Initialize thread recv queue */
-
- *mqd = mq_open(mqname, (O_WRONLY | O_CREAT | O_NONBLOCK),
- 0666, &mqattr);
- if (*mqd < 0)
- {
- PRINTF("ERROR: mq_open %s failed errno=%d\n", mqname, errno);
- goto errout;
- }
-
- /* Configure thread */
-
- pthread_attr_init(&attr);
- param.sched_priority = CONFIG_EXAMPLES_FOC_CONTROL_PRIO;
- pthread_attr_setschedparam(&attr, ¶m);
- pthread_attr_setstacksize(&attr, CONFIG_EXAMPLES_FOC_CONTROL_STACKSIZE);
-
- /* Create FOC threads */
-
- ret = pthread_create(thread, &attr, foc_control_thr, foc);
- if (ret != 0)
- {
- PRINTF("ERROR: pthread_create ctrl failed %d\n", ret);
- ret = -ret;
- goto errout;
- }
-
-errout:
- return ret;
-}
-
-/****************************************************************************
* Public Functions
****************************************************************************/
@@ -627,12 +375,12 @@ int main(int argc, char *argv[])
PRINTF("\nStart foc_main application!\n\n");
- /* Initialize mutex */
+ /* Initialize threads */
- ret = pthread_mutex_init(&g_cntr_lock, NULL);
- if (ret != 0)
+ ret = foc_threads_init();
+ if (ret < 0)
{
- PRINTF("ERROR: pthread_mutex_init failed %d\n", errno);
+ PRINTF("ERROR: failed to initialize threads %d\n", ret);
goto errout_no_mutex;
}
@@ -689,10 +437,10 @@ int main(int argc, char *argv[])
{
/* Initialize controller thread if enabled */
- ret = foc_threads_init(&foc[i], i, &mqd[i], &threads[i]);
+ ret = foc_ctrlthr_init(&foc[i], i, &mqd[i], &threads[i]);
if (ret < 0)
{
- PRINTF("ERROR: foc_threads_init failed %d!\n", ret);
+ PRINTF("ERROR: foc_ctrlthr_init failed %d!\n", ret);
goto errout;
}
}
@@ -1010,9 +758,7 @@ errout:
errout_no_mutex:
- /* Free/uninitialize data structures */
-
- pthread_mutex_destroy(&g_cntr_lock);
+ foc_threads_deinit();
PRINTF("foc_main exit\n");
diff --git a/examples/foc/foc_thr.c b/examples/foc/foc_thr.c
new file mode 100644
index 0000000..aee4b8b
--- /dev/null
+++ b/examples/foc/foc_thr.c
@@ -0,0 +1,312 @@
+/****************************************************************************
+ * apps/examples/foc/foc_thr.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <fcntl.h>
+#include <assert.h>
+#include <errno.h>
+
+#include "foc_mq.h"
+#include "foc_thr.h"
+#include "foc_debug.h"
+
+#include "industry/foc/foc_common.h"
+
+/****************************************************************************
+ * Extern Functions Prototypes
+ ****************************************************************************/
+
+#ifdef CONFIG_INDUSTRY_FOC_FLOAT
+extern int foc_float_thr(FAR struct foc_ctrl_env_s *envp);
+#endif
+
+#ifdef CONFIG_INDUSTRY_FOC_FIXED16
+extern int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp);
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+pthread_mutex_t g_cntr_lock;
+
+#ifdef CONFIG_INDUSTRY_FOC_FLOAT
+static int g_float_thr_cntr = 0;
+#endif
+#ifdef CONFIG_INDUSTRY_FOC_FIXED16
+static int g_fixed16_thr_cntr = 0;
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: foc_control_thr
+ ****************************************************************************/
+
+static FAR void *foc_control_thr(FAR void *arg)
+{
+ FAR struct foc_ctrl_env_s *envp = (FAR struct foc_ctrl_env_s *) arg;
+ char mqname[10];
+ int ret = OK;
+
+ DEBUGASSERT(envp);
+
+ /* Get controller type */
+
+ pthread_mutex_lock(&g_cntr_lock);
+
+#ifdef CONFIG_INDUSTRY_FOC_FLOAT
+ if (g_float_thr_cntr < CONFIG_EXAMPLES_FOC_FLOAT_INST)
+ {
+ envp->type = FOC_NUMBER_TYPE_FLOAT;
+ }
+ else
+#endif
+#ifdef CONFIG_INDUSTRY_FOC_FIXED16
+ if (g_fixed16_thr_cntr < CONFIG_EXAMPLES_FOC_FIXED16_INST)
+ {
+ envp->type = FOC_NUMBER_TYPE_FIXED16;
+ }
+ else
+#endif
+ {
+ /* Invalid configuration */
+
+ ASSERT(0);
+ }
+
+ pthread_mutex_unlock(&g_cntr_lock);
+
+ PRINTF("FOC device %d type = %d!\n", envp->id, envp->type);
+
+ /* Get queue name */
+
+ sprintf(mqname, "%s%d", CONTROL_MQ_MQNAME, envp->id);
+
+ /* Open queue */
+
+ envp->mqd = mq_open(mqname, (O_RDONLY | O_NONBLOCK), 0666, NULL);
+ if (envp->mqd == (mqd_t)-1)
+ {
+ PRINTF("ERROR: mq_open failed errno=%d\n", errno);
+ goto errout;
+ }
+
+ /* Select control logic according to FOC device type */
+
+ switch (envp->type)
+ {
+#ifdef CONFIG_INDUSTRY_FOC_FLOAT
+ case FOC_NUMBER_TYPE_FLOAT:
+ {
+ pthread_mutex_lock(&g_cntr_lock);
+ envp->inst = g_float_thr_cntr;
+ g_float_thr_cntr += 1;
+ pthread_mutex_unlock(&g_cntr_lock);
+
+ /* Start thread */
+
+ ret = foc_float_thr(envp);
+
+ pthread_mutex_lock(&g_cntr_lock);
+ g_float_thr_cntr -= 1;
+ pthread_mutex_unlock(&g_cntr_lock);
+
+ break;
+ }
+#endif
+
+#ifdef CONFIG_INDUSTRY_FOC_FIXED16
+ case FOC_NUMBER_TYPE_FIXED16:
+ {
+ pthread_mutex_lock(&g_cntr_lock);
+ envp->inst = g_fixed16_thr_cntr;
+ g_fixed16_thr_cntr += 1;
+ pthread_mutex_unlock(&g_cntr_lock);
+
+ /* Start thread */
+
+ ret = foc_fixed16_thr(envp);
+
+ pthread_mutex_lock(&g_cntr_lock);
+ g_fixed16_thr_cntr -= 1;
+ pthread_mutex_unlock(&g_cntr_lock);
+
+ break;
+ }
+#endif
+
+ default:
+ {
+ PRINTF("ERROR: unknown FOC device type %d\n", envp->type);
+ goto errout;
+ }
+ }
+
+ if (ret < 0)
+ {
+ PRINTF("ERROR: foc control thread failed %d\n", ret);
+ }
+
+errout:
+
+ /* Close queue */
+
+ if (envp->mqd == (mqd_t)-1)
+ {
+ mq_close(envp->mqd);
+ }
+
+ PRINTFV("foc_control_thr %d exit\n", envp->id);
+
+ return NULL;
+}
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: foc_threads_init
+ ****************************************************************************/
+
+int foc_threads_init(void)
+{
+ int ret = OK;
+
+ /* Initialize mutex */
+
+ ret = pthread_mutex_init(&g_cntr_lock, NULL);
+ if (ret != 0)
+ {
+ PRINTF("ERROR: pthread_mutex_init failed %d\n", errno);
+ goto errout;
+ }
+
+errout:
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_threads_deinit
+ ****************************************************************************/
+
+void foc_threads_deinit(void)
+{
+ /* Free/uninitialize data structures */
+
+ pthread_mutex_destroy(&g_cntr_lock);
+}
+
+/****************************************************************************
+ * Name: foc_threads_terminated
+ ****************************************************************************/
+
+bool foc_threads_terminated(void)
+{
+ bool ret = false;
+
+ pthread_mutex_unlock(&g_cntr_lock);
+
+ if (1
+#ifdef CONFIG_INDUSTRY_FOC_FLOAT
+ && g_float_thr_cntr <= 0
+#endif
+#ifdef CONFIG_INDUSTRY_FOC_FIXED16
+ && g_fixed16_thr_cntr <= 0
+#endif
+ )
+ {
+ ret = true;
+ }
+
+ pthread_mutex_lock(&g_cntr_lock);
+
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_ctrlthr_init
+ ****************************************************************************/
+
+int foc_ctrlthr_init(FAR struct foc_ctrl_env_s *foc, int i, FAR mqd_t *mqd,
+ FAR pthread_t *thread)
+{
+ char mqname[10];
+ int ret = OK;
+ pthread_attr_t attr;
+ struct mq_attr mqattr;
+ struct sched_param param;
+
+ DEBUGASSERT(foc);
+ DEBUGASSERT(mqd);
+ DEBUGASSERT(thread);
+
+ /* Store device id */
+
+ foc->id = i;
+
+ /* Fill in attributes for message queue */
+
+ mqattr.mq_maxmsg = CONTROL_MQ_MAXMSG;
+ mqattr.mq_msgsize = CONTROL_MQ_MSGSIZE;
+ mqattr.mq_flags = 0;
+
+ /* Get queue name */
+
+ sprintf(mqname, "%s%d", CONTROL_MQ_MQNAME, foc->id);
+
+ /* Initialize thread recv queue */
+
+ *mqd = mq_open(mqname, (O_WRONLY | O_CREAT | O_NONBLOCK),
+ 0666, &mqattr);
+ if (*mqd < 0)
+ {
+ PRINTF("ERROR: mq_open %s failed errno=%d\n", mqname, errno);
+ goto errout;
+ }
+
+ /* Configure thread */
+
+ pthread_attr_init(&attr);
+ param.sched_priority = CONFIG_EXAMPLES_FOC_CONTROL_PRIO;
+ pthread_attr_setschedparam(&attr, ¶m);
+ pthread_attr_setstacksize(&attr, CONFIG_EXAMPLES_FOC_CONTROL_STACKSIZE);
+
+ /* Create FOC threads */
+
+ ret = pthread_create(thread, &attr, foc_control_thr, foc);
+ if (ret != 0)
+ {
+ PRINTF("ERROR: pthread_create ctrl failed %d\n", ret);
+ ret = -ret;
+ goto errout;
+ }
+
+errout:
+ return ret;
+}
diff --git a/examples/foc/foc_thr.h b/examples/foc/foc_thr.h
index c33dfef..aaa8ae5 100644
--- a/examples/foc/foc_thr.h
+++ b/examples/foc/foc_thr.h
@@ -27,10 +27,11 @@
#include <nuttx/config.h>
-#include <nuttx/motor/foc/foc.h>
-
+#include <pthread.h>
#include <mqueue.h>
+#include <nuttx/motor/foc/foc.h>
+
#include "foc_device.h"
/****************************************************************************
@@ -122,12 +123,10 @@ struct foc_ctrl_env_s
* Public Function Prototypes
****************************************************************************/
-#ifdef CONFIG_INDUSTRY_FOC_FLOAT
-int foc_float_thr(FAR struct foc_ctrl_env_s *envp);
-#endif
-
-#ifdef CONFIG_INDUSTRY_FOC_FIXED16
-int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp);
-#endif
+int foc_threads_init(void);
+void foc_threads_deinit(void);
+bool foc_threads_terminated(void);
+int foc_ctrlthr_init(FAR struct foc_ctrl_env_s *foc, int i, FAR mqd_t *mqd,
+ FAR pthread_t *thread);
#endif /* __EXAMPLES_FOC_FOC_THR_H */
[incubator-nuttx-apps] 01/04: examples/foc/foc_cfg.h: fix typo
Posted by xi...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit edeaacedb08b00009e7da5ee4d2776229807bb9c
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sun Dec 5 12:20:05 2021 +0100
examples/foc/foc_cfg.h: fix typo
---
examples/foc/foc_cfg.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/examples/foc/foc_cfg.h b/examples/foc/foc_cfg.h
index 47b3a5c..cf6476d 100644
--- a/examples/foc/foc_cfg.h
+++ b/examples/foc/foc_cfg.h
@@ -123,7 +123,7 @@
# if CONFIG_EXAMPLES_FOC_MOTOR_POLES == 0
# error
# endif
-# if CONFIG_EXAMPLES_FOC_MOTOR_POSMAX == 0
+# if CONFIG_EXAMPLES_FOC_QENCO_POSMAX == 0
# error
# endif
#endif
[incubator-nuttx-apps] 02/04: examples/foc: move setpoint and vbus configuration from foc_adc.h to foc_cfg.h
Posted by xi...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 3fda1294d76d271389d7a0b63444ac7685156e22
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sat Dec 4 17:34:58 2021 +0100
examples/foc: move setpoint and vbus configuration from foc_adc.h to foc_cfg.h
---
examples/foc/foc_adc.h | 49 --------------------------------------------
examples/foc/foc_cfg.h | 49 ++++++++++++++++++++++++++++++++++++++++++++
examples/foc/foc_main.c | 2 +-
examples/foc/foc_motor_b16.c | 1 -
examples/foc/foc_motor_f32.c | 1 -
5 files changed, 50 insertions(+), 52 deletions(-)
diff --git a/examples/foc/foc_adc.h b/examples/foc/foc_adc.h
index 28fcc04..deafd8c 100644
--- a/examples/foc/foc_adc.h
+++ b/examples/foc/foc_adc.h
@@ -31,55 +31,6 @@
* Pre-processor Definitions
****************************************************************************/
-/* VBUS source must be specified */
-
-#if defined(CONFIG_EXAMPLES_FOC_VBUS_CONST) && \
- defined(CONFIG_EXAMPLES_FOC_VBUS_ADC)
-# error
-#endif
-
-/* Velocity source must be specified */
-
-#if defined(CONFIG_EXAMPLES_FOC_SETPOINT_CONST) && \
- defined(CONFIG_EXAMPLES_FOC_SETPOINT_ADC)
-# error
-#endif
-
-/* VBUS ADC scale factor */
-
-#ifdef CONFIG_EXAMPLES_FOC_VBUS_ADC
-# define VBUS_ADC_SCALE (CONFIG_EXAMPLES_FOC_ADC_VREF * \
- CONFIG_EXAMPLES_FOC_VBUS_SCALE / \
- CONFIG_EXAMPLES_FOC_ADC_MAX / \
- 1000.0f / \
- 1000.0f)
-#endif
-
-/* Velocity ADC scale factor */
-
-#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
-# define SETPOINT_ADC_SCALE (1.0f / CONFIG_EXAMPLES_FOC_ADC_MAX)
-#endif
-
-/* If constant velocity is selected, velocity value must be provided */
-
-#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
-# define SETPOINT_ADC_SCALE (1)
-# if CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE == 0
-# error
-# endif
-#endif
-
-/* If constant VBUS is selected, VBUS value must be provided */
-
-#ifdef CONFIG_EXAMPLES_FOC_VBUS_CONST
-# define VBUS_ADC_SCALE (1)
-# define VBUS_CONST_VALUE (CONFIG_EXAMPLES_FOC_VBUS_CONST_VALUE / 1000.0f)
-# if CONFIG_EXAMPLES_FOC_VBUS_CONST_VALUE == 0
-# error
-# endif
-#endif
-
/* Additional configuration if ADC support is required */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
diff --git a/examples/foc/foc_cfg.h b/examples/foc/foc_cfg.h
index cf6476d..25cee0e 100644
--- a/examples/foc/foc_cfg.h
+++ b/examples/foc/foc_cfg.h
@@ -128,4 +128,53 @@
# endif
#endif
+/* Setpoint source must be specified */
+
+#if !defined(CONFIG_EXAMPLES_FOC_SETPOINT_CONST) && \
+ !defined(CONFIG_EXAMPLES_FOC_SETPOINT_ADC)
+# error
+#endif
+
+/* Setpoint ADC scale factor */
+
+#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
+# define SETPOINT_ADC_SCALE (1.0f / CONFIG_EXAMPLES_FOC_ADC_MAX)
+#endif
+
+/* If constant setpoint is selected, setpoint value must be provided */
+
+#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
+# define SETPOINT_ADC_SCALE (1)
+# if CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE == 0
+# error
+# endif
+#endif
+
+/* VBUS source must be specified */
+
+#if !defined(CONFIG_EXAMPLES_FOC_VBUS_CONST) && \
+ !defined(CONFIG_EXAMPLES_FOC_VBUS_ADC)
+# error
+#endif
+
+/* VBUS ADC scale factor */
+
+#ifdef CONFIG_EXAMPLES_FOC_VBUS_ADC
+# define VBUS_ADC_SCALE (CONFIG_EXAMPLES_FOC_ADC_VREF * \
+ CONFIG_EXAMPLES_FOC_VBUS_SCALE / \
+ CONFIG_EXAMPLES_FOC_ADC_MAX / \
+ 1000.0f / \
+ 1000.0f)
+#endif
+
+/* If constant VBUS is selected, VBUS value must be provided */
+
+#ifdef CONFIG_EXAMPLES_FOC_VBUS_CONST
+# define VBUS_ADC_SCALE (1)
+# define VBUS_CONST_VALUE (CONFIG_EXAMPLES_FOC_VBUS_CONST_VALUE / 1000.0f)
+# if CONFIG_EXAMPLES_FOC_VBUS_CONST_VALUE == 0
+# error
+# endif
+#endif
+
#endif /* __EXAMPLES_FOC_FOC_CFG_H */
diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index a0a8359..134774c 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -41,7 +41,7 @@
#include "foc_mq.h"
#include "foc_thr.h"
-#include "foc_adc.h"
+#include "foc_cfg.h"
#include "foc_debug.h"
#include "foc_device.h"
#include "foc_parseargs.h"
diff --git a/examples/foc/foc_motor_b16.c b/examples/foc/foc_motor_b16.c
index 0cee3ac..6c7ef65 100644
--- a/examples/foc/foc_motor_b16.c
+++ b/examples/foc/foc_motor_b16.c
@@ -29,7 +29,6 @@
#include "foc_motor_b16.h"
#include "foc_cfg.h"
-#include "foc_adc.h"
#include "foc_debug.h"
/****************************************************************************
diff --git a/examples/foc/foc_motor_f32.c b/examples/foc/foc_motor_f32.c
index 32d3a60..fa839a1 100644
--- a/examples/foc/foc_motor_f32.c
+++ b/examples/foc/foc_motor_f32.c
@@ -29,7 +29,6 @@
#include "foc_motor_f32.h"
#include "foc_cfg.h"
-#include "foc_adc.h"
#include "foc_debug.h"
/****************************************************************************
[incubator-nuttx-apps] 04/04: examples/foc: move adc and button interfaces logic to a separate file
Posted by xi...@apache.org.
This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 37aa562f0322560b3d437cfe4fe681b28548337c
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sun Dec 5 16:19:15 2021 +0100
examples/foc: move adc and button interfaces logic to a separate file
---
examples/foc/Kconfig | 13 +-
examples/foc/Makefile | 2 +-
examples/foc/foc_intf.c | 485 ++++++++++++++++++++++++++++++++++++++++++++++++
examples/foc/foc_intf.h | 60 ++++++
examples/foc/foc_main.c | 267 ++++++--------------------
5 files changed, 614 insertions(+), 213 deletions(-)
diff --git a/examples/foc/Kconfig b/examples/foc/Kconfig
index e0cf16d..b8a69ee 100644
--- a/examples/foc/Kconfig
+++ b/examples/foc/Kconfig
@@ -216,9 +216,14 @@ config EXAMPLES_FOC_SETPOINT_CONST
config EXAMPLES_FOC_SETPOINT_ADC
bool "Use ADC to control setpoint"
select EXAMPLES_FOC_HAVE_ADC
+ select EXAMPLES_FOC_HAVE_SETPOINT_VAR
endchoice # FOC setpoint interface
+config EXAMPLES_FOC_HAVE_SETPOINT_VAR
+ bool
+ default n
+
if EXAMPLES_FOC_SETPOINT_CONST
config EXAMPLES_FOC_SETPOINT_CONST_VALUE
@@ -227,13 +232,13 @@ config EXAMPLES_FOC_SETPOINT_CONST_VALUE
endif # EXAMPLES_FOC_SETPOINT_CONST
-if EXAMPLES_FOC_SETPOINT_ADC
+if EXAMPLES_FOC_HAVE_SETPOINT_VAR
-config EXAMPLES_FOC_SETPOINT_ADC_MAX
- int "FOC maximum setpoint from ADC [x1000]"
+config EXAMPLES_FOC_SETPOINT_MAX
+ int "FOC maximum setpoint [x1000]"
default 0
-endif # EXAMPLES_FOC_SETPOINT_ADC
+endif # EXAMPLES_FOC_HAVE_SETPOINT_VAR
config EXAMPLES_FOC_TIME_DEFAULT
int "FOC run time default (sec)"
diff --git a/examples/foc/Makefile b/examples/foc/Makefile
index 6b2b791..68b0d61 100644
--- a/examples/foc/Makefile
+++ b/examples/foc/Makefile
@@ -32,7 +32,7 @@ MODULE = $(CONFIG_EXAMPLES_FOC)
MAINSRC = foc_main.c
ASRCS =
-CSRCS = foc_device.c foc_mq.c foc_thr.c
+CSRCS = foc_device.c foc_mq.c foc_thr.c foc_intf.c
ifeq ($(CONFIG_BUILTIN),y)
CSRCS += foc_parseargs.c
diff --git a/examples/foc/foc_intf.c b/examples/foc/foc_intf.c
new file mode 100644
index 0000000..7bc0581
--- /dev/null
+++ b/examples/foc/foc_intf.c
@@ -0,0 +1,485 @@
+/****************************************************************************
+ * apps/examples/foc/foc_intf.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <fcntl.h>
+#include <assert.h>
+#include <errno.h>
+
+#include <sys/ioctl.h>
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
+# include <nuttx/input/buttons.h>
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
+# include <nuttx/analog/adc.h>
+# include <nuttx/analog/ioctl.h>
+#endif
+
+#include "foc_thr.h"
+#include "foc_adc.h"
+#include "foc_intf.h"
+#include "foc_debug.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#if defined(CONFIG_EXAMPLES_FOC_HAVE_ADC) || \
+ defined(CONFIG_EXAMPLES_FOC_HAVE_BUTTON)
+# define FOC_HAVE_INTF
+#endif
+
+/* Button init state */
+
+#if CONFIG_EXAMPLES_FOC_STATE_INIT == 1
+# define STATE_BUTTON_I (0)
+#elif CONFIG_EXAMPLES_FOC_STATE_INIT == 2
+# define STATE_BUTTON_I (2)
+#elif CONFIG_EXAMPLES_FOC_STATE_INIT == 3
+# define STATE_BUTTON_I (1)
+#elif CONFIG_EXAMPLES_FOC_STATE_INIT == 4
+# define STATE_BUTTON_I (3)
+#else
+# error
+#endif
+
+/****************************************************************************
+ * Private Type Definition
+ ****************************************************************************/
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
+/* Button interface data */
+
+struct foc_intf_btn_s
+{
+ int fd;
+};
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
+/* ADC interface data */
+
+struct foc_intf_adc_s
+{
+ int fd;
+ bool adc_trigger;
+};
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
+/* Example state */
+
+static const int g_state_list[5] =
+{
+ FOC_EXAMPLE_STATE_FREE,
+ FOC_EXAMPLE_STATE_CW,
+ FOC_EXAMPLE_STATE_STOP,
+ FOC_EXAMPLE_STATE_CCW,
+ 0
+};
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
+/* Button interface data */
+
+static struct foc_intf_btn_s g_btn_intf;
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
+/* ADC interface data */
+
+static struct foc_intf_adc_s g_adc_intf;
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
+/****************************************************************************
+ * Name: foc_button_init
+ ****************************************************************************/
+
+static int foc_button_init(FAR struct foc_intf_btn_s *intf)
+{
+ int ret = 0;
+
+ DEBUGASSERT(intf);
+
+ /* Open button driver */
+
+ intf->fd = open(CONFIG_EXAMPLES_FOC_BUTTON_DEVPATH,
+ (O_RDONLY | O_NONBLOCK));
+ if (intf->fd < 0)
+ {
+ PRINTF("ERROR: failed to open %s %d\n",
+ CONFIG_EXAMPLES_FOC_BUTTON_DEVPATH, errno);
+ ret = -errno;
+ goto errout;
+ }
+
+errout:
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_button_deinit
+ ****************************************************************************/
+
+static int foc_button_deinit(FAR struct foc_intf_btn_s *intf)
+{
+ DEBUGASSERT(intf);
+
+ if (intf->fd > 0)
+ {
+ close(intf->fd);
+ }
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: foc_button_update
+ ****************************************************************************/
+
+static int foc_button_update(FAR struct foc_intf_btn_s *intf,
+ FAR struct foc_intf_data_s *data)
+{
+ static int state_i = STATE_BUTTON_I;
+ btn_buttonset_t b_sample = 0;
+ int ret = OK;
+
+ DEBUGASSERT(intf);
+ DEBUGASSERT(data);
+
+ /* Get button state */
+
+ ret = read(intf->fd, &b_sample, sizeof(btn_buttonset_t));
+ if (ret < 0)
+ {
+ if (errno != EAGAIN)
+ {
+ PRINTF("ERROR: read button failed %d\n", errno);
+ ret = -errno;
+ goto errout;
+ }
+ else
+ {
+ ret = OK;
+ }
+ }
+
+ /* Next state */
+
+ if (b_sample & (1 << 0))
+ {
+ state_i += 1;
+
+ if (g_state_list[state_i] == 0)
+ {
+ state_i = 0;
+ }
+
+ data->state = g_state_list[state_i];
+ data->state_update = true;
+
+ PRINTF("BUTTON STATE %" PRIu32 "\n", data->state);
+ }
+
+errout:
+ return ret;
+}
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
+/****************************************************************************
+ * Name: foc_adc_init
+ ****************************************************************************/
+
+static int foc_adc_init(FAR struct foc_intf_adc_s *intf)
+{
+ int ret = OK;
+
+ DEBUGASSERT(intf);
+
+ /* Open ADC device */
+
+ intf->fd = open(CONFIG_EXAMPLES_FOC_ADC_DEVPATH, (O_RDONLY | O_NONBLOCK));
+ if (intf->fd <= 0)
+ {
+ PRINTF("ERROR: failed to open %s %d\n",
+ CONFIG_EXAMPLES_FOC_ADC_DEVPATH, errno);
+ ret = -errno;
+ goto errout;
+ }
+
+ /* Initial ADC trigger */
+
+ ret = ioctl(intf->fd, ANIOC_TRIGGER, 0);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: ANIOC_TRIGGER ioctl failed: %d\n", errno);
+ ret = -errno;
+ goto errout;
+ }
+
+ /* Make sure that conversion is done before first read form ADC device */
+
+ usleep(10000);
+
+ /* Read ADC data if the first loop cylce */
+
+ intf->adc_trigger = false;
+
+errout:
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_adc_deinit
+ ****************************************************************************/
+
+static int foc_adc_deinit(FAR struct foc_intf_adc_s *intf)
+{
+ DEBUGASSERT(intf);
+
+ if (intf->fd > 0)
+ {
+ close(intf->fd);
+ }
+
+ return OK;
+}
+
+/****************************************************************************
+ * Name: foc_adc_update
+ ****************************************************************************/
+
+static int foc_adc_update(FAR struct foc_intf_adc_s *intf,
+ FAR struct foc_intf_data_s *data)
+{
+ struct adc_msg_s adc_sample[ADC_SAMPLES];
+ int ret = OK;
+
+ DEBUGASSERT(intf);
+ DEBUGASSERT(data);
+
+ if (intf->adc_trigger == true)
+ {
+ /* Issue the software trigger to start ADC conversion */
+
+ ret = ioctl(intf->fd, ANIOC_TRIGGER, 0);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: ANIOC_TRIGGER ioctl failed: %d\n", errno);
+ ret = -errno;
+ goto errout;
+ }
+
+ /* No ADC trigger next cycle */
+
+ intf->adc_trigger = false;
+ }
+ else
+ {
+ /* Get ADC samples */
+
+ ret = read(intf->fd, adc_sample,
+ (ADC_SAMPLES * sizeof(struct adc_msg_s)));
+ if (ret < 0)
+ {
+ if (errno != EAGAIN)
+ {
+ PRINTF("ERROR: adc read failed %d\n", errno);
+ ret = -errno;
+ goto errout;
+ }
+ else
+ {
+ ret = OK;
+ }
+ }
+ else
+ {
+ /* Verify we have received the configured number of samples */
+
+ if (ret != ADC_SAMPLES * sizeof(struct adc_msg_s))
+ {
+ PRINTF("ERROR: adc read invalid read %d != %d\n", ret,
+ ADC_SAMPLES * sizeof(struct adc_msg_s));
+ ret = -EINVAL;
+ goto errout;
+ }
+
+#ifdef CONFIG_EXAMPLES_FOC_VBUS_ADC
+ /* Get raw VBUS */
+
+ data->vbus_raw = adc_sample[VBUS_ADC_SAMPLE].am_data;
+
+ data->vbus_update = true;
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
+ /* Get raw VEL */
+
+ data->sp_raw = adc_sample[SETPOINT_ADC_SAMPLE].am_data;
+
+ data->sp_update = true;
+#endif
+
+ /* ADC trigger next cycle */
+
+ intf->adc_trigger = true;
+ }
+ }
+
+errout:
+ return ret;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: foc_intf_init
+ ****************************************************************************/
+
+int foc_intf_init(void)
+{
+ int ret = OK;
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
+ /* Initialize ADC interface */
+
+ ret = foc_adc_init(&g_adc_intf);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: failed to initialize adc interface %d\n", ret);
+ goto errout;
+ }
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
+ /* Initialize button interface */
+
+ ret = foc_button_init(&g_btn_intf);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: failed to initialize button interface %d\n", ret);
+ goto errout;
+ }
+#endif
+
+#ifdef FOC_HAVE_INTF
+ errout:
+#endif
+
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_intf_deinit
+ ****************************************************************************/
+
+int foc_intf_deinit(void)
+{
+ int ret = OK;
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
+ /* De-initialize adc interface */
+
+ ret = foc_adc_deinit(&g_adc_intf);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: foc_adc_deinit failed %d\n", ret);
+ goto errout;
+ }
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
+ /* De-initialize button interface */
+
+ ret = foc_button_deinit(&g_btn_intf);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: foc_button_deinit failed %d\n", ret);
+ goto errout;
+ }
+#endif
+
+#ifdef FOC_HAVE_INTF
+ errout:
+#endif
+
+ return ret;
+}
+
+/****************************************************************************
+ * Name: foc_intf_update
+ ****************************************************************************/
+
+int foc_intf_update(FAR struct foc_intf_data_s *data)
+{
+ int ret = OK;
+
+ DEBUGASSERT(data);
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
+ /* Update button */
+
+ ret = foc_button_update(&g_btn_intf, data);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: button update failed %d\n", ret);
+ goto errout;
+ }
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
+ /* Update ADC */
+
+ ret = foc_adc_update(&g_adc_intf, data);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: adc update failed %d\n", ret);
+ goto errout;
+ }
+#endif
+
+#ifdef FOC_HAVE_INTF
+ errout:
+#endif
+
+ return ret;
+}
diff --git a/examples/foc/foc_intf.h b/examples/foc/foc_intf.h
new file mode 100644
index 0000000..fb9e7e0
--- /dev/null
+++ b/examples/foc/foc_intf.h
@@ -0,0 +1,60 @@
+/****************************************************************************
+ * apps/examples/foc/foc_intf.h
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements. See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership. The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License. You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+#ifndef __EXAMPLES_FOC_FOC_INTF_H
+#define __EXAMPLES_FOC_FOC_INTF_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Type Definition
+ ****************************************************************************/
+
+/* FOC control interface data */
+
+struct foc_intf_data_s
+{
+ uint32_t state;
+ uint32_t vbus_raw;
+ int32_t sp_raw;
+ bool vbus_update;
+ bool state_update;
+ bool sp_update;
+ bool terminate;
+ bool started;
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+int foc_intf_init(void);
+int foc_intf_deinit(void);
+int foc_intf_update(FAR struct foc_intf_data_s *data);
+
+#endif /* __EXAMPLES_FOC_FOC_INTF_H */
diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index fd1deec..8dbedd0 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -39,15 +39,7 @@
#include "foc_cfg.h"
#include "foc_debug.h"
#include "foc_parseargs.h"
-
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
-# include <nuttx/input/buttons.h>
-#endif
-
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
-# include <nuttx/analog/adc.h>
-# include <nuttx/analog/ioctl.h>
-#endif
+#include "foc_intf.h"
#include "industry/foc/foc_common.h"
@@ -59,20 +51,6 @@
#define MAIN_LOOP_USLEEP (200000)
-/* Button init state */
-
-#if CONFIG_EXAMPLES_FOC_STATE_INIT == 1
-# define STATE_BUTTON_I (0)
-#elif CONFIG_EXAMPLES_FOC_STATE_INIT == 2
-# define STATE_BUTTON_I (2)
-#elif CONFIG_EXAMPLES_FOC_STATE_INIT == 3
-# define STATE_BUTTON_I (1)
-#elif CONFIG_EXAMPLES_FOC_STATE_INIT == 4
-# define STATE_BUTTON_I (3)
-#else
-# error
-#endif
-
/* Enabled instnaces default state */
#define INST_EN_DEAFULT (0xff)
@@ -105,36 +83,36 @@ static void init_args(FAR struct args_s *args)
/* Setpoint configuration */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
-#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
+#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
args->torqmax =
(args->torqmax == 0 ?
- CONFIG_EXAMPLES_FOC_SETPOINT_ADC_MAX : args->torqmax);
+ CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE : args->torqmax);
#else
args->torqmax =
(args->torqmax == 0 ?
- CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE : args->torqmax);
+ CONFIG_EXAMPLES_FOC_SETPOINT_MAX : args->torqmax);
#endif
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
-#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
+#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
args->velmax =
(args->velmax == 0 ?
- CONFIG_EXAMPLES_FOC_SETPOINT_ADC_MAX : args->velmax);
+ CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE : args->velmax);
#else
args->velmax =
(args->velmax == 0 ?
- CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE : args->velmax);
+ CONFIG_EXAMPLES_FOC_SETPOINT_MAX : args->velmax);
#endif
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
-#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
+#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
args->posmax =
(args->posmax == 0 ?
- CONFIG_EXAMPLES_FOC_SETPOINT_ADC_MAX : args->posmax);
+ CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE : args->posmax);
#else
args->posmax =
(args->posmax == 0 ?
- CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE : args->posmax);
+ CONFIG_EXAMPLES_FOC_SETPOINT_MAX : args->posmax);
#endif
#endif
@@ -309,24 +287,7 @@ int main(int argc, char *argv[])
pthread_t threads[CONFIG_MOTOR_FOC_INST];
mqd_t mqd[CONFIG_MOTOR_FOC_INST];
struct args_s args;
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
- int adc_fd = 0;
- bool adc_trigger = false;
- struct adc_msg_s adc_sample[ADC_SAMPLES];
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
- btn_buttonset_t b_sample = 0;
- int b_fd = 0;
- int state_i = 0;
-#endif
- uint32_t state = 0;
- uint32_t vbus_raw = 0;
- int32_t sp_raw = 0;
- bool vbus_update = false;
- bool state_update = false;
- bool sp_update = false;
- bool terminate = false;
- bool started = false;
+ struct foc_intf_data_s data;
int ret = OK;
int i = 0;
int time = 0;
@@ -337,6 +298,7 @@ int main(int argc, char *argv[])
memset(mqd, 0, sizeof(mqd_t) * CONFIG_MOTOR_FOC_INST);
memset(foc, 0, sizeof(struct foc_ctrl_env_s) * CONFIG_MOTOR_FOC_INST);
memset(threads, 0, sizeof(pthread_t) * CONFIG_MOTOR_FOC_INST);
+ memset(&data, 0, sizeof(struct foc_intf_data_s));
/* Initialize args before parse */
@@ -384,31 +346,14 @@ int main(int argc, char *argv[])
goto errout_no_mutex;
}
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
- /* Open ADC */
-
- adc_fd = open(CONFIG_EXAMPLES_FOC_ADC_DEVPATH, (O_RDONLY | O_NONBLOCK));
- if (adc_fd <= 0)
- {
- PRINTF("ERROR: failed to open %s %d\n",
- CONFIG_EXAMPLES_FOC_ADC_DEVPATH, errno);
-
- ret = -errno;
- goto errout;
- }
-#endif
-
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
- /* Open button driver */
+ /* Initialize control interface */
- b_fd = open(CONFIG_EXAMPLES_FOC_BUTTON_DEVPATH, (O_RDONLY | O_NONBLOCK));
- if (b_fd < 0)
+ ret = foc_intf_init();
+ if (ret < 0)
{
- PRINTF("ERROR: failed to open %s %d\n",
- CONFIG_EXAMPLES_FOC_BUTTON_DEVPATH, errno);
+ PRINTF("ERROR: failed to initialize control interface %d\n", ret);
goto errout;
}
-#endif
/* Initialzie FOC controllers */
@@ -450,147 +395,40 @@ int main(int argc, char *argv[])
usleep(10000);
- /* Initial update for VBUS and VEL */
+ /* Initial update for VBUS and SETPOINT */
#ifndef CONFIG_EXAMPLES_FOC_VBUS_ADC
- vbus_update = true;
- vbus_raw = VBUS_CONST_VALUE;
+ data.vbus_update = true;
+ data.vbus_raw = VBUS_CONST_VALUE;
#endif
#ifndef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
- sp_update = true;
- sp_raw = 1;
-#endif
- state_update = true;
-
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
- /* Initial ADC trigger */
-
- ret = ioctl(adc_fd, ANIOC_TRIGGER, 0);
- if (ret < 0)
- {
- PRINTF("ERROR: ANIOC_TRIGGER ioctl failed: %d\n", errno);
- goto errout;
- }
-
- /* Make sure that conversion is done before first read form ADC device */
-
- usleep(10000);
-
- /* Read ADC data if the first loop cylce */
-
- adc_trigger = false;
+ data.sp_update = true;
+ data.sp_raw = 1;
#endif
+ data.state_update = true;
/* Controller state */
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
- state_i = STATE_BUTTON_I;
-#endif
- state = args.state;
+ data.state = args.state;
/* Auxliary control loop */
- while (terminate != true)
+ while (data.terminate != true)
{
PRINTFV("foc_main loop %d\n", time);
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
- /* Get button state */
+ /* Update control interface */
- ret = read(b_fd, &b_sample, sizeof(btn_buttonset_t));
+ ret = foc_intf_update(&data);
if (ret < 0)
{
- if (errno != EAGAIN)
- {
- PRINTF("ERROR: read button failed %d\n", errno);
- }
+ PRINTF("ERROR: foc_intf_update failed: %d\n", ret);
+ goto errout;
}
- /* Next state */
-
- if (b_sample & (1 << 0))
- {
- state_i += 1;
-
- if (g_state_list[state_i] == 0)
- {
- state_i = 0;
- }
-
- state = g_state_list[state_i];
- state_update = true;
-
- PRINTF("BUTTON STATE %" PRIu32 "\n", state);
- }
-#endif
-
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
- if (adc_trigger == true)
- {
- /* Issue the software trigger to start ADC conversion */
-
- ret = ioctl(adc_fd, ANIOC_TRIGGER, 0);
- if (ret < 0)
- {
- PRINTF("ERROR: ANIOC_TRIGGER ioctl failed: %d\n", errno);
- goto errout;
- }
-
- /* No ADC trigger next cycle */
-
- adc_trigger = false;
- }
- else
- {
- /* Get ADC samples */
-
- ret = read(adc_fd, adc_sample,
- (ADC_SAMPLES * sizeof(struct adc_msg_s)));
- if (ret < 0)
- {
- if (errno != EAGAIN)
- {
- PRINTF("ERROR: adc read failed %d\n", errno);
- }
- }
- else
- {
- /* Verify we have received the configured number of samples */
-
- if (ret != ADC_SAMPLES * sizeof(struct adc_msg_s))
- {
- PRINTF("ERROR: adc read invalid read %d != %d\n",
- ret, ADC_SAMPLES * sizeof(struct adc_msg_s));
- ret = -EINVAL;
- goto errout;
- }
-
-# ifdef CONFIG_EXAMPLES_FOC_VBUS_ADC
- /* Get raw VBUS */
-
- vbus_raw = adc_sample[VBUS_ADC_SAMPLE].am_data;
-
- vbus_update = true;
-# endif
-
-# ifdef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
- /* Get raw VEL */
-
- sp_raw = adc_sample[SETPOINT_ADC_SAMPLE].am_data;
-
- sp_update = true;
-# endif
-
- /* ADC trigger next cycle */
-
- adc_trigger = true;
- }
- }
-#endif
-
/* 1. Update VBUS */
- if (vbus_update == true)
+ if (data.vbus_update == true)
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
@@ -600,7 +438,7 @@ int main(int argc, char *argv[])
/* Send VBUS to thread */
- ret = foc_vbus_send(mqd[i], vbus_raw);
+ ret = foc_vbus_send(mqd[i], data.vbus_raw);
if (ret < 0)
{
PRINTF("ERROR: foc_vbus_send failed %d\n", ret);
@@ -611,22 +449,22 @@ int main(int argc, char *argv[])
/* Reset flag */
- vbus_update = false;
+ data.vbus_update = false;
}
/* 2. Update motor state */
- if (state_update == true)
+ if (data.state_update == true)
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
if (args.en & (1 << i))
{
- PRINTFV("Send state %" PRIu32 " to %d\n", state, i);
+ PRINTFV("Send state %" PRIu32 " to %d\n", data.state, i);
/* Send STATE to thread */
- ret = foc_state_send(mqd[i], state);
+ ret = foc_state_send(mqd[i], data.state);
if (ret < 0)
{
PRINTF("ERROR: foc_state_send failed %d\n", ret);
@@ -637,22 +475,23 @@ int main(int argc, char *argv[])
/* Reset flag */
- state_update = false;
+ data.state_update = false;
}
/* 3. Update motor velocity */
- if (sp_update == true)
+ if (data.sp_update == true)
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
if (args.en & (1 << i))
{
- PRINTFV("Send setpoint = %" PRIu32 "to %d\n", sp_raw, i);
+ PRINTFV("Send setpoint = %" PRIu32 "to %d\n",
+ data.sp_raw, i);
/* Send setpoint to threads */
- ret = foc_setpoint_send(mqd[i], sp_raw);
+ ret = foc_setpoint_send(mqd[i], data.sp_raw);
if (ret < 0)
{
PRINTF("ERROR: foc_setpoint_send failed %d\n", ret);
@@ -663,12 +502,12 @@ int main(int argc, char *argv[])
/* Reset flag */
- sp_update = false;
+ data.sp_update = false;
}
/* 4. One time start */
- if (started == false)
+ if (data.started == false)
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
@@ -689,7 +528,7 @@ int main(int argc, char *argv[])
/* Set flag */
- started = true;
+ data.started = true;
}
/* Handle run time */
@@ -702,7 +541,7 @@ int main(int argc, char *argv[])
{
/* Exit loop */
- terminate = true;
+ data.terminate = true;
}
}
@@ -710,7 +549,7 @@ int main(int argc, char *argv[])
if (foc_threads_terminated() == true)
{
- terminate = true;
+ data.terminate = true;
}
usleep(MAIN_LOOP_USLEEP);
@@ -737,11 +576,14 @@ errout:
}
}
- /* Wait some time */
+ /* Wait for threads termination */
- usleep(100000);
+ while (foc_threads_terminated() == false)
+ {
+ usleep(100000);
+ }
- /* De-initialize all FOC control threads */
+ /* De-initialize all mq */
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
@@ -756,6 +598,15 @@ errout:
}
}
+ /* De-initialize control interface */
+
+ ret = foc_intf_deinit();
+ if (ret < 0)
+ {
+ PRINTF("ERROR: foc_inf_deinit failed %d\n", ret);
+ goto errout;
+ }
+
errout_no_mutex:
foc_threads_deinit();