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Posted to commits@nuttx.apache.org by xi...@apache.org on 2021/10/31 17:13:55 UTC
[incubator-nuttx-apps] 03/05: examples/foc: move FOC device data to
foc_device_s
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 e0ef3cecb9bd64558e603a83dd47718d51b662b5
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sun Oct 31 10:54:22 2021 +0100
examples/foc: move FOC device data to foc_device_s
---
examples/foc/foc_device.c | 17 +++++++++++++++
examples/foc/foc_device.h | 7 ++++++-
examples/foc/foc_fixed16_thr.c | 45 +++++++++++-----------------------------
examples/foc/foc_float_thr.c | 47 ++++++++++++------------------------------
4 files changed, 48 insertions(+), 68 deletions(-)
diff --git a/examples/foc/foc_device.c b/examples/foc/foc_device.c
index 605ec67..3e3570d 100644
--- a/examples/foc/foc_device.c
+++ b/examples/foc/foc_device.c
@@ -60,6 +60,15 @@ int foc_device_open(FAR struct foc_device_s *dev, int id)
goto errout;
}
+ /* Get device info */
+
+ ret = foc_dev_getinfo(dev->fd, &dev->info);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: foc_dev_getinfo failed %d!\n", ret);
+ goto errout;
+ }
+
errout:
return ret;
}
@@ -74,6 +83,14 @@ int foc_device_close(FAR struct foc_device_s *dev)
DEBUGASSERT(dev);
+ /* Stop FOC device */
+
+ ret = foc_dev_stop(dev->fd);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: foc_dev_stop %d!\n", ret);
+ }
+
if (dev->fd > 0)
{
close(dev->fd);
diff --git a/examples/foc/foc_device.h b/examples/foc/foc_device.h
index be5be92..fc4d42b 100644
--- a/examples/foc/foc_device.h
+++ b/examples/foc/foc_device.h
@@ -27,6 +27,8 @@
#include <nuttx/config.h>
+#include "industry/foc/foc_utils.h"
+
/****************************************************************************
* Public Type Definition
****************************************************************************/
@@ -35,7 +37,10 @@
struct foc_device_s
{
- int fd; /* FOC device */
+ int fd; /* FOC device */
+ struct foc_info_s info; /* FOC dev info */
+ struct foc_state_s state; /* FOC dev state */
+ struct foc_params_s params; /* FOC dev params */
};
/****************************************************************************
diff --git a/examples/foc/foc_fixed16_thr.c b/examples/foc/foc_fixed16_thr.c
index 44fb1e6..7009464 100644
--- a/examples/foc/foc_fixed16_thr.c
+++ b/examples/foc/foc_fixed16_thr.c
@@ -84,10 +84,7 @@ struct foc_motor_b16_s
dq_frame_b16_t vdq_comp; /* DQ voltage compensation */
foc_handler_b16_t handler; /* FOC controller */
struct foc_mq_s mq; /* MQ data */
- struct foc_info_s info; /* Device info */
struct foc_state_b16_s foc_state; /* FOC controller sate */
- struct foc_state_s dev_state; /* FOC dev state */
- struct foc_params_s dev_params; /* FOC dev params */
struct foc_ramp_b16_s ramp; /* Velocity ramp data */
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
struct foc_model_b16_s model; /* Model handler */
@@ -139,7 +136,6 @@ static int foc_motor_init(FAR struct foc_motor_b16_s *motor,
foc_angle_cfg_b16(&motor->openloop, &ol_cfg);
#endif
-errout:
return ret;
}
@@ -243,7 +239,7 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s *motor)
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
/* Get SVM3 modulation configuration */
- mod_cfg.pwm_duty_max = FOCDUTY_TO_FIXED16(motor->info.hw_cfg.pwm_max);
+ mod_cfg.pwm_duty_max = FOCDUTY_TO_FIXED16(motor->dev.info.hw_cfg.pwm_max);
#endif
/* Configure FOC handler */
@@ -610,7 +606,7 @@ static int foc_handler_run(FAR struct foc_motor_b16_s *motor)
for (i = 0; i < CONFIG_MOTOR_FOC_PHASES; i += 1)
{
- current[i] = b16muli(motor->iphase_adc, motor->dev_state.curr[i]);
+ current[i] = b16muli(motor->iphase_adc, motor->dev.state.curr[i]);
}
/* Get input for FOC handler */
@@ -630,7 +626,7 @@ static int foc_handler_run(FAR struct foc_motor_b16_s *motor)
for (i = 0; i < CONFIG_MOTOR_FOC_PHASES; i += 1)
{
- motor->dev_params.duty[i] = FOCDUTY_FROM_FIXED16(output.duty[i]);
+ motor->dev.params.duty[i] = FOCDUTY_FROM_FIXED16(output.duty[i]);
}
/* Get FOC handler state */
@@ -655,7 +651,7 @@ static int foc_dev_state_get(FAR struct foc_motor_b16_s *motor)
/* Get FOC state - blocking */
- ret = foc_dev_getstate(motor->dev.fd, &motor->dev_state);
+ ret = foc_dev_getstate(motor->dev.fd, &motor->dev.state);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_getstate failed %d!\n", ret);
@@ -671,7 +667,7 @@ static int foc_dev_state_get(FAR struct foc_motor_b16_s *motor)
for (i = 0; i < CONFIG_MOTOR_FOC_PHASES; i += 1)
{
- motor->dev_state.curr[i] = motor->model_state.curr_raw[i];
+ motor->dev.state.curr[i] = motor->model_state.curr_raw[i];
}
#endif
@@ -691,7 +687,7 @@ static int foc_dev_params_set(FAR struct foc_motor_b16_s *motor)
/* Write FOC parameters */
- ret = foc_dev_setparams(motor->dev.fd, &motor->dev_params);
+ ret = foc_dev_setparams(motor->dev.fd, &motor->dev.params);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_setparams failed %d!\n", ret);
@@ -703,16 +699,16 @@ errout:
}
/****************************************************************************
- * Name: foc_state_handle
+ * Name: foc_dev_state_handle
****************************************************************************/
-static int foc_state_handle(FAR struct foc_motor_b16_s *motor)
+static int foc_dev_state_handle(FAR struct foc_motor_b16_s *motor)
{
DEBUGASSERT(motor);
- if (motor->dev_state.fault > 0)
+ if (motor->dev.state.fault > 0)
{
- PRINTF("FAULT = %d\n", motor->dev_state.fault);
+ PRINTF("FAULT = %d\n", motor->dev.state.fault);
motor->fault = true;
}
else
@@ -872,15 +868,6 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
goto errout;
}
- /* Get device info */
-
- ret = foc_dev_getinfo(motor.dev.fd, &motor.info);
- if (ret < 0)
- {
- PRINTF("ERROR: foc_dev_getinfo failed %d!\n", ret);
- goto errout;
- }
-
/* Initialize controller mode */
ret = foc_mode_init(&motor);
@@ -937,14 +924,14 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
/* Handle controller state */
- ret = foc_state_handle(&motor);
+ ret = foc_dev_state_handle(&motor);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_state_handle failed %d!\n", ret);
goto errout;
}
- if (motor.dev_state.fault > 0)
+ if (motor.dev.state.fault > 0)
{
/* Clear fault state */
@@ -1031,14 +1018,6 @@ errout:
PRINTF("Stop FOC device %d!\n", envp->id);
- /* Stop FOC device */
-
- ret = foc_dev_stop(motor.dev.fd);
- if (ret < 0)
- {
- PRINTF("ERROR: foc_dev_stop %d!\n", ret);
- }
-
/* Close FOC control device */
ret = foc_device_close(&motor.dev);
diff --git a/examples/foc/foc_float_thr.c b/examples/foc/foc_float_thr.c
index 1386ae8..5f47652 100644
--- a/examples/foc/foc_float_thr.c
+++ b/examples/foc/foc_float_thr.c
@@ -84,10 +84,7 @@ struct foc_motor_f32_s
dq_frame_f32_t vdq_comp; /* DQ voltage compensation */
foc_handler_f32_t handler; /* FOC controller */
struct foc_mq_s mq; /* MQ data */
- struct foc_info_s info; /* Device info */
struct foc_state_f32_s foc_state; /* FOC controller sate */
- struct foc_state_s dev_state; /* FOC dev state */
- struct foc_params_s dev_params; /* FOC dev params */
struct foc_ramp_f32_s ramp; /* Velocity ramp data */
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
struct foc_model_f32_s model; /* Model handler */
@@ -139,7 +136,6 @@ static int foc_motor_init(FAR struct foc_motor_f32_s *motor,
foc_angle_cfg_f32(&motor->openloop, &ol_cfg);
#endif
-errout:
return ret;
}
@@ -243,7 +239,7 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s *motor)
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
/* Get SVM3 modulation configuration */
- mod_cfg.pwm_duty_max = FOCDUTY_TO_FLOAT(motor->info.hw_cfg.pwm_max);
+ mod_cfg.pwm_duty_max = FOCDUTY_TO_FLOAT(motor->dev.info.hw_cfg.pwm_max);
#endif
/* Configure FOC handler */
@@ -610,7 +606,7 @@ static int foc_handler_run(FAR struct foc_motor_f32_s *motor)
for (i = 0; i < CONFIG_MOTOR_FOC_PHASES; i += 1)
{
- current[i] = (motor->iphase_adc * motor->dev_state.curr[i]);
+ current[i] = (motor->iphase_adc * motor->dev.state.curr[i]);
}
/* Get input for FOC handler */
@@ -630,7 +626,7 @@ static int foc_handler_run(FAR struct foc_motor_f32_s *motor)
for (i = 0; i < CONFIG_MOTOR_FOC_PHASES; i += 1)
{
- motor->dev_params.duty[i] = FOCDUTY_FROM_FLOAT(output.duty[i]);
+ motor->dev.params.duty[i] = FOCDUTY_FROM_FLOAT(output.duty[i]);
}
/* Get FOC handler state */
@@ -655,7 +651,7 @@ static int foc_dev_state_get(FAR struct foc_motor_f32_s *motor)
/* Get FOC state - blocking */
- ret = foc_dev_getstate(motor->dev.fd, &motor->dev_state);
+ ret = foc_dev_getstate(motor->dev.fd, &motor->dev.state);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_getstate failed %d!\n", ret);
@@ -671,7 +667,7 @@ static int foc_dev_state_get(FAR struct foc_motor_f32_s *motor)
for (i = 0; i < CONFIG_MOTOR_FOC_PHASES; i += 1)
{
- motor->dev_state.curr[i] = motor->model_state.curr_raw[i];
+ motor->dev.state.curr[i] = motor->model_state.curr_raw[i];
}
#endif
@@ -691,7 +687,7 @@ static int foc_dev_params_set(FAR struct foc_motor_f32_s *motor)
/* Write FOC parameters */
- ret = foc_dev_setparams(motor->dev.fd, &motor->dev_params);
+ ret = foc_dev_setparams(motor->dev.fd, &motor->dev.params);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_setparams failed %d!\n", ret);
@@ -703,16 +699,16 @@ errout:
}
/****************************************************************************
- * Name: foc_state_handle
+ * Name: foc_dev_state_handle
****************************************************************************/
-static int foc_state_handle(FAR struct foc_motor_f32_s *motor)
+static int foc_dev_state_handle(FAR struct foc_motor_f32_s *motor)
{
DEBUGASSERT(motor);
- if (motor->dev_state.fault > 0)
+ if (motor->dev.state.fault > 0)
{
- PRINTF("FAULT = %d\n", motor->dev_state.fault);
+ PRINTF("FAULT = %d\n", motor->dev.state.fault);
motor->fault = true;
}
else
@@ -875,15 +871,6 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
goto errout;
}
- /* Get device info */
-
- ret = foc_dev_getinfo(motor.dev.fd, &motor.info);
- if (ret < 0)
- {
- PRINTF("ERROR: foc_dev_getinfo failed %d!\n", ret);
- goto errout;
- }
-
/* Initialize controller mode */
ret = foc_mode_init(&motor);
@@ -940,14 +927,14 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
/* Handle controller state */
- ret = foc_state_handle(&motor);
+ ret = foc_dev_state_handle(&motor);
if (ret < 0)
{
- PRINTF("ERROR: foc_state_handle failed %d!\n", ret);
+ PRINTF("ERROR: foc_dev_state_handle failed %d!\n", ret);
goto errout;
}
- if (motor.dev_state.fault > 0)
+ if (motor.dev.state.fault > 0)
{
/* Clear fault state */
@@ -1033,14 +1020,6 @@ errout:
PRINTF("Stop FOC device %d!\n", envp->id);
- /* Stop FOC device */
-
- ret = foc_dev_stop(motor.dev.fd);
- if (ret < 0)
- {
- PRINTFV("ERROR: foc_dev_stop failed %d!\n", ret);
- }
-
/* Close FOC control device */
ret = foc_device_close(&motor.dev);