[GitHub] [incubator-nuttx-apps] raiden00pl commented on a change in pull request #1001: industry/foc: add support for angle from sensorless observer

[GitBox <gi...@apache.org>]

raiden00pl commented on a change in pull request #1001:
URL: https://github.com/apache/incubator-nuttx-apps/pull/1001#discussion_r809766523



##########
File path: include/industry/foc/float/foc_angle.h
##########
@@ -136,6 +150,12 @@ struct foc_hall_cfg_f32_s
 extern struct foc_angle_ops_f32_s g_foc_angle_ol_f32;
 #endif
 
+#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OBSERVER
+/* oberver angle operations (float) */
+
+extern struct foc_angle_ops_f32_s g_foc_angle_ob_f32;
+#endif
+

Review comment:
       ```suggestion
   #ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
   /* NFO oberver angle operations (float) */
   
   extern struct foc_angle_ops_f32_s g_foc_angle_onfo_f32;
   #endif
   
   #ifdef CONFIG_INDUSTRY_FOC_ANGLE_OSMO
   /* SMO oberver angle operations (float) */
   
   extern struct foc_angle_ops_f32_s g_foc_angle_osmo_f32;
   #endif
   ```

##########
File path: industry/foc/Makefile
##########
@@ -36,6 +36,9 @@ CSRCS += float/foc_routine.c
 ifeq ($(CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP),y)
 CSRCS += float/foc_ang_openloop.c
 endif
+ifeq ($(CONFIG_INDUSTRY_FOC_ANGLE_OBSERVER),y)
+CSRCS += float/foc_ang_observer.c
+endif

Review comment:
       
   ```suggestion
   ifeq ($(CONFIG_INDUSTRY_FOC_ANGLE_ONFO),y)
   CSRCS += float/foc_ang_onfo.c
   endif
   ifeq ($(CONFIG_INDUSTRY_FOC_ANGLE_OSMO),y)
   CSRCS += float/foc_ang_osmo.c
   endif
   ```

##########
File path: industry/foc/Kconfig
##########
@@ -58,6 +58,27 @@ config INDUSTRY_FOC_ANGLE_OPENLOOP
 	---help---
 		Enable support for open-loop angle handler
 
+config INDUSTRY_FOC_ANGLE_OBSERVER
+	bool "FOC angle observer handler"
+	default n
+	---help---
+		Enable support for observer angle handler
+
+if INDUSTRY_FOC_ANGLE_OBSERVER
+
+choice
+	prompt "FOC observer type selection"
+
+config INDUSTRY_FOC_OBSERVER_SLID
+	bool "Enable slidmode observer"
+
+config INDUSTRY_FOC_OBSERVER_FLUX
+	bool "Enable fluxlink observer"
+
+endchoice # FOC observer type selection
+
+endif # INDUSTRY_FOC_ANGLE_OBSERVER
+

Review comment:
       Let's make this like for vel observers:
   ```suggestion
   config INDUSTRY_FOC_ANGLE_OSMO
   	bool "Enable slidmode observer"
   	default n
   
   config INDUSTRY_FOC_ANGLE_ONFO
   	bool "Enable fluxlink observer"
           default n
   ```

##########
File path: include/industry/foc/float/foc_angle.h
##########
@@ -106,6 +106,20 @@ struct foc_openloop_cfg_f32_s
 };
 #endif  /* CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP */
 
+#ifdef CONFIG_INDUSTRY_FOC_ANGLE_OBSERVER
+struct foc_observer_cfg_f32_s
+{
+  float per;            /* Controller period */
+  float k_slide;        /* Bang-bang controller gain */
+  float err_max;        /* Linear mode threshold */
+
+  float gain;
+  float gain_slow;
+
+  struct motor_phy_params_f32_s phy;
+};
+#endif
+

Review comment:
       ```suggestion
   #ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
   struct foc_angle_onfo_cfg_f32_s
   {
     float per;            /* Controller period */
     float gain;
     float gain_slow;
     struct motor_phy_params_f32_s phy;
   };
   #endif
   
   #ifdef CONFIG_INDUSTRY_FOC_ANGLE_OSMO
   struct foc_angle_osmo_cfg_f32_s
   {
     float per;            /* Controller period */
     float k_slide;        /* Bang-bang controller gain */
     float err_max;        /* Linear mode threshold */
     struct motor_phy_params_f32_s phy;
   };
   #endif
   ```




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