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Posted to commits@nuttx.apache.org by xi...@apache.org on 2022/11/03 18:07:21 UTC
[incubator-nuttx-apps] branch master updated (6e3c4aab7 -> 13bfad105)
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 6e3c4aab7 alarm: using timegm instead of mktime beacuse rtc is gmt time
new c2efa8096 examples/foc: refactor args
new b1f91528e examples/foc: separate control thread configuration from general args
new 2c5dc1e4a examples/foc: simplify control thread configuration
new 2bbfb1b39 examples/foc: move validate_args to parseargs file
new 682cac07d examples/foc/Kconfig: update EXAMPLES_FOC_MMODE range
new 13bfad105 examples/foc: control motor identification parameters from cmd line
The 6 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 | 4 +-
examples/foc/foc_cfg.h | 36 +++++++
examples/foc/foc_main.c | 224 ++++++++++---------------------------------
examples/foc/foc_motor_b16.c | 47 ++++-----
examples/foc/foc_motor_f32.c | 47 ++++-----
examples/foc/foc_parseargs.c | 170 ++++++++++++++++++++++++++++++--
examples/foc/foc_parseargs.h | 34 +++----
examples/foc/foc_thr.h | 29 +-----
8 files changed, 317 insertions(+), 274 deletions(-)
[incubator-nuttx-apps] 02/06: examples/foc: separate control thread configuration from general args
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 b1f91528ecb3d02cdbeeaa430570fca8786c31b2
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sat Oct 22 18:06:06 2022 +0200
examples/foc: separate control thread configuration from general args
---
examples/foc/foc_cfg.h | 28 ++++++++++++++++++
examples/foc/foc_main.c | 67 +++++++++++++++++++++++---------------------
examples/foc/foc_parseargs.c | 16 +++++------
examples/foc/foc_parseargs.h | 28 ++++--------------
4 files changed, 76 insertions(+), 63 deletions(-)
diff --git a/examples/foc/foc_cfg.h b/examples/foc/foc_cfg.h
index 4874aed58..d80ff25b9 100644
--- a/examples/foc/foc_cfg.h
+++ b/examples/foc/foc_cfg.h
@@ -210,4 +210,32 @@
# endif
#endif
+/****************************************************************************
+ * Public Type Definition
+ ****************************************************************************/
+
+struct foc_thr_cfg_s
+{
+ int fmode; /* FOC control mode */
+ int mmode; /* Motor control mode */
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
+ int qparam; /* Open-loop Q setting (x1000) */
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
+ uint32_t foc_pi_kp; /* FOC PI Kp (x1000) */
+ uint32_t foc_pi_ki; /* FOC PI Ki (x1000) */
+#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
+ uint32_t torqmax; /* Torque max (x1000) */
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
+ uint32_t velmax; /* Velocity max (x1000) */
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
+ uint32_t posmax; /* Position max (x1000) */
+#endif
+};
+
#endif /* __APPS_EXAMPLES_FOC_FOC_CFG_H */
diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index d9965ec51..7ab3eb3b3 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -62,40 +62,43 @@
struct args_s g_args =
{
.time = CONFIG_EXAMPLES_FOC_TIME_DEFAULT,
- .fmode = CONFIG_EXAMPLES_FOC_FMODE,
- .mmode = CONFIG_EXAMPLES_FOC_MMODE,
+ .state = CONFIG_EXAMPLES_FOC_STATE_INIT,
+ .en = INST_EN_DEFAULT,
+ .cfg =
+ {
+ .fmode = CONFIG_EXAMPLES_FOC_FMODE,
+ .mmode = CONFIG_EXAMPLES_FOC_MMODE,
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
- .qparam = CONFIG_EXAMPLES_FOC_OPENLOOP_Q,
+ .qparam = CONFIG_EXAMPLES_FOC_OPENLOOP_Q,
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
- .foc_pi_kp = CONFIG_EXAMPLES_FOC_IDQ_KP,
- .foc_pi_ki = CONFIG_EXAMPLES_FOC_IDQ_KI,
+ .foc_pi_kp = CONFIG_EXAMPLES_FOC_IDQ_KP,
+ .foc_pi_ki = CONFIG_EXAMPLES_FOC_IDQ_KI,
#endif
- .state = CONFIG_EXAMPLES_FOC_STATE_INIT,
- .en = INST_EN_DEFAULT,
#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
# ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
- .torqmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
+ .torqmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
# endif
# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
- .velmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
+ .velmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
# endif
# ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
- .posmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
+ .posmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
# endif
#else
# ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
- .torqmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
+ .torqmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
# endif
# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
- .velmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
+ .velmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
# endif
# ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
- .posmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
+ .posmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
# endif
#endif
+ }
};
/****************************************************************************
@@ -113,7 +116,7 @@ static int validate_args(FAR struct args_s *args)
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
/* Current PI controller */
- if (args->foc_pi_kp == 0 && args->foc_pi_ki == 0)
+ if (args->cfg.foc_pi_kp == 0 && args->cfg.foc_pi_ki == 0)
{
PRINTF("ERROR: missing FOC Kp/Ki configuration\n");
goto errout;
@@ -122,11 +125,11 @@ static int validate_args(FAR struct args_s *args)
/* FOC operation mode */
- if (args->fmode != FOC_FMODE_IDLE &&
- args->fmode != FOC_FMODE_VOLTAGE &&
- args->fmode != FOC_FMODE_CURRENT)
+ if (args->cfg.fmode != FOC_FMODE_IDLE &&
+ args->cfg.fmode != FOC_FMODE_VOLTAGE &&
+ args->cfg.fmode != FOC_FMODE_CURRENT)
{
- PRINTF("Invalid op mode value %d s\n", args->fmode);
+ PRINTF("Invalid op mode value %d s\n", args->cfg.fmode);
goto errout;
}
@@ -134,23 +137,23 @@ static int validate_args(FAR struct args_s *args)
if (
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
- args->mmode != FOC_MMODE_TORQ &&
+ args->cfg.mmode != FOC_MMODE_TORQ &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
- args->mmode != FOC_MMODE_VEL &&
+ args->cfg.mmode != FOC_MMODE_VEL &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
- args->mmode != FOC_MMODE_POS &&
+ args->cfg.mmode != FOC_MMODE_POS &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
- args->mmode != FOC_MMODE_ALIGN_ONLY &&
+ args->cfg.mmode != FOC_MMODE_ALIGN_ONLY &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
- args->mmode != FOC_MMODE_IDENT_ONLY &&
+ args->cfg.mmode != FOC_MMODE_IDENT_ONLY &&
#endif
1)
{
- PRINTF("Invalid ctrl mode value %d s\n", args->mmode);
+ PRINTF("Invalid ctrl mode value %d s\n", args->cfg.mmode);
goto errout;
}
@@ -341,22 +344,22 @@ int main(int argc, char *argv[])
/* Get configuration */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
- foc[i].qparam = g_args.qparam;
+ foc[i].qparam = g_args.cfg.qparam;
#endif
- foc[i].fmode = g_args.fmode;
- foc[i].mmode = g_args.mmode;
+ foc[i].fmode = g_args.cfg.fmode;
+ foc[i].mmode = g_args.cfg.mmode;
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
- foc[i].foc_pi_kp = g_args.foc_pi_kp;
- foc[i].foc_pi_ki = g_args.foc_pi_ki;
+ foc[i].foc_pi_kp = g_args.cfg.foc_pi_kp;
+ foc[i].foc_pi_ki = g_args.cfg.foc_pi_ki;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
- foc[i].torqmax = g_args.torqmax;
+ foc[i].torqmax = g_args.cfg.torqmax;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
- foc[i].velmax = g_args.velmax;
+ foc[i].velmax = g_args.cfg.velmax;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
- foc[i].posmax = g_args.posmax;
+ foc[i].posmax = g_args.cfg.posmax;
#endif
if (g_args.en & (1 << i))
diff --git a/examples/foc/foc_parseargs.c b/examples/foc/foc_parseargs.c
index 338c8eb90..9859e49a8 100644
--- a/examples/foc/foc_parseargs.c
+++ b/examples/foc/foc_parseargs.c
@@ -156,13 +156,13 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
case OPT_FKP:
{
- args->foc_pi_kp = atoi(optarg);
+ args->cfg.foc_pi_kp = atoi(optarg);
break;
}
case OPT_FKI:
{
- args->foc_pi_ki = atoi(optarg);
+ args->cfg.foc_pi_ki = atoi(optarg);
break;
}
#endif
@@ -181,20 +181,20 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
case 'f':
{
- args->fmode = atoi(optarg);
+ args->cfg.fmode = atoi(optarg);
break;
}
case 'm':
{
- args->mmode = atoi(optarg);
+ args->cfg.mmode = atoi(optarg);
break;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
case 'r':
{
- args->torqmax = atoi(optarg);
+ args->cfg.torqmax = atoi(optarg);
break;
}
#endif
@@ -202,7 +202,7 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
case 'v':
{
- args->velmax = atoi(optarg);
+ args->cfg.velmax = atoi(optarg);
break;
}
#endif
@@ -210,7 +210,7 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
case 'x':
{
- args->posmax = atoi(optarg);
+ args->cfg.posmax = atoi(optarg);
break;
}
#endif
@@ -230,7 +230,7 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
case 'o':
{
- args->qparam = atoi(optarg);
+ args->cfg.qparam = atoi(optarg);
break;
}
#endif
diff --git a/examples/foc/foc_parseargs.h b/examples/foc/foc_parseargs.h
index ad3759f9c..43b137d4f 100644
--- a/examples/foc/foc_parseargs.h
+++ b/examples/foc/foc_parseargs.h
@@ -28,6 +28,7 @@
#include <nuttx/config.h>
#include "foc_device.h"
+#include "foc_cfg.h"
/****************************************************************************
* Pre-processor Definitions
@@ -41,29 +42,10 @@
struct args_s
{
- int time; /* Run time limit in sec, -1 if forever */
- int fmode; /* FOC control mode */
- int mmode; /* Motor control mode */
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
- int qparam; /* Open-loop Q setting (x1000) */
-#endif
-
-#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
- uint32_t foc_pi_kp; /* FOC PI Kp (x1000) */
- uint32_t foc_pi_ki; /* FOC PI Ki (x1000) */
-#endif
-
- int state; /* Example state (FREE, CW, CCW, STOP) */
- int8_t en; /* Enabled instances (bit-encoded) */
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
- uint32_t torqmax; /* Torque max (x1000) */
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
- uint32_t velmax; /* Velocity max (x1000) */
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
- uint32_t posmax; /* Position max (x1000) */
-#endif
+ int time; /* Run time limit in sec, -1 if forever */
+ int state; /* Example state (FREE, CW, CCW, STOP) */
+ int8_t en; /* Enabled instances (bit-encoded) */
+ struct foc_thr_cfg_s cfg; /* Control thread configuration */
};
/****************************************************************************
[incubator-nuttx-apps] 05/06: examples/foc/Kconfig: update EXAMPLES_FOC_MMODE range
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 682cac07d9e72f0dc25e477c2ef802ca238fc3c7
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sat Oct 22 13:42:07 2022 +0200
examples/foc/Kconfig: update EXAMPLES_FOC_MMODE range
---
examples/foc/Kconfig | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/examples/foc/Kconfig b/examples/foc/Kconfig
index ade011557..70aedd380 100644
--- a/examples/foc/Kconfig
+++ b/examples/foc/Kconfig
@@ -315,11 +315,13 @@ config EXAMPLES_FOC_FMODE
config EXAMPLES_FOC_MMODE
int "Motor control mode"
default 2
- range 1 3
+ range 1 5
---help---
1 - torque control
2 - velocity control
3 - position control
+ 4 - align only
+ 5 - ident only
config EXAMPLES_FOC_OPENLOOP_Q
int "FOC open-loop Vq/Iq setting [x1000]"
[incubator-nuttx-apps] 03/06: examples/foc: simplify control thread configuration
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 2c5dc1e4a2d3c838f4209df947c0752355667c3a
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sat Oct 22 18:15:23 2022 +0200
examples/foc: simplify control thread configuration
---
examples/foc/foc_main.c | 19 +------------------
examples/foc/foc_motor_b16.c | 37 +++++++++++++++++++------------------
examples/foc/foc_motor_f32.c | 37 +++++++++++++++++++------------------
examples/foc/foc_thr.h | 29 +++++------------------------
4 files changed, 44 insertions(+), 78 deletions(-)
diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index 7ab3eb3b3..4854c5584 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -343,24 +343,7 @@ int main(int argc, char *argv[])
{
/* Get configuration */
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
- foc[i].qparam = g_args.cfg.qparam;
-#endif
- foc[i].fmode = g_args.cfg.fmode;
- foc[i].mmode = g_args.cfg.mmode;
-#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
- foc[i].foc_pi_kp = g_args.cfg.foc_pi_kp;
- foc[i].foc_pi_ki = g_args.cfg.foc_pi_ki;
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
- foc[i].torqmax = g_args.cfg.torqmax;
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
- foc[i].velmax = g_args.cfg.velmax;
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
- foc[i].posmax = g_args.cfg.posmax;
-#endif
+ foc[i].cfg = &g_args.cfg;
if (g_args.en & (1 << i))
{
diff --git a/examples/foc/foc_motor_b16.c b/examples/foc/foc_motor_b16.c
index 8a4083a0f..29eb49e76 100644
--- a/examples/foc/foc_motor_b16.c
+++ b/examples/foc/foc_motor_b16.c
@@ -232,7 +232,7 @@ static int foc_runmode_init(FAR struct foc_motor_b16_s *motor)
{
int ret = OK;
- switch (motor->envp->fmode)
+ switch (motor->envp->cfg->fmode)
{
case FOC_FMODE_IDLE:
{
@@ -254,7 +254,7 @@ static int foc_runmode_init(FAR struct foc_motor_b16_s *motor)
default:
{
- PRINTF("ERROR: unsupported op mode %d\n", motor->envp->fmode);
+ PRINTF("ERROR: unsupported op mode %d\n", motor->envp->cfg->fmode);
ret = -EINVAL;
goto errout;
}
@@ -346,10 +346,10 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s *motor)
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
/* Get PI controller configuration */
- ctrl_cfg.id_kp = ftob16(motor->envp->foc_pi_kp / 1000.0f);
- ctrl_cfg.id_ki = ftob16(motor->envp->foc_pi_ki / 1000.0f);
- ctrl_cfg.iq_kp = ftob16(motor->envp->foc_pi_kp / 1000.0f);
- ctrl_cfg.iq_ki = ftob16(motor->envp->foc_pi_ki / 1000.0f);
+ ctrl_cfg.id_kp = ftob16(motor->envp->cfg->foc_pi_kp / 1000.0f);
+ ctrl_cfg.id_ki = ftob16(motor->envp->cfg->foc_pi_ki / 1000.0f);
+ ctrl_cfg.iq_kp = ftob16(motor->envp->cfg->foc_pi_kp / 1000.0f);
+ ctrl_cfg.iq_ki = ftob16(motor->envp->cfg->foc_pi_ki / 1000.0f);
#endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
@@ -431,7 +431,7 @@ static int foc_motor_torq(FAR struct foc_motor_b16_s *motor, uint32_t torq)
* NOTE: torqmax may not fit in b16_t so we can't use b16idiv()
*/
- tmp1 = itob16(motor->envp->torqmax / 1000);
+ tmp1 = itob16(motor->envp->cfg->torqmax / 1000);
tmp2 = b16mulb16(ftob16(SETPOINT_ADC_SCALE), tmp1);
motor->torq.des = b16muli(tmp2, torq);
@@ -456,7 +456,7 @@ static int foc_motor_vel(FAR struct foc_motor_b16_s *motor, uint32_t vel)
* NOTE: velmax may not fit in b16_t so we can't use b16idiv()
*/
- tmp1 = itob16(motor->envp->velmax / 1000);
+ tmp1 = itob16(motor->envp->cfg->velmax / 1000);
tmp2 = b16mulb16(ftob16(SETPOINT_ADC_SCALE), tmp1);
motor->vel.des = b16muli(tmp2, vel);
@@ -481,7 +481,7 @@ static int foc_motor_pos(FAR struct foc_motor_b16_s *motor, uint32_t pos)
* NOTE: posmax may not fit in b16_t so we can't use b16idiv()
*/
- tmp1 = itob16(motor->envp->posmax / 1000);
+ tmp1 = itob16(motor->envp->cfg->posmax / 1000);
tmp2 = b16mulb16(ftob16(SETPOINT_ADC_SCALE), tmp1);
motor->pos.des = b16muli(tmp2, pos);
@@ -498,7 +498,7 @@ static int foc_motor_setpoint(FAR struct foc_motor_b16_s *motor, uint32_t sp)
{
int ret = OK;
- switch (motor->envp->mmode)
+ switch (motor->envp->cfg->mmode)
{
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
case FOC_MMODE_TORQ:
@@ -562,7 +562,8 @@ static int foc_motor_setpoint(FAR struct foc_motor_b16_s *motor, uint32_t sp)
default:
{
- PRINTF("ERROR: unsupported ctrl mode %d\n", motor->envp->mmode);
+ PRINTF("ERROR: unsupported ctrl mode %d\n",
+ motor->envp->cfg->mmode);
ret = -EINVAL;
goto errout;
}
@@ -718,7 +719,7 @@ static int foc_motor_run(FAR struct foc_motor_b16_s *motor)
if (motor->openloop_now == true)
{
# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
- if (motor->envp->mmode != FOC_MMODE_VEL)
+ if (motor->envp->cfg->mmode != FOC_MMODE_VEL)
#endif
{
PRINTF("ERROR: open-loop only with FOC_MMODE_VEL\n");
@@ -735,7 +736,7 @@ static int foc_motor_run(FAR struct foc_motor_b16_s *motor)
/* Controller */
- switch (motor->envp->mmode)
+ switch (motor->envp->cfg->mmode)
{
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
case FOC_MMODE_TORQ:
@@ -782,7 +783,7 @@ static int foc_motor_run(FAR struct foc_motor_b16_s *motor)
* NOTE: Id always set to 0
*/
- q_ref = b16idiv(motor->envp->qparam, 1000);
+ q_ref = b16idiv(motor->envp->cfg->qparam, 1000);
d_ref = 0;
}
#endif
@@ -1010,14 +1011,14 @@ int foc_motor_init(FAR struct foc_motor_b16_s *motor,
/* Initialize controller state */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
- if (motor->envp->mmode == FOC_MMODE_ALIGN_ONLY)
+ if (motor->envp->cfg->mmode == FOC_MMODE_ALIGN_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_ALIGN;
}
else
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
- if (motor->envp->mmode == FOC_MMODE_IDENT_ONLY)
+ if (motor->envp->cfg->mmode == FOC_MMODE_IDENT_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_IDENT;
}
@@ -1246,7 +1247,7 @@ int foc_motor_control(FAR struct foc_motor_b16_s *motor)
motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
- if (motor->envp->mmode == FOC_MMODE_ALIGN_ONLY)
+ if (motor->envp->cfg->mmode == FOC_MMODE_ALIGN_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_TERMINATE;
}
@@ -1275,7 +1276,7 @@ int foc_motor_control(FAR struct foc_motor_b16_s *motor)
motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
- if (motor->envp->mmode == FOC_MMODE_IDENT_ONLY)
+ if (motor->envp->cfg->mmode == FOC_MMODE_IDENT_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_TERMINATE;
}
diff --git a/examples/foc/foc_motor_f32.c b/examples/foc/foc_motor_f32.c
index c123881cf..587744757 100644
--- a/examples/foc/foc_motor_f32.c
+++ b/examples/foc/foc_motor_f32.c
@@ -232,7 +232,7 @@ static int foc_runmode_init(FAR struct foc_motor_f32_s *motor)
{
int ret = OK;
- switch (motor->envp->fmode)
+ switch (motor->envp->cfg->fmode)
{
case FOC_FMODE_IDLE:
{
@@ -254,7 +254,7 @@ static int foc_runmode_init(FAR struct foc_motor_f32_s *motor)
default:
{
- PRINTF("ERROR: unsupported op mode %d\n", motor->envp->fmode);
+ PRINTF("ERROR: unsupported op mode %d\n", motor->envp->cfg->fmode);
ret = -EINVAL;
goto errout;
}
@@ -344,10 +344,10 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s *motor)
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
/* Get PI controller configuration */
- ctrl_cfg.id_kp = (motor->envp->foc_pi_kp / 1000.0f);
- ctrl_cfg.id_ki = (motor->envp->foc_pi_ki / 1000.0f);
- ctrl_cfg.iq_kp = (motor->envp->foc_pi_kp / 1000.0f);
- ctrl_cfg.iq_ki = (motor->envp->foc_pi_ki / 1000.0f);
+ ctrl_cfg.id_kp = (motor->envp->cfg->foc_pi_kp / 1000.0f);
+ ctrl_cfg.id_ki = (motor->envp->cfg->foc_pi_ki / 1000.0f);
+ ctrl_cfg.iq_kp = (motor->envp->cfg->foc_pi_kp / 1000.0f);
+ ctrl_cfg.iq_ki = (motor->envp->cfg->foc_pi_ki / 1000.0f);
#endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
@@ -425,7 +425,7 @@ static int foc_motor_torq(FAR struct foc_motor_f32_s *motor, uint32_t torq)
/* Update motor torque destination */
motor->torq.des = (torq * SETPOINT_ADC_SCALE *
- motor->envp->torqmax / 1000.0f);
+ motor->envp->cfg->torqmax / 1000.0f);
return OK;
}
@@ -443,7 +443,7 @@ static int foc_motor_vel(FAR struct foc_motor_f32_s *motor, uint32_t vel)
/* Update motor velocity destination */
motor->vel.des = (vel * SETPOINT_ADC_SCALE *
- motor->envp->velmax / 1000.0f);
+ motor->envp->cfg->velmax / 1000.0f);
return OK;
}
@@ -461,7 +461,7 @@ static int foc_motor_pos(FAR struct foc_motor_f32_s *motor, uint32_t pos)
/* Update motor position destination */
motor->pos.des = (pos * SETPOINT_ADC_SCALE *
- motor->envp->posmax / 1000.0f);
+ motor->envp->cfg->posmax / 1000.0f);
return OK;
}
@@ -475,7 +475,7 @@ static int foc_motor_setpoint(FAR struct foc_motor_f32_s *motor, uint32_t sp)
{
int ret = OK;
- switch (motor->envp->mmode)
+ switch (motor->envp->cfg->mmode)
{
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
case FOC_MMODE_TORQ:
@@ -539,7 +539,8 @@ static int foc_motor_setpoint(FAR struct foc_motor_f32_s *motor, uint32_t sp)
default:
{
- PRINTF("ERROR: unsupported ctrl mode %d\n", motor->envp->mmode);
+ PRINTF("ERROR: unsupported ctrl mode %d\n",
+ motor->envp->cfg->mmode);
ret = -EINVAL;
goto errout;
}
@@ -702,7 +703,7 @@ static int foc_motor_run(FAR struct foc_motor_f32_s *motor)
if (motor->openloop_now == true)
{
# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
- if (motor->envp->mmode != FOC_MMODE_VEL)
+ if (motor->envp->cfg->mmode != FOC_MMODE_VEL)
# endif
{
PRINTF("ERROR: open-loop only with FOC_MMODE_VEL\n");
@@ -719,7 +720,7 @@ static int foc_motor_run(FAR struct foc_motor_f32_s *motor)
/* Controller */
- switch (motor->envp->mmode)
+ switch (motor->envp->cfg->mmode)
{
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
case FOC_MMODE_TORQ:
@@ -766,7 +767,7 @@ static int foc_motor_run(FAR struct foc_motor_f32_s *motor)
* NOTE: Id always set to 0
*/
- q_ref = (motor->envp->qparam / 1000.0f);
+ q_ref = (motor->envp->cfg->qparam / 1000.0f);
d_ref = 0.0f;
}
#endif
@@ -991,14 +992,14 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
/* Initialize controller state */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
- if (motor->envp->mmode == FOC_MMODE_ALIGN_ONLY)
+ if (motor->envp->cfg->mmode == FOC_MMODE_ALIGN_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_ALIGN;
}
else
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
- if (motor->envp->mmode == FOC_MMODE_IDENT_ONLY)
+ if (motor->envp->cfg->mmode == FOC_MMODE_IDENT_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_IDENT;
}
@@ -1227,7 +1228,7 @@ int foc_motor_control(FAR struct foc_motor_f32_s *motor)
motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
- if (motor->envp->mmode == FOC_MMODE_ALIGN_ONLY)
+ if (motor->envp->cfg->mmode == FOC_MMODE_ALIGN_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_TERMINATE;
}
@@ -1256,7 +1257,7 @@ int foc_motor_control(FAR struct foc_motor_f32_s *motor)
motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
- if (motor->envp->mmode == FOC_MMODE_IDENT_ONLY)
+ if (motor->envp->cfg->mmode == FOC_MMODE_IDENT_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_TERMINATE;
}
diff --git a/examples/foc/foc_thr.h b/examples/foc/foc_thr.h
index 18889c106..f08a81437 100644
--- a/examples/foc/foc_thr.h
+++ b/examples/foc/foc_thr.h
@@ -105,30 +105,11 @@ enum foc_controller_state_e
struct foc_ctrl_env_s
{
- mqd_t mqd; /* Control msg queue */
- int id; /* FOC device id */
- int inst; /* Type specific instance counter */
- int type; /* Controller type */
- int fmode; /* FOC control mode */
- int mmode; /* Motor control mode */
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
- int qparam; /* Open-loop Q setting (x1000) */
-#endif
-
-#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
- uint32_t foc_pi_kp; /* FOC PI Kp (x1000) */
- uint32_t foc_pi_ki; /* FOC PI Ki (x1000) */
-#endif
-
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
- uint32_t torqmax; /* Torque max (x1000) */
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
- uint32_t velmax; /* Velocity max (x1000) */
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
- uint32_t posmax; /* Position max (x1000) */
-#endif
+ mqd_t mqd; /* Control msg queue */
+ int id; /* FOC device id */
+ int inst; /* Type specific instance counter */
+ int type; /* Controller type */
+ struct foc_thr_cfg_s *cfg; /* Control thread configuration */
};
/****************************************************************************
[incubator-nuttx-apps] 04/06: examples/foc: move validate_args to parseargs 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 2bbfb1b3960c99c3a4d2b0faf68cb20d6f7d44f7
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sat Oct 22 19:16:48 2022 +0200
examples/foc: move validate_args to parseargs file
---
examples/foc/foc_main.c | 81 --------------------------------------------
examples/foc/foc_parseargs.c | 80 +++++++++++++++++++++++++++++++++++++++++++
examples/foc/foc_parseargs.h | 6 ++++
3 files changed, 86 insertions(+), 81 deletions(-)
diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index 4854c5584..c985b3f9a 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -71,12 +71,10 @@ struct args_s g_args =
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
.qparam = CONFIG_EXAMPLES_FOC_OPENLOOP_Q,
#endif
-
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
.foc_pi_kp = CONFIG_EXAMPLES_FOC_IDQ_KP,
.foc_pi_ki = CONFIG_EXAMPLES_FOC_IDQ_KI,
#endif
-
#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
# ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
.torqmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
@@ -105,85 +103,6 @@ struct args_s g_args =
* Private Functions
****************************************************************************/
-/****************************************************************************
- * Name: validate_args
- ****************************************************************************/
-
-static int validate_args(FAR struct args_s *args)
-{
- int ret = -EINVAL;
-
-#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
- /* Current PI controller */
-
- if (args->cfg.foc_pi_kp == 0 && args->cfg.foc_pi_ki == 0)
- {
- PRINTF("ERROR: missing FOC Kp/Ki configuration\n");
- goto errout;
- }
-#endif
-
- /* FOC operation mode */
-
- if (args->cfg.fmode != FOC_FMODE_IDLE &&
- args->cfg.fmode != FOC_FMODE_VOLTAGE &&
- args->cfg.fmode != FOC_FMODE_CURRENT)
- {
- PRINTF("Invalid op mode value %d s\n", args->cfg.fmode);
- goto errout;
- }
-
- /* Example control mode */
-
- if (
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
- args->cfg.mmode != FOC_MMODE_TORQ &&
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
- args->cfg.mmode != FOC_MMODE_VEL &&
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
- args->cfg.mmode != FOC_MMODE_POS &&
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
- args->cfg.mmode != FOC_MMODE_ALIGN_ONLY &&
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
- args->cfg.mmode != FOC_MMODE_IDENT_ONLY &&
-#endif
- 1)
- {
- PRINTF("Invalid ctrl mode value %d s\n", args->cfg.mmode);
- goto errout;
- }
-
- /* Example state */
-
- if (args->state != FOC_EXAMPLE_STATE_FREE &&
- args->state != FOC_EXAMPLE_STATE_STOP &&
- args->state != FOC_EXAMPLE_STATE_CW &&
- args->state != FOC_EXAMPLE_STATE_CCW)
- {
- PRINTF("Invalid state value %d s\n", args->state);
- goto errout;
- }
-
- /* Time parameter */
-
- if (args->time <= 0 && args->time != -1)
- {
- PRINTF("Invalid time value %d s\n", args->time);
- goto errout;
- }
-
- /* Otherwise OK */
-
- ret = OK;
-
-errout:
- return ret;
-}
-
/****************************************************************************
* Name: foc_mq_send
****************************************************************************/
diff --git a/examples/foc/foc_parseargs.c b/examples/foc/foc_parseargs.c
index 9859e49a8..1b382595d 100644
--- a/examples/foc/foc_parseargs.c
+++ b/examples/foc/foc_parseargs.c
@@ -29,6 +29,7 @@
#include <getopt.h>
#include "foc_debug.h"
+#include "foc_thr.h"
#include "foc_parseargs.h"
/****************************************************************************
@@ -254,3 +255,82 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
}
}
}
+
+/****************************************************************************
+ * Name: validate_args
+ ****************************************************************************/
+
+int validate_args(FAR struct args_s *args)
+{
+ int ret = -EINVAL;
+
+#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
+ /* Current PI controller */
+
+ if (args->cfg.foc_pi_kp == 0 && args->cfg.foc_pi_ki == 0)
+ {
+ PRINTF("ERROR: missing FOC Kp/Ki configuration\n");
+ goto errout;
+ }
+#endif
+
+ /* FOC operation mode */
+
+ if (args->cfg.fmode != FOC_FMODE_IDLE &&
+ args->cfg.fmode != FOC_FMODE_VOLTAGE &&
+ args->cfg.fmode != FOC_FMODE_CURRENT)
+ {
+ PRINTF("Invalid op mode value %d s\n", args->cfg.fmode);
+ goto errout;
+ }
+
+ /* Example control mode */
+
+ if (
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
+ args->cfg.mmode != FOC_MMODE_TORQ &&
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
+ args->cfg.mmode != FOC_MMODE_VEL &&
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
+ args->cfg.mmode != FOC_MMODE_POS &&
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
+ args->cfg.mmode != FOC_MMODE_ALIGN_ONLY &&
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+ args->cfg.mmode != FOC_MMODE_IDENT_ONLY &&
+#endif
+ 1)
+ {
+ PRINTF("Invalid ctrl mode value %d s\n", args->cfg.mmode);
+ goto errout;
+ }
+
+ /* Example state */
+
+ if (args->state != FOC_EXAMPLE_STATE_FREE &&
+ args->state != FOC_EXAMPLE_STATE_STOP &&
+ args->state != FOC_EXAMPLE_STATE_CW &&
+ args->state != FOC_EXAMPLE_STATE_CCW)
+ {
+ PRINTF("Invalid state value %d s\n", args->state);
+ goto errout;
+ }
+
+ /* Time parameter */
+
+ if (args->time <= 0 && args->time != -1)
+ {
+ PRINTF("Invalid time value %d s\n", args->time);
+ goto errout;
+ }
+
+ /* Otherwise OK */
+
+ ret = OK;
+
+errout:
+ return ret;
+}
diff --git a/examples/foc/foc_parseargs.h b/examples/foc/foc_parseargs.h
index 43b137d4f..a019bc528 100644
--- a/examples/foc/foc_parseargs.h
+++ b/examples/foc/foc_parseargs.h
@@ -62,4 +62,10 @@ struct args_s
void parse_args(FAR struct args_s *args, int argc, FAR char **argv);
+/****************************************************************************
+ * Name: validate_args
+ ****************************************************************************/
+
+int validate_args(FAR struct args_s *args);
+
#endif /* __APPS_EXAMPLES_FOC_FOC_THR_H */
[incubator-nuttx-apps] 06/06: examples/foc: control motor identification parameters from cmd line
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 13bfad1053e205e5b0911c879c2149d15642a454
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sat Oct 22 19:41:34 2022 +0200
examples/foc: control motor identification parameters from cmd line
---
examples/foc/foc_cfg.h | 8 +++++
examples/foc/foc_main.c | 7 +++++
examples/foc/foc_motor_b16.c | 10 +++---
examples/foc/foc_motor_f32.c | 10 +++---
examples/foc/foc_parseargs.c | 74 ++++++++++++++++++++++++++++++++++++++++++++
5 files changed, 99 insertions(+), 10 deletions(-)
diff --git a/examples/foc/foc_cfg.h b/examples/foc/foc_cfg.h
index d80ff25b9..44f46c4ab 100644
--- a/examples/foc/foc_cfg.h
+++ b/examples/foc/foc_cfg.h
@@ -236,6 +236,14 @@ struct foc_thr_cfg_s
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
uint32_t posmax; /* Position max (x1000) */
#endif
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+ uint32_t ident_res_ki; /* Ident res Ki (x1000) */
+ uint32_t ident_res_curr; /* Ident res current (x1000) */
+ uint32_t ident_res_sec; /* Ident res sec */
+ uint32_t ident_ind_volt; /* Ident res voltage (x1000) */
+ uint32_t ident_ind_sec; /* Ident ind sec */
+#endif
};
#endif /* __APPS_EXAMPLES_FOC_FOC_CFG_H */
diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index c985b3f9a..dc529862d 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -95,6 +95,13 @@ struct args_s g_args =
# ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
.posmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
# endif
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+ .ident_res_ki = CONFIG_EXAMPLES_FOC_IDENT_RES_KI,
+ .ident_res_curr = CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT,
+ .ident_res_sec = CONFIG_EXAMPLES_FOC_IDENT_RES_SEC,
+ .ident_ind_volt = CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE,
+ .ident_ind_sec = CONFIG_EXAMPLES_FOC_IDENT_IND_SEC,
#endif
}
};
diff --git a/examples/foc/foc_motor_b16.c b/examples/foc/foc_motor_b16.c
index 29eb49e76..b2a8ef5cf 100644
--- a/examples/foc/foc_motor_b16.c
+++ b/examples/foc/foc_motor_b16.c
@@ -988,16 +988,16 @@ int foc_motor_init(FAR struct foc_motor_b16_s *motor,
/* Initialize motor identification data */
ident_cfg.per = motor->per;
- ident_cfg.res_current = ftob16(CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT /
+ ident_cfg.res_current = ftob16(motor->envp->cfg->ident_res_curr /
1000.0f);
- ident_cfg.res_ki = ftob16(CONFIG_EXAMPLES_FOC_IDENT_RES_KI /
+ ident_cfg.res_ki = ftob16(motor->envp->cfg->ident_res_ki /
1000.0f);
- ident_cfg.ind_volt = ftob16(CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE /
+ ident_cfg.ind_volt = ftob16(motor->envp->cfg->ident_ind_volt /
1000.0f);
ident_cfg.res_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ *
- CONFIG_EXAMPLES_FOC_IDENT_RES_SEC / 1000);
+ motor->envp->cfg->ident_res_sec / 1000);
ident_cfg.ind_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ *
- CONFIG_EXAMPLES_FOC_IDENT_IND_SEC / 1000);
+ motor->envp->cfg->ident_ind_sec / 1000);
ident_cfg.idle_steps = CONFIG_EXAMPLES_FOC_IDENT_IDLE;
ret = foc_routine_cfg_b16(&motor->ident, &ident_cfg);
diff --git a/examples/foc/foc_motor_f32.c b/examples/foc/foc_motor_f32.c
index 587744757..37103e0d2 100644
--- a/examples/foc/foc_motor_f32.c
+++ b/examples/foc/foc_motor_f32.c
@@ -972,13 +972,13 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
/* Initialize motor identification data */
ident_cfg.per = motor->per;
- ident_cfg.res_current = (CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT / 1000.0f);
- ident_cfg.res_ki = (CONFIG_EXAMPLES_FOC_IDENT_RES_KI / 1000.0f);
- ident_cfg.ind_volt = (CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE / 1000.0f);
+ ident_cfg.res_current = (motor->envp->cfg->ident_res_curr / 1000.0f);
+ ident_cfg.res_ki = (motor->envp->cfg->ident_res_ki / 1000.0f);
+ ident_cfg.ind_volt = (motor->envp->cfg->ident_ind_volt / 1000.0f);
ident_cfg.res_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ * \
- CONFIG_EXAMPLES_FOC_IDENT_RES_SEC / 1000);
+ motor->envp->cfg->ident_res_sec / 1000);
ident_cfg.ind_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ * \
- CONFIG_EXAMPLES_FOC_IDENT_IND_SEC / 1000);
+ motor->envp->cfg->ident_ind_sec / 1000);
ident_cfg.idle_steps = CONFIG_EXAMPLES_FOC_IDENT_IDLE;
ret = foc_routine_cfg_f32(&motor->ident, &ident_cfg);
diff --git a/examples/foc/foc_parseargs.c b/examples/foc/foc_parseargs.c
index 1b382595d..f4e669a0b 100644
--- a/examples/foc/foc_parseargs.c
+++ b/examples/foc/foc_parseargs.c
@@ -39,6 +39,12 @@
#define OPT_FKI (SCHAR_MAX + 1)
#define OPT_FKP (SCHAR_MAX + 2)
+#define OPT_IRKI (SCHAR_MAX + 3)
+#define OPT_IRC (SCHAR_MAX + 4)
+#define OPT_IRS (SCHAR_MAX + 5)
+#define OPT_IIV (SCHAR_MAX + 6)
+#define OPT_IIS (SCHAR_MAX + 7)
+
/****************************************************************************
* Private Data
****************************************************************************/
@@ -66,6 +72,13 @@ static struct option g_long_options[] =
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
{ "fkp", required_argument, 0, OPT_FKP },
{ "fki", required_argument, 0, OPT_FKI },
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+ { "irki", required_argument, 0, OPT_IRKI },
+ { "irc", required_argument, 0, OPT_IRC },
+ { "irs", required_argument, 0, OPT_IRS },
+ { "iiv", required_argument, 0, OPT_IIV },
+ { "iis", required_argument, 0, OPT_IIS },
#endif
{ 0, 0, 0, 0 }
};
@@ -127,6 +140,18 @@ static void foc_help(void)
PRINTF(" [--fkp] PI Ki coefficient [x1000] (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDQ_KI);
#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+ PRINTF(" [--irki] res Ki coefficient [x1000] (default: %d)\n",
+ CONFIG_EXAMPLES_FOC_IDENT_RES_KI);
+ PRINTF(" [--irc] res current [x1000] (default: %d)\n",
+ CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT);
+ PRINTF(" [--irs] res sec (default: %d)\n",
+ CONFIG_EXAMPLES_FOC_IDENT_RES_SEC);
+ PRINTF(" [--iiv] ind voltage [x1000] (default: %d)\n",
+ CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE);
+ PRINTF(" [--iis] ind sec (default: %d)\n",
+ CONFIG_EXAMPLES_FOC_IDENT_IND_SEC);
+#endif
}
/****************************************************************************
@@ -168,6 +193,38 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
}
#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+ case OPT_IRKI:
+ {
+ args->cfg.ident_res_ki = atoi(optarg);
+ break;
+ }
+
+ case OPT_IRC:
+ {
+ args->cfg.ident_res_curr = atoi(optarg);
+ break;
+ }
+
+ case OPT_IRS:
+ {
+ args->cfg.ident_res_sec = atoi(optarg);
+ break;
+ }
+
+ case OPT_IIV:
+ {
+ args->cfg.ident_ind_volt = atoi(optarg);
+ break;
+ }
+
+ case OPT_IIS:
+ {
+ args->cfg.ident_ind_sec = atoi(optarg);
+ break;
+ }
+#endif
+
case 't':
{
args->time = atoi(optarg);
@@ -327,6 +384,23 @@ int validate_args(FAR struct args_s *args)
goto errout;
}
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+ /* Motor identification parameters */
+
+ if (args->cfg.ident_res_ki == 0 || args->cfg.ident_res_curr == 0 ||
+ args->cfg.ident_res_sec == 0)
+ {
+ PRINTF("ERROR: missing motor res ident configuration\n");
+ goto errout;
+ }
+
+ if (args->cfg.ident_ind_volt == 0 || args->cfg.ident_ind_sec == 0)
+ {
+ PRINTF("ERROR: missing motor ind ident configuration\n");
+ goto errout;
+ }
+#endif
+
/* Otherwise OK */
ret = OK;
[incubator-nuttx-apps] 01/06: examples/foc: refactor args
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 c2efa80969e148da960cb44d2903d92da1152d2f
Author: raiden00pl <ra...@railab.me>
AuthorDate: Sat Oct 22 18:01:06 2022 +0200
examples/foc: refactor args
---
examples/foc/foc_main.c | 136 ++++++++++++++++++------------------------------
1 file changed, 52 insertions(+), 84 deletions(-)
diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index 1bbbabbc2..d9965ec51 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -56,73 +56,51 @@
#define INST_EN_DEFAULT (0xff)
/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: init_args
+ * Private Data
****************************************************************************/
-static void init_args(FAR struct args_s *args)
+struct args_s g_args =
{
- args->time =
- (args->time == 0 ? CONFIG_EXAMPLES_FOC_TIME_DEFAULT : args->time);
- args->fmode =
- (args->fmode == 0 ? CONFIG_EXAMPLES_FOC_FMODE : args->fmode);
- args->mmode =
- (args->mmode == 0 ? CONFIG_EXAMPLES_FOC_MMODE : args->mmode);
+ .time = CONFIG_EXAMPLES_FOC_TIME_DEFAULT,
+ .fmode = CONFIG_EXAMPLES_FOC_FMODE,
+ .mmode = CONFIG_EXAMPLES_FOC_MMODE,
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
- args->qparam =
- (args->qparam == 0 ? CONFIG_EXAMPLES_FOC_OPENLOOP_Q : args->qparam);
+ .qparam = CONFIG_EXAMPLES_FOC_OPENLOOP_Q,
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
- args->foc_pi_kp =
- (args->foc_pi_kp == 0 ? CONFIG_EXAMPLES_FOC_IDQ_KP : args->foc_pi_kp);
- args->foc_pi_ki =
- (args->foc_pi_ki == 0 ? CONFIG_EXAMPLES_FOC_IDQ_KI : args->foc_pi_ki);
+ .foc_pi_kp = CONFIG_EXAMPLES_FOC_IDQ_KP,
+ .foc_pi_ki = CONFIG_EXAMPLES_FOC_IDQ_KI,
#endif
- /* Setpoint configuration */
-
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
-#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
- args->torqmax =
- (args->torqmax == 0 ?
- CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE : args->torqmax);
-#else
- args->torqmax =
- (args->torqmax == 0 ?
- CONFIG_EXAMPLES_FOC_SETPOINT_MAX : args->torqmax);
-#endif
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
-#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
- args->velmax =
- (args->velmax == 0 ?
- CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE : args->velmax);
-#else
- args->velmax =
- (args->velmax == 0 ?
- CONFIG_EXAMPLES_FOC_SETPOINT_MAX : args->velmax);
-#endif
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
+ .state = CONFIG_EXAMPLES_FOC_STATE_INIT,
+ .en = INST_EN_DEFAULT,
#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
- args->posmax =
- (args->posmax == 0 ?
- CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE : args->posmax);
+# ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
+ .torqmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
+# endif
+# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
+ .velmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
+# endif
+# ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
+ .posmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
+# endif
#else
- args->posmax =
- (args->posmax == 0 ?
- CONFIG_EXAMPLES_FOC_SETPOINT_MAX : args->posmax);
-#endif
+# ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
+ .torqmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
+# endif
+# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
+ .velmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
+# endif
+# ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
+ .posmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
+# endif
#endif
+};
- args->state =
- (args->state == 0 ? CONFIG_EXAMPLES_FOC_STATE_INIT : args->state);
- args->en = (args->en == -1 ? INST_EN_DEFAULT : args->en);
-}
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
/****************************************************************************
* Name: validate_args
@@ -297,7 +275,6 @@ int main(int argc, char *argv[])
struct foc_ctrl_env_s foc[CONFIG_MOTOR_FOC_INST];
pthread_t threads[CONFIG_MOTOR_FOC_INST];
mqd_t mqd[CONFIG_MOTOR_FOC_INST];
- struct args_s args;
struct foc_intf_data_s data;
int ret = OK;
int i = 0;
@@ -305,29 +282,20 @@ int main(int argc, char *argv[])
/* Reset some data */
- memset(&args, 0, sizeof(struct args_s));
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 */
-
- args.en = -1;
-
#ifdef CONFIG_BUILTIN
/* Parse the command line */
- parse_args(&args, argc, argv);
+ parse_args(&g_args, argc, argv);
#endif
- /* Initialize args */
-
- init_args(&args);
-
/* Validate arguments */
- ret = validate_args(&args);
+ ret = validate_args(&g_args);
if (ret < 0)
{
PRINTF("ERROR: validate args failed\n");
@@ -373,25 +341,25 @@ int main(int argc, char *argv[])
/* Get configuration */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
- foc[i].qparam = args.qparam;
+ foc[i].qparam = g_args.qparam;
#endif
- foc[i].fmode = args.fmode;
- foc[i].mmode = args.mmode;
+ foc[i].fmode = g_args.fmode;
+ foc[i].mmode = g_args.mmode;
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
- foc[i].foc_pi_kp = args.foc_pi_kp;
- foc[i].foc_pi_ki = args.foc_pi_ki;
+ foc[i].foc_pi_kp = g_args.foc_pi_kp;
+ foc[i].foc_pi_ki = g_args.foc_pi_ki;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
- foc[i].torqmax = args.torqmax;
+ foc[i].torqmax = g_args.torqmax;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
- foc[i].velmax = args.velmax;
+ foc[i].velmax = g_args.velmax;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
- foc[i].posmax = args.posmax;
+ foc[i].posmax = g_args.posmax;
#endif
- if (args.en & (1 << i))
+ if (g_args.en & (1 << i))
{
/* Initialize controller thread if enabled */
@@ -422,7 +390,7 @@ int main(int argc, char *argv[])
/* Controller state */
- data.state = args.state;
+ data.state = g_args.state;
/* Auxliary control loop */
@@ -445,7 +413,7 @@ int main(int argc, char *argv[])
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
- if (args.en & (1 << i))
+ if (g_args.en & (1 << i))
{
PRINTFV("Send vbus to %d\n", i);
@@ -471,7 +439,7 @@ int main(int argc, char *argv[])
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
- if (args.en & (1 << i))
+ if (g_args.en & (1 << i))
{
PRINTFV("Send state %" PRIu32 " to %d\n", data.state, i);
@@ -497,7 +465,7 @@ int main(int argc, char *argv[])
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
- if (args.en & (1 << i))
+ if (g_args.en & (1 << i))
{
PRINTFV("Send setpoint = %" PRIu32 "to %d\n",
data.sp_raw, i);
@@ -524,7 +492,7 @@ int main(int argc, char *argv[])
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
- if (args.en & (1 << i))
+ if (g_args.en & (1 << i))
{
PRINTFV("Send start to %d\n", i);
@@ -548,9 +516,9 @@ int main(int argc, char *argv[])
time += 1;
- if (args.time != -1)
+ if (g_args.time != -1)
{
- if (time >= (args.time * (1000000 / MAIN_LOOP_USLEEP)))
+ if (time >= (g_args.time * (1000000 / MAIN_LOOP_USLEEP)))
{
/* Exit loop */
@@ -574,7 +542,7 @@ errout:
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
- if (args.en & (1 << i))
+ if (g_args.en & (1 << i))
{
if (mqd[i] != (mqd_t)-1)
{
@@ -600,7 +568,7 @@ errout:
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
- if (args.en & (1 << i))
+ if (g_args.en & (1 << i))
{
/* Close FOC control thread queue */