2021-10-30 11:18:00 +02:00
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/****************************************************************************
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* apps/examples/foc/foc_parseargs.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <unistd.h>
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#include <stdlib.h>
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2021-10-30 11:42:14 +02:00
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#include <getopt.h>
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2021-10-30 11:18:00 +02:00
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#include "foc_debug.h"
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#include "foc_parseargs.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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2021-10-30 11:42:14 +02:00
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#define OPT_FKI (SCHAR_MAX + 1)
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#define OPT_FKP (SCHAR_MAX + 2)
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2021-10-30 11:18:00 +02:00
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/****************************************************************************
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* Private Data
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****************************************************************************/
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2021-10-30 11:42:14 +02:00
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static struct option g_long_options[] =
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{
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{ "time", required_argument, 0, 't' },
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{ "help", no_argument, 0, 'h' },
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2021-10-31 20:30:37 +01:00
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{ "fmode", required_argument, 0, 'f' },
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{ "mmode", required_argument, 0, 'm' },
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
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{ "torq", required_argument, 0, 'r' },
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
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{ "vel", required_argument, 0, 'v' },
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2021-10-31 20:30:37 +01:00
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
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{ "pos", required_argument, 0, 'x' },
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#endif
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2021-10-30 11:42:14 +02:00
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{ "state", required_argument, 0, 's' },
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{ "en", required_argument, 0, 'j' },
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
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{ "oqset", required_argument, 0, 'o' },
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#endif
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{ "fkp", required_argument, 0, OPT_FKP },
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{ "fki", required_argument, 0, OPT_FKI },
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{ 0, 0, 0, 0 }
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};
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2021-10-30 11:18:00 +02:00
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: foc_help
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****************************************************************************/
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static void foc_help(void)
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{
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PRINTF("Usage: foc [OPTIONS]\n");
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PRINTF(" [-t] run time\n");
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PRINTF(" [-h] shows this message and exits\n");
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PRINTF(" [-m] operation mode\n");
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PRINTF(" 1 - IDLE mode\n");
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PRINTF(" 2 - voltage mode\n");
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PRINTF(" 3 - current mode\n");
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PRINTF(" [-c] controller mode\n");
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PRINTF(" 1 - torqe control\n");
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PRINTF(" 2 - velocity control\n");
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PRINTF(" 3 - position control\n");
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
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PRINTF(" [-r] torque [x1000]\n");
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
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PRINTF(" [-v] velocity [x1000]\n");
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
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PRINTF(" [-x] position [x1000]\n");
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#endif
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PRINTF(" [-s] motor state\n");
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PRINTF(" 1 - motor free\n");
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PRINTF(" 2 - motor stop\n");
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PRINTF(" 3 - motor CW\n");
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PRINTF(" 4 - motor CCW\n");
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PRINTF(" [-j] enable specific instnaces\n");
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2021-10-30 14:27:32 +02:00
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
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2021-10-30 11:42:14 +02:00
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PRINTF(" [-o] openloop Vq/Iq setting [x1000]\n");
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#endif
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2021-10-30 11:42:14 +02:00
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PRINTF(" [--fki] PI Kp coefficient [x1000]\n");
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PRINTF(" [--fkp] PI Ki coefficient [x1000]\n");
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: parse_args
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****************************************************************************/
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void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
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{
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int option_index = 0;
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int c = 0;
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2021-10-30 11:42:14 +02:00
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while (1)
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2021-10-30 11:18:00 +02:00
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{
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c = getopt_long(argc, argv, "ht:f:m:o:r:v:x:s:j:", g_long_options,
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&option_index);
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if (c == -1)
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{
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break;
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2021-10-30 11:18:00 +02:00
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}
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2021-10-30 11:42:14 +02:00
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switch (c)
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{
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2021-10-30 11:42:14 +02:00
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case OPT_FKP:
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{
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args->pi_kp = atoi(optarg);
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break;
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}
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2021-10-30 11:42:14 +02:00
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case OPT_FKI:
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{
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args->pi_ki = atoi(optarg);
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break;
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}
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case 't':
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{
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args->time = atoi(optarg);
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break;
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}
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2021-10-30 11:42:14 +02:00
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case 'h':
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{
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foc_help();
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exit(0);
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}
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2021-10-31 20:30:37 +01:00
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case 'f':
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{
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args->fmode = atoi(optarg);
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break;
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}
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case 'm':
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{
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args->mmode = atoi(optarg);
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break;
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}
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2021-10-31 20:30:37 +01:00
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
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case 'r':
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{
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args->torqmax = atoi(optarg);
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break;
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}
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
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case 'v':
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{
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args->velmax = atoi(optarg);
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break;
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}
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2021-10-31 20:30:37 +01:00
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
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case 'x':
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{
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args->posmax = atoi(optarg);
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break;
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}
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#endif
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case 's':
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{
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args->state = atoi(optarg);
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break;
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}
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case 'j':
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{
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args->en = atoi(optarg);
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break;
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}
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2021-10-30 14:27:32 +02:00
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
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case 'o':
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{
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args->qparam = atoi(optarg);
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break;
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}
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2021-10-30 14:27:32 +02:00
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#endif
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2021-10-30 11:42:14 +02:00
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case '?':
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default:
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{
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if (argv[optind - 1] == NULL)
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{
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PRINTF("ERROR: invalid option argument for %s\n",
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argv[optind - 2]);
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}
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else
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{
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PRINTF("ERROR: invalid option %s\n", argv[optind - 1]);
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}
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2021-10-30 11:18:00 +02:00
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foc_help();
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exit(1);
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}
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}
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}
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}
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