nuttx-apps/examples/foc/foc_parseargs.c

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/****************************************************************************
* apps/examples/foc/foc_parseargs.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 <unistd.h>
#include <stdlib.h>
#include <getopt.h>
#include "foc_debug.h"
#include "foc_parseargs.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define OPT_FKI (SCHAR_MAX + 1)
#define OPT_FKP (SCHAR_MAX + 2)
/****************************************************************************
* Private Data
****************************************************************************/
static struct option g_long_options[] =
{
{ "time", required_argument, 0, 't' },
{ "help", no_argument, 0, 'h' },
{ "fmode", required_argument, 0, 'f' },
{ "mmode", required_argument, 0, 'm' },
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
{ "torq", required_argument, 0, 'r' },
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
{ "vel", required_argument, 0, 'v' },
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
{ "pos", required_argument, 0, 'x' },
#endif
{ "state", required_argument, 0, 's' },
{ "en", required_argument, 0, 'j' },
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
{ "oqset", required_argument, 0, 'o' },
#endif
{ "fkp", required_argument, 0, OPT_FKP },
{ "fki", required_argument, 0, OPT_FKI },
{ 0, 0, 0, 0 }
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: foc_help
****************************************************************************/
static void foc_help(void)
{
PRINTF("Usage: foc [OPTIONS]\n");
PRINTF(" [-t] run time\n");
PRINTF(" [-h] shows this message and exits\n");
PRINTF(" [-m] operation mode\n");
PRINTF(" 1 - IDLE mode\n");
PRINTF(" 2 - voltage mode\n");
PRINTF(" 3 - current mode\n");
PRINTF(" [-c] controller mode\n");
PRINTF(" 1 - torqe control\n");
PRINTF(" 2 - velocity control\n");
PRINTF(" 3 - position control\n");
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
PRINTF(" [-r] torque [x1000]\n");
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
PRINTF(" [-v] velocity [x1000]\n");
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
PRINTF(" [-x] position [x1000]\n");
#endif
PRINTF(" [-s] motor state\n");
PRINTF(" 1 - motor free\n");
PRINTF(" 2 - motor stop\n");
PRINTF(" 3 - motor CW\n");
PRINTF(" 4 - motor CCW\n");
PRINTF(" [-j] enable specific instnaces\n");
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
PRINTF(" [-o] openloop Vq/Iq setting [x1000]\n");
#endif
PRINTF(" [--fki] PI Kp coefficient [x1000]\n");
PRINTF(" [--fkp] PI Ki coefficient [x1000]\n");
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: parse_args
****************************************************************************/
void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
{
int option_index = 0;
int c = 0;
while (1)
{
c = getopt_long(argc, argv, "ht:f:m:o:r:v:x:s:j:", g_long_options,
&option_index);
if (c == -1)
{
break;
}
switch (c)
{
case OPT_FKP:
{
args->pi_kp = atoi(optarg);
break;
}
case OPT_FKI:
{
args->pi_ki = atoi(optarg);
break;
}
case 't':
{
args->time = atoi(optarg);
break;
}
case 'h':
{
foc_help();
exit(0);
}
case 'f':
{
args->fmode = atoi(optarg);
break;
}
case 'm':
{
args->mmode = atoi(optarg);
break;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
case 'r':
{
args->torqmax = atoi(optarg);
break;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
case 'v':
{
args->velmax = atoi(optarg);
break;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
case 'x':
{
args->posmax = atoi(optarg);
break;
}
#endif
case 's':
{
args->state = atoi(optarg);
break;
}
case 'j':
{
args->en = atoi(optarg);
break;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
case 'o':
{
args->qparam = atoi(optarg);
break;
}
#endif
case '?':
default:
{
if (argv[optind - 1] == NULL)
{
PRINTF("ERROR: invalid option argument for %s\n",
argv[optind - 2]);
}
else
{
PRINTF("ERROR: invalid option %s\n", argv[optind - 1]);
}
foc_help();
exit(1);
}
}
}
}