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examples/foc: move the parse args logic to a separate file

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This commit is contained in:
raiden00pl 2021-10-30 11:18:00 +02:00 committed by Xiang Xiao
parent 7a272dfca3
commit 013caaa334
4 changed files with 323 additions and 211 deletions
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4
examples/foc/Makefile
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@ -34,6 +34,10 @@ MAINSRC = foc_main.c
ASRCS = ASRCS =
CSRCS = foc_device.c foc_mq.c CSRCS = foc_device.c foc_mq.c
ifeq ($(CONFIG_BUILTIN),y)
CSRCS += foc_parseargs.c
endif
# fixed16 support # fixed16 support
ifeq ($(CONFIG_INDUSTRY_FOC_FIXED16),y) ifeq ($(CONFIG_INDUSTRY_FOC_FIXED16),y)

243
examples/foc/foc_main.c
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@ -44,6 +44,7 @@
#include "foc_adc.h" #include "foc_adc.h"
#include "foc_debug.h" #include "foc_debug.h"
#include "foc_device.h" #include "foc_device.h"
#include "foc_parseargs.h"
#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON #ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
# include <nuttx/input/buttons.h> # include <nuttx/input/buttons.h>
@ -86,20 +87,6 @@
* Private Type Definition * Private Type Definition
****************************************************************************/ ****************************************************************************/
/* Application arguments */
struct args_s
{
int time; /* Run time limit in sec, -1 if forever */
int mode; /* Operation mode */
int qparam; /* Open-loop Q setting (x1000) */
uint32_t pi_kp; /* PI Kp (x1000) */
uint32_t pi_ki; /* PI Ki (x1000) */
uint32_t velmax; /* Velocity max (x1000) */
int state; /* Example state (FREE, CW, CCW, STOP) */
int8_t en; /* Enabled instances (bit-encoded) */
};
/**************************************************************************** /****************************************************************************
* Private Function Protototypes * Private Function Protototypes
****************************************************************************/ ****************************************************************************/
@ -134,203 +121,6 @@ static int g_fixed16_thr_cntr = 0;
* Private Functions * Private Functions
****************************************************************************/ ****************************************************************************/
#ifdef CONFIG_BUILTIN
/****************************************************************************
* 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] controller mode\n");
PRINTF(" 1 - IDLE mode\n");
PRINTF(" 2 - voltage open-loop velocity \n");
PRINTF(" 3 - current open-loop velocity \n");
PRINTF(" [-o] openloop Vq/Iq setting [x1000]\n");
PRINTF(" [-i] PI Ki coefficient [x1000]\n");
PRINTF(" [-p] KI Kp coefficient [x1000]\n");
PRINTF(" [-v] velocity [x1000]\n");
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");
}
/****************************************************************************
* Name: arg_string
****************************************************************************/
static int arg_string(FAR char **arg, FAR char **value)
{
FAR char *ptr = *arg;
if (ptr[2] == '\0')
{
*value = arg[1];
return 2;
}
else
{
*value = &ptr[2];
return 1;
}
}
/****************************************************************************
* Name: arg_decimal
****************************************************************************/
static int arg_decimal(FAR char **arg, FAR int *value)
{
FAR char *string;
int ret;
ret = arg_string(arg, &string);
*value = atoi(string);
return ret;
}
/****************************************************************************
* Name: parse_args
****************************************************************************/
static void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
{
FAR char *ptr;
int index;
int nargs;
int i_value;
for (index = 1; index < argc; )
{
ptr = argv[index];
if (ptr[0] != '-')
{
PRINTF("Invalid options format: %s\n", ptr);
exit(0);
}
switch (ptr[1])
{
/* Get time */
case 't':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
if (i_value <= 0 && i_value != -1)
{
PRINTF("Invalid time value %d s\n", i_value);
exit(1);
}
args->time = i_value;
break;
}
case 'm':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
if (i_value != FOC_OPMODE_IDLE &&
i_value != FOC_OPMODE_OL_V_VEL &&
i_value != FOC_OPMODE_OL_C_VEL)
{
PRINTF("Invalid op mode value %d s\n", i_value);
exit(1);
}
args->mode = i_value;
break;
}
case 'o':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->qparam = i_value;
break;
}
case 'p':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->pi_kp = i_value;
break;
}
case 'i':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->pi_ki = i_value;
break;
}
case 'v':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->velmax = i_value;
break;
}
case 's':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
if (i_value != FOC_EXAMPLE_STATE_FREE &&
i_value != FOC_EXAMPLE_STATE_STOP &&
i_value != FOC_EXAMPLE_STATE_CW &&
i_value != FOC_EXAMPLE_STATE_CCW)
{
PRINTF("Invalid state value %d s\n", i_value);
exit(1);
}
args->state = i_value;
break;
}
case 'j':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->en = i_value;
break;
}
case 'h':
{
foc_help();
exit(0);
}
default:
{
PRINTF("Unsupported option: %s\n", ptr);
foc_help();
exit(1);
}
}
}
}
#endif
/**************************************************************************** /****************************************************************************
* Name: init_args * Name: init_args
****************************************************************************/ ****************************************************************************/
@ -367,12 +157,43 @@ static int validate_args(FAR struct args_s *args)
{ {
int ret = -EINVAL; int ret = -EINVAL;
/* FOC PI controller */
if (args->pi_kp == 0 && args->pi_ki == 0) if (args->pi_kp == 0 && args->pi_ki == 0)
{ {
PRINTF("ERROR: missign Kp/Ki configuration\n"); PRINTF("ERROR: missign Kp/Ki configuration\n");
goto errout; goto errout;
} }
/* Operation mode */
if (args->mode != FOC_OPMODE_IDLE &&
args->mode != FOC_OPMODE_OL_V_VEL &&
args->mode != FOC_OPMODE_OL_C_VEL)
{
PRINTF("Invalid op mode value %d s\n", args->mode);
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 */ /* Otherwise OK */
ret = OK; ret = OK;

219
examples/foc/foc_parseargs.c Normal file
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@ -0,0 +1,219 @@
/****************************************************************************
* 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 "foc_debug.h"
#include "foc_parseargs.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* 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] controller mode\n");
PRINTF(" 1 - IDLE mode\n");
PRINTF(" 2 - voltage open-loop velocity \n");
PRINTF(" 3 - current open-loop velocity \n");
PRINTF(" [-o] openloop Vq/Iq setting [x1000]\n");
PRINTF(" [-i] PI Ki coefficient [x1000]\n");
PRINTF(" [-p] KI Kp coefficient [x1000]\n");
PRINTF(" [-v] velocity [x1000]\n");
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");
}
/****************************************************************************
* Name: arg_string
****************************************************************************/
static int arg_string(FAR char **arg, FAR char **value)
{
FAR char *ptr = *arg;
if (ptr[2] == '\0')
{
*value = arg[1];
return 2;
}
else
{
*value = &ptr[2];
return 1;
}
}
/****************************************************************************
* Name: arg_decimal
****************************************************************************/
static int arg_decimal(FAR char **arg, FAR int *value)
{
FAR char *string;
int ret;
ret = arg_string(arg, &string);
*value = atoi(string);
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: parse_args
****************************************************************************/
void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
{
FAR char *ptr;
int index;
int nargs;
int i_value;
for (index = 1; index < argc; )
{
ptr = argv[index];
if (ptr[0] != '-')
{
PRINTF("Invalid options format: %s\n", ptr);
exit(0);
}
switch (ptr[1])
{
/* Get time */
case 't':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->time = i_value;
break;
}
case 'm':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->mode = i_value;
break;
}
case 'o':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->qparam = i_value;
break;
}
case 'p':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->pi_kp = i_value;
break;
}
case 'i':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->pi_ki = i_value;
break;
}
case 'v':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->velmax = i_value;
break;
}
case 's':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->state = i_value;
break;
}
case 'j':
{
nargs = arg_decimal(&argv[index], &i_value);
index += nargs;
args->en = i_value;
break;
}
case 'h':
{
foc_help();
exit(0);
}
default:
{
PRINTF("Unsupported option: %s\n", ptr);
foc_help();
exit(1);
}
}
}
}

68
examples/foc/foc_parseargs.h Normal file
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@ -0,0 +1,68 @@
/****************************************************************************
* apps/examples/foc/foc_parseargs.h
*
* 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.
*
****************************************************************************/
#ifndef __EXAMPLES_FOC_FOC_PARSEARGS_H
#define __EXAMPLES_FOC_FOC_PARSEARGS_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include "foc_device.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Public Type Definition
****************************************************************************/
/* Application arguments */
struct args_s
{
int time; /* Run time limit in sec, -1 if forever */
int mode; /* Operation mode */
int qparam; /* Open-loop Q setting (x1000) */
uint32_t pi_kp; /* PI Kp (x1000) */
uint32_t pi_ki; /* PI Ki (x1000) */
uint32_t velmax; /* Velocity max (x1000) */
int state; /* Example state (FREE, CW, CCW, STOP) */
int8_t en; /* Enabled instances (bit-encoded) */
};
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: parse_args
****************************************************************************/
void parse_args(FAR struct args_s *args, int argc, FAR char **argv);
#endif /* __EXAMPLES_FOC_FOC_THR_H */