examples/foc: improve the readability of the motor structures
This commit is contained in:
raiden00pl
Xiang Xiao
parent
28973a37b3
commit
111e02dbdb
@ -66,31 +66,41 @@ struct foc_setpoint_b16_s
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struct foc_motor_b16_s
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{
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/* App data ***************************************************************/
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FAR struct foc_ctrl_env_s *envp; /* Thread env */
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struct foc_mq_s mq; /* MQ data */
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bool fault; /* Fault flag */
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bool startstop; /* Start/stop request */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
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bool openloop_now; /* Open-loop now */
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b16_t angle_ol; /* Phase angle open-loop */
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foc_angle_b16_t openloop; /* Open-loop angle handler */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
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char hldpath[32]; /* Hall devpath */
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foc_angle_b16_t hall; /* Hall angle handler */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
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char qedpath[32]; /* Qenco devpath */
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foc_angle_b16_t qenco; /* Qenco angle handler */
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#endif
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int foc_mode; /* FOC mode */
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int ctrl_state; /* Controller state */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
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int foc_mode_run; /* FOC mode for run state */
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#endif
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int ctrl_state; /* Controller state */
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/* FOC data ***************************************************************/
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struct foc_state_b16_s foc_state; /* FOC controller sate */
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foc_handler_b16_t handler; /* FOC controller */
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dq_frame_b16_t dq_ref; /* DQ reference */
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dq_frame_b16_t vdq_comp; /* DQ voltage compensation */
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int foc_mode; /* FOC mode */
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b16_t vbus; /* Power bus voltage */
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b16_t per; /* Controller period in seconds */
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b16_t iphase_adc; /* Iphase ADC scaling factor */
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b16_t pwm_duty_max; /* PWM duty max */
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/* Velocity controller data ***********************************************/
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struct foc_ramp_b16_s ramp; /* Velocity ramp data */
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/* Motor state ************************************************************/
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b16_t angle_now; /* Phase angle now */
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b16_t angle_m; /* Motor mechanical angle */
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b16_t angle_el; /* Motor electrical angle */
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/* Motor setpoints ********************************************************/
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
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struct foc_setpoint_b16_s torq; /* Torque setpoint */
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#endif
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@ -101,16 +111,9 @@ struct foc_motor_b16_s
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struct foc_setpoint_b16_s pos; /* Position setpoint */
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#endif
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b16_t dir; /* Motor's direction */
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b16_t per; /* Controller period in seconds */
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b16_t iphase_adc; /* Iphase ADC scaling factor */
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b16_t pwm_duty_max; /* PWM duty max */
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uint8_t poles; /* Motor poles */
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dq_frame_b16_t dq_ref; /* DQ reference */
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dq_frame_b16_t vdq_comp; /* DQ voltage compensation */
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foc_handler_b16_t handler; /* FOC controller */
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struct foc_mq_s mq; /* MQ data */
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struct foc_state_b16_s foc_state; /* FOC controller sate */
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struct foc_ramp_b16_s ramp; /* Velocity ramp data */
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/* Motor routines *********************************************************/
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
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struct foc_routine_b16_s align; /* Alignment routine */
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bool align_done; /* Alignment done */
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@ -120,9 +123,29 @@ struct foc_motor_b16_s
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struct motor_phy_params_b16_s phy_ident; /* Motor phy from ident */
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bool ident_done; /* Motor ident done */
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#endif
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/* Motor data *************************************************************/
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#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
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struct foc_model_b16_s model; /* Model handler */
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struct foc_model_state_b16_s model_state; /* PMSM model state */
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struct foc_model_b16_s model; /* Model handler */
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struct foc_model_state_b16_s model_state; /* PMSM model state */
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#endif
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uint8_t poles; /* Motor poles */
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/* Motor velocity and angle handlers **************************************/
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
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foc_angle_b16_t openloop; /* Open-loop angle handler */
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bool openloop_now; /* Open-loop now */
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b16_t angle_ol; /* Phase angle open-loop */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
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foc_angle_b16_t hall; /* Hall angle handler */
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char hldpath[32]; /* Hall devpath */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
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foc_angle_b16_t qenco; /* Qenco angle handler */
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char qedpath[32]; /* Qenco devpath */
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#endif
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};
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@ -66,31 +66,41 @@ struct foc_setpoint_f32_s
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struct foc_motor_f32_s
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{
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/* App data ***************************************************************/
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FAR struct foc_ctrl_env_s *envp; /* Thread env */
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struct foc_mq_s mq; /* MQ data */
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bool fault; /* Fault flag */
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bool startstop; /* Start/stop request */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
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bool openloop_now; /* Open-loop now */
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float angle_ol; /* Phase angle open-loop */
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foc_angle_f32_t openloop; /* Open-loop angle handler */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
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char hldpath[32]; /* Hall devpath */
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foc_angle_f32_t hall; /* Hall angle handler */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
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char qedpath[32]; /* Qenco devpath */
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foc_angle_f32_t qenco; /* Qenco angle handler */
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#endif
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int foc_mode; /* FOC mode */
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int ctrl_state; /* Controller state */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
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int foc_mode_run; /* FOC mode for run state */
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#endif
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int ctrl_state; /* Controller state */
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/* FOC data ***************************************************************/
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struct foc_state_f32_s foc_state; /* FOC controller sate */
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foc_handler_f32_t handler; /* FOC controller */
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dq_frame_f32_t dq_ref; /* DQ reference */
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dq_frame_f32_t vdq_comp; /* DQ voltage compensation */
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int foc_mode; /* FOC mode */
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float vbus; /* Power bus voltage */
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float per; /* Controller period in seconds */
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float iphase_adc; /* Iphase ADC scaling factor */
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float pwm_duty_max; /* PWM duty max */
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/* Velocity controller data ***********************************************/
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struct foc_ramp_f32_s ramp; /* Velocity ramp data */
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/* Motor state ************************************************************/
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float angle_now; /* Phase angle now */
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float angle_m; /* Motor mechanical angle */
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float angle_el; /* Motor electrical angle */
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/* Motor setpoints ********************************************************/
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
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struct foc_setpoint_f32_s torq; /* Torque setpoint */
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#endif
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@ -101,16 +111,9 @@ struct foc_motor_f32_s
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struct foc_setpoint_f32_s pos; /* Position setpoint */
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#endif
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float dir; /* Motor's direction */
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float per; /* Controller period in seconds */
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float iphase_adc; /* Iphase ADC scaling factor */
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float pwm_duty_max; /* PWM duty max */
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uint8_t poles; /* Motor poles */
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dq_frame_f32_t dq_ref; /* DQ reference */
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dq_frame_f32_t vdq_comp; /* DQ voltage compensation */
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foc_handler_f32_t handler; /* FOC controller */
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struct foc_mq_s mq; /* MQ data */
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struct foc_state_f32_s foc_state; /* FOC controller sate */
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struct foc_ramp_f32_s ramp; /* Velocity ramp data */
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/* Motor routines *********************************************************/
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
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struct foc_routine_f32_s align; /* Alignment routine */
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bool align_done; /* Motor alignment done */
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@ -120,9 +123,29 @@ struct foc_motor_f32_s
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struct motor_phy_params_f32_s phy_ident; /* Motor phy from ident */
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bool ident_done; /* Motor ident done */
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#endif
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/* Motor data *************************************************************/
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#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
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struct foc_model_f32_s model; /* Model handler */
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struct foc_model_state_f32_s model_state; /* PMSM model state */
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struct foc_model_f32_s model; /* Model handler */
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struct foc_model_state_f32_s model_state; /* PMSM model state */
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#endif
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uint8_t poles; /* Motor poles */
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/* Motor velocity and angle handlers **************************************/
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
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foc_angle_f32_t openloop; /* Open-loop angle handler */
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bool openloop_now; /* Open-loop now */
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float angle_ol; /* Phase angle open-loop */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
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foc_angle_f32_t hall; /* Hall angle handler */
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char hldpath[32]; /* Hall devpath */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
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foc_angle_f32_t qenco; /* Qenco angle handler */
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char qedpath[32]; /* Qenco devpath */
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#endif
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};
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