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examples/foc: improve the readability of the motor structures

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This commit is contained in:
raiden00pl 2023-05-16 12:49:30 +02:00 committed by Xiang Xiao
parent 28973a37b3
commit 111e02dbdb
2 changed files with 100 additions and 54 deletions
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73
examples/foc/foc_motor_b16.h
View File

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

73
examples/foc/foc_motor_f32.h
View File

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