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examples/foc: control motor identification parameters from cmd line

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This commit is contained in:
raiden00pl 2022-10-22 19:41:34 +02:00 committed by Xiang Xiao
parent 682cac07d9
commit 13bfad1053
5 changed files with 99 additions and 10 deletions
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8
examples/foc/foc_cfg.h
View File

@ -236,6 +236,14 @@ struct foc_thr_cfg_s
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
uint32_t posmax; /* Position max (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
uint32_t ident_res_ki; /* Ident res Ki (x1000) */
uint32_t ident_res_curr; /* Ident res current (x1000) */
uint32_t ident_res_sec; /* Ident res sec */
uint32_t ident_ind_volt; /* Ident res voltage (x1000) */
uint32_t ident_ind_sec; /* Ident ind sec */
#endif
};
#endif /* __APPS_EXAMPLES_FOC_FOC_CFG_H */

7
examples/foc/foc_main.c
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@ -95,6 +95,13 @@ struct args_s g_args =
# ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
.posmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
# endif
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
.ident_res_ki = CONFIG_EXAMPLES_FOC_IDENT_RES_KI,
.ident_res_curr = CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT,
.ident_res_sec = CONFIG_EXAMPLES_FOC_IDENT_RES_SEC,
.ident_ind_volt = CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE,
.ident_ind_sec = CONFIG_EXAMPLES_FOC_IDENT_IND_SEC,
#endif
}
};

10
examples/foc/foc_motor_b16.c
View File

@ -988,16 +988,16 @@ int foc_motor_init(FAR struct foc_motor_b16_s *motor,
/* Initialize motor identification data */
ident_cfg.per = motor->per;
ident_cfg.res_current = ftob16(CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT /
ident_cfg.res_current = ftob16(motor->envp->cfg->ident_res_curr /
1000.0f);
ident_cfg.res_ki = ftob16(CONFIG_EXAMPLES_FOC_IDENT_RES_KI /
ident_cfg.res_ki = ftob16(motor->envp->cfg->ident_res_ki /
1000.0f);
ident_cfg.ind_volt = ftob16(CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE /
ident_cfg.ind_volt = ftob16(motor->envp->cfg->ident_ind_volt /
1000.0f);
ident_cfg.res_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ *
CONFIG_EXAMPLES_FOC_IDENT_RES_SEC / 1000);
motor->envp->cfg->ident_res_sec / 1000);
ident_cfg.ind_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ *
CONFIG_EXAMPLES_FOC_IDENT_IND_SEC / 1000);
motor->envp->cfg->ident_ind_sec / 1000);
ident_cfg.idle_steps = CONFIG_EXAMPLES_FOC_IDENT_IDLE;
ret = foc_routine_cfg_b16(&motor->ident, &ident_cfg);

10
examples/foc/foc_motor_f32.c
View File

@ -972,13 +972,13 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
/* Initialize motor identification data */
ident_cfg.per = motor->per;
ident_cfg.res_current = (CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT / 1000.0f);
ident_cfg.res_ki = (CONFIG_EXAMPLES_FOC_IDENT_RES_KI / 1000.0f);
ident_cfg.ind_volt = (CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE / 1000.0f);
ident_cfg.res_current = (motor->envp->cfg->ident_res_curr / 1000.0f);
ident_cfg.res_ki = (motor->envp->cfg->ident_res_ki / 1000.0f);
ident_cfg.ind_volt = (motor->envp->cfg->ident_ind_volt / 1000.0f);
ident_cfg.res_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ * \
CONFIG_EXAMPLES_FOC_IDENT_RES_SEC / 1000);
motor->envp->cfg->ident_res_sec / 1000);
ident_cfg.ind_steps = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ * \
CONFIG_EXAMPLES_FOC_IDENT_IND_SEC / 1000);
motor->envp->cfg->ident_ind_sec / 1000);
ident_cfg.idle_steps = CONFIG_EXAMPLES_FOC_IDENT_IDLE;
ret = foc_routine_cfg_f32(&motor->ident, &ident_cfg);

74
examples/foc/foc_parseargs.c
View File

@ -39,6 +39,12 @@
#define OPT_FKI (SCHAR_MAX + 1)
#define OPT_FKP (SCHAR_MAX + 2)
#define OPT_IRKI (SCHAR_MAX + 3)
#define OPT_IRC (SCHAR_MAX + 4)
#define OPT_IRS (SCHAR_MAX + 5)
#define OPT_IIV (SCHAR_MAX + 6)
#define OPT_IIS (SCHAR_MAX + 7)
/****************************************************************************
* Private Data
****************************************************************************/
@ -66,6 +72,13 @@ static struct option g_long_options[] =
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
{ "fkp", required_argument, 0, OPT_FKP },
{ "fki", required_argument, 0, OPT_FKI },
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
{ "irki", required_argument, 0, OPT_IRKI },
{ "irc", required_argument, 0, OPT_IRC },
{ "irs", required_argument, 0, OPT_IRS },
{ "iiv", required_argument, 0, OPT_IIV },
{ "iis", required_argument, 0, OPT_IIS },
#endif
{ 0, 0, 0, 0 }
};
@ -127,6 +140,18 @@ static void foc_help(void)
PRINTF(" [--fkp] PI Ki coefficient [x1000] (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDQ_KI);
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
PRINTF(" [--irki] res Ki coefficient [x1000] (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDENT_RES_KI);
PRINTF(" [--irc] res current [x1000] (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT);
PRINTF(" [--irs] res sec (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDENT_RES_SEC);
PRINTF(" [--iiv] ind voltage [x1000] (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE);
PRINTF(" [--iis] ind sec (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDENT_IND_SEC);
#endif
}
/****************************************************************************
@ -168,6 +193,38 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
case OPT_IRKI:
{
args->cfg.ident_res_ki = atoi(optarg);
break;
}
case OPT_IRC:
{
args->cfg.ident_res_curr = atoi(optarg);
break;
}
case OPT_IRS:
{
args->cfg.ident_res_sec = atoi(optarg);
break;
}
case OPT_IIV:
{
args->cfg.ident_ind_volt = atoi(optarg);
break;
}
case OPT_IIS:
{
args->cfg.ident_ind_sec = atoi(optarg);
break;
}
#endif
case 't':
{
args->time = atoi(optarg);
@ -327,6 +384,23 @@ int validate_args(FAR struct args_s *args)
goto errout;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
/* Motor identification parameters */
if (args->cfg.ident_res_ki == 0 || args->cfg.ident_res_curr == 0 ||
args->cfg.ident_res_sec == 0)
{
PRINTF("ERROR: missing motor res ident configuration\n");
goto errout;
}
if (args->cfg.ident_ind_volt == 0 || args->cfg.ident_ind_sec == 0)
{
PRINTF("ERROR: missing motor ind ident configuration\n");
goto errout;
}
#endif
/* Otherwise OK */
ret = OK;