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examples/foc: replace CONFIG_INDUSTRY_FOC_* with CONFIG_EXAMPLES_FOC_*

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Decouple the FOC example configuration from the FOC lib configuration.
Purely cosmetic change, without affecting functionality.
This commit is contained in:
raiden00pl 2023-11-18 10:28:58 +01:00 committed by Xiang Xiao
parent d589443980
commit 27588be53e
10 changed files with 35 additions and 25 deletions
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10
examples/foc/Kconfig
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@ -47,6 +47,16 @@ config EXAMPLES_FOC_PERF
bool "Enable performance meassurements" bool "Enable performance meassurements"
default n default n
choice
prompt "FOC modulation selection"
default EXAMPLES_FOC_MODULATION_SVM3
config EXAMPLES_FOC_MODULATION_SVM3
bool "FOC use SVM3"
select INDUSTRY_FOC_MODULATION_SVM3
endchoice # FOC modulation selection
choice choice
prompt "FOC current controller selection" prompt "FOC current controller selection"
default EXAMPLES_FOC_CONTROL_PI default EXAMPLES_FOC_CONTROL_PI

6
examples/foc/foc_cfg.h
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@ -66,8 +66,8 @@
# ifndef CONFIG_EXAMPLES_FOC_HAVE_VEL # ifndef CONFIG_EXAMPLES_FOC_HAVE_VEL
# error open-loop needs CONFIG_EXAMPLES_FOC_HAVE_VEL set # error open-loop needs CONFIG_EXAMPLES_FOC_HAVE_VEL set
# endif # endif
# ifndef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP # ifndef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
# error open-loop needs CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP # error open-loop needs CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
# endif # endif
#endif #endif
@ -276,7 +276,7 @@ struct foc_thr_cfg_s
uint32_t vel_pi_ki; /* Vel controller PI Ki (x1000000) */ uint32_t vel_pi_ki; /* Vel controller PI Ki (x1000000) */
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO #ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO
uint32_t ang_nfo_slow; /* Ang NFO slow gain (x1) */ uint32_t ang_nfo_slow; /* Ang NFO slow gain (x1) */
uint32_t ang_nfo_gain; /* Ang NFO gain (x1) */ uint32_t ang_nfo_gain; /* Ang NFO gain (x1) */
#endif #endif

2
examples/foc/foc_main.c
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@ -133,7 +133,7 @@ struct args_s g_args =
.vel_pi_kp = CONFIG_EXAMPLES_FOC_VELCTRL_PI_KP, .vel_pi_kp = CONFIG_EXAMPLES_FOC_VELCTRL_PI_KP,
.vel_pi_ki = CONFIG_EXAMPLES_FOC_VELCTRL_PI_KI, .vel_pi_ki = CONFIG_EXAMPLES_FOC_VELCTRL_PI_KI,
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO #ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO
.ang_nfo_slow = CONFIG_EXAMPLES_FOC_ANGOBS_NFO_GAINSLOW, .ang_nfo_slow = CONFIG_EXAMPLES_FOC_ANGOBS_NFO_GAINSLOW,
.ang_nfo_gain = CONFIG_EXAMPLES_FOC_ANGOBS_NFO_GAIN, .ang_nfo_gain = CONFIG_EXAMPLES_FOC_ANGOBS_NFO_GAIN,
#endif #endif

6
examples/foc/foc_motor_b16.c
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@ -292,7 +292,7 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s *motor)
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI #ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
struct foc_initdata_b16_s ctrl_cfg; struct foc_initdata_b16_s ctrl_cfg;
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3 #ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
struct foc_mod_cfg_b16_s mod_cfg; struct foc_mod_cfg_b16_s mod_cfg;
#endif #endif
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
@ -327,7 +327,7 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s *motor)
/* Get FOC modulation */ /* Get FOC modulation */
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3 #ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
foc_mod = &g_foc_mod_svm3_b16; foc_mod = &g_foc_mod_svm3_b16;
#else #else
# error FOC modulation not selected # error FOC modulation not selected
@ -358,7 +358,7 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s *motor)
ctrl_cfg.iq_ki = ftob16(motor->envp->cfg->foc_pi_ki / 1000.0f); ctrl_cfg.iq_ki = ftob16(motor->envp->cfg->foc_pi_ki / 1000.0f);
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3 #ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
/* Get SVM3 modulation configuration */ /* Get SVM3 modulation configuration */
mod_cfg.pwm_duty_max = motor->pwm_duty_max; mod_cfg.pwm_duty_max = motor->pwm_duty_max;

2
examples/foc/foc_motor_b16.h
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@ -80,7 +80,7 @@ struct foc_motor_b16_s
/* FOC data ***************************************************************/ /* FOC data ***************************************************************/
struct foc_state_b16_s foc_state; /* FOC controller sate */ struct foc_state_b16_s foc_state; /* FOC controller sate */
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3 #ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
struct svm3_state_b16_s mod_state; /* Modulation state */ struct svm3_state_b16_s mod_state; /* Modulation state */
#endif #endif
foc_handler_b16_t handler; /* FOC controller */ foc_handler_b16_t handler; /* FOC controller */

6
examples/foc/foc_motor_f32.c
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@ -292,7 +292,7 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s *motor)
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI #ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
struct foc_initdata_f32_s ctrl_cfg; struct foc_initdata_f32_s ctrl_cfg;
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3 #ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
struct foc_mod_cfg_f32_s mod_cfg; struct foc_mod_cfg_f32_s mod_cfg;
#endif #endif
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
@ -327,7 +327,7 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s *motor)
/* Get FOC modulation */ /* Get FOC modulation */
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3 #ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
foc_mod = &g_foc_mod_svm3_f32; foc_mod = &g_foc_mod_svm3_f32;
#else #else
# error FOC modulation not selected # error FOC modulation not selected
@ -356,7 +356,7 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s *motor)
ctrl_cfg.iq_ki = (motor->envp->cfg->foc_pi_ki / 1000.0f); ctrl_cfg.iq_ki = (motor->envp->cfg->foc_pi_ki / 1000.0f);
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3 #ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
/* Get SVM3 modulation configuration */ /* Get SVM3 modulation configuration */
mod_cfg.pwm_duty_max = motor->pwm_duty_max; mod_cfg.pwm_duty_max = motor->pwm_duty_max;

2
examples/foc/foc_motor_f32.h
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@ -80,7 +80,7 @@ struct foc_motor_f32_s
/* FOC data ***************************************************************/ /* FOC data ***************************************************************/
struct foc_state_f32_s foc_state; /* FOC controller sate */ struct foc_state_f32_s foc_state; /* FOC controller sate */
#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3 #ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
struct svm3_state_f32_s mod_state; /* Modulation state */ struct svm3_state_f32_s mod_state; /* Modulation state */
#endif #endif
foc_handler_f32_t handler; /* FOC controller */ foc_handler_f32_t handler; /* FOC controller */

4
examples/foc/foc_nxscope.c
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@ -158,7 +158,7 @@ int foc_nxscope_init(FAR struct foc_nxscope_s *nxs)
switch (foc_thread_type(j)) switch (foc_thread_type(j))
{ {
#ifdef CONFIG_INDUSTRY_FOC_FLOAT #if CONFIG_EXAMPLES_FOC_FLOAT_INST > 0
case FOC_NUMBER_TYPE_FLOAT: case FOC_NUMBER_TYPE_FLOAT:
{ {
u.s.dtype = NXSCOPE_TYPE_FLOAT; u.s.dtype = NXSCOPE_TYPE_FLOAT;
@ -166,7 +166,7 @@ int foc_nxscope_init(FAR struct foc_nxscope_s *nxs)
} }
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_FIXED16 #if CONFIG_EXAMPLES_FOC_FIXED16_INST > 0
case FOC_NUMBER_TYPE_FIXED16: case FOC_NUMBER_TYPE_FIXED16:
{ {
u.s.dtype = NXSCOPE_TYPE_B16; u.s.dtype = NXSCOPE_TYPE_B16;

6
examples/foc/foc_parseargs.c
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@ -115,7 +115,7 @@ static struct option g_long_options[] =
{ "vcpikp", required_argument, 0, OPT_VCPIKP }, { "vcpikp", required_argument, 0, OPT_VCPIKP },
{ "vcpiki", required_argument, 0, OPT_VCPIKI }, { "vcpiki", required_argument, 0, OPT_VCPIKI },
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO #ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO
{ "anfos", required_argument, 0, OPT_ANFOS }, { "anfos", required_argument, 0, OPT_ANFOS },
{ "anfog", required_argument, 0, OPT_ANFOG }, { "anfog", required_argument, 0, OPT_ANFOG },
#endif #endif
@ -221,7 +221,7 @@ static void foc_help(FAR struct args_s *args)
PRINTF(" [--vcpiki] velctrl PI Ki [x1000000] (default: %" PRId32 ")\n", PRINTF(" [--vcpiki] velctrl PI Ki [x1000000] (default: %" PRId32 ")\n",
args->cfg.vel_pi_ki); args->cfg.vel_pi_ki);
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO #ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO
PRINTF(" [--anfos] angobs NFO Slow [x1] (default: %" PRId32 ")\n", PRINTF(" [--anfos] angobs NFO Slow [x1] (default: %" PRId32 ")\n",
args->cfg.ang_nfo_slow); args->cfg.ang_nfo_slow);
PRINTF(" [--anfog] angobs NFO Gain [x1] (default: %" PRId32 ")\n", PRINTF(" [--anfog] angobs NFO Gain [x1] (default: %" PRId32 ")\n",
@ -342,7 +342,7 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
} }
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO #ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO
case OPT_ANFOS: case OPT_ANFOS:
{ {
args->cfg.ang_nfo_slow = atoi(optarg); args->cfg.ang_nfo_slow = atoi(optarg);

16
examples/foc/foc_thr.c
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@ -54,11 +54,11 @@
* Extern Functions Prototypes * Extern Functions Prototypes
****************************************************************************/ ****************************************************************************/
#ifdef CONFIG_INDUSTRY_FOC_FLOAT #if CONFIG_EXAMPLES_FOC_FLOAT_INST > 0
extern int foc_float_thr(FAR struct foc_ctrl_env_s *envp); extern int foc_float_thr(FAR struct foc_ctrl_env_s *envp);
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_FIXED16 #if CONFIG_EXAMPLES_FOC_FIXED16_INST > 0
extern int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp); extern int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp);
#endif #endif
@ -69,10 +69,10 @@ extern int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp);
pthread_mutex_t g_cntr_lock; pthread_mutex_t g_cntr_lock;
static uint32_t g_foc_thr = 0; static uint32_t g_foc_thr = 0;
#ifdef CONFIG_INDUSTRY_FOC_FLOAT #if CONFIG_EXAMPLES_FOC_FLOAT_INST > 0
static int g_float_thr_cntr = 0; static int g_float_thr_cntr = 0;
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_FIXED16 #if CONFIG_EXAMPLES_FOC_FIXED16_INST > 0
static int g_fixed16_thr_cntr = 0; static int g_fixed16_thr_cntr = 0;
#endif #endif
@ -142,7 +142,7 @@ static FAR void *foc_control_thr(FAR void *arg)
switch (envp->type) switch (envp->type)
{ {
#ifdef CONFIG_INDUSTRY_FOC_FLOAT #if CONFIG_EXAMPLES_FOC_FLOAT_INST > 0
case FOC_NUMBER_TYPE_FLOAT: case FOC_NUMBER_TYPE_FLOAT:
{ {
pthread_mutex_lock(&g_cntr_lock); pthread_mutex_lock(&g_cntr_lock);
@ -164,7 +164,7 @@ static FAR void *foc_control_thr(FAR void *arg)
} }
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_FIXED16 #if CONFIG_EXAMPLES_FOC_FIXED16_INST > 0
case FOC_NUMBER_TYPE_FIXED16: case FOC_NUMBER_TYPE_FIXED16:
{ {
pthread_mutex_lock(&g_cntr_lock); pthread_mutex_lock(&g_cntr_lock);
@ -290,14 +290,14 @@ int foc_thread_type(int id)
{ {
int ret = -1; int ret = -1;
#ifdef CONFIG_INDUSTRY_FOC_FLOAT #if CONFIG_EXAMPLES_FOC_FLOAT_INST > 0
if (id < CONFIG_EXAMPLES_FOC_FLOAT_INST) if (id < CONFIG_EXAMPLES_FOC_FLOAT_INST)
{ {
ret = FOC_NUMBER_TYPE_FLOAT; ret = FOC_NUMBER_TYPE_FLOAT;
} }
#endif #endif
#ifdef CONFIG_INDUSTRY_FOC_FIXED16 #if CONFIG_EXAMPLES_FOC_FIXED16_INST > 0
if (id < CONFIG_EXAMPLES_FOC_FLOAT_INST + CONFIG_EXAMPLES_FOC_FIXED16_INST) if (id < CONFIG_EXAMPLES_FOC_FLOAT_INST + CONFIG_EXAMPLES_FOC_FIXED16_INST)
{ {
ret = FOC_NUMBER_TYPE_FIXED16; ret = FOC_NUMBER_TYPE_FIXED16;