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examples/foc: move validate_args to parseargs file

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This commit is contained in:
raiden00pl 2022-10-22 19:16:48 +02:00 committed by Xiang Xiao
parent 2c5dc1e4a2
commit 2bbfb1b396
3 changed files with 86 additions and 81 deletions
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81
examples/foc/foc_main.c
View File

@ -71,12 +71,10 @@ struct args_s g_args =
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
.qparam = CONFIG_EXAMPLES_FOC_OPENLOOP_Q,
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
.foc_pi_kp = CONFIG_EXAMPLES_FOC_IDQ_KP,
.foc_pi_ki = CONFIG_EXAMPLES_FOC_IDQ_KI,
#endif
#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
# ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
.torqmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
@ -105,85 +103,6 @@ struct args_s g_args =
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: validate_args
****************************************************************************/
static int validate_args(FAR struct args_s *args)
{
int ret = -EINVAL;
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
/* Current PI controller */
if (args->cfg.foc_pi_kp == 0 && args->cfg.foc_pi_ki == 0)
{
PRINTF("ERROR: missing FOC Kp/Ki configuration\n");
goto errout;
}
#endif
/* FOC operation mode */
if (args->cfg.fmode != FOC_FMODE_IDLE &&
args->cfg.fmode != FOC_FMODE_VOLTAGE &&
args->cfg.fmode != FOC_FMODE_CURRENT)
{
PRINTF("Invalid op mode value %d s\n", args->cfg.fmode);
goto errout;
}
/* Example control mode */
if (
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
args->cfg.mmode != FOC_MMODE_TORQ &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
args->cfg.mmode != FOC_MMODE_VEL &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
args->cfg.mmode != FOC_MMODE_POS &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
args->cfg.mmode != FOC_MMODE_ALIGN_ONLY &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
args->cfg.mmode != FOC_MMODE_IDENT_ONLY &&
#endif
1)
{
PRINTF("Invalid ctrl mode value %d s\n", args->cfg.mmode);
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 */
ret = OK;
errout:
return ret;
}
/****************************************************************************
* Name: foc_mq_send
****************************************************************************/

80
examples/foc/foc_parseargs.c
View File

@ -29,6 +29,7 @@
#include <getopt.h>
#include "foc_debug.h"
#include "foc_thr.h"
#include "foc_parseargs.h"
/****************************************************************************
@ -254,3 +255,82 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
}
}
}
/****************************************************************************
* Name: validate_args
****************************************************************************/
int validate_args(FAR struct args_s *args)
{
int ret = -EINVAL;
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
/* Current PI controller */
if (args->cfg.foc_pi_kp == 0 && args->cfg.foc_pi_ki == 0)
{
PRINTF("ERROR: missing FOC Kp/Ki configuration\n");
goto errout;
}
#endif
/* FOC operation mode */
if (args->cfg.fmode != FOC_FMODE_IDLE &&
args->cfg.fmode != FOC_FMODE_VOLTAGE &&
args->cfg.fmode != FOC_FMODE_CURRENT)
{
PRINTF("Invalid op mode value %d s\n", args->cfg.fmode);
goto errout;
}
/* Example control mode */
if (
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
args->cfg.mmode != FOC_MMODE_TORQ &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
args->cfg.mmode != FOC_MMODE_VEL &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
args->cfg.mmode != FOC_MMODE_POS &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
args->cfg.mmode != FOC_MMODE_ALIGN_ONLY &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
args->cfg.mmode != FOC_MMODE_IDENT_ONLY &&
#endif
1)
{
PRINTF("Invalid ctrl mode value %d s\n", args->cfg.mmode);
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 */
ret = OK;
errout:
return ret;
}

6
examples/foc/foc_parseargs.h
View File

@ -62,4 +62,10 @@ struct args_s
void parse_args(FAR struct args_s *args, int argc, FAR char **argv);
/****************************************************************************
* Name: validate_args
****************************************************************************/
int validate_args(FAR struct args_s *args);
#endif /* __APPS_EXAMPLES_FOC_FOC_THR_H */