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examples/foc: add options to run only the sensor alignment routine or the motor identification routine

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This commit is contained in:
raiden00pl 2022-08-27 12:38:18 +02:00 committed by Xiang Xiao
parent 7dbd02947e
commit 35c31e35c1
5 changed files with 101 additions and 6 deletions
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6
examples/foc/foc_main.c
View File

@ -163,6 +163,12 @@ static int validate_args(FAR struct args_s *args)
#endif #endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS #ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
args->mmode != FOC_MMODE_POS && args->mmode != FOC_MMODE_POS &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
args->mmode != FOC_MMODE_ALIGN_ONLY &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
args->mmode != FOC_MMODE_IDENT_ONLY &&
#endif #endif
1) 1)
{ {

40
examples/foc/foc_motor_b16.c
View File

@ -548,6 +548,18 @@ static int foc_motor_setpoint(FAR struct foc_motor_b16_s *motor, uint32_t sp)
} }
#endif #endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
case FOC_MMODE_ALIGN_ONLY:
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
case FOC_MMODE_IDENT_ONLY:
#endif
{
/* Do nothing */
break;
}
default: default:
{ {
PRINTF("ERROR: unsupported ctrl mode %d\n", motor->envp->mmode); PRINTF("ERROR: unsupported ctrl mode %d\n", motor->envp->mmode);
@ -995,7 +1007,23 @@ int foc_motor_init(FAR struct foc_motor_b16_s *motor,
/* Initialize controller state */ /* Initialize controller state */
motor->ctrl_state = FOC_CTRL_STATE_INIT; #ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
if (motor->envp->mmode == FOC_MMODE_ALIGN_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_ALIGN;
}
else
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
if (motor->envp->mmode == FOC_MMODE_IDENT_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_IDENT;
}
else
#endif
{
motor->ctrl_state = FOC_CTRL_STATE_INIT;
}
#if defined(CONFIG_EXAMPLES_FOC_SENSORED) || \ #if defined(CONFIG_EXAMPLES_FOC_SENSORED) || \
defined(CONFIG_EXAMPLES_FOC_HAVE_RUN) || \ defined(CONFIG_EXAMPLES_FOC_HAVE_RUN) || \
@ -1215,6 +1243,11 @@ int foc_motor_control(FAR struct foc_motor_b16_s *motor)
motor->ctrl_state += 1; motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE; motor->foc_mode = FOC_HANDLER_MODE_IDLE;
if (motor->envp->mmode == FOC_MMODE_ALIGN_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_TERMINATE;
}
} }
break; break;
@ -1239,6 +1272,11 @@ int foc_motor_control(FAR struct foc_motor_b16_s *motor)
motor->ctrl_state += 1; motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE; motor->foc_mode = FOC_HANDLER_MODE_IDLE;
if (motor->envp->mmode == FOC_MMODE_IDENT_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_TERMINATE;
}
} }
break; break;

40
examples/foc/foc_motor_f32.c
View File

@ -525,6 +525,18 @@ static int foc_motor_setpoint(FAR struct foc_motor_f32_s *motor, uint32_t sp)
} }
#endif #endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
case FOC_MMODE_ALIGN_ONLY:
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
case FOC_MMODE_IDENT_ONLY:
#endif
{
/* Do nothing */
break;
}
default: default:
{ {
PRINTF("ERROR: unsupported ctrl mode %d\n", motor->envp->mmode); PRINTF("ERROR: unsupported ctrl mode %d\n", motor->envp->mmode);
@ -977,7 +989,23 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
/* Initialize controller state */ /* Initialize controller state */
motor->ctrl_state = FOC_CTRL_STATE_INIT; #ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
if (motor->envp->mmode == FOC_MMODE_ALIGN_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_ALIGN;
}
else
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
if (motor->envp->mmode == FOC_MMODE_IDENT_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_IDENT;
}
else
#endif
{
motor->ctrl_state = FOC_CTRL_STATE_INIT;
}
#if defined(CONFIG_EXAMPLES_FOC_SENSORED) || \ #if defined(CONFIG_EXAMPLES_FOC_SENSORED) || \
defined(CONFIG_EXAMPLES_FOC_HAVE_RUN) || \ defined(CONFIG_EXAMPLES_FOC_HAVE_RUN) || \
@ -1197,6 +1225,11 @@ int foc_motor_control(FAR struct foc_motor_f32_s *motor)
motor->ctrl_state += 1; motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE; motor->foc_mode = FOC_HANDLER_MODE_IDLE;
if (motor->envp->mmode == FOC_MMODE_ALIGN_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_TERMINATE;
}
} }
break; break;
@ -1221,6 +1254,11 @@ int foc_motor_control(FAR struct foc_motor_f32_s *motor)
motor->ctrl_state += 1; motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE; motor->foc_mode = FOC_HANDLER_MODE_IDLE;
if (motor->envp->mmode == FOC_MMODE_IDENT_ONLY)
{
motor->ctrl_state = FOC_CTRL_STATE_TERMINATE;
}
} }
break; break;

7
examples/foc/foc_parseargs.c
View File

@ -93,6 +93,13 @@ static void foc_help(void)
PRINTF(" 1 - torqe control\n"); PRINTF(" 1 - torqe control\n");
PRINTF(" 2 - velocity control\n"); PRINTF(" 2 - velocity control\n");
PRINTF(" 3 - position control\n"); PRINTF(" 3 - position control\n");
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
PRINTF(" 4 - align only\n");
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
PRINTF(" 5 - ident only\n");
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ #ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
PRINTF(" [-r] torque [x1000]\n"); PRINTF(" [-r] torque [x1000]\n");
#endif #endif

14
examples/foc/foc_thr.h
View File

@ -63,15 +63,21 @@ enum foc_foc_mode_e
enum foc_motor_mode_e enum foc_motor_mode_e
{ {
FOC_MMODE_INVALID = 0, /* Reserved */ FOC_MMODE_INVALID = 0, /* Reserved */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ #ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
FOC_MMODE_TORQ = 1, /* Torque control */ FOC_MMODE_TORQ = 1, /* Torque control */
#endif #endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL #ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
FOC_MMODE_VEL = 2, /* Velocity control */ FOC_MMODE_VEL = 2, /* Velocity control */
#endif #endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS #ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
FOC_MMODE_POS = 3 /* Position control */ FOC_MMODE_POS = 3, /* Position control */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
FOC_MMODE_ALIGN_ONLY = 4, /* Sensor alignment only */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
FOC_MMODE_IDENT_ONLY = 5, /* Motor identification only */
#endif #endif
}; };