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examples/foc: configure acceleration and deceleration from command line

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This commit is contained in:
raiden00pl 2023-10-13 21:12:44 +02:00 committed by Xiang Xiao
parent 518b1aea61
commit 8568439b80
5 changed files with 29 additions and 7 deletions
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4
examples/foc/foc_cfg.h
View File

@ -117,8 +117,6 @@
/* Velocity ramp configuration */
#define RAMP_CFG_THR (CONFIG_EXAMPLES_FOC_RAMP_THR / 1000.0f)
#define RAMP_CFG_ACC (CONFIG_EXAMPLES_FOC_RAMP_ACC / 1000.0f)
#define RAMP_CFG_DEC (CONFIG_EXAMPLES_FOC_RAMP_DEC / 1000.0f)
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
@ -239,6 +237,8 @@ struct foc_thr_cfg_s
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
uint32_t velmax; /* Velocity max (x1000) */
uint32_t acc; /* Acceleration (x1000) */
uint32_t dec; /* Deceleration (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
uint32_t posmax; /* Position max (x1000) */

4
examples/foc/foc_main.c
View File

@ -107,6 +107,10 @@ struct args_s g_args =
.posmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
# endif
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
.acc = CONFIG_EXAMPLES_FOC_RAMP_ACC,
.dec = CONFIG_EXAMPLES_FOC_RAMP_DEC,
#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,

4
examples/foc/foc_motor_b16.c
View File

@ -307,8 +307,8 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s *motor)
ret = foc_ramp_init_b16(&motor->ramp,
motor->per,
ftob16(RAMP_CFG_THR),
ftob16(RAMP_CFG_ACC),
ftob16(RAMP_CFG_ACC));
ftob16((motor->envp->cfg->acc / 1000.0f)),
ftob16((motor->envp->cfg->dec / 1000.0f)));
if (ret < 0)
{
PRINTF("ERROR: foc_ramp_init failed %d\n", ret);

4
examples/foc/foc_motor_f32.c
View File

@ -307,8 +307,8 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s *motor)
ret = foc_ramp_init_f32(&motor->ramp,
motor->per,
RAMP_CFG_THR,
RAMP_CFG_ACC,
RAMP_CFG_ACC);
(motor->envp->cfg->acc / 1000.0f),
(motor->envp->cfg->dec / 1000.0f));
if (ret < 0)
{
PRINTF("ERROR: foc_ramp_init failed %d\n", ret);

20
examples/foc/foc_parseargs.c
View File

@ -76,6 +76,8 @@ static struct option g_long_options[] =
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
{ "vel", required_argument, 0, 'v' },
{ "acc", required_argument, 0, 'a' },
{ "dec", required_argument, 0, 'd' },
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
{ "pos", required_argument, 0, 'x' },
@ -157,6 +159,10 @@ static void foc_help(FAR struct args_s *args)
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
PRINTF(" [-v] velocity [x1000]\n");
PRINTF(" [-a] acceleration [x1000] (default: %" PRId32 ")\n",
args->cfg.acc);
PRINTF(" [-d] deceleration [x1000] (default: %" PRId32 ")\n",
args->cfg.dec);
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
PRINTF(" [-x] position [x1000]\n");
@ -238,7 +244,7 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
while (1)
{
c = getopt_long(argc, argv, "ht:f:m:o:r:v:x:s:j:", g_long_options,
c = getopt_long(argc, argv, "ht:f:m:o:r:v:a:d:x:s:j:", g_long_options,
&option_index);
if (c == -1)
@ -388,6 +394,18 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
args->cfg.velmax = atoi(optarg);
break;
}
case 'a':
{
args->cfg.acc = atoi(optarg);
break;
}
case 'd':
{
args->cfg.dec = atoi(optarg);
break;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS