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examples/foc/foc_motor: store the configured FOC run mode in a separate variable

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The controller mode can change during example execution and depends on the thread state (IDENT [not yet upstream] / ALIGN / RUN)
This commit is contained in:
raiden00pl 2022-02-16 17:43:58 +01:00 committed by Petro Karashchenko
parent b1276ea1b4
commit 95b1625a6d
4 changed files with 89 additions and 15 deletions
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50
examples/foc/foc_motor_b16.c
View File

@ -145,19 +145,19 @@ static int foc_runmode_init(FAR struct foc_motor_b16_s *motor)
{
case FOC_FMODE_IDLE:
{
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
motor->foc_mode_run = FOC_HANDLER_MODE_IDLE;
break;
}
case FOC_FMODE_VOLTAGE:
{
motor->foc_mode = FOC_HANDLER_MODE_VOLTAGE;
motor->foc_mode_run = FOC_HANDLER_MODE_VOLTAGE;
break;
}
case FOC_FMODE_CURRENT:
{
motor->foc_mode = FOC_HANDLER_MODE_CURRENT;
motor->foc_mode_run = FOC_HANDLER_MODE_CURRENT;
break;
}
@ -169,7 +169,7 @@ static int foc_runmode_init(FAR struct foc_motor_b16_s *motor)
}
}
/* Force open-loop if sensorlesss */
/* Force open-loop if sensorless */
#ifdef CONFIG_EXAMPLES_FOC_SENSORLESS
# ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
@ -585,6 +585,18 @@ errout:
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
/****************************************************************************
* Name: foc_motor_run_init
****************************************************************************/
static int foc_motor_run_init(FAR struct foc_motor_b16_s *motor)
{
/* Empty for now */
return OK;
}
/****************************************************************************
* Name: foc_motor_run
****************************************************************************/
@ -728,6 +740,21 @@ int foc_motor_init(FAR struct foc_motor_b16_s *motor,
motor->per = b16divi(b16ONE, CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ);
motor->iphase_adc = ftob16((CONFIG_EXAMPLES_FOC_IPHASE_ADC) / 100000.0f);
#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
/* Initialize controller run mode */
ret = foc_runmode_init(motor);
if (ret < 0)
{
PRINTF("ERROR: foc_runmode_init failed %d!\n", ret);
goto errout;
}
#endif
/* Start with FOC IDLE mode */
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
/* Initialize open-loop angle handler */
@ -844,7 +871,7 @@ int foc_motor_init(FAR struct foc_motor_b16_s *motor,
motor->ctrl_state = FOC_CTRL_STATE_INIT;
#ifdef CONFIG_EXAMPLES_FOC_SENSORED
#if defined(CONFIG_EXAMPLES_FOC_SENSORED) || defined(CONFIG_EXAMPLES_FOC_HAVE_RUN)
errout:
#endif
return ret;
@ -1050,22 +1077,29 @@ int foc_motor_control(FAR struct foc_motor_b16_s *motor)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
case FOC_CTRL_STATE_RUN_INIT:
{
/* Initialize run controller mode */
/* Initialize controller run mode */
ret = foc_runmode_init(motor);
ret = foc_motor_run_init(motor);
if (ret < 0)
{
PRINTF("ERROR: foc_runmode_init failed %d!\n", ret);
PRINTF("ERROR: foc_motor_run_init failed %d!\n", ret);
goto errout;
}
/* Next state */
motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
break;
}
case FOC_CTRL_STATE_RUN:
{
/* Get FOC run mode */
motor->foc_mode = motor->foc_mode_run;
/* Run motor */
ret = foc_motor_run(motor);

3
examples/foc/foc_motor_b16.h
View File

@ -80,6 +80,9 @@ struct foc_motor_b16_s
foc_angle_b16_t qenco; /* Qenco angle handler */
#endif
int foc_mode; /* FOC mode */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
int foc_mode_run; /* FOC mode for run state */
#endif
int ctrl_state; /* Controller state */
b16_t vbus; /* Power bus voltage */
b16_t angle_now; /* Phase angle now */

48
examples/foc/foc_motor_f32.c
View File

@ -145,19 +145,19 @@ static int foc_runmode_init(FAR struct foc_motor_f32_s *motor)
{
case FOC_FMODE_IDLE:
{
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
motor->foc_mode_run = FOC_HANDLER_MODE_IDLE;
break;
}
case FOC_FMODE_VOLTAGE:
{
motor->foc_mode = FOC_HANDLER_MODE_VOLTAGE;
motor->foc_mode_run = FOC_HANDLER_MODE_VOLTAGE;
break;
}
case FOC_FMODE_CURRENT:
{
motor->foc_mode = FOC_HANDLER_MODE_CURRENT;
motor->foc_mode_run = FOC_HANDLER_MODE_CURRENT;
break;
}
@ -569,6 +569,18 @@ errout:
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
/****************************************************************************
* Name: foc_motor_run_init
****************************************************************************/
static int foc_motor_run_init(FAR struct foc_motor_f32_s *motor)
{
/* Empty for now */
return OK;
}
/****************************************************************************
* Name: foc_motor_run
****************************************************************************/
@ -712,6 +724,21 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
motor->per = (float)(1.0f / CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ);
motor->iphase_adc = ((CONFIG_EXAMPLES_FOC_IPHASE_ADC) / 100000.0f);
#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
/* Initialize controller run mode */
ret = foc_runmode_init(motor);
if (ret < 0)
{
PRINTF("ERROR: foc_runmode_init failed %d!\n", ret);
goto errout;
}
#endif
/* Start with FOC IDLE mode */
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
/* Initialize open-loop angle handler */
@ -828,7 +855,7 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
motor->ctrl_state = FOC_CTRL_STATE_INIT;
#ifdef CONFIG_EXAMPLES_FOC_SENSORED
#if defined(CONFIG_EXAMPLES_FOC_SENSORED) || defined(CONFIG_EXAMPLES_FOC_HAVE_RUN)
errout:
#endif
return ret;
@ -1045,22 +1072,29 @@ int foc_motor_control(FAR struct foc_motor_f32_s *motor)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
case FOC_CTRL_STATE_RUN_INIT:
{
/* Initialize run controller mode */
/* Initialize controller run mode */
ret = foc_runmode_init(motor);
ret = foc_motor_run_init(motor);
if (ret < 0)
{
PRINTF("ERROR: foc_runmode_init failed %d!\n", ret);
PRINTF("ERROR: foc_motor_run_init failed %d!\n", ret);
goto errout;
}
/* Next state */
motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
break;
}
case FOC_CTRL_STATE_RUN:
{
/* Get FOC run mode */
motor->foc_mode = motor->foc_mode_run;
/* Run motor */
ret = foc_motor_run(motor);

3
examples/foc/foc_motor_f32.h
View File

@ -80,6 +80,9 @@ struct foc_motor_f32_s
foc_angle_f32_t qenco; /* Qenco angle handler */
#endif
int foc_mode; /* FOC mode */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
int foc_mode_run; /* FOC mode for run state */
#endif
int ctrl_state; /* Controller state */
float vbus; /* Power bus voltage */
float angle_now; /* Phase angle now */