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examples/foc: add support for control loop performance measurements

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also format CMakeLists.txt
This commit is contained in:
raiden00pl 2023-10-20 16:31:27 +02:00 committed by Xiang Xiao
parent 73ab7dedd4
commit 9ba7092000
9 changed files with 233 additions and 32 deletions
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66
examples/foc/CMakeLists.txt
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@ -1,22 +1,22 @@
############################################################################
# ##############################################################################
# apps/examples/foc/CMakeLists.txt
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
# Licensed to the Apache Software Foundation (ASF) under one or more contributor
# license agreements. See the NOTICE file distributed with this work for
# additional information regarding copyright ownership. The ASF licenses this
# file to you under the Apache License, Version 2.0 (the "License"); you may not
# use this file except in compliance with the License. You may obtain a copy of
# the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
# License for the specific language governing permissions and limitations under
# the License.
#
############################################################################
# ##############################################################################
if(CONFIG_EXAMPLES_FOC)
nuttx_add_application(
@ -29,34 +29,36 @@ if(CONFIG_EXAMPLES_FOC)
PRIORITY
${CONFIG_EXAMPLES_FOC_PRIORITY})
set(CSRCS
foc_device.c
foc_mq.c
foc_thr.c
foc_intf.c)
set(CSRCS foc_device.c foc_mq.c foc_thr.c foc_intf.c)
if(CONFIG_BUILTIN)
list(APPEND CSRCS foc_parseargs.c)
endif()
if(CONFIG_BUILTIN)
list(APPEND CSRCS foc_parseargs.c)
endif()
# fixed16 support
# fixed16 support
if(CONFIG_INDUSTRY_FOC_FIXED16)
list(APPEND CSRCS foc_fixed16_thr.c foc_motor_b16.c)
endif()
if(CONFIG_INDUSTRY_FOC_FIXED16)
list(APPEND CSRCS foc_fixed16_thr.c foc_motor_b16.c)
endif()
# float32 support
# float32 support
if(CONFIG_INDUSTRY_FOC_FLOAT)
list(APPEND CSRCS foc_float_thr.c foc_motor_f32.c)
endif()
if(CONFIG_INDUSTRY_FOC_FLOAT)
list(APPEND CSRCS foc_float_thr.c foc_motor_f32.c)
endif()
# NxScope support
# NxScope support
if(CONFIG_EXAMPLES_FOC_NXSCOPE)
list(APPEND CSRCS foc_nxscope.c)
endif()
if(CONFIG_EXAMPLES_FOC_NXSCOPE)
list(APPEND CSRCS foc_nxscope.c)
endif()
target_sources(apps PRIVATE ${CSRCS})
# perf support
if(CONFIG_EXAMPLES_FOC_PERF)
list(APPEND CSRCS foc_perf.c)
endif()
target_sources(apps PRIVATE ${CSRCS})
endif()

4
examples/foc/Kconfig
View File

@ -43,6 +43,10 @@ config EXAMPLES_FOC_VERBOSE
default 1
range 0 2
config EXAMPLES_FOC_PERF
bool "Enable performance meassurements"
default n
choice
prompt "FOC current controller selection"
default EXAMPLES_FOC_CONTROL_PI

6
examples/foc/Makefile
View File

@ -56,4 +56,10 @@ ifeq ($(CONFIG_EXAMPLES_FOC_NXSCOPE),y)
CSRCS += foc_nxscope.c
endif
# perf support
ifeq ($(CONFIG_EXAMPLES_FOC_PERF),y)
CSRCS += foc_perf.c
endif
include $(APPDIR)/Application.mk

23
examples/foc/foc_device.c
View File

@ -90,6 +90,12 @@ int foc_device_init(FAR struct foc_device_s *dev, int id)
goto errout;
}
#ifdef CONFIG_EXAMPLES_FOC_PERF
/* Initialize perf */
foc_perf_init(&dev->perf);
#endif
errout:
return ret;
}
@ -138,6 +144,15 @@ int foc_device_start(FAR struct foc_device_s *dev, bool state)
PRINTFV("ERROR: foc_dev_start failed %d!\n", ret);
goto errout;
}
#ifdef CONFIG_EXAMPLES_FOC_PERF
/* Skip this cycle in stats. When the dev is started, many components
* are initialized, which significantly increases the cycle time and
* disturbs the statistics.
*/
foc_perf_skip(&dev->perf);
#endif
}
else
{
@ -172,6 +187,10 @@ int foc_dev_state_get(FAR struct foc_device_s *dev)
goto errout;
}
#ifdef CONFIG_EXAMPLES_FOC_PERF
foc_perf_start(&dev->perf);
#endif
errout:
return ret;
}
@ -195,6 +214,10 @@ int foc_dev_params_set(FAR struct foc_device_s *dev)
goto errout;
}
#ifdef CONFIG_EXAMPLES_FOC_PERF
foc_perf_end(&dev->perf);
#endif
errout:
return ret;
}

5
examples/foc/foc_device.h
View File

@ -27,6 +27,8 @@
#include <nuttx/config.h>
#include "foc_perf.h"
#include "industry/foc/foc_utils.h"
/****************************************************************************
@ -41,6 +43,9 @@ struct foc_device_s
struct foc_info_s info; /* FOC dev info */
struct foc_state_s state; /* FOC dev state */
struct foc_params_s params; /* FOC dev params */
#ifdef CONFIG_EXAMPLES_FOC_PERF
struct foc_perf_s perf; /* FOC dev perf */
#endif
};
/****************************************************************************

7
examples/foc/foc_fixed16_thr.c
View File

@ -498,6 +498,13 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
/* Increase counter */
motor.time += 1;
#ifdef CONFIG_EXAMPLES_FOC_PERF
if (dev.perf.max_changed)
{
PRINTF_PERF("max=%" PRId32 "\n", dev.perf.max);
}
#endif
}
errout:

7
examples/foc/foc_float_thr.c
View File

@ -511,6 +511,13 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
/* Increase counter */
motor.time += 1;
#ifdef CONFIG_EXAMPLES_FOC_PERF
if (dev.perf.max_changed)
{
PRINTF_PERF("max=%" PRId32 "\n", dev.perf.max);
}
#endif
}
errout:

90
examples/foc/foc_perf.c Normal file
View File

@ -0,0 +1,90 @@
/****************************************************************************
* apps/examples/foc/foc_perf.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <assert.h>
#include <stdbool.h>
#include <string.h>
#include <nuttx/clock.h>
#include "foc_perf.h"
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: foc_perf_init
****************************************************************************/
int foc_perf_init(struct foc_perf_s *p)
{
memset(p, 0, sizeof(struct foc_perf_s));
return OK;
}
/****************************************************************************
* Name: foc_perf_start
****************************************************************************/
void foc_perf_start(struct foc_perf_s *p)
{
p->now = perf_gettime();
}
/****************************************************************************
* Name: foc_perf_skip
****************************************************************************/
void foc_perf_skip(struct foc_perf_s *p)
{
p->skip = true;
}
/****************************************************************************
* Name: foc_perf_end
****************************************************************************/
void foc_perf_end(struct foc_perf_s *p)
{
p->now = perf_gettime() - p->now;
p->max_changed = false;
if (p->skip == false)
{
if (p->now > p->max)
{
p->max = p->now;
p->max_changed = true;
}
}
/* Reset skip flag */
p->skip = false;
}

57
examples/foc/foc_perf.h Normal file
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@ -0,0 +1,57 @@
/****************************************************************************
* apps/examples/foc/foc_perf.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef __APPS_EXAMPLES_FOC_FOC_PERF_H
#define __APPS_EXAMPLES_FOC_FOC_PERF_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define PRINTF_PERF(format, ...) printf(format, ##__VA_ARGS__)
/****************************************************************************
* Public Type Definition
****************************************************************************/
struct foc_perf_s
{
bool max_changed;
bool skip;
uint32_t max;
uint32_t now;
};
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
int foc_perf_init(struct foc_perf_s *p);
void foc_perf_start(struct foc_perf_s *p);
void foc_perf_skip(struct foc_perf_s *p);
void foc_perf_end(struct foc_perf_s *p);
#endif /* __APPS_EXAMPLES_FOC_FOC_PERF_H */