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industrial/foc: add an interface that returns the modulation state

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Useful for debugging and demonstrating FOC operation
This commit is contained in:
raiden00pl 2023-10-04 11:40:55 +02:00 committed by Xiang Xiao
parent 97e2be0033
commit a56f0922c5
8 changed files with 108 additions and 12 deletions
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4
examples/foc/foc_fixed16_thr.c
View File

@ -127,7 +127,9 @@ static int foc_handler_run(FAR struct foc_motor_b16_s *motor,
/* Get FOC handler state */
foc_handler_state_b16(&motor->handler, &motor->foc_state);
foc_handler_state_b16(&motor->handler,
&motor->foc_state,
NULL);
return ret;
}

4
examples/foc/foc_float_thr.c
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@ -127,7 +127,9 @@ static int foc_handler_run(FAR struct foc_motor_f32_s *motor,
/* Get FOC handler state */
foc_handler_state_f32(&motor->handler, &motor->foc_state);
foc_handler_state_f32(&motor->handler,
&motor->foc_state,
NULL);
return ret;
}

8
include/industry/foc/fixed16/foc_handler.h
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@ -104,6 +104,11 @@ struct foc_modulation_ops_b16_s
CODE void (*run)(FAR foc_handler_b16_t *h,
FAR ab_frame_b16_t *v_ab_mod,
FAR b16_t *duty);
/* Get modulation state */
CODE void (*state_get)(FAR foc_handler_b16_t *h,
FAR void *state);
};
/* Current/voltage controller operations */
@ -235,7 +240,8 @@ void foc_handler_cfg_b16(FAR foc_handler_b16_t *h,
****************************************************************************/
void foc_handler_state_b16(FAR foc_handler_b16_t *h,
FAR struct foc_state_b16_s *state);
FAR struct foc_state_b16_s *state,
FAR void *mod_state);
#ifdef CONFIG_INDUSTRY_FOC_HANDLER_PRINT
/****************************************************************************

8
include/industry/foc/float/foc_handler.h
View File

@ -104,6 +104,11 @@ struct foc_modulation_ops_f32_s
CODE void (*run)(FAR foc_handler_f32_t *h,
FAR ab_frame_f32_t *v_ab_mod,
FAR float *duty);
/* Get modulation state */
CODE void (*state_get)(FAR foc_handler_f32_t *h,
FAR void *state);
};
/* Current/voltage controller operations */
@ -236,7 +241,8 @@ void foc_handler_cfg_f32(FAR foc_handler_f32_t *h,
****************************************************************************/
void foc_handler_state_f32(FAR foc_handler_f32_t *h,
FAR struct foc_state_f32_s *state);
FAR struct foc_state_f32_s *state,
FAR void *mod_state);
#ifdef CONFIG_INDUSTRY_FOC_HANDLER_PRINT
/****************************************************************************

13
industry/foc/fixed16/foc_handler.c
View File

@ -310,18 +310,25 @@ errout:
* Get FOC handler state (fixed16)
*
* Input Parameter:
* h - pointer to FOC handler
* state - pointer to FOC state data
* h - pointer to FOC handler
* state - pointer to FOC state data
* mod_state - pointer to modulation state data (optional)
*
****************************************************************************/
void foc_handler_state_b16(FAR foc_handler_b16_t *h,
FAR struct foc_state_b16_s *state)
FAR struct foc_state_b16_s *state,
FAR void *mod_state)
{
DEBUGASSERT(h);
DEBUGASSERT(state);
h->ops.ctrl->state_get(h, state);
if (mod_state)
{
h->ops.mod->state_get(h, mod_state);
}
}
#ifdef CONFIG_INDUSTRY_FOC_HANDLER_PRINT

35
industry/foc/fixed16/foc_svm3.c
View File

@ -73,6 +73,8 @@ static void foc_modulation_vbase_get_b16(FAR foc_handler_b16_t *h,
static void foc_modulation_run_b16(FAR foc_handler_b16_t *h,
FAR ab_frame_b16_t *v_ab_mod,
FAR b16_t *duty);
static void foc_modulation_state_b16(FAR foc_handler_b16_t *h,
FAR void *v_priv);
/****************************************************************************
* Public Data
@ -88,6 +90,7 @@ struct foc_modulation_ops_b16_s g_foc_mod_svm3_b16 =
.current = foc_modulation_current_b16,
.vbase_get = foc_modulation_vbase_get_b16,
.run = foc_modulation_run_b16,
.state_get = foc_modulation_state_b16,
};
/****************************************************************************
@ -243,7 +246,7 @@ static void foc_modulation_current_b16(FAR foc_handler_b16_t *h,
}
/****************************************************************************
* Name: foc_modulation_b16
* Name: foc_modulation_run_b16
*
* Description:
* Handle the SVM3 modulation (fixed16)
@ -286,3 +289,33 @@ static void foc_modulation_run_b16(FAR foc_handler_b16_t *h,
f_saturate_b16(&duty[1], 0, svm->cfg.pwm_duty_max);
f_saturate_b16(&duty[2], 0, svm->cfg.pwm_duty_max);
}
/****************************************************************************
* Name: foc_modulation_state_b16
*
* Description:
* Get the SVM3 modulation state (fixed16)
*
* Input Parameter:
* h - pointer to FOC handler
* state - pointer to modulation specific data
*
****************************************************************************/
static void foc_modulation_state_b16(FAR foc_handler_b16_t *h,
FAR void *state)
{
FAR struct foc_svm3mod_b16_s *svm = NULL;
DEBUGASSERT(h);
DEBUGASSERT(state);
/* Get modulation data */
DEBUGASSERT(h->modulation);
svm = h->modulation;
/* Copy data */
memcpy(state, &svm->state, sizeof(struct svm3_state_b16_s));
}

13
industry/foc/float/foc_handler.c
View File

@ -310,18 +310,25 @@ errout:
* Get FOC handler state (float32)
*
* Input Parameter:
* h - pointer to FOC handler
* state - pointer to FOC state data
* h - pointer to FOC handler
* state - pointer to FOC state data
* mod_state - pointer to modulation state data (optional)
*
****************************************************************************/
void foc_handler_state_f32(FAR foc_handler_f32_t *h,
FAR struct foc_state_f32_s *state)
FAR struct foc_state_f32_s *state,
FAR void *mod_state)
{
DEBUGASSERT(h);
DEBUGASSERT(state);
h->ops.ctrl->state_get(h, state);
if (mod_state)
{
h->ops.mod->state_get(h, mod_state);
}
}
#ifdef CONFIG_INDUSTRY_FOC_HANDLER_PRINT

35
industry/foc/float/foc_svm3.c
View File

@ -73,6 +73,8 @@ static void foc_modulation_vbase_get_f32(FAR foc_handler_f32_t *h,
static void foc_modulation_run_f32(FAR foc_handler_f32_t *h,
FAR ab_frame_f32_t *v_ab_mod,
FAR float *duty);
static void foc_modulation_state_f32(FAR foc_handler_f32_t *h,
FAR void *v_priv);
/****************************************************************************
* Public Data
@ -88,6 +90,7 @@ struct foc_modulation_ops_f32_s g_foc_mod_svm3_f32 =
.current = foc_modulation_current_f32,
.vbase_get = foc_modulation_vbase_get_f32,
.run = foc_modulation_run_f32,
.state_get = foc_modulation_state_f32,
};
/****************************************************************************
@ -243,7 +246,7 @@ static void foc_modulation_current_f32(FAR foc_handler_f32_t *h,
}
/****************************************************************************
* Name: foc_modulation_f32
* Name: foc_modulation_run_f32
*
* Description:
* Handle the SVM3 modulation (float32)
@ -286,3 +289,33 @@ static void foc_modulation_run_f32(FAR foc_handler_f32_t *h,
f_saturate(&duty[1], 0.0f, svm->cfg.pwm_duty_max);
f_saturate(&duty[2], 0.0f, svm->cfg.pwm_duty_max);
}
/****************************************************************************
* Name: foc_modulation_state_f32
*
* Description:
* Get the SVM3 modulation state (float32)
*
* Input Parameter:
* h - pointer to FOC handler
* state - pointer to modulation specific data
*
****************************************************************************/
static void foc_modulation_state_f32(FAR foc_handler_f32_t *h,
FAR void *state)
{
FAR struct foc_svm3mod_f32_s *svm = NULL;
DEBUGASSERT(h);
DEBUGASSERT(state);
/* Get modulation data */
DEBUGASSERT(h->modulation);
svm = h->modulation;
/* Copy data */
memcpy(state, &svm->state, sizeof(struct svm3_state_f32_s));
}