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examples/foc: separate control thread configuration from general args

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This commit is contained in:
raiden00pl 2022-10-22 18:06:06 +02:00 committed by Xiang Xiao
parent c2efa80969
commit b1f91528ec
4 changed files with 76 additions and 63 deletions
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28
examples/foc/foc_cfg.h
View File

@ -210,4 +210,32 @@
# endif
#endif
/****************************************************************************
* Public Type Definition
****************************************************************************/
struct foc_thr_cfg_s
{
int fmode; /* FOC control mode */
int mmode; /* Motor control mode */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
int qparam; /* Open-loop Q setting (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
uint32_t foc_pi_kp; /* FOC PI Kp (x1000) */
uint32_t foc_pi_ki; /* FOC PI Ki (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
uint32_t torqmax; /* Torque max (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
uint32_t velmax; /* Velocity max (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
uint32_t posmax; /* Position max (x1000) */
#endif
};
#endif /* __APPS_EXAMPLES_FOC_FOC_CFG_H */

67
examples/foc/foc_main.c
View File

@ -62,40 +62,43 @@
struct args_s g_args =
{
.time = CONFIG_EXAMPLES_FOC_TIME_DEFAULT,
.fmode = CONFIG_EXAMPLES_FOC_FMODE,
.mmode = CONFIG_EXAMPLES_FOC_MMODE,
.state = CONFIG_EXAMPLES_FOC_STATE_INIT,
.en = INST_EN_DEFAULT,
.cfg =
{
.fmode = CONFIG_EXAMPLES_FOC_FMODE,
.mmode = CONFIG_EXAMPLES_FOC_MMODE,
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
.qparam = CONFIG_EXAMPLES_FOC_OPENLOOP_Q,
.qparam = CONFIG_EXAMPLES_FOC_OPENLOOP_Q,
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
.foc_pi_kp = CONFIG_EXAMPLES_FOC_IDQ_KP,
.foc_pi_ki = CONFIG_EXAMPLES_FOC_IDQ_KI,
.foc_pi_kp = CONFIG_EXAMPLES_FOC_IDQ_KP,
.foc_pi_ki = CONFIG_EXAMPLES_FOC_IDQ_KI,
#endif
.state = CONFIG_EXAMPLES_FOC_STATE_INIT,
.en = INST_EN_DEFAULT,
#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
# ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
.torqmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
.torqmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
# endif
# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
.velmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
.velmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
# endif
# ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
.posmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
.posmax = CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE,
# endif
#else
# ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
.torqmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
.torqmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
# endif
# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
.velmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
.velmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
# endif
# ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
.posmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
.posmax = CONFIG_EXAMPLES_FOC_SETPOINT_MAX,
# endif
#endif
}
};
/****************************************************************************
@ -113,7 +116,7 @@ static int validate_args(FAR struct args_s *args)
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
/* Current PI controller */
if (args->foc_pi_kp == 0 && args->foc_pi_ki == 0)
if (args->cfg.foc_pi_kp == 0 && args->cfg.foc_pi_ki == 0)
{
PRINTF("ERROR: missing FOC Kp/Ki configuration\n");
goto errout;
@ -122,11 +125,11 @@ static int validate_args(FAR struct args_s *args)
/* FOC operation mode */
if (args->fmode != FOC_FMODE_IDLE &&
args->fmode != FOC_FMODE_VOLTAGE &&
args->fmode != FOC_FMODE_CURRENT)
if (args->cfg.fmode != FOC_FMODE_IDLE &&
args->cfg.fmode != FOC_FMODE_VOLTAGE &&
args->cfg.fmode != FOC_FMODE_CURRENT)
{
PRINTF("Invalid op mode value %d s\n", args->fmode);
PRINTF("Invalid op mode value %d s\n", args->cfg.fmode);
goto errout;
}
@ -134,23 +137,23 @@ static int validate_args(FAR struct args_s *args)
if (
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
args->mmode != FOC_MMODE_TORQ &&
args->cfg.mmode != FOC_MMODE_TORQ &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
args->mmode != FOC_MMODE_VEL &&
args->cfg.mmode != FOC_MMODE_VEL &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
args->mmode != FOC_MMODE_POS &&
args->cfg.mmode != FOC_MMODE_POS &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
args->mmode != FOC_MMODE_ALIGN_ONLY &&
args->cfg.mmode != FOC_MMODE_ALIGN_ONLY &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
args->mmode != FOC_MMODE_IDENT_ONLY &&
args->cfg.mmode != FOC_MMODE_IDENT_ONLY &&
#endif
1)
{
PRINTF("Invalid ctrl mode value %d s\n", args->mmode);
PRINTF("Invalid ctrl mode value %d s\n", args->cfg.mmode);
goto errout;
}
@ -341,22 +344,22 @@ int main(int argc, char *argv[])
/* Get configuration */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
foc[i].qparam = g_args.qparam;
foc[i].qparam = g_args.cfg.qparam;
#endif
foc[i].fmode = g_args.fmode;
foc[i].mmode = g_args.mmode;
foc[i].fmode = g_args.cfg.fmode;
foc[i].mmode = g_args.cfg.mmode;
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
foc[i].foc_pi_kp = g_args.foc_pi_kp;
foc[i].foc_pi_ki = g_args.foc_pi_ki;
foc[i].foc_pi_kp = g_args.cfg.foc_pi_kp;
foc[i].foc_pi_ki = g_args.cfg.foc_pi_ki;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
foc[i].torqmax = g_args.torqmax;
foc[i].torqmax = g_args.cfg.torqmax;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
foc[i].velmax = g_args.velmax;
foc[i].velmax = g_args.cfg.velmax;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
foc[i].posmax = g_args.posmax;
foc[i].posmax = g_args.cfg.posmax;
#endif
if (g_args.en & (1 << i))

16
examples/foc/foc_parseargs.c
View File

@ -156,13 +156,13 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
case OPT_FKP:
{
args->foc_pi_kp = atoi(optarg);
args->cfg.foc_pi_kp = atoi(optarg);
break;
}
case OPT_FKI:
{
args->foc_pi_ki = atoi(optarg);
args->cfg.foc_pi_ki = atoi(optarg);
break;
}
#endif
@ -181,20 +181,20 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
case 'f':
{
args->fmode = atoi(optarg);
args->cfg.fmode = atoi(optarg);
break;
}
case 'm':
{
args->mmode = atoi(optarg);
args->cfg.mmode = atoi(optarg);
break;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
case 'r':
{
args->torqmax = atoi(optarg);
args->cfg.torqmax = atoi(optarg);
break;
}
#endif
@ -202,7 +202,7 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
case 'v':
{
args->velmax = atoi(optarg);
args->cfg.velmax = atoi(optarg);
break;
}
#endif
@ -210,7 +210,7 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
case 'x':
{
args->posmax = atoi(optarg);
args->cfg.posmax = atoi(optarg);
break;
}
#endif
@ -230,7 +230,7 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
case 'o':
{
args->qparam = atoi(optarg);
args->cfg.qparam = atoi(optarg);
break;
}
#endif

28
examples/foc/foc_parseargs.h
View File

@ -28,6 +28,7 @@
#include <nuttx/config.h>
#include "foc_device.h"
#include "foc_cfg.h"
/****************************************************************************
* Pre-processor Definitions
@ -41,29 +42,10 @@
struct args_s
{
int time; /* Run time limit in sec, -1 if forever */
int fmode; /* FOC control mode */
int mmode; /* Motor control mode */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
int qparam; /* Open-loop Q setting (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
uint32_t foc_pi_kp; /* FOC PI Kp (x1000) */
uint32_t foc_pi_ki; /* FOC PI Ki (x1000) */
#endif
int state; /* Example state (FREE, CW, CCW, STOP) */
int8_t en; /* Enabled instances (bit-encoded) */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
uint32_t torqmax; /* Torque max (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
uint32_t velmax; /* Velocity max (x1000) */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
uint32_t posmax; /* Position max (x1000) */
#endif
int time; /* Run time limit in sec, -1 if forever */
int state; /* Example state (FREE, CW, CCW, STOP) */
int8_t en; /* Enabled instances (bit-encoded) */
struct foc_thr_cfg_s cfg; /* Control thread configuration */
};
/****************************************************************************