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examples/foc: add controller IDLE mode

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This commit is contained in:
raiden00pl 2023-04-21 12:10:10 +02:00 committed by Alan Carvalho de Assis
parent 5eebfbb441
commit cc189ef170
3 changed files with 15 additions and 7 deletions
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6
examples/foc/foc_motor_f32.c
View File

@ -531,6 +531,7 @@ static int foc_motor_setpoint(FAR struct foc_motor_f32_s *motor, uint32_t sp)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
case FOC_MMODE_IDENT_ONLY:
#endif
case FOC_MMODE_IDLE:
{
/* Do nothing */
@ -1005,6 +1006,11 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
}
else
#endif
if (motor->envp->cfg->mmode == FOC_MMODE_IDLE)
{
motor->ctrl_state = FOC_CTRL_STATE_IDLE;
}
else
{
motor->ctrl_state = FOC_CTRL_STATE_INIT;
}

15
examples/foc/foc_parseargs.c
View File

@ -113,6 +113,7 @@ static void foc_help(void)
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
PRINTF(" 5 - ident only\n");
#endif
PRINTF(" 6 - IDLE state\n");
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
PRINTF(" [-r] torque [x1000]\n");
@ -343,23 +344,23 @@ int validate_args(FAR struct args_s *args)
/* Example control mode */
if (
if (args->cfg.mmode != FOC_MMODE_IDLE &&
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
args->cfg.mmode != FOC_MMODE_TORQ &&
args->cfg.mmode != FOC_MMODE_TORQ &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
args->cfg.mmode != FOC_MMODE_VEL &&
args->cfg.mmode != FOC_MMODE_VEL &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
args->cfg.mmode != FOC_MMODE_POS &&
args->cfg.mmode != FOC_MMODE_POS &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
args->cfg.mmode != FOC_MMODE_ALIGN_ONLY &&
args->cfg.mmode != FOC_MMODE_ALIGN_ONLY &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
args->cfg.mmode != FOC_MMODE_IDENT_ONLY &&
args->cfg.mmode != FOC_MMODE_IDENT_ONLY &&
#endif
1)
1)
{
PRINTF("Invalid ctrl mode value %d s\n", args->cfg.mmode);
goto errout;

1
examples/foc/foc_thr.h
View File

@ -79,6 +79,7 @@ enum foc_motor_mode_e
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
FOC_MMODE_IDENT_ONLY = 5, /* Motor identification only */
#endif
FOC_MMODE_IDLE = 6, /* IDLE state */
};
/* Controller state */