examples/foc: move threads related logic to a separate file
This commit is contained in:
raiden00pl
Xiang Xiao
parent
3fda1294d7
commit
ea27aacbd2
@ -32,7 +32,7 @@ MODULE = $(CONFIG_EXAMPLES_FOC)
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MAINSRC = foc_main.c
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ASRCS =
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CSRCS = foc_device.c foc_mq.c
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CSRCS = foc_device.c foc_mq.c foc_thr.c
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ifeq ($(CONFIG_BUILTIN),y)
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CSRCS += foc_parseargs.c
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@ -28,22 +28,16 @@
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#include <unistd.h>
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#include <string.h>
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#include <stdlib.h>
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#include <fcntl.h>
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#include <assert.h>
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#include <errno.h>
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#include <mqueue.h>
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#include <pthread.h>
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#include <sys/types.h>
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#include <sys/ioctl.h>
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#include <sys/boardctl.h>
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#include <nuttx/fs/fs.h>
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#include "foc_mq.h"
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#include "foc_thr.h"
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#include "foc_cfg.h"
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#include "foc_debug.h"
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#include "foc_device.h"
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#include "foc_parseargs.h"
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
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@ -83,40 +77,6 @@
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#define INST_EN_DEAFULT (0xff)
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/****************************************************************************
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* Private Type Definition
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****************************************************************************/
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/****************************************************************************
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* Private Function Protototypes
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****************************************************************************/
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/****************************************************************************
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* Private Data
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****************************************************************************/
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
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/* Example state */
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static const int g_state_list[5] =
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{
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FOC_EXAMPLE_STATE_FREE,
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FOC_EXAMPLE_STATE_CW,
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FOC_EXAMPLE_STATE_STOP,
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FOC_EXAMPLE_STATE_CCW,
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0
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};
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#endif
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pthread_mutex_t g_cntr_lock;
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#ifdef CONFIG_INDUSTRY_FOC_FLOAT
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static int g_float_thr_cntr = 0;
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#endif
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#ifdef CONFIG_INDUSTRY_FOC_FIXED16
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static int g_fixed16_thr_cntr = 0;
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#endif
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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@ -335,218 +295,6 @@ static int foc_kill_send(mqd_t mqd)
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return foc_mq_send(mqd, CONTROL_MQ_MSG_KILL, (FAR void *)&tmp);
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}
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/****************************************************************************
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* Name: foc_control_thr
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****************************************************************************/
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FAR void *foc_control_thr(FAR void *arg)
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{
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FAR struct foc_ctrl_env_s *envp = (FAR struct foc_ctrl_env_s *) arg;
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char mqname[10];
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int ret = OK;
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DEBUGASSERT(envp);
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/* Get controller type */
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pthread_mutex_lock(&g_cntr_lock);
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#ifdef CONFIG_INDUSTRY_FOC_FLOAT
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if (g_float_thr_cntr < CONFIG_EXAMPLES_FOC_FLOAT_INST)
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{
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envp->type = FOC_NUMBER_TYPE_FLOAT;
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}
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else
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#endif
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#ifdef CONFIG_INDUSTRY_FOC_FIXED16
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if (g_fixed16_thr_cntr < CONFIG_EXAMPLES_FOC_FIXED16_INST)
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{
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envp->type = FOC_NUMBER_TYPE_FIXED16;
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}
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else
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#endif
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{
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/* Invalid configuration */
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ASSERT(0);
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}
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pthread_mutex_unlock(&g_cntr_lock);
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PRINTF("FOC device %d type = %d!\n", envp->id, envp->type);
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/* Get queue name */
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sprintf(mqname, "%s%d", CONTROL_MQ_MQNAME, envp->id);
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/* Open queue */
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envp->mqd = mq_open(mqname, (O_RDONLY | O_NONBLOCK), 0666, NULL);
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if (envp->mqd == (mqd_t)-1)
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{
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PRINTF("ERROR: mq_open failed errno=%d\n", errno);
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goto errout;
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}
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/* Select control logic according to FOC device type */
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switch (envp->type)
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{
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#ifdef CONFIG_INDUSTRY_FOC_FLOAT
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case FOC_NUMBER_TYPE_FLOAT:
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{
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pthread_mutex_lock(&g_cntr_lock);
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envp->inst = g_float_thr_cntr;
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g_float_thr_cntr += 1;
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pthread_mutex_unlock(&g_cntr_lock);
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/* Start thread */
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ret = foc_float_thr(envp);
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pthread_mutex_lock(&g_cntr_lock);
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g_float_thr_cntr -= 1;
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pthread_mutex_unlock(&g_cntr_lock);
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break;
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}
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#endif
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#ifdef CONFIG_INDUSTRY_FOC_FIXED16
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case FOC_NUMBER_TYPE_FIXED16:
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{
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pthread_mutex_lock(&g_cntr_lock);
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envp->inst = g_fixed16_thr_cntr;
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g_fixed16_thr_cntr += 1;
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pthread_mutex_unlock(&g_cntr_lock);
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/* Start thread */
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ret = foc_fixed16_thr(envp);
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pthread_mutex_lock(&g_cntr_lock);
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g_fixed16_thr_cntr -= 1;
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pthread_mutex_unlock(&g_cntr_lock);
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break;
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}
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#endif
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default:
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{
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PRINTF("ERROR: unknown FOC device type %d\n", envp->type);
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goto errout;
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}
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}
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if (ret < 0)
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{
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PRINTF("ERROR: foc control thread failed %d\n", ret);
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}
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errout:
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/* Close queue */
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if (envp->mqd == (mqd_t)-1)
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{
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mq_close(envp->mqd);
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}
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PRINTFV("foc_control_thr %d exit\n", envp->id);
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return NULL;
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}
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/****************************************************************************
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* Name: foc_threads_terminated
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****************************************************************************/
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static bool foc_threads_terminated(void)
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{
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bool ret = false;
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pthread_mutex_unlock(&g_cntr_lock);
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if (1
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#ifdef CONFIG_INDUSTRY_FOC_FLOAT
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&& g_float_thr_cntr <= 0
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#endif
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#ifdef CONFIG_INDUSTRY_FOC_FIXED16
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&& g_fixed16_thr_cntr <= 0
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#endif
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)
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{
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ret = true;
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}
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pthread_mutex_lock(&g_cntr_lock);
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return ret;
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}
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/****************************************************************************
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* Name: foc_threads_init
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****************************************************************************/
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static int foc_threads_init(FAR struct foc_ctrl_env_s *foc, int i,
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FAR mqd_t *mqd, FAR pthread_t *thread)
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{
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char mqname[10];
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int ret = OK;
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pthread_attr_t attr;
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struct mq_attr mqattr;
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struct sched_param param;
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DEBUGASSERT(foc);
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DEBUGASSERT(mqd);
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DEBUGASSERT(thread);
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/* Store device id */
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foc->id = i;
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/* Fill in attributes for message queue */
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mqattr.mq_maxmsg = CONTROL_MQ_MAXMSG;
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mqattr.mq_msgsize = CONTROL_MQ_MSGSIZE;
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mqattr.mq_flags = 0;
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/* Get queue name */
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sprintf(mqname, "%s%d", CONTROL_MQ_MQNAME, foc->id);
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/* Initialize thread recv queue */
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*mqd = mq_open(mqname, (O_WRONLY | O_CREAT | O_NONBLOCK),
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0666, &mqattr);
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if (*mqd < 0)
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{
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PRINTF("ERROR: mq_open %s failed errno=%d\n", mqname, errno);
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goto errout;
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}
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/* Configure thread */
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pthread_attr_init(&attr);
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param.sched_priority = CONFIG_EXAMPLES_FOC_CONTROL_PRIO;
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pthread_attr_setschedparam(&attr, ¶m);
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pthread_attr_setstacksize(&attr, CONFIG_EXAMPLES_FOC_CONTROL_STACKSIZE);
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/* Create FOC threads */
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ret = pthread_create(thread, &attr, foc_control_thr, foc);
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if (ret != 0)
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{
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PRINTF("ERROR: pthread_create ctrl failed %d\n", ret);
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ret = -ret;
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goto errout;
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}
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errout:
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return ret;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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@ -627,12 +375,12 @@ int main(int argc, char *argv[])
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PRINTF("\nStart foc_main application!\n\n");
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/* Initialize mutex */
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/* Initialize threads */
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ret = pthread_mutex_init(&g_cntr_lock, NULL);
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if (ret != 0)
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ret = foc_threads_init();
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if (ret < 0)
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{
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PRINTF("ERROR: pthread_mutex_init failed %d\n", errno);
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PRINTF("ERROR: failed to initialize threads %d\n", ret);
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goto errout_no_mutex;
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}
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@ -689,10 +437,10 @@ int main(int argc, char *argv[])
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{
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/* Initialize controller thread if enabled */
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ret = foc_threads_init(&foc[i], i, &mqd[i], &threads[i]);
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ret = foc_ctrlthr_init(&foc[i], i, &mqd[i], &threads[i]);
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if (ret < 0)
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{
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PRINTF("ERROR: foc_threads_init failed %d!\n", ret);
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PRINTF("ERROR: foc_ctrlthr_init failed %d!\n", ret);
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goto errout;
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}
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}
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@ -1010,9 +758,7 @@ errout:
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errout_no_mutex:
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/* Free/uninitialize data structures */
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pthread_mutex_destroy(&g_cntr_lock);
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foc_threads_deinit();
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PRINTF("foc_main exit\n");
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312
examples/foc/foc_thr.c
Normal file
312
examples/foc/foc_thr.c
Normal file
@ -0,0 +1,312 @@
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/****************************************************************************
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* apps/examples/foc/foc_thr.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <fcntl.h>
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#include <assert.h>
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#include <errno.h>
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#include "foc_mq.h"
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#include "foc_thr.h"
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#include "foc_debug.h"
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#include "industry/foc/foc_common.h"
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/****************************************************************************
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* Extern Functions Prototypes
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****************************************************************************/
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#ifdef CONFIG_INDUSTRY_FOC_FLOAT
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extern int foc_float_thr(FAR struct foc_ctrl_env_s *envp);
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#endif
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#ifdef CONFIG_INDUSTRY_FOC_FIXED16
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extern int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp);
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#endif
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/****************************************************************************
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* Private Data
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****************************************************************************/
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pthread_mutex_t g_cntr_lock;
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#ifdef CONFIG_INDUSTRY_FOC_FLOAT
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static int g_float_thr_cntr = 0;
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#endif
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#ifdef CONFIG_INDUSTRY_FOC_FIXED16
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static int g_fixed16_thr_cntr = 0;
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#endif
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: foc_control_thr
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****************************************************************************/
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static FAR void *foc_control_thr(FAR void *arg)
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{
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FAR struct foc_ctrl_env_s *envp = (FAR struct foc_ctrl_env_s *) arg;
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char mqname[10];
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int ret = OK;
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DEBUGASSERT(envp);
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/* Get controller type */
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pthread_mutex_lock(&g_cntr_lock);
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#ifdef CONFIG_INDUSTRY_FOC_FLOAT
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if (g_float_thr_cntr < CONFIG_EXAMPLES_FOC_FLOAT_INST)
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{
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envp->type = FOC_NUMBER_TYPE_FLOAT;
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}
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else
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#endif
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#ifdef CONFIG_INDUSTRY_FOC_FIXED16
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if (g_fixed16_thr_cntr < CONFIG_EXAMPLES_FOC_FIXED16_INST)
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{
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envp->type = FOC_NUMBER_TYPE_FIXED16;
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}
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else
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#endif
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{
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/* Invalid configuration */
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ASSERT(0);
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}
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pthread_mutex_unlock(&g_cntr_lock);
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PRINTF("FOC device %d type = %d!\n", envp->id, envp->type);
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/* Get queue name */
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sprintf(mqname, "%s%d", CONTROL_MQ_MQNAME, envp->id);
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/* Open queue */
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envp->mqd = mq_open(mqname, (O_RDONLY | O_NONBLOCK), 0666, NULL);
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if (envp->mqd == (mqd_t)-1)
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{
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PRINTF("ERROR: mq_open failed errno=%d\n", errno);
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goto errout;
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}
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/* Select control logic according to FOC device type */
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switch (envp->type)
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{
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#ifdef CONFIG_INDUSTRY_FOC_FLOAT
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case FOC_NUMBER_TYPE_FLOAT:
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{
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pthread_mutex_lock(&g_cntr_lock);
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envp->inst = g_float_thr_cntr;
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g_float_thr_cntr += 1;
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pthread_mutex_unlock(&g_cntr_lock);
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/* Start thread */
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ret = foc_float_thr(envp);
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pthread_mutex_lock(&g_cntr_lock);
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g_float_thr_cntr -= 1;
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pthread_mutex_unlock(&g_cntr_lock);
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break;
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}
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#endif
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#ifdef CONFIG_INDUSTRY_FOC_FIXED16
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case FOC_NUMBER_TYPE_FIXED16:
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{
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pthread_mutex_lock(&g_cntr_lock);
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envp->inst = g_fixed16_thr_cntr;
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g_fixed16_thr_cntr += 1;
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pthread_mutex_unlock(&g_cntr_lock);
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/* Start thread */
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ret = foc_fixed16_thr(envp);
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pthread_mutex_lock(&g_cntr_lock);
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g_fixed16_thr_cntr -= 1;
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pthread_mutex_unlock(&g_cntr_lock);
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break;
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}
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#endif
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default:
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{
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PRINTF("ERROR: unknown FOC device type %d\n", envp->type);
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goto errout;
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}
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}
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if (ret < 0)
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{
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PRINTF("ERROR: foc control thread failed %d\n", ret);
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}
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errout:
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/* Close queue */
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if (envp->mqd == (mqd_t)-1)
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{
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mq_close(envp->mqd);
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}
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PRINTFV("foc_control_thr %d exit\n", envp->id);
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return NULL;
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}
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: foc_threads_init
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****************************************************************************/
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int foc_threads_init(void)
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{
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int ret = OK;
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/* Initialize mutex */
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||||
|
||||
ret = pthread_mutex_init(&g_cntr_lock, NULL);
|
||||
if (ret != 0)
|
||||
{
|
||||
PRINTF("ERROR: pthread_mutex_init failed %d\n", errno);
|
||||
goto errout;
|
||||
}
|
||||
|
||||
errout:
|
||||
return ret;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_threads_deinit
|
||||
****************************************************************************/
|
||||
|
||||
void foc_threads_deinit(void)
|
||||
{
|
||||
/* Free/uninitialize data structures */
|
||||
|
||||
pthread_mutex_destroy(&g_cntr_lock);
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_threads_terminated
|
||||
****************************************************************************/
|
||||
|
||||
bool foc_threads_terminated(void)
|
||||
{
|
||||
bool ret = false;
|
||||
|
||||
pthread_mutex_unlock(&g_cntr_lock);
|
||||
|
||||
if (1
|
||||
#ifdef CONFIG_INDUSTRY_FOC_FLOAT
|
||||
&& g_float_thr_cntr <= 0
|
||||
#endif
|
||||
#ifdef CONFIG_INDUSTRY_FOC_FIXED16
|
||||
&& g_fixed16_thr_cntr <= 0
|
||||
#endif
|
||||
)
|
||||
{
|
||||
ret = true;
|
||||
}
|
||||
|
||||
pthread_mutex_lock(&g_cntr_lock);
|
||||
|
||||
return ret;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Name: foc_ctrlthr_init
|
||||
****************************************************************************/
|
||||
|
||||
int foc_ctrlthr_init(FAR struct foc_ctrl_env_s *foc, int i, FAR mqd_t *mqd,
|
||||
FAR pthread_t *thread)
|
||||
{
|
||||
char mqname[10];
|
||||
int ret = OK;
|
||||
pthread_attr_t attr;
|
||||
struct mq_attr mqattr;
|
||||
struct sched_param param;
|
||||
|
||||
DEBUGASSERT(foc);
|
||||
DEBUGASSERT(mqd);
|
||||
DEBUGASSERT(thread);
|
||||
|
||||
/* Store device id */
|
||||
|
||||
foc->id = i;
|
||||
|
||||
/* Fill in attributes for message queue */
|
||||
|
||||
mqattr.mq_maxmsg = CONTROL_MQ_MAXMSG;
|
||||
mqattr.mq_msgsize = CONTROL_MQ_MSGSIZE;
|
||||
mqattr.mq_flags = 0;
|
||||
|
||||
/* Get queue name */
|
||||
|
||||
sprintf(mqname, "%s%d", CONTROL_MQ_MQNAME, foc->id);
|
||||
|
||||
/* Initialize thread recv queue */
|
||||
|
||||
*mqd = mq_open(mqname, (O_WRONLY | O_CREAT | O_NONBLOCK),
|
||||
0666, &mqattr);
|
||||
if (*mqd < 0)
|
||||
{
|
||||
PRINTF("ERROR: mq_open %s failed errno=%d\n", mqname, errno);
|
||||
goto errout;
|
||||
}
|
||||
|
||||
/* Configure thread */
|
||||
|
||||
pthread_attr_init(&attr);
|
||||
param.sched_priority = CONFIG_EXAMPLES_FOC_CONTROL_PRIO;
|
||||
pthread_attr_setschedparam(&attr, ¶m);
|
||||
pthread_attr_setstacksize(&attr, CONFIG_EXAMPLES_FOC_CONTROL_STACKSIZE);
|
||||
|
||||
/* Create FOC threads */
|
||||
|
||||
ret = pthread_create(thread, &attr, foc_control_thr, foc);
|
||||
if (ret != 0)
|
||||
{
|
||||
PRINTF("ERROR: pthread_create ctrl failed %d\n", ret);
|
||||
ret = -ret;
|
||||
goto errout;
|
||||
}
|
||||
|
||||
errout:
|
||||
return ret;
|
||||
}
|
||||
@ -27,10 +27,11 @@
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <nuttx/motor/foc/foc.h>
|
||||
|
||||
#include <pthread.h>
|
||||
#include <mqueue.h>
|
||||
|
||||
#include <nuttx/motor/foc/foc.h>
|
||||
|
||||
#include "foc_device.h"
|
||||
|
||||
/****************************************************************************
|
||||
@ -122,12 +123,10 @@ struct foc_ctrl_env_s
|
||||
* Public Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
#ifdef CONFIG_INDUSTRY_FOC_FLOAT
|
||||
int foc_float_thr(FAR struct foc_ctrl_env_s *envp);
|
||||
#endif
|
||||
|
||||
#ifdef CONFIG_INDUSTRY_FOC_FIXED16
|
||||
int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp);
|
||||
#endif
|
||||
int foc_threads_init(void);
|
||||
void foc_threads_deinit(void);
|
||||
bool foc_threads_terminated(void);
|
||||
int foc_ctrlthr_init(FAR struct foc_ctrl_env_s *foc, int i, FAR mqd_t *mqd,
|
||||
FAR pthread_t *thread);
|
||||
|
||||
#endif /* __EXAMPLES_FOC_FOC_THR_H */
|
||||
|
||||
Loading…
Reference in New Issue
Block a user