/****************************************************************************
* apps/examples/foc/foc_main.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 <stdio.h>
#include <unistd.h>
#include <string.h>
#include <stdlib.h>
#include <assert.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/boardctl.h>
#include "foc_mq.h"
#include "foc_thr.h"
#include "foc_cfg.h"
#include "foc_debug.h"
#include "foc_parseargs.h"
#include "foc_intf.h"
#include "industry/foc/foc_common.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Main loop sleep */
#define MAIN_LOOP_USLEEP (200000)
/* Enabled instances default state */
#define INST_EN_DEFAULT (0xff)
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: init_args
****************************************************************************/
static void init_args(FAR struct args_s *args)
{
args->time =
(args->time == 0 ? CONFIG_EXAMPLES_FOC_TIME_DEFAULT : args->time);
args->fmode =
(args->fmode == 0 ? CONFIG_EXAMPLES_FOC_FMODE : args->fmode);
args->mmode =
(args->mmode == 0 ? CONFIG_EXAMPLES_FOC_MMODE : args->mmode);
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
args->qparam =
(args->qparam == 0 ? CONFIG_EXAMPLES_FOC_OPENLOOP_Q : args->qparam);
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
args->foc_pi_kp =
(args->foc_pi_kp == 0 ? CONFIG_EXAMPLES_FOC_IDQ_KP : args->foc_pi_kp);
args->foc_pi_ki =
(args->foc_pi_ki == 0 ? CONFIG_EXAMPLES_FOC_IDQ_KI : args->foc_pi_ki);
#endif
/* Setpoint configuration */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
args->torqmax =
(args->torqmax == 0 ?
CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE : args->torqmax);
#else
args->torqmax =
(args->torqmax == 0 ?
CONFIG_EXAMPLES_FOC_SETPOINT_MAX : args->torqmax);
#endif
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
args->velmax =
(args->velmax == 0 ?
CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE : args->velmax);
#else
args->velmax =
(args->velmax == 0 ?
CONFIG_EXAMPLES_FOC_SETPOINT_MAX : args->velmax);
#endif
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_CONST
args->posmax =
(args->posmax == 0 ?
CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE : args->posmax);
#else
args->posmax =
(args->posmax == 0 ?
CONFIG_EXAMPLES_FOC_SETPOINT_MAX : args->posmax);
#endif
#endif
args->state =
(args->state == 0 ? CONFIG_EXAMPLES_FOC_STATE_INIT : args->state);
args->en = (args->en == -1 ? INST_EN_DEFAULT : args->en);
}
/****************************************************************************
* Name: validate_args
****************************************************************************/
static int validate_args(FAR struct args_s *args)
{
int ret = -EINVAL;
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
/* Current PI controller */
if (args->foc_pi_kp == 0 && args->foc_pi_ki == 0)
{
PRINTF("ERROR: missing FOC Kp/Ki configuration\n");
goto errout;
}
#endif
/* FOC operation mode */
if (args->fmode != FOC_FMODE_IDLE &&
args->fmode != FOC_FMODE_VOLTAGE &&
args->fmode != FOC_FMODE_CURRENT)
{
PRINTF("Invalid op mode value %d s\n", args->fmode);
goto errout;
}
/* Example control mode */
if (
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
args->mmode != FOC_MMODE_TORQ &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
args->mmode != FOC_MMODE_VEL &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
args->mmode != FOC_MMODE_POS &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
args->mmode != FOC_MMODE_ALIGN_ONLY &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
args->mmode != FOC_MMODE_IDENT_ONLY &&
#endif
1)
{
PRINTF("Invalid ctrl mode value %d s\n", args->mmode);
goto errout;
}
/* Example state */
if (args->state != FOC_EXAMPLE_STATE_FREE &&
args->state != FOC_EXAMPLE_STATE_STOP &&
args->state != FOC_EXAMPLE_STATE_CW &&
args->state != FOC_EXAMPLE_STATE_CCW)
{
PRINTF("Invalid state value %d s\n", args->state);
goto errout;
}
/* Time parameter */
if (args->time <= 0 && args->time != -1)
{
PRINTF("Invalid time value %d s\n", args->time);
goto errout;
}
/* Otherwise OK */
ret = OK;
errout:
return ret;
}
/****************************************************************************
* Name: foc_mq_send
****************************************************************************/
static int foc_mq_send(mqd_t mqd, uint8_t msg, FAR void *data)
{
int ret = OK;
uint8_t buffer[5];
uint32_t tmp = 0;
DEBUGASSERT(data);
/* Data max 4B */
tmp = *((FAR uint32_t *) data);
buffer[0] = msg;
buffer[1] = ((tmp & 0x000000ff) >> 0);
buffer[2] = ((tmp & 0x0000ff00) >> 8);
buffer[3] = ((tmp & 0x00ff0000) >> 16);
buffer[4] = ((tmp & 0xff000000) >> 24);
ret = mq_send(mqd, (FAR char *)buffer, 5, 42);
if (ret < 0)
{
PRINTF("foc_main: mq_send failed %d\n", errno);
ret = -errno;
goto errout;
}
errout:
return ret;
}
/****************************************************************************
* Name: foc_vbus_send
****************************************************************************/
static int foc_vbus_send(mqd_t mqd, uint32_t vbus)
{
return foc_mq_send(mqd, CONTROL_MQ_MSG_VBUS, (FAR void *)&vbus);
}
/****************************************************************************
* Name: foc_setpoint_send
****************************************************************************/
static int foc_setpoint_send(mqd_t mqd, uint32_t setpoint)
{
return foc_mq_send(mqd, CONTROL_MQ_MSG_SETPOINT, (FAR void *)&setpoint);
}
/****************************************************************************
* Name: foc_state_send
****************************************************************************/
static int foc_state_send(mqd_t mqd, uint32_t state)
{
return foc_mq_send(mqd, CONTROL_MQ_MSG_APPSTATE, (FAR void *)&state);
}
/****************************************************************************
* Name: foc_start_send
****************************************************************************/
static int foc_start_send(mqd_t mqd)
{
int tmp = 0;
return foc_mq_send(mqd, CONTROL_MQ_MSG_START, (FAR void *)&tmp);
}
/****************************************************************************
* Name: foc_kill_send
****************************************************************************/
static int foc_kill_send(mqd_t mqd)
{
int tmp = 0;
return foc_mq_send(mqd, CONTROL_MQ_MSG_KILL, (FAR void *)&tmp);
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: main
****************************************************************************/
int main(int argc, char *argv[])
{
struct foc_ctrl_env_s foc[CONFIG_MOTOR_FOC_INST];
pthread_t threads[CONFIG_MOTOR_FOC_INST];
mqd_t mqd[CONFIG_MOTOR_FOC_INST];
struct args_s args;
struct foc_intf_data_s data;
int ret = OK;
int i = 0;
int time = 0;
/* Reset some data */
memset(&args, 0, sizeof(struct args_s));
memset(mqd, 0, sizeof(mqd_t) * CONFIG_MOTOR_FOC_INST);
memset(foc, 0, sizeof(struct foc_ctrl_env_s) * CONFIG_MOTOR_FOC_INST);
memset(threads, 0, sizeof(pthread_t) * CONFIG_MOTOR_FOC_INST);
memset(&data, 0, sizeof(struct foc_intf_data_s));
/* Initialize args before parse */
args.en = -1;
#ifdef CONFIG_BUILTIN
/* Parse the command line */
parse_args(&args, argc, argv);
#endif
/* Initialize args */
init_args(&args);
/* Validate arguments */
ret = validate_args(&args);
if (ret < 0)
{
PRINTF("ERROR: validate args failed\n");
goto errout_no_mutex;
}
#ifndef CONFIG_NSH_ARCHINIT
/* Perform architecture-specific initialization (if configured) */
boardctl(BOARDIOC_INIT, 0);
# ifdef CONFIG_BOARDCTL_FINALINIT
/* Perform architecture-specific final-initialization (if configured) */
boardctl(BOARDIOC_FINALINIT, 0);
# endif
#endif
PRINTF("\nStart foc_main application!\n\n");
/* Initialize threads */
ret = foc_threads_init();
if (ret < 0)
{
PRINTF("ERROR: failed to initialize threads %d\n", ret);
goto errout_no_mutex;
}
/* Initialize control interface */
ret = foc_intf_init();
if (ret < 0)
{
PRINTF("ERROR: failed to initialize control interface %d\n", ret);
goto errout;
}
/* Initialzie FOC controllers */
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
/* Get configuration */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
foc[i].qparam = args.qparam;
#endif
foc[i].fmode = args.fmode;
foc[i].mmode = args.mmode;
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
foc[i].foc_pi_kp = args.foc_pi_kp;
foc[i].foc_pi_ki = args.foc_pi_ki;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
foc[i].torqmax = args.torqmax;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
foc[i].velmax = args.velmax;
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
foc[i].posmax = args.posmax;
#endif
if (args.en & (1 << i))
{
/* Initialize controller thread if enabled */
ret = foc_ctrlthr_init(&foc[i], i, &mqd[i], &threads[i]);
if (ret < 0)
{
PRINTF("ERROR: foc_ctrlthr_init failed %d!\n", ret);
goto errout;
}
}
}
/* Wait some time to finish all controllers initialziation */
usleep(10000);
/* Initial update for VBUS and SETPOINT */
#ifndef CONFIG_EXAMPLES_FOC_VBUS_ADC
data.vbus_update = true;
data.vbus_raw = VBUS_CONST_VALUE;
#endif
#ifndef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
data.sp_update = true;
data.sp_raw = 1;
#endif
data.state_update = true;
/* Controller state */
data.state = args.state;
/* Auxliary control loop */
while (data.terminate != true)
{
PRINTFV("foc_main loop %d\n", time);
/* Update control interface */
ret = foc_intf_update(&data);
if (ret < 0)
{
PRINTF("ERROR: foc_intf_update failed: %d\n", ret);
goto errout;
}
/* 1. Update VBUS */
if (data.vbus_update == true)
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
if (args.en & (1 << i))
{
PRINTFV("Send vbus to %d\n", i);
/* Send VBUS to thread */
ret = foc_vbus_send(mqd[i], data.vbus_raw);
if (ret < 0)
{
PRINTF("ERROR: foc_vbus_send failed %d\n", ret);
goto errout;
}
}
}
/* Reset flag */
data.vbus_update = false;
}
/* 2. Update motor state */
if (data.state_update == true)
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
if (args.en & (1 << i))
{
PRINTFV("Send state %" PRIu32 " to %d\n", data.state, i);
/* Send STATE to thread */
ret = foc_state_send(mqd[i], data.state);
if (ret < 0)
{
PRINTF("ERROR: foc_state_send failed %d\n", ret);
goto errout;
}
}
}
/* Reset flag */
data.state_update = false;
}
/* 3. Update motor velocity */
if (data.sp_update == true)
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
if (args.en & (1 << i))
{
PRINTFV("Send setpoint = %" PRIu32 "to %d\n",
data.sp_raw, i);
/* Send setpoint to threads */
ret = foc_setpoint_send(mqd[i], data.sp_raw);
if (ret < 0)
{
PRINTF("ERROR: foc_setpoint_send failed %d\n", ret);
goto errout;
}
}
}
/* Reset flag */
data.sp_update = false;
}
/* 4. One time start */
if (data.started == false)
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
if (args.en & (1 << i))
{
PRINTFV("Send start to %d\n", i);
/* Send START to threads */
ret = foc_start_send(mqd[i]);
if (ret < 0)
{
PRINTF("ERROR: foc_start_send failed %d\n", ret);
goto errout;
}
}
}
/* Set flag */
data.started = true;
}
/* Handle run time */
time += 1;
if (args.time != -1)
{
if (time >= (args.time * (1000000 / MAIN_LOOP_USLEEP)))
{
/* Exit loop */
data.terminate = true;
}
}
/* Terminate main loop if threads terminated */
if (foc_threads_terminated() == true)
{
data.terminate = true;
}
usleep(MAIN_LOOP_USLEEP);
}
errout:
/* Stop FOC control threads */
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
if (args.en & (1 << i))
{
if (mqd[i] != (mqd_t)-1)
{
/* Stop thread message */
ret = foc_kill_send(mqd[i]);
if (ret < 0)
{
PRINTF("ERROR: foc_kill_send failed %d\n", ret);
}
}
}
}
/* Wait for threads termination */
while (foc_threads_terminated() == false)
{
usleep(100000);
}
/* De-initialize all mq */
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
if (args.en & (1 << i))
{
/* Close FOC control thread queue */
if (mqd[i] != (mqd_t)-1)
{
mq_close(mqd[i]);
}
}
}
/* De-initialize control interface */
ret = foc_intf_deinit();
if (ret < 0)
{
PRINTF("ERROR: foc_inf_deinit failed %d\n", ret);
goto errout;
}
errout_no_mutex:
foc_threads_deinit();
PRINTF("foc_main exit\n");
return 0;
}