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nuttx-apps/examples/foc/foc_parseargs.c

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/****************************************************************************
* apps/examples/foc/foc_parseargs.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 <unistd.h>
#include <stdlib.h>
#include <getopt.h>
#include <inttypes.h>
#include "foc_debug.h"
#include "foc_thr.h"
#include "foc_parseargs.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define OPT_FKI (SCHAR_MAX + 1)
#define OPT_FKP (SCHAR_MAX + 2)
#define OPT_IRKI (SCHAR_MAX + 3)
#define OPT_IRC (SCHAR_MAX + 4)
#define OPT_IRS (SCHAR_MAX + 5)
#define OPT_IIV (SCHAR_MAX + 6)
#define OPT_IIS (SCHAR_MAX + 7)
#define OPT_VOPLLKP (SCHAR_MAX + 8)
#define OPT_VOPLLKI (SCHAR_MAX + 9)
#define OPT_VODIVS (SCHAR_MAX + 10)
#define OPT_VODIVF (SCHAR_MAX + 11)
#define OPT_VCPIKP (SCHAR_MAX + 12)
#define OPT_VCPIKI (SCHAR_MAX + 13)
#define OPT_ANFOS (SCHAR_MAX + 14)
#define OPT_ANFOG (SCHAR_MAX + 15)
#define OPT_OLFORCE (SCHAR_MAX + 16)
#define OPT_OLTHR (SCHAR_MAX + 17)
#define OPT_OLHYS (SCHAR_MAX + 18)
/****************************************************************************
* Private Data
****************************************************************************/
static struct option g_long_options[] =
{
{ "time", required_argument, 0, 't' },
{ "help", no_argument, 0, 'h' },
{ "fmode", required_argument, 0, 'f' },
{ "mmode", required_argument, 0, 'm' },
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
{ "torq", required_argument, 0, 'r' },
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
{ "vel", required_argument, 0, 'v' },
{ "acc", required_argument, 0, 'a' },
{ "dec", required_argument, 0, 'd' },
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
{ "pos", required_argument, 0, 'x' },
#endif
{ "state", required_argument, 0, 's' },
{ "en", required_argument, 0, 'j' },
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
{ "oqset", required_argument, 0, 'o' },
{ "olforce", no_argument, 0, OPT_OLFORCE },
# ifdef CONFIG_EXAMPLES_FOC_ANGOBS
{ "olthr", required_argument, 0, OPT_OLTHR },
{ "olhys", required_argument, 0, OPT_OLHYS },
# endif
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
{ "fkp", required_argument, 0, OPT_FKP },
{ "fki", required_argument, 0, OPT_FKI },
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
{ "irki", required_argument, 0, OPT_IRKI },
{ "irc", required_argument, 0, OPT_IRC },
{ "irs", required_argument, 0, OPT_IRS },
{ "iiv", required_argument, 0, OPT_IIV },
{ "iis", required_argument, 0, OPT_IIS },
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELOBS_PLL
{ "vopllkp", required_argument, 0, OPT_VOPLLKP },
{ "vopllki", required_argument, 0, OPT_VOPLLKI },
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELOBS_DIV
{ "vodivs", required_argument, 0, OPT_VODIVS },
{ "vodivf", required_argument, 0, OPT_VODIVF },
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELCTRL_PI
{ "vcpikp", required_argument, 0, OPT_VCPIKP },
{ "vcpiki", required_argument, 0, OPT_VCPIKI },
#endif
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
{ "anfos", required_argument, 0, OPT_ANFOS },
{ "anfog", required_argument, 0, OPT_ANFOG },
#endif
{ 0, 0, 0, 0 }
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: foc_help
****************************************************************************/
static void foc_help(FAR struct args_s *args)
{
PRINTF("Usage: foc [OPTIONS]\n");
PRINTF(" [-t] run time (default: %d)\n",
CONFIG_EXAMPLES_FOC_TIME_DEFAULT);
PRINTF(" [-h] shows this message and exits\n");
PRINTF(" [-f] FOC run mode (default: %d)\n",
CONFIG_EXAMPLES_FOC_FMODE);
PRINTF(" 1 - IDLE mode\n");
PRINTF(" 2 - voltage mode\n");
PRINTF(" 3 - current mode\n");
PRINTF(" [-m] controller mode (default: %d)\n",
CONFIG_EXAMPLES_FOC_MMODE);
PRINTF(" 1 - torqe control\n");
PRINTF(" 2 - velocity control\n");
PRINTF(" 3 - position control\n");
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
PRINTF(" 4 - align only\n");
#endif
#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");
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
PRINTF(" [-v] velocity [x1000]\n");
PRINTF(" [-a] acceleration [x1000] (default: %" PRId32 ")\n",
args->cfg.acc);
PRINTF(" [-d] deceleration [x1000] (default: %" PRId32 ")\n",
args->cfg.dec);
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
PRINTF(" [-x] position [x1000]\n");
#endif
PRINTF(" [-s] motor state init (default: %d)\n",
args->state);
PRINTF(" 1 - motor free\n");
PRINTF(" 2 - motor stop\n");
PRINTF(" 3 - motor CW\n");
PRINTF(" 4 - motor CCW\n");
PRINTF(" [-j] enable specific instances\n");
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
PRINTF(" [-o] openloop Vq/Iq setting [x1000] (default: %" PRId32 ")\n",
args->cfg.qparam);
PRINTF(" [--olforce] force openloop\n");
# ifdef CONFIG_EXAMPLES_FOC_ANGOBS
PRINTF(" [--olthr] observer vel threshold [x1] (default: %d)\n",
CONFIG_EXAMPLES_FOC_ANGOBS_THR);
PRINTF(" [--olhys] observer vel hysteresys [x1] (default: %d)\n",
CONFIG_EXAMPLES_FOC_ANGOBS_THR);
# endif
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
PRINTF(" [--fkp] PI Kp coefficient [x1000] (default: %" PRId32 ")\n",
args->cfg.foc_pi_kp);
PRINTF(" [--fki] PI Ki coefficient [x1000] (default: %" PRId32 ")\n",
args->cfg.foc_pi_ki);
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
PRINTF(" [--irki] res Ki coefficient [x1000] (default: %" PRId32 ")\n",
args->cfg.ident_res_ki);
PRINTF(" [--irc] res current [x1000] (default: %" PRId32 ")\n",
args->cfg.ident_res_curr);
PRINTF(" [--irs] res sec (default: %" PRId32 ")\n",
args->cfg.ident_res_sec);
PRINTF(" [--iiv] ind voltage [x1000] (default: %" PRId32 ")\n",
args->cfg.ident_ind_volt);
PRINTF(" [--iis] ind sec (default: %" PRId32 ")\n",
args->cfg.ident_ind_sec);
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELOBS_PLL
PRINTF(" [--vopllkp] velobs PLL Kp [x1] (default: %" PRId32 ")\n",
args->cfg.vel_pll_kp);
PRINTF(" [--vopllki] velobs PLL Ki [x1] (default: %" PRId32 ")\n",
args->cfg.vel_pll_ki);
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELOBS_DIV
PRINTF(" [--vodivs] velobs DIV samples (default: %" PRId32 ")\n",
args->cfg.vel_div_samples);
PRINTF(" [--vodivf] velobs DIV filter (default: %" PRId32 ")\n",
args->cfg.vel_div_filter);
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELCTRL_PI
PRINTF(" [--vcpikp] velctrl PI Kp [x1000000] (default: %" PRId32 ")\n",
args->cfg.vel_pi_kp);
PRINTF(" [--vcpiki] velctrl PI Ki [x1000000] (default: %" PRId32 ")\n",
args->cfg.vel_pi_ki);
#endif
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
PRINTF(" [--anfos] angobs NFO Slow [x1] (default: %" PRId32 ")\n",
args->cfg.ang_nfo_slow);
PRINTF(" [--anfog] angobs NFO Gain [x1] (default: %" PRId32 ")\n",
args->cfg.ang_nfo_gain);
#endif
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: parse_args
****************************************************************************/
void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
{
int option_index = 0;
int c = 0;
while (1)
{
c = getopt_long(argc, argv, "ht:f:m:o:r:v:a:d:x:s:j:", g_long_options,
&option_index);
if (c == -1)
{
break;
}
switch (c)
{
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
case OPT_FKP:
{
args->cfg.foc_pi_kp = atoi(optarg);
break;
}
case OPT_FKI:
{
args->cfg.foc_pi_ki = atoi(optarg);
break;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
case OPT_IRKI:
{
args->cfg.ident_res_ki = atoi(optarg);
break;
}
case OPT_IRC:
{
args->cfg.ident_res_curr = atoi(optarg);
break;
}
case OPT_IRS:
{
args->cfg.ident_res_sec = atoi(optarg);
break;
}
case OPT_IIV:
{
args->cfg.ident_ind_volt = atoi(optarg);
break;
}
case OPT_IIS:
{
args->cfg.ident_ind_sec = atoi(optarg);
break;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELOBS_PLL
case OPT_VOPLLKP:
{
args->cfg.vel_pll_kp = atoi(optarg);
break;
}
case OPT_VOPLLKI:
{
args->cfg.vel_pll_ki = atoi(optarg);
break;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELOBS_DIV
case OPT_VODIVS:
{
args->cfg.vel_div_samples = atoi(optarg);
break;
}
case OPT_VODIVF:
{
args->cfg.vel_div_filter = atoi(optarg);
break;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELCTRL_PI
case OPT_VCPIKP:
{
args->cfg.vel_pi_kp = atoi(optarg);
break;
}
case OPT_VCPIKI:
{
args->cfg.vel_pi_ki = atoi(optarg);
break;
}
#endif
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
case OPT_ANFOS:
{
args->cfg.ang_nfo_slow = atoi(optarg);
break;
}
case OPT_ANFOG:
{
args->cfg.ang_nfo_gain = atoi(optarg);
break;
}
#endif
case 't':
{
args->time = atoi(optarg);
break;
}
case 'h':
{
foc_help(args);
exit(0);
}
case 'f':
{
args->cfg.fmode = atoi(optarg);
break;
}
case 'm':
{
args->cfg.mmode = atoi(optarg);
break;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
case 'r':
{
args->cfg.torqmax = atoi(optarg);
break;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
case 'v':
{
args->cfg.velmax = atoi(optarg);
break;
}
case 'a':
{
args->cfg.acc = atoi(optarg);
break;
}
case 'd':
{
args->cfg.dec = atoi(optarg);
break;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
case 'x':
{
args->cfg.posmax = atoi(optarg);
break;
}
#endif
case 's':
{
args->state = atoi(optarg);
break;
}
case 'j':
{
args->en = atoi(optarg);
break;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
case 'o':
{
args->cfg.qparam = atoi(optarg);
break;
}
case OPT_OLFORCE:
{
args->cfg.ol_force = true;
break;
}
# ifdef CONFIG_EXAMPLES_FOC_ANGOBS
case OPT_OLTHR:
{
args->cfg.ol_thr = atoi(optarg);
break;
}
case OPT_OLHYS:
{
args->cfg.ol_hys = atoi(optarg);
break;
}
# endif
#endif
case '?':
default:
{
if (argv[optind - 1] == NULL)
{
PRINTF("ERROR: invalid option argument for %s\n",
argv[optind - 2]);
}
else
{
PRINTF("ERROR: invalid option %s\n", argv[optind - 1]);
}
foc_help(args);
exit(1);
}
}
}
}
/****************************************************************************
* Name: validate_args
****************************************************************************/
int validate_args(FAR struct args_s *args)
{
int ret = -EINVAL;
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
/* Current PI controller */
if (args->cfg.foc_pi_kp == 0 && args->cfg.foc_pi_ki == 0)
{
PRINTF("ERROR: missing FOC Kp/Ki configuration\n");
goto errout;
}
#endif
/* FOC operation mode */
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->cfg.fmode);
goto errout;
}
/* Example control mode */
if (args->cfg.mmode != FOC_MMODE_IDLE &&
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
args->cfg.mmode != FOC_MMODE_TORQ &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
args->cfg.mmode != FOC_MMODE_VEL &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
args->cfg.mmode != FOC_MMODE_POS &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
args->cfg.mmode != FOC_MMODE_ALIGN_ONLY &&
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
args->cfg.mmode != FOC_MMODE_IDENT_ONLY &&
#endif
1)
{
PRINTF("Invalid ctrl mode value %d s\n", args->cfg.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;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
/* Motor identification parameters */
if (args->cfg.ident_res_ki == 0 || args->cfg.ident_res_curr == 0 ||
args->cfg.ident_res_sec == 0)
{
PRINTF("ERROR: missing motor res ident configuration\n");
goto errout;
}
if (args->cfg.ident_ind_volt == 0 || args->cfg.ident_ind_sec == 0)
{
PRINTF("ERROR: missing motor ind ident configuration\n");
goto errout;
}
#endif
/* Otherwise OK */
ret = OK;
errout:
return ret;
}
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