e6b6c14f53
For now only the FOC PI current controller is supported, but this can be easily extended to support other control methods
84 lines
3.2 KiB
C
84 lines
3.2 KiB
C
/****************************************************************************
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* apps/examples/foc/foc_parseargs.h
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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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#ifndef __APPS_EXAMPLES_FOC_FOC_PARSEARGS_H
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#define __APPS_EXAMPLES_FOC_FOC_PARSEARGS_H
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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 "foc_device.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/****************************************************************************
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* Public Type Definition
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****************************************************************************/
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/* Application arguments */
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struct args_s
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{
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int time; /* Run time limit in sec, -1 if forever */
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int fmode; /* FOC control mode */
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int mmode; /* Motor control mode */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
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int qparam; /* Open-loop Q setting (x1000) */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
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uint32_t foc_pi_kp; /* FOC PI Kp (x1000) */
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uint32_t foc_pi_ki; /* FOC PI Ki (x1000) */
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#endif
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int state; /* Example state (FREE, CW, CCW, STOP) */
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int8_t en; /* Enabled instances (bit-encoded) */
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
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uint32_t torqmax; /* Torque max (x1000) */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
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uint32_t velmax; /* Velocity max (x1000) */
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#endif
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#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
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uint32_t posmax; /* Position max (x1000) */
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#endif
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: parse_args
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****************************************************************************/
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void parse_args(FAR struct args_s *args, int argc, FAR char **argv);
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#endif /* __APPS_EXAMPLES_FOC_FOC_THR_H */
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