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9c8e3cc46a
nuttx-apps/examples/foc/foc_main.c
raiden00pl 9c8e3cc46a examples/foc: add option to disable open-loop operations 
Initial step towards sensored control
2021-10-30 10:00:38 -05:00

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/****************************************************************************
* 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 <fcntl.h>
#include <assert.h>
#include <errno.h>
#include <mqueue.h>
#include <pthread.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <sys/boardctl.h>
#include <nuttx/fs/fs.h>
#include "foc_mq.h"
#include "foc_thr.h"
#include "foc_adc.h"
#include "foc_debug.h"
#include "foc_device.h"
#include "foc_parseargs.h"
#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
# include <nuttx/input/buttons.h>
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
# include <nuttx/analog/adc.h>
# include <nuttx/analog/ioctl.h>
#endif
#include "industry/foc/foc_common.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Main loop sleep */
#define MAIN_LOOP_USLEEP (200000)
/* Button init state */
#if CONFIG_EXAMPLES_FOC_STATE_INIT == 1
# define STATE_BUTTON_I (0)
#elif CONFIG_EXAMPLES_FOC_STATE_INIT == 2
# define STATE_BUTTON_I (2)
#elif CONFIG_EXAMPLES_FOC_STATE_INIT == 3
# define STATE_BUTTON_I (1)
#elif CONFIG_EXAMPLES_FOC_STATE_INIT == 4
# define STATE_BUTTON_I (3)
#else
# error
#endif
/* Enabled instnaces default state */
#define INST_EN_DEAFULT (0xff)
/****************************************************************************
* Private Type Definition
****************************************************************************/
/****************************************************************************
* Private Function Protototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
/* Example state */
static const int g_state_list[5] =
{
FOC_EXAMPLE_STATE_FREE,
FOC_EXAMPLE_STATE_CW,
FOC_EXAMPLE_STATE_STOP,
FOC_EXAMPLE_STATE_CCW,
0
};
#endif
pthread_mutex_t g_cntr_lock;
#ifdef CONFIG_INDUSTRY_FOC_FLOAT
static int g_float_thr_cntr = 0;
#endif
#ifdef CONFIG_INDUSTRY_FOC_FIXED16
static int g_fixed16_thr_cntr = 0;
#endif
/****************************************************************************
* 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->mode =
(args->mode == 0 ? CONFIG_EXAMPLES_FOC_OPMODE : args->mode);
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
args->qparam =
(args->qparam == 0 ? CONFIG_EXAMPLES_FOC_OPENLOOP_Q : args->qparam);
#endif
args->pi_kp =
(args->pi_kp == 0 ? CONFIG_EXAMPLES_FOC_IDQ_KP : args->pi_kp);
args->pi_ki =
(args->pi_ki == 0 ? CONFIG_EXAMPLES_FOC_IDQ_KI : args->pi_ki);
#ifdef CONFIG_EXAMPLES_FOC_VEL_ADC
args->velmax =
(args->velmax == 0 ? CONFIG_EXAMPLES_FOC_VEL_ADC_MAX : args->velmax);
#else
args->velmax =
(args->velmax == 0 ? CONFIG_EXAMPLES_FOC_VEL_CONST_VALUE : args->velmax);
#endif
args->state =
(args->state == 0 ? CONFIG_EXAMPLES_FOC_STATE_INIT : args->state);
args->en = (args->en == -1 ? INST_EN_DEAFULT : args->en);
}
/****************************************************************************
* Name: validate_args
****************************************************************************/
static int validate_args(FAR struct args_s *args)
{
int ret = -EINVAL;
/* FOC PI controller */
if (args->pi_kp == 0 && args->pi_ki == 0)
{
PRINTF("ERROR: missign Kp/Ki configuration\n");
goto errout;
}
/* Operation mode */
if (args->mode != FOC_OPMODE_IDLE &&
args->mode != FOC_OPMODE_OL_V_VEL &&
args->mode != FOC_OPMODE_OL_C_VEL)
{
PRINTF("Invalid op mode value %d s\n", args->mode);
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_vel_send
****************************************************************************/
static int foc_vel_send(mqd_t mqd, uint32_t vel)
{
return foc_mq_send(mqd, CONTROL_MQ_MSG_VEL, (FAR void *)&vel);
}
/****************************************************************************
* 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);
}
/****************************************************************************
* Name: foc_control_thr
****************************************************************************/
FAR void *foc_control_thr(FAR void *arg)
{
FAR struct foc_ctrl_env_s *envp = (FAR struct foc_ctrl_env_s *) arg;
char mqname[10];
int ret = OK;
DEBUGASSERT(envp);
/* Open FOC device as blocking */
ret = foc_device_open(&envp->dev, envp->id);
if (ret < 0)
{
PRINTF("ERROR: foc_device_open failed %d!\n", ret);
goto errout;
}
/* Get controller type */
pthread_mutex_lock(&g_cntr_lock);
#ifdef CONFIG_INDUSTRY_FOC_FLOAT
if (g_float_thr_cntr < CONFIG_EXAMPLES_FOC_FLOAT_INST)
{
envp->type = FOC_NUMBER_TYPE_FLOAT;
}
else
#endif
#ifdef CONFIG_INDUSTRY_FOC_FIXED16
if (g_fixed16_thr_cntr < CONFIG_EXAMPLES_FOC_FIXED16_INST)
{
envp->type = FOC_NUMBER_TYPE_FIXED16;
}
else
#endif
{
/* Invalid configuration */
ASSERT(0);
}
pthread_mutex_unlock(&g_cntr_lock);
PRINTF("FOC device %d type = %d!\n", envp->id, envp->type);
/* Get queue name */
sprintf(mqname, "%s%d", CONTROL_MQ_MQNAME, envp->id);
/* Open queue */
envp->mqd = mq_open(mqname, (O_RDONLY | O_NONBLOCK), 0666, NULL);
if (envp->mqd == (mqd_t)-1)
{
PRINTF("ERROR: mq_open failed errno=%d\n", errno);
goto errout;
}
/* Select control logic according to FOC device type */
switch (envp->type)
{
#ifdef CONFIG_INDUSTRY_FOC_FLOAT
case FOC_NUMBER_TYPE_FLOAT:
{
pthread_mutex_lock(&g_cntr_lock);
envp->inst = g_float_thr_cntr;
g_float_thr_cntr += 1;
pthread_mutex_unlock(&g_cntr_lock);
/* Start thread */
ret = foc_float_thr(envp);
pthread_mutex_lock(&g_cntr_lock);
g_float_thr_cntr -= 1;
pthread_mutex_unlock(&g_cntr_lock);
break;
}
#endif
#ifdef CONFIG_INDUSTRY_FOC_FIXED16
case FOC_NUMBER_TYPE_FIXED16:
{
pthread_mutex_lock(&g_cntr_lock);
envp->inst = g_fixed16_thr_cntr;
g_fixed16_thr_cntr += 1;
pthread_mutex_unlock(&g_cntr_lock);
/* Start thread */
ret = foc_fixed16_thr(envp);
pthread_mutex_lock(&g_cntr_lock);
g_fixed16_thr_cntr -= 1;
pthread_mutex_unlock(&g_cntr_lock);
break;
}
#endif
default:
{
PRINTF("ERROR: unknown FOC device type %d\n", envp->type);
goto errout;
}
}
if (ret < 0)
{
PRINTF("ERROR: foc control thread failed %d\n", ret);
}
errout:
/* Close FOC control device */
ret = foc_device_close(&envp->dev);
if (ret < 0)
{
PRINTF("ERROR: foc_device_close %d failed %d\n", envp->id, ret);
}
/* Close queue */
if (envp->mqd == (mqd_t)-1)
{
mq_close(envp->mqd);
}
PRINTFV("foc_control_thr %d exit\n", envp->id);
return NULL;
}
/****************************************************************************
* Name: foc_threads_init
****************************************************************************/
static int foc_threads_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, &param);
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;
}
/****************************************************************************
* 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;
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
int adc_fd = 0;
bool adc_trigger = false;
struct adc_msg_s adc_sample[ADC_SAMPLES];
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
btn_buttonset_t b_sample = 0;
int b_fd = 0;
int state_i = 0;
#endif
uint32_t state = 0;
uint32_t vbus_raw = 0;
int32_t vel_raw = 0;
bool vbus_update = false;
bool state_update = false;
bool vel_update = false;
bool terminate = false;
bool started = false;
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);
/* 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 mutex */
ret = pthread_mutex_init(&g_cntr_lock, NULL);
if (ret != 0)
{
PRINTF("ERROR: pthread_mutex_init failed %d\n", errno);
goto errout_no_mutex;
}
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
/* Open ADC */
adc_fd = open(CONFIG_EXAMPLES_FOC_ADC_DEVPATH, (O_RDONLY | O_NONBLOCK));
if (adc_fd <= 0)
{
PRINTF("ERROR: failed to open %s %d\n",
CONFIG_EXAMPLES_FOC_ADC_DEVPATH, errno);
ret = -errno;
goto errout;
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
/* Open button driver */
b_fd = open(CONFIG_EXAMPLES_FOC_BUTTON_DEVPATH, (O_RDONLY | O_NONBLOCK));
if (b_fd < 0)
{
PRINTF("ERROR: failed to open %s %d\n",
CONFIG_EXAMPLES_FOC_BUTTON_DEVPATH, errno);
goto errout;
}
#endif
/* 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].mode = args.mode;
foc[i].pi_kp = args.pi_kp;
foc[i].pi_ki = args.pi_ki;
foc[i].velmax = args.velmax;
if (args.en & (1 << i))
{
/* Initialize controller thread if enabled */
ret = foc_threads_init(&foc[i], i, &mqd[i], &threads[i]);
if (ret < 0)
{
PRINTF("ERROR: foc_threads_init failed %d!\n", ret);
goto errout;
}
}
}
/* Wait some time to finish all controllers initialziation */
usleep(10000);
/* Initial update for VBUS and VEL */
#ifndef CONFIG_EXAMPLES_FOC_VBUS_ADC
vbus_update = true;
vbus_raw = VBUS_CONST_VALUE;
#endif
#ifndef CONFIG_EXAMPLES_FOC_VEL_ADC
vel_update = true;
vel_raw = 1;
#endif
state_update = true;
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
/* Initial ADC trigger */
ret = ioctl(adc_fd, ANIOC_TRIGGER, 0);
if (ret < 0)
{
PRINTF("ERROR: ANIOC_TRIGGER ioctl failed: %d\n", errno);
goto errout;
}
/* Make sure that conversion is done before first read form ADC device */
usleep(10000);
/* Read ADC data if the first loop cylce */
adc_trigger = false;
#endif
/* Controller state */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
state_i = STATE_BUTTON_I;
#endif
state = args.state;
/* Auxliary control loop */
while (terminate != true)
{
PRINTFV("foc_main loop %d\n", time);
#ifdef CONFIG_EXAMPLES_FOC_HAVE_BUTTON
/* Get button state */
ret = read(b_fd, &b_sample, sizeof(btn_buttonset_t));
if (ret < 0)
{
if (errno != EAGAIN)
{
PRINTF("ERROR: read button failed %d\n", errno);
}
}
/* Next state */
if (b_sample & (1 << 0))
{
state_i += 1;
if (g_state_list[state_i] == 0)
{
state_i = 0;
}
state = g_state_list[state_i];
state_update = true;
PRINTF("BUTTON STATE %" PRIu32 "\n", state);
}
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ADC
if (adc_trigger == true)
{
/* Issue the software trigger to start ADC conversion */
ret = ioctl(adc_fd, ANIOC_TRIGGER, 0);
if (ret < 0)
{
PRINTF("ERROR: ANIOC_TRIGGER ioctl failed: %d\n", errno);
goto errout;
}
/* No ADC trigger next cycle */
adc_trigger = false;
}
else
{
/* Get ADC samples */
ret = read(adc_fd, adc_sample,
(ADC_SAMPLES * sizeof(struct adc_msg_s)));
if (ret < 0)
{
if (errno != EAGAIN)
{
PRINTF("ERROR: adc read failed %d\n", errno);
}
}
else
{
/* Verify we have received the configured number of samples */
if (ret != ADC_SAMPLES * sizeof(struct adc_msg_s))
{
PRINTF("ERROR: adc read invalid read %d != %d\n",
ret, ADC_SAMPLES * sizeof(struct adc_msg_s));
ret = -EINVAL;
goto errout;
}
# ifdef CONFIG_EXAMPLES_FOC_VBUS_ADC
/* Get raw VBUS */
vbus_raw = adc_sample[VBUS_ADC_SAMPLE].am_data;
vbus_update = true;
# endif
# ifdef CONFIG_EXAMPLES_FOC_VEL_ADC
/* Get raw VEL */
vel_raw = adc_sample[VEL_ADC_SAMPLE].am_data;
vel_update = true;
# endif
/* ADC trigger next cycle */
adc_trigger = true;
}
}
#endif
/* 1. Update VBUS */
if (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], vbus_raw);
if (ret < 0)
{
PRINTF("ERROR: foc_vbus_send failed %d\n", ret);
goto errout;
}
}
}
/* Reset flag */
vbus_update = false;
}
/* 2. Update motor state */
if (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", state, i);
/* Send STATE to thread */
ret = foc_state_send(mqd[i], state);
if (ret < 0)
{
PRINTF("ERROR: foc_state_send failed %d\n", ret);
goto errout;
}
}
}
/* Reset flag */
state_update = false;
}
/* 3. Update motor velocity */
if (vel_update == true)
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
if (args.en & (1 << i))
{
PRINTFV("Send velocity to %d\n", i);
/* Send VELOCITY to threads */
ret = foc_vel_send(mqd[i], vel_raw);
if (ret < 0)
{
PRINTF("ERROR: foc_vel_send failed %d\n", ret);
goto errout;
}
}
}
/* Reset flag */
vel_update = false;
}
/* 4. One time start */
if (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 */
started = true;
}
/* Handle run time */
time += 1;
if (args.time != -1)
{
if (time >= (args.time * (1000000 / MAIN_LOOP_USLEEP)))
{
/* Exit loop */
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 some time */
usleep(100000);
/* De-initialize all FOC control threads */
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]);
}
}
}
errout_no_mutex:
/* Free/uninitialize data structures */
pthread_mutex_destroy(&g_cntr_lock);
PRINTF("foc_main exit\n");
return 0;
}
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