This is an automated email from the ASF dual-hosted git repository.
xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/incubator-nuttx-apps.git
commit 33b34f88522547d1ab5d41805b25b167348ba90a
Author: raiden00pl <raide...@railab.me>
AuthorDate: Sun Oct 31 10:35:43 2021 +0100
examples/foc: open FOC device in FOC threads
---
examples/foc/foc_fixed16_thr.c | 52 ++++++++++++++++++++++++++++--------------
examples/foc/foc_float_thr.c | 50 +++++++++++++++++++++++++++-------------
examples/foc/foc_main.c | 17 --------------
examples/foc/foc_thr.h | 1 -
4 files changed, 69 insertions(+), 51 deletions(-)
diff --git a/examples/foc/foc_fixed16_thr.c b/examples/foc/foc_fixed16_thr.c
index b41f313..44fb1e6 100644
--- a/examples/foc/foc_fixed16_thr.c
+++ b/examples/foc/foc_fixed16_thr.c
@@ -64,6 +64,7 @@
struct foc_motor_b16_s
{
FAR struct foc_ctrl_env_s *envp; /* Thread env */
+ struct foc_device_s dev; /* FOC device */
bool fault; /* Fault flag */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
bool openloop_now; /* Open-loop now */
@@ -121,15 +122,6 @@ static int foc_motor_init(FAR struct foc_motor_b16_s
*motor,
motor->envp = envp;
- /* Get device info */
-
- ret = foc_dev_getinfo(envp->dev.fd, &motor->info);
- if (ret < 0)
- {
- PRINTF("ERROR: foc_dev_getinfo failed %d!\n", ret);
- goto errout;
- }
-
/* Initialize motor data */
motor->per = b16divi(b16ONE, CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ);
@@ -297,7 +289,7 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s
*motor)
/* Configure FOC device */
- ret = foc_dev_setcfg(motor->envp->dev.fd, &cfg);
+ ret = foc_dev_setcfg(motor->dev.fd, &cfg);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_setcfg %d!\n", ret);
@@ -339,7 +331,7 @@ static int foc_motor_start(FAR struct foc_motor_b16_s
*motor, bool start)
PRINTF("Start FOC device %d!\n", motor->envp->id);
- ret = foc_dev_start(motor->envp->dev.fd);
+ ret = foc_dev_start(motor->dev.fd);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_start failed %d!\n", ret);
@@ -353,7 +345,7 @@ static int foc_motor_start(FAR struct foc_motor_b16_s
*motor, bool start)
PRINTF("Stop FOC device %d!\n", motor->envp->id);
- ret = foc_dev_stop(motor->envp->dev.fd);
+ ret = foc_dev_stop(motor->dev.fd);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_stop failed %d!\n", ret);
@@ -663,7 +655,7 @@ static int foc_dev_state_get(FAR struct foc_motor_b16_s
*motor)
/* Get FOC state - blocking */
- ret = foc_dev_getstate(motor->envp->dev.fd, &motor->dev_state);
+ ret = foc_dev_getstate(motor->dev.fd, &motor->dev_state);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_getstate failed %d!\n", ret);
@@ -699,7 +691,7 @@ static int foc_dev_params_set(FAR struct foc_motor_b16_s
*motor)
/* Write FOC parameters */
- ret = foc_dev_setparams(motor->envp->dev.fd, &motor->dev_params);
+ ret = foc_dev_setparams(motor->dev.fd, &motor->dev_params);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_setparams failed %d!\n", ret);
@@ -871,6 +863,24 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
goto errout;
}
+ /* Open FOC device as blocking */
+
+ ret = foc_device_open(&motor.dev, envp->id);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: foc_device_open failed %d!\n", ret);
+ goto errout;
+ }
+
+ /* Get device info */
+
+ ret = foc_dev_getinfo(motor.dev.fd, &motor.info);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: foc_dev_getinfo failed %d!\n", ret);
+ goto errout;
+ }
+
/* Initialize controller mode */
ret = foc_mode_init(&motor);
@@ -930,7 +940,7 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
ret = foc_state_handle(&motor);
if (ret < 0)
{
- PRINTF("ERROR: foc_state_handle failed %d!\n", ret);
+ PRINTF("ERROR: foc_dev_state_handle failed %d!\n", ret);
goto errout;
}
@@ -938,7 +948,7 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
{
/* Clear fault state */
- ret = foc_dev_clearfault(envp->dev.fd);
+ ret = foc_dev_clearfault(motor.dev.fd);
if (ret != OK)
{
PRINTF("ERROR: foc_dev_clearfault failed %d!\n", ret);
@@ -1023,12 +1033,20 @@ errout:
/* Stop FOC device */
- ret = foc_dev_stop(envp->dev.fd);
+ ret = foc_dev_stop(motor.dev.fd);
if (ret < 0)
{
PRINTF("ERROR: foc_dev_stop %d!\n", ret);
}
+ /* Close FOC control device */
+
+ ret = foc_device_close(&motor.dev);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: foc_device_close %d failed %d\n", envp->id, ret);
+ }
+
PRINTF("foc_fixed16_thr %d exit\n", envp->id);
return ret;
diff --git a/examples/foc/foc_float_thr.c b/examples/foc/foc_float_thr.c
index 3a5ef25..1386ae8 100644
--- a/examples/foc/foc_float_thr.c
+++ b/examples/foc/foc_float_thr.c
@@ -64,6 +64,7 @@
struct foc_motor_f32_s
{
FAR struct foc_ctrl_env_s *envp; /* Thread env */
+ struct foc_device_s dev; /* FOC device */
bool fault; /* Fault flag */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
bool openloop_now; /* Open-loop now */
@@ -121,15 +122,6 @@ static int foc_motor_init(FAR struct foc_motor_f32_s
*motor,
motor->envp = envp;
- /* Get device info */
-
- ret = foc_dev_getinfo(envp->dev.fd, &motor->info);
- if (ret < 0)
- {
- PRINTFV("ERROR: foc_dev_getinfo failed %d!\n", ret);
- goto errout;
- }
-
/* Initialize motor data */
motor->per = (float)(1.0f / CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ);
@@ -297,7 +289,7 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s
*motor)
/* Configure FOC device */
- ret = foc_dev_setcfg(motor->envp->dev.fd, &cfg);
+ ret = foc_dev_setcfg(motor->dev.fd, &cfg);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_setcfg %d!\n", ret);
@@ -339,7 +331,7 @@ static int foc_motor_start(FAR struct foc_motor_f32_s
*motor, bool start)
PRINTF("Start FOC device %d!\n", motor->envp->id);
- ret = foc_dev_start(motor->envp->dev.fd);
+ ret = foc_dev_start(motor->dev.fd);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_start failed %d!\n", ret);
@@ -360,7 +352,7 @@ static int foc_motor_start(FAR struct foc_motor_f32_s
*motor, bool start)
PRINTF("Stop FOC device %d!\n", motor->envp->id);
- ret = foc_dev_stop(motor->envp->dev.fd);
+ ret = foc_dev_stop(motor->dev.fd);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_stop failed %d!\n", ret);
@@ -663,7 +655,7 @@ static int foc_dev_state_get(FAR struct foc_motor_f32_s
*motor)
/* Get FOC state - blocking */
- ret = foc_dev_getstate(motor->envp->dev.fd, &motor->dev_state);
+ ret = foc_dev_getstate(motor->dev.fd, &motor->dev_state);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_getstate failed %d!\n", ret);
@@ -699,7 +691,7 @@ static int foc_dev_params_set(FAR struct foc_motor_f32_s
*motor)
/* Write FOC parameters */
- ret = foc_dev_setparams(motor->envp->dev.fd, &motor->dev_params);
+ ret = foc_dev_setparams(motor->dev.fd, &motor->dev_params);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_setparams failed %d!\n", ret);
@@ -874,6 +866,24 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
goto errout;
}
+ /* Open FOC device as blocking */
+
+ ret = foc_device_open(&motor.dev, envp->id);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: foc_device_open failed %d!\n", ret);
+ goto errout;
+ }
+
+ /* Get device info */
+
+ ret = foc_dev_getinfo(motor.dev.fd, &motor.info);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: foc_dev_getinfo failed %d!\n", ret);
+ goto errout;
+ }
+
/* Initialize controller mode */
ret = foc_mode_init(&motor);
@@ -941,7 +951,7 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
{
/* Clear fault state */
- ret = foc_dev_clearfault(envp->dev.fd);
+ ret = foc_dev_clearfault(motor.dev.fd);
if (ret != OK)
{
goto errout;
@@ -1025,12 +1035,20 @@ errout:
/* Stop FOC device */
- ret = foc_dev_stop(envp->dev.fd);
+ ret = foc_dev_stop(motor.dev.fd);
if (ret < 0)
{
PRINTFV("ERROR: foc_dev_stop failed %d!\n", ret);
}
+ /* Close FOC control device */
+
+ ret = foc_device_close(&motor.dev);
+ if (ret < 0)
+ {
+ PRINTF("ERROR: foc_device_close %d failed %d\n", envp->id, ret);
+ }
+
PRINTF("foc_float_thr %d exit\n", envp->id);
return ret;
diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index cfe72e1..61f7062 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -303,15 +303,6 @@ FAR void *foc_control_thr(FAR void *arg)
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);
@@ -411,14 +402,6 @@ FAR void *foc_control_thr(FAR void *arg)
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)
diff --git a/examples/foc/foc_thr.h b/examples/foc/foc_thr.h
index 0797fbb..a714a3d 100644
--- a/examples/foc/foc_thr.h
+++ b/examples/foc/foc_thr.h
@@ -70,7 +70,6 @@ enum foc_operation_mode_e
struct foc_ctrl_env_s
{
- struct foc_device_s dev; /* FOC device */
mqd_t mqd; /* Control msg queue */
int id; /* FOC device id */
int inst; /* Type specific instance counter */
