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
The following commit(s) were added to refs/heads/master by this push:
new 35c31e35c examples/foc: add options to run only the sensor alignment
routine or the motor identification routine
35c31e35c is described below
commit 35c31e35c1494485834f4bcaab5087583e848bfd
Author: raiden00pl <raide...@railab.me>
AuthorDate: Sat Aug 27 12:38:18 2022 +0200
examples/foc: add options to run only the sensor alignment routine or the
motor identification routine
---
examples/foc/foc_main.c | 6 ++++++
examples/foc/foc_motor_b16.c | 40 +++++++++++++++++++++++++++++++++++++++-
examples/foc/foc_motor_f32.c | 40 +++++++++++++++++++++++++++++++++++++++-
examples/foc/foc_parseargs.c | 7 +++++++
examples/foc/foc_thr.h | 14 ++++++++++----
5 files changed, 101 insertions(+), 6 deletions(-)
diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index 80b285bdd..c3a4d1e79 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -163,6 +163,12 @@ static int validate_args(FAR struct args_s *args)
#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)
{
diff --git a/examples/foc/foc_motor_b16.c b/examples/foc/foc_motor_b16.c
index 7be423ebd..503ac6167 100644
--- a/examples/foc/foc_motor_b16.c
+++ b/examples/foc/foc_motor_b16.c
@@ -548,6 +548,18 @@ static int foc_motor_setpoint(FAR struct foc_motor_b16_s
*motor, uint32_t sp)
}
#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
+ case FOC_MMODE_ALIGN_ONLY:
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+ case FOC_MMODE_IDENT_ONLY:
+#endif
+ {
+ /* Do nothing */
+
+ break;
+ }
+
default:
{
PRINTF("ERROR: unsupported ctrl mode %d\n", motor->envp->mmode);
@@ -995,7 +1007,23 @@ int foc_motor_init(FAR struct foc_motor_b16_s *motor,
/* Initialize controller state */
- motor->ctrl_state = FOC_CTRL_STATE_INIT;
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
+ if (motor->envp->mmode == FOC_MMODE_ALIGN_ONLY)
+ {
+ motor->ctrl_state = FOC_CTRL_STATE_ALIGN;
+ }
+ else
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+ if (motor->envp->mmode == FOC_MMODE_IDENT_ONLY)
+ {
+ motor->ctrl_state = FOC_CTRL_STATE_IDENT;
+ }
+ else
+#endif
+ {
+ motor->ctrl_state = FOC_CTRL_STATE_INIT;
+ }
#if defined(CONFIG_EXAMPLES_FOC_SENSORED) || \
defined(CONFIG_EXAMPLES_FOC_HAVE_RUN) || \
@@ -1215,6 +1243,11 @@ int foc_motor_control(FAR struct foc_motor_b16_s *motor)
motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
+
+ if (motor->envp->mmode == FOC_MMODE_ALIGN_ONLY)
+ {
+ motor->ctrl_state = FOC_CTRL_STATE_TERMINATE;
+ }
}
break;
@@ -1239,6 +1272,11 @@ int foc_motor_control(FAR struct foc_motor_b16_s *motor)
motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
+
+ if (motor->envp->mmode == FOC_MMODE_IDENT_ONLY)
+ {
+ motor->ctrl_state = FOC_CTRL_STATE_TERMINATE;
+ }
}
break;
diff --git a/examples/foc/foc_motor_f32.c b/examples/foc/foc_motor_f32.c
index f8e7730b6..3cf39e923 100644
--- a/examples/foc/foc_motor_f32.c
+++ b/examples/foc/foc_motor_f32.c
@@ -525,6 +525,18 @@ static int foc_motor_setpoint(FAR struct foc_motor_f32_s
*motor, uint32_t sp)
}
#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
+ case FOC_MMODE_ALIGN_ONLY:
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+ case FOC_MMODE_IDENT_ONLY:
+#endif
+ {
+ /* Do nothing */
+
+ break;
+ }
+
default:
{
PRINTF("ERROR: unsupported ctrl mode %d\n", motor->envp->mmode);
@@ -977,7 +989,23 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
/* Initialize controller state */
- motor->ctrl_state = FOC_CTRL_STATE_INIT;
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
+ if (motor->envp->mmode == FOC_MMODE_ALIGN_ONLY)
+ {
+ motor->ctrl_state = FOC_CTRL_STATE_ALIGN;
+ }
+ else
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+ if (motor->envp->mmode == FOC_MMODE_IDENT_ONLY)
+ {
+ motor->ctrl_state = FOC_CTRL_STATE_IDENT;
+ }
+ else
+#endif
+ {
+ motor->ctrl_state = FOC_CTRL_STATE_INIT;
+ }
#if defined(CONFIG_EXAMPLES_FOC_SENSORED) || \
defined(CONFIG_EXAMPLES_FOC_HAVE_RUN) || \
@@ -1197,6 +1225,11 @@ int foc_motor_control(FAR struct foc_motor_f32_s *motor)
motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
+
+ if (motor->envp->mmode == FOC_MMODE_ALIGN_ONLY)
+ {
+ motor->ctrl_state = FOC_CTRL_STATE_TERMINATE;
+ }
}
break;
@@ -1221,6 +1254,11 @@ int foc_motor_control(FAR struct foc_motor_f32_s *motor)
motor->ctrl_state += 1;
motor->foc_mode = FOC_HANDLER_MODE_IDLE;
+
+ if (motor->envp->mmode == FOC_MMODE_IDENT_ONLY)
+ {
+ motor->ctrl_state = FOC_CTRL_STATE_TERMINATE;
+ }
}
break;
diff --git a/examples/foc/foc_parseargs.c b/examples/foc/foc_parseargs.c
index ec549ff72..338c8eb90 100644
--- a/examples/foc/foc_parseargs.c
+++ b/examples/foc/foc_parseargs.c
@@ -93,6 +93,13 @@ static void foc_help(void)
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
+
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
PRINTF(" [-r] torque [x1000]\n");
#endif
diff --git a/examples/foc/foc_thr.h b/examples/foc/foc_thr.h
index d1efd90bc..18889c106 100644
--- a/examples/foc/foc_thr.h
+++ b/examples/foc/foc_thr.h
@@ -63,15 +63,21 @@ enum foc_foc_mode_e
enum foc_motor_mode_e
{
- FOC_MMODE_INVALID = 0, /* Reserved */
+ FOC_MMODE_INVALID = 0, /* Reserved */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
- FOC_MMODE_TORQ = 1, /* Torque control */
+ FOC_MMODE_TORQ = 1, /* Torque control */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
- FOC_MMODE_VEL = 2, /* Velocity control */
+ FOC_MMODE_VEL = 2, /* Velocity control */
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_POS
- FOC_MMODE_POS = 3 /* Position control */
+ FOC_MMODE_POS = 3, /* Position control */
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
+ FOC_MMODE_ALIGN_ONLY = 4, /* Sensor alignment only */
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
+ FOC_MMODE_IDENT_ONLY = 5, /* Motor identification only */
#endif
};
