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xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx-apps.git
commit a56f0922c52a494afb742cabe741261260fbe5c4
Author: raiden00pl <raide...@railab.me>
AuthorDate: Wed Oct 4 11:40:55 2023 +0200
industrial/foc: add an interface that returns the modulation state
Useful for debugging and demonstrating FOC operation
---
examples/foc/foc_fixed16_thr.c | 4 +++-
examples/foc/foc_float_thr.c | 4 +++-
include/industry/foc/fixed16/foc_handler.h | 8 ++++++-
include/industry/foc/float/foc_handler.h | 8 ++++++-
industry/foc/fixed16/foc_handler.c | 13 ++++++++---
industry/foc/fixed16/foc_svm3.c | 35 +++++++++++++++++++++++++++++-
industry/foc/float/foc_handler.c | 13 ++++++++---
industry/foc/float/foc_svm3.c | 35 +++++++++++++++++++++++++++++-
8 files changed, 108 insertions(+), 12 deletions(-)
diff --git a/examples/foc/foc_fixed16_thr.c b/examples/foc/foc_fixed16_thr.c
index 87dc36ea1..fc0158b39 100644
--- a/examples/foc/foc_fixed16_thr.c
+++ b/examples/foc/foc_fixed16_thr.c
@@ -127,7 +127,9 @@ static int foc_handler_run(FAR struct foc_motor_b16_s
*motor,
/* Get FOC handler state */
- foc_handler_state_b16(&motor->handler, &motor->foc_state);
+ foc_handler_state_b16(&motor->handler,
+ &motor->foc_state,
+ NULL);
return ret;
}
diff --git a/examples/foc/foc_float_thr.c b/examples/foc/foc_float_thr.c
index 913162d84..7598a40ae 100644
--- a/examples/foc/foc_float_thr.c
+++ b/examples/foc/foc_float_thr.c
@@ -127,7 +127,9 @@ static int foc_handler_run(FAR struct foc_motor_f32_s
*motor,
/* Get FOC handler state */
- foc_handler_state_f32(&motor->handler, &motor->foc_state);
+ foc_handler_state_f32(&motor->handler,
+ &motor->foc_state,
+ NULL);
return ret;
}
diff --git a/include/industry/foc/fixed16/foc_handler.h
b/include/industry/foc/fixed16/foc_handler.h
index 793aeafa8..8e1601f41 100644
--- a/include/industry/foc/fixed16/foc_handler.h
+++ b/include/industry/foc/fixed16/foc_handler.h
@@ -104,6 +104,11 @@ struct foc_modulation_ops_b16_s
CODE void (*run)(FAR foc_handler_b16_t *h,
FAR ab_frame_b16_t *v_ab_mod,
FAR b16_t *duty);
+
+ /* Get modulation state */
+
+ CODE void (*state_get)(FAR foc_handler_b16_t *h,
+ FAR void *state);
};
/* Current/voltage controller operations */
@@ -235,7 +240,8 @@ void foc_handler_cfg_b16(FAR foc_handler_b16_t *h,
****************************************************************************/
void foc_handler_state_b16(FAR foc_handler_b16_t *h,
- FAR struct foc_state_b16_s *state);
+ FAR struct foc_state_b16_s *state,
+ FAR void *mod_state);
#ifdef CONFIG_INDUSTRY_FOC_HANDLER_PRINT
/****************************************************************************
diff --git a/include/industry/foc/float/foc_handler.h
b/include/industry/foc/float/foc_handler.h
index ada230692..662491be0 100644
--- a/include/industry/foc/float/foc_handler.h
+++ b/include/industry/foc/float/foc_handler.h
@@ -104,6 +104,11 @@ struct foc_modulation_ops_f32_s
CODE void (*run)(FAR foc_handler_f32_t *h,
FAR ab_frame_f32_t *v_ab_mod,
FAR float *duty);
+
+ /* Get modulation state */
+
+ CODE void (*state_get)(FAR foc_handler_f32_t *h,
+ FAR void *state);
};
/* Current/voltage controller operations */
@@ -236,7 +241,8 @@ void foc_handler_cfg_f32(FAR foc_handler_f32_t *h,
****************************************************************************/
void foc_handler_state_f32(FAR foc_handler_f32_t *h,
- FAR struct foc_state_f32_s *state);
+ FAR struct foc_state_f32_s *state,
+ FAR void *mod_state);
#ifdef CONFIG_INDUSTRY_FOC_HANDLER_PRINT
/****************************************************************************
diff --git a/industry/foc/fixed16/foc_handler.c
b/industry/foc/fixed16/foc_handler.c
index 976904846..bd338587d 100644
--- a/industry/foc/fixed16/foc_handler.c
+++ b/industry/foc/fixed16/foc_handler.c
@@ -310,18 +310,25 @@ errout:
* Get FOC handler state (fixed16)
*
* Input Parameter:
- * h - pointer to FOC handler
- * state - pointer to FOC state data
+ * h - pointer to FOC handler
+ * state - pointer to FOC state data
+ * mod_state - pointer to modulation state data (optional)
*
****************************************************************************/
void foc_handler_state_b16(FAR foc_handler_b16_t *h,
- FAR struct foc_state_b16_s *state)
+ FAR struct foc_state_b16_s *state,
+ FAR void *mod_state)
{
DEBUGASSERT(h);
DEBUGASSERT(state);
h->ops.ctrl->state_get(h, state);
+
+ if (mod_state)
+ {
+ h->ops.mod->state_get(h, mod_state);
+ }
}
#ifdef CONFIG_INDUSTRY_FOC_HANDLER_PRINT
diff --git a/industry/foc/fixed16/foc_svm3.c b/industry/foc/fixed16/foc_svm3.c
index 63ec4f7b2..649ea2419 100644
--- a/industry/foc/fixed16/foc_svm3.c
+++ b/industry/foc/fixed16/foc_svm3.c
@@ -73,6 +73,8 @@ static void foc_modulation_vbase_get_b16(FAR
foc_handler_b16_t *h,
static void foc_modulation_run_b16(FAR foc_handler_b16_t *h,
FAR ab_frame_b16_t *v_ab_mod,
FAR b16_t *duty);
+static void foc_modulation_state_b16(FAR foc_handler_b16_t *h,
+ FAR void *v_priv);
/****************************************************************************
* Public Data
@@ -88,6 +90,7 @@ struct foc_modulation_ops_b16_s g_foc_mod_svm3_b16 =
.current = foc_modulation_current_b16,
.vbase_get = foc_modulation_vbase_get_b16,
.run = foc_modulation_run_b16,
+ .state_get = foc_modulation_state_b16,
};
/****************************************************************************
@@ -243,7 +246,7 @@ static void foc_modulation_current_b16(FAR
foc_handler_b16_t *h,
}
/****************************************************************************
- * Name: foc_modulation_b16
+ * Name: foc_modulation_run_b16
*
* Description:
* Handle the SVM3 modulation (fixed16)
@@ -286,3 +289,33 @@ static void foc_modulation_run_b16(FAR foc_handler_b16_t
*h,
f_saturate_b16(&duty[1], 0, svm->cfg.pwm_duty_max);
f_saturate_b16(&duty[2], 0, svm->cfg.pwm_duty_max);
}
+
+/****************************************************************************
+ * Name: foc_modulation_state_b16
+ *
+ * Description:
+ * Get the SVM3 modulation state (fixed16)
+ *
+ * Input Parameter:
+ * h - pointer to FOC handler
+ * state - pointer to modulation specific data
+ *
+ ****************************************************************************/
+
+static void foc_modulation_state_b16(FAR foc_handler_b16_t *h,
+ FAR void *state)
+{
+ FAR struct foc_svm3mod_b16_s *svm = NULL;
+
+ DEBUGASSERT(h);
+ DEBUGASSERT(state);
+
+ /* Get modulation data */
+
+ DEBUGASSERT(h->modulation);
+ svm = h->modulation;
+
+ /* Copy data */
+
+ memcpy(state, &svm->state, sizeof(struct svm3_state_b16_s));
+}
diff --git a/industry/foc/float/foc_handler.c b/industry/foc/float/foc_handler.c
index 8d8703ef2..6c3da8330 100644
--- a/industry/foc/float/foc_handler.c
+++ b/industry/foc/float/foc_handler.c
@@ -310,18 +310,25 @@ errout:
* Get FOC handler state (float32)
*
* Input Parameter:
- * h - pointer to FOC handler
- * state - pointer to FOC state data
+ * h - pointer to FOC handler
+ * state - pointer to FOC state data
+ * mod_state - pointer to modulation state data (optional)
*
****************************************************************************/
void foc_handler_state_f32(FAR foc_handler_f32_t *h,
- FAR struct foc_state_f32_s *state)
+ FAR struct foc_state_f32_s *state,
+ FAR void *mod_state)
{
DEBUGASSERT(h);
DEBUGASSERT(state);
h->ops.ctrl->state_get(h, state);
+
+ if (mod_state)
+ {
+ h->ops.mod->state_get(h, mod_state);
+ }
}
#ifdef CONFIG_INDUSTRY_FOC_HANDLER_PRINT
diff --git a/industry/foc/float/foc_svm3.c b/industry/foc/float/foc_svm3.c
index 36babe7f0..9c812e734 100644
--- a/industry/foc/float/foc_svm3.c
+++ b/industry/foc/float/foc_svm3.c
@@ -73,6 +73,8 @@ static void foc_modulation_vbase_get_f32(FAR
foc_handler_f32_t *h,
static void foc_modulation_run_f32(FAR foc_handler_f32_t *h,
FAR ab_frame_f32_t *v_ab_mod,
FAR float *duty);
+static void foc_modulation_state_f32(FAR foc_handler_f32_t *h,
+ FAR void *v_priv);
/****************************************************************************
* Public Data
@@ -88,6 +90,7 @@ struct foc_modulation_ops_f32_s g_foc_mod_svm3_f32 =
.current = foc_modulation_current_f32,
.vbase_get = foc_modulation_vbase_get_f32,
.run = foc_modulation_run_f32,
+ .state_get = foc_modulation_state_f32,
};
/****************************************************************************
@@ -243,7 +246,7 @@ static void foc_modulation_current_f32(FAR
foc_handler_f32_t *h,
}
/****************************************************************************
- * Name: foc_modulation_f32
+ * Name: foc_modulation_run_f32
*
* Description:
* Handle the SVM3 modulation (float32)
@@ -286,3 +289,33 @@ static void foc_modulation_run_f32(FAR foc_handler_f32_t
*h,
f_saturate(&duty[1], 0.0f, svm->cfg.pwm_duty_max);
f_saturate(&duty[2], 0.0f, svm->cfg.pwm_duty_max);
}
+
+/****************************************************************************
+ * Name: foc_modulation_state_f32
+ *
+ * Description:
+ * Get the SVM3 modulation state (float32)
+ *
+ * Input Parameter:
+ * h - pointer to FOC handler
+ * state - pointer to modulation specific data
+ *
+ ****************************************************************************/
+
+static void foc_modulation_state_f32(FAR foc_handler_f32_t *h,
+ FAR void *state)
+{
+ FAR struct foc_svm3mod_f32_s *svm = NULL;
+
+ DEBUGASSERT(h);
+ DEBUGASSERT(state);
+
+ /* Get modulation data */
+
+ DEBUGASSERT(h->modulation);
+ svm = h->modulation;
+
+ /* Copy data */
+
+ memcpy(state, &svm->state, sizeof(struct svm3_state_f32_s));
+}
