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xiaoxiang pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx-apps.git
commit b88057fffd12994e8b32ecc35ca5c8e1d5059898
Author: raiden00pl <raide...@railab.me>
AuthorDate: Wed Oct 4 11:50:02 2023 +0200
examples/foc: support svm3 state with nxscope
---
examples/foc/foc_fixed16_thr.c | 20 +++++++++++++++++++-
examples/foc/foc_float_thr.c | 20 +++++++++++++++++++-
examples/foc/foc_motor_b16.h | 3 +++
examples/foc/foc_motor_f32.h | 3 +++
examples/foc/foc_nxscope.c | 3 +++
examples/foc/foc_nxscope.h | 1 +
6 files changed, 48 insertions(+), 2 deletions(-)
diff --git a/examples/foc/foc_fixed16_thr.c b/examples/foc/foc_fixed16_thr.c
index fc0158b39..569b9e70a 100644
--- a/examples/foc/foc_fixed16_thr.c
+++ b/examples/foc/foc_fixed16_thr.c
@@ -129,7 +129,7 @@ static int foc_handler_run(FAR struct foc_motor_b16_s
*motor,
foc_handler_state_b16(&motor->handler,
&motor->foc_state,
- NULL);
+ &motor->mod_state);
return ret;
}
@@ -259,6 +259,24 @@ static void foc_fixed16_nxscope(FAR struct foc_nxscope_s
*nxs,
ptr = (FAR b16_t *)&motor->vdq_comp;
nxscope_put_vb16_t(&nxs->nxs, i++, ptr, 2);
#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_SVM3)
+ b16_t svm3_tmp[4];
+
+ /* Convert sector to b16_t.
+ * Normally, a sector value is an integer in the range 1-6 but we convert
+ * it to b16_t and range to 0.1-0.6. This is to send the entire SVM3 state
+ * as b16_t array and scale the sector value closer to PWM duty values
+ * (range 0.0 to 0.5) which makes it easier to visualize the data later.
+ */
+
+ svm3_tmp[0] = b16mulb16(itob16(motor->mod_state.sector), ftob16(0.1f));
+ svm3_tmp[1] = motor->mod_state.d_u;
+ svm3_tmp[2] = motor->mod_state.d_v;
+ svm3_tmp[3] = motor->mod_state.d_w;
+
+ ptr = svm3_tmp;
+ nxscope_put_vfloat(&nxs->nxs, i++, ptr, 4);
+#endif
nxscope_unlock(&nxs->nxs);
}
diff --git a/examples/foc/foc_float_thr.c b/examples/foc/foc_float_thr.c
index 7598a40ae..cc362a1da 100644
--- a/examples/foc/foc_float_thr.c
+++ b/examples/foc/foc_float_thr.c
@@ -129,7 +129,7 @@ static int foc_handler_run(FAR struct foc_motor_f32_s
*motor,
foc_handler_state_f32(&motor->handler,
&motor->foc_state,
- NULL);
+ &motor->mod_state);
return ret;
}
@@ -260,6 +260,24 @@ static void foc_float_nxscope(FAR struct foc_nxscope_s
*nxs,
ptr = (FAR float *)&motor->vdq_comp;
nxscope_put_vfloat(&nxs->nxs, i++, ptr, 2);
#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_SVM3)
+ float svm3_tmp[4];
+
+ /* Convert sector to float.
+ * Normally, a sector value is an integer in the range 1-6 but we convert
+ * it to float and range to 0.1-0.6. This is to send the entire SVM3 state
+ * as float array and scale the sector value closer to PWM duty values
+ * (range 0.0 to 0.5) which makes it easier to visualize the data later.
+ */
+
+ svm3_tmp[0] = (float)motor->mod_state.sector * 0.1f;
+ svm3_tmp[1] = motor->mod_state.d_u;
+ svm3_tmp[2] = motor->mod_state.d_v;
+ svm3_tmp[3] = motor->mod_state.d_w;
+
+ ptr = svm3_tmp;
+ nxscope_put_vfloat(&nxs->nxs, i++, ptr, 4);
+#endif
nxscope_unlock(&nxs->nxs);
}
diff --git a/examples/foc/foc_motor_b16.h b/examples/foc/foc_motor_b16.h
index 5b660bf83..0c3605389 100644
--- a/examples/foc/foc_motor_b16.h
+++ b/examples/foc/foc_motor_b16.h
@@ -80,6 +80,9 @@ struct foc_motor_b16_s
/* FOC data ***************************************************************/
struct foc_state_b16_s foc_state; /* FOC controller sate */
+#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
+ struct svm3_state_b16_s mod_state; /* Modulation state */
+#endif
foc_handler_b16_t handler; /* FOC controller */
dq_frame_b16_t dq_ref; /* DQ reference */
dq_frame_b16_t vdq_comp; /* DQ voltage compensation */
diff --git a/examples/foc/foc_motor_f32.h b/examples/foc/foc_motor_f32.h
index 0eb86a789..fb4767885 100644
--- a/examples/foc/foc_motor_f32.h
+++ b/examples/foc/foc_motor_f32.h
@@ -80,6 +80,9 @@ struct foc_motor_f32_s
/* FOC data ***************************************************************/
struct foc_state_f32_s foc_state; /* FOC controller sate */
+#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
+ struct svm3_state_f32_s mod_state; /* Modulation state */
+#endif
foc_handler_f32_t handler; /* FOC controller */
dq_frame_f32_t dq_ref; /* DQ reference */
dq_frame_f32_t vdq_comp; /* DQ voltage compensation */
diff --git a/examples/foc/foc_nxscope.c b/examples/foc/foc_nxscope.c
index 6a4afdff2..a6fbde880 100644
--- a/examples/foc/foc_nxscope.c
+++ b/examples/foc/foc_nxscope.c
@@ -236,6 +236,9 @@ int foc_nxscope_init(FAR struct foc_nxscope_s *nxs)
#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VDQCOMP)
nxscope_chan_init(&nxs->nxs, i++, "vdqcomp", u.u8, 2, 0);
#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_SVM3)
+ nxscope_chan_init(&nxs->nxs, i++, "svm3", u.u8, 4, 0);
+#endif
if (i > CONFIG_EXAMPLES_FOC_NXSCOPE_CHANNELS)
{
diff --git a/examples/foc/foc_nxscope.h b/examples/foc/foc_nxscope.h
index bfbdda833..ef7a79a6d 100644
--- a/examples/foc/foc_nxscope.h
+++ b/examples/foc/foc_nxscope.h
@@ -51,6 +51,7 @@
#define FOC_NXSCOPE_SPPOS (1 << 13) /* Position setpoint */
#define FOC_NXSCOPE_DQREF (1 << 14) /* DQ reference */
#define FOC_NXSCOPE_VDQCOMP (1 << 15) /* VDQ compensation */
+#define FOC_NXSCOPE_SVM3 (1 << 16) /* Space-vector modulation sector */
/* Max 32-bit */
/****************************************************************************
