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examples/foc: replace the requested velocity input with a more general setpoint input.

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This is the inital step to support torque/velocity/position control
This commit is contained in:
raiden00pl
2021-10-30 13:53:32 +02:00
committed by Xiang Xiao
parent 4001d27571
commit 2fb79db8b4
7 changed files with 78 additions and 69 deletions
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46
examples/foc/foc_main.c
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@@ -139,13 +139,19 @@ static void init_args(FAR struct args_s *args)
(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
/* For now only velocity control supported */
#ifdef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
args->velmax =
(args->velmax == 0 ? CONFIG_EXAMPLES_FOC_VEL_ADC_MAX : args->velmax);
(args->velmax == 0 ?
CONFIG_EXAMPLES_FOC_SETPOINT_ADC_MAX : args->velmax);
#else
args->velmax =
(args->velmax == 0 ? CONFIG_EXAMPLES_FOC_VEL_CONST_VALUE : args->velmax);
(args->velmax == 0 ?
CONFIG_EXAMPLES_FOC_SETPOINT_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);
@@ -248,12 +254,12 @@ static int foc_vbus_send(mqd_t mqd, uint32_t vbus)
}
/****************************************************************************
* Name: foc_vel_send
* Name: foc_setpoint_send
****************************************************************************/
static int foc_vel_send(mqd_t mqd, uint32_t vel)
static int foc_setpoint_send(mqd_t mqd, uint32_t setpoint)
{
return foc_mq_send(mqd, CONTROL_MQ_MSG_VEL, (FAR void *)&vel);
return foc_mq_send(mqd, CONTROL_MQ_MSG_SETPOINT, (FAR void *)&setpoint);
}
/****************************************************************************
@@ -513,10 +519,10 @@ int main(int argc, char *argv[])
#endif
uint32_t state = 0;
uint32_t vbus_raw = 0;
int32_t vel_raw = 0;
int32_t sp_raw = 0;
bool vbus_update = false;
bool state_update = false;
bool vel_update = false;
bool sp_update = false;
bool terminate = false;
bool started = false;
int ret = OK;
@@ -639,9 +645,9 @@ int main(int argc, char *argv[])
vbus_update = true;
vbus_raw = VBUS_CONST_VALUE;
#endif
#ifndef CONFIG_EXAMPLES_FOC_VEL_ADC
vel_update = true;
vel_raw = 1;
#ifndef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
sp_update = true;
sp_raw = 1;
#endif
state_update = true;
@@ -756,12 +762,12 @@ int main(int argc, char *argv[])
vbus_update = true;
# endif
# ifdef CONFIG_EXAMPLES_FOC_VEL_ADC
# ifdef CONFIG_EXAMPLES_FOC_SETPOINT_ADC
/* Get raw VEL */
vel_raw = adc_sample[VEL_ADC_SAMPLE].am_data;
sp_raw = adc_sample[SETPOINT_ADC_SAMPLE].am_data;
vel_update = true;
sp_update = true;
# endif
/* ADC trigger next cycle */
@@ -825,20 +831,20 @@ int main(int argc, char *argv[])
/* 3. Update motor velocity */
if (vel_update == true)
if (sp_update == true)
{
for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
{
if (args.en & (1 << i))
{
PRINTFV("Send velocity to %d\n", i);
PRINTFV("Send setpoint = %" PRIu32 "to %d\n", sp_raw, i);
/* Send VELOCITY to threads */
/* Send setpoint to threads */
ret = foc_vel_send(mqd[i], vel_raw);
ret = foc_setpoint_send(mqd[i], sp_raw);
if (ret < 0)
{
PRINTF("ERROR: foc_vel_send failed %d\n", ret);
PRINTF("ERROR: foc_setpoint_send failed %d\n", ret);
goto errout;
}
}
@@ -846,7 +852,7 @@ int main(int argc, char *argv[])
/* Reset flag */
vel_update = false;
sp_update = false;
}
/* 4. One time start */