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The following commit(s) were added to refs/heads/master by this push:
new 111e02dbd examples/foc: improve the readability of the motor structures
111e02dbd is described below
commit 111e02dbdbac00280c2160ebeaec53579764a72f
Author: raiden00pl <[email protected]>
AuthorDate: Tue May 16 12:49:30 2023 +0200
examples/foc: improve the readability of the motor structures
---
examples/foc/foc_motor_b16.h | 77 ++++++++++++++++++++++++++++----------------
examples/foc/foc_motor_f32.h | 77 ++++++++++++++++++++++++++++----------------
2 files changed, 100 insertions(+), 54 deletions(-)
diff --git a/examples/foc/foc_motor_b16.h b/examples/foc/foc_motor_b16.h
index 0c0e238ed..5b660bf83 100644
--- a/examples/foc/foc_motor_b16.h
+++ b/examples/foc/foc_motor_b16.h
@@ -66,31 +66,41 @@ struct foc_setpoint_b16_s
struct foc_motor_b16_s
{
+ /* App data ***************************************************************/
+
FAR struct foc_ctrl_env_s *envp; /* Thread env */
+ struct foc_mq_s mq; /* MQ data */
bool fault; /* Fault flag */
bool startstop; /* Start/stop request */
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
- bool openloop_now; /* Open-loop now */
- b16_t angle_ol; /* Phase angle open-loop */
- foc_angle_b16_t openloop; /* Open-loop angle handler */
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
- char hldpath[32]; /* Hall devpath */
- foc_angle_b16_t hall; /* Hall angle handler */
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
- char qedpath[32]; /* Qenco devpath */
- foc_angle_b16_t qenco; /* Qenco angle handler */
-#endif
- int foc_mode; /* FOC mode */
+ int ctrl_state; /* Controller state */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
int foc_mode_run; /* FOC mode for run state */
#endif
- int ctrl_state; /* Controller state */
+
+ /* FOC data ***************************************************************/
+
+ struct foc_state_b16_s foc_state; /* FOC controller sate */
+ foc_handler_b16_t handler; /* FOC controller */
+ dq_frame_b16_t dq_ref; /* DQ reference */
+ dq_frame_b16_t vdq_comp; /* DQ voltage compensation */
+ int foc_mode; /* FOC mode */
b16_t vbus; /* Power bus voltage */
+ b16_t per; /* Controller period in seconds
*/
+ b16_t iphase_adc; /* Iphase ADC scaling factor */
+ b16_t pwm_duty_max; /* PWM duty max */
+
+ /* Velocity controller data ***********************************************/
+
+ struct foc_ramp_b16_s ramp; /* Velocity ramp data */
+
+ /* Motor state ************************************************************/
+
b16_t angle_now; /* Phase angle now */
b16_t angle_m; /* Motor mechanical angle */
b16_t angle_el; /* Motor electrical angle */
+
+ /* Motor setpoints ********************************************************/
+
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
struct foc_setpoint_b16_s torq; /* Torque setpoint */
#endif
@@ -101,16 +111,9 @@ struct foc_motor_b16_s
struct foc_setpoint_b16_s pos; /* Position setpoint */
#endif
b16_t dir; /* Motor's direction */
- b16_t per; /* Controller period in seconds
*/
- b16_t iphase_adc; /* Iphase ADC scaling factor */
- b16_t pwm_duty_max; /* PWM duty max */
- uint8_t poles; /* Motor poles */
- dq_frame_b16_t dq_ref; /* DQ reference */
- dq_frame_b16_t vdq_comp; /* DQ voltage compensation */
- foc_handler_b16_t handler; /* FOC controller */
- struct foc_mq_s mq; /* MQ data */
- struct foc_state_b16_s foc_state; /* FOC controller sate */
- struct foc_ramp_b16_s ramp; /* Velocity ramp data */
+
+ /* Motor routines *********************************************************/
+
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
struct foc_routine_b16_s align; /* Alignment routine */
bool align_done; /* Alignment done */
@@ -120,9 +123,29 @@ struct foc_motor_b16_s
struct motor_phy_params_b16_s phy_ident; /* Motor phy from ident */
bool ident_done; /* Motor ident done */
#endif
+
+ /* Motor data *************************************************************/
+
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
- struct foc_model_b16_s model; /* Model handler */
- struct foc_model_state_b16_s model_state; /* PMSM model state */
+ struct foc_model_b16_s model; /* Model handler */
+ struct foc_model_state_b16_s model_state; /* PMSM model state */
+#endif
+ uint8_t poles; /* Motor poles */
+
+ /* Motor velocity and angle handlers **************************************/
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
+ foc_angle_b16_t openloop; /* Open-loop angle handler */
+ bool openloop_now; /* Open-loop now */
+ b16_t angle_ol; /* Phase angle open-loop */
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
+ foc_angle_b16_t hall; /* Hall angle handler */
+ char hldpath[32]; /* Hall devpath */
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
+ foc_angle_b16_t qenco; /* Qenco angle handler */
+ char qedpath[32]; /* Qenco devpath */
#endif
};
diff --git a/examples/foc/foc_motor_f32.h b/examples/foc/foc_motor_f32.h
index dff9c8483..0eb86a789 100644
--- a/examples/foc/foc_motor_f32.h
+++ b/examples/foc/foc_motor_f32.h
@@ -66,31 +66,41 @@ struct foc_setpoint_f32_s
struct foc_motor_f32_s
{
+ /* App data ***************************************************************/
+
FAR struct foc_ctrl_env_s *envp; /* Thread env */
+ struct foc_mq_s mq; /* MQ data */
bool fault; /* Fault flag */
bool startstop; /* Start/stop request */
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
- bool openloop_now; /* Open-loop now */
- float angle_ol; /* Phase angle open-loop */
- foc_angle_f32_t openloop; /* Open-loop angle handler */
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
- char hldpath[32]; /* Hall devpath */
- foc_angle_f32_t hall; /* Hall angle handler */
-#endif
-#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
- char qedpath[32]; /* Qenco devpath */
- foc_angle_f32_t qenco; /* Qenco angle handler */
-#endif
- int foc_mode; /* FOC mode */
+ int ctrl_state; /* Controller state */
#ifdef CONFIG_EXAMPLES_FOC_HAVE_RUN
int foc_mode_run; /* FOC mode for run state */
#endif
- int ctrl_state; /* Controller state */
+
+ /* FOC data ***************************************************************/
+
+ struct foc_state_f32_s foc_state; /* FOC controller sate */
+ foc_handler_f32_t handler; /* FOC controller */
+ dq_frame_f32_t dq_ref; /* DQ reference */
+ dq_frame_f32_t vdq_comp; /* DQ voltage compensation */
+ int foc_mode; /* FOC mode */
float vbus; /* Power bus voltage */
+ float per; /* Controller period in seconds
*/
+ float iphase_adc; /* Iphase ADC scaling factor */
+ float pwm_duty_max; /* PWM duty max */
+
+ /* Velocity controller data ***********************************************/
+
+ struct foc_ramp_f32_s ramp; /* Velocity ramp data */
+
+ /* Motor state ************************************************************/
+
float angle_now; /* Phase angle now */
float angle_m; /* Motor mechanical angle */
float angle_el; /* Motor electrical angle */
+
+ /* Motor setpoints ********************************************************/
+
#ifdef CONFIG_EXAMPLES_FOC_HAVE_TORQ
struct foc_setpoint_f32_s torq; /* Torque setpoint */
#endif
@@ -101,16 +111,9 @@ struct foc_motor_f32_s
struct foc_setpoint_f32_s pos; /* Position setpoint */
#endif
float dir; /* Motor's direction */
- float per; /* Controller period in seconds
*/
- float iphase_adc; /* Iphase ADC scaling factor */
- float pwm_duty_max; /* PWM duty max */
- uint8_t poles; /* Motor poles */
- dq_frame_f32_t dq_ref; /* DQ reference */
- dq_frame_f32_t vdq_comp; /* DQ voltage compensation */
- foc_handler_f32_t handler; /* FOC controller */
- struct foc_mq_s mq; /* MQ data */
- struct foc_state_f32_s foc_state; /* FOC controller sate */
- struct foc_ramp_f32_s ramp; /* Velocity ramp data */
+
+ /* Motor routines *********************************************************/
+
#ifdef CONFIG_EXAMPLES_FOC_HAVE_ALIGN
struct foc_routine_f32_s align; /* Alignment routine */
bool align_done; /* Motor alignment done */
@@ -120,9 +123,29 @@ struct foc_motor_f32_s
struct motor_phy_params_f32_s phy_ident; /* Motor phy from ident */
bool ident_done; /* Motor ident done */
#endif
+
+ /* Motor data *************************************************************/
+
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
- struct foc_model_f32_s model; /* Model handler */
- struct foc_model_state_f32_s model_state; /* PMSM model state */
+ struct foc_model_f32_s model; /* Model handler */
+ struct foc_model_state_f32_s model_state; /* PMSM model state */
+#endif
+ uint8_t poles; /* Motor poles */
+
+ /* Motor velocity and angle handlers **************************************/
+
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
+ foc_angle_f32_t openloop; /* Open-loop angle handler */
+ bool openloop_now; /* Open-loop now */
+ float angle_ol; /* Phase angle open-loop */
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_HALL
+ foc_angle_f32_t hall; /* Hall angle handler */
+ char hldpath[32]; /* Hall devpath */
+#endif
+#ifdef CONFIG_EXAMPLES_FOC_HAVE_QENCO
+ foc_angle_f32_t qenco; /* Qenco angle handler */
+ char qedpath[32]; /* Qenco devpath */
#endif
};
