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The following commit(s) were added to refs/heads/master by this push:
new 27588be53 examples/foc: replace CONFIG_INDUSTRY_FOC_* with
CONFIG_EXAMPLES_FOC_*
27588be53 is described below
commit 27588be53e4ea00d7d1b63364dc19df879afe225
Author: raiden00pl <[email protected]>
AuthorDate: Sat Nov 18 10:28:58 2023 +0100
examples/foc: replace CONFIG_INDUSTRY_FOC_* with CONFIG_EXAMPLES_FOC_*
Decouple the FOC example configuration from the FOC lib configuration.
Purely cosmetic change, without affecting functionality.
---
examples/foc/Kconfig | 10 ++++++++++
examples/foc/foc_cfg.h | 6 +++---
examples/foc/foc_main.c | 2 +-
examples/foc/foc_motor_b16.c | 6 +++---
examples/foc/foc_motor_b16.h | 2 +-
examples/foc/foc_motor_f32.c | 6 +++---
examples/foc/foc_motor_f32.h | 2 +-
examples/foc/foc_nxscope.c | 4 ++--
examples/foc/foc_parseargs.c | 6 +++---
examples/foc/foc_thr.c | 16 ++++++++--------
10 files changed, 35 insertions(+), 25 deletions(-)
diff --git a/examples/foc/Kconfig b/examples/foc/Kconfig
index 909edccf6..dac66003c 100644
--- a/examples/foc/Kconfig
+++ b/examples/foc/Kconfig
@@ -47,6 +47,16 @@ config EXAMPLES_FOC_PERF
bool "Enable performance meassurements"
default n
+choice
+ prompt "FOC modulation selection"
+ default EXAMPLES_FOC_MODULATION_SVM3
+
+config EXAMPLES_FOC_MODULATION_SVM3
+ bool "FOC use SVM3"
+ select INDUSTRY_FOC_MODULATION_SVM3
+
+endchoice # FOC modulation selection
+
choice
prompt "FOC current controller selection"
default EXAMPLES_FOC_CONTROL_PI
diff --git a/examples/foc/foc_cfg.h b/examples/foc/foc_cfg.h
index 1d2de0107..3e03d3725 100644
--- a/examples/foc/foc_cfg.h
+++ b/examples/foc/foc_cfg.h
@@ -66,8 +66,8 @@
# ifndef CONFIG_EXAMPLES_FOC_HAVE_VEL
# error open-loop needs CONFIG_EXAMPLES_FOC_HAVE_VEL set
# endif
-# ifndef CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
-# error open-loop needs CONFIG_INDUSTRY_FOC_ANGLE_OPENLOOP
+# ifndef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
+# error open-loop needs CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
# endif
#endif
@@ -276,7 +276,7 @@ struct foc_thr_cfg_s
uint32_t vel_pi_ki; /* Vel controller PI Ki (x1000000) */
#endif
-#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
+#ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO
uint32_t ang_nfo_slow; /* Ang NFO slow gain (x1) */
uint32_t ang_nfo_gain; /* Ang NFO gain (x1) */
#endif
diff --git a/examples/foc/foc_main.c b/examples/foc/foc_main.c
index 2d1c89cf2..e4626baf6 100644
--- a/examples/foc/foc_main.c
+++ b/examples/foc/foc_main.c
@@ -133,7 +133,7 @@ struct args_s g_args =
.vel_pi_kp = CONFIG_EXAMPLES_FOC_VELCTRL_PI_KP,
.vel_pi_ki = CONFIG_EXAMPLES_FOC_VELCTRL_PI_KI,
#endif
-#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
+#ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO
.ang_nfo_slow = CONFIG_EXAMPLES_FOC_ANGOBS_NFO_GAINSLOW,
.ang_nfo_gain = CONFIG_EXAMPLES_FOC_ANGOBS_NFO_GAIN,
#endif
diff --git a/examples/foc/foc_motor_b16.c b/examples/foc/foc_motor_b16.c
index eb7e969b8..91beaa060 100644
--- a/examples/foc/foc_motor_b16.c
+++ b/examples/foc/foc_motor_b16.c
@@ -292,7 +292,7 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s
*motor)
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
struct foc_initdata_b16_s ctrl_cfg;
#endif
-#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
+#ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
struct foc_mod_cfg_b16_s mod_cfg;
#endif
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
@@ -327,7 +327,7 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s
*motor)
/* Get FOC modulation */
-#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
+#ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
foc_mod = &g_foc_mod_svm3_b16;
#else
# error FOC modulation not selected
@@ -358,7 +358,7 @@ static int foc_motor_configure(FAR struct foc_motor_b16_s
*motor)
ctrl_cfg.iq_ki = ftob16(motor->envp->cfg->foc_pi_ki / 1000.0f);
#endif
-#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
+#ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
/* Get SVM3 modulation configuration */
mod_cfg.pwm_duty_max = motor->pwm_duty_max;
diff --git a/examples/foc/foc_motor_b16.h b/examples/foc/foc_motor_b16.h
index 7b3df551c..ee8c73a59 100644
--- a/examples/foc/foc_motor_b16.h
+++ b/examples/foc/foc_motor_b16.h
@@ -80,7 +80,7 @@ struct foc_motor_b16_s
/* FOC data ***************************************************************/
struct foc_state_b16_s foc_state; /* FOC controller sate */
-#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
+#ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
struct svm3_state_b16_s mod_state; /* Modulation state */
#endif
foc_handler_b16_t handler; /* FOC controller */
diff --git a/examples/foc/foc_motor_f32.c b/examples/foc/foc_motor_f32.c
index 68888d09d..18d11648d 100644
--- a/examples/foc/foc_motor_f32.c
+++ b/examples/foc/foc_motor_f32.c
@@ -292,7 +292,7 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s
*motor)
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
struct foc_initdata_f32_s ctrl_cfg;
#endif
-#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
+#ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
struct foc_mod_cfg_f32_s mod_cfg;
#endif
#ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
@@ -327,7 +327,7 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s
*motor)
/* Get FOC modulation */
-#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
+#ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
foc_mod = &g_foc_mod_svm3_f32;
#else
# error FOC modulation not selected
@@ -356,7 +356,7 @@ static int foc_motor_configure(FAR struct foc_motor_f32_s
*motor)
ctrl_cfg.iq_ki = (motor->envp->cfg->foc_pi_ki / 1000.0f);
#endif
-#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
+#ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
/* Get SVM3 modulation configuration */
mod_cfg.pwm_duty_max = motor->pwm_duty_max;
diff --git a/examples/foc/foc_motor_f32.h b/examples/foc/foc_motor_f32.h
index ab0f4551c..3a031282e 100644
--- a/examples/foc/foc_motor_f32.h
+++ b/examples/foc/foc_motor_f32.h
@@ -80,7 +80,7 @@ struct foc_motor_f32_s
/* FOC data ***************************************************************/
struct foc_state_f32_s foc_state; /* FOC controller sate */
-#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
+#ifdef CONFIG_EXAMPLES_FOC_MODULATION_SVM3
struct svm3_state_f32_s mod_state; /* Modulation state */
#endif
foc_handler_f32_t handler; /* FOC controller */
diff --git a/examples/foc/foc_nxscope.c b/examples/foc/foc_nxscope.c
index 8ca2b3499..f40297d51 100644
--- a/examples/foc/foc_nxscope.c
+++ b/examples/foc/foc_nxscope.c
@@ -158,7 +158,7 @@ int foc_nxscope_init(FAR struct foc_nxscope_s *nxs)
switch (foc_thread_type(j))
{
-#ifdef CONFIG_INDUSTRY_FOC_FLOAT
+#if CONFIG_EXAMPLES_FOC_FLOAT_INST > 0
case FOC_NUMBER_TYPE_FLOAT:
{
u.s.dtype = NXSCOPE_TYPE_FLOAT;
@@ -166,7 +166,7 @@ int foc_nxscope_init(FAR struct foc_nxscope_s *nxs)
}
#endif
-#ifdef CONFIG_INDUSTRY_FOC_FIXED16
+#if CONFIG_EXAMPLES_FOC_FIXED16_INST > 0
case FOC_NUMBER_TYPE_FIXED16:
{
u.s.dtype = NXSCOPE_TYPE_B16;
diff --git a/examples/foc/foc_parseargs.c b/examples/foc/foc_parseargs.c
index cff678697..cddd73b85 100644
--- a/examples/foc/foc_parseargs.c
+++ b/examples/foc/foc_parseargs.c
@@ -115,7 +115,7 @@ static struct option g_long_options[] =
{ "vcpikp", required_argument, 0, OPT_VCPIKP },
{ "vcpiki", required_argument, 0, OPT_VCPIKI },
#endif
-#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
+#ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO
{ "anfos", required_argument, 0, OPT_ANFOS },
{ "anfog", required_argument, 0, OPT_ANFOG },
#endif
@@ -221,7 +221,7 @@ static void foc_help(FAR struct args_s *args)
PRINTF(" [--vcpiki] velctrl PI Ki [x1000000] (default: %" PRId32 ")\n",
args->cfg.vel_pi_ki);
#endif
-#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
+#ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO
PRINTF(" [--anfos] angobs NFO Slow [x1] (default: %" PRId32 ")\n",
args->cfg.ang_nfo_slow);
PRINTF(" [--anfog] angobs NFO Gain [x1] (default: %" PRId32 ")\n",
@@ -342,7 +342,7 @@ void parse_args(FAR struct args_s *args, int argc, FAR char
**argv)
}
#endif
-#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
+#ifdef CONFIG_EXAMPLES_FOC_ANGOBS_NFO
case OPT_ANFOS:
{
args->cfg.ang_nfo_slow = atoi(optarg);
diff --git a/examples/foc/foc_thr.c b/examples/foc/foc_thr.c
index 7fe5a31c4..a4bf87e33 100644
--- a/examples/foc/foc_thr.c
+++ b/examples/foc/foc_thr.c
@@ -54,11 +54,11 @@
* Extern Functions Prototypes
****************************************************************************/
-#ifdef CONFIG_INDUSTRY_FOC_FLOAT
+#if CONFIG_EXAMPLES_FOC_FLOAT_INST > 0
extern int foc_float_thr(FAR struct foc_ctrl_env_s *envp);
#endif
-#ifdef CONFIG_INDUSTRY_FOC_FIXED16
+#if CONFIG_EXAMPLES_FOC_FIXED16_INST > 0
extern int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp);
#endif
@@ -69,10 +69,10 @@ extern int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp);
pthread_mutex_t g_cntr_lock;
static uint32_t g_foc_thr = 0;
-#ifdef CONFIG_INDUSTRY_FOC_FLOAT
+#if CONFIG_EXAMPLES_FOC_FLOAT_INST > 0
static int g_float_thr_cntr = 0;
#endif
-#ifdef CONFIG_INDUSTRY_FOC_FIXED16
+#if CONFIG_EXAMPLES_FOC_FIXED16_INST > 0
static int g_fixed16_thr_cntr = 0;
#endif
@@ -142,7 +142,7 @@ static FAR void *foc_control_thr(FAR void *arg)
switch (envp->type)
{
-#ifdef CONFIG_INDUSTRY_FOC_FLOAT
+#if CONFIG_EXAMPLES_FOC_FLOAT_INST > 0
case FOC_NUMBER_TYPE_FLOAT:
{
pthread_mutex_lock(&g_cntr_lock);
@@ -164,7 +164,7 @@ static FAR void *foc_control_thr(FAR void *arg)
}
#endif
-#ifdef CONFIG_INDUSTRY_FOC_FIXED16
+#if CONFIG_EXAMPLES_FOC_FIXED16_INST > 0
case FOC_NUMBER_TYPE_FIXED16:
{
pthread_mutex_lock(&g_cntr_lock);
@@ -290,14 +290,14 @@ int foc_thread_type(int id)
{
int ret = -1;
-#ifdef CONFIG_INDUSTRY_FOC_FLOAT
+#if CONFIG_EXAMPLES_FOC_FLOAT_INST > 0
if (id < CONFIG_EXAMPLES_FOC_FLOAT_INST)
{
ret = FOC_NUMBER_TYPE_FLOAT;
}
#endif
-#ifdef CONFIG_INDUSTRY_FOC_FIXED16
+#if CONFIG_EXAMPLES_FOC_FIXED16_INST > 0
if (id < CONFIG_EXAMPLES_FOC_FLOAT_INST + CONFIG_EXAMPLES_FOC_FIXED16_INST)
{
ret = FOC_NUMBER_TYPE_FIXED16;
