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examples/foc: get iphase scale from the FOC device interface #2196

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Nov 15, 2023
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examples/foc: get iphase scale from the FOC device interface #2196

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3 changes: 2 additions & 1 deletion examples/foc/foc_fixed16_thr.c
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Original file line number Diff line number Diff line change
Expand Up @@ -323,9 +323,10 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
goto errout;
}

/* Get PWM max duty */
/* Store data from device */

motor.pwm_duty_max = FOCDUTY_TO_FIXED16(dev.info.hw_cfg.pwm_max);
motor.iphase_adc = b16idiv(dev.info.hw_cfg.iphase_scale, 100000);

/* Start with motor free */

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3 changes: 2 additions & 1 deletion examples/foc/foc_float_thr.c
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Expand Up @@ -336,9 +336,10 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
goto errout;
}

/* Get PWM max duty */
/* Store data from device */

motor.pwm_duty_max = FOCDUTY_TO_FLOAT(dev.info.hw_cfg.pwm_max);
motor.iphase_adc = dev.info.hw_cfg.iphase_scale / 100000.0f;

/* Start with motor free */

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1 change: 0 additions & 1 deletion examples/foc/foc_motor_b16.c
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Expand Up @@ -1346,7 +1346,6 @@ int foc_motor_init(FAR struct foc_motor_b16_s *motor,
/* Initialize motor data */

motor->per = b16divi(b16ONE, CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ);
motor->iphase_adc = ftob16((CONFIG_EXAMPLES_FOC_IPHASE_ADC) / 100000.0f);
#ifdef CONFIG_EXAMPLES_FOC_ANGOBS
motor->ol_thr = ftob16(motor->envp->cfg->ol_thr / 1.0f);
motor->ol_hys = ftob16(motor->envp->cfg->ol_hys / 1.0f);
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7 changes: 5 additions & 2 deletions examples/foc/foc_motor_b16.h
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Expand Up @@ -90,14 +90,17 @@ struct foc_motor_b16_s
int time; /* Helper counter */
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 */
#ifdef CONFIG_EXAMPLES_FOC_ANGOBS
b16_t ol_thr; /* Angle observer threshold velocity */
b16_t ol_hys; /* Angle observer hysteresis */
b16_t angle_step; /* Open-loop transition step */
#endif

/* Data from FOC device ***************************************************/

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 */
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1 change: 0 additions & 1 deletion examples/foc/foc_motor_f32.c
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Expand Up @@ -1334,7 +1334,6 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
/* Initialize motor data */

motor->per = (float)(1.0f / CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ);
motor->iphase_adc = ((CONFIG_EXAMPLES_FOC_IPHASE_ADC) / 100000.0f);
#ifdef CONFIG_EXAMPLES_FOC_ANGOBS
motor->ol_thr = (motor->envp->cfg->ol_thr / 1.0f);
motor->ol_hys = (motor->envp->cfg->ol_hys / 1.0f);
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7 changes: 5 additions & 2 deletions examples/foc/foc_motor_f32.h
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Expand Up @@ -90,13 +90,16 @@ struct foc_motor_f32_s
int time; /* Helper counter */
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 */
#ifdef CONFIG_EXAMPLES_FOC_ANGOBS
float ol_thr; /* Angle observer threshold velocity */
float ol_hys; /* Angle observer hysteresis */
#endif

/* Data from FOC device ***************************************************/

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 */
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