This is an automated email from the ASF dual-hosted git repository.
pkarashchenko pushed a commit to branch master
in repository https://gitbox.apache.org/repos/asf/nuttx-apps.git
commit c5314b54a4a015c8ab827e301e5d8ebca1e7443b
Author: raiden00pl <raide...@railab.me>
AuthorDate: Wed Nov 8 15:06:17 2023 +0100
examples/foc: fix active brake for sensored mode
---
examples/foc/foc_motor_b16.c | 25 +++++++++++++++++++++----
examples/foc/foc_motor_f32.c | 25 +++++++++++++++++++++----
2 files changed, 42 insertions(+), 8 deletions(-)
diff --git a/examples/foc/foc_motor_b16.c b/examples/foc/foc_motor_b16.c
index e277008fc..8bc0f5173 100644
--- a/examples/foc/foc_motor_b16.c
+++ b/examples/foc/foc_motor_b16.c
@@ -624,7 +624,7 @@ static int foc_motor_state(FAR struct foc_motor_b16_s
*motor, int state)
DEBUGASSERT(motor);
- /* Update motor state */
+ /* Update motor state - this function is called every controller cycle */
switch (state)
{
@@ -642,6 +642,9 @@ static int foc_motor_state(FAR struct foc_motor_b16_s
*motor, int state)
case FOC_EXAMPLE_STATE_STOP:
{
+#ifdef CONFIG_EXAMPLES_FOC_SENSORLESS
+ /* For sensorless we can just set Q reference to lock the motor */
+
motor->dir = DIR_NONE_B16;
/* DQ vector not zero - active brake */
@@ -649,6 +652,15 @@ static int foc_motor_state(FAR struct foc_motor_b16_s
*motor, int state)
motor->dq_ref.q = ftob16(CONFIG_EXAMPLES_FOC_STOP_CURRENT /
1000.0f);
motor->dq_ref.d = 0;
+#else
+ /* For sensored mode we set requested velocity to 0 */
+
+# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
+ motor->vel.des = 0;
+# else
+# error STOP state for sensored mode requires velocity support
+# endif
+#endif
break;
}
@@ -899,10 +911,15 @@ static int foc_motor_run(FAR struct foc_motor_b16_s
*motor)
q_ref = motor->dq_ref.q;
d_ref = motor->dq_ref.d;
- /* Ignore controller if motor is free or stopped */
+ /* Ignore controller if motor is free (sensorless and sensored mode)
+ * or stopped (only sensorless mode)
+ */
- if (motor->mq.app_state == FOC_EXAMPLE_STATE_FREE ||
- motor->mq.app_state == FOC_EXAMPLE_STATE_STOP)
+ if (motor->mq.app_state == FOC_EXAMPLE_STATE_FREE
+#ifdef CONFIG_EXAMPLES_FOC_SENSORLESS
+ || motor->mq.app_state == FOC_EXAMPLE_STATE_STOP
+#endif
+ )
{
goto no_controller;
}
diff --git a/examples/foc/foc_motor_f32.c b/examples/foc/foc_motor_f32.c
index e4a282e47..11fd3d6eb 100644
--- a/examples/foc/foc_motor_f32.c
+++ b/examples/foc/foc_motor_f32.c
@@ -602,7 +602,7 @@ static int foc_motor_state(FAR struct foc_motor_f32_s
*motor, int state)
DEBUGASSERT(motor);
- /* Update motor state */
+ /* Update motor state - this function is called every controller cycle */
switch (state)
{
@@ -620,12 +620,24 @@ static int foc_motor_state(FAR struct foc_motor_f32_s
*motor, int state)
case FOC_EXAMPLE_STATE_STOP:
{
+#ifdef CONFIG_EXAMPLES_FOC_SENSORLESS
+ /* For sensorless we can just set Q reference to lock the motor */
+
motor->dir = DIR_NONE;
/* DQ vector not zero - active brake */
motor->dq_ref.q = CONFIG_EXAMPLES_FOC_STOP_CURRENT / 1000.0f;
motor->dq_ref.d = 0.0f;
+#else
+ /* For sensored mode we set requested velocity to 0 */
+
+# ifdef CONFIG_EXAMPLES_FOC_HAVE_VEL
+ motor->vel.des = 0.0f;
+# else
+# error STOP state for sensored mode requires velocity support
+# endif
+#endif
break;
}
@@ -882,10 +894,15 @@ static int foc_motor_run(FAR struct foc_motor_f32_s
*motor)
q_ref = motor->dq_ref.q;
d_ref = motor->dq_ref.d;
- /* Ignore controller if motor is free or stopped */
+ /* Ignore controller if motor is free (sensorless and sensored mode)
+ * or stopped (only sensorless mode)
+ */
- if (motor->mq.app_state == FOC_EXAMPLE_STATE_FREE ||
- motor->mq.app_state == FOC_EXAMPLE_STATE_STOP)
+ if (motor->mq.app_state == FOC_EXAMPLE_STATE_FREE
+#ifdef CONFIG_EXAMPLES_FOC_SENSORLESS
+ || motor->mq.app_state == FOC_EXAMPLE_STATE_STOP
+#endif
+ )
{
goto no_controller;
}
