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examples/foc: use the current configuration values when printing the …
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…help message

This is useful when tuning the controller and running application many times with different parameters from the NSH
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@raiden00pl @acassis
raiden00pl authored and acassis committed Oct 19, 2023
1 parent 36a9ccc commit aad2bcb
Showing 1 changed file with 45 additions and 44 deletions.
89 changes: 45 additions & 44 deletions examples/foc/foc_parseargs.c
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
#include <unistd.h>
#include <stdlib.h>
#include <getopt.h>
#include <inttypes.h>

#include "foc_debug.h"
#include "foc_thr.h"
Expand All @@ -45,16 +46,16 @@
#define OPT_IIV (SCHAR_MAX + 6)
#define OPT_IIS (SCHAR_MAX + 7)

#define OPT_VOPLLKP (SCHAR_MAX + 7)
#define OPT_VOPLLKI (SCHAR_MAX + 8)
#define OPT_VODIVS (SCHAR_MAX + 9)
#define OPT_VODIVF (SCHAR_MAX + 10)
#define OPT_VOPLLKP (SCHAR_MAX + 8)
#define OPT_VOPLLKI (SCHAR_MAX + 9)
#define OPT_VODIVS (SCHAR_MAX + 10)
#define OPT_VODIVF (SCHAR_MAX + 11)

#define OPT_VCPIKP (SCHAR_MAX + 11)
#define OPT_VCPIKI (SCHAR_MAX + 12)
#define OPT_VCPIKP (SCHAR_MAX + 12)
#define OPT_VCPIKI (SCHAR_MAX + 13)

#define OPT_ANFOS (SCHAR_MAX + 13)
#define OPT_ANFOG (SCHAR_MAX + 14)
#define OPT_ANFOS (SCHAR_MAX + 14)
#define OPT_ANFOG (SCHAR_MAX + 15)

#define OPT_OLFORCE (SCHAR_MAX + 16)
#define OPT_OLTHR (SCHAR_MAX + 17)
Expand Down Expand Up @@ -127,7 +128,7 @@ static struct option g_long_options[] =
* Name: foc_help
****************************************************************************/

static void foc_help(void)
static void foc_help(FAR struct args_s *args)
{
PRINTF("Usage: foc [OPTIONS]\n");
PRINTF(" [-t] run time (default: %d)\n",
Expand Down Expand Up @@ -161,15 +162,15 @@ static void foc_help(void)
PRINTF(" [-x] position [x1000]\n");
#endif
PRINTF(" [-s] motor state init (default: %d)\n",
CONFIG_EXAMPLES_FOC_STATE_INIT);
args->state);
PRINTF(" 1 - motor free\n");
PRINTF(" 2 - motor stop\n");
PRINTF(" 3 - motor CW\n");
PRINTF(" 4 - motor CCW\n");
PRINTF(" [-j] enable specific instances\n");
#ifdef CONFIG_EXAMPLES_FOC_HAVE_OPENLOOP
PRINTF(" [-o] openloop Vq/Iq setting [x1000] (default: %d)\n",
CONFIG_EXAMPLES_FOC_OPENLOOP_Q);
PRINTF(" [-o] openloop Vq/Iq setting [x1000] (default: %" PRId32 ")\n",
args->cfg.qparam);
PRINTF(" [--olforce] force openloop\n");
# ifdef CONFIG_EXAMPLES_FOC_ANGOBS
PRINTF(" [--olthr] observer vel threshold [x1] (default: %d)\n",
Expand All @@ -179,46 +180,46 @@ static void foc_help(void)
# endif
#endif
#ifdef CONFIG_EXAMPLES_FOC_CONTROL_PI
PRINTF(" [--fki] PI Kp coefficient [x1000] (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDQ_KP);
PRINTF(" [--fkp] PI Ki coefficient [x1000] (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDQ_KI);
PRINTF(" [--fkp] PI Kp coefficient [x1000] (default: %" PRId32 ")\n",
args->cfg.foc_pi_kp);
PRINTF(" [--fki] PI Ki coefficient [x1000] (default: %" PRId32 ")\n",
args->cfg.foc_pi_ki);
#endif
#ifdef CONFIG_EXAMPLES_FOC_HAVE_IDENT
PRINTF(" [--irki] res Ki coefficient [x1000] (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDENT_RES_KI);
PRINTF(" [--irc] res current [x1000] (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT);
PRINTF(" [--irs] res sec (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDENT_RES_SEC);
PRINTF(" [--iiv] ind voltage [x1000] (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE);
PRINTF(" [--iis] ind sec (default: %d)\n",
CONFIG_EXAMPLES_FOC_IDENT_IND_SEC);
PRINTF(" [--irki] res Ki coefficient [x1000] (default: %" PRId32 ")\n",
args->cfg.ident_res_ki);
PRINTF(" [--irc] res current [x1000] (default: %" PRId32 ")\n",
args->cfg.ident_res_curr);
PRINTF(" [--irs] res sec (default: %" PRId32 ")\n",
args->cfg.ident_res_sec);
PRINTF(" [--iiv] ind voltage [x1000] (default: %" PRId32 ")\n",
args->cfg.ident_ind_volt);
PRINTF(" [--iis] ind sec (default: %" PRId32 ")\n",
args->cfg.ident_ind_sec);
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELOBS_PLL
PRINTF(" [--vopllkp] velobs PLL Kp (default: %d)\n",
CONFIG_EXAMPLES_FOC_VELOBS_PLL_KP);
PRINTF(" [--vopllki] velobs PLL Ki (default: %d)\n",
CONFIG_EXAMPLES_FOC_VELOBS_PLL_KI);
PRINTF(" [--vopllkp] velobs PLL Kp [x1] (default: %" PRId32 ")\n",
args->cfg.vel_pll_kp);
PRINTF(" [--vopllki] velobs PLL Ki [x1] (default: %" PRId32 ")\n",
args->cfg.vel_pll_ki);
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELOBS_DIV
PRINTF(" [--vodivs] velobs DIV samples (default: %d)\n",
CONFIG_EXAMPLES_FOC_VELOBS_DIV_SAMPLES);
PRINTF(" [--vodivf] velobs DIV filter (default: %d)\n",
CONFIG_EXAMPLES_FOC_VELOBS_DIV_FILTER);
PRINTF(" [--vodivs] velobs DIV samples (default: %" PRId32 ")\n",
args->cfg.vel_div_samples);
PRINTF(" [--vodivf] velobs DIV filter (default: %" PRId32 ")\n",
args->cfg.vel_div_filter);
#endif
#ifdef CONFIG_EXAMPLES_FOC_VELCTRL_PI
PRINTF(" [--vcpikp] velctrl PI Kp (default: %d)\n",
CONFIG_EXAMPLES_FOC_VELCTRL_PI_KP);
PRINTF(" [--vcpiki] velctrl PI Ki (default: %d)\n",
CONFIG_EXAMPLES_FOC_VELCTRL_PI_KI);
PRINTF(" [--vcpikp] velctrl PI Kp [x1000000] (default: %" PRId32 ")\n",
args->cfg.vel_pi_kp);
PRINTF(" [--vcpiki] velctrl PI Ki [x1000000] (default: %" PRId32 ")\n",
args->cfg.vel_pi_ki);
#endif
#ifdef CONFIG_INDUSTRY_FOC_ANGLE_ONFO
PRINTF(" [--anfos] angobs NFO Slow (default: %d)\n",
CONFIG_EXAMPLES_FOC_ANGOBS_NFO_GAINSLOW);
PRINTF(" [--anfog] angobs NFO Gain (default: %d)\n",
CONFIG_EXAMPLES_FOC_ANGOBS_NFO_GAIN);
PRINTF(" [--anfos] angobs NFO Slow [x1] (default: %" PRId32 ")\n",
args->cfg.ang_nfo_slow);
PRINTF(" [--anfog] angobs NFO Gain [x1] (default: %" PRId32 ")\n",
args->cfg.ang_nfo_gain);
#endif
}

Expand Down Expand Up @@ -357,7 +358,7 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)

case 'h':
{
foc_help();
foc_help(args);
exit(0);
}

Expand Down Expand Up @@ -448,7 +449,7 @@ void parse_args(FAR struct args_s *args, int argc, FAR char **argv)
PRINTF("ERROR: invalid option %s\n", argv[optind - 1]);
}

foc_help();
foc_help(args);
exit(1);
}
}
Expand Down

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