nuttx-apps/examples/foc/Kconfig

426 lines
9.1 KiB
Plaintext
Raw Normal View History

#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
menuconfig EXAMPLES_FOC
tristate "FOC motor controller example"
depends on MOTOR_FOC
depends on INDUSTRY_FOC
---help---
Enable the FOC motor controller example.
At the moment, this example implements a simple open-loop velocity controller.
if EXAMPLES_FOC
config EXAMPLES_FOC_DEVPATH
string "FOC device path prefix"
default "/dev/foc"
---help---
The default path to the FOC device without the device minor number.
Default: /dev/foc
config EXAMPLES_FOC_FLOAT_INST
int "FOC float instances"
depends on INDUSTRY_FOC_FLOAT
default 0
config EXAMPLES_FOC_FIXED16_INST
int "FOC fixed16 instances"
depends on INDUSTRY_FOC_FIXED16
default 0
config EXAMPLES_FOC_CONTROL_PRIO
int "FOC control thread priority"
default 255
config EXAMPLES_FOC_CONTROL_STACKSIZE
int "FOC control thread stack size"
default 4096
config EXAMPLES_FOC_VERBOSE
int "Enable verbose print for app"
default 1
range 0 2
choice
prompt "FOC current controller selection"
default EXAMPLES_FOC_CONTROL_PI
config EXAMPLES_FOC_CONTROL_PI
bool "FOC use PI current controller"
select INDUSTRY_FOC_CONTROL_PI
endchoice # FOC current controller
config EXAMPLES_FOC_PWM_FREQ
int "FOC PWM frequency"
default 10000
---help---
Select the FOC PWM switching frequency
config EXAMPLES_FOC_NOTIFIER_FREQ
int "FOC notifier frequency"
default EXAMPLES_FOC_PWM_FREQ
---help---
Select the FOC notifier frequency
config EXAMPLES_FOC_IPHASE_ADC
int "FOC phase current scale [x100000]"
default 0
---help---
This parameter is used to get real currents from ADC RAW values
config EXAMPLES_FOC_STATE_PRINT_FREQ
int "FOC example data printer frequency"
default 0
depends on INDUSTRY_FOC_HANDLER_PRINT
---help---
Set 0 to disable FOC data print
config EXAMPLES_FOC_STATE_USE_MODEL_PMSM
bool "FOC uses PMSM model"
depends on INDUSTRY_FOC_MODEL_PMSM
default n
---help---
Use PMSM model instead of real hardware
choice
prompt "FOC sensored or sensorless configuration"
default EXAMPLES_FOC_SENSORLESS
config EXAMPLES_FOC_SENSORLESS
bool "FOC example sensorless configuration"
config EXAMPLES_FOC_SENSORED
bool "FOC example sensored configuration"
select EXAMPLES_FOC_HAVE_ALIGN
endchoice #
2021-10-31 22:25:11 +01:00
if EXAMPLES_FOC_SENSORED
2021-11-06 18:44:30 +01:00
choice
prompt "FOC sensored sensor selection"
config EXAMPLES_FOC_HAVE_QENCO
bool "FOC example have qencoder"
select INDUSTRY_FOC_ANGLE_QENCO
2021-10-31 22:25:11 +01:00
config EXAMPLES_FOC_HAVE_HALL
bool "FOC example Hall sensor support"
select INDUSTRY_FOC_ANGLE_HALL
2021-11-06 18:44:30 +01:00
endchoice # FOC sensored sensor selection
if EXAMPLES_FOC_HAVE_QENCO
config EXAMPLES_FOC_MOTOR_POLES
int "FOC example motor poles pairs"
default 0
config EXAMPLES_FOC_QENCO_POSMAX
int "FOC example qencoder maximum position"
default 0
config EXAMPLES_FOC_QENCO_DEVPATH
string "FOC example qencoder path prefix"
default "/dev/qe"
---help---
The default path to the qenco device without the device minor number.
Default: /dev/qe
2021-11-06 18:44:30 +01:00
endif # EXAMPLES_FOC_HAVE_QENCO
2021-10-31 22:25:11 +01:00
if EXAMPLES_FOC_HAVE_HALL
config EXAMPLES_FOC_HALL_DEVPATH
string "FOC example Hall sensor path prefix"
default "/dev/hall"
---help---
The default path to the Hall device without the device minor number.
Default: /dev/hall
endif # EXAMPLES_FOC_HAVE_HALL
endif # EXAMPLES_FOC_SENSORED
config EXAMPLES_FOC_HAVE_OPENLOOP
bool "FOC example have open-loop controller"
select INDUSTRY_FOC_ANGLE_OPENLOOP
default y if EXAMPLES_FOC_SENSORLESS
default n
config EXAMPLES_FOC_HAVE_TORQ
bool "FOC example torque controller support"
default n
config EXAMPLES_FOC_HAVE_VEL
bool "FOC example velocity controller support"
default y if EXAMPLES_FOC_SENSORLESS
default n
config EXAMPLES_FOC_HAVE_POS
bool "FOC example position controller support"
default n
menu "FOC user input"
config EXAMPLES_FOC_HAVE_ADC
bool
default n
choice
prompt "FOC VBUS source"
default EXAMPLES_FOC_VBUS_CONST
config EXAMPLES_FOC_VBUS_CONST
bool "Use hardcoded constant VBUS value"
config EXAMPLES_FOC_VBUS_ADC
bool "Use VBUS provided by ADC interface"
depends on ADC
select EXAMPLES_FOC_HAVE_ADC
endchoice # FOC VBUS interface
if EXAMPLES_FOC_VBUS_CONST
config EXAMPLES_FOC_VBUS_CONST_VALUE
int "FOC VBUS constant value"
default 12000
endif # EXAMPLES_FOC_VBUS_CONST
if EXAMPLES_FOC_HAVE_ADC
config EXAMPLES_FOC_ADC_DEVPATH
string "FOC ADC interface path"
default "/dev/adc0"
config EXAMPLES_FOC_ADC_VREF
2022-01-05 16:34:05 +01:00
int "FOC ADC reference voltage [x1000]"
default 0
config EXAMPLES_FOC_ADC_MAX
int "FOC ADC aux maximum sample value"
default 0
endif # EXAMPLES_FOC_HAVE_ADC
if EXAMPLES_FOC_VBUS_ADC
config EXAMPLES_FOC_VBUS_SCALE
int "FOC VBUS SCALE scale [x1000]"
default 0
endif # EXAMPLES_FOC_VBUS_ADC
choice
prompt "FOC setpoint source"
default EXAMPLES_FOC_SETPOINT_CONST
config EXAMPLES_FOC_SETPOINT_CONST
bool "Use hardcoded constant setpiont value"
config EXAMPLES_FOC_SETPOINT_ADC
bool "Use ADC to control setpoint"
depends on ADC
select EXAMPLES_FOC_HAVE_ADC
select EXAMPLES_FOC_HAVE_SETPOINT_VAR
config EXAMPLES_FOC_SETPOINT_CHAR
bool "Use character interface to control setpoint"
select EXAMPLES_FOC_HAVE_CHARCTRL
select EXAMPLES_FOC_HAVE_SETPOINT_VAR
endchoice # FOC setpoint interface
config EXAMPLES_FOC_HAVE_SETPOINT_VAR
bool
default n
if EXAMPLES_FOC_SETPOINT_CONST
config EXAMPLES_FOC_SETPOINT_CONST_VALUE
int "FOC hardoced setpoint value"
default 0
endif # EXAMPLES_FOC_SETPOINT_CONST
if EXAMPLES_FOC_HAVE_SETPOINT_VAR
config EXAMPLES_FOC_SETPOINT_MAX
int "FOC maximum setpoint [x1000]"
default 0
endif # EXAMPLES_FOC_HAVE_SETPOINT_VAR
config EXAMPLES_FOC_TIME_DEFAULT
int "FOC run time default (sec)"
default 10
config EXAMPLES_FOC_STATE_INIT
int "FOC motor controller state init"
default 1
range 1 4
---help---
1 - motor FREE (no current)
2 - motor STOP (active break)
3 - motor moves in CW direction
4 - motor moves in CCW direction
config EXAMPLES_FOC_HAVE_BUTTON
bool "FOC button support"
default n
---help---
The button is used to change the motor controller state
if EXAMPLES_FOC_HAVE_BUTTON
config EXAMPLES_FOC_BUTTON_DEVPATH
string "FOC button device path"
default "/dev/buttons"
depends on INPUT_BUTTONS
endif
config EXAMPLES_FOC_HAVE_CHARCTRL
bool "FOC character control interface support"
default n
---help---
Use simple character commands to interact with the app
if EXAMPLES_FOC_HAVE_CHARCTRL
config EXAMPLES_FOC_CHAR_SETPOINT_STEP
int "FOC character control setpoint step [x1000]"
default 0
endif
endmenu # FOC user input
menu "FOC controller parameters"
config EXAMPLES_FOC_FMODE
int "FOC control mode"
default 2
range 1 3
---help---
1 - IDLE mode
2 - voltage mode (default)
3 - current mode
config EXAMPLES_FOC_MMODE
int "Motor control mode"
default 2
range 1 5
---help---
1 - torque control
2 - velocity control
3 - position control
4 - align only
5 - ident only
config EXAMPLES_FOC_OPENLOOP_Q
int "FOC open-loop Vq/Iq setting [x1000]"
default 200
depends on EXAMPLES_FOC_HAVE_OPENLOOP
if EXAMPLES_FOC_CONTROL_PI
config EXAMPLES_FOC_IDQ_KP
int "FOC PI controller Kp gain [x1000]"
default 0
---help---
It is set to 0 by default and must be properly configured by the user!
2022-01-05 16:34:05 +01:00
The value of Kp and Ki depends on the controlled motor parameters.
For more instructions see README.md for this example.
config EXAMPLES_FOC_IDQ_KI
int "FOC PI controller Ki gain [x1000]"
default 0
---help---
It is set to 0 by default and must be properly configured by the user!
2022-01-05 16:34:05 +01:00
The value of Kp and Ki depends on the controlled motor parameters.
For more instructions see README.md for this example.
endif #EXAMPLES_FOC_CONTROL_PI
config EXAMPLES_FOC_RAMP_THR
int "FOC velocity ramp threshold [x1000]"
default 0
config EXAMPLES_FOC_RAMP_ACC
int "FOC velocity ramp acc [x1000]"
default 0
config EXAMPLES_FOC_RAMP_DEC
2021-11-08 13:15:39 +01:00
int "FOC velocity ramp dec [x1000]"
default 0
config EXAMPLES_FOC_HAVE_ALIGN
bool "FOC example motor alignment support"
select INDUSTRY_FOC_ALIGN
default n
if EXAMPLES_FOC_HAVE_ALIGN
config EXAMPLES_FOC_ALIGN_VOLT
int "EXAMPLES_FOC_ALIGN_VOLT (x1000)"
default 0
config EXAMPLES_FOC_ALIGN_SEC
int "EXAMPLES_FOC_ALIGN_SEC (x1000)"
default 0
endif # EXAMPLES_FOC_HAVE_ALIGN
config EXAMPLES_FOC_HAVE_IDENT
bool "FOC example motor identification support"
select INDUSTRY_FOC_IDENT
default n
if EXAMPLES_FOC_HAVE_IDENT
config EXAMPLES_FOC_IDENT_RES_CURRENT
int "FOC motor ident resistance current (x1000)"
default 0
config EXAMPLES_FOC_IDENT_RES_KI
int "FOC motor ident resistance Ki (x1000)"
default 50
config EXAMPLES_FOC_IDENT_IND_VOLTAGE
int "FOC motor ident inductance voltage (x1000)"
default 0
config EXAMPLES_FOC_IDENT_RES_SEC
int "FOC motor ident resistance time in sec (x1000)"
default 0
config EXAMPLES_FOC_IDENT_IND_SEC
int "FOC motor ident inductance time in sec (x1000)"
default 0
config EXAMPLES_FOC_IDENT_IDLE
int "FOC motor ident idle steps"
default 100
endif # EXAMPLES_FOC_HAVE_IDENT
endmenu # FOC controller parameters
config EXAMPLES_FOC_HAVE_RUN
bool
default y if !EXAMPLES_FOC_RUN_DISABLE
default n
config EXAMPLES_FOC_RUN_DISABLE
bool "FOC Disable FOC motor controller"
default n
endif # EXAMPLES_FOC