industry/foc/foc_ident: make the Ki resistance measurement parameter configurable

The hardcoded parameter may not be suitable for various types of motors

examples/foc/Kconfig

@@ -386,6 +386,10 @@ 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

examples/foc/foc_cfg.h

@@ -88,6 +88,9 @@
 #  if (CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT == 0)
 #    error
 #  endif
+#  if (CONFIG_EXAMPLES_FOC_IDENT_RES_KI == 0)
+#    error
+#  endif
 #  if (CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE == 0)
 #    error
 #  endif

examples/foc/foc_motor_b16.c

@@ -989,6 +989,8 @@ int foc_motor_init(FAR struct foc_motor_b16_s *motor,
   ident_cfg.per         = motor->per;
   ident_cfg.res_current = ftob16(CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT /
                                  1000.0f);
+  ident_cfg.res_ki      = ftob16(CONFIG_EXAMPLES_FOC_IDENT_RES_KI /
+                                 1000.0f);
   ident_cfg.ind_volt    = ftob16(CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE /
                                  1000.0f);
   ident_cfg.res_steps   = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ *

examples/foc/foc_motor_f32.c

@@ -972,6 +972,7 @@ int foc_motor_init(FAR struct foc_motor_f32_s *motor,
 
   ident_cfg.per         = motor->per;
   ident_cfg.res_current = (CONFIG_EXAMPLES_FOC_IDENT_RES_CURRENT / 1000.0f);
+  ident_cfg.res_ki      = (CONFIG_EXAMPLES_FOC_IDENT_RES_KI / 1000.0f);
   ident_cfg.ind_volt    = (CONFIG_EXAMPLES_FOC_IDENT_IND_VOLTAGE / 1000.0f);
   ident_cfg.res_steps   = (CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ * \
                            CONFIG_EXAMPLES_FOC_IDENT_RES_SEC / 1000);

include/industry/foc/fixed16/foc_ident.h

@@ -41,6 +41,7 @@ struct foc_routine_ident_cfg_b16_s
 {
   b16_t per;                    /* Routine period in sec */
   b16_t res_current;            /* Resistance measurement current */
+  b16_t res_ki;                 /* Resistance measurement Ki */
   b16_t ind_volt;               /* Inductance measurement current */
   int   res_steps;              /* Resistance measurement steps */
   int   ind_steps;              /* Inductance measurement steps */

include/industry/foc/float/foc_ident.h

@@ -83,6 +83,7 @@ struct foc_routine_ident_cfg_f32_s
 #endif
   float per;                    /* Routine period in sec */
   float res_current;            /* Resistance measurement current */
+  float res_ki;                 /* Resistance measurement Ki */
   float ind_volt;               /* Inductance measurement voltage */
   int   res_steps;              /* Resistance measurement steps */
   int   ind_steps;              /* Inductance measurement steps */

industry/foc/fixed16/foc_ident.c

@@ -39,7 +39,6 @@
  ****************************************************************************/
 
 #define IDENT_PI_KP           (ftob16(0.0f))
-#define IDENT_PI_KI           (ftob16(0.05f))
 
 /****************************************************************************
  * Private Data Types
@@ -169,7 +168,8 @@ int foc_ident_res_run_b16(FAR struct foc_ident_b16_s *ident,
 
   if (ident->cntr == 0)
     {
-      pi_controller_init_b16(&ident->pi, IDENT_PI_KP, IDENT_PI_KI);
+      DEBUGASSERT(ident->cfg.res_ki > 0);
+      pi_controller_init_b16(&ident->pi, IDENT_PI_KP, ident->cfg.res_ki);
     }
 
   /* PI saturation */
@@ -427,6 +427,12 @@ int foc_routine_ident_cfg_b16(FAR foc_routine_b16_t *r, FAR void *cfg)
       goto errout;
     }
 
+  if (i->cfg.res_ki <= 0)
+    {
+      ret = -EINVAL;
+      goto errout;
+    }
+
   if (i->cfg.res_current <= 0 || i->cfg.ind_volt <= 0)
     {
       ret = -EINVAL;

industry/foc/float/foc_ident.c

@@ -39,7 +39,6 @@
  ****************************************************************************/
 
 #define IDENT_PI_KP           (0.0f)
-#define IDENT_PI_KI           (0.05f)
 
 /****************************************************************************
  * Private Data Types
@@ -194,7 +193,8 @@ int foc_ident_res_run_f32(FAR struct foc_ident_f32_s *ident,
 
   if (ident->cntr == 0)
     {
-      pi_controller_init(&ident->pi, IDENT_PI_KP, IDENT_PI_KI);
+      DEBUGASSERT(ident->cfg.res_ki > 0.0f);
+      pi_controller_init(&ident->pi, IDENT_PI_KP, ident->cfg.res_ki);
     }
 
   /* PI saturation */
@@ -576,6 +576,12 @@ int foc_routine_ident_cfg_f32(FAR foc_routine_f32_t *r, FAR void *cfg)
       goto errout;
     }
 
+  if (i->cfg.res_ki <= 0.0f)
+    {
+      ret = -EINVAL;
+      goto errout;
+    }
+
   if (i->cfg.res_current <= 0.0f || i->cfg.ind_volt <= 0.0f
 #ifdef CONFIG_INDUSTRY_FOC_IDENT_FLUX
      || i->cfg.flux_curr <= 0.0f