# # 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 config EXAMPLES_FOC_PERF bool "Enable performance meassurements" default n 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" select EXAMPLES_FOC_ANGOBS config EXAMPLES_FOC_SENSORED bool "FOC example sensored configuration" select EXAMPLES_FOC_HAVE_ALIGN endchoice # menu "Motor phy" config EXAMPLES_FOC_MOTOR_POLES int "FOC example motor poles pairs" default 0 config EXAMPLES_FOC_MOTOR_RES int "FOC example motor phase resistance (x1000000)" default 0 ---help--- The unit is micro-ohm (1/1000000 ohm). config EXAMPLES_FOC_MOTOR_IND int "FOC example motor phase inductance (x1000000)" default 0 ---help--- The unit is micro micro-henry (1/1000000 henry). config EXAMPLES_FOC_MOTOR_FLUXLINK int "FOC example motor flux linkage (x1000000)" default 0 ---help--- The unit is micro-Vs (1/1000000 Vs). Flux linkage can be obtained from the formula: lambda_pm = (1 / sqrt(3)) * (60 / 2*PI) * (Ke / P) [Vs] where: Ke - motor voltage constant Ke [V/rpm] P - motor pole pairs endmenu # Motor phy if EXAMPLES_FOC_SENSORED choice prompt "FOC sensored sensor selection" config EXAMPLES_FOC_HAVE_QENCO bool "FOC example have qencoder" select INDUSTRY_FOC_ANGLE_QENCO config EXAMPLES_FOC_HAVE_HALL bool "FOC example Hall sensor support" select INDUSTRY_FOC_ANGLE_HALL endchoice # FOC sensored sensor selection if EXAMPLES_FOC_HAVE_QENCO 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 endif # EXAMPLES_FOC_HAVE_QENCO 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 select EXAMPLES_FOC_HAVE_ALIGN default EXAMPLES_FOC_SENSORLESS config EXAMPLES_FOC_HAVE_TORQ bool "FOC example torque controller support" default n if EXAMPLES_FOC_HAVE_TORQ config EXAMPLES_FOC_TORQ_MAX int "FOC example torque maximum (x1000)" default 1000 ---help--- The unit is mini-ampere (1/1000 ampere) for current mode. The unit is mini-volt (1/1000 voltage) for voltage mode. endif # EXAMPLES_FOC_HAVE_TORQ config EXAMPLES_FOC_HAVE_VEL bool "FOC example velocity controller support" default EXAMPLES_FOC_SENSORLESS select EXAMPLES_FOC_HAVE_TORQ config EXAMPLES_FOC_HAVE_POS bool "FOC example position controller support" default n select EXAMPLES_FOC_HAVE_VEL config EXAMPLES_FOC_VELOBS bool "FOC example velocity observer support" default n if EXAMPLES_FOC_HAVE_VEL config EXAMPLES_FOC_VELCTRL_FREQ int "FOC example velocity controller frequency" default 1000 config EXAMPLES_FOC_VELNOW_FILTER int "FOC example velocity controller (x1000)" default 990 config EXAMPLES_FOC_VEL_MAX int "FOC example velocity maximum (x1)" default 1000 ---help--- The unit is rad/s choice prompt "FOC velocity controller selection" default EXAMPLES_FOC_VELCTRL_PI config EXAMPLES_FOC_VELCTRL_PI bool "FOC velocity PI controller" endchoice # FOC velocity controller if EXAMPLES_FOC_VELCTRL_PI config EXAMPLES_FOC_VELCTRL_PI_KP int "FOC velocity PI Kp (1000000x)" default 0 ---help--- The Kp coefficient used in controller is: Kp = EXAMPLES_FOC_VELCTRL_PI_KP/1000000 config EXAMPLES_FOC_VELCTRL_PI_KI int "FOC velocity PI Ki (1000000x)" default 0 ---help--- The Ki coefficient used in controller is: Ki = EXAMPLES_FOC_VELCTRL_PI_KI/1000000 endif # EXAMPLES_FOC_VELCTRL_PI endif # EXAMPLES_FOC_HAVE_VEL config EXAMPLES_FOC_ANGOBS bool "FOC example phase angle observer support" default n choice prompt "FOC angle observer selection" default EXAMPLES_FOC_ANGOBS_NFO depends on EXAMPLES_FOC_ANGOBS config EXAMPLES_FOC_ANGOBS_SMO bool "FOC angle SMO observer" select INDUSTRY_FOC_ANGLE_OSMO config EXAMPLES_FOC_ANGOBS_NFO bool "FOC angle NFO observer" select INDUSTRY_FOC_ANGLE_ONFO endchoice # FOC angle observer if EXAMPLES_FOC_ANGOBS config EXAMPLES_FOC_ANGOBS_HYS int "FOC angle observer hysteresis [x1]" default 0 ---help--- Hysteresis added to the observer to open-loop transition. config EXAMPLES_FOC_ANGOBS_THR int "FOC angle observer velocity threshold [x1]" default 0 ---help--- Once the motor reaches this speed, we switch from the open-loop angle to the observer angle. config EXAMPLES_FOC_ANGOBS_MERGE_RATIO int "FOC angle observer merge ratio" default 50 range 0 50 ---help--- This parameter determines how quickly we make the transition from the open-loop angle to the observer angle after reaching the observer threshold velocity. The smaler the value, the smoother the transition. If set to 0 - smooth transition is disabled. endif # EXAMPLES_FOC_ANGOBS if EXAMPLES_FOC_ANGOBS_SMO config EXAMPLES_FOC_ANGOBS_SMO_KSLIDE int "FOC angle SMO observer Kslide (x1000)" default 0 ---help--- The Kslide coefficient used in observer is: Kslide = EXAMPLES_FOC_ANGOBS_SMO_KSLIDE/1000 config EXAMPLES_FOC_ANGOBS_SMO_ERRMAX int "FOC angle SMO observer err_max (x1000)" default 0 ---help--- The err_max coefficient used in observer is: err_max = EXAMPLES_FOC_ANGOBS_SMO_ERRMAX/1000 endif # EXAMPLES_FOC_ANGOBS_SMO if EXAMPLES_FOC_ANGOBS_NFO config EXAMPLES_FOC_ANGOBS_NFO_GAIN int "FOC angle NFO observer gain (x1)" default 0 ---help--- The gain coefficient used in observer at maximum duty cycle. config EXAMPLES_FOC_ANGOBS_NFO_GAINSLOW int "FOC angle NFO observer gain slow (x1)" default 0 ---help--- The gain coefficient used in observer at minimum duty cycle. endif # EXAMPLES_FOC_ANGOBS_NFO config EXAMPLES_FOC_VELOBS bool "FOC example velocity observer support" default n if EXAMPLES_FOC_VELOBS choice prompt "FOC example velocity observer selection" default EXAMPLES_FOC_VELOBS_DIV config EXAMPLES_FOC_VELOBS_DIV bool "FOC velocity DIV observer" select INDUSTRY_FOC_VELOCITY_ODIV config EXAMPLES_FOC_VELOBS_PLL bool "FOC velocity PLL observer" select INDUSTRY_FOC_VELOCITY_OPLL endchoice # FOC example velocity observer selection if EXAMPLES_FOC_VELOBS_DIV config EXAMPLES_FOC_VELOBS_DIV_SAMPLES int "FOC velocity DIV observer samples" default 10 config EXAMPLES_FOC_VELOBS_DIV_FILTER int "FOC velocity DIV observer filter (x1000)" default 990 endif # INDUSTRY_FOC_VELOCITY_ODIV if EXAMPLES_FOC_VELOBS_PLL config EXAMPLES_FOC_VELOBS_PLL_KP int "FOC velocity PLL observer Kp (x1)" default 0 config EXAMPLES_FOC_VELOBS_PLL_KI int "FOC velocity PLL observer Ki (x1)" default 0 endif # EXAMPLES_FOC_VELOBS_PLL endif # EXAMPLES_FOC_VELOBS 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 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_STOP_CURRENT int "FOC stop state Q voltage/current [x1000]" default 0 ---help--- This current or voltage will be forced on the motor Q axis when the application is in active break state. config EXAMPLES_FOC_OPENLOOP_Q int "FOC open-loop Vq/Iq setting [x1000]" default 200 depends on EXAMPLES_FOC_HAVE_OPENLOOP config EXAMPLES_FOC_FEEDFORWARD bool "FOC use feedforward compensation for current controller" select INDUSTRY_FOC_FEEDFORWARD default n ---help--- This option enables feed-forward compensation for PI current controller which can help achieve better performace of FOC. This option is not recomended for sensorless operations and for current controllers that already has high update frequency. 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! 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! 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 [x1]" default 0 config EXAMPLES_FOC_RAMP_ACC int "FOC velocity ramp acc [x1]" default 0 config EXAMPLES_FOC_RAMP_DEC int "FOC velocity ramp dec [x1]" 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 "FOC example motor alignment voltage (x1000)" default 0 config EXAMPLES_FOC_ALIGN_SEC int "FOC example motor alignment time (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 !EXAMPLES_FOC_RUN_DISABLE config EXAMPLES_FOC_RUN_DISABLE bool "FOC Disable FOC motor controller" default n config EXAMPLES_FOC_NXSCOPE bool "FOC nxscope support" depends on LOGGING_NXSCOPE select LOGGING_NXSCOPE_DISABLE_PUTLOCK default n ---help--- This option enables a controller real-time data capture with the NxScope library. if EXAMPLES_FOC_NXSCOPE config EXAMPLES_FOC_NXSCOPE_SERIAL bool "FOC nxscope on serial port" select LOGGING_NXSCOPE_INTF_SERIAL default y if EXAMPLES_FOC_NXSCOPE_SERIAL config EXAMPLES_FOC_NXSCOPE_SERIAL_PATH string "FOC nxscope serial path" default "/dev/ttyS0" config EXAMPLES_FOC_NXSCOPE_SERIAL_BAUD int "FOC nxscope serial baud" default 115200 endif # EXAMPLES_FOC_NXSCOPE_SERIAL config EXAMPLES_FOC_NXSCOPE_STREAMBUF_LEN int "FOC nxscope stream buffer length" default 512 config EXAMPLES_FOC_NXSCOPE_RXBUF_LEN int "FOC nxscope RX buffer length" default 64 config EXAMPLES_FOC_NXSCOPE_RXPADDING int "FOC nxscope RX padding" default 0 config EXAMPLES_FOC_NXSCOPE_CHANNELS int "FOC nxscope channels" default 0 config EXAMPLES_FOC_NXSCOPE_PRESCALER int "FOC nxscope prescaler" default 1 ---help--- This option allows you to reduce the frequency of adding samples to the NxScope buffer. config EXAMPLES_FOC_NXSCOPE_CFG hex "FOC nxscope configuration" default 0x00000000 ---help--- Each bit defines the controller state variable that can be captured. Look at foc_nxscope.h for bits definitions. config EXAMPLES_FOC_NXSCOPE_START bool "FOC nxscope start frame sync" default n ---help--- If this option is set, the controller will be waiting for the start frame from a NxScope master device. This allows us to capture controller data from the very beginning of its operation. choice prompt "FOC nxscope work caller" default EXAMPLES_FOC_NXSCOPE_MAIN config EXAMPLES_FOC_NXSCOPE_MAIN bool "FOC nxscope uses foc_main()" ---help--- Use foc_main() for NxScope communication. config EXAMPLES_FOC_NXSCOPE_CONTROL bool "FOC nxscope uses control thread" ---help--- Use control thread for NxScope communication. With this option enabled you should limit the number of nxscope channels. Otherwise, handling incoming nxscope data may significantly delay the control loop, and consequently, the control cycle may be missed. config EXAMPLES_FOC_NXSCOPE_THREAD bool "FOC nxscope uses separate thread" ---help--- Use a separate thread for NxScope communication. endchoice # FOC nxscope work caller if EXAMPLES_FOC_NXSCOPE_CONTROL config EXAMPLES_FOC_NXSCOPE_WORK_PRESCALER int "FOC nxscope work prescaler" default 10 ---help--- This option allows you to reduce the frequency of calling nxscope worker. endif #EXAMPLES_FOC_NXSCOPE_CONTROL if EXAMPLES_FOC_NXSCOPE_THREAD config EXAMPLES_FOC_NXSCOPE_PRIO int "FOC nxscope thread priority" default 100 config EXAMPLES_FOC_NXSCOPE_STACKSIZE int "FOC nxscope thread stack size" default 2048 endif # EXAMPLES_FOC_NXSCOPE_THREAD endif # EXAMPLES_FOC_NXSCOPE endif # EXAMPLES_FOC