776 lines
18 KiB
Plaintext
776 lines
18 KiB
Plaintext
#
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# For a description of the syntax of this configuration file,
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# see the file kconfig-language.txt in the NuttX tools repository.
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#
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menuconfig EXAMPLES_FOC
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tristate "FOC motor controller example"
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depends on MOTOR_FOC
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depends on INDUSTRY_FOC
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---help---
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Enable the FOC motor controller example.
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At the moment, this example implements a simple open-loop velocity controller.
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if EXAMPLES_FOC
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config EXAMPLES_FOC_DEVPATH
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string "FOC device path prefix"
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default "/dev/foc"
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---help---
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The default path to the FOC device without the device minor number.
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Default: /dev/foc
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config EXAMPLES_FOC_FLOAT_INST
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int "FOC float instances"
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depends on INDUSTRY_FOC_FLOAT
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default 0
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config EXAMPLES_FOC_FIXED16_INST
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int "FOC fixed16 instances"
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depends on INDUSTRY_FOC_FIXED16
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default 0
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config EXAMPLES_FOC_CONTROL_PRIO
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int "FOC control thread priority"
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default 255
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config EXAMPLES_FOC_CONTROL_STACKSIZE
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int "FOC control thread stack size"
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default 4096
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config EXAMPLES_FOC_VERBOSE
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int "Enable verbose print for app"
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default 1
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range 0 2
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config EXAMPLES_FOC_PERF
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bool "Enable performance meassurements"
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default n
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choice
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prompt "FOC current controller selection"
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default EXAMPLES_FOC_CONTROL_PI
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config EXAMPLES_FOC_CONTROL_PI
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bool "FOC use PI current controller"
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select INDUSTRY_FOC_CONTROL_PI
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endchoice # FOC current controller
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config EXAMPLES_FOC_PWM_FREQ
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int "FOC PWM frequency"
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default 10000
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---help---
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Select the FOC PWM switching frequency
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config EXAMPLES_FOC_NOTIFIER_FREQ
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int "FOC notifier frequency"
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default EXAMPLES_FOC_PWM_FREQ
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---help---
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Select the FOC notifier frequency
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config EXAMPLES_FOC_IPHASE_ADC
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int "FOC phase current scale [x100000]"
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default 0
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---help---
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This parameter is used to get real currents from ADC RAW values
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config EXAMPLES_FOC_STATE_PRINT_FREQ
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int "FOC example data printer frequency"
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default 0
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depends on INDUSTRY_FOC_HANDLER_PRINT
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---help---
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Set 0 to disable FOC data print
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config EXAMPLES_FOC_STATE_USE_MODEL_PMSM
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bool "FOC uses PMSM model"
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depends on INDUSTRY_FOC_MODEL_PMSM
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default n
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---help---
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Use PMSM model instead of real hardware
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choice
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prompt "FOC sensored or sensorless configuration"
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default EXAMPLES_FOC_SENSORLESS
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config EXAMPLES_FOC_SENSORLESS
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bool "FOC example sensorless configuration"
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select EXAMPLES_FOC_ANGOBS
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config EXAMPLES_FOC_SENSORED
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bool "FOC example sensored configuration"
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select EXAMPLES_FOC_HAVE_ALIGN
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endchoice #
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menu "Motor phy"
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config EXAMPLES_FOC_MOTOR_POLES
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int "FOC example motor poles pairs"
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default 0
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config EXAMPLES_FOC_MOTOR_RES
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int "FOC example motor phase resistance (x1000000)"
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default 0
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---help---
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The unit is micro-ohm (1/1000000 ohm).
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config EXAMPLES_FOC_MOTOR_IND
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int "FOC example motor phase inductance (x1000000)"
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default 0
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---help---
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The unit is micro micro-henry (1/1000000 henry).
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config EXAMPLES_FOC_MOTOR_FLUXLINK
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int "FOC example motor flux linkage (x1000000)"
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default 0
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---help---
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The unit is micro-Vs (1/1000000 Vs).
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Flux linkage can be obtained from the formula:
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lambda_pm = (1 / sqrt(3)) * (60 / 2*PI) * (Ke / P) [Vs]
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where:
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Ke - motor voltage constant Ke [V/rpm]
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P - motor pole pairs
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endmenu # Motor phy
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if EXAMPLES_FOC_SENSORED
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choice
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prompt "FOC sensored sensor selection"
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config EXAMPLES_FOC_HAVE_QENCO
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bool "FOC example have qencoder"
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select INDUSTRY_FOC_ANGLE_QENCO
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config EXAMPLES_FOC_HAVE_HALL
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bool "FOC example Hall sensor support"
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select INDUSTRY_FOC_ANGLE_HALL
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endchoice # FOC sensored sensor selection
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if EXAMPLES_FOC_HAVE_QENCO
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config EXAMPLES_FOC_QENCO_POSMAX
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int "FOC example qencoder maximum position"
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default 0
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config EXAMPLES_FOC_QENCO_DEVPATH
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string "FOC example qencoder path prefix"
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default "/dev/qe"
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---help---
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The default path to the qenco device without the device minor number.
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Default: /dev/qe
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endif # EXAMPLES_FOC_HAVE_QENCO
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if EXAMPLES_FOC_HAVE_HALL
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config EXAMPLES_FOC_HALL_DEVPATH
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string "FOC example Hall sensor path prefix"
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default "/dev/hall"
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---help---
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The default path to the Hall device without the device minor number.
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Default: /dev/hall
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endif # EXAMPLES_FOC_HAVE_HALL
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endif # EXAMPLES_FOC_SENSORED
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config EXAMPLES_FOC_HAVE_OPENLOOP
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bool "FOC example have open-loop controller"
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select INDUSTRY_FOC_ANGLE_OPENLOOP
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select EXAMPLES_FOC_HAVE_ALIGN
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default EXAMPLES_FOC_SENSORLESS
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config EXAMPLES_FOC_HAVE_TORQ
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bool "FOC example torque controller support"
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default n
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if EXAMPLES_FOC_HAVE_TORQ
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config EXAMPLES_FOC_TORQ_MAX
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int "FOC example torque maximum (x1000)"
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default 1000
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---help---
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The unit is mini-ampere (1/1000 ampere) for current mode.
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The unit is mini-volt (1/1000 voltage) for voltage mode.
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endif # EXAMPLES_FOC_HAVE_TORQ
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config EXAMPLES_FOC_HAVE_VEL
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bool "FOC example velocity controller support"
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default EXAMPLES_FOC_SENSORLESS
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select EXAMPLES_FOC_HAVE_TORQ
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config EXAMPLES_FOC_HAVE_POS
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bool "FOC example position controller support"
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default n
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select EXAMPLES_FOC_HAVE_VEL
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config EXAMPLES_FOC_VELOBS
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bool "FOC example velocity observer support"
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default n
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if EXAMPLES_FOC_HAVE_VEL
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config EXAMPLES_FOC_VELCTRL_FREQ
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int "FOC example velocity controller frequency"
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default 1000
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config EXAMPLES_FOC_VELNOW_FILTER
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int "FOC example velocity controller (x1000)"
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default 990
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config EXAMPLES_FOC_VEL_MAX
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int "FOC example velocity maximum (x1)"
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default 1000
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---help---
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The unit is rad/s
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choice
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prompt "FOC velocity controller selection"
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default EXAMPLES_FOC_VELCTRL_PI
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config EXAMPLES_FOC_VELCTRL_PI
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bool "FOC velocity PI controller"
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endchoice # FOC velocity controller
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if EXAMPLES_FOC_VELCTRL_PI
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config EXAMPLES_FOC_VELCTRL_PI_KP
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int "FOC velocity PI Kp (1000000x)"
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default 0
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---help---
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The Kp coefficient used in controller is:
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Kp = EXAMPLES_FOC_VELCTRL_PI_KP/1000000
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config EXAMPLES_FOC_VELCTRL_PI_KI
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int "FOC velocity PI Ki (1000000x)"
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default 0
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---help---
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The Ki coefficient used in controller is:
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Ki = EXAMPLES_FOC_VELCTRL_PI_KI/1000000
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endif # EXAMPLES_FOC_VELCTRL_PI
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endif # EXAMPLES_FOC_HAVE_VEL
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config EXAMPLES_FOC_ANGOBS
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bool "FOC example phase angle observer support"
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default n
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choice
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prompt "FOC angle observer selection"
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default EXAMPLES_FOC_ANGOBS_NFO
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depends on EXAMPLES_FOC_ANGOBS
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config EXAMPLES_FOC_ANGOBS_SMO
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bool "FOC angle SMO observer"
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select INDUSTRY_FOC_ANGLE_OSMO
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config EXAMPLES_FOC_ANGOBS_NFO
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bool "FOC angle NFO observer"
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select INDUSTRY_FOC_ANGLE_ONFO
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endchoice # FOC angle observer
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if EXAMPLES_FOC_ANGOBS
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config EXAMPLES_FOC_ANGOBS_HYS
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int "FOC angle observer hysteresis [x1]"
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default 0
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---help---
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Hysteresis added to the observer to open-loop transition.
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config EXAMPLES_FOC_ANGOBS_THR
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int "FOC angle observer velocity threshold [x1]"
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default 0
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---help---
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Once the motor reaches this speed, we switch from the open-loop angle
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to the observer angle.
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config EXAMPLES_FOC_ANGOBS_MERGE_RATIO
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int "FOC angle observer merge ratio"
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default 50
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range 0 50
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---help---
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This parameter determines how quickly we make the transition from the
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open-loop angle to the observer angle after reaching the observer threshold
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velocity. The smaler the value, the smoother the transition.
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If set to 0 - smooth transition is disabled.
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endif # EXAMPLES_FOC_ANGOBS
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if EXAMPLES_FOC_ANGOBS_SMO
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config EXAMPLES_FOC_ANGOBS_SMO_KSLIDE
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int "FOC angle SMO observer Kslide (x1000)"
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default 0
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---help---
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The Kslide coefficient used in observer is:
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Kslide = EXAMPLES_FOC_ANGOBS_SMO_KSLIDE/1000
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config EXAMPLES_FOC_ANGOBS_SMO_ERRMAX
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int "FOC angle SMO observer err_max (x1000)"
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default 0
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---help---
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The err_max coefficient used in observer is:
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err_max = EXAMPLES_FOC_ANGOBS_SMO_ERRMAX/1000
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endif # EXAMPLES_FOC_ANGOBS_SMO
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if EXAMPLES_FOC_ANGOBS_NFO
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config EXAMPLES_FOC_ANGOBS_NFO_GAIN
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int "FOC angle NFO observer gain (x1)"
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default 0
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---help---
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The gain coefficient used in observer at maximum duty cycle.
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config EXAMPLES_FOC_ANGOBS_NFO_GAINSLOW
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int "FOC angle NFO observer gain slow (x1)"
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default 0
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---help---
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The gain coefficient used in observer at minimum duty cycle.
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endif # EXAMPLES_FOC_ANGOBS_NFO
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config EXAMPLES_FOC_VELOBS
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bool "FOC example velocity observer support"
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default n
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if EXAMPLES_FOC_VELOBS
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choice
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prompt "FOC example velocity observer selection"
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default EXAMPLES_FOC_VELOBS_DIV
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config EXAMPLES_FOC_VELOBS_DIV
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bool "FOC velocity DIV observer"
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select INDUSTRY_FOC_VELOCITY_ODIV
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config EXAMPLES_FOC_VELOBS_PLL
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bool "FOC velocity PLL observer"
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select INDUSTRY_FOC_VELOCITY_OPLL
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endchoice # FOC example velocity observer selection
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if EXAMPLES_FOC_VELOBS_DIV
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config EXAMPLES_FOC_VELOBS_DIV_SAMPLES
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int "FOC velocity DIV observer samples"
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default 10
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config EXAMPLES_FOC_VELOBS_DIV_FILTER
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int "FOC velocity DIV observer filter (x1000)"
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default 990
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endif # INDUSTRY_FOC_VELOCITY_ODIV
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if EXAMPLES_FOC_VELOBS_PLL
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config EXAMPLES_FOC_VELOBS_PLL_KP
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int "FOC velocity PLL observer Kp (x1)"
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default 0
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config EXAMPLES_FOC_VELOBS_PLL_KI
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int "FOC velocity PLL observer Ki (x1)"
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default 0
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endif # EXAMPLES_FOC_VELOBS_PLL
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endif # EXAMPLES_FOC_VELOBS
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menu "FOC user input"
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config EXAMPLES_FOC_HAVE_ADC
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bool
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default n
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choice
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prompt "FOC VBUS source"
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default EXAMPLES_FOC_VBUS_CONST
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config EXAMPLES_FOC_VBUS_CONST
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bool "Use hardcoded constant VBUS value"
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config EXAMPLES_FOC_VBUS_ADC
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bool "Use VBUS provided by ADC interface"
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depends on ADC
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select EXAMPLES_FOC_HAVE_ADC
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endchoice # FOC VBUS interface
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if EXAMPLES_FOC_VBUS_CONST
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config EXAMPLES_FOC_VBUS_CONST_VALUE
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int "FOC VBUS constant value"
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default 12000
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endif # EXAMPLES_FOC_VBUS_CONST
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if EXAMPLES_FOC_HAVE_ADC
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config EXAMPLES_FOC_ADC_DEVPATH
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string "FOC ADC interface path"
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default "/dev/adc0"
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config EXAMPLES_FOC_ADC_VREF
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int "FOC ADC reference voltage [x1000]"
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default 0
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config EXAMPLES_FOC_ADC_MAX
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int "FOC ADC aux maximum sample value"
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default 0
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endif # EXAMPLES_FOC_HAVE_ADC
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if EXAMPLES_FOC_VBUS_ADC
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config EXAMPLES_FOC_VBUS_SCALE
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int "FOC VBUS SCALE scale [x1000]"
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default 0
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endif # EXAMPLES_FOC_VBUS_ADC
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choice
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prompt "FOC setpoint source"
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default EXAMPLES_FOC_SETPOINT_CONST
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config EXAMPLES_FOC_SETPOINT_CONST
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bool "Use hardcoded constant setpiont value"
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config EXAMPLES_FOC_SETPOINT_ADC
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bool "Use ADC to control setpoint"
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depends on ADC
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select EXAMPLES_FOC_HAVE_ADC
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select EXAMPLES_FOC_HAVE_SETPOINT_VAR
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config EXAMPLES_FOC_SETPOINT_CHAR
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bool "Use character interface to control setpoint"
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select EXAMPLES_FOC_HAVE_CHARCTRL
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select EXAMPLES_FOC_HAVE_SETPOINT_VAR
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endchoice # FOC setpoint interface
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config EXAMPLES_FOC_HAVE_SETPOINT_VAR
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bool
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default n
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if EXAMPLES_FOC_SETPOINT_CONST
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config EXAMPLES_FOC_SETPOINT_CONST_VALUE
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int "FOC hardoced setpoint value"
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default 0
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endif # EXAMPLES_FOC_SETPOINT_CONST
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if EXAMPLES_FOC_HAVE_SETPOINT_VAR
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config EXAMPLES_FOC_SETPOINT_MAX
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int "FOC maximum setpoint [x1000]"
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default 0
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endif # EXAMPLES_FOC_HAVE_SETPOINT_VAR
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config EXAMPLES_FOC_TIME_DEFAULT
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int "FOC run time default (sec)"
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default 10
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config EXAMPLES_FOC_STATE_INIT
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int "FOC motor controller state init"
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default 1
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range 1 4
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---help---
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1 - motor FREE (no current)
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2 - motor STOP (active break)
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3 - motor moves in CW direction
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4 - motor moves in CCW direction
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config EXAMPLES_FOC_HAVE_BUTTON
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bool "FOC button support"
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default n
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---help---
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The button is used to change the motor controller state
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if EXAMPLES_FOC_HAVE_BUTTON
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config EXAMPLES_FOC_BUTTON_DEVPATH
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string "FOC button device path"
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default "/dev/buttons"
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depends on INPUT_BUTTONS
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endif
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config EXAMPLES_FOC_HAVE_CHARCTRL
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bool "FOC character control interface support"
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default n
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---help---
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Use simple character commands to interact with the app
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if EXAMPLES_FOC_HAVE_CHARCTRL
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config EXAMPLES_FOC_CHAR_SETPOINT_STEP
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int "FOC character control setpoint step [x1000]"
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default 0
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endif
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endmenu # FOC user input
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menu "FOC controller parameters"
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config EXAMPLES_FOC_FMODE
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int "FOC control mode"
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default 2
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range 1 3
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---help---
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1 - IDLE mode
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2 - voltage mode (default)
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3 - current mode
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config EXAMPLES_FOC_MMODE
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int "Motor control mode"
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default 2
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range 1 5
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---help---
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1 - torque control
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2 - velocity control
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3 - position control
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4 - align only
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5 - ident only
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config EXAMPLES_FOC_STOP_CURRENT
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int "FOC stop state Q voltage/current [x1000]"
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default 0
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---help---
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This current or voltage will be forced on the motor Q axis when
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the application is in active break state.
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config EXAMPLES_FOC_OPENLOOP_Q
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int "FOC open-loop Vq/Iq setting [x1000]"
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default 200
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depends on EXAMPLES_FOC_HAVE_OPENLOOP
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config EXAMPLES_FOC_FEEDFORWARD
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bool "FOC use feedforward compensation for current controller"
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select INDUSTRY_FOC_FEEDFORWARD
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default n
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---help---
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This option enables feed-forward compensation for PI current controller
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|
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.
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if EXAMPLES_FOC_CONTROL_PI
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config EXAMPLES_FOC_IDQ_KP
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int "FOC PI controller Kp gain [x1000]"
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default 0
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---help---
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|
It is set to 0 by default and must be properly configured by the user!
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|
The value of Kp and Ki depends on the controlled motor parameters.
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|
For more instructions see README.md for this example.
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|
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config EXAMPLES_FOC_IDQ_KI
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int "FOC PI controller Ki gain [x1000]"
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|
default 0
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|
---help---
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|
It is set to 0 by default and must be properly configured by the user!
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|
The value of Kp and Ki depends on the controlled motor parameters.
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|
For more instructions see README.md for this example.
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|
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endif #EXAMPLES_FOC_CONTROL_PI
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config EXAMPLES_FOC_RAMP_THR
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|
int "FOC velocity ramp threshold [x1]"
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|
default 0
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|
|
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config EXAMPLES_FOC_RAMP_ACC
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|
int "FOC velocity ramp acc [x1]"
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|
default 0
|
|
|
|
config EXAMPLES_FOC_RAMP_DEC
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|
int "FOC velocity ramp dec [x1]"
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|
default 0
|
|
|
|
config EXAMPLES_FOC_HAVE_ALIGN
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|
bool "FOC example motor alignment support"
|
|
select INDUSTRY_FOC_ALIGN
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|
default n
|
|
|
|
if EXAMPLES_FOC_HAVE_ALIGN
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|
|
|
config EXAMPLES_FOC_ALIGN_VOLT
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|
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
|
|
|
|
|