296 lines
6.3 KiB
Plaintext
296 lines
6.3 KiB
Plaintext
#
|
|
# 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_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 #
|
|
|
|
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
|
|
int "FOC ADC reference votlage [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"
|
|
select EXAMPLES_FOC_HAVE_ADC
|
|
|
|
endchoice # FOC setpoint interface
|
|
|
|
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_SETPOINT_ADC
|
|
|
|
config EXAMPLES_FOC_SETPOINT_ADC_MAX
|
|
int "FOC maximum setpoint from ADC [x1000]"
|
|
default 0
|
|
|
|
endif # EXAMPLES_FOC_SETPOINT_ADC
|
|
|
|
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
|
|
|
|
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 3
|
|
---help---
|
|
1 - torque control
|
|
2 - velocity control
|
|
3 - position control
|
|
|
|
config EXAMPLES_FOC_OPENLOOP_Q
|
|
int "FOC open-loop Vq/Iq setting [x1000]"
|
|
default 200
|
|
depends on EXAMPLES_FOC_HAVE_OPENLOOP
|
|
|
|
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 vaule 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 vaule of Kp and Ki depends on the controlled motor parameters.
|
|
For more instructions see README.md for this example.
|
|
|
|
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
|
|
int "FOC velocity ramp acc [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
|
|
|
|
endmenu # FOC controller parameters
|
|
|
|
endif # EXAMPLES_FOC
|
|
|