513 lines
11 KiB
Plaintext
513 lines
11 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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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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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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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_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_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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default y if EXAMPLES_FOC_SENSORLESS
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default n
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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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config EXAMPLES_FOC_HAVE_VEL
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bool "FOC example velocity controller support"
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default y if EXAMPLES_FOC_SENSORLESS
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default n
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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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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_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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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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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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endif #EXAMPLES_FOC_CONTROL_PI
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config EXAMPLES_FOC_RAMP_THR
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int "FOC velocity ramp threshold [x1000]"
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default 0
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config EXAMPLES_FOC_RAMP_ACC
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int "FOC velocity ramp acc [x1000]"
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default 0
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config EXAMPLES_FOC_RAMP_DEC
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int "FOC velocity ramp dec [x1000]"
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default 0
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config EXAMPLES_FOC_HAVE_ALIGN
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bool "FOC example motor alignment support"
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select INDUSTRY_FOC_ALIGN
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default n
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if EXAMPLES_FOC_HAVE_ALIGN
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config EXAMPLES_FOC_ALIGN_VOLT
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int "EXAMPLES_FOC_ALIGN_VOLT (x1000)"
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default 0
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config EXAMPLES_FOC_ALIGN_SEC
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int "EXAMPLES_FOC_ALIGN_SEC (x1000)"
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default 0
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endif # EXAMPLES_FOC_HAVE_ALIGN
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config EXAMPLES_FOC_HAVE_IDENT
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bool "FOC example motor identification support"
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select INDUSTRY_FOC_IDENT
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default n
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if EXAMPLES_FOC_HAVE_IDENT
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config EXAMPLES_FOC_IDENT_RES_CURRENT
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int "FOC motor ident resistance current (x1000)"
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default 0
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config EXAMPLES_FOC_IDENT_RES_KI
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int "FOC motor ident resistance Ki (x1000)"
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default 50
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config EXAMPLES_FOC_IDENT_IND_VOLTAGE
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int "FOC motor ident inductance voltage (x1000)"
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default 0
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config EXAMPLES_FOC_IDENT_RES_SEC
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int "FOC motor ident resistance time in sec (x1000)"
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default 0
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config EXAMPLES_FOC_IDENT_IND_SEC
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int "FOC motor ident inductance time in sec (x1000)"
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default 0
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config EXAMPLES_FOC_IDENT_IDLE
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int "FOC motor ident idle steps"
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default 100
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endif # EXAMPLES_FOC_HAVE_IDENT
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endmenu # FOC controller parameters
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config EXAMPLES_FOC_HAVE_RUN
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bool
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default y if !EXAMPLES_FOC_RUN_DISABLE
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default n
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config EXAMPLES_FOC_RUN_DISABLE
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bool "FOC Disable FOC motor controller"
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default n
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config EXAMPLES_FOC_NXSCOPE
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bool "FOC nxscope support"
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depends on LOGGING_NXSCOPE
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select LOGGING_NXSCOPE_DISABLE_PUTLOCK
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default n
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---help---
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This option enables a controller real-time data capture with
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the NxScope library.
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if EXAMPLES_FOC_NXSCOPE
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config EXAMPLES_FOC_NXSCOPE_SERIAL
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bool "FOC nxscope on serial port"
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select LOGGING_NXSCOPE_INTF_SERIAL
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default y
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if EXAMPLES_FOC_NXSCOPE_SERIAL
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config EXAMPLES_FOC_NXSCOPE_SERIAL_PATH
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string "FOC nxscope serial path"
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default "/dev/ttyS0"
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config EXAMPLES_FOC_NXSCOPE_SERIAL_BAUD
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int "FOC nxscope serial baud"
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default 115200
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endif # EXAMPLES_FOC_NXSCOPE_SERIAL
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config EXAMPLES_FOC_NXSCOPE_STREAMBUF_LEN
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int "FOC nxscope stream buffer length"
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default 512
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config EXAMPLES_FOC_NXSCOPE_RXBUF_LEN
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int "FOC nxscope RX buffer length"
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default 64
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config EXAMPLES_FOC_NXSCOPE_RXPADDING
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int "FOC nxscope RX padding"
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default 0
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config EXAMPLES_FOC_NXSCOPE_CHANNELS
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int "FOC nxscope channels"
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default 0
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config EXAMPLES_FOC_NXSCOPE_PRESCALER
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int "FOC nxscope prescaler"
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default 1
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---help---
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This option allows you to reduce the frequency of adding samples to
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the NxScope buffer.
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config EXAMPLES_FOC_NXSCOPE_CFG
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hex "FOC nxscope configuration"
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default 0x00000000
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---help---
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Each bit defines the controller state variable that can be captured.
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Look at foc_nxscope.h for bits definitions.
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config EXAMPLES_FOC_NXSCOPE_START
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bool "FOC nxscope start frame sync"
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default n
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---help---
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If this option is set, the controller will be waiting for the start
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frame from a NxScope master device. This allows us to capture
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controller data from the very beginning of its operation.
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config EXAMPLES_FOC_NXSCOPE_THREAD
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bool "FOC nxscope uses separate thread"
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default n
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---help---
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Use a separate thread for NxScope communication.
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if EXAMPLES_FOC_NXSCOPE_THREAD
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config EXAMPLES_FOC_NXSCOPE_PRIO
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int "FOC nxscope thread priority"
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default 100
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config EXAMPLES_FOC_NXSCOPE_STACKSIZE
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int "FOC nxscope thread stack size"
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default 2048
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endif # EXAMPLES_FOC_NXSCOPE_THREAD
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endif # EXAMPLES_FOC_NXSCOPE
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endif # EXAMPLES_FOC
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