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drivers/foc: add ioctl interface that turn off all PWM switches

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This commit is contained in:
raiden00pl 2023-01-19 14:29:58 +01:00 committed by Xiang Xiao
parent 39162ebafb
commit 30015b862c
5 changed files with 86 additions and 1 deletions
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63
drivers/motor/foc/foc_dev.c
View File

@ -60,6 +60,7 @@ static int foc_params_set(FAR struct foc_dev_s *dev,
static int foc_fault_clear(FAR struct foc_dev_s *dev);
static int foc_info_get(FAR struct foc_dev_s *dev,
FAR struct foc_info_s *info);
static int foc_pwm_off(FAR struct foc_dev_s *dev, bool off);
static int foc_notifier(FAR struct foc_dev_s *dev,
FAR foc_current_t *current,
@ -234,6 +235,9 @@ static int foc_close(FAR struct file *filep)
* MTRIOC_GET_INFO: Get the FOC device info,
* arg: struct foc_info_s pointer
*
* MTRIOC_PWM_OFF: Force all PWM switches to the off state.
* arg: bool pointer
*
****************************************************************************/
static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
@ -340,7 +344,7 @@ static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
case MTRIOC_GET_INFO:
{
FAR struct foc_info_s *info = (struct foc_info_s *)arg;
FAR struct foc_info_s *info = (FAR struct foc_info_s *)arg;
DEBUGASSERT(info != NULL);
@ -353,6 +357,21 @@ static int foc_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
break;
}
case MTRIOC_PWM_OFF:
{
FAR bool *off = (FAR bool *)arg;
DEBUGASSERT(off != NULL);
ret = foc_pwm_off(dev, *off);
if (ret != OK)
{
mtrerr("MTRIOC_PWM_OFF failed %d\n", ret);
}
break;
}
/* Not supported */
default:
@ -384,6 +403,7 @@ static int foc_lower_ops_assert(FAR struct foc_lower_ops_s *ops)
DEBUGASSERT(ops->setup);
DEBUGASSERT(ops->shutdown);
DEBUGASSERT(ops->start);
DEBUGASSERT(ops->pwm_off);
DEBUGASSERT(ops->ioctl);
DEBUGASSERT(ops->bind);
DEBUGASSERT(ops->fault_clear);
@ -503,6 +523,13 @@ static int foc_start(FAR struct foc_dev_s *dev)
goto errout;
}
if (!dev->state.pwm_off)
{
/* Make sure that PWM is enabled if pwm_off was not called before */
ret = foc_pwm_off(dev, false);
}
/* Start the FOC */
ret = FOC_OPS_START(dev, true);
@ -537,6 +564,10 @@ static int foc_stop(FAR struct foc_dev_s *dev)
memset(&d_zero, 0, CONFIG_MOTOR_FOC_PHASES * sizeof(foc_duty_t));
/* Make sure that PWM is disabled */
ret = foc_pwm_off(dev, true);
/* Reset duty cycle */
ret = FOC_OPS_DUTY(dev, d_zero);
@ -685,6 +716,16 @@ static int foc_params_set(FAR struct foc_dev_s *dev,
DEBUGASSERT(dev);
DEBUGASSERT(params);
/* If PWM switches are turned off, the change of duty cycle has no
* effect.
*/
if (dev->state.pwm_off)
{
ret = -EPERM;
goto errout;
}
#ifdef CONFIG_MOTOR_FOC_TRACE
FOC_OPS_TRACE(dev, FOC_TRACE_PARAMS, true);
#endif
@ -697,6 +738,7 @@ static int foc_params_set(FAR struct foc_dev_s *dev,
FOC_OPS_TRACE(dev, FOC_TRACE_PARAMS, false);
#endif
errout:
return ret;
}
@ -718,6 +760,25 @@ static int foc_info_get(FAR struct foc_dev_s *dev,
return OK;
}
/****************************************************************************
* Name: foc_info_get
*
* Description:
* Force all PWM swichtes to the off state
*
****************************************************************************/
static int foc_pwm_off(FAR struct foc_dev_s *dev, bool off)
{
DEBUGASSERT(dev);
/* Update device state */
dev->state.pwm_off = off;
return FOC_OPS_PWMOFF(dev, off);
}
/****************************************************************************
* Name: foc_notifier
*

17
drivers/motor/foc/foc_dummy.c
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@ -107,6 +107,7 @@ static int foc_dummy_shutdown(FAR struct foc_dev_s *dev);
static int foc_dummy_start(FAR struct foc_dev_s *dev, bool state);
static int foc_dummy_pwm_duty_set(FAR struct foc_dev_s *dev,
FAR foc_duty_t *duty);
static int foc_pwm_off(struct foc_dev_s *dev, bool off);
static int foc_dummy_ioctl(FAR struct foc_dev_s *dev, int cmd,
unsigned long arg);
static int foc_dummy_bind(FAR struct foc_dev_s *dev,
@ -146,6 +147,7 @@ static struct foc_lower_ops_s g_foc_dummy_ops =
foc_dummy_setup,
foc_dummy_shutdown,
foc_dummy_pwm_duty_set,
foc_pwm_off,
foc_dummy_start,
foc_dummy_ioctl,
foc_dummy_bind,
@ -518,6 +520,21 @@ static int foc_dummy_pwm_duty_set(FAR struct foc_dev_s *dev,
return OK;
}
/****************************************************************************
* Name: foc_pwm_off
*
* Description:
* Set the 3-phase bridge switches in off state.
*
****************************************************************************/
static int foc_pwm_off(struct foc_dev_s *dev, bool off)
{
mtrinfo("[PWM_OFF] %d\n", off);
return OK;
}
/****************************************************************************
* Name: foc_dummy_hw_config_get
*

1
include/nuttx/motor/foc/foc.h
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@ -83,6 +83,7 @@ struct foc_cfg_s
struct foc_state_s
{
bool pwm_off; /* PWM switches disabled */
uint8_t fault; /* Fault state */
foc_current_t curr[CONFIG_MOTOR_FOC_PHASES]; /* Phase current feedback */
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE

5
include/nuttx/motor/foc/foc_lower.h
View File

@ -45,6 +45,7 @@
#define FOC_OPS_SETUP(d) (d)->lower->ops->setup(d)
#define FOC_OPS_SHUTDOWN(d) (d)->lower->ops->shutdown(d)
#define FOC_OPS_START(d, s) (d)->lower->ops->start(d, s)
#define FOC_OPS_PWMOFF(d, o) (d)->lower->ops->pwm_off(d, o)
#define FOC_OPS_DUTY(d, x) (d)->lower->ops->pwm_duty_set(d, x)
#define FOC_OPS_IOCTL(d, c, a) (d)->lower->ops->ioctl(d, c, a)
#define FOC_OPS_BIND(d, c) (d)->lower->ops->bind(d, c)
@ -110,6 +111,10 @@ struct foc_lower_ops_s
CODE int (*pwm_duty_set)(FAR struct foc_dev_s *dev,
FAR foc_duty_t *duty);
/* Force all PWM switches to the off state */
CODE int (*pwm_off)(FAR struct foc_dev_s *dev, bool off);
/* Lower-half start/stop */
CODE int (*start)(FAR struct foc_dev_s *dev, bool state);

1
include/nuttx/motor/motor_ioctl.h
View File

@ -49,5 +49,6 @@
#define MTRIOC_SET_LIMITS _MTRIOC(9)
#define MTRIOC_SET_FAULT _MTRIOC(10)
#define MTRIOC_GET_FAULT _MTRIOC(11)
#define MTRIOC_PWM_OFF _MTRIOC(12)
#endif /* __INCLUDE_NUTTX_MOTOR_MOTOR_IOCTL_H */