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

drivers/motor/foc/foc_dev.c

@@ -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
  *

drivers/motor/foc/foc_dummy.c

@@ -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
  *

include/nuttx/motor/foc/foc.h

@@ -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

include/nuttx/motor/foc/foc_lower.h

@@ -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);

include/nuttx/motor/motor_ioctl.h

@@ -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 */