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drivers/foc: get hardware information via lower-half interface

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This commit is contained in:
raiden00pl 2023-11-13 12:18:48 +01:00 committed by Xiang Xiao
parent 5f15c73219
commit 7d99f01cf7
13 changed files with 182 additions and 85 deletions
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23
arch/arm/src/stm32/stm32_foc.c
View File

@ -845,6 +845,8 @@ static int stm32_foc_start(struct foc_dev_s *dev, bool state);
static int stm32_foc_pwm_duty_set(struct foc_dev_s *dev, static int stm32_foc_pwm_duty_set(struct foc_dev_s *dev,
foc_duty_t *duty); foc_duty_t *duty);
static int stm32_foc_pwm_off(struct foc_dev_s *dev, bool off); static int stm32_foc_pwm_off(struct foc_dev_s *dev, bool off);
static int stm32_foc_info_get(struct foc_dev_s *dev,
struct foc_info_s *info);
static int stm32_foc_ioctl(struct foc_dev_s *dev, int cmd, static int stm32_foc_ioctl(struct foc_dev_s *dev, int cmd,
unsigned long arg); unsigned long arg);
static int stm32_foc_bind(struct foc_dev_s *dev, static int stm32_foc_bind(struct foc_dev_s *dev,
@ -886,8 +888,6 @@ static void stm32_foc_adc_trgo_trg_set(struct foc_dev_s *dev,
# error Invalid FOC ADC trigger # error Invalid FOC ADC trigger
#endif #endif
static void stm32_foc_hw_config_get(struct foc_dev_s *dev);
/**************************************************************************** /****************************************************************************
* Private Data * Private Data
****************************************************************************/ ****************************************************************************/
@ -940,6 +940,7 @@ static struct foc_lower_ops_s g_stm32_foc_ops =
.start = stm32_foc_start, .start = stm32_foc_start,
.pwm_duty_set = stm32_foc_pwm_duty_set, .pwm_duty_set = stm32_foc_pwm_duty_set,
.pwm_off = stm32_foc_pwm_off, .pwm_off = stm32_foc_pwm_off,
.info_get = stm32_foc_info_get,
.ioctl = stm32_foc_ioctl, .ioctl = stm32_foc_ioctl,
.bind = stm32_foc_bind, .bind = stm32_foc_bind,
.fault_clear = stm32_foc_fault_clear, .fault_clear = stm32_foc_fault_clear,
@ -1317,12 +1318,14 @@ static void stm32_foc_adc_trgo_trg_set(struct foc_dev_s *dev,
static int stm32_foc_configure(struct foc_dev_s *dev, static int stm32_foc_configure(struct foc_dev_s *dev,
struct foc_cfg_s *cfg) struct foc_cfg_s *cfg)
{ {
struct stm32_foc_priv_s *priv = STM32_FOC_PRIV_FROM_DEV_GET(dev); struct stm32_foc_priv_s *priv = STM32_FOC_PRIV_FROM_DEV_GET(dev);
int ret = OK; struct stm32_foc_board_s *board = STM32_FOC_BOARD_FROM_DEV_GET(dev);
int ret = OK;
DEBUGASSERT(dev); DEBUGASSERT(dev);
DEBUGASSERT(cfg); DEBUGASSERT(cfg);
DEBUGASSERT(priv); DEBUGASSERT(priv);
DEBUGASSERT(board);
DEBUGASSERT(cfg->pwm_freq > 0); DEBUGASSERT(cfg->pwm_freq > 0);
DEBUGASSERT(cfg->notifier_freq > 0); DEBUGASSERT(cfg->notifier_freq > 0);
@ -1535,10 +1538,6 @@ static int stm32_foc_setup(struct foc_dev_s *dev)
goto errout; goto errout;
} }
/* Get HW configuration */
stm32_foc_hw_config_get(dev);
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
/* Initialize trace interface */ /* Initialize trace interface */
@ -2143,14 +2142,14 @@ static int stm32_foc_pwm_off(struct foc_dev_s *dev, bool off)
} }
/**************************************************************************** /****************************************************************************
* Name: stm32_foc_hw_config_get * Name: stm32_foc_info_get
* *
* Description: * Description:
* Get HW configuration for FOC device * Get HW configuration for FOC device
* *
****************************************************************************/ ****************************************************************************/
static void stm32_foc_hw_config_get(struct foc_dev_s *dev) static int stm32_foc_info_get(struct foc_dev_s *dev, struct foc_info_s *info)
{ {
struct stm32_foc_board_s *board = STM32_FOC_BOARD_FROM_DEV_GET(dev); struct stm32_foc_board_s *board = STM32_FOC_BOARD_FROM_DEV_GET(dev);
@ -2159,8 +2158,7 @@ static void stm32_foc_hw_config_get(struct foc_dev_s *dev)
/* Get data from board configuration */ /* Get data from board configuration */
dev->info.hw_cfg.pwm_dt_ns = board->data->pwm_dt_ns; return board->ops->info_get(dev, info);
dev->info.hw_cfg.pwm_max = board->data->duty_max;
} }
/**************************************************************************** /****************************************************************************
@ -2533,6 +2531,7 @@ stm32_foc_initialize(int inst, struct stm32_foc_board_s *board)
DEBUGASSERT(board->ops->fault_clear); DEBUGASSERT(board->ops->fault_clear);
DEBUGASSERT(board->ops->pwm_start); DEBUGASSERT(board->ops->pwm_start);
DEBUGASSERT(board->ops->current_get); DEBUGASSERT(board->ops->current_get);
DEBUGASSERT(board->ops->info_get);
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
DEBUGASSERT(board->ops->trace_init); DEBUGASSERT(board->ops->trace_init);
DEBUGASSERT(board->ops->trace); DEBUGASSERT(board->ops->trace);

12
arch/arm/src/stm32/stm32_foc.h
View File

@ -110,6 +110,10 @@ struct stm32_foc_board_ops_s
int (*current_get)(struct foc_dev_s *dev, int16_t *curr_raw, int (*current_get)(struct foc_dev_s *dev, int16_t *curr_raw,
foc_current_t *curr); foc_current_t *curr);
/* Board-specific info */
int (*info_get)(struct foc_dev_s *dev, struct foc_info_s *cfg);
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE #ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
/* Get BEMF voltage */ /* Get BEMF voltage */
@ -145,14 +149,6 @@ struct stm32_foc_board_data_s
/* PWM deadtime register value */ /* PWM deadtime register value */
uint8_t pwm_dt; uint8_t pwm_dt;
/* PWM deadtime in ns */
uint16_t pwm_dt_ns;
/* PWM max supported duty cycle */
foc_duty_t duty_max;
}; };
/* Board-specific FOC configuration */ /* Board-specific FOC configuration */

24
arch/arm/src/stm32f7/stm32_foc.c
View File

@ -648,6 +648,8 @@ static int stm32_foc_start(struct foc_dev_s *dev, bool state);
static int stm32_foc_pwm_duty_set(struct foc_dev_s *dev, static int stm32_foc_pwm_duty_set(struct foc_dev_s *dev,
foc_duty_t *duty); foc_duty_t *duty);
static int stm32_foc_pwm_off(struct foc_dev_s *dev, bool off); static int stm32_foc_pwm_off(struct foc_dev_s *dev, bool off);
static int stm32_foc_info_get(struct foc_dev_s *dev,
struct foc_info_s *info);
static int stm32_foc_ioctl(struct foc_dev_s *dev, int cmd, static int stm32_foc_ioctl(struct foc_dev_s *dev, int cmd,
unsigned long arg); unsigned long arg);
static int stm32_foc_bind(struct foc_dev_s *dev, static int stm32_foc_bind(struct foc_dev_s *dev,
@ -689,8 +691,6 @@ static void stm32_foc_adc_trgo_trg_set(struct foc_dev_s *dev,
# error Invalid FOC ADC trigger # error Invalid FOC ADC trigger
#endif #endif
static void stm32_foc_hw_config_get(struct foc_dev_s *dev);
/**************************************************************************** /****************************************************************************
* Private Data * Private Data
****************************************************************************/ ****************************************************************************/
@ -1095,12 +1095,14 @@ static void stm32_foc_adc_trgo_trg_set(struct foc_dev_s *dev,
static int stm32_foc_configure(struct foc_dev_s *dev, static int stm32_foc_configure(struct foc_dev_s *dev,
struct foc_cfg_s *cfg) struct foc_cfg_s *cfg)
{ {
struct stm32_foc_priv_s *priv = STM32_FOCPRIV_FROM_DEV_GET(dev); struct stm32_foc_priv_s *priv = STM32_FOCPRIV_FROM_DEV_GET(dev);
int ret = OK; struct stm32_foc_board_s *board = STM32_FOCBOARD_FROM_DEV_GET(dev);
int ret = OK;
DEBUGASSERT(dev); DEBUGASSERT(dev);
DEBUGASSERT(cfg); DEBUGASSERT(cfg);
DEBUGASSERT(priv); DEBUGASSERT(priv);
DEBUGASSERT(board);
DEBUGASSERT(cfg->pwm_freq > 0); DEBUGASSERT(cfg->pwm_freq > 0);
DEBUGASSERT(cfg->notifier_freq > 0); DEBUGASSERT(cfg->notifier_freq > 0);
@ -1309,10 +1311,6 @@ static int stm32_foc_setup(struct foc_dev_s *dev)
goto errout; goto errout;
} }
/* Get HW configuration */
stm32_foc_hw_config_get(dev);
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
/* Initialize trace interface */ /* Initialize trace interface */
@ -1910,14 +1908,14 @@ static int stm32_foc_pwm_off(struct foc_dev_s *dev, bool off)
} }
/**************************************************************************** /****************************************************************************
* Name: stm32_foc_hw_config_get * Name: stm32_foc_info_get
* *
* Description: * Description:
* Get HW configuration for FOC device * Get HW configuration for FOC device
* *
****************************************************************************/ ****************************************************************************/
static void stm32_foc_hw_config_get(struct foc_dev_s *dev) static int stm32_foc_info_get(struct foc_dev_s *dev, struct foc_info_s *info)
{ {
struct stm32_foc_board_s *board = STM32_FOCBOARD_FROM_DEV_GET(dev); struct stm32_foc_board_s *board = STM32_FOCBOARD_FROM_DEV_GET(dev);
@ -1926,8 +1924,7 @@ static void stm32_foc_hw_config_get(struct foc_dev_s *dev)
/* Get data from board configuration */ /* Get data from board configuration */
dev->info.hw_cfg.pwm_dt_ns = board->data->pwm_dt_ns; return board->ops->info_get(dev, info);
dev->info.hw_cfg.pwm_max = board->data->duty_max;
} }
/**************************************************************************** /****************************************************************************
@ -1973,7 +1970,7 @@ static void stm32_foc_curr_get(struct foc_dev_s *dev,
static void stm32_foc_volt_get(struct foc_dev_s *dev, int16_t *volt) static void stm32_foc_volt_get(struct foc_dev_s *dev, int16_t *volt)
{ {
struct stm32_foc_priv_s *priv = STM32_FOC_PRIV_FROM_DEV_GET(dev); struct stm32_foc_priv_s *priv = STM32_FOCPRIV_FROM_DEV_GET(dev);
struct stm32_adc_dev_s *vadc = VADC_FROM_FOC_DEV_GET(dev); struct stm32_adc_dev_s *vadc = VADC_FROM_FOC_DEV_GET(dev);
int i = 0; int i = 0;
@ -2235,6 +2232,7 @@ stm32_foc_initialize(int inst, struct stm32_foc_board_s *board)
DEBUGASSERT(board->ops->fault_clear); DEBUGASSERT(board->ops->fault_clear);
DEBUGASSERT(board->ops->pwm_start); DEBUGASSERT(board->ops->pwm_start);
DEBUGASSERT(board->ops->current_get); DEBUGASSERT(board->ops->current_get);
DEBUGASSERT(board->ops->info_get);
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
DEBUGASSERT(board->ops->trace_init); DEBUGASSERT(board->ops->trace_init);
DEBUGASSERT(board->ops->trace); DEBUGASSERT(board->ops->trace);

12
arch/arm/src/stm32f7/stm32_foc.h
View File

@ -117,6 +117,10 @@ struct stm32_foc_board_ops_s
foc_voltage_t *volt); foc_voltage_t *volt);
#endif #endif
/* Board-specific info */
int (*info_get)(struct foc_dev_s *dev, struct foc_info_s *info);
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
/* FOC trace interface setup */ /* FOC trace interface setup */
@ -145,14 +149,6 @@ struct stm32_foc_board_data_s
/* PWM deadtime register value */ /* PWM deadtime register value */
uint8_t pwm_dt; uint8_t pwm_dt;
/* PWM deadtime in ns */
uint16_t pwm_dt_ns;
/* PWM max supported duty cycle */
foc_duty_t duty_max;
}; };
/* Board-specific FOC configuration */ /* Board-specific FOC configuration */

30
boards/arm/stm32/b-g431b-esc1/src/stm32_foc.c
View File

@ -217,6 +217,8 @@ static int board_foc_voltage_get(struct foc_dev_s *dev,
int16_t *volt_raw, int16_t *volt_raw,
foc_voltage_t *volt); foc_voltage_t *volt);
#endif #endif
static int board_foc_info_get(struct foc_dev_s *dev,
struct foc_info_s *info);
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
static int board_foc_trace_init(struct foc_dev_s *dev); static int board_foc_trace_init(struct foc_dev_s *dev);
static void board_foc_trace(struct foc_dev_s *dev, int type, bool state); static void board_foc_trace(struct foc_dev_s *dev, int type, bool state);
@ -373,6 +375,7 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE #ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
.voltage_get = board_foc_voltage_get, .voltage_get = board_foc_voltage_get,
#endif #endif
.info_get = board_foc_info_get,
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
.trace_init = board_foc_trace_init, .trace_init = board_foc_trace_init,
.trace = board_foc_trace .trace = board_foc_trace
@ -383,13 +386,11 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
static struct stm32_foc_board_data_s g_stm32_foc_board_data = static struct stm32_foc_board_data_s g_stm32_foc_board_data =
{ {
.adc_cfg = &g_adc_cfg, .adc_cfg = &g_adc_cfg,
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE #ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
.vadc_cfg = &g_vadc_cfg, .vadc_cfg = &g_vadc_cfg,
#endif #endif
.duty_max = (MAX_DUTY_B16), .pwm_dt = (PWM_DEADTIME),
.pwm_dt = (PWM_DEADTIME),
.pwm_dt_ns = (PWM_DEADTIME_NS)
}; };
/* Board specific configuration */ /* Board specific configuration */
@ -582,6 +583,25 @@ static int board_foc_voltage_get(struct foc_dev_s *dev,
} }
#endif #endif
/****************************************************************************
* Name: board_foc_info_get
****************************************************************************/
static int board_foc_info_get(struct foc_dev_s *dev, struct foc_info_s *info)
{
DEBUGASSERT(dev);
DEBUGASSERT(info);
UNUSED(dev);
/* PWM */
info->hw_cfg.pwm_dt_ns = PWM_DEADTIME_NS;
info->hw_cfg.pwm_max = MAX_DUTY_B16;
return OK;
}
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
/**************************************************************************** /****************************************************************************
* Name: board_foc_trace_init * Name: board_foc_trace_init

29
boards/arm/stm32/common/src/stm32_ihm07m1.c
View File

@ -113,6 +113,8 @@ static int board_foc_pwm_start(struct foc_dev_s *dev, bool state);
static int board_foc_current_get(struct foc_dev_s *dev, static int board_foc_current_get(struct foc_dev_s *dev,
int16_t *curr_raw, int16_t *curr_raw,
foc_current_t *curr); foc_current_t *curr);
static int board_foc_info_get(struct foc_dev_s *dev,
struct foc_info_s *info);
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
static int board_foc_trace_init(struct foc_dev_s *dev); static int board_foc_trace_init(struct foc_dev_s *dev);
static void board_foc_trace(struct foc_dev_s *dev, int type, bool state); static void board_foc_trace(struct foc_dev_s *dev, int type, bool state);
@ -132,6 +134,7 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
.fault_clear = board_foc_fault_clear, .fault_clear = board_foc_fault_clear,
.pwm_start = board_foc_pwm_start, .pwm_start = board_foc_pwm_start,
.current_get = board_foc_current_get, .current_get = board_foc_current_get,
.info_get = board_foc_info_get,
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
.trace_init = board_foc_trace_init, .trace_init = board_foc_trace_init,
.trace = board_foc_trace .trace = board_foc_trace
@ -142,10 +145,8 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
static struct stm32_foc_board_data_s g_stm32_foc_board_data = static struct stm32_foc_board_data_s g_stm32_foc_board_data =
{ {
.adc_cfg = NULL, /* board-specific */ .adc_cfg = NULL, /* board-specific */
.duty_max = (MAX_DUTY_B16), .pwm_dt = (PWM_DEADTIME)
.pwm_dt = (PWM_DEADTIME),
.pwm_dt_ns = (PWM_DEADTIME_NS)
}; };
/* Board specific configuration */ /* Board specific configuration */
@ -289,6 +290,26 @@ static int board_foc_trace_init(struct foc_dev_s *dev)
return OK; return OK;
} }
/****************************************************************************
* Name: board_foc_info_get
****************************************************************************/
static int board_foc_info_get(struct foc_dev_s *dev,
struct foc_info_s *info)
{
DEBUGASSERT(dev);
DEBUGASSERT(info);
UNUSED(dev);
/* PWM */
info->hw_cfg.pwm_dt_ns = PWM_DEADTIME_NS;
info->hw_cfg.pwm_max = MAX_DUTY_B16;
return OK;
}
/**************************************************************************** /****************************************************************************
* Name: board_foc_trace * Name: board_foc_trace
****************************************************************************/ ****************************************************************************/

29
boards/arm/stm32/common/src/stm32_ihm08m1.c
View File

@ -121,6 +121,8 @@ static int board_foc_pwm_start(struct foc_dev_s *dev, bool state);
static int board_foc_current_get(struct foc_dev_s *dev, static int board_foc_current_get(struct foc_dev_s *dev,
int16_t *curr_raw, int16_t *curr_raw,
foc_current_t *curr); foc_current_t *curr);
static int board_foc_info_get(struct foc_dev_s *dev,
struct foc_info_s *info);
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
static int board_foc_trace_init(struct foc_dev_s *dev); static int board_foc_trace_init(struct foc_dev_s *dev);
static void board_foc_trace(struct foc_dev_s *dev, int type, bool state); static void board_foc_trace(struct foc_dev_s *dev, int type, bool state);
@ -140,6 +142,7 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
.fault_clear = board_foc_fault_clear, .fault_clear = board_foc_fault_clear,
.pwm_start = board_foc_pwm_start, .pwm_start = board_foc_pwm_start,
.current_get = board_foc_current_get, .current_get = board_foc_current_get,
.info_get = board_foc_info_get,
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
.trace_init = board_foc_trace_init, .trace_init = board_foc_trace_init,
.trace = board_foc_trace .trace = board_foc_trace
@ -150,10 +153,8 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
static struct stm32_foc_board_data_s g_stm32_foc_board_data = static struct stm32_foc_board_data_s g_stm32_foc_board_data =
{ {
.adc_cfg = NULL, /* board-specific */ .adc_cfg = NULL, /* board-specific */
.duty_max = (MAX_DUTY_B16), .pwm_dt = (PWM_DEADTIME)
.pwm_dt = (PWM_DEADTIME),
.pwm_dt_ns = (PWM_DEADTIME_NS)
}; };
/* Board specific configuration */ /* Board specific configuration */
@ -258,6 +259,26 @@ static int board_foc_current_get(struct foc_dev_s *dev,
return OK; return OK;
} }
/****************************************************************************
* Name: board_foc_info_get
****************************************************************************/
static int board_foc_info_get(struct foc_dev_s *dev,
struct foc_info_s *info)
{
DEBUGASSERT(dev);
DEBUGASSERT(info);
UNUSED(dev);
/* PWM */
info->hw_cfg.pwm_dt_ns = PWM_DEADTIME_NS;
info->hw_cfg.pwm_max = MAX_DUTY_B16;
return OK;
}
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
/**************************************************************************** /****************************************************************************
* Name: board_foc_trace_init * Name: board_foc_trace_init

29
boards/arm/stm32/common/src/stm32_ihm16m1.c
View File

@ -111,6 +111,8 @@ static int board_foc_pwm_start(struct foc_dev_s *dev, bool state);
static int board_foc_current_get(struct foc_dev_s *dev, static int board_foc_current_get(struct foc_dev_s *dev,
int16_t *curr_raw, int16_t *curr_raw,
foc_current_t *curr); foc_current_t *curr);
static int board_foc_info_get(struct foc_dev_s *dev,
struct foc_info_s *info);
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
static int board_foc_trace_init(struct foc_dev_s *dev); static int board_foc_trace_init(struct foc_dev_s *dev);
static void board_foc_trace(struct foc_dev_s *dev, int type, bool state); static void board_foc_trace(struct foc_dev_s *dev, int type, bool state);
@ -130,6 +132,7 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
.fault_clear = board_foc_fault_clear, .fault_clear = board_foc_fault_clear,
.pwm_start = board_foc_pwm_start, .pwm_start = board_foc_pwm_start,
.current_get = board_foc_current_get, .current_get = board_foc_current_get,
.info_get = board_foc_info_get,
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
.trace_init = board_foc_trace_init, .trace_init = board_foc_trace_init,
.trace = board_foc_trace .trace = board_foc_trace
@ -140,10 +143,8 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
static struct stm32_foc_board_data_s g_stm32_foc_board_data = static struct stm32_foc_board_data_s g_stm32_foc_board_data =
{ {
.adc_cfg = NULL, /* board-specific */ .adc_cfg = NULL, /* board-specific */
.duty_max = (MAX_DUTY_B16), .pwm_dt = (PWM_DEADTIME)
.pwm_dt = (PWM_DEADTIME),
.pwm_dt_ns = (PWM_DEADTIME_NS)
}; };
/* Board specific configuration */ /* Board specific configuration */
@ -266,6 +267,26 @@ static int board_foc_current_get(struct foc_dev_s *dev,
return OK; return OK;
} }
/****************************************************************************
* Name: board_foc_info_get
****************************************************************************/
static int board_foc_info_get(struct foc_dev_s *dev,
struct foc_info_s *info)
{
DEBUGASSERT(dev);
DEBUGASSERT(info);
UNUSED(dev);
/* PWM */
info->hw_cfg.pwm_dt_ns = PWM_DEADTIME_NS;
info->hw_cfg.pwm_max = MAX_DUTY_B16;
return OK;
}
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
/**************************************************************************** /****************************************************************************
* Name: board_foc_trace_init * Name: board_foc_trace_init

29
boards/arm/stm32f7/steval-eth001v1/src/stm32_foc.c
View File

@ -155,6 +155,8 @@ static int board_foc_pwm_start(struct foc_dev_s *dev, bool state);
static int board_foc_current_get(struct foc_dev_s *dev, static int board_foc_current_get(struct foc_dev_s *dev,
int16_t *curr_raw, int16_t *curr_raw,
foc_current_t *curr); foc_current_t *curr);
static int board_foc_info_get(struct foc_dev_s *dev,
struct foc_info_s *info);
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
static int board_foc_trace_init(struct foc_dev_s *dev); static int board_foc_trace_init(struct foc_dev_s *dev);
static void board_foc_trace(struct foc_dev_s *dev, int type, bool state); static void board_foc_trace(struct foc_dev_s *dev, int type, bool state);
@ -246,6 +248,7 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
.fault_clear = board_foc_fault_clear, .fault_clear = board_foc_fault_clear,
.pwm_start = board_foc_pwm_start, .pwm_start = board_foc_pwm_start,
.current_get = board_foc_current_get, .current_get = board_foc_current_get,
.info_get = board_foc_info_get,
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
.trace_init = board_foc_trace_init, .trace_init = board_foc_trace_init,
.trace = board_foc_trace .trace = board_foc_trace
@ -256,10 +259,8 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
static struct stm32_foc_board_data_s g_stm32_foc_board_data = static struct stm32_foc_board_data_s g_stm32_foc_board_data =
{ {
.adc_cfg = &g_adc_cfg, .adc_cfg = &g_adc_cfg,
.duty_max = (MAX_DUTY_B16), .pwm_dt = (PWM_DEADTIME),
.pwm_dt = (PWM_DEADTIME),
.pwm_dt_ns = (PWM_DEADTIME_NS)
}; };
/* Board specific configuration */ /* Board specific configuration */
@ -364,6 +365,26 @@ static int board_foc_current_get(struct foc_dev_s *dev,
return OK; return OK;
} }
/****************************************************************************
* Name: board_foc_info_get
****************************************************************************/
static int board_foc_info_get(struct foc_dev_s *dev,
struct foc_info_s *info)
{
DEBUGASSERT(dev);
DEBUGASSERT(info);
UNUSED(dev);
/* PWM */
info->hw_cfg.pwm_dt_ns = PWM_DEADTIME_NS;
info->hw_cfg.pwm_max = MAX_DUTY_B16;
return OK;
}
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
/**************************************************************************** /****************************************************************************
* Name: board_foc_trace_init * Name: board_foc_trace_init

7
drivers/motor/foc/foc_dev.c
View File

@ -404,6 +404,7 @@ static int foc_lower_ops_assert(FAR struct foc_lower_ops_s *ops)
DEBUGASSERT(ops->shutdown); DEBUGASSERT(ops->shutdown);
DEBUGASSERT(ops->start); DEBUGASSERT(ops->start);
DEBUGASSERT(ops->pwm_off); DEBUGASSERT(ops->pwm_off);
DEBUGASSERT(ops->info_get);
DEBUGASSERT(ops->ioctl); DEBUGASSERT(ops->ioctl);
DEBUGASSERT(ops->bind); DEBUGASSERT(ops->bind);
DEBUGASSERT(ops->fault_clear); DEBUGASSERT(ops->fault_clear);
@ -753,11 +754,9 @@ errout:
static int foc_info_get(FAR struct foc_dev_s *dev, static int foc_info_get(FAR struct foc_dev_s *dev,
FAR struct foc_info_s *info) FAR struct foc_info_s *info)
{ {
/* Copy data from device */ /* Call lower-half logic */
memcpy(info, &dev->info, sizeof(struct foc_info_s)); return FOC_OPS_INFOGET(dev, info);
return OK;
} }
/**************************************************************************** /****************************************************************************

31
drivers/motor/foc/foc_dummy.c
View File

@ -107,7 +107,9 @@ 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_start(FAR struct foc_dev_s *dev, bool state);
static int foc_dummy_pwm_duty_set(FAR struct foc_dev_s *dev, static int foc_dummy_pwm_duty_set(FAR struct foc_dev_s *dev,
FAR foc_duty_t *duty); FAR foc_duty_t *duty);
static int foc_pwm_off(struct foc_dev_s *dev, bool off); static int foc_dummy_pwm_off(FAR struct foc_dev_s *dev, bool off);
static int foc_dummy_info_get(FAR struct foc_dev_s *dev,
FAR struct foc_info_s *info);
static int foc_dummy_ioctl(FAR struct foc_dev_s *dev, int cmd, static int foc_dummy_ioctl(FAR struct foc_dev_s *dev, int cmd,
unsigned long arg); unsigned long arg);
static int foc_dummy_bind(FAR struct foc_dev_s *dev, static int foc_dummy_bind(FAR struct foc_dev_s *dev,
@ -123,7 +125,6 @@ static void foc_dummy_notifier_handler(FAR struct foc_dev_s *dev);
/* Helpers */ /* Helpers */
static void foc_dummy_hw_config_get(FAR struct foc_dev_s *dev);
static int foc_dummy_notifier_cfg(FAR struct foc_dev_s *dev, uint32_t freq); static int foc_dummy_notifier_cfg(FAR struct foc_dev_s *dev, uint32_t freq);
static int foc_dummy_pwm_setup(FAR struct foc_dev_s *dev, uint32_t freq); static int foc_dummy_pwm_setup(FAR struct foc_dev_s *dev, uint32_t freq);
static int foc_dummy_pwm_start(FAR struct foc_dev_s *dev, bool state); static int foc_dummy_pwm_start(FAR struct foc_dev_s *dev, bool state);
@ -147,8 +148,9 @@ static struct foc_lower_ops_s g_foc_dummy_ops =
foc_dummy_setup, foc_dummy_setup,
foc_dummy_shutdown, foc_dummy_shutdown,
foc_dummy_pwm_duty_set, foc_dummy_pwm_duty_set,
foc_pwm_off, foc_dummy_pwm_off,
foc_dummy_start, foc_dummy_start,
foc_dummy_info_get,
foc_dummy_ioctl, foc_dummy_ioctl,
foc_dummy_bind, foc_dummy_bind,
foc_dummy_fault_clear, foc_dummy_fault_clear,
@ -396,10 +398,6 @@ static int foc_dummy_setup(FAR struct foc_dev_s *dev)
mtrinfo("[FOC_SETUP]\n"); mtrinfo("[FOC_SETUP]\n");
/* Get HW configuration */
foc_dummy_hw_config_get(dev);
return OK; return OK;
} }
@ -521,14 +519,14 @@ static int foc_dummy_pwm_duty_set(FAR struct foc_dev_s *dev,
} }
/**************************************************************************** /****************************************************************************
* Name: foc_pwm_off * Name: foc_dummy_pwm_off
* *
* Description: * Description:
* Set the 3-phase bridge switches in off state. * Set the 3-phase bridge switches in off state.
* *
****************************************************************************/ ****************************************************************************/
static int foc_pwm_off(struct foc_dev_s *dev, bool off) static int foc_dummy_pwm_off(FAR struct foc_dev_s *dev, bool off)
{ {
mtrinfo("[PWM_OFF] %d\n", off); mtrinfo("[PWM_OFF] %d\n", off);
@ -536,21 +534,22 @@ static int foc_pwm_off(struct foc_dev_s *dev, bool off)
} }
/**************************************************************************** /****************************************************************************
* Name: foc_dummy_hw_config_get * Name: foc_dummy_info_get
* *
* Description: * Description:
* Get HW configuration for FOC controller * Get HW configuration for FOC device
* *
****************************************************************************/ ****************************************************************************/
static void foc_dummy_hw_config_get(FAR struct foc_dev_s *dev) static int foc_dummy_info_get(FAR struct foc_dev_s *dev,
FAR struct foc_info_s *info)
{ {
DEBUGASSERT(dev);
/* Get HW configuration */ /* Get HW configuration */
dev->info.hw_cfg.pwm_dt_ns = FOC_DUMMY_HW_PWM_NS; info->hw_cfg.pwm_dt_ns = FOC_DUMMY_HW_PWM_NS;
dev->info.hw_cfg.pwm_max = ftob16(FOC_DUMMY_HW_PWM_MAX); info->hw_cfg.pwm_max = ftob16(FOC_DUMMY_HW_PWM_MAX);
return OK;
} }
/**************************************************************************** /****************************************************************************

6
include/nuttx/motor/foc/foc.h
View File

@ -98,9 +98,9 @@ struct foc_params_s
foc_duty_t duty[CONFIG_MOTOR_FOC_PHASES]; /* PWM duty cycle for phases */ foc_duty_t duty[CONFIG_MOTOR_FOC_PHASES]; /* PWM duty cycle for phases */
}; };
/* Hardware specific configuration */ /* Hardware specific informations */
struct foc_hw_config_s struct foc_info_hw_s
{ {
uint32_t pwm_dt_ns; /* PWM dead-time in nano seconds */ uint32_t pwm_dt_ns; /* PWM dead-time in nano seconds */
foc_duty_t pwm_max; /* Maximum PWM duty cycle */ foc_duty_t pwm_max; /* Maximum PWM duty cycle */
@ -110,7 +110,7 @@ struct foc_hw_config_s
struct foc_info_s struct foc_info_s
{ {
struct foc_hw_config_s hw_cfg; /* Hardware specific configuration */ struct foc_info_hw_s hw_cfg; /* Hardware specific informations */
}; };
/* FOC device upper-half */ /* FOC device upper-half */

6
include/nuttx/motor/foc/foc_lower.h
View File

@ -48,6 +48,7 @@
#define FOC_OPS_PWMOFF(d, o) (d)->lower->ops->pwm_off(d, o) #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_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_IOCTL(d, c, a) (d)->lower->ops->ioctl(d, c, a)
#define FOC_OPS_INFOGET(d, i) (d)->lower->ops->info_get(d, i)
#define FOC_OPS_BIND(d, c) (d)->lower->ops->bind(d, c) #define FOC_OPS_BIND(d, c) (d)->lower->ops->bind(d, c)
#define FOC_OPS_FAULT_CLEAR(d) (d)->lower->ops->fault_clear(d) #define FOC_OPS_FAULT_CLEAR(d) (d)->lower->ops->fault_clear(d)
#ifdef CONFIG_MOTOR_FOC_TRACE #ifdef CONFIG_MOTOR_FOC_TRACE
@ -119,6 +120,11 @@ struct foc_lower_ops_s
CODE int (*start)(FAR struct foc_dev_s *dev, bool state); CODE int (*start)(FAR struct foc_dev_s *dev, bool state);
/* Get all hardware information */
CODE int (*info_get)(FAR struct foc_dev_s *dev,
FAR struct foc_info_s *info);
/* Lower-half IOCTL */ /* Lower-half IOCTL */
CODE int (*ioctl)(FAR struct foc_dev_s *dev, int cmd, CODE int (*ioctl)(FAR struct foc_dev_s *dev, int cmd,