boards/sim: add support for FOC example

boards/sim/sim/sim/configs/foc/defconfig

@@ -0,0 +1,92 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_NSH_CMDOPT_HEXDUMP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+CONFIG_ARCH="sim"
+CONFIG_ARCH_BOARD="sim"
+CONFIG_ARCH_BOARD_SIM=y
+CONFIG_ARCH_CHIP="sim"
+CONFIG_ARCH_SIM=y
+CONFIG_BOARDCTL_APP_SYMTAB=y
+CONFIG_BOARDCTL_POWEROFF=y
+CONFIG_BOARD_LOOPSPERMSEC=0
+CONFIG_BOOT_RUNFROMEXTSRAM=y
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_ASSERTIONS=y
+CONFIG_DEBUG_ERROR=y
+CONFIG_DEBUG_FEATURES=y
+CONFIG_DEBUG_INFO=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_WARN=y
+CONFIG_DEV_LOOP=y
+CONFIG_DEV_ZERO=y
+CONFIG_EXAMPLES_FOC=y
+CONFIG_EXAMPLES_FOC_FIXED16_INST=2
+CONFIG_EXAMPLES_FOC_FLOAT_INST=2
+CONFIG_EXAMPLES_FOC_IDQ_KI=10
+CONFIG_EXAMPLES_FOC_IDQ_KP=10
+CONFIG_EXAMPLES_FOC_IPHASE_ADC=100
+CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ=5000
+CONFIG_EXAMPLES_FOC_OPENLOOP_Q=2000
+CONFIG_EXAMPLES_FOC_PWM_FREQ=15000
+CONFIG_EXAMPLES_FOC_RAMP_ACC=10000000
+CONFIG_EXAMPLES_FOC_RAMP_DEC=10000000
+CONFIG_EXAMPLES_FOC_RAMP_THR=10000
+CONFIG_EXAMPLES_FOC_STATE_INIT=3
+CONFIG_EXAMPLES_FOC_STATE_PRINT_FREQ=1000
+CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM=y
+CONFIG_EXAMPLES_FOC_VBUS_CONST_VALUE=24000
+CONFIG_EXAMPLES_FOC_VERBOSE=2
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FSUTILS_PASSWD=y
+CONFIG_FSUTILS_PASSWD_READONLY=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_INDUSTRY_FOC=y
+CONFIG_INDUSTRY_FOC_FIXED16=y
+CONFIG_INDUSTRY_FOC_FLOAT=y
+CONFIG_INDUSTRY_FOC_HANDLER_PRINT=y
+CONFIG_INDUSTRY_FOC_MODEL_PMSM=y
+CONFIG_LIBC_EXECFUNCS=y
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBM=y
+CONFIG_LIB_ENVPATH=y
+CONFIG_MAX_TASKS=64
+CONFIG_MOTOR=y
+CONFIG_MOTOR_FOC=y
+CONFIG_MOTOR_FOC_INST=4
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_FATDEVNO=2
+CONFIG_NSH_FILE_APPS=y
+CONFIG_NSH_MOTD=y
+CONFIG_NSH_MOTD_STRING="MOTD: username=admin password=Administrator"
+CONFIG_NSH_READLINE=y
+CONFIG_NSH_ROMFSDEVNO=1
+CONFIG_NSH_ROMFSETC=y
+CONFIG_PATH_INITIAL="/bin"
+CONFIG_POSIX_SPAWN_PROXY_STACKSIZE=2048
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_SCHED_HAVE_PARENT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_ONEXIT=y
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIM_M32=y
+CONFIG_SIM_MOTOR_FOC=y
+CONFIG_START_MONTH=6
+CONFIG_START_YEAR=2008
+CONFIG_SYSLOG_CONSOLE=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_USER_ENTRYPOINT="nsh_main"

boards/sim/sim/sim/src/Makefile

@@ -69,4 +69,8 @@ ifeq ($(CONFIG_ARCH_BUTTONS),y)
   CSRCS += sim_buttons.c
 endif
 
+ifeq ($(CONFIG_SIM_MOTOR_FOC),y)
+CSRCS += sim_foc.c
+endif
+
 include $(TOPDIR)/boards/Board.mk

boards/sim/sim/sim/src/sim.h

@@ -130,4 +130,19 @@ int sim_gpio_initialize(void);
 int sim_tsc_setup(int minor);
 #endif
 
+/****************************************************************************
+ * Name: sim_foc_setup
+ *
+ * Description:
+ *   Initialize the FOC controller driver.
+ *
+ * Returned Value:
+ *   0 on success, a negated errno value on failure
+ *
+ ****************************************************************************/
+
+#ifdef CONFIG_SIM_MOTOR_FOC
+int sim_foc_setup(void);
+#endif
+
 #endif /* __BOARDS_SIM_SIM_SIM_SRC_SIM_H */

boards/sim/sim/sim/src/sim_bringup.c

@@ -410,5 +410,15 @@ int sim_bringup(void)
     }
 #endif
 
+#ifdef CONFIG_SIM_MOTOR_FOC
+  /* Setup FOC device */
+
+  ret = sim_foc_setup();
+  if (ret < 0)
+    {
+      syslog(LOG_ERR, "ERROR: sim_foc_setup() failed: %d\n", ret);
+    }
+#endif
+
   return ret;
 }

boards/sim/sim/sim/src/sim_foc.c

@@ -0,0 +1,108 @@
+/****************************************************************************
+ * boards/sim/sim/sim/src/sim_foc.c
+ *
+ * Licensed to the Apache Software Foundation (ASF) under one or more
+ * contributor license agreements.  See the NOTICE file distributed with
+ * this work for additional information regarding copyright ownership.  The
+ * ASF licenses this file to you under the Apache License, Version 2.0 (the
+ * "License"); you may not use this file except in compliance with the
+ * License.  You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  See the
+ * License for the specific language governing permissions and limitations
+ * under the License.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <stdio.h>
+#include <errno.h>
+#include <debug.h>
+
+#include <arch/board/board.h>
+
+#include <nuttx/motor/foc/foc_lower.h>
+
+#include "up_internal.h"
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: sim_foc_setup
+ *
+ * Description:
+ *   Initialize the FOC device.
+ *
+ *   This function should be call by board_app_initialize().
+ *
+ * Returned Value:
+ *   0 on success, a negated errno value on failure
+ *
+ ****************************************************************************/
+
+int sim_foc_setup(void)
+{
+  FAR struct foc_dev_s *foc[CONFIG_MOTOR_FOC_INST];
+  static bool           initialized = false;
+  int                   ret         = OK;
+  int                   i           = 0;
+  char                  devpath[20];
+
+  mtrinfo("sim_foc_setup\n");
+
+  /* Initialize only once */
+
+  if (!initialized)
+    {
+      /* Register devices */
+
+      for (i = 0; i < CONFIG_MOTOR_FOC_INST; i += 1)
+        {
+          /* Initialize arch specific FOC lower-half */
+
+          foc[i] = sim_foc_initialize(i);
+          if (foc[i] == NULL)
+            {
+              ret = -errno;
+              mtrerr("Failed to initialize sim FOC%d: %d\n", i, ret);
+              goto errout;
+            }
+
+          DEBUGASSERT(foc[i]->lower);
+
+          /* Get devpath for FOC */
+
+          sprintf(devpath, "/dev/foc%d", i);
+
+          /* Register FOC device */
+
+          ret = foc_register(devpath, foc[i]);
+          if (ret < 0)
+            {
+              mtrerr("Failed to register FOC device %s: %d\n",
+                     devpath, ret);
+              goto errout;
+            }
+        }
+
+      initialized = true;
+    }
+
+errout:
+  return ret;
+}