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drivers/foc: return scaling factor for phase currents and BEMF via ioctl

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These values are board-specific properties that must be known on the application side.
Until now, these values had to be hardcoded on the application side.
This commit is contained in:
raiden00pl 2023-11-13 12:24:55 +01:00 committed by Xiang Xiao
parent 7d99f01cf7
commit 99513ac23e
7 changed files with 92 additions and 9 deletions
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13
boards/arm/stm32/b-g431b-esc1/src/stm32_foc.c
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@ -390,7 +390,7 @@ static struct stm32_foc_board_data_s g_stm32_foc_board_data =
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
.vadc_cfg = &g_vadc_cfg,
#endif
.pwm_dt = (PWM_DEADTIME),
.pwm_dt = PWM_DEADTIME
};
/* Board specific configuration */
@ -599,6 +599,17 @@ static int board_foc_info_get(struct foc_dev_s *dev, struct foc_info_s *info)
info->hw_cfg.pwm_dt_ns = PWM_DEADTIME_NS;
info->hw_cfg.pwm_max = MAX_DUTY_B16;
/* ADC BEMF */
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
info->hw_cfg.bemf_scale = 0; /* TODO */
#endif
/* ADC Current - dynamic current scale not supported */
info->hw_cfg.iphase_max = 40000;
info->hw_cfg.iphase_scale = -2939;
return OK;
}

13
boards/arm/stm32/common/src/stm32_ihm07m1.c
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@ -146,7 +146,7 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
static struct stm32_foc_board_data_s g_stm32_foc_board_data =
{
.adc_cfg = NULL, /* board-specific */
.pwm_dt = (PWM_DEADTIME)
.pwm_dt = PWM_DEADTIME
};
/* Board specific configuration */
@ -307,6 +307,17 @@ static int board_foc_info_get(struct foc_dev_s *dev,
info->hw_cfg.pwm_dt_ns = PWM_DEADTIME_NS;
info->hw_cfg.pwm_max = MAX_DUTY_B16;
/* ADC BEMF */
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
info->hw_cfg.bemf_scale = 0; /* TODO */
#endif
/* ADC Current - dynamic current scale not supported */
info->hw_cfg.iphase_max = 1400;
info->hw_cfg.iphase_scale = -160;
return OK;
}

13
boards/arm/stm32/common/src/stm32_ihm08m1.c
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@ -154,7 +154,7 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
static struct stm32_foc_board_data_s g_stm32_foc_board_data =
{
.adc_cfg = NULL, /* board-specific */
.pwm_dt = (PWM_DEADTIME)
.pwm_dt = PWM_DEADTIME
};
/* Board specific configuration */
@ -276,6 +276,17 @@ static int board_foc_info_get(struct foc_dev_s *dev,
info->hw_cfg.pwm_dt_ns = PWM_DEADTIME_NS;
info->hw_cfg.pwm_max = MAX_DUTY_B16;
/* ADC BEMF */
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
info->hw_cfg.bemf_scale = 0; /* TODO */
#endif
/* ADC Current - dynamic current scale not supported */
info->hw_cfg.iphase_max = 15000;
info->hw_cfg.iphase_scale = -1555;
return OK;
}

13
boards/arm/stm32/common/src/stm32_ihm16m1.c
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@ -144,7 +144,7 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
static struct stm32_foc_board_data_s g_stm32_foc_board_data =
{
.adc_cfg = NULL, /* board-specific */
.pwm_dt = (PWM_DEADTIME)
.pwm_dt = PWM_DEADTIME
};
/* Board specific configuration */
@ -284,6 +284,17 @@ static int board_foc_info_get(struct foc_dev_s *dev,
info->hw_cfg.pwm_dt_ns = PWM_DEADTIME_NS;
info->hw_cfg.pwm_max = MAX_DUTY_B16;
/* ADC BEMF */
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
info->hw_cfg.bemf_scale = 0; /* TODO */
#endif
/* ADC Current - dynamic current scale not supported */
info->hw_cfg.iphase_max = 1500;
info->hw_cfg.iphase_scale = -160;
return OK;
}

13
boards/arm/stm32f7/steval-eth001v1/src/stm32_foc.c
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@ -260,7 +260,7 @@ static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
static struct stm32_foc_board_data_s g_stm32_foc_board_data =
{
.adc_cfg = &g_adc_cfg,
.pwm_dt = (PWM_DEADTIME),
.pwm_dt = PWM_DEADTIME,
};
/* Board specific configuration */
@ -382,6 +382,17 @@ static int board_foc_info_get(struct foc_dev_s *dev,
info->hw_cfg.pwm_dt_ns = PWM_DEADTIME_NS;
info->hw_cfg.pwm_max = MAX_DUTY_B16;
/* ADC BEMF */
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
info->hw_cfg.bemf_scale = 0; /* TODO */
#endif
/* ADC Current - dynamic current scale not supported */
info->hw_cfg.iphase_max = 40000;
info->hw_cfg.iphase_scale = -2287;
return OK;
}

16
drivers/motor/foc/foc_dummy.c
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@ -44,8 +44,11 @@
/* Board HW configuration */
#define FOC_DUMMY_HW_PWM_NS (500)
#define FOC_DUMMY_HW_PWM_MAX (0.95f)
#define FOC_DUMMY_HW_PWM_NS (500)
#define FOC_DUMMY_HW_PWM_MAX (0.95f)
#define FOC_DUMMY_HW_BEMF_SCALE (1000)
#define FOC_DUMMY_HW_IPHASE_SCALE (1000)
#define FOC_DUMMY_HW_IPHASE_MAX (40000)
/* Helper macros ************************************************************/
@ -546,8 +549,13 @@ static int foc_dummy_info_get(FAR struct foc_dev_s *dev,
{
/* Get HW configuration */
info->hw_cfg.pwm_dt_ns = FOC_DUMMY_HW_PWM_NS;
info->hw_cfg.pwm_max = ftob16(FOC_DUMMY_HW_PWM_MAX);
info->hw_cfg.pwm_dt_ns = FOC_DUMMY_HW_PWM_NS;
info->hw_cfg.pwm_max = ftob16(FOC_DUMMY_HW_PWM_MAX);
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
info->hw_cfg.bemf_scale = FOC_DUMMY_HW_IPHASE_SCALE;
#endif
info->hw_cfg.iphase_max = FOC_DUMMY_HW_IPHASE_MAX;
info->hw_cfg.iphase_scale = FOC_DUMMY_HW_IPHASE_SCALE;
return OK;
}

20
include/nuttx/motor/foc/foc.h
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@ -102,8 +102,28 @@ struct foc_params_s
struct foc_info_hw_s
{
/* PWM configuration */
uint32_t pwm_dt_ns; /* PWM dead-time in nano seconds */
foc_duty_t pwm_max; /* Maximum PWM duty cycle */
/* ADC configuration for phase current sampling
*
* In most cases it will be:
*
* iphase_scale = iphase_ratio * adc_to_volt
* adc_to_volt = adc_ref_volt / adc_val_max
* for shunt sensors iphase_ratio = 1 / (R_shunt * gain)
*/
int32_t iphase_scale; /* Current phase scale [x100000] */
int32_t iphase_max; /* Maximum phase curretn [x1000] */
/* ADC configuration for BEMF sampling */
#ifdef CONFIG_MOTOR_FOC_BEMF_SENSE
int32_t bemf_scale; /* BEMF sampling scale [x1000] */
#endif
};
/* FOC driver info */