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

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.

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

@@ -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;
 }
 

boards/arm/stm32/common/src/stm32_ihm07m1.c

@@ -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;
 }
 

boards/arm/stm32/common/src/stm32_ihm08m1.c

@@ -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;
 }
 

boards/arm/stm32/common/src/stm32_ihm16m1.c

@@ -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;
 }
 

boards/arm/stm32f7/steval-eth001v1/src/stm32_foc.c

@@ -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;
 }
 

drivers/motor/foc/foc_dummy.c

@@ -46,6 +46,9 @@
 
 #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 ************************************************************/
 
@@ -548,6 +551,11 @@ static int foc_dummy_info_get(FAR struct foc_dev_s *dev,
 
   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;
 }

include/nuttx/motor/foc/foc.h

@@ -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 */