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steval-eth001v1: add FOC examples

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This commit is contained in:
raiden00pl 2022-07-30 17:56:57 +02:00 committed by Xiang Xiao
parent df4b8adacf
commit a362c2caf9
8 changed files with 724 additions and 8 deletions
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8
boards/arm/stm32f7/steval-eth001v1/Kconfig
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@ -5,4 +5,12 @@
if ARCH_BOARD_STEVAL_ETH001V1
if STM32F7_FOC
config BOARD_STM32F7_STEVALETH001V1_FOC_VBUS
bool "STEVAL-ETH001V1 board VBUS sense"
default n
endif # STM32F7_FOC
endif # ARCH_BOARD_STEVAL_ETH001V1

77
boards/arm/stm32f7/steval-eth001v1/configs/foc_b16/defconfig Normal file
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@ -0,0 +1,77 @@
#
# 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_ARCH_FPU is not set
# CONFIG_NSH_DISABLE_IFCONFIG is not set
# CONFIG_NSH_DISABLE_PS is not set
CONFIG_ADC=y
CONFIG_ADC_FIFOSIZE=2
CONFIG_ANALOG=y
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD="steval-eth001v1"
CONFIG_ARCH_BOARD_STEVAL_ETH001V1=y
CONFIG_ARCH_CHIP="stm32f7"
CONFIG_ARCH_CHIP_STM32F767ZI=y
CONFIG_ARCH_CHIP_STM32F7=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARMV7M_DCACHE=y
CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
CONFIG_ARMV7M_DTCM=y
CONFIG_ARMV7M_ICACHE=y
CONFIG_BOARD_LOOPSPERMSEC=43103
CONFIG_BOARD_STM32F7_STEVALETH001V1_FOC_VBUS=y
CONFIG_BUILTIN=y
CONFIG_EXAMPLES_FOC=y
CONFIG_EXAMPLES_FOC_ADC_MAX=4095
CONFIG_EXAMPLES_FOC_ADC_VREF=3300
CONFIG_EXAMPLES_FOC_FIXED16_INST=1
CONFIG_EXAMPLES_FOC_IPHASE_ADC=-2287
CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ=10000
CONFIG_EXAMPLES_FOC_PWM_FREQ=20000
CONFIG_EXAMPLES_FOC_RAMP_ACC=200000
CONFIG_EXAMPLES_FOC_RAMP_DEC=200000
CONFIG_EXAMPLES_FOC_RAMP_THR=10000
CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE=100000
CONFIG_EXAMPLES_FOC_VBUS_ADC=y
CONFIG_EXAMPLES_FOC_VBUS_SCALE=19157
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_INDUSTRY_FOC=y
CONFIG_INDUSTRY_FOC_FIXED16=y
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INTELHEX_BINARY=y
CONFIG_MM_REGIONS=3
CONFIG_MOTOR=y
CONFIG_MOTOR_FOC=y
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_LINELEN=64
CONFIG_NSH_READLINE=y
CONFIG_PREALLOC_TIMERS=4
CONFIG_RAM_SIZE=524288
CONFIG_RAM_START=0x20010000
CONFIG_RAW_BINARY=y
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_WAITPID=y
CONFIG_START_DAY=6
CONFIG_START_MONTH=12
CONFIG_START_YEAR=2011
CONFIG_STM32F7_ADC1_ANIOC_TRIGGER=1
CONFIG_STM32F7_ADC1_DMA=y
CONFIG_STM32F7_ADC1_DMA_CFG=1
CONFIG_STM32F7_ADC1_INJECTED_CHAN=3
CONFIG_STM32F7_DMA2=y
CONFIG_STM32F7_FOC=y
CONFIG_STM32F7_FOC_ADC_CCR4=y
CONFIG_STM32F7_FOC_FOC0=y
CONFIG_STM32F7_FOC_HAS_PWM_COMPLEMENTARY=y
CONFIG_STM32F7_TIM1_MODE=2
CONFIG_STM32F7_USART3=y
CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=0
CONFIG_USART3_SERIAL_CONSOLE=y

77
boards/arm/stm32f7/steval-eth001v1/configs/foc_f32/defconfig Normal file
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@ -0,0 +1,77 @@
#
# 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_ARCH_FPU is not set
# CONFIG_NSH_DISABLE_IFCONFIG is not set
# CONFIG_NSH_DISABLE_PS is not set
CONFIG_ADC=y
CONFIG_ADC_FIFOSIZE=2
CONFIG_ANALOG=y
CONFIG_ARCH="arm"
CONFIG_ARCH_BOARD="steval-eth001v1"
CONFIG_ARCH_BOARD_STEVAL_ETH001V1=y
CONFIG_ARCH_CHIP="stm32f7"
CONFIG_ARCH_CHIP_STM32F767ZI=y
CONFIG_ARCH_CHIP_STM32F7=y
CONFIG_ARCH_STACKDUMP=y
CONFIG_ARMV7M_DCACHE=y
CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
CONFIG_ARMV7M_DTCM=y
CONFIG_ARMV7M_ICACHE=y
CONFIG_BOARD_LOOPSPERMSEC=43103
CONFIG_BOARD_STM32F7_STEVALETH001V1_FOC_VBUS=y
CONFIG_BUILTIN=y
CONFIG_EXAMPLES_FOC=y
CONFIG_EXAMPLES_FOC_ADC_MAX=4095
CONFIG_EXAMPLES_FOC_ADC_VREF=3300
CONFIG_EXAMPLES_FOC_FLOAT_INST=1
CONFIG_EXAMPLES_FOC_IPHASE_ADC=-2287
CONFIG_EXAMPLES_FOC_NOTIFIER_FREQ=10000
CONFIG_EXAMPLES_FOC_PWM_FREQ=20000
CONFIG_EXAMPLES_FOC_RAMP_ACC=200000
CONFIG_EXAMPLES_FOC_RAMP_DEC=200000
CONFIG_EXAMPLES_FOC_RAMP_THR=10000
CONFIG_EXAMPLES_FOC_SETPOINT_CONST_VALUE=100000
CONFIG_EXAMPLES_FOC_VBUS_ADC=y
CONFIG_EXAMPLES_FOC_VBUS_SCALE=19157
CONFIG_HAVE_CXX=y
CONFIG_HAVE_CXXINITIALIZE=y
CONFIG_INDUSTRY_FOC=y
CONFIG_INDUSTRY_FOC_FLOAT=y
CONFIG_INIT_ENTRYPOINT="nsh_main"
CONFIG_INTELHEX_BINARY=y
CONFIG_MM_REGIONS=3
CONFIG_MOTOR=y
CONFIG_MOTOR_FOC=y
CONFIG_NSH_ARCHINIT=y
CONFIG_NSH_BUILTIN_APPS=y
CONFIG_NSH_FILEIOSIZE=512
CONFIG_NSH_LINELEN=64
CONFIG_NSH_READLINE=y
CONFIG_PREALLOC_TIMERS=4
CONFIG_RAM_SIZE=524288
CONFIG_RAM_START=0x20010000
CONFIG_RAW_BINARY=y
CONFIG_RR_INTERVAL=200
CONFIG_SCHED_WAITPID=y
CONFIG_START_DAY=6
CONFIG_START_MONTH=12
CONFIG_START_YEAR=2011
CONFIG_STM32F7_ADC1_ANIOC_TRIGGER=1
CONFIG_STM32F7_ADC1_DMA=y
CONFIG_STM32F7_ADC1_DMA_CFG=1
CONFIG_STM32F7_ADC1_INJECTED_CHAN=3
CONFIG_STM32F7_DMA2=y
CONFIG_STM32F7_FOC=y
CONFIG_STM32F7_FOC_ADC_CCR4=y
CONFIG_STM32F7_FOC_FOC0=y
CONFIG_STM32F7_FOC_HAS_PWM_COMPLEMENTARY=y
CONFIG_STM32F7_TIM1_MODE=2
CONFIG_STM32F7_USART3=y
CONFIG_SYSTEM_NSH=y
CONFIG_TASK_NAME_SIZE=0
CONFIG_USART3_SERIAL_CONSOLE=y

23
boards/arm/stm32f7/steval-eth001v1/include/board.h
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@ -35,7 +35,7 @@
* Pre-processor Definitions
****************************************************************************/
/* Clocking */
/* Clocking *****************************************************************/
/* HSI: 16 MHz RC factory-trimmed
* LSI: 32 KHz RC
@ -176,7 +176,13 @@
#define BOARD_FLASH_WAITSTATES 7
/* Alternate function pin selections */
/* DMA Channel/Stream Selections ********************************************/
/* ADC 1 */
#define ADC1_DMA_CHAN DMAMAP_ADC1_1
/* Alternate function pin selections ****************************************/
/* USART3
* TX - PB10
@ -200,12 +206,13 @@
/* PWM1 - FOC */
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1 /* PA8 */
#define GPIO_TIM1_CH1N GPIO_TIM1_CH1N_2 /* PB13 */
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_1 /* PA9 */
#define GPIO_TIM1_CH2N GPIO_TIM1_CH2N_1 /* PB0 */
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_1 /* PA10 */
#define GPIO_TIM1_CH3N GPIO_TIM1_CH3N_1 /* PB1 */
#define GPIO_TIM1_CH1OUT GPIO_TIM1_CH1OUT_1 /* PA8 */
#define GPIO_TIM1_CH1NOUT GPIO_TIM1_CH1NOUT_2 /* PB13 */
#define GPIO_TIM1_CH2OUT GPIO_TIM1_CH2OUT_1 /* PA9 */
#define GPIO_TIM1_CH2NOUT GPIO_TIM1_CH2NOUT_1 /* PB0 */
#define GPIO_TIM1_CH3OUT GPIO_TIM1_CH3OUT_1 /* PA10 */
#define GPIO_TIM1_CH3NOUT GPIO_TIM1_CH3NOUT_1 /* PB1 */
#define GPIO_TIM1_CH4OUT 0 /* not used as output */
/* TIM2 - QENCO */

4
boards/arm/stm32f7/steval-eth001v1/src/Makefile
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@ -26,4 +26,8 @@ ifeq ($(CONFIG_BOARDCTL),y)
CSRCS += stm32_appinit.c
endif
ifeq ($(CONFIG_STM32F7_FOC),y)
CSRCS += stm32_foc.c
endif
include $(TOPDIR)/boards/Board.mk

24
boards/arm/stm32f7/steval-eth001v1/src/steval-eth001v1.h
View File

@ -65,6 +65,30 @@
int stm32_bringup(void);
/****************************************************************************
* Name: stm32_foc_setup
*
* Description:
* Initialize FOC peripheral for the board.
*
****************************************************************************/
#ifdef CONFIG_STM32F7_FOC
int stm32_foc_setup(void);
#endif
/****************************************************************************
* Name: stm32_adc_setup
*
* Description:
* Initialize ADC and register the ADC driver.
*
****************************************************************************/
#ifdef CONFIG_ADC
int stm32_adc_setup(void);
#endif
#endif /* __ASSEMBLY__ */
#endif /* __BOARDS_ARM_STM32F7_STEVAL_ETH001V1_SRC_STEVAL_ETH001V1_H */

20
boards/arm/stm32f7/steval-eth001v1/src/stm32_bringup.c
View File

@ -66,6 +66,26 @@ int stm32_bringup(void)
}
#endif
#ifdef CONFIG_STM32F7_FOC
/* Initialize and register the FOC device - must be before ADC setup */
ret = stm32_foc_setup();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: stm32_foc_setup failed: %d\n", ret);
}
#endif
#ifdef CONFIG_ADC
/* Initialize ADC and register the ADC driver. */
ret = stm32_adc_setup();
if (ret < 0)
{
syslog(LOG_ERR, "ERROR: stm32_adc_setup failed: %d\n", ret);
}
#endif
UNUSED(ret); /* May not be used */
return OK;
}

499
boards/arm/stm32f7/steval-eth001v1/src/stm32_foc.c Normal file
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@ -0,0 +1,499 @@
/****************************************************************************
* boards/arm/stm32f7/steval-eth001v1/src/stm32_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 <errno.h>
#include <assert.h>
#include <debug.h>
#include <arch/board/board.h>
#include <nuttx/analog/adc.h>
#include "stm32_gpio.h"
#include "stm32_foc.h"
#include "steval-eth001v1.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* 3-shunts configuration supported */
#if CONFIG_MOTOR_FOC_SHUNTS != 3
# error Only 3-shunts configuration is supported
#endif
/* Configuration specific for STDRIVE101:
* 1. PWM channels must have positive polarity
* 2. PWM complementary channels must have positive polarity
*/
#ifndef CONFIG_STM32F7_FOC_HAS_PWM_COMPLEMENTARY
# error
#endif
#if CONFIG_STM32F7_TIM1_CH1POL != 0
# error
#endif
#if CONFIG_STM32F7_TIM1_CH2POL != 0
# error
#endif
#if CONFIG_STM32F7_TIM1_CH3POL != 0
# error
#endif
#if CONFIG_STM32F7_TIM1_CH1NPOL != 0
# error
#endif
#if CONFIG_STM32F7_TIM1_CH2NPOL != 0
# error
#endif
#if CONFIG_STM32F7_TIM1_CH3NPOL != 0
# error
#endif
/* Aux ADC needs DMA enabled */
#ifdef CONFIG_ADC
# ifndef CONFIG_STM32F7_ADC1_DMA
# error
# endif
#endif
/* STDRIVE101 in INHx/INLx mode - no deadtime generation */
#define PWM_DEADTIME (54)
#define PWM_DEADTIME_NS (500)
/* Devpath for FOC driver */
#define FOC_DEVPATH "/dev/foc0"
/* Board parameters:
* Current shunt resistance = 0.003
* Current sense gain = -11.74 (inverted current)
* Vbus sense gain = 0.0522
* Vbus min = 20V
* Vbus max = 48V
* Iout max = ? (max 700W)
* IPHASE_RATIO = 1/(R_shunt*gain) = -28.39
* ADC_REF_VOLTAGE = 3.3
* ADC_VAL_MAX = 4095
* ADC_TO_VOLT = ADC_REF_VOLTAGE / ADC_VAL_MAX
* IPHASE_ADC = IPHASE_RATIO * ADC_TO_VOLT = -0.02287
* VBUS_RATIO = 1/VBUS_gain = 19.1570881226
*/
/* Center-aligned PWM duty cycle limits */
#define MAX_DUTY_B16 ftob16(0.95f)
/* ADC sample time */
#define CURRENT_SAMPLE_TIME ADC_SMPR_3
#define VBUS_SAMPLE_TIME ADC_SMPR_480
/* ADC1 channels used in this example */
#define ADC1_INJECTED (CONFIG_MOTOR_FOC_SHUNTS)
#ifdef CONFIG_BOARD_STM32F7_STEVALETH001V1_FOC_VBUS
# define STEVALETH001V1_FOC_VBUS 1
#else
# define STEVALETH001V1_FOC_VBUS 0
#endif
#define ADC1_REGULAR (STEVALETH001V1_FOC_VBUS)
#define ADC1_NCHANNELS (ADC1_INJECTED + ADC1_REGULAR)
/* Check ADC1 configuration */
#if ADC1_INJECTED != CONFIG_STM32F7_ADC1_INJECTED_CHAN
# error
#endif
#if CONFIG_STM32F7_ADC1_RESOLUTION != 0
# error
#endif
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Protototypes
****************************************************************************/
static int board_foc_setup(struct foc_dev_s *dev);
static int board_foc_shutdown(struct foc_dev_s *dev);
static int board_foc_calibration(struct foc_dev_s *dev, bool state);
static int board_foc_fault_clear(struct foc_dev_s *dev);
static int board_foc_pwm_start(struct foc_dev_s *dev, bool state);
static int board_foc_current_get(struct foc_dev_s *dev,
int16_t *curr_raw,
foc_current_t *curr);
#ifdef CONFIG_MOTOR_FOC_TRACE
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);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
/* ADC configuration:
* - Current Phase V -> ADC1 INJ1 -> ADC1_IN15 (PC5)
* - Current Phase U -> ADC1 INJ2 -> ADC1_IN11 (PC1)
* - Current Phase W -> ADC1 INJ3 -> ADC1_IN10 (PC0)
* optional:
* - VBUS -> ADC1 REG -> ADC1_IN14 (PC4)
*
* TIM1 PWM configuration:
* - Phase U high -> TIM1_CH1 (PA8)
* - Phase U low -> TIM1_CH1N (PC13)
* - Phase V high -> TIM1_CH2 (PA9)
* - Phase V low -> TIM1_CH2N (PB0)
* - Phase W high -> TIM1_CH3 (PA10)
* - Phase W low -> TIM1_CH3N (PB1)
*/
static uint8_t g_adc1_chan[] =
{
#ifdef CONFIG_BOARD_STM32F7_STEVALETH001V1_FOC_VBUS
14, /* ADC1 REG - VBUS */
#endif
15, /* ADC1 INJ1 - PHASE 1 */
11, /* ADC1 INJ2 - PHASE 2 */
10, /* ADC1 INJ3 - PHASE 3 */
};
static uint32_t g_adc1_pins[] =
{
#ifdef CONFIG_BOARD_STM32F7_STEVALETH001V1_FOC_VBUS
GPIO_ADC1_IN14,
#endif
GPIO_ADC1_IN15,
GPIO_ADC1_IN11,
GPIO_ADC1_IN10,
};
/* ADC1 sample time configuration */
static adc_channel_t g_adc1_stime[] =
{
#ifdef CONFIG_BOARD_STM32F7_STEVALETH001V1_FOC_VBUS
{
.channel = 14,
.sample_time = VBUS_SAMPLE_TIME
},
#endif
{
.channel = 15,
.sample_time = CURRENT_SAMPLE_TIME
},
{
.channel = 11,
.sample_time = CURRENT_SAMPLE_TIME
},
{
.channel = 10,
.sample_time = CURRENT_SAMPLE_TIME
},
};
/* Board specific ADC configuration for FOC */
static struct stm32_foc_adc_s g_adc_cfg =
{
.chan = g_adc1_chan,
.pins = g_adc1_pins,
.stime = g_adc1_stime,
.nchan = ADC1_NCHANNELS,
.regch = ADC1_REGULAR,
.intf = 1
};
/* Board specific ops */
static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
{
.setup = board_foc_setup,
.shutdown = board_foc_shutdown,
.calibration = board_foc_calibration,
.fault_clear = board_foc_fault_clear,
.pwm_start = board_foc_pwm_start,
.current_get = board_foc_current_get,
#ifdef CONFIG_MOTOR_FOC_TRACE
.trace_init = board_foc_trace_init,
.trace = board_foc_trace
#endif
};
/* Board specific data */
static struct stm32_foc_board_data_s g_stm32_foc_board_data =
{
.adc_cfg = &g_adc_cfg,
.duty_max = (MAX_DUTY_B16),
.pwm_dt = (PWM_DEADTIME),
.pwm_dt_ns = (PWM_DEADTIME_NS)
};
/* Board specific configuration */
static struct stm32_foc_board_s g_stm32_foc_board =
{
.data = &g_stm32_foc_board_data,
.ops = &g_stm32_foc_board_ops,
};
/* Global pointer to the upper FOC driver */
static struct foc_dev_s *g_foc_dev = NULL;
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: board_foc_setup
****************************************************************************/
static int board_foc_setup(struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_shutdown
****************************************************************************/
static int board_foc_shutdown(struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_calibration
****************************************************************************/
static int board_foc_calibration(struct foc_dev_s *dev, bool state)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_fault_clear
****************************************************************************/
static int board_foc_fault_clear(struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_pwm_start
****************************************************************************/
static int board_foc_pwm_start(struct foc_dev_s *dev, bool state)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_current_get
****************************************************************************/
static int board_foc_current_get(struct foc_dev_s *dev,
int16_t *curr_raw,
foc_current_t *curr)
{
DEBUGASSERT(dev);
DEBUGASSERT(curr_raw);
DEBUGASSERT(curr);
/* Get currents */
curr[0] = curr_raw[0];
curr[1] = curr_raw[1];
curr[2] = curr_raw[2];
return OK;
}
#ifdef CONFIG_MOTOR_FOC_TRACE
/****************************************************************************
* Name: board_foc_trace_init
****************************************************************************/
static int board_foc_trace_init(struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
/* Not supported */
return -1;
}
/****************************************************************************
* Name: board_foc_trace
****************************************************************************/
static void board_foc_trace(struct foc_dev_s *dev, int type, bool state)
{
DEBUGASSERT(dev);
UNUSED(dev);
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: stm32_foc_setup
*
* Description:
* Initialize FOC driver.
*
* This function should be call by board_app_initialize().
*
* Returned Value:
* 0 on success, a negated errno value on failure
*
****************************************************************************/
int stm32_foc_setup(void)
{
struct foc_dev_s *foc = NULL;
int ret = OK;
/* Initialize only once */
if (g_foc_dev == NULL)
{
/* Initialize arch specific FOC lower-half */
foc = stm32_foc_initialize(0, &g_stm32_foc_board);
if (foc == NULL)
{
ret = -errno;
mtrerr("Failed to initialize STM32 FOC: %d\n", ret);
goto errout;
}
DEBUGASSERT(foc->lower);
/* Register FOC device */
ret = foc_register(FOC_DEVPATH, foc);
if (ret < 0)
{
mtrerr("Failed to register FOC device: %d\n", ret);
goto errout;
}
/* Store pointer to driver */
g_foc_dev = foc;
}
errout:
return ret;
}
#ifdef CONFIG_ADC
/****************************************************************************
* Name: stm32_adc_setup
*
* Description:
* Initialize ADC and register the ADC driver.
*
****************************************************************************/
int stm32_adc_setup(void)
{
struct adc_dev_s *adc = NULL;
int ret = OK;
static bool initialized = false;
/* Initialize only once */
if (initialized == false)
{
if (g_foc_dev == NULL)
{
mtrerr("Failed to get g_foc_dev device\n");
ret = -EACCES;
goto errout;
}
/* Register regular channel ADC */
adc = stm32_foc_adcget(g_foc_dev);
if (adc == NULL)
{
mtrerr("Failed to get ADC device: %d\n", ret);
goto errout;
}
ret = adc_register("/dev/adc0", adc);
if (ret < 0)
{
mtrerr("adc_register failed: %d\n", ret);
goto errout;
}
initialized = true;
}
errout:
return ret;
}
#endif