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boards/stm32/common: add support for X-NUCLEO-IHM07M1 and X-NUCLEO-IHM08M1 tree-phase brusheless DC motor expansion boards for STM32 Nucleo

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This commit is contained in:
raiden00pl 2021-03-03 20:30:32 +01:00 committed by Alan Carvalho de Assis
parent 72bc595afb
commit befd5639e0
7 changed files with 1067 additions and 0 deletions
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6
boards/Kconfig
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@ -3156,6 +3156,12 @@ if ARCH_BOARD_BL602EVB
source "boards/risc-v/bl602/bl602evb/Kconfig" source "boards/risc-v/bl602/bl602evb/Kconfig"
endif endif
comment "Board-Common Options"
if ARCH_CHIP_STM32
source boards/arm/stm32/common/Kconfig
endif
config BOARD_CRASHDUMP config BOARD_CRASHDUMP
bool "Enable Board level logging of crash dumps" bool "Enable Board level logging of crash dumps"
default n default n

55
boards/arm/stm32/common/Kconfig Normal file
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@ -0,0 +1,55 @@
#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config BOARD_STM32_COMMON
bool "Board common logic"
default n
---help---
Board common logic located in each board/common folder.
if BOARD_STM32_COMMON
if STM32_FOC
menuconfig BOARD_STM32_IHM07M1
bool "X-NUCLEO-IHM07M1 board support"
default n
---help---
Board based on the L6230 DMOS driver.
if BOARD_STM32_IHM07M1
config BOARD_STM32_IHM07M1_VBUS
bool "X-NUCLEO-IHM07M1 board VBUS sense"
default n
config BOARD_STM32_IHM07M1_POT
bool "X-NUCLEO-IHM07M1 board POT support"
default n
endif # BOARD_STM32_IHM07M1
menuconfig BOARD_STM32_IHM08M1
bool "X-NUCLEO-IHM08M1 board support"
default n
select STM32_FOC_HAS_PWM_COMPLEMENTARY
---help---
Board based on the discrete L6398 gate drivers and STL220N6F7 POWER MOSFETs.
if BOARD_STM32_IHM08M1
config BOARD_STM32_IHM08M1_VBUS
bool "X-NUCLEO-IHM08M1 board VBUS sense"
default n
config BOARD_STM32_IHM08M1_POT
bool "X-NUCLEO-IHM08M1 board POT support"
default n
endif # BOARD_STM32_IHM08M1
endif # STM32_FOC
endif # BOARD_STM32_COMMON

59
boards/arm/stm32/common/include/stm32_ihm07m1.h Normal file
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@ -0,0 +1,59 @@
/****************************************************************************
* boards/arm/stm32/common/include/stm32_ihm07m1.h
*
* 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.
*
****************************************************************************/
#ifndef __STM32_IHM07M1_H
#define __STM32_IHM07M1_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include "stm32_foc.h"
/****************************************************************************
* Public Data
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: stm32_ihm07m1_initialize
****************************************************************************/
int board_ihm07m1_initialize(FAR struct stm32_foc_adc_s *adc_cfg);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif // __STM32_IHM07M1_H

59
boards/arm/stm32/common/include/stm32_ihm08m1.h Normal file
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@ -0,0 +1,59 @@
/****************************************************************************
* boards/arm/stm32/common/include/stm32_ihm08m1.h
*
* 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.
*
****************************************************************************/
#ifndef __STM32_IHM08M1_H
#define __STM32_IHM08M1_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include "stm32_foc.h"
/****************************************************************************
* Public Data
****************************************************************************/
#ifdef __cplusplus
#define EXTERN extern "C"
extern "C"
{
#else
#define EXTERN extern
#endif
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: stm32_ihm08m1_initialize
****************************************************************************/
int board_ihm08m1_initialize(FAR struct stm32_foc_adc_s *adc_cfg);
#undef EXTERN
#ifdef __cplusplus
}
#endif
#endif // __STM32_IHM08M1_H

8
boards/arm/stm32/common/src/Make.defs
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@ -114,6 +114,14 @@ ifeq ($(CONFIG_LIS3DSH),y)
CSRCS += stm32_lis3dsh.c CSRCS += stm32_lis3dsh.c
endif endif
ifeq ($(CONFIG_BOARD_STM32_IHM07M1),y)
CSRCS += stm32_ihm07m1.c
endif
ifeq ($(CONFIG_BOARD_STM32_IHM08M1),y)
CSRCS += stm32_ihm08m1.c
endif
DEPPATH += --dep-path src DEPPATH += --dep-path src
VPATH += :src VPATH += :src
CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src) CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src)

446
boards/arm/stm32/common/src/stm32_ihm07m1.c Normal file
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@ -0,0 +1,446 @@
/****************************************************************************
* boards/arm/stm32/common/src/stm32_ihm07m1.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 <arch/board/board.h>
#include <nuttx/analog/adc.h>
#include "stm32_foc.h"
#include "stm32_gpio.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#if CONFIG_MOTOR_FOC_SHUNTS != 3
# error For now ony 3-shunts configuration is supported
#endif
/* Configuration specific for L6230:
* 1. PWM enable on high
* 2. PWM channels must have positive polarity
* 3. DIAG-EN enable on high, configured as open drain output
*/
#if CONFIG_STM32_TIM1_CH1POL != 0
# error
#endif
#if CONFIG_STM32_TIM1_CH2POL != 0
# error
#endif
#if CONFIG_STM32_TIM1_CH3POL != 0
# error
#endif
/* Aux ADC needs DMA enabled */
#ifdef CONFIG_ADC
# ifndef CONFIG_STM32_ADC1_DMA
# error
# endif
#endif
/* L6230 has fixed 1us (typ.) deadtime but for sure set it also on TIMER
* side
*/
#define PWM_DEADTIME (70)
#define PWM_DEADTIME_NS (1000)
/* Devpath for FOC driver */
#define FOC_DEVPATH "/dev/foc0"
/* Board parameters:
* Current shunt resistance = 0.33
* Current sense gain = -1.53 (inverted current)
* Vbus sense gain = 0.0522
* Vbus min = 8V
* Vbus max = 48V
* Iout max = 1.4A RMS
* IPHASE_RATIO = 1/(R_shunt*gain) = -1.98
* 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 = -0.00160
* VBUS_RATIO = 1/VBUS_gain = 19.152
*/
/* Center-aligned PWM duty cycle limits */
#define MAX_DUTY_B16 ftob16(0.95f)
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Protototypes
****************************************************************************/
static int board_foc_setup(FAR struct foc_dev_s *dev);
static int board_foc_shutdown(FAR struct foc_dev_s *dev);
static int board_foc_calibration(FAR struct foc_dev_s *dev, bool state);
static int board_foc_fault_clear(FAR struct foc_dev_s *dev);
static int board_foc_pwm_start(FAR struct foc_dev_s *dev, bool state);
static int board_foc_current_get(FAR struct foc_dev_s *dev,
FAR int16_t *curr_raw,
FAR foc_current_t *curr);
#ifdef CONFIG_MOTOR_FOC_TRACE
static int board_foc_trace_init(FAR struct foc_dev_s *dev);
static void board_foc_trace(FAR struct foc_dev_s *dev, int type, bool state);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
/* 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 = NULL, /* board-specific */
.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 FAR struct foc_dev_s *g_foc_dev = NULL;
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: board_foc_setup
****************************************************************************/
static int board_foc_setup(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
/* Configure EN_U, EN_V, EN_W, DIAGEN GPIOs */
stm32_configgpio(GPIO_FOC_EN_U);
stm32_configgpio(GPIO_FOC_EN_V);
stm32_configgpio(GPIO_FOC_EN_W);
stm32_configgpio(GPIO_FOC_DIAGEN);
return OK;
}
/****************************************************************************
* Name: board_foc_shutdown
****************************************************************************/
static int board_foc_shutdown(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_calibration
****************************************************************************/
static int board_foc_calibration(FAR struct foc_dev_s *dev, bool state)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_fault_clear
****************************************************************************/
static int board_foc_fault_clear(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_pwm_start
****************************************************************************/
static int board_foc_pwm_start(FAR struct foc_dev_s *dev, bool state)
{
DEBUGASSERT(dev);
UNUSED(dev);
/* Set/reset ENABLE input */
stm32_gpiowrite(GPIO_FOC_DIAGEN, state);
/* Enable/disable UVW output */
stm32_gpiowrite(GPIO_FOC_EN_U, state);
stm32_gpiowrite(GPIO_FOC_EN_V, state);
stm32_gpiowrite(GPIO_FOC_EN_W, state);
return OK;
}
/****************************************************************************
* Name: board_foc_current_get
****************************************************************************/
static int board_foc_current_get(FAR struct foc_dev_s *dev,
FAR int16_t *curr_raw,
FAR 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(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
/* Configure debug GPIO */
stm32_configgpio(GPIO_FOC_DEBUG0);
stm32_configgpio(GPIO_FOC_DEBUG1);
stm32_configgpio(GPIO_FOC_DEBUG2);
stm32_configgpio(GPIO_FOC_DEBUG3);
return OK;
}
/****************************************************************************
* Name: board_foc_trace
****************************************************************************/
static void board_foc_trace(FAR struct foc_dev_s *dev, int type, bool state)
{
DEBUGASSERT(dev);
UNUSED(dev);
switch (type)
{
case FOC_TRACE_NONE:
{
break;
}
case FOC_TRACE_PARAMS:
{
stm32_gpiowrite(GPIO_FOC_DEBUG0, state);
break;
}
case FOC_TRACE_STATE:
{
stm32_gpiowrite(GPIO_FOC_DEBUG1, state);
break;
}
case FOC_TRACE_NOTIFIER:
{
stm32_gpiowrite(GPIO_FOC_DEBUG2, state);
break;
}
case FOC_TRACE_LOWER:
{
stm32_gpiowrite(GPIO_FOC_DEBUG3, state);
break;
}
default:
{
pwrerr("ERROR: board_foc_trace type=%d not supported!\n", type);
DEBUGASSERT(0);
}
}
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_ihm07m1_initialize
****************************************************************************/
int board_ihm07m1_initialize(FAR struct stm32_foc_adc_s *adc_cfg)
{
FAR struct foc_dev_s *foc = NULL;
int ret = OK;
DEBUGASSERT(adc_cfg);
/* Initialize only once */
if (g_foc_dev == NULL)
{
/* Connect ADC configuration */
g_stm32_foc_board_data.adc_cfg = adc_cfg;
/* Initialize arch specific FOC lower-half */
foc = stm32_foc_initialize(0, &g_stm32_foc_board);
if (foc == NULL)
{
ret = -errno;
pwrerr("ERROR: 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)
{
printf("ERROR: 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)
{
FAR struct adc_dev_s *adc = NULL;
int ret = OK;
static bool initialized = false;
/* Initialize only once */
if (initialized == false)
{
if (g_foc_dev == NULL)
{
pwrerr("ERROR: 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)
{
pwrerr("ERROR: failed to get ADC device: %d\n", ret);
goto errout;
}
ret = adc_register("/dev/adc0", adc);
if (ret < 0)
{
pwrerr("ERROR: adc_register failed: %d\n", ret);
goto errout;
}
initialized = true;
}
errout:
return ret;
}
#endif

434
boards/arm/stm32/common/src/stm32_ihm08m1.c Normal file
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@ -0,0 +1,434 @@
/****************************************************************************
* boards/arm/stm32/common/src/stm32_ihm08m1.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 <arch/board/board.h>
#include "stm32_foc.h"
#include "stm32_gpio.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#if CONFIG_MOTOR_FOC_SHUNTS != 3
# error For now ony 3-shunts configuration is supported
#endif
/* Configuration specific for L6398:
* 1. PWM channels must have positive polarity
* 2. PWM complementary channels must have inverted polarity
*/
#ifndef CONFIG_STM32_FOC_HAS_PWM_COMPLEMENTARY
# error
#endif
#if CONFIG_STM32_TIM1_CH1POL != 0
# error
#endif
#if CONFIG_STM32_TIM1_CH2POL != 0
# error
#endif
#if CONFIG_STM32_TIM1_CH3POL != 0
# error
#endif
#if CONFIG_STM32_TIM1_CH1NPOL != 1
# error
#endif
#if CONFIG_STM32_TIM1_CH2NPOL != 1
# error
#endif
#if CONFIG_STM32_TIM1_CH3NPOL != 1
# error
#endif
/* Aux ADC needs DMA enabled */
#ifdef CONFIG_ADC
# ifndef CONFIG_STM32_ADC1_DMA
# error
# endif
#endif
/* L6398 has fixed 320 ns deadtime but for sure we also set deadtime on PWM */
#define PWM_DEADTIME (20)
#define PWM_DEADTIME_NS (320)
/* Devpath for FOC driver */
#define FOC_DEVPATH "/dev/foc0"
/* Board parameters:
* Current shunt resistance = 0.01
* Current sense gain = -5.18 (inverted current)
* Vbus sense gain = 0.0522
* Vbus min = 10V
* Vbus max = 48V
* Iout max = 15A RMS
* IPHASE_RATIO = 1/(R_shunt*gain) = -19.3
* 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 = -0.01555
* VBUS_RATIO = 1/VBUS_gain = 19.152
*/
/* Center-aligned PWM duty cycle limits */
#define MAX_DUTY_B16 ftob16(0.95f)
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Protototypes
****************************************************************************/
static int board_foc_setup(FAR struct foc_dev_s *dev);
static int board_foc_shutdown(FAR struct foc_dev_s *dev);
static int board_foc_calibration(FAR struct foc_dev_s *dev, bool state);
static int board_foc_fault_clear(FAR struct foc_dev_s *dev);
static int board_foc_pwm_start(FAR struct foc_dev_s *dev, bool state);
static int board_foc_current_get(FAR struct foc_dev_s *dev,
FAR int16_t *curr_raw,
FAR foc_current_t *curr);
#ifdef CONFIG_MOTOR_FOC_TRACE
static int board_foc_trace_init(FAR struct foc_dev_s *dev);
static void board_foc_trace(FAR struct foc_dev_s *dev, int type, bool state);
#endif
/****************************************************************************
* Private Data
****************************************************************************/
/* 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 = NULL, /* board-specific */
.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 FAR struct foc_dev_s *g_foc_dev = NULL;
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: board_foc_setup
****************************************************************************/
static int board_foc_setup(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_shutdown
****************************************************************************/
static int board_foc_shutdown(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_calibration
****************************************************************************/
static int board_foc_calibration(FAR struct foc_dev_s *dev, bool state)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_fault_clear
****************************************************************************/
static int board_foc_fault_clear(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_pwm_start
****************************************************************************/
static int board_foc_pwm_start(FAR struct foc_dev_s *dev, bool state)
{
DEBUGASSERT(dev);
UNUSED(dev);
return OK;
}
/****************************************************************************
* Name: board_foc_current_get
****************************************************************************/
static int board_foc_current_get(FAR struct foc_dev_s *dev,
FAR int16_t *curr_raw,
FAR 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(FAR struct foc_dev_s *dev)
{
DEBUGASSERT(dev);
UNUSED(dev);
/* Configure debug GPIO */
stm32_configgpio(GPIO_FOC_DEBUG0);
stm32_configgpio(GPIO_FOC_DEBUG1);
stm32_configgpio(GPIO_FOC_DEBUG2);
stm32_configgpio(GPIO_FOC_DEBUG3);
return OK;
}
/****************************************************************************
* Name: board_foc_trace
****************************************************************************/
static void board_foc_trace(FAR struct foc_dev_s *dev, int type, bool state)
{
DEBUGASSERT(dev);
UNUSED(dev);
switch (type)
{
case FOC_TRACE_NONE:
{
break;
}
case FOC_TRACE_PARAMS:
{
stm32_gpiowrite(GPIO_FOC_DEBUG0, state);
break;
}
case FOC_TRACE_STATE:
{
stm32_gpiowrite(GPIO_FOC_DEBUG1, state);
break;
}
case FOC_TRACE_NOTIFIER:
{
stm32_gpiowrite(GPIO_FOC_DEBUG2, state);
break;
}
case FOC_TRACE_LOWER:
{
stm32_gpiowrite(GPIO_FOC_DEBUG3, state);
break;
}
default:
{
pwrerr("ERROR: board_foc_trace type=%d not supported!\n", type);
DEBUGASSERT(0);
}
}
}
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: board_ihm08m1_initialize
****************************************************************************/
int board_ihm08m1_initialize(FAR struct stm32_foc_adc_s *adc_cfg)
{
FAR struct foc_dev_s *foc = NULL;
int ret = OK;
/* Initialize only once */
if (g_foc_dev == NULL)
{
/* Connect ADC configuration */
g_stm32_foc_board_data.adc_cfg = adc_cfg;
/* Initialize arch specific FOC lower-half */
foc = stm32_foc_initialize(0, &g_stm32_foc_board);
if (foc == NULL)
{
ret = -errno;
pwrerr("ERROR: 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)
{
printf("ERROR: 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)
{
FAR struct adc_dev_s *adc = NULL;
int ret = OK;
static bool initialized = false;
/* Initialize only once */
if (initialized == false)
{
if (g_foc_dev == NULL)
{
pwrerr("ERROR: 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)
{
pwrerr("ERROR: failed to get ADC device: %d\n", ret);
goto errout;
}
ret = adc_register("/dev/adc0", adc);
if (ret < 0)
{
pwrerr("ERROR: adc_register failed: %d\n", ret);
goto errout;
}
initialized = true;
}
errout:
return ret;
}
#endif