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nuttx/drivers/power/motor.c
Mateusz Szafoni 8416d9a966 Merged in raiden00/nuttx (pull request #668) 
Master

* libdsp: initial commit

* libdsp: cosmetics

* stm32f334-disco/buckboost: use a PID controller from libdsp

* stm32_adc.h: fix typo

* stm32_dac.c: set OUTEN bit for DAC1CH2 and DAC2CH1

* stm32_hrtim: cosmetic changes

* power/motor: direction parameter is now int8 + add overload fault

* libdsp: all floats with f-sufix

    libdsp: add precision option for library

    libdsp: add debug option for library and assertions in functions

    libdsp: add current samples correction for SVM3

    libds: add some motor control specific functions

    libdsp: add basic speed observer

    libdsp: fix phase shift in SMO observer

    libdsp: add more logic to FOC

    config/sim/dsptest: add dsptest configuration

* libdsp/lib_motor.c: remove unused comparation

* libdsp/lib_observer.c: update some comments

Approved-by: GregoryN <gnutt@nuttx.org>
2018-07-07 17:04:57 +00:00

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/****************************************************************************
* drivers/power/motor.c
* Upper-half, character driver for motor control
*
* Copyright (C) 2018 Gregory Nutt. All rights reserved.
* Author: Mateusz Szafoni <raiden00@railab.me>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <stdint.h>
#include <unistd.h>
#include <semaphore.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/arch.h>
#include <nuttx/semaphore.h>
#include <nuttx/fs/fs.h>
#include <nuttx/power/motor.h>
#include <nuttx/irq.h>
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static int motor_open(FAR struct file *filep);
static int motor_close(FAR struct file *filep);
static ssize_t motor_read(FAR struct file *filep, FAR char *buffer,
size_t buflen);
static ssize_t motor_write(FAR struct file *filep, FAR const char *buffer,
size_t buflen);
static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg);
/****************************************************************************
* Private Data
****************************************************************************/
static const struct file_operations motor_fops =
{
motor_open, /* open */
motor_close, /* close */
motor_read, /* read */
motor_write, /* write */
NULL, /* seek */
motor_ioctl /* ioctl */
#ifndef CONFIG_DISABLE_POLL
, NULL /* poll */
#endif
#ifndef CONFIG_DISABLE_PSEUDOFS_OPERATIONS
, NULL /* unlink */
#endif
};
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: motor_open
*
* Description:
* This function is called whenever the motor device is opened.
*
****************************************************************************/
static int motor_open(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct motor_dev_s *dev = inode->i_private;
uint8_t tmp;
int ret;
/* If the port is the middle of closing, wait until the close is finished */
ret = nxsem_wait(&dev->closesem);
if (ret >= 0)
{
/* Increment the count of references to the device. If this the first
* time that the driver has been opened for this device, then initialize
* the device.
*/
tmp = dev->ocount + 1;
if (tmp == 0)
{
/* More than 255 opens; uint8_t overflows to zero */
ret = -EMFILE;
}
else
{
/* Check if this is the first time that the driver has been opened. */
if (tmp == 1)
{
/* Yes.. perform one time hardware initialization. */
irqstate_t flags = enter_critical_section();
ret = dev->ops->setup(dev);
if (ret == OK)
{
/* Save the new open count on success */
dev->ocount = tmp;
}
leave_critical_section(flags);
}
}
nxsem_post(&dev->closesem);
}
return OK;
}
/****************************************************************************
* Name: motor_close
*
* Description:
* This routine is called when the motor device is closed.
*
****************************************************************************/
static int motor_close(FAR struct file *filep)
{
FAR struct inode *inode = filep->f_inode;
FAR struct motor_dev_s *dev = inode->i_private;
irqstate_t flags;
int ret;
ret = nxsem_wait(&dev->closesem);
if (ret >= 0)
{
/* Decrement the references to the driver. If the reference count will
* decrement to 0, then uninitialize the driver.
*/
if (dev->ocount > 1)
{
dev->ocount--;
nxsem_post(&dev->closesem);
}
else
{
/* There are no more references to the port */
dev->ocount = 0;
/* Free the IRQ and disable the motor device */
flags = enter_critical_section(); /* Disable interrupts */
dev->ops->shutdown(dev); /* Disable the motor */
leave_critical_section(flags);
nxsem_post(&dev->closesem);
}
}
return ret;
}
/****************************************************************************
* Name: motor_read
****************************************************************************/
static ssize_t motor_read(FAR struct file *filep, FAR char *buffer, size_t buflen)
{
return 1;
}
/****************************************************************************
* Name: motor_write
****************************************************************************/
static ssize_t motor_write(FAR struct file *filep, FAR const char *buffer, size_t buflen)
{
return 1;
}
/****************************************************************************
* Name: motor_ioctl
****************************************************************************/
static int motor_ioctl(FAR struct file *filep, int cmd, unsigned long arg)
{
FAR struct inode *inode = filep->f_inode;
FAR struct motor_dev_s *dev = inode->i_private;
FAR struct motor_s *motor = (FAR struct motor_s *)dev->priv;
int ret;
switch (cmd)
{
case PWRIOC_START:
{
/* Allow motor start only when some limits available
* and strucutre is locked.
*/
if ((motor->limits.lock == false) ||
(
#ifdef CONFIG_MOTOR_HAVE_POSITION
motor->limits.position <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_SPEED
motor->limits.speed <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_TORQUE
motor->limits.torque <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_FORCE
motor->limits.force <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_VOLTAGE
motor->limits.v_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_CURRENT
motor->limits.i_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_POWER
motor->limits.p_in <= 0.0 &&
#endif
1))
{
pwrerr("ERROR: motor limits data must be set"
" and locked before motor start\n");
ret = -EPERM;
goto errout;
}
/* Check motor mode */
if (motor->opmode == MOTOR_OPMODE_INIT)
{
pwrerr("ERROR: motor operation mode not specified\n");
ret = -EPERM;
goto errout;
}
/* REVISIT: do we need some parameters assertions here ? */
/* Finally, call start from lower-half driver */
ret = dev->ops->start(dev);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_START failed %d\n", ret);
}
break;
}
case PWRIOC_STOP:
{
/* Call stop from lower-half driver */
ret = dev->ops->stop(dev);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_STOP failed %d\n", ret);
}
break;
}
case PWRIOC_SET_MODE:
{
uint8_t mode = ((uint8_t)arg);
ret = dev->ops->mode_set(dev, mode);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_SET_MODE failed %d\n", ret);
}
break;
}
case PWRIOC_SET_LIMITS:
{
FAR struct motor_limits_s *limits =
(FAR struct motor_limits_s *)((uintptr_t)arg);
if (motor->limits.lock == true)
{
pwrerr("ERROR: motor limits locked!\n");
ret = -EPERM;
goto errout;
}
/* NOTE: this call must set the motor_limits_s structure */
ret = dev->ops->limits_set(dev, limits);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_SET_LIMITS failed %d\n", ret);
}
break;
}
case PWRIOC_GET_STATE:
{
FAR struct motor_state_s *state =
(FAR struct motor_state_s *)((uintptr_t)arg);
ret = dev->ops->state_get(dev, state);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_GET_STATE failed %d\n", ret);
}
break;
}
case PWRIOC_SET_FAULT:
{
uint8_t fault = ((uint8_t)arg);
ret = dev->ops->fault_set(dev, fault);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_SET_FAULT failed %d\n", ret);
}
break;
}
case PWRIOC_GET_FAULT:
{
uint8_t *fault = ((uint8_t*)arg);
ret = dev->ops->fault_get(dev, fault);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_GET_FAULT failed %d\n", ret);
}
break;
}
case PWRIOC_CLEAN_FAULT:
{
uint8_t fault = ((uint8_t)arg);
ret = dev->ops->fault_clean(dev, fault);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_CLEAN_FAULT failed %d\n", ret);
}
break;
}
case PWRIOC_SET_PARAMS:
{
FAR struct motor_params_s *params =
(FAR struct motor_params_s *)((uintptr_t)arg);
if (motor->param.lock == true)
{
pwrerr("ERROR: motor params locked!\n");
ret = -EPERM;
goto errout;
}
if ((motor->limits.lock == false) ||
(
#ifdef CONFIG_MOTOR_HAVE_POSITION
motor->limits.position <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_SPEED
motor->limits.speed <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_TORQUE
motor->limits.torque <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_FORCE
motor->limits.force <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_VOLTAGE
motor->limits.v_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_CURRENT
motor->limits.i_in <= 0.0 &&
#endif
#ifdef CONFIG_MOTOR_HAVE_INPUT_POWER
motor->limits.p_in <= 0.0 &&
#endif
1))
{
pwrerr("ERROR: limits must be set prior to params!\n");
ret = -EPERM;
goto errout;
}
#ifdef CONFIG_MOTOR_HAVE_DIRECTION
/* Check direction configuration */
if (params->direction != MOTOR_DIR_CCW &&
params->direction != MOTOR_DIR_CW)
{
pwrerr("ERROR: invalid direction value %d\n",
params->direction);
ret = -EPERM;
goto errout;
}
#endif
#ifdef CONFIG_MOTOR_HAVE_POSITION
/* Check position configuration */
if (params->position < 0.0 ||
params->position > motor->limits.position)
{
pwrerr("ERROR: params->position > limits.position: %.2f > %.2f\n",
params->position, motor->limits.position);
ret = -EPERM;
goto errout;
}
#endif
#ifdef CONFIG_MOTOR_HAVE_SPEED
/* Check speed configuration */
if (motor->limits.speed > 0.0 && params->speed > motor->limits.speed)
{
pwrerr("ERROR: params->speed > limits.speed: %.2f > %.2f\n",
params->speed, motor->limits.speed);
ret = -EPERM;
goto errout;
}
#endif
#ifdef CONFIG_MOTOR_HAVE_TORQUE
/* Check torque configuration */
if (motor->limits.torque > 0.0 && params->torque > motor->limits.torque)
{
pwrerr("ERROR: params->torque > limits.torque: %.2f > %.2f\n",
params->torque, motor->limits.torque);
ret = -EPERM;
goto errout;
}
#endif
#ifdef CONFIG_MOTOR_HAVE_FORCE
/* Check force configuration */
if (motor->limits.force > 0.0 && params->force > motor->limits.force)
{
pwrerr("ERROR: params->force > limits.force: %.2f > %.2f\n",
params->force, motor->limits.force);
ret = -EPERM;
goto errout;
}
#endif
ret = dev->ops->params_set(dev, params);
if (ret != OK)
{
pwrerr("ERROR: PWRIOC_SET_PARAMS failed %d\n", ret);
}
break;
}
default:
{
pwrinfo("Forwarding unrecognized cmd: %d arg: %ld\n", cmd, arg);
ret = dev->ops->ioctl(dev, cmd, arg);
break;
}
}
errout:
return ret;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: motor_register
****************************************************************************/
int motor_register(FAR const char *path, FAR struct motor_dev_s *dev, FAR void *lower)
{
int ret;
DEBUGASSERT(path != NULL && dev != NULL && lower != NULL);
DEBUGASSERT(dev->ops != NULL);
/* For safety reason, when some necessary low-level logic is not provided,
* system should fail before low-level hardware initialization, so:
* - all ops are checked here, before character driver registration
* - all ops must be provided, even if not used
*/
DEBUGASSERT(dev->ops->setup != NULL);
DEBUGASSERT(dev->ops->shutdown != NULL);
DEBUGASSERT(dev->ops->stop != NULL);
DEBUGASSERT(dev->ops->start != NULL);
DEBUGASSERT(dev->ops->params_set != NULL);
DEBUGASSERT(dev->ops->mode_set != NULL);
DEBUGASSERT(dev->ops->limits_set != NULL);
DEBUGASSERT(dev->ops->fault_set != NULL);
DEBUGASSERT(dev->ops->state_get != NULL);
DEBUGASSERT(dev->ops->fault_get != NULL);
DEBUGASSERT(dev->ops->fault_clean != NULL);
DEBUGASSERT(dev->ops->ioctl != NULL);
/* Initialize the motor device structure */
dev->ocount = 0;
/* Initialize semaphores */
nxsem_init(&dev->closesem, 0, 1);
/* Connect motor driver with lower level interface */
dev->lower = lower;
/* Register the motor character driver */
ret = register_driver(path, &motor_fops, 0444, dev);
if (ret < 0)
{
nxsem_destroy(&dev->closesem);
}
return ret;
}
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