drivers/foc: add support for FOC power-stage driver

There are ICs available on the market that integrate various power inverter
features. The driver for such a device must be tightly coupled to a FOC device
as using it as a separate device doesn't make sense.

Documentation/components/drivers/character/motor/foc.rst

@@ -28,6 +28,8 @@ Files supporting FOC can be found in the following locations:
    "Lower-half" FOC interface.
 -  ``drivers/motor/foc/foc_dev.c``.
    The generic "upper half" FOC driver.
+-  ``drivers/motor/foc/foc_pwr.c``.
+   The generic power stage for FOC.
 
 The majority of the functionality available to the application
 is implemented in driver ioctl calls. Supported ioctl commands:
@@ -46,3 +48,8 @@ is implemented in driver ioctl calls. Supported ioctl commands:
   arg: ``struct foc_cfg_s`` pointer.
 - ``MTRIOC_GET_INFO`` -  Get the FOC device info,
   arg: ``struct foc_info_s`` pointer.
+
+Additionally, board logic can implement:
+
+- ``MTRIOC_SET_BOARDCFG`` - which returns the board specific FOC configuration
+- ``MTRIOC_GET_BOARDCFG`` - which sets the board-specific FOC configuration

drivers/motor/foc/CMakeLists.txt

@@ -24,6 +24,10 @@ if(CONFIG_MOTOR_FOC)
     list(APPEND SRCS foc_dummy.c)
   endif()
 
+  if(CONFIG_MOTOR_FOC_FOCPWR)
+    list(APPEND SRCS foc_pwr.c)
+  endif()
+
   target_include_directories(drivers PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
   target_sources(drivers PRIVATE ${SRCS})
 endif()

drivers/motor/foc/Kconfig

@@ -38,4 +38,7 @@ config MOTOR_FOC_DUMMY
 	---help---
 		Build a simulated lower-half FOC device
 
+config MOTOR_FOC_FOCPWR
+	bool
+
 endif #MOTOR_FOC

drivers/motor/foc/Make.defs

@@ -26,6 +26,10 @@ ifeq ($(CONFIG_MOTOR_FOC_DUMMY),y)
 CSRCS += foc_dummy.c
 endif
 
+ifeq ($(CONFIG_MOTOR_FOC_FOCPWR),y)
+CSRCS += foc_pwr.c
+endif
+
 # Include FOC driver build support
 
 DEPPATH += --dep-path motor$(DELIM)foc

drivers/motor/foc/foc_pwr.c

@@ -0,0 +1,69 @@
+/****************************************************************************
+ * drivers/motor/foc/foc_pwr.c
+ * Power-stage FOC logic
+ *
+ * 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 <assert.h>
+
+#include <nuttx/motor/foc/foc_pwr.h>
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: focpwr_initialize
+ *
+ * Description:
+ *   Initialize the FOC common power-stage data
+ *
+ * Input Parameters:
+ *   pwr   - An instance of the FOC power-stage device
+ *   devno - An instance number
+ *   dev   - An instance of the FOC device
+ *   ops   - power stage ops
+ *
+ ****************************************************************************/
+
+int focpwr_initialize(FAR struct focpwr_dev_s *pwr,
+                      int devno,
+                      FAR struct foc_dev_s *dev,
+                      FAR struct focpwr_ops_s *ops)
+{
+  DEBUGASSERT(ops->setup);
+  DEBUGASSERT(ops->shutdown);
+  DEBUGASSERT(ops->calibration);
+  DEBUGASSERT(ops->ioctl);
+
+  pwr->dev   = dev;
+  pwr->devno = devno;
+  pwr->ops   = ops;
+
+  /* Connet to FOC device */
+
+  dev->pwr = pwr;
+
+  return OK;
+}

include/nuttx/motor/foc/foc.h

@@ -30,6 +30,8 @@
 #include <nuttx/mutex.h>
 #include <nuttx/semaphore.h>
 
+#include <nuttx/motor/foc/foc_pwr.h>
+
 #include <stdbool.h>
 
 #include <fixedmath.h>
@@ -46,6 +48,8 @@
 #define FOCDUTY_TO_FLOAT(d)     (b16tof(d))
 #define FOCDUTY_TO_FIXED16(d)   (d)
 
+#define FOC_BOARDCFG_GAINLIST_LEN 4
+
 /****************************************************************************
  * Public Types
  ****************************************************************************/
@@ -133,6 +137,19 @@ struct foc_info_s
   struct foc_info_hw_s hw_cfg; /* Hardware specific informations  */
 };
 
+/* FOC board-specific configuration */
+
+struct foc_set_boardcfg_s
+{
+  int gain;
+};
+
+struct foc_get_boardcfg_s
+{
+  int gain;
+  int gain_list[FOC_BOARDCFG_GAINLIST_LEN];
+};
+
 /* FOC device upper-half */
 
 struct foc_lower_s;
@@ -160,6 +177,10 @@ struct foc_dev_s
   /* FOC device input/output data *******************************************/
 
   struct foc_state_s         state;      /* FOC device state */
+
+  /* (Optional) FOC power-stage driver  *************************************/
+
+  FAR struct focpwr_dev_s    *pwr;        /* FOC power-stage driver */
 };
 
 /****************************************************************************

include/nuttx/motor/foc/foc_pwr.h

@@ -0,0 +1,66 @@
+/****************************************************************************
+ * include/nuttx/motor/foc/foc_pwr.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 __INCLUDE_NUTTX_MOTOR_FOC_FOC_PWR_H
+#define __INCLUDE_NUTTX_MOTOR_FOC_FOC_PWR_H
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <nuttx/motor/foc/foc.h>
+
+/****************************************************************************
+ * Public Types
+ ****************************************************************************/
+
+/* FOC power-stage driver operations */
+
+struct focpwr_dev_s;
+struct focpwr_ops_s
+{
+  CODE int (*setup)(FAR struct focpwr_dev_s *dev);
+  CODE int (*shutdown)(FAR struct focpwr_dev_s *dev);
+  CODE int (*calibration)(FAR struct focpwr_dev_s *dev, bool state);
+  CODE int (*ioctl)(FAR struct focpwr_dev_s *dev, int cmd,
+                    unsigned long arg);
+};
+
+/* FOC power-stage driver */
+
+struct focpwr_dev_s
+{
+  FAR struct foc_dev_s    *dev;
+  FAR struct focpwr_ops_s *ops;
+  int                      devno;
+};
+
+/****************************************************************************
+ * Public Function Prototypes
+ ****************************************************************************/
+
+int focpwr_initialize(FAR struct focpwr_dev_s *pwr,
+                      int devno,
+                      FAR struct foc_dev_s *dev,
+                      FAR struct focpwr_ops_s *ops);
+
+#endif /* __INCLUDE_NUTTX_MOTOR_FOC_FOC_PWR_H */

include/nuttx/motor/motor_ioctl.h

@@ -53,5 +53,7 @@
 #define MTRIOC_CALIBRATE      _MTRIOC(13)
 #define MTRIOC_SELFTEST       _MTRIOC(14)
 #define MTRIOC_SET_CALIBDATA  _MTRIOC(15)
+#define MTRIOC_SET_BOARDCFG   _MTRIOC(16)
+#define MTRIOC_GET_BOARDCFG   _MTRIOC(17)
 
 #endif /* __INCLUDE_NUTTX_MOTOR_MOTOR_IOCTL_H */