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drivers: add generic upper-half driver for Field Oriented Control (FOC)
This commit is contained in:
raiden00pl
committed by
Alan Carvalho de Assis
Alan Carvalho de Assis
parent
3a97f51a8d
commit
e4c27dfdd6
@@ -0,0 +1,48 @@
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====================
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FOC Driver Interface
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====================
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Field Oriented Control (FOC) is a common technique to control
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either synchronous or asynchronous alternating current machines.
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The main goal of FOC is to control direct current (Id) and
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quadrature current (Iq) in powered device.
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The device on the kernel side is responsible for the following:
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#. update PWM duty cycles
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#. return ADC current samples
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#. synchronize user-space with PWM events
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The Nuttx FOC driver is split into two parts:
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#. An "upper half", generic driver that provides the common FOC
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interface to application level code,
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#. A "lower half", platform-specific driver that implemets
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the low-level logic to implement the FOC functionality
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Files supporting FOC can be found in the following locations:
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- ``include/nuttx/motor/foc/foc.h``.
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"Upper-half" FOC interface available for the user-space.
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- ``include/nuttx/motor/foc/foc_lower.h``.
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"Lower-half" FOC interface.
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- ``drivers/motor/foc/foc_dev.c``.
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The generic "upper half" FOC driver.
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The majority of the functionality available to the application
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is implemented in driver ioctl calls. Supported ioctl commands:
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- ``MTRIOC_START`` - Start the FOC device, arg: none.
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- ``MTRIOC_STOP`` - Stop the FOC device, arg: none.
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- ``MTRIOC_GET_STATE`` - Get the FOC device state,
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arg: ``struct foc_state_s`` pointer.
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This is a blocking operation that is used to synchronize the user space
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application with ADC samples.
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- ``MTRIOC_CLEAR_FAULT`` - Clear the FOC device fault state,
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arg: none.
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- ``MTRIOC_SET_PARAMS`` - Set the FOC device operation parameters,
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arg: ``struct foc_params_s`` pointer.
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- ``MTRIOC_SET_CONFIG`` - Set the FOC device configuration,
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arg: ``struct foc_cfg_s`` pointer.
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- ``MTRIOC_GET_INFO`` - Get the FOC device info,
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arg: ``struct foc_info_s`` pointer.
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@@ -64,4 +64,5 @@ Character device drivers have these properties:
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watchdog.rst
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keypad.rst
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note.rst
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foc.rst
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@@ -130,3 +130,4 @@ source drivers/syslog/Kconfig
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source drivers/platform/Kconfig
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source drivers/rf/Kconfig
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source drivers/rc/Kconfig
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source drivers/motor/Kconfig
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@@ -29,6 +29,7 @@ include audio/Make.defs
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include bch/Make.defs
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include can/Make.defs
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include crypto/Make.defs
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include motor/Make.defs
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include i2c/Make.defs
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include i2s/Make.defs
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include input/Make.defs
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@@ -0,0 +1,14 @@
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#
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# For a description of the syntax of this configuration file,
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# see the file kconfig-language.txt in the NuttX tools repository.
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#
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menuconfig MOTOR
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bool "Motor control drivers"
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default n
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if MOTOR
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source "drivers/motor/foc/Kconfig"
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endif # MOTOR
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@@ -0,0 +1,35 @@
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############################################################################
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# drivers/motor/Make.defs
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#
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# Licensed to the Apache Software Foundation (ASF) under one or more
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# contributor license agreements. See the NOTICE file distributed with
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# this work for additional information regarding copyright ownership. The
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# ASF licenses this file to you under the Apache License, Version 2.0 (the
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# "License"); you may not use this file except in compliance with the
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# License. You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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# License for the specific language governing permissions and limitations
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# under the License.
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#
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############################################################################
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# Add FOC driver
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ifeq ($(CONFIG_MOTOR_FOC),y)
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include motor$(DELIM)foc$(DELIM)Make.defs
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endif
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# Include motor drivers in the build
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MOTOR_DEPPATH := --dep-path motor
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MOTOR_VPATH := :motor
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MOTOR_CFLAGS := ${shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)motr}
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DEPPATH += $(MOTOR_DEPPATH)
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VPATH += $(MOTOR_VPATH)
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CFLAGS += $(MOTOR_CFLAGS)
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@@ -0,0 +1,31 @@
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menuconfig MOTOR_FOC
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bool "FOC (Field Oriented Controller) driver support"
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default n
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---help---
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Enables building of the "upper-half" FOC driver.
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if MOTOR_FOC
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config MOTOR_FOC_INST
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int "FOC instances"
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default 1
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config MOTOR_FOC_PHASES
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int "FOC phases number"
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default 3
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config MOTOR_FOC_SHUNTS
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int "FOC number of shunts"
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range 1 3
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default 3
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---help---
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Number of shunts supported (or other types of current sensors).
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Any current recontruction must be done on the lower-half side.
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config MOTOR_FOC_TRACE
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bool "FOC trace support"
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default n
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---help---
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Enables FOC driver trace interface.
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endif #MOTOR_FOC
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@@ -0,0 +1,29 @@
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############################################################################
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# drivers/motor/foc/Make.defs
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#
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# Licensed to the Apache Software Foundation (ASF) under one or more
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# contributor license agreements. See the NOTICE file distributed with
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# this work for additional information regarding copyright ownership. The
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# ASF licenses this file to you under the Apache License, Version 2.0 (the
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# "License"); you may not use this file except in compliance with the
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# License. You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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# License for the specific language governing permissions and limitations
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# under the License.
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#
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############################################################################
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# Include FOC driver into the build
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CSRCS += foc_dev.c
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# Include FOC driver build support
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DEPPATH += --dep-path motor$(DELIM)foc
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VPATH += :motor$(DELIM)foc
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CFLAGS += ${shell $(INCDIR) $(INCDIROPT) "$(CC)" $(TOPDIR)$(DELIM)drivers$(DELIM)motor$(DELIM)foc}
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File diff suppressed because it is too large
Load Diff
@@ -86,6 +86,7 @@
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#define _RCIOCBASE (0x2e00) /* Remote Control device ioctl commands */
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#define _HIMEMBASE (0x2f00) /* Himem device ioctl commands*/
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#define _EFUSEBASE (0x3000) /* Efuse device ioctl commands*/
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#define _MTRIOBASE (0x3100) /* Motor device ioctl commands*/
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#define _WLIOCBASE (0x8b00) /* Wireless modules ioctl network commands */
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/* boardctl() commands share the same number space */
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@@ -541,6 +542,11 @@
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#define _EFUSEIOCVALID(c) (_IOC_TYPE(c) == _EFUSEBASE)
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#define _EFUSEIOC(nr) _IOC(_EFUSEBASE, nr)
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/* Motor drivers ************************************************************/
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#define _MTRIOCVALID(c) (_IOC_TYPE(c) == _MTRIOBASE)
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#define _MTRIOC(nr) _IOC(_MTRIOBASE, nr)
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/* Wireless driver network ioctl definitions ********************************/
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/* (see nuttx/include/wireless/wireless.h */
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@@ -0,0 +1,158 @@
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/****************************************************************************
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* include/nuttx/motor/foc/foc.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_MOTOR_FOC_FOC_H
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#define __INCLUDE_NUTTX_MOTOR_FOC_FOC_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/compiler.h>
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#include <stdbool.h>
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#include <semaphore.h>
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#include <fixedmath.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#define FOCDUTY_FROM_FLOAT(d) (ftob16(d))
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#define FOCDUTY_FROM_FIXED16(d) (d)
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#define FOCDUTY_TO_FLOAT(d) (b16tof(d))
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#define FOCDUTY_TO_FIXED16(d) (d)
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/* FOC device fault code */
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enum foc_fault_e
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{
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FOC_FAULT_NONE = (0), /* No fault */
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FOC_FAULT_TIMEOUT = (1 << 1), /* Timeout fault */
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FOC_FAULT_ARCH = (1 << 2), /* Arch-specific fault */
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FOC_FAULT_BOARD = (1 << 3), /* Board-specific fault */
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};
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/* Phase current as signed 32-bit integer */
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typedef int32_t foc_current_t;
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/* Phase duty cycle as unsigned fixed16.
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* We use range [0.0 to 1.0] so this gives us a 16-bit resolution.
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*/
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typedef ub16_t foc_duty_t;
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/* FOC device configuration */
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struct foc_cfg_s
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{
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uint32_t pwm_freq; /* FOC PWM frequency */
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uint32_t notifier_freq; /* FOC notifier frequency */
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};
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/* Output data from the FOC device */
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struct foc_state_s
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{
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uint8_t fault; /* Fault state */
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foc_current_t curr[CONFIG_MOTOR_FOC_PHASES]; /* Phase current feedback */
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};
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/* Input data to the FOC device */
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struct foc_params_s
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{
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foc_duty_t duty[CONFIG_MOTOR_FOC_PHASES]; /* PWM duty cycle for phases */
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};
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/* Hardware specific configuration */
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struct foc_hw_config_s
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{
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uint32_t pwm_dt_ns; /* PWM dead-time in nano seconds */
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foc_duty_t pwm_max; /* Maximum PWM duty cycle */
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};
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/* FOC driver info */
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struct foc_info_s
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{
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struct foc_hw_config_s hw_cfg; /* Hardware specific configuration */
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};
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/* FOC device upper-half */
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struct foc_lower_s;
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struct foc_typespec_s;
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struct foc_dev_s
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{
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/* Fields managed by common upper-half FOC logic **************************/
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uint8_t devno; /* FOC device instance number */
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uint8_t ocount; /* The number of times the device
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* has been opened
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*/
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sem_t closesem; /* Locks out new opens while close
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* is in progress
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*/
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sem_t statesem; /* Notifier semaphore */
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/* Fields provided by lower-half foc logic ********************************/
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FAR struct foc_lower_s *lower; /* Reference to the FOC lower-half */
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/* FOC device specific data ***********************************************/
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struct foc_info_s info; /* Device info */
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struct foc_cfg_s cfg; /* FOC common configuration */
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/* FOC device input/output data *******************************************/
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struct foc_state_s state; /* FOC device state */
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};
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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int foc_register(FAR const char *path, FAR struct foc_dev_s *dev);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* __INCLUDE_NUTTX_MOTOR_FOC_FOC_H */
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@@ -0,0 +1,144 @@
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/****************************************************************************
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* include/nuttx/motor/foc/foc_lower.h
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
|
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
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* "License"); you may not use this file except in compliance with the
|
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_MOTOR_FOC_FOC_LOWER_H
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#define __INCLUDE_NUTTX_MOTOR_FOC_FOC_LOWER_H
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/motor/foc/foc.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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/* Only for kernel side */
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#ifndef __KERNEL__
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# error
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#endif
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/* Helper macros */
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#define FOC_OPS_CONFIGURE(d, c) (d)->lower->ops->configure(d, c)
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#define FOC_OPS_SETUP(d) (d)->lower->ops->setup(d)
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#define FOC_OPS_SHUTDOWN(d) (d)->lower->ops->shutdown(d)
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#define FOC_OPS_START(d, s) (d)->lower->ops->start(d, s)
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#define FOC_OPS_DUTY(d, x) (d)->lower->ops->pwm_duty_set(d, x)
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#define FOC_OPS_IOCTL(d, c, a) (d)->lower->ops->ioctl(d, c, a)
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#define FOC_OPS_BIND(d, c) (d)->lower->ops->bind(d, c)
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#define FOC_OPS_FAULT_CLEAR(d) (d)->lower->ops->fault_clear(d)
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#ifdef CONFIG_MOTOR_FOC_TRACE
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# define FOC_OPS_TRACE(d, t, s) (d)->lower->ops->trace(d, t, s)
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#endif
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/****************************************************************************
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* Public Types
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****************************************************************************/
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#ifdef CONFIG_MOTOR_FOC_TRACE
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/* FOC trace type */
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enum foc_trace_type_e
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{
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FOC_TRACE_NONE = 0, /* Not used */
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FOC_TRACE_PARAMS = 1, /* In foc_params_set() */
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FOC_TRACE_STATE = 2, /* In foc_state_get() */
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FOC_TRACE_NOTIFIER = 3, /* In foc_notifier() */
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FOC_TRACE_LOWER = 4 /* Reserved for lower-half code */
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};
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#endif
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/* Upper-half FOC callbacks */
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struct foc_callbacks_s
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{
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/* FOC notifier callback
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*
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* Description:
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* Deliver the phase current samples and wake up the thread waiting.
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* Must be called by lower-half logic at a frequency determined by
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* configuration (notifier_freq in foc_cfg_s).
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*/
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CODE int (*notifier)(FAR struct foc_dev_s *dev,
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FAR foc_current_t *current);
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};
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/* Lower-half FOC operations */
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struct foc_lower_ops_s
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{
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/* Lower-half configuration */
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CODE int (*configure)(FAR struct foc_dev_s *dev,
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FAR struct foc_cfg_s *cfg);
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/* Lower-half setup */
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CODE int (*setup)(FAR struct foc_dev_s *dev);
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/* Lower-half shutdwon */
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CODE int (*shutdown)(FAR struct foc_dev_s *dev);
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/* Set the PWM duty cycles */
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CODE int (*pwm_duty_set)(FAR struct foc_dev_s *dev,
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FAR foc_duty_t *duty);
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/* Lower-half start/stop */
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CODE int (*start)(FAR struct foc_dev_s *dev, bool state);
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/* Lower-half IOCTL */
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CODE int (*ioctl)(FAR struct foc_dev_s *dev, int cmd,
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unsigned long arg);
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/* Bind the upper-half driver with the lower-half logic */
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CODE int (*bind)(FAR struct foc_dev_s *dev,
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FAR struct foc_callbacks_s *cb);
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||||
/* Lower-half fault clear */
|
||||
|
||||
CODE int (*fault_clear)(FAR struct foc_dev_s *dev);
|
||||
|
||||
#ifdef CONFIG_MOTOR_FOC_TRACE
|
||||
/* FOC trace */
|
||||
|
||||
CODE void (*trace)(FAR struct foc_dev_s *dev, int type, bool state);
|
||||
#endif
|
||||
};
|
||||
|
||||
/* Lower-half FOC data - must be provided by lower-half implementation */
|
||||
|
||||
struct foc_lower_s
|
||||
{
|
||||
FAR struct foc_lower_ops_s *ops; /* The FOC lower-half operations */
|
||||
FAR void *data; /* The FOC lower-half data */
|
||||
};
|
||||
|
||||
#endif /* __INCLUDE_NUTTX_MOTOR_FOC_FOC_LOWER_H */
|
||||
@@ -0,0 +1,49 @@
|
||||
/****************************************************************************
|
||||
* include/nuttx/motor/motor_ioctl.h
|
||||
* NuttX Motor-Related IOCTLs definitions
|
||||
*
|
||||
* 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_MOTOR_IOCTL_H
|
||||
#define __INCLUDE_NUTTX_MOTOR_MOTOR_IOCTL_H
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <nuttx/fs/ioctl.h>
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/* All foc-related IOCTL commands must be defined in this header file
|
||||
* in order to assure that every IOCTL command is unique and will not be
|
||||
* aliased.
|
||||
*/
|
||||
|
||||
#define MTRIOC_START _MTRIOC(1)
|
||||
#define MTRIOC_STOP _MTRIOC(2)
|
||||
#define MTRIOC_GET_STATE _MTRIOC(3)
|
||||
#define MTRIOC_CLEAR_FAULT _MTRIOC(4)
|
||||
#define MTRIOC_SET_PARAMS _MTRIOC(5)
|
||||
#define MTRIOC_SET_CONFIG _MTRIOC(6)
|
||||
#define MTRIOC_GET_INFO _MTRIOC(7)
|
||||
|
||||
#endif /* __INCLUDE_NUTTX_MOTOR_MOTOR_IOCTL_H */
|
||||
Reference in New Issue
Block a user