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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
This commit is contained in:
raiden00pl
Alan Carvalho de Assis
parent
72bc595afb
commit
befd5639e0
7 changed files with 1067 additions and 0 deletions
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@ -3156,6 +3156,12 @@ if ARCH_BOARD_BL602EVB
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source "boards/risc-v/bl602/bl602evb/Kconfig"
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endif
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comment "Board-Common Options"
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if ARCH_CHIP_STM32
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source boards/arm/stm32/common/Kconfig
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endif
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config BOARD_CRASHDUMP
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bool "Enable Board level logging of crash dumps"
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default n
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55
boards/arm/stm32/common/Kconfig
Normal file
55
boards/arm/stm32/common/Kconfig
Normal file
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@ -0,0 +1,55 @@
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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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config BOARD_STM32_COMMON
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bool "Board common logic"
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default n
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---help---
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Board common logic located in each board/common folder.
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if BOARD_STM32_COMMON
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if STM32_FOC
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menuconfig BOARD_STM32_IHM07M1
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bool "X-NUCLEO-IHM07M1 board support"
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default n
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---help---
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Board based on the L6230 DMOS driver.
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if BOARD_STM32_IHM07M1
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config BOARD_STM32_IHM07M1_VBUS
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bool "X-NUCLEO-IHM07M1 board VBUS sense"
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default n
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config BOARD_STM32_IHM07M1_POT
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bool "X-NUCLEO-IHM07M1 board POT support"
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default n
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endif # BOARD_STM32_IHM07M1
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menuconfig BOARD_STM32_IHM08M1
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bool "X-NUCLEO-IHM08M1 board support"
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default n
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select STM32_FOC_HAS_PWM_COMPLEMENTARY
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---help---
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Board based on the discrete L6398 gate drivers and STL220N6F7 POWER MOSFETs.
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if BOARD_STM32_IHM08M1
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config BOARD_STM32_IHM08M1_VBUS
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bool "X-NUCLEO-IHM08M1 board VBUS sense"
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default n
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config BOARD_STM32_IHM08M1_POT
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bool "X-NUCLEO-IHM08M1 board POT support"
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default n
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endif # BOARD_STM32_IHM08M1
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endif # STM32_FOC
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endif # BOARD_STM32_COMMON
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59
boards/arm/stm32/common/include/stm32_ihm07m1.h
Normal file
59
boards/arm/stm32/common/include/stm32_ihm07m1.h
Normal file
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@ -0,0 +1,59 @@
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/****************************************************************************
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* boards/arm/stm32/common/include/stm32_ihm07m1.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 __STM32_IHM07M1_H
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#define __STM32_IHM07M1_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 "stm32_foc.h"
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/****************************************************************************
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* Public Data
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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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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: stm32_ihm07m1_initialize
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****************************************************************************/
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int board_ihm07m1_initialize(FAR struct stm32_foc_adc_s *adc_cfg);
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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 // __STM32_IHM07M1_H
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59
boards/arm/stm32/common/include/stm32_ihm08m1.h
Normal file
59
boards/arm/stm32/common/include/stm32_ihm08m1.h
Normal file
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@ -0,0 +1,59 @@
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/****************************************************************************
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* boards/arm/stm32/common/include/stm32_ihm08m1.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 __STM32_IHM08M1_H
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#define __STM32_IHM08M1_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 "stm32_foc.h"
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/****************************************************************************
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* Public Data
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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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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: stm32_ihm08m1_initialize
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****************************************************************************/
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int board_ihm08m1_initialize(FAR struct stm32_foc_adc_s *adc_cfg);
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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 // __STM32_IHM08M1_H
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@ -114,6 +114,14 @@ ifeq ($(CONFIG_LIS3DSH),y)
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CSRCS += stm32_lis3dsh.c
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endif
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ifeq ($(CONFIG_BOARD_STM32_IHM07M1),y)
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CSRCS += stm32_ihm07m1.c
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endif
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ifeq ($(CONFIG_BOARD_STM32_IHM08M1),y)
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CSRCS += stm32_ihm08m1.c
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endif
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DEPPATH += --dep-path src
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VPATH += :src
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CFLAGS += $(shell $(INCDIR) "$(CC)" $(TOPDIR)$(DELIM)arch$(DELIM)$(CONFIG_ARCH)$(DELIM)src$(DELIM)board$(DELIM)src)
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446
boards/arm/stm32/common/src/stm32_ihm07m1.c
Normal file
446
boards/arm/stm32/common/src/stm32_ihm07m1.c
Normal file
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@ -0,0 +1,446 @@
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/****************************************************************************
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* boards/arm/stm32/common/src/stm32_ihm07m1.c
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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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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <errno.h>
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#include <assert.h>
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#include <arch/board/board.h>
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#include <nuttx/analog/adc.h>
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#include "stm32_foc.h"
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#include "stm32_gpio.h"
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#if CONFIG_MOTOR_FOC_SHUNTS != 3
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# error For now ony 3-shunts configuration is supported
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#endif
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/* Configuration specific for L6230:
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* 1. PWM enable on high
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* 2. PWM channels must have positive polarity
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* 3. DIAG-EN enable on high, configured as open drain output
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*/
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#if CONFIG_STM32_TIM1_CH1POL != 0
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# error
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#endif
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#if CONFIG_STM32_TIM1_CH2POL != 0
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# error
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#endif
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#if CONFIG_STM32_TIM1_CH3POL != 0
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# error
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#endif
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/* Aux ADC needs DMA enabled */
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#ifdef CONFIG_ADC
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# ifndef CONFIG_STM32_ADC1_DMA
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# error
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# endif
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#endif
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/* L6230 has fixed 1us (typ.) deadtime but for sure set it also on TIMER
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* side
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*/
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#define PWM_DEADTIME (70)
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#define PWM_DEADTIME_NS (1000)
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/* Devpath for FOC driver */
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#define FOC_DEVPATH "/dev/foc0"
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/* Board parameters:
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* Current shunt resistance = 0.33
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* Current sense gain = -1.53 (inverted current)
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* Vbus sense gain = 0.0522
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* Vbus min = 8V
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* Vbus max = 48V
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* Iout max = 1.4A RMS
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* IPHASE_RATIO = 1/(R_shunt*gain) = -1.98
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* ADC_REF_VOLTAGE = 3.3
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* ADC_VAL_MAX = 4095
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* ADC_TO_VOLT = ADC_REF_VOLTAGE / ADC_VAL_MAX
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* IPHASE_ADC = IPHASE_RATIO * ADC_TO_VOLT = -0.00160
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* VBUS_RATIO = 1/VBUS_gain = 19.152
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*/
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/* Center-aligned PWM duty cycle limits */
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#define MAX_DUTY_B16 ftob16(0.95f)
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/****************************************************************************
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* Private Types
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****************************************************************************/
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/****************************************************************************
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* Private Function Protototypes
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****************************************************************************/
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static int board_foc_setup(FAR struct foc_dev_s *dev);
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static int board_foc_shutdown(FAR struct foc_dev_s *dev);
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static int board_foc_calibration(FAR struct foc_dev_s *dev, bool state);
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static int board_foc_fault_clear(FAR struct foc_dev_s *dev);
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static int board_foc_pwm_start(FAR struct foc_dev_s *dev, bool state);
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static int board_foc_current_get(FAR struct foc_dev_s *dev,
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FAR int16_t *curr_raw,
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FAR foc_current_t *curr);
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#ifdef CONFIG_MOTOR_FOC_TRACE
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static int board_foc_trace_init(FAR struct foc_dev_s *dev);
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static void board_foc_trace(FAR struct foc_dev_s *dev, int type, bool state);
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#endif
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/****************************************************************************
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* Private Data
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****************************************************************************/
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/* Board specific ops */
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static struct stm32_foc_board_ops_s g_stm32_foc_board_ops =
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{
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.setup = board_foc_setup,
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.shutdown = board_foc_shutdown,
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.calibration = board_foc_calibration,
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.fault_clear = board_foc_fault_clear,
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.pwm_start = board_foc_pwm_start,
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.current_get = board_foc_current_get,
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#ifdef CONFIG_MOTOR_FOC_TRACE
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.trace_init = board_foc_trace_init,
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.trace = board_foc_trace
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#endif
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};
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/* Board specific data */
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static struct stm32_foc_board_data_s g_stm32_foc_board_data =
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{
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.adc_cfg = NULL, /* board-specific */
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.duty_max = (MAX_DUTY_B16),
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.pwm_dt = (PWM_DEADTIME),
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.pwm_dt_ns = (PWM_DEADTIME_NS)
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};
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/* Board specific configuration */
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static struct stm32_foc_board_s g_stm32_foc_board =
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{
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.data = &g_stm32_foc_board_data,
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.ops = &g_stm32_foc_board_ops,
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};
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/* Global pointer to the upper FOC driver */
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static FAR struct foc_dev_s *g_foc_dev = NULL;
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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/****************************************************************************
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* Name: board_foc_setup
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****************************************************************************/
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static int board_foc_setup(FAR struct foc_dev_s *dev)
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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/* Configure EN_U, EN_V, EN_W, DIAGEN GPIOs */
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stm32_configgpio(GPIO_FOC_EN_U);
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stm32_configgpio(GPIO_FOC_EN_V);
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stm32_configgpio(GPIO_FOC_EN_W);
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stm32_configgpio(GPIO_FOC_DIAGEN);
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return OK;
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}
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|
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/****************************************************************************
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* Name: board_foc_shutdown
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****************************************************************************/
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static int board_foc_shutdown(FAR struct foc_dev_s *dev)
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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return OK;
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}
|
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|
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/****************************************************************************
|
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* Name: board_foc_calibration
|
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****************************************************************************/
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static int board_foc_calibration(FAR struct foc_dev_s *dev, bool state)
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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return OK;
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}
|
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|
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/****************************************************************************
|
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* Name: board_foc_fault_clear
|
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****************************************************************************/
|
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static int board_foc_fault_clear(FAR struct foc_dev_s *dev)
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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return OK;
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}
|
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|
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/****************************************************************************
|
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* Name: board_foc_pwm_start
|
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****************************************************************************/
|
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static int board_foc_pwm_start(FAR struct foc_dev_s *dev, bool state)
|
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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|
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/* Set/reset ENABLE input */
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stm32_gpiowrite(GPIO_FOC_DIAGEN, state);
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/* Enable/disable UVW output */
|
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stm32_gpiowrite(GPIO_FOC_EN_U, state);
|
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stm32_gpiowrite(GPIO_FOC_EN_V, state);
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stm32_gpiowrite(GPIO_FOC_EN_W, state);
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return OK;
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}
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|
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/****************************************************************************
|
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* Name: board_foc_current_get
|
||||
****************************************************************************/
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static int board_foc_current_get(FAR struct foc_dev_s *dev,
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FAR int16_t *curr_raw,
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FAR foc_current_t *curr)
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{
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DEBUGASSERT(dev);
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DEBUGASSERT(curr_raw);
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DEBUGASSERT(curr);
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/* Get currents */
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curr[0] = curr_raw[0];
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curr[1] = curr_raw[1];
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curr[2] = curr_raw[2];
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return OK;
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}
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#ifdef CONFIG_MOTOR_FOC_TRACE
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/****************************************************************************
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* Name: board_foc_trace_init
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****************************************************************************/
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static int board_foc_trace_init(FAR struct foc_dev_s *dev)
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{
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DEBUGASSERT(dev);
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UNUSED(dev);
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/* Configure debug GPIO */
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stm32_configgpio(GPIO_FOC_DEBUG0);
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stm32_configgpio(GPIO_FOC_DEBUG1);
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stm32_configgpio(GPIO_FOC_DEBUG2);
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stm32_configgpio(GPIO_FOC_DEBUG3);
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return OK;
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}
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/****************************************************************************
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* Name: board_foc_trace
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****************************************************************************/
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static void board_foc_trace(FAR struct foc_dev_s *dev, int type, bool state)
|
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{
|
||||
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
434
boards/arm/stm32/common/src/stm32_ihm08m1.c
Normal file
|
|
@ -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
|
||||
Loading…
Reference in a new issue