| ==================== |
| FOC Driver Interface |
| ==================== |
| |
| Field Oriented Control (FOC) is a common technique to control |
| either synchronous or asynchronous alternating current machines. |
| The main goal of FOC is to control direct current (Id) and |
| quadrature current (Iq) in powered device. |
| |
| The device on the kernel side is responsible for the following: |
| |
| #. update PWM duty cycles |
| #. return ADC current samples |
| #. synchronize user-space with PWM events |
| |
| The NuttX FOC driver is split into two parts: |
| |
| #. An "upper half", generic driver that provides the common FOC |
| interface to application level code, |
| #. A "lower half", platform-specific driver that implements |
| the low-level logic to implement the FOC functionality |
| |
| Files supporting FOC can be found in the following locations: |
| |
| - ``include/nuttx/motor/foc/foc.h``. |
| "Upper-half" FOC interface available for the user-space. |
| - ``include/nuttx/motor/foc/foc_lower.h``. |
| "Lower-half" FOC interface. |
| - ``drivers/motor/foc/foc_dev.c``. |
| The generic "upper half" FOC driver. |
| |
| The majority of the functionality available to the application |
| is implemented in driver ioctl calls. Supported ioctl commands: |
| |
| - ``MTRIOC_START`` - Start the FOC device, arg: none. |
| - ``MTRIOC_STOP`` - Stop the FOC device, arg: none. |
| - ``MTRIOC_GET_STATE`` - Get the FOC device state, |
| arg: ``struct foc_state_s`` pointer. |
| This is a blocking operation that is used to synchronize the user space |
| application with ADC samples. |
| - ``MTRIOC_CLEAR_FAULT`` - Clear the FOC device fault state, |
| arg: none. |
| - ``MTRIOC_SET_PARAMS`` - Set the FOC device operation parameters, |
| arg: ``struct foc_params_s`` pointer. |
| - ``MTRIOC_SET_CONFIG`` - Set the FOC device configuration, |
| arg: ``struct foc_cfg_s`` pointer. |
| - ``MTRIOC_GET_INFO`` - Get the FOC device info, |
| arg: ``struct foc_info_s`` pointer. |
