49 lines
1.8 KiB
ReStructuredText
49 lines
1.8 KiB
ReStructuredText
====================
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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 implements
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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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