examples/foc: add real time data capture with nxscope lib

examples/foc/Kconfig

@@ -421,5 +421,92 @@ config EXAMPLES_FOC_RUN_DISABLE
 	bool "FOC Disable FOC motor controller"
 	default n
 
+config EXAMPLES_FOC_NXSCOPE
+	bool "FOC nxscope support"
+	depends on LOGGING_NXSCOPE
+	select LOGGING_NXSCOPE_DISABLE_PUTLOCK
+	default n
+	---help---
+		This option enables a controller real-time data capture with
+		the NxScope library.
+
+if EXAMPLES_FOC_NXSCOPE
+
+config EXAMPLES_FOC_NXSCOPE_SERIAL
+	bool "FOC nxscope on serial port"
+	select LOGGING_NXSCOPE_INTF_SERIAL
+	default y
+
+if EXAMPLES_FOC_NXSCOPE_SERIAL
+
+config EXAMPLES_FOC_NXSCOPE_SERIAL_PATH
+	string "FOC nxscope serial path"
+	default "/dev/ttyS0"
+
+config EXAMPLES_FOC_NXSCOPE_SERIAL_BAUD
+	int "FOC nxscope serial baud"
+	default 115200
+
+endif # EXAMPLES_FOC_NXSCOPE_SERIAL
+
+config EXAMPLES_FOC_NXSCOPE_STREAMBUF_LEN
+	int "FOC nxscope stream buffer length"
+	default 512
+
+config EXAMPLES_FOC_NXSCOPE_RXBUF_LEN
+	int "FOC nxscope RX buffer length"
+	default 64
+
+config EXAMPLES_FOC_NXSCOPE_RXPADDING
+	int "FOC nxscope RX padding"
+	default 0
+
+config EXAMPLES_FOC_NXSCOPE_CHANNELS
+	int "FOC nxscope channels"
+	default 0
+
+config EXAMPLES_FOC_NXSCOPE_PRESCALER
+	int "FOC nxscope prescaler"
+	default 1
+	---help---
+		This option allows you to reduce the frequency of adding samples to
+		the NxScope buffer.
+
+config EXAMPLES_FOC_NXSCOPE_CFG
+	hex "FOC nxscope configuration"
+	default 0x00000000
+	---help---
+		Each bit defines the controller state variable that can be captured.
+		Look at foc_nxscope.h for bits definitions.
+
+config EXAMPLES_FOC_NXSCOPE_START
+	bool "FOC nxscope start frame sync"
+	default n
+	---help---
+		If this option is set, the controller will be waiting for the start
+		frame from a NxScope master device. This allows us to capture
+		controller data from the very beginning of its operation.
+
+config EXAMPLES_FOC_NXSCOPE_THREAD
+	bool "FOC nxscope uses separate thread"
+	default n
+	---help---
+		Use a separate thread for NxScope communication.
+
+if EXAMPLES_FOC_NXSCOPE_THREAD
+
+config EXAMPLES_FOC_NXSCOPE_PRIO
+	int "FOC nxscope thread priority"
+	default 100
+
+config EXAMPLES_FOC_NXSCOPE_STACKSIZE
+	int "FOC nxscope thread stack size"
+	default 2048
+
+endif # EXAMPLES_FOC_NXSCOPE_THREAD
+
+endif # EXAMPLES_FOC_NXSCOPE
+
 endif # EXAMPLES_FOC
 
+

examples/foc/Makefile

@@ -50,4 +50,10 @@ ifeq ($(CONFIG_INDUSTRY_FOC_FLOAT),y)
   CSRCS += foc_float_thr.c foc_motor_f32.c
 endif
 
+# NxScope support
+
+ifeq ($(CONFIG_EXAMPLES_FOC_NXSCOPE),y)
+  CSRCS += foc_nxscope.c
+endif
+
 include $(APPDIR)/Application.mk

examples/foc/foc_fixed16_thr.c

@@ -38,6 +38,10 @@
 #include "industry/foc/foc_utils.h"
 #include "industry/foc/foc_common.h"
 
+#ifdef CONFIG_EXAMPLES_FOC_NXSCOPE
+#  include "logging/nxscope/nxscope.h"
+#endif
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
@@ -173,6 +177,91 @@ static int foc_state_print(FAR struct foc_motor_b16_s *motor)
 }
 #endif
 
+#ifdef CONFIG_EXAMPLES_FOC_NXSCOPE
+/****************************************************************************
+ * Name: foc_fixed16_nxscope
+ ****************************************************************************/
+
+static void foc_fixed16_nxscope(FAR struct foc_nxscope_s *nxs,
+                                FAR struct foc_motor_b16_s *motor,
+                                FAR struct foc_device_s *dev)
+{
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG != 0)
+  FAR b16_t *ptr = NULL;
+  int        i = nxs->ch_per_inst * motor->envp->id;
+#endif
+
+  nxscope_lock(&nxs->nxs);
+
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_IABC)
+  ptr = (FAR b16_t *)&motor->foc_state.curr;
+  nxscope_put_vb16(&nxs->nxs, i++, ptr, CONFIG_MOTOR_FOC_PHASES);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_IDQ)
+  ptr = (FAR b16_t *)&motor->foc_state.idq;
+  nxscope_put_vb16(&nxs->nxs, i++, ptr, 2);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_IAB)
+  ptr = (FAR b16_t *)&motor->foc_state.iab;
+  nxscope_put_vb16(&nxs->nxs, i++, ptr, 2);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VABC)
+  ptr = (FAR b16_t *)&motor->foc_state.volt;
+  nxscope_put_vb16(&nxs->nxs, i++, ptr, CONFIG_MOTOR_FOC_PHASES);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VDQ)
+  ptr = (FAR b16_t *)&motor->foc_state.vdq;
+  nxscope_put_vb16(&nxs->nxs, i++, ptr, 2);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VAB)
+  ptr = (FAR b16_t *)&motor->foc_state.vab;
+  nxscope_put_vb16(&nxs->nxs, i++, ptr, 2);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_AEL)
+  ptr = (FAR b16_t *)&motor->angle_el;
+  nxscope_put_vb16(&nxs->nxs, i++, ptr, 1);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_AM)
+  ptr = (FAR b16_t *)&motor->angle_m;
+  nxscope_put_vb16(&nxs->nxs, i++, ptr, 1);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VEL)
+#  warning not supported yet
+  i++;
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VM)
+#  warning not supported yet
+  i++;
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VBUS)
+  ptr = (FAR b16_t *)&motor->vbus;
+  nxscope_put_vb16(&nxs->nxs, i++, ptr, 1);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_SPTORQ)
+  ptr = (FAR b16_t *)&motor->torq;
+  nxscope_put_vb16(&nxs->nxs, i++, ptr, 3);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_SPVEL)
+  ptr = (FAR b16_t *)&motor->vel;
+  nxscope_put_vb16(&nxs->nxs, i++, ptr, 3);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_SPPOS)
+  ptr = (FAR b16_t *)&motor->pos;
+  nxscope_put_vb16(&nxs->nxs, i++, ptr, 3);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_DQREF)
+  ptr = (FAR b16_t *)&motor->dq_ref;
+  nxscope_put_vb16_t(&nxs->nxs, i++, ptr, 2);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VDQCOMP)
+  ptr = (FAR b16_t *)&motor->vdq_comp;
+  nxscope_put_vb16_t(&nxs->nxs, i++, ptr, 2);
+#endif
+
+  nxscope_unlock(&nxs->nxs);
+}
+#endif
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -355,6 +444,15 @@ int foc_fixed16_thr(FAR struct foc_ctrl_env_s *envp)
               goto errout;
             }
 
+#ifdef CONFIG_EXAMPLES_FOC_NXSCOPE
+          /* Capture nxscope samples */
+
+          if (time % CONFIG_EXAMPLES_FOC_NXSCOPE_PRESCALER == 0)
+            {
+              foc_fixed16_nxscope(envp->nxs, &motor, &dev);
+            }
+#endif
+
           /* Terminate control thread */
 
           if (motor.ctrl_state == FOC_CTRL_STATE_TERMINATE)

examples/foc/foc_float_thr.c

@@ -38,6 +38,10 @@
 #include "industry/foc/foc_utils.h"
 #include "industry/foc/foc_common.h"
 
+#ifdef CONFIG_EXAMPLES_FOC_NXSCOPE
+#  include "logging/nxscope/nxscope.h"
+#endif
+
 /****************************************************************************
  * Pre-processor Definitions
  ****************************************************************************/
@@ -174,6 +178,91 @@ static int foc_state_print(FAR struct foc_motor_f32_s *motor)
 }
 #endif
 
+#ifdef CONFIG_EXAMPLES_FOC_NXSCOPE
+/****************************************************************************
+ * Name: foc_float_nxscope
+ ****************************************************************************/
+
+static void foc_float_nxscope(FAR struct foc_nxscope_s *nxs,
+                              FAR struct foc_motor_f32_s *motor,
+                              FAR struct foc_device_s *dev)
+{
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG != 0)
+  FAR float *ptr = NULL;
+  int        i = nxs->ch_per_inst * motor->envp->id;
+#endif
+
+  nxscope_lock(&nxs->nxs);
+
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_IABC)
+  ptr = (FAR float *)&motor->foc_state.curr;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, CONFIG_MOTOR_FOC_PHASES);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_IDQ)
+  ptr = (FAR float *)&motor->foc_state.idq;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 2);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_IAB)
+  ptr = (FAR float *)&motor->foc_state.iab;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 2);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VABC)
+  ptr = (FAR float *)&motor->foc_state.volt;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, CONFIG_MOTOR_FOC_PHASES);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VDQ)
+  ptr = (FAR float *)&motor->foc_state.vdq;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 2);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VAB)
+  ptr = (FAR float *)&motor->foc_state.vab;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 2);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_AEL)
+  ptr = (FAR float *)&motor->angle_el;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 1);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_AM)
+  ptr = (FAR float *)&motor->angle_m;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 1);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VEL)
+#  warning not supported yet
+  i++;
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VM)
+#  warning not supported yet
+  i++;
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VBUS)
+  ptr = (FAR float *)&motor->vbus;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 1);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_SPTORQ)
+  ptr = (FAR float *)&motor->torq;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 3);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_SPVEL)
+  ptr = (FAR float *)&motor->vel;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 3);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_SPPOS)
+  ptr = (FAR float *)&motor->pos;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 3);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_DQREF)
+  ptr = (FAR float *)&motor->dq_ref;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 2);
+#endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VDQCOMP)
+  ptr = (FAR float *)&motor->vdq_comp;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 2);
+#endif
+
+  nxscope_unlock(&nxs->nxs);
+}
+#endif
+
 /****************************************************************************
  * Public Functions
  ****************************************************************************/
@@ -339,6 +428,15 @@ int foc_float_thr(FAR struct foc_ctrl_env_s *envp)
             }
 #endif
 
+#ifdef CONFIG_EXAMPLES_FOC_NXSCOPE
+          /* Capture nxscope samples */
+
+          if (time % CONFIG_EXAMPLES_FOC_NXSCOPE_PRESCALER == 0)
+            {
+              foc_float_nxscope(envp->nxs, &motor, &dev);
+            }
+#endif
+
 #ifdef CONFIG_EXAMPLES_FOC_STATE_USE_MODEL_PMSM
           /* Feed FOC model with data */