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Posted to commits@nuttx.apache.org by GitBox <gi...@apache.org> on 2021/03/29 16:49:39 UTC
[GitHub] [incubator-nuttx] raiden00pl opened a new pull request #3234: boards/stm32/common: add support for IHM07M1 and IHM08M1 boards
raiden00pl opened a new pull request #3234:
URL: https://github.com/apache/incubator-nuttx/pull/3234
## Summary
IHM07M1 board: https://www.st.com/en/ecosystems/x-nucleo-ihm07m1.html
IHM08M1 board: https://www.st.com/en/ecosystems/x-nucleo-ihm08m1.html
Depends on https://github.com/apache/incubator-nuttx/pull/3232
## Impact
## Testing
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[GitHub] [incubator-nuttx] raiden00pl commented on a change in pull request #3234: boards/stm32/common: add support for IHM07M1 and IHM08M1 boards
Posted by GitBox <gi...@apache.org>.
raiden00pl commented on a change in pull request #3234:
URL: https://github.com/apache/incubator-nuttx/pull/3234#discussion_r605397132
##########
File path: boards/arm/stm32/common/src/stm32_ihm08m1.c
##########
@@ -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;
Review comment:
Can we leave changes related to syslog to separate PR? Now I see that I left PWR debug messages in all FOC files. It'll be easier to update all at once.
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[GitHub] [incubator-nuttx] acassis commented on pull request #3234: boards/stm32/common: add support for IHM07M1 and IHM08M1 boards
Posted by GitBox <gi...@apache.org>.
acassis commented on pull request #3234:
URL: https://github.com/apache/incubator-nuttx/pull/3234#issuecomment-811484403
@raiden00pl I think now you can remove the Draft, #3232 was integrated!
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[GitHub] [incubator-nuttx] acassis merged pull request #3234: boards/stm32/common: add support for IHM07M1 and IHM08M1 boards
Posted by GitBox <gi...@apache.org>.
acassis merged pull request #3234:
URL: https://github.com/apache/incubator-nuttx/pull/3234
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[GitHub] [incubator-nuttx] davids5 commented on a change in pull request #3234: boards/stm32/common: add support for IHM07M1 and IHM08M1 boards
Posted by GitBox <gi...@apache.org>.
davids5 commented on a change in pull request #3234:
URL: https://github.com/apache/incubator-nuttx/pull/3234#discussion_r604932214
##########
File path: boards/arm/stm32/common/src/stm32_ihm08m1.c
##########
@@ -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;
Review comment:
I think the syslog now supports classification. So the ERROR is redundant. Also were is the `debug.h` included?
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