examples/foc: support svm3 state with nxscope

examples/foc/foc_fixed16_thr.c

@@ -129,7 +129,7 @@ static int foc_handler_run(FAR struct foc_motor_b16_s *motor,
 
   foc_handler_state_b16(&motor->handler,
                         &motor->foc_state,
-                        NULL);
+                        &motor->mod_state);
 
   return ret;
 }
@@ -259,6 +259,24 @@ static void foc_fixed16_nxscope(FAR struct foc_nxscope_s *nxs,
   ptr = (FAR b16_t *)&motor->vdq_comp;
   nxscope_put_vb16_t(&nxs->nxs, i++, ptr, 2);
 #endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_SVM3)
+  b16_t svm3_tmp[4];
+
+  /* Convert sector to b16_t.
+   * Normally, a sector value is an integer in the range 1-6 but we convert
+   * it to b16_t and range to 0.1-0.6. This is to send the entire SVM3 state
+   * as b16_t array and scale the sector value closer to PWM duty values
+   * (range 0.0 to 0.5) which makes it easier to visualize the data later.
+   */
+
+  svm3_tmp[0] = b16mulb16(itob16(motor->mod_state.sector), ftob16(0.1f));
+  svm3_tmp[1] = motor->mod_state.d_u;
+  svm3_tmp[2] = motor->mod_state.d_v;
+  svm3_tmp[3] = motor->mod_state.d_w;
+
+  ptr = svm3_tmp;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 4);
+#endif
 
   nxscope_unlock(&nxs->nxs);
 }

examples/foc/foc_float_thr.c

@@ -129,7 +129,7 @@ static int foc_handler_run(FAR struct foc_motor_f32_s *motor,
 
   foc_handler_state_f32(&motor->handler,
                         &motor->foc_state,
-                        NULL);
+                        &motor->mod_state);
 
   return ret;
 }
@@ -260,6 +260,24 @@ static void foc_float_nxscope(FAR struct foc_nxscope_s *nxs,
   ptr = (FAR float *)&motor->vdq_comp;
   nxscope_put_vfloat(&nxs->nxs, i++, ptr, 2);
 #endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_SVM3)
+  float svm3_tmp[4];
+
+  /* Convert sector to float.
+   * Normally, a sector value is an integer in the range 1-6 but we convert
+   * it to float and range to 0.1-0.6. This is to send the entire SVM3 state
+   * as float array and scale the sector value closer to PWM duty values
+   * (range 0.0 to 0.5) which makes it easier to visualize the data later.
+   */
+
+  svm3_tmp[0] = (float)motor->mod_state.sector * 0.1f;
+  svm3_tmp[1] = motor->mod_state.d_u;
+  svm3_tmp[2] = motor->mod_state.d_v;
+  svm3_tmp[3] = motor->mod_state.d_w;
+
+  ptr = svm3_tmp;
+  nxscope_put_vfloat(&nxs->nxs, i++, ptr, 4);
+#endif
 
   nxscope_unlock(&nxs->nxs);
 }

examples/foc/foc_motor_b16.h

@@ -80,6 +80,9 @@ struct foc_motor_b16_s
   /* FOC data ***************************************************************/
 
   struct foc_state_b16_s        foc_state;    /* FOC controller sate */
+#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
+  struct svm3_state_b16_s       mod_state;    /* Modulation state */
+#endif
   foc_handler_b16_t             handler;      /* FOC controller */
   dq_frame_b16_t                dq_ref;       /* DQ reference */
   dq_frame_b16_t                vdq_comp;     /* DQ voltage compensation */

examples/foc/foc_motor_f32.h

@@ -80,6 +80,9 @@ struct foc_motor_f32_s
   /* FOC data ***************************************************************/
 
   struct foc_state_f32_s        foc_state;    /* FOC controller sate */
+#ifdef CONFIG_INDUSTRY_FOC_MODULATION_SVM3
+  struct svm3_state_f32_s       mod_state;    /* Modulation state */
+#endif
   foc_handler_f32_t             handler;      /* FOC controller */
   dq_frame_f32_t                dq_ref;       /* DQ reference */
   dq_frame_f32_t                vdq_comp;     /* DQ voltage compensation */

examples/foc/foc_nxscope.c

@@ -236,6 +236,9 @@ int foc_nxscope_init(FAR struct foc_nxscope_s *nxs)
 #if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_VDQCOMP)
       nxscope_chan_init(&nxs->nxs, i++, "vdqcomp", u.u8, 2, 0);
 #endif
+#if (CONFIG_EXAMPLES_FOC_NXSCOPE_CFG & FOC_NXSCOPE_SVM3)
+      nxscope_chan_init(&nxs->nxs, i++, "svm3", u.u8, 4, 0);
+#endif
 
       if (i > CONFIG_EXAMPLES_FOC_NXSCOPE_CHANNELS)
         {

examples/foc/foc_nxscope.h

@@ -51,6 +51,7 @@
 #define FOC_NXSCOPE_SPPOS      (1 << 13)  /* Position setpoint */
 #define FOC_NXSCOPE_DQREF      (1 << 14)  /* DQ reference */
 #define FOC_NXSCOPE_VDQCOMP    (1 << 15)  /* VDQ compensation */
+#define FOC_NXSCOPE_SVM3       (1 << 16)  /* Space-vector modulation sector */
                                           /* Max 32-bit */
 
 /****************************************************************************