Oscilloscope

dev_motor_controller features on board oscilloscope functionality that is useful for inspecting the internal state at rates up to the main controller frequency. An example use of the oscilloscope is inspecting a step response of a current controller.

Oscilloscope features are:

Configurable sample rate
Four source configurable channels, each with a depth of 1792 float32 values.
Rising edge (currently) trigger with configurable source

Oscilloscope Commands

Command	Type	Required	Description
`oscilloscope_sample_rate_hz`	uint32	Required	Set the sampling frequency of the oscilloscope. The oscilloscope frequency must be an even divisor of the current controller frequency.
`oscilloscope_trigger_source`	enum	Required	Sets the trigger source signal. See Oscilloscope Sources for a list of trigger sources.
`oscilloscope_trigger_level`	float32	Required	Sets the level for the trigger. Once the trigger source passes this value the oscilloscope will sample until the channel arrays are full.
`oscilloscope_channel_0_source`	enum	Optional	Sets the channel 0 source signal. See Oscilloscope Sources for a list of sources.
`oscilloscope_channel_0`	float32	Optional	Contains the channel 0 sampled data. Total length is 1792 float32 values. All values must be read out.
`oscilloscope_channel_1_source`	enum	Optional	Sets the channel 1 source signal. See Oscilloscope Sources for a list of sources.
`oscilloscope_channel_1`	float32	Optional	Contains the channel 1 sampled data. Total length is 1792 float32 values. All values must be read out.
`oscilloscope_channel_2_source`	enum	Optional	Sets the channel 2 source signal. See Oscilloscope Sources for a list of sources.
`oscilloscope_channel_2`	float32	Optional	Contains the channel 2 sampled data. Total length is 1792 float32 values. All values must be read out.
`oscilloscope_channel_3_source`	enum	Optional	Sets the channel 3 source signal. See Oscilloscope Sources for a list of sources.
`oscilloscope_channel_3`	float32	Optional	Contains the channel 3 sampled data. Total length is 1792 float32 values. All values must be read out.
`oscilloscope_force_start`	command	Optional	The oscilloscope will immediately start sampling at the completion of this command, regardless of trigger configuration.
`oscilloscope_wait_trigger`	command	Optional	The oscilloscope will start sampling once the trigger conditions are met.
`oscilloscope_is_done`	bool	Optional	Returns true if the oscilloscope is finished sampling, false if the oscilloscope has not finished sampling, or in an unconfigured state.

Oscilloscope Sources

Oscilloscope Source	Description
`mc_osc_sense_i_a`	Measured phase current (A). Phase A.
`mc_osc_sense_i_b`	Measured phase current (A). Phase B.
`mc_osc_sense_i_c`	Measured phase current (A). Phase C.
`mc_osc_foc_i_al`	Measured motor current (A). Al axis in AlBe frame.
`mc_osc_foc_i_be`	Measured motor current (A). Be axis in AlBe frame.
`mc_osc_foc_i_d`	Measured motor current (A). D axis in DQ frame.
`mc_osc_foc_i_q`	Measured motor current (A). Q axis in DQ frame.
`mc_osc_foc_i_d_cmd`	Current command (A). D axis in DQ frame.
`mc_osc_foc_i_q_cmd`	Current command (A). Q axis in DQ frame.
`mc_osc_foc_i_d_cmd_ff`	Current command (A) with any feedforward terms present. D axis in DQ frame.
`mc_osc_foc_i_q_cmd_ff`	Current command (A) with any feedforward terms present. Q axis in DQ frame.
`mc_osc_foc_v_d_cmd`	Voltage command (V) as output from current controller. D axis in DQ frame.
`mc_osc_foc_v_q_cmd`	Voltage command (V) as output from current controller. Q axis in DQ frame.
`mc_osc_foc_v_d_mod_cmd`	Modulated voltage command (normalised to DC bus voltage). D axis in DQ frame.
`mc_osc_foc_v_q_mod_cmd`	Modulated voltage command (normalised to DC bus voltage). Q axis in DQ frame.
`mc_osc_foc_v_al_mod_cmd`	Modulated voltage command (normalised to DC bus voltage). Al axis in AlBe frame.
`mc_osc_foc_v_be_mod_cmd`	Modulated voltage command (normalised to DC bus voltage). Be axis in AlBe frame.
`mc_osc_foc_duty_a_cmd`	Duty cycles as output to PWM unit. Phase A.
`mc_osc_foc_duty_b_cmd`	Duty cycles as output to PWM unit. Phase B.
`mc_osc_foc_duty_c_cmd`	Duty cycles as output to PWM unit. Phase C.
`mc_osc_sense_v_a`	Measured phase voltage (V). Phase A.
`mc_osc_sense_v_b`	Measured phase voltage (V). Phase B.
`mc_osc_sense_v_c`	Measured phase voltage (V). Phase C.
`mc_osc_foc_v_al`	Measured motor voltage (V). Al axis in AlBe frame.
`mc_osc_foc_v_be`	Measured motor voltage (V). Be axis in AlBe frame.
`mc_osc_foc_v_d`	Measured motor voltage (V). D axis in DQ frame.
`mc_osc_foc_v_q`	Measured motor voltage (V). Q axis in DQ frame.
`mc_osc_rotor_th_m`	Rotor mechanical position (Rad).
`mc_osc_rotor_th_e`	Rotor electrical position (Rad).
`mc_osc_rotor_th_internal_m`	Rotor mechanical position (Rad). Direct from encoder, no compensation applied.
`mc_osc_rotor_w_m`	Rotor mechanical speed (Rad/S).
`mc_osc_sense_vdc`	Measured DC bus voltage (V).
`mc_osc_i_mot`	Computed motor current (A).
`mc_osc_i_bus`	Computed bus current (A).