simplefoc · runger1101001 · Sep 22, 2023 · Mar 21, 2023 · Mar 21, 2023 · Mar 21, 2023
diff --git a/README.md b/README.md
@@ -24,34 +24,20 @@ Therefore this is an attempt to:
    - *Medium-power* BLDC driver (<30Amps): [Arduino <span class="simple">Simple<b>FOC</b>PowerShield</span> ](https://github.com/simplefoc/Arduino-SimpleFOC-PowerShield).
    - See also [@byDagor](https://github.com/byDagor)'s *fully-integrated* ESP32 based board: [Dagor Brushless Controller](https://github.com/byDagor/Dagor-Brushless-Controller)
 
-> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.0
-> - Arduino Mega 6pwm more timers supported 
-> - Arduino boards - frequency change support either 32kHz or 4kHz
-> - Arduino Uno - synched timers in 3pwm and 6pwm mode [#71](https://github.com/simplefoc/Arduino-FOC/issues/71)
-> - Teensy 3.x initial support for 6pwm
-> - Teensy 4.x initial support for 6pwm
-> - Example for v3.1 SimpleFOCShield 
-> - RP2040 compatibility for earlehillpower core [#234](https://github.com/simplefoc/Arduino-FOC/pull/234) [#236](https://github.com/simplefoc/Arduino-FOC/pull/236)
-> - More flexible monitoring API 
->   - start, end and separator characters
->   - decimal places (settable through commander)
-> - Added machine readable verbose mode in `Commander` [#233](https://github.com/simplefoc/Arduino-FOC/pull/233)
-> - *Simple**FOC**WebController* - Web based user interface for SimpleFOC by [@geekuillaume](https://github.com/geekuillaume) - [webcontroller.simplefoc.com](webcontroller.simplefoc.com)
-> - bugfix - `MagneticSensorPWM` multiple occasions - [#258](https://github.com/simplefoc/Arduino-FOC/pull/258)
-> - bugfix - current sense align - added offset exchange when exchanging pins
-> - bugfix - trapezoid 150 fixed
-> - bugfix - 4pwm on ESP8266 [#224](https://github.com/simplefoc/Arduino-FOC/pull/224)
-> - Additional `InlineCurrentSense` and `LowsideCurrentSense` constructor using milliVolts per Amp [#253](https://github.com/simplefoc/Arduino-FOC/pull/253)
-> - STM32L4xx current sense support by [@Triple6](https://github.com/Triple6) (discord) [#257](https://github.com/simplefoc/Arduino-FOC/pull/257)
-> - phase disable in 6pwm mode 
->   - stm32 - software and hardware 6pwm
->   - atmega328 
->   - atmega2560
-> - Lag compensation using motor inductance [#246](https://github.com/simplefoc/Arduino-FOC/issues/246)
->   - current control through voltage torque mode enhancement
->   - extended `BLDCMotor` and `StepperMotor` constructors to receive the inductance paramerer
->   - can also be set using `motor.phase_inductance` or through `Commander`
-## Arduino *SimpleFOClibrary* v2.3
+> NEW RELEASE 📢 : <span class="simple">Simple<span class="foc">FOC</span>library</span> v2.3.1
+> - Support for Arduino UNO R4 Minima (Renesas R7FA4M1 MCU - note UNO R4 WiFi is not yet supported)
+> - Support setting PWM polarity on ESP32 (thanks to [@mcells](https://github.com/mcells))
+> - Expose I2C errors in MagneticSensorI2C (thanks to [@padok](https://github.com/padok))
+> - Improved default trig functions (sine, cosine) - faster, smaller
+> - Overridable trig functions - plug in your own optimized versions
+> - Bugfix: microseconds overflow in velocity mode [#287](https://github.com/simplefoc/Arduino-FOC/issues/287)
+> - Bugfix: KV initialization ([5fc3128](https://github.com/simplefoc/Arduino-FOC/commit/5fc3128d282b65c141ca486327c6235089999627))
+> - And more bugfixes - see the [complete list of 2.3.1 fixes here](https://github.com/simplefoc/Arduino-FOC/issues?q=is%3Aissue+milestone%3A2.3.1_Release)
+> - Change: simplify initFOC() API ([d57d32d](https://github.com/simplefoc/Arduino-FOC/commit/d57d32dd8715dbed4e476469bc3de0c052f1d531). [5231e5e](https://github.com/simplefoc/Arduino-FOC/commit/5231e5e1d044b0cc33ede67664b6ef2f9d0a8cdf), [10c5b87](https://github.com/simplefoc/Arduino-FOC/commit/10c5b872672cab72df16ddd738bbf09bcce95d28))
+> - Change: check for linked driver in currentsense and exit gracefully ([5ef4d9d](https://github.com/simplefoc/Arduino-FOC/commit/5ef4d9d5a92e03da0dd5af7f624243ab30f1b688))
+> - Compatibility with newest versions of Arduino framework for STM32, Renesas, ESP32, Atmel SAM, Atmel AVR, nRF52 and RP2040
+
+## Arduino *SimpleFOClibrary* v2.3.1
 
 <p align="">
 <a href="https://youtu.be/Y5kLeqTc6Zk">
@@ -78,7 +64,7 @@ This video demonstrates the *Simple**FOC**library* basic usage, electronic conne
 - **Cross-platform**:
    - Seamless code transfer from one microcontroller family to another 
    - Supports multiple [MCU architectures](https://docs.simplefoc.com/microcontrollers):
-      - Arduino: UNO, MEGA, DUE, Leonardo ....
+      - Arduino: UNO R4, UNO, MEGA, DUE, Leonardo, Nano, Nano33 ....
       - STM32
       - ESP32
       - Teensy
@@ -132,7 +118,9 @@ Please do not hesitate to leave an issue if you have problems/advices/suggestion
 
 Pull requests are welcome, but let's first discuss them in [community forum](https://community.simplefoc.com)!
 
-If you'd like to contribute to this porject but you are not very familiar with github, don't worry, let us know either by posting at the community forum , by posting a github issue or at our discord server.
+If you'd like to contribute to this project but you are not very familiar with github, don't worry, let us know either by posting at the community forum , by posting a github issue or at our discord server.
+
+If you are familiar, we accept pull requests to the dev branch!
 
 ## Arduino code example
 This is a simple Arduino code example implementing the velocity control program of a BLDC motor with encoder. 

diff --git a/...control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino b/...control/open_loop_motor_control/open_loop_position_example/open_loop_position_example.ino
@@ -62,6 +62,7 @@ void setup() {
 void loop() {
   // open  loop angle movements
   // using motor.voltage_limit and motor.velocity_limit
+  // angles can be positive or negative, negative angles correspond to opposite motor direction
   motor.move(target_position);
 
   // user communication

diff --git a/...control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino b/...control/open_loop_motor_control/open_loop_velocity_example/open_loop_velocity_example.ino
@@ -60,6 +60,7 @@ void loop() {
 
   // open loop velocity movement
   // using motor.voltage_limit and motor.velocity_limit
+  // to turn the motor "backwards", just set a negative target_velocity
   motor.move(target_velocity);
 
   // user communication

diff --git a/...s/utils/calibration/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino b/...s/utils/calibration/find_sensor_offset_and_direction/find_sensor_offset_and_direction.ino
@@ -2,8 +2,9 @@
  * Simple example intended to help users find the zero offset and natural direction of the sensor. 
  * 
  * These values can further be used to avoid motor and sensor alignment procedure. 
- * 
- * motor.initFOC(zero_offset, sensor_direction);
+ * To use these values add them to the code:");
+ *    motor.sensor_direction=Direction::CW; // or Direction::CCW
+ *    motor.zero_electric_angle=1.2345;     // use the real value!
  * 
  * This will only work for abosolute value sensors - magnetic sensors. 
  * Bypassing the alignment procedure is not possible for the encoders and for the current implementation of the Hall sensors. 
@@ -44,6 +45,9 @@ void setup() {
   // set motion control loop to be used
   motor.controller = MotionControlType::torque;
 
+  // force direction search - because default is CW
+  motor.sensor_direction = Direction::UNKNOWN;
+
   // initialize motor
   motor.init();
   // align sensor and start FOC
@@ -54,9 +58,16 @@ void setup() {
   Serial.println("Sensor zero offset is:");
   Serial.println(motor.zero_electric_angle, 4);
   Serial.println("Sensor natural direction is: ");
-  Serial.println(motor.sensor_direction == 1 ? "Direction::CW" : "Direction::CCW");
+  Serial.println(motor.sensor_direction == Direction::CW ? "Direction::CW" : "Direction::CCW");
+
+  Serial.println("To use these values add them to the code:");
+  Serial.print("   motor.sensor_direction=");
+  Serial.print(motor.sensor_direction == Direction::CW ? "Direction::CW" : "Direction::CCW");
+  Serial.println(";");
+  Serial.print("   motor.zero_electric_angle=");
+  Serial.print(motor.zero_electric_angle, 4);
+  Serial.println(";");
 
-  Serial.println("To use these values provide them to the: motor.initFOC(offset, direction)");
   _delay(1000);
   Serial.println("If motor is not moving the alignment procedure was not successfull!!");
 }

diff --git a/src/BLDCMotor.cpp b/src/BLDCMotor.cpp
@@ -44,7 +44,9 @@ BLDCMotor::BLDCMotor(int pp, float _R, float _KV, float _inductance)
   phase_resistance = _R;
   // save back emf constant KV = 1/KV
   // 1/sqrt(2) - rms value
-  KV_rating = _KV*_SQRT2;
+  KV_rating = NOT_SET;
+  if (_isset(_KV))
+    KV_rating = _KV*_SQRT2;
   // save phase inductance
   phase_inductance = _inductance;
 
@@ -90,6 +92,13 @@ void BLDCMotor::init() {
   }
   P_angle.limit = velocity_limit;
 
+  // if using open loop control, set a CW as the default direction if not already set
+  if ((controller==MotionControlType::angle_openloop
+     ||controller==MotionControlType::velocity_openloop)
+     && (sensor_direction == Direction::UNKNOWN)) {
+      sensor_direction = Direction::CW;
+  }
+
   _delay(500);
   // enable motor
   SIMPLEFOC_DEBUG("MOT: Enable driver.");
@@ -124,20 +133,13 @@ void BLDCMotor::enable()
   FOC functions
 */
 // FOC initialization function
-int  BLDCMotor::initFOC( float zero_electric_offset, Direction _sensor_direction) {
+int  BLDCMotor::initFOC() {
   int exit_flag = 1;
 
   motor_status = FOCMotorStatus::motor_calibrating;
 
   // align motor if necessary
   // alignment necessary for encoders!
-  if(_isset(zero_electric_offset)){
-    // abosolute zero offset provided - no need to align
-    zero_electric_angle = zero_electric_offset;
-    // set the sensor direction - default CW
-    sensor_direction = _sensor_direction;
-  }
-
   // sensor and motor alignment - can be skipped
   // by setting motor.sensor_direction and motor.zero_electric_angle
   _delay(500);
@@ -165,7 +167,7 @@ int  BLDCMotor::initFOC( float zero_electric_offset, Direction _sensor_direction
         exit_flag *= alignCurrentSense();
       }
     }
-    else SIMPLEFOC_DEBUG("MOT: No current sense.");
+    else { SIMPLEFOC_DEBUG("MOT: No current sense."); }
   }
 
   if(exit_flag){
@@ -211,7 +213,7 @@ int BLDCMotor::alignSensor() {
   if(!exit_flag) return exit_flag;
 
   // if unknown natural direction
-  if(!_isset(sensor_direction)){
+  if(sensor_direction==Direction::UNKNOWN){
 
     // find natural direction
     // move one electrical revolution forward
@@ -250,10 +252,11 @@ int BLDCMotor::alignSensor() {
     // check pole pair number
     if( fabs(moved*pole_pairs - _2PI) > 0.5f ) { // 0.5f is arbitrary number it can be lower or higher!
       SIMPLEFOC_DEBUG("MOT: PP check: fail - estimated pp: ", _2PI/moved);
-    } else 
+    } else {
       SIMPLEFOC_DEBUG("MOT: PP check: OK!");
+    }
 
-  } else SIMPLEFOC_DEBUG("MOT: Skip dir calib.");
+  } else { SIMPLEFOC_DEBUG("MOT: Skip dir calib."); }
 
   // zero electric angle not known
   if(!_isset(zero_electric_angle)){
@@ -274,7 +277,7 @@ int BLDCMotor::alignSensor() {
     // stop everything
     setPhaseVoltage(0, 0, 0);
     _delay(200);
-  }else SIMPLEFOC_DEBUG("MOT: Skip offset calib.");
+  } else { SIMPLEFOC_DEBUG("MOT: Skip offset calib."); }
   return exit_flag;
 }
 
@@ -303,8 +306,8 @@ int BLDCMotor::absoluteZeroSearch() {
   voltage_limit = limit_volt;
   // check if the zero found
   if(monitor_port){
-    if(sensor->needsSearch()) SIMPLEFOC_DEBUG("MOT: Error: Not found!");
-    else SIMPLEFOC_DEBUG("MOT: Success!");
+    if(sensor->needsSearch()) { SIMPLEFOC_DEBUG("MOT: Error: Not found!"); }
+    else { SIMPLEFOC_DEBUG("MOT: Success!"); }
   }
   return !sensor->needsSearch();
 }
@@ -418,7 +421,8 @@ void BLDCMotor::move(float new_target) {
       // angle set point
       shaft_angle_sp = target;
       // calculate velocity set point
-      shaft_velocity_sp = P_angle( shaft_angle_sp - shaft_angle );
+      shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle );
+      shaft_angle_sp = _constrain(shaft_angle_sp,-velocity_limit, velocity_limit);
       // calculate the torque command - sensor precision: this calculation is ok, but based on bad value from previous calculation
       current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control
       // if torque controlled through voltage
@@ -543,12 +547,8 @@ void BLDCMotor::setPhaseVoltage(float Uq, float Ud, float angle_el) {
     case FOCModulationType::SinePWM :
       // Sinusoidal PWM modulation
       // Inverse Park + Clarke transformation
+      _sincos(angle_el, &_sa, &_ca);
 
-      // angle normalization in between 0 and 2pi
-      // only necessary if using _sin and _cos - approximation functions
-      angle_el = _normalizeAngle(angle_el);
-      _ca = _cos(angle_el);
-      _sa = _sin(angle_el);
       // Inverse park transform
       Ualpha =  _ca * Ud - _sa * Uq;  // -sin(angle) * Uq;
       Ubeta =  _sa * Ud + _ca * Uq;    //  cos(angle) * Uq;

diff --git a/src/BLDCMotor.h b/src/BLDCMotor.h
@@ -49,7 +49,7 @@ class BLDCMotor: public FOCMotor
      * Function initializing FOC algorithm
      * and aligning sensor's and motors' zero position 
      */  
-    int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW) override;
+    int initFOC() override;
     /**
      * Function running FOC algorithm in real-time
      * it calculates the gets motor angle and sets the appropriate voltages 

diff --git a/src/StepperMotor.cpp b/src/StepperMotor.cpp
@@ -56,6 +56,13 @@ void StepperMotor::init() {
   }
   P_angle.limit = velocity_limit;
 
+  // if using open loop control, set a CW as the default direction if not already set
+  if ((controller==MotionControlType::angle_openloop
+     ||controller==MotionControlType::velocity_openloop)
+     && (sensor_direction == Direction::UNKNOWN)) {
+      sensor_direction = Direction::CW;
+  }
+
   _delay(500);
   // enable motor
   SIMPLEFOC_DEBUG("MOT: Enable driver.");
@@ -92,20 +99,13 @@ void StepperMotor::enable()
   FOC functions
 */
 // FOC initialization function
-int  StepperMotor::initFOC( float zero_electric_offset, Direction _sensor_direction ) {
+int  StepperMotor::initFOC() {
   int exit_flag = 1;
 
   motor_status = FOCMotorStatus::motor_calibrating;
 
   // align motor if necessary
   // alignment necessary for encoders!
-  if(_isset(zero_electric_offset)){
-    // abosolute zero offset provided - no need to align
-    zero_electric_angle = zero_electric_offset;
-    // set the sensor direction - default CW
-    sensor_direction = _sensor_direction;
-  }
-
   // sensor and motor alignment - can be skipped
   // by setting motor.sensor_direction and motor.zero_electric_angle
   _delay(500);
@@ -114,7 +114,7 @@ int  StepperMotor::initFOC( float zero_electric_offset, Direction _sensor_direct
     // added the shaft_angle update
     sensor->update();
     shaft_angle = sensor->getAngle();
-  }else SIMPLEFOC_DEBUG("MOT: No sensor.");
+  } else { SIMPLEFOC_DEBUG("MOT: No sensor."); }
 
   if(exit_flag){
     SIMPLEFOC_DEBUG("MOT: Ready.");
@@ -177,10 +177,13 @@ int StepperMotor::alignSensor() {
     float moved =  fabs(mid_angle - end_angle);
     if( fabs(moved*pole_pairs - _2PI) > 0.5f ) { // 0.5f is arbitrary number it can be lower or higher!
       SIMPLEFOC_DEBUG("MOT: PP check: fail - estimated pp: ", _2PI/moved);
-    } else 
+    } else {
       SIMPLEFOC_DEBUG("MOT: PP check: OK!");
+    }
 
-  }else SIMPLEFOC_DEBUG("MOT: Skip dir calib.");
+  } else { 
+    SIMPLEFOC_DEBUG("MOT: Skip dir calib.");
+  }
 
   // zero electric angle not known
   if(!_isset(zero_electric_angle)){
@@ -200,7 +203,7 @@ int StepperMotor::alignSensor() {
     // stop everything
     setPhaseVoltage(0, 0, 0);
     _delay(200);
-  }else SIMPLEFOC_DEBUG("MOT: Skip offset calib.");
+  } else { SIMPLEFOC_DEBUG("MOT: Skip offset calib."); }
   return exit_flag;
 }
 
@@ -229,7 +232,7 @@ int StepperMotor::absoluteZeroSearch() {
   // check if the zero found
   if(monitor_port){
     if(sensor->needsSearch()) SIMPLEFOC_DEBUG("MOT: Error: Not found!");
-    else SIMPLEFOC_DEBUG("MOT: Success!");
+    else { SIMPLEFOC_DEBUG("MOT: Success!"); }
   }
   return !sensor->needsSearch();
 }
@@ -307,7 +310,8 @@ void StepperMotor::move(float new_target) {
       // angle set point
       shaft_angle_sp = target;
       // calculate velocity set point
-      shaft_velocity_sp = P_angle( shaft_angle_sp - shaft_angle );
+      shaft_velocity_sp = feed_forward_velocity + P_angle( shaft_angle_sp - shaft_angle );
+      shaft_angle_sp = _constrain(shaft_angle_sp, -velocity_limit, velocity_limit);
       // calculate the torque command
       current_sp = PID_velocity(shaft_velocity_sp - shaft_velocity); // if voltage torque control
       // if torque controlled through voltage
@@ -357,12 +361,9 @@ void StepperMotor::move(float new_target) {
 void StepperMotor::setPhaseVoltage(float Uq, float Ud, float angle_el) {
   // Sinusoidal PWM modulation
   // Inverse Park transformation
+  float _sa, _ca;
+  _sincos(angle_el, &_sa, &_ca);
 
-  // angle normalization in between 0 and 2pi
-  // only necessary if using _sin and _cos - approximation functions
-  angle_el = _normalizeAngle(angle_el);
-  float _ca = _cos(angle_el);
-  float _sa = _sin(angle_el);
   // Inverse park transform
   Ualpha =  _ca * Ud - _sa * Uq;  // -sin(angle) * Uq;
   Ubeta =  _sa * Ud + _ca * Uq;    //  cos(angle) * Uq;

diff --git a/src/StepperMotor.h b/src/StepperMotor.h
@@ -54,12 +54,8 @@ class StepperMotor: public FOCMotor
      * and aligning sensor's and motors' zero position 
      * 
      * - If zero_electric_offset parameter is set the alignment procedure is skipped
-     * 
-     * @param zero_electric_offset value of the sensors absolute position electrical offset in respect to motor's electrical 0 position.
-     * @param sensor_direction  sensor natural direction - default is CW
-     *
      */  
-    int initFOC( float zero_electric_offset = NOT_SET , Direction sensor_direction = Direction::CW) override;
+    int initFOC() override;
     /**
      * Function running FOC algorithm in real-time
      * it calculates the gets motor angle and sets the appropriate voltages